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All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Human Supervision of Autonomous Vehicle Fleet Operations and Associated Passenger Communications: Preprint

Advances in automated vehicle (AV) technology and expanded operations are rapidly emerging with Automated Mobility District (AMD) deployments in global cities. NLR's AMD research addresses critical elements of human supervision of AV fleet operations and associated passenger communications for vehicles in which no driver or safety attendant is present. Although sufficiently advanced AVs no longer have direct oversight by a driver, fleet management remains staffed with operations personnel at the operations command and control (OCC) facility. This paper examines the functionality of the OCC, drawing comparisons of how automated train control and automated people mover OCCs operate. Within an AMD, the OCC manages various vehicle types, sizes, and operational modes, including on-demand and fixed route service, to facilitate a 'network of networks' for transport within a metropolitan area. The OCC serves as oversight for multiple AV fleets assisting AVs via remote operation of vehicles, communication, and dispatching personnel to resolve problems. The OCC also coordinates system operation, geographically staging vehicles, and managing weather, police, and emergency events. Informed by traffic management center (TMC) strategies using highly integrated software and communications, OCCs facilitate seamless information flows. OCC personnel remotely assist passengers and oversee multi-party operation to ensure safety and security. Although social norms mitigate large-capacity unattended vehicle operations, social interaction in multi-party automated small vehicles has little precedent. This poses a new frontier for society and requires research to effectively understand and manage. Future research will monitor OCC implementations, passenger interfaces, and deployment scaling of initial AMD systems.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS1996

SEDSAT-1 Technology Development

The Students for the Exploration and Development of Space Satellite (SEDSAT-1) is an ambitious project to design, build, and fly a generally-accessible low-cost satellite which will 1) act as a technology demonstration to verify the suitability of novel optical, battery, microprocessor, and memory hardware for space flight environments, (2) to advance the understanding of tether dynamics and environmental science through the development of advanced imaging experiments, (3) to act as a communication link for radio amateurs, and (4) to provide graduate and undergraduate students with a unique multi-disciplinary experience in designing complex real-world hardware/software. This report highlights the progress made on this project during the time period from January 2, 1996 to June 1, 1996 at the end of which time the SEASIS 0.7 version software was completed and integrated on the SEASIS breadboard, a functional prototype of the Panoramic Annual Lenses (PAL) camera was developed, the preferred image compression technique was selected, the layout of the SEASIS board was begun, porting of the SCOS operating system to the command data system (CDS) board was begun, a new design for a tether release mechanism was developed, safety circuitry to inhibit tether cutting was developed and prototyped, material was prepared to support a comprehensive safety review of the project which was held at Johnson Space Center (JSC) (which was personally attended by one of the Principal Investigators), and prototype ground software was developed.

Maier, Mark W.↗
DOE OSTI2015

Stochastic Modeling of Radioactive Material Releases

Nonreactor nuclear facilities operated under the approval authority of the U.S. Department of Energy use unmitigated hazard evaluations to determine if potential radiological doses associated with design basis events challenge or exceed dose evaluation guidelines. Unmitigated design basis events that sufficiently challenge dose evaluation guidelines or exceed the guidelines for members of the public or workers, merit selection of safety structures, systems, or components or other controls to prevent or mitigate the hazard. Idaho State University, in collaboration with Idaho National Laboratory, has developed a portable and simple to use software application called SODA (Stochastic Objective Decision-Aide) that stochastically calculates the radiation dose associated with hypothetical radiological material release scenarios. Rather than producing a point estimate of the dose, SODA produces a dose distribution result to allow a deeper understanding of the dose potential. SODA allows users to select the distribution type and parameter values for all of the input variables used to perform the dose calculation. SODA then randomly samples each distribution input variable and calculates the overall resulting dose distribution. In cases where an input variable distribution is unknown, a traditional single point value can be used. SODA was developed using the MATLAB coding framework. The software application has a graphical user input. SODA can be installed on both Windows and Mac computers and does not require MATLAB to function. SODA provides improved risk understanding leading to better informed decision making associated with establishing nuclear facility material-at-risk limits and safety structure, system, or component selection. It is important to note that SODA does not replace or compete with codes such as MACCS or RSAC, rather it is viewed as an easy to use supplemental tool to help improve risk understanding and support better informed decisions. The work was funded through a grant from the DOE Nuclear Safety Research and Development Program.

61 RADIATION PROTECTION AND DOSIMETRY↗
DOE OSTI2018

Defining and Characterizing Methods, Tools, and Computing Resources to Support Pseudo Exhaustive Testability of Software Based I&C Devices

Under the Department of Energy’s Light Water Reactor Sustainability Program, within the Plant Modernization research pathway, the Digital I&C Qualification Project is identifying new methods that would be beneficial in qualifying digital I&C systems and devices for safety-related usage. One such method that would be useful in qualifying field components such as sensors and actuators is the concept of testability. The Nuclear Regulatory Commission (NRC) considers testability to be one of two design attributes sufficient to eliminate consideration of software-based or software logic-based common cause failure (the other being diversity). The NRC defines acceptable “testability” as follows: Testability – A system is sufficiently simple such that every possible combination of inputs and every possible sequence of device states are tested and all outputs are verified for every case (100% tested). [NUREG 0800, Chapter 7, Branch Technical Position (BTP) 7-19] This qualification method has never proven to be practical in view of the very large number of combinations of inputs and sequences of device states for a typical I&C device. However, many of these combinations are not unique in the sense that they represent the same state space or in that that they represent state space that would not affect the critical design basis functions of the device. Therefore, the state space of interest might possibly be reduced to a manageable dimension through such analysis. This project focuses on a representative I&C device similar in design, function, and complexity to the types of devices that would likely be deployed in nuclear power plants as digital or software based sensors and actuators (e.g. Smart Sensors). Analysis will be conducted to determine the feasibility of testing this device in a manner consistent with the NRC definition. This report describes acceptable test methods, needed tools (existing or new), and computing resources, all based on engineering and computer science principles. This information will then be used in a later phase of this project to develop a test specification for I&C device testability that can be used in a future phase of this project to demonstrate digital qualification with respect to common cause failure. Following that, testing will be conducted and the results analyzed to determine if the methods employed are sufficient to eliminate consideration of software common cause failure in accordance with the concept of testability.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2019

REALIZATION OF A AUTOMATED T-WAY COMBINATORIAL TESTING APPROACH FOR A SOFTWARE BASED EMBEDDED DIGITAL DEVICE

Under the Department of Energy’s Light Water Reactor Sustainability Program, within the Plant Modernization research pathway, the Digital I&C Qualification Project is identifying new methods that would be beneficial in qualifying digital I&C systems and devices for safety-related usage. One such method that would be useful in qualifying field components such as sensors and actuators is the concept of testability. The Nuclear Regulatory Commission (NRC) considers testability to be one of two design attributes sufficient to eliminate consideration of software-based or software logic-based common cause failure (the other being diversity). The NRC defines acceptable “testability” as follows: Testability – A system is sufficiently simple such that every possible combination of inputs and every possible sequence of device states are tested and all outputs are verified for every case (100% tested). [NUREG 0800, Chapter 7, Branch Technical Position (BTP) 7-19] This qualification method has never proven to be practical in view of the very large number of combinations of inputs and sequences of device states for a typical I&C device. However, many of these combinations are not unique in the sense that they represent the same state space or in that that they represent state space that would not affect the critical design basis functions of the device. Therefore, the state space of interest might possibly be reduced to a manageable dimension through such analysis. This project will focus on a representative I&C device similar in design, function, and complexity to the types of devices that would likely be deployed in nuclear power plants as digital or software based sensors and actuators (e.g. Smart Sensors). Analysis will be conducted to determine the feasibility of testing this device in a manner consistent with the NRC definition. This report describes the development of test process for Bounded Exhaustive Testing with respect to Combinatorial Test (CT) methods. The report describes the candidate Device Under Test SW – the VCU smart sensor, conceptual experimental methods for stated test objectives, description of the process, tools, resources, and computing. This information will be used to fully develop a detailed test plan (based on statistical measure needs) and test environment for conducting an I&C device testability demonstration study. The future planed experimental study of this project is to demonstrate digital qualification via Bounded Exhaustive Testability with respect to Common Cause Failure.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
NASA NTRS2012

Automated Operations Development for Advanced Exploration Systems

Automated space operations command and control software development and its implementation must be an integral part of the vehicle design effort. The software design must encompass autonomous fault detection, isolation, recovery capabilities and also provide "single button" intelligent functions for the crew. Development, operations and safety approval experience with the Timeliner system onboard the International Space Station (ISS), which provided autonomous monitoring with response and single command functionality of payload systems, can be built upon for future automated operations as the ISS Payload effort was the first and only autonomous command and control system to be in continuous execution (6 years), 24 hours a day, 7 days a week within a crewed spacecraft environment. Utilizing proven capabilities from the ISS Higher Active Logic (HAL) System, along with the execution component design from within the HAL 9000 Space Operating System, this design paper will detail the initial HAL System software architecture and interfaces as applied to NASA's Habitat Demonstration Unit (HDU) in support of the Advanced Exploration Systems, Autonomous Mission Operations project. The development and implementation of integrated simulators within this development effort will also be detailed and is the first step in verifying the HAL 9000 Integrated Test-Bed Component [2] designs effectiveness. This design paper will conclude with a summary of the current development status and future development goals as it pertains to automated command and control for the HDU.

Haddock, Angie T.↗
NASA NTRS2009

Automation for System Safety Analysis

This presentation describes work to integrate a set of tools to support early model-based analysis of failures and hazards due to system-software interactions. The tools perform and assist analysts in the following tasks: 1) extract model parts from text for architecture and safety/hazard models; 2) combine the parts with library information to develop the models for visualization and analysis; 3) perform graph analysis and simulation to identify and evaluate possible paths from hazard sources to vulnerable entities and functions, in nominal and anomalous system-software configurations and scenarios; and 4) identify resulting candidate scenarios for software integration testing. There has been significant technical progress in model extraction from Orion program text sources, architecture model derivation (components and connections) and documentation of extraction sources. Models have been derived from Internal Interface Requirements Documents (IIRDs) and FMEA documents. Linguistic text processing is used to extract model parts and relationships, and the Aerospace Ontology also aids automated model development from the extracted information. Visualizations of these models assist analysts in requirements overview and in checking consistency and completeness.

Malin, Jane T.↗
NASA NTRS2012

Automated Operations Development for Advanced Exploration Systems

Automated space operations command and control software development and its implementation must be an integral part of the vehicle design effort. The software design must encompass autonomous fault detection, isolation, recovery capabilities and also provide single button intelligent functions for the crew. Development, operations and safety approval experience with the Timeliner system on-board the International Space Station (ISS), which provided autonomous monitoring with response and single command functionality of payload systems, can be built upon for future automated operations as the ISS Payload effort was the first and only autonomous command and control system to be in continuous execution (6 years), 24 hours a day, 7 days a week within a crewed spacecraft environment. Utilizing proven capabilities from the ISS Higher Active Logic (HAL) System [1] , along with the execution component design from within the HAL 9000 Space Operating System [2] , this design paper will detail the initial HAL System software architecture and interfaces as applied to NASA s Habitat Demonstration Unit (HDU) in support of the Advanced Exploration Systems, Autonomous Mission Operations project. The development and implementation of integrated simulators within this development effort will also be detailed and is the first step in verifying the HAL 9000 Integrated Test-Bed Component [2] designs effectiveness. This design paper will conclude with a summary of the current development status and future development goals as it pertains to automated command and control for the HDU.

Haddock, Angie↗
NASA NTRS1990

Evaluation of an expert system for fault detection, isolation, and recovery in the manned maneuvering unit

The authors explore issues in the specification, verification, and validation of artificial intelligence (AI) based software, using a prototype fault detection, isolation and recovery (FDIR) system for the Manned Maneuvering Unit (MMU). They use this system as a vehicle for exploring issues in the semantics of C-Language Integrated Production System (CLIPS)-style rule-based languages, the verification of properties relating to safety and reliability, and the static and dynamic analysis of knowledge based systems. This analysis reveals errors and shortcomings in the MMU FDIR system and raises a number of issues concerning software engineering in CLIPs. The authors came to realize that the MMU FDIR system does not conform to conventional definitions of AI software, despite the fact that it was intended and indeed presented as an AI system. The authors discuss this apparent disparity and related questions such as the role of AI techniques in space and aircraft operations and the suitability of CLIPS for critical applications.

Rushby, John↗
DOE OSTI2015

Analyzing simulation-based PRA data through traditional and topological clustering: A BWR station blackout case study

Here, dynamic probabilistic risk assessment (DPRA) methodologies couple system simulator codes (e.g., RELAP and MELCOR) with simulation controller codes (e.g., RAVEN and ADAPT). Whereas system simulator codes model system dynamics deterministically, simulation controller codes introduce both deterministic (e.g., system control logic and operating procedures) and stochastic (e.g., component failures and parameter uncertainties) elements into the simulation. Typically, a DPRA is performed by sampling values of a set of parameters and simulating the system behavior for that specific set of parameter values. For complex systems, a major challenge in using DPRA methodologies is to analyze the large number of scenarios generated, where clustering techniques are typically employed to better organize and interpret the data. In this paper, we focus on the analysis of two nuclear simulation datasets that are part of the risk-informed safety margin characterization (RISMC) boiling water reactor (BWR) station blackout (SBO) case study. We provide the domain experts a software tool that encodes traditional and topological clustering techniques within an interactive analysis and visualization environment, for understanding the structures of such high-dimensional nuclear simulation datasets. We demonstrate through our case study that both types of clustering techniques complement each other for enhanced structural understanding of the data.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2019

A New Hands-On Course in Characterization of Wide-Bandgap Devices

As wide-bandgap (WBG) devices and applications move from niche to mainstream, a new generation of engineers trained in this area is critical to continue the development of the field. This paper introduces a new hands-on course in characterization of WBG devices, which is an emerging and fundamental topic in WBG-based techniques. First, the lecture-simulation-experiment format based course structure and design considerations, such as safety, are presented. Then, the necessary facilities to support this hands-on course are summarized, including classroom preparation, software tools, and laboratory equipment. Afterward, the detailed course implementation flow is presented to illustrate the approach of close interaction among lecture, simulation, and experiment to maximize students' learning outcomes. Finally, grading for students and course evaluation by students are discussed, highlighting the findings and potential improvements. Furthermore, detailed course materials are provided via potenntial.eecs.utk.edu/WBGLab for educational use.

42 ENGINEERING↗
DOE OSTI2023

Ev Info And Incident Response Solutions

In post-crash situations, passengers, bystanders, and first responders are exposed to the immediate safety risks of stranded energy in electric vehicle (EV) batteries. A potentially damaged battery with an unknown state of safety might go into a thermal runaway without proper handling, leading to potential loss of life and property damage. Therefore, it is imperative to develop methods, guidelines and tools to handle the post-crash EVs appropriately and minimize safety risks from immediately after an EV accident to final disposal or re-entry to the road. This software tool: (1) provides quick access to EV specification, (2) estimate stranded energy left in an EV after a crash specific to EVs in a user-friendly way, (3) inform EV structure/disconnect for appropriate quick post-crash handling, (4) perform the calculation for the first responder to decide on onsite or offsite discharge, and (5) feature appropriate battery disposal and education/lessons learned. This software tool will directly help the emergency responders to handle EV post-crash situations effectively and safely.

Zhang, Bo [Idaho National Laboratory (INL), Idaho ↗
DOE OSTI2025

SolarAPP+ Enhancements and Commercialization (Final Technical Report)

With millions of distributed photovoltaic (PV) systems expected to be installed over the next five years, the permitting and inspection processes of authorities having jurisdiction (AHJs) may become overburdened, causing delays and increased costs for installed systems (Cruce et al. 2022). The central goal of this project was to automate and streamline permitting processes for distributed PV systems and complementary technologies, such as battery storage. Deploying automated permitting has been hypothesized to reduce permit review times, resulting in reduced costs and improved customer experience. This has the potential to expand the PV and PV-plus-storage market nationwide. The National Renewable Energy Laboratory (NREL) and its project partners, including UL Solutions, the Interstate Renewable Energy Council (IREC), the International Code Council (ICC), and more, developed the Solar Automated Permit Processing (SolarAPP+™) software platform to reduce permit review times. NREL and its partners also collaborated with the solar industry, the building safety community, and local governments to develop SolarAPP+.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
NASA NTRS1976

Reconfigurable redundancy management for aircraft flight control

A highly fault tolerant digital computer system has been configured based on extensive experience with flight proven, redundant digital flight control systems. The feasibility of minimizing hardware complexity is shown while maintaining high levels of fault tolerance. The emerging hardware design combines reconfiguration concepts with conventional hardware redundancy techniques and special operational software to provide dual fail operate performance with a basic triplex system. The design provides high reliability and flight safety, enhances maintainability, and reduces life cycle cost while offering improved performance for future aircraft.

Bosch, J. A.↗
NASA NTRS2003

Flight Test Results from the Low Power Transceiver Communications and Navigation Demonstration on Shuttle (CANDOS)

The Low Power Transceiver (LPT) is an advanced signal processing platform that offers a configurable and reprogrammable capability for supporting communications, navigation and sensor functions for mission applications ranging from spacecraft TT&C and autonomous orbit determination to sophisticated networks that use crosslinks to support communications and real-time relative navigation for formation flying. The LPT is the result of extensive collaborative research under NASNGSFC s Advanced Technology Program and ITT Industries internal research and development efforts. Its modular, multi-channel design currently enables transmitting and receiving communication signals on L- or S-band frequencies and processing GPS L-band signals for precision navigation. The LPT flew as a part of the GSFC Hitchhiker payload named Fast Reaction Experiments Enabling Science Technology And Research (FREESTAR) on-board Space Shuttle Columbia s final mission. The experiment demonstrated functionality in GPS-based navigation and orbit determination, NASA STDN Ground Network communications, space relay communications via the NASA TDRSS, on-orbit reconfiguration of the software radio, the use of the Internet Protocol (IP) for TT&C, and communication concepts for space based range safety. All data from the experiment was recovered and, as a result, all primary and secondary objectives of the experiment were successful. This paper presents the results of the LPTs maiden space flight as a part of STS- 107.

Rush, John↗
NASA NTRS2011

SRMS History, Evolution and Lessons Learned

Early in the development of the Space Shuttle, it became clear that NASA needed a method of deploying and retrieving payloads from the payload bay. The Shuttle Remote Manipulator System (SRMS) was developed to fill this need. The 50 foot long robotic arm is an anthropomorphic design consisting of three electromechanical joints, six degrees of freedom, and two boom segments. Its composite boom construction provided a light weight solution needed for space operations. Additionally, a method of capturing payloads with the arm was required and a unique End Effector was developed using an electromechanical snare mechanism. The SRMS is operated using a Displays and Controls Panel and hand controllers located within the aft crew compartment of the shuttle. Although the SRMS was originally conceived to deploy and retrieve payloads, its generic capabilities allowed it to perform many other functions not originally conceived of. Over the years it has been used for deploying and retrieving constrained and free flying payloads, maneuvering and supporting EVA astronauts, satellite repair, International Space Station construction, and as a viewing aid for on-orbit International Space Station operations. After the Columbia accident, a robotically compatible Orbiter Boom Sensor System (OBSS) was developed and used in conjunction with the SRMS to scan the Thermal Protection System (TPS) of the shuttle. These scans ensure there is not a breach of the TPS prior to shuttle re-entry. Ground operations and pre mission simulation, analysis and planning played a major role in the success of the SRMS program. A Systems Engineering Simulator (SES) was developed to provide a utility complimentary to open loop engineering simulations. This system provided a closed-loop real-time pilot-driven simulation giving visual feedback, display and control panel interaction, and integration with other vehicle systems, such as GN&C. It has been useful for many more applications than traditional training. Evolution of the simulations, guided by the Math Model Working Group, showed the utility of input from multiple modeling groups with a structured forum for discussion.There were many unique development challenges in the areas of hardware, software, certification, modeling and simulation. Over the years, upgrades and enhancements were implemented to increase the capability, performance and safety of the SRMS. The history and evolution of the SRMS program provided many lessons learned that can be used for future space robotic systems.

Jorgensen, Glenn↗
NASA NTRS2012

Tools Ensure Reliability of Critical Software

In November 2006, after attempting to make a routine maneuver, NASA's Mars Global Surveyor (MGS) reported unexpected errors. The onboard software switched to backup resources, and a 2-day lapse in communication took place between the spacecraft and Earth. When a signal was finally received, it indicated that MGS had entered safe mode, a state of restricted activity in which the computer awaits instructions from Earth. After more than 9 years of successful operation gathering data and snapping pictures of Mars to characterize the planet's land and weather communication between MGS and Earth suddenly stopped. Months later, a report from NASA's internal review board found the spacecraft's battery failed due to an unfortunate sequence of events. Updates to the spacecraft's software, which had taken place months earlier, were written to the wrong memory address in the spacecraft's computer. In short, the mission ended because of a software defect. Over the last decade, spacecraft have become increasingly reliant on software to carry out mission operations. In fact, the next mission to Mars, the Mars Science Laboratory, will rely on more software than all earlier missions to Mars combined. According to Gerard Holzmann, manager at the Laboratory for Reliable Software (LaRS) at NASA's Jet Propulsion Laboratory (JPL), even the fault protection systems on a spacecraft are mostly software-based. For reasons like these, well-functioning software is critical for NASA. In the same year as the failure of MGS, Holzmann presented a new approach to critical software development to help reduce risk and provide consistency. He proposed The Power of 10: Rules for Developing Safety-Critical Code, which is a small set of rules that can easily be remembered, clearly relate to risk, and allow compliance to be verified. The reaction at JPL was positive, and developers in the private sector embraced Holzmann's ideas.

Source record↗
NASA NTRS2015

Formal Methods in Air Traffic Management: The Case of Unmanned Aircraft Systems

As the technological and operational capabilities of unmanned aircraft systems (UAS) continue to grow, so too does the need to introduce these systems into civil airspace. Unmanned Aircraft Systems Integration in the National Airspace System is a NASA research project that addresses the integration of civil UAS into non-segregated airspace operations. One of the major challenges of this integration is the lack of an onboard pilot to comply with the legal requirement that pilots see and avoid other aircraft. The need to provide an equivalent to this requirement for UAS has motivated the development of a detect and avoid (DAA) capability to provide the appropriate situational awareness and maneuver guidance in avoiding and remaining well clear of traffic aircraft. Formal methods has played a fundamental role in the development of this capability. This talk reports on the formal methods work conducted under NASA's Safe Autonomous System Operations project in support of the development of DAA for UAS. This work includes specification of low-level and high-level functional requirements, formal verification of algorithms, and rigorous validation of software implementations. The talk also discusses technical challenges in formal methods research in the context of the development and safety analysis of advanced air traffic management concepts.

Munoz, Cesar A.↗