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All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Motion analysis report

Human motion analysis is the task of converting actual human movements into computer readable data. Such movement information may be obtained though active or passive sensing methods. Active methods include physical measuring devices such as goniometers on joints of the body, force plates, and manually operated sensors such as a Cybex dynamometer. Passive sensing de-couples the position measuring device from actual human contact. Passive sensors include Selspot scanning systems (since there is no mechanical connection between the subject's attached LEDs and the infrared sensing cameras), sonic (spark-based) three-dimensional digitizers, Polhemus six-dimensional tracking systems, and image processing systems based on multiple views and photogrammetric calculations.

Badler, N. I.↗
NASA NTRS1990

Numerical Models For Control Of Robots

Algorithm develops numerical models of kinematics of robots for use in directing movements of robots. Based on empirical data. Predicts movements from previous measurements of actual movements. Replaces analytical or iterative models used commonly.

Waggener, Mary S.↗
NASA NTRS2006

Lunar Relay Satellite Network for Space Exploration: Architecture, Technologies and Challenges

NASA is planning a series of short and long duration human and robotic missions to explore the Moon and then Mars. A key objective of these missions is to grow, through a series of launches, a system of systems infrastructure with the capability for safe and sustainable autonomous operations at minimum cost while maximizing the exploration capabilities and science return. An incremental implementation process will enable a buildup of the communication, navigation, networking, computing, and informatics architectures to support human exploration missions in the vicinities and on the surfaces of the Moon and Mars. These architectures will support all space and surface nodes, including other orbiters, lander vehicles, humans in spacesuits, robots, rovers, human habitats, and pressurized vehicles. This paper describes the integration of an innovative MAC and networking technology with an equally innovative position-dependent, data routing, network technology. The MAC technology provides the relay spacecraft with the capability to autonomously discover neighbor spacecraft and surface nodes, establish variable-rate links and communicate simultaneously with multiple in-space and surface clients at varying and rapidly changing distances while making optimum use of the available power. The networking technology uses attitude sensors, a time synchronization protocol and occasional orbit-corrections to maintain awareness of its instantaneous position and attitude in space as well as the orbital or surface location of its communication clients. A position-dependent data routing capability is used in the communication relay satellites to handle the movement of data among any of multiple clients (including Earth) that may be simultaneously in view; and if not in view, the relay will temporarily store the data from a client source and download it when the destination client comes into view. The integration of the MAC and data routing networking technologies would enable a relay satellite system to provide end-to-end communication services for robotic and human missions in the vicinity, or on the surface of the Moon with a minimum of Earth-based operational support.

Bhasin, Kul B.↗
NASA NTRS2022

Non-Repudiation for Drone-Related Data

Concepts for the management of Uncrewed Aircraft Systems (UAS) at scale rely on the exchange of data amongst multiple stakeholders. Even as these concepts vary across nations and industries, the movement of data between entities is a common theme. While there is universal agreement on the necessity of appropriate cybersecurity measures to address data communication, there has been minimal focus on the feasibility of implementing non-repudiation solutions for UAS systems. This means that data exchanged in support of UAS operations are open to “attack” via parties that may deny sending or receiving certain data, which can weaken the effectiveness and acceptability of these systems. This paper highlights the current and future need for non-repudiation, supported by references to multiple international organizations, and an approach to implementing non-repudiation leveraging open standards.

drone↗
NASA NTRS2014

Understanding the Effects of Spaceflight on Head-trunk Coordination during Walking and Obstacle Avoidance

Prolonged exposure to spaceflight conditions results in a battery of physiological changes, some of which contribute to sensorimotor and neurovestibular deficits. Upon return to Earth, functional performance changes are tested using the Functional Task Test (FTT), which includes an obstacle course to observe post‐flight balance and postural stability, specifically during turning. The goal of this study was to quantify changes in movement strategies during turning events by observing the latency between head‐and‐trunk coordinated movements. It was hypothesized that subjects experiencing neurovestibular adaptations would exhibit head‐to‐trunk locking ('en bloc' movement) during turning, exhibited by a decrease in latency between head and trunk movement. FTT data samples were collected from ISS missions. Samples were analyzed three times pre‐exposure, immediately postexposure (1 day post) and 2‐to‐3 times during recovery from the microgravity environment. Two 3D inertial measurements units (XSens MTx) were attached to subjects, one on the head and one on the upper back. This study focused primarily on the yaw movements about the subject's center of rotation. Time differences (latency) between head and trunk movement were calculated at two points on the obstacle course: the first turn to enter the obstacle course (approximately 90⁰ turn) and averaged across a slalom obstacle portion, consisting of three turns (approximately three 90⁰ turns). Preliminary analysis of the data shows a trend toward decreasing head‐to‐trunk movement latency during postflight ambulation in slalom turning after reintroduction to Earth gravity in ISS astronauts. It is clear that changes in movement strategies are adopted during exposure to the microgravity environment and upon reintroduction to a gravity environment. Most ISS subjects exhibit symptoms of neurovestibular changes ('en bloc head and trunk movement) which may impact their ability to perform post‐flight functional tasks.

Madansingh, S.↗
NASA NTRS1996

Analysis of the access patterns at GSFC distributed active archive center

The Goddard Space Flight Center (GSFC) Distributed Active Archive Center (DAAC) has been operational for more than two years. Its mission is to support existing and pre Earth Observing System (EOS) Earth science datasets, facilitate the scientific research, and test Earth Observing System Data and Information System (EOSDIS) concepts. Over 550,000 files and documents have been archived, and more than six Terabytes have been distributed to the scientific community. Information about user request and file access patterns, and their impact on system loading, is needed to optimize current operations and to plan for future archives. To facilitate the management of daily activities, the GSFC DAAC has developed a data base system to track correspondence, requests, ingestion and distribution. In addition, several log files which record transactions on Unitree are maintained and periodically examined. This study identifies some of the users' requests and file access patterns at the GSFC DAAC during 1995. The analysis is limited to the subset of orders for which the data files are under the control of the Hierarchical Storage Management (HSM) Unitree. The results show that most of the data volume ordered was for two data products. The volume was also mostly made up of level 3 and 4 data and most of the volume was distributed on 8 mm and 4 mm tapes. In addition, most of the volume ordered was for deliveries in North America although there was a significant world-wide use. There was a wide range of request sizes in terms of volume and number of files ordered. On an average 78.6 files were ordered per request. Using the data managed by Unitree, several caching algorithms have been evaluated for both hit rate and the overhead ('cost') associated with the movement of data from near-line devices to disks. The algorithm called LRU/2 bin was found to be the best for this workload, but the STbin algorithm also worked well.

Johnson, Theodore↗
NASA NTRSDate not supplied

Non-Repudiation for Drone-Related Data

Concepts for the management of Uncrewed Aircraft Systems (UAS) at scale rely on the exchange of data amongst multiple stakeholders. Even as these concepts vary from State to State and company to company as of today, the movement of data between different entities is a common theme. While there is universal agreement on the necessity of appropriate cybersecurity applied to the various systems involved in communicating these data, there has been little focus on a feasible implementation of non-repudiation in these systems. This paper highlights the current and future need for non-repudiation, supported by references to multiple international organizations, and an approach to implementing non-repudiation leveraging open standards.

Unmanned Aviation Systems Traffic Management↗
NASA NTRS1986

Performance measurements of a data link protocol

The end-to-end performance of a program implementing IEEE Std 802.2 logical link control protocol, which provides virtual circuit and datagram service and which constitutes the top sublayer of the data link layer of the reference model for Local Area Networks is studied. The measurements of relative execution times of various functions required in transferring data, over virtual circuits or as datagrams, showed that most of the program execution time is spent in a few relatively low-level functions. One of these functions performs block movement of data in memory, and two other functions provide access to various queues. Based on this result, two alternative versions of the program which move data efficiently were written and measured. In this paper the results of the study are reported and their impact on designing hardware and software systems for a network interface are discussed.

Kanakia, Hemant↗
NASA NTRS1987

A system for routing arbitrary directed graphs on SIMD architectures

There are many problems which can be described in terms of directed graphs that contain a large number of vertices where simple computations occur using data from connecting vertices. A method is given for parallelizing such problems on an SIMD machine model that is bit-serial and uses only nearest neighbor connections for communication. Each vertex of the graph will be assigned to a processor in the machine. Algorithms are given that will be used to implement movement of data along the arcs of the graph. This architecture and algorithms define a system that is relatively simple to build and can do graph processing. All arcs can be transversed in parallel in time O(T), where T is empirically proportional to the diameter of the interconnection network times the average degree of the graph. Modifying or adding a new arc takes the same time as parallel traversal.

Tomboulian, Sherryl↗
NASA NTRS1988

Overview and extensions of a system for routing directed graphs on SIMD architectures

Many problems can be described in terms of directed graphs that contain a large number of vertices where simple computations occur using data from adjacent vertices. A method is given for parallelizing such problems on an SIMD machine model that uses only nearest neighbor connections for communication, and has no facility for local indirect addressing. Each vertex of the graph will be assigned to a processor in the machine. Rules for a labeling are introduced that support the use of a simple algorithm for movement of data along the edges of the graph. Additional algorithms are defined for addition and deletion of edges. Modifying or adding a new edge takes the same time as parallel traversal. This combination of architecture and algorithms defines a system that is relatively simple to build and can do fast graph processing. All edges can be traversed in parallel in time O(T), where T is empirically proportional to the average path length in the embedding times the average degree of the graph. Additionally, researchers present an extension to the above method which allows for enhanced performance by allowing some broadcasting capabilities.

Tomboulian, Sherryl↗
NASA NTRS2011

Implementing Strategic Planning Capabilities Within the Mars Relay Operations Service

Since the Mars Exploration Rovers (MER), Spirit and Opportunity, began their travels across the Martian surface in January of 2004, orbiting spacecraft such as the Mars 2001 Odyssey orbiter have relayed the majority of their collected scientific and operational data to and from Earth. From the beginning of those missions, it was evident that using orbiters to relay data to and from the surface of Mars was a vastly more efficient communications strategy in terms of power consumption and bandwidth compared to direct-to-Earth means. However, the coordination between the various spacecraft, which are largely managed independently and on differing commanding timelines, has always proven to be a challenge. Until recently, the ground operators of all these spacecraft have coordinated the movement of data through this network using a collection of ad hoc human interfaces and various, independent software tools. The Mars Relay Operations Service (MaROS) has been developed to manage the evolving needs of the Mars relay network, and specifically to standardize and integrate the relay planning and coordination data into a centralized infrastructure. This paper explores the journey of developing the MaROS system, from inception to delivery and acceptance by the Mars mission users.

tactical planning↗
NASA NTRS2014

Understanding the Effects of Spaceflight on Head-trunk Coordination During Walking and Obstacle Avoidance

Prolonged exposure to spaceflight conditions results in a battery of physiological changes, some of which contribute to sensorimotor and neurovestibular deficits. Upon return to Earth, functional performance changes are tested using the Functional Task Test (FTT), which includes an obstacle course to observe post-flight balance and postural stability, specifically during turning. The goal of this study was to quantify changes in movement strategies during turning events by observing the latency between head-and-trunk coordinated movements. It was hypothesized that subjects experiencing neurovestibular adaptations would exhibit head-to-trunk locking ('en bloc' movement) during turning, exhibited by a decrease in latency between head and trunk movement. FTT data samples were collected from 13 ISS astronauts and 26 male 70-day head down tilt bed rest subjects, including bed rest controls (10 BRC) and bed rest exercisers (16 BRE). Samples were analyzed three times pre-exposure, immediately post-exposure (0 or 1 day post) and 2-to-3 times during recovery from the unloading environment. Two 3D inertial measurements units (XSens MTx) were attached to subjects, one on the head and one on the upper back. This study focused primarily on the yaw movements about the subject's center of rotation. Time differences (latency) between head and trunk movement were averaged across a slalom obstacle portion, consisting of three turns (approximately three 60⁰ turns). All participants were grouped as 'decreaser' or 'increaser,' relating to their change in head-to-trunk movement latency between pre- and post- environmental adaptation measures. Space flight unloading (ISS) showed a bimodal response between the 'increaser' and 'decreaser' group, while both bed rest control (BRC) and bed rest exercise (BRE) populations showed increased preference towards a 'decreaser' categorization, displaying greater head-trunk locking. It is clear that changes in movement strategies are adopted during exposure to an unloading environment. These results further the understanding of vestibular-somatosensory convergence and support the use of bed rest as an exclusionary model to better understand sensorimotor changes in space flight.

Madansingh, S.↗
NASA NTRS1989

Aeolian processes on Venus

This review assesses the potential aeolian regime on Venus as derived from spacecraft observations, laboratory simulations, and theoretical considerations. The two requirements for aeolian processes (a supply of small, loose particles and winds of sufficient strength to move them) appear to be met on Venus. Venera 9, 10, 13, and 14 images show particles considered to be sand and silt size on the surface. In addition, dust spurts (grains 5 to 50 microns in diameter) observed via lander images and inferred from the Pioneer-Venus nephalometer experiments suggest that the particles are loose and subject to movement. Although data on near surface winds are limited, measurements of 0.3 to 1.2 m/sec from the Venera lander and Pioneer-Venus probes appear to be well within the range required for sand and dust entrainment. Aeolian activity involves the interaction of the atmosphere, lithosphere, and loose particles. Thus, there is the potential for various physical and chemical weathering processes that can effect not only rates of erosion, but changes in the composition of all three components. The Venus Simulator is an apparatus used to simulate weathering under venusian conditions at full pressure (to 112 bars) and temperature (to 800 K). In one series of tests, the physical modifications of windblown particles and rock targets were assessed and it was shown that particles become abraded even when moved by gentle winds. However, little abrasion occurs on the target faces. Thus, compositional signatures for target rocks may be more indicative of the windblown particles than of the bedrock. From these and other considerations, aeolian modifications of the venusian surface may be expected to occur as weathering, erosion, transportation, and deposition of surficial materials. Depending upon global and local wind regimes, there may be distinctive sources and sinks of windblown materials. Radar imaging, especially as potentially supplied via the Magellan mission, may enable the identification of such areas on Venus.

Greeley, Ronald↗
NASA NTRS2003

Crustal Deformation in Southcentral Alaska: The 1964 Prince William Sound Earthquake Subduction Zone

This article, for Advances in Geophysics, is a summary of crustal deformation studies in southcentral Alaska. In 1964, southcentral Alaska was struck by the largest earthquake (moment magnitude 9.2) occurring in historical times in North America and the second largest earthquake occurring in the world during the past century. Conventional and space-based geodetic measurements have revealed a complex temporal-spatial pattern of crustal movement. Numerical models suggest that ongoing convergence between the North America and Pacific Plates, viscoelastic rebound, aseismic creep along the tectonic plate interface, and variable plate coupling all play important roles in controlling both the surface and subsurface movements. The geodetic data sets include tide-gauge observations that in some cases provide records back to the decades preceding the earthquake, leveling data that span a few decades around the earthquake, VLBI data from the late 1980s, and GPS data since the mid-1990s. Geologic data provide additional estimates of vertical movements and a chronology of large seismic events. Some of the important features that are revealed by the ensemble of studies that are reviewed in this paper include: (1) Crustal uplift in the region that subsided by up 2 m at the time of the earthquake is as much as 1 m since the earthquake. In the Turnagain Arm and Kenai Peninsula regions of southcentral Alaska, uplift rates in the immediate aftermath of the earthquake reached 150 mm/yr , but this rapid uplift decayed rapidly after the first few years following the earthquake. (2) At some other locales, notably those away the middle of the coseismic rupture zone, postseismic uplift rates were initially slower but the rates decay over a longer time interval. At Kodiak Island, for example, the uplift rates have been decreasing at a rate of about 7mm/yr per decade. At yet other locations, the uplift rates have shown little time dependence so far, but are thought not to be sustainable throughout the several hundred year recurrence time for great earthquake. The nearly 10 mm/yr uplift rate at Seldovia on the Kenai Peninsula is an example.

Cohen, Steven C.↗
NASA NTRS2010

Propagation of New Innovations: An Approach to Classify Human Behavior and Movement from Available Social Network Data

It is interesting to observe new innovations, products, or ideas propagating into the society. One important factor of this propagation is the role of individual's social network; while another factor is individual's activities. In this paper, an approach will be made to analyze the propagation of different ideas in a popular social network. Individuals' responses to different activities in the network will be analyzed. The properties of network will also be investigated for successful propagation of innovations.

Mahmud, Faisal↗
NASA NTRS2016

An Integrated Circuit for Radio Astronomy Correlators Supporting Large Arrays of Antennas

Radio telescopes that employ arrays of many antennas are in operation, and ever larger ones are being designed and proposed. Signals from the antennas are combined by cross-correlation. While the cost of most components of the telescope is proportional to the number of antennas N, the cost and power consumption of cross-correlationare proportional to N2 and dominate at sufficiently large N. Here we report the design of an integrated circuit (IC) that performs digital cross-correlations for arbitrarily many antennas in a power-efficient way. It uses an intrinsically low-power architecture in which the movement of data between devices is minimized. In a large system, each IC performs correlations for all pairs of antennas but for a portion of the telescope's bandwidth (the so-called "FX" structure). In our design, the correlations are performed in an array of 4096 complex multiply-accumulate (CMAC) units. This is sufficient to perform all correlations in parallel for 64 signals (N=32 antennas with 2 opposite-polarization signals per antenna). When N is larger, the input data are buffered in an on-chipmemory and the CMACs are re-used as many times as needed to compute all correlations. The design has been synthesized and simulated so as to obtain accurate estimates of the IC's size and power consumption. It isintended for fabrication in a 32 nm silicon-on-insulator process, where it will require less than 12mm2 of silicon area and achieve an energy efficiency of 1.76 to 3.3 pJ per CMAC operation, depending on the number of antennas. Operation has been analyzed in detail up to N = 4096. The system-level energy efficiency, including board-levelI/O, power supplies, and controls, is expected to be 5 to 7 pJ per CMAC operation. Existing correlators for the JVLA (N = 32) and ALMA (N = 64) telescopes achieve about 5000 pJ and 1000 pJ respectively usingapplication-specific ICs in older technologies. To our knowledge, the largest-N existing correlator is LEDA atN = 256; it uses GPUs built in 28 nm technology and achieves about 1000 pJ. Correlators being designed for the SKA telescopes (N = 128 and N = 512) using FPGAs in 16nm technology are predicted to achieve about 100 pJ.

ASIC↗
NASA NTRS1978

The behavior of a convergent plate boundary - Crustal deformation in the South Kanto district, Japan

The northwesternmost part of the Sagami trough, a part of the Philippine Sea-Eurasian plate boundary, was ruptured during the great South Kanto earthquake in 1923. Very extensive and frequent geodetic measurements of crustal deformation have been made in the South Kanto district since the 1890's, and these constitute the most complete data set on crustal movements in the world. These data were reanalyzed and interpreted and according to our interpretation indicate the following sequence of events. The coseismic movements were due to oblique thrust and right lateral slip of about 8 m on a fault outcropping at the base of the Sagami trough. This was followed by postseismic deformation resulting from reversed afterslip of 20-60 cm that occurred at an exponentially decaying rate in time. The interseismic deformation is produced by steady subduction at a rate of about 1.8 cm/yr. During subduction the top 10-15 km of the plate boundary is apparently locked, while deeper parts slip aseismically at an irregular rate. No significant precursory deformation was observed. The recurrence time for 1923 type earthquakes is 200-300 years. The Boso and Miura peninsulas are broken into a series of fault-bound blocks that move semi-independently of the surrounding region. The subduction zone itself, where it is exposed on land, is shown to be a wide zone encompassing several faults that are active at different times.

Scholz, C. H.↗
NASA NTRS1975

Satellite animal tracking feasibility studies

A study was initiated in Tsavo National Park to determine movements and home ranges of individual elephants and their relations to overall distribution patterns and environmental factors such as rainfall. Methods used were radio tracking and observations of visually identifiable individuals. Aerial counts provided data on overall distribution. Two bulls and two cows were radio-tagged in Tsavo West and two bulls and four cows in Tsavo East, providing home range and movement data. The movements of individuals were useful in interpreting relatively major shifts in elephant distribution. Results point to the following preliminary conclusions: (1) elephants in the Tsavo area undertook long distance movements in fairly direct response to localized rainfall; (2) a subdivision of the overall population into locally distinct units may exist during the dry season but did not occur after significant rainfall; and (3) food appears to be the primary factor governing movements and distribution of elephants in the area.

Buechner, H. K.↗