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NASA NTRS1989

Measurement of hand dynamics in a microsurgery environment: Preliminary data in the design of a bimanual telemicro-operation test bed

Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.

Charles, Steve↗

NASA NTRS2023

Ground-Based Capabilities for Lunar Infrastructure Testing

A focus of NASA’s Moon-to-Mars objectives is the development of the infrastructure on the lunar surface that will be needed to support broader lunar surface operations. This infrastructure is intended to support both United States and international partners to expand human presence on the lunar surface. As this lunar infrastructure is designed and established, it will be critical to ensure that the various hardware elements work together to both enable the capabilities and to avoid unintended actions. NASA’s Glenn Research Center (GRC) is establishing ground-based testing and emulation facilities to mimic the lunar environment that the surface power and communications infrastructure will operate in. These facilities are intended to represent power and communications providers, users, and interfaces to ensure that systems operate as intended to support the lunar economy. They will empower industry to rapidly evaluate new technologies under realistic conditions. In 2023 GRC is opening a new, state-of-the-art, Aerospace Communications Facility featuring hardware-in-the-loop and ground-to-orbit testbeds. The Multiple Asset Testbed for Research in Innovative Communications Systems (MATRICS) capability will emulate the lunar communications environment, enabling validation of mission concepts and technologies to reduce risk through performance and operations testing, training, and uncover potential issues in compatibility among communication systems providers and users. In addition to the communications testbed, GRC is also developing a full-scale power grid to reduce lunar mission risk. The Adaptable Surface Power Integration and Research (ASPIRE) project aims to reduce mission and hardware risk via high-fidelity integrated testing and pave the way for commercially supplied utility power on the lunar surface. The facility will be scalable and highly adaptable and will be available to NASA, Industry, Academia, and International Partners. ASPIRE will allow developers to integrate and demonstrate their power solutions in a relevant environment, and it will be able to characterize the lunar power performance in representative mission contexts.

ground-based testing↗

NASA NTRS1985

Communication Program Emulates Switchboard

Software allows microprocessor systems to communicate with external devices. Flexible program completely menu-driven, and all local operator commands require only single keystroke.

Ron, D.↗

NASA NTRS2005

Validation Of The Airspace Concept Evaluation System Using Real World Data

This paper discusses the process of performing a validation of the Airspace Concept Evaluation System (ACES) using real world historical flight operational data. ACES inputs are generated from select real world data and processed to create a realistic reproduction of a single day of operations within the National Airspace System (NAS). ACES outputs are then compared to real world operational metrics and delay statistics for the reproduced day. Preliminary results indicate that ACES produces delays and airport operational metrics similar to the real world with minor variations of delay by phase of flight. ACES is a nation-wide fast-time simulation tool developed at NASA Ames Research Center. ACES models and simulates the NAS using interacting agents representing center control, terminal flow management, airports, individual flights, and other NAS elements. These agents pass messages between one another similar to real world communications. This distributed agent based system is designed to emulate the highly unpredictable nature of the NAS, making it a suitable tool to evaluate current and envisioned airspace concepts. To ensure that ACES produces the most realistic results, the system must be validated. There is no way to validate future concepts scenarios using real world historical data, but current day scenario validations increase confidence in the validity of future scenario results. Each operational day has unique weather and traffic demand schedules. The more a simulation utilizes the unique characteristic of a specific day, the more realistic the results should be. ACES is able to simulate the full scale demand traffic necessary to perform a validation using real world data. Through direct comparison with the real world, models may continuee to be improved and unusual trends and biases may be filtered out of the system or used to normalize the results of future concept simulations.

Zelinski, Shannon↗

NASA NTRS1994

Third CLIPS Conference Proceedings, volume 1

Expert systems are computed programs which emulate human expertise in well defined problem domains. The potential payoff from expert systems is high: valuable expertise can be captured and preserved, repetitive and/or mundane tasks requiring human expertise can be automated, and uniformity can be applied in decision making processes. The C Language Integrated Production Systems (CLIPS) is an expert system building tool, developed at the Johnson Space Center, which provides a complete environment for the development and delivery of rule and/or object based expert systems. CLIPS was specifically designed to provide a low cost option for developing and deploying expert system applications across a wide range of hardware platforms. The development of CLIPS has helped to improve the ability to deliver expert systems technology throughout the public and private sectors for a wide range of applications and diverse computing environments.

Riley, Gary↗

NASA NTRS1994

Third CLIPS Conference Proceedings, volume 2

Expert systems are computer programs which emulate human expertise in well defined problem domains. The C Language Integrated Production System (CLIPS) is an expert system building tool, developed at the Johnson Space Center, which provides a complete environment for the development and delivery of rule and/or object based expert systems. CLIPS was specifically designed to provide a low cost option for developing and deploying expert system applications across a wide range of hardware platforms. The development of CLIPS has helped to improve the ability to deliver expert system technology throughout the public and private sectors for a wide range of applications and diverse computing environments. The Third Conference on CLIPS provided a forum for CLIPS users to present and discuss papers relating to CLIPS applications, uses, and extensions.

Riley, Gary↗

NASA NTRS1994

CLIPS: The C language integrated production system

Expert systems are computer programs which emulate human expertise in well defined problem domains. The potential payoff from expert systems is high: valuable expertise can be captured and preserved, repetitive and/or mundane tasks requiring human expertise can be automated, and uniformity can be applied in decision making processes. The C Language Integrated Production System (CLIPS) is an expert system building tool, developed at the Johnson Space Center, which provides a complete environment for the development and delivery of rule and/or object based expert systems. CLIPS was specifically designed to provide a low cost option for developing and deploying expert system applications across a wide range of hardware platforms. The commercial potential of CLIPS is vast. Currently, CLIPS is being used by over 5,000 individuals throughout the public and private sector. Because the CLIPS source code is readily available, numerous groups have used CLIPS as the basis for their own expert system tools. To date, three commercially available tools have been derived from CLIPS. In general, the development of CLIPS has helped to improve the ability to deliver expert system technology throughout the public and private sectors for a wide range of applications and diverse computing environments.

Riley, Gary↗

NASA NTRS2006

Technology Developments Integrating a Space Network Communications Testbed

As future manned and robotic space explorations missions involve more complex systems, it is essential to verify, validate, and optimize such systems through simulation and emulation in a low cost testbed environment. The goal of such a testbed is to perform detailed testing of advanced space and ground communications networks, technologies, and client applications that are essential for future space exploration missions. We describe the development of new technologies enhancing our Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) that enable its integration in a distributed space communications testbed. MACHETE combines orbital modeling, link analysis, and protocol and service modeling to quantify system performance based on comprehensive considerations of different aspects of space missions. It can simulate entire networks and can interface with external (testbed) systems. The key technology developments enabling the integration of MACHETE into a distributed testbed are the Monitor and Control module and the QualNet IP Network Emulator module. Specifically, the Monitor and Control module establishes a standard interface mechanism to centralize the management of each testbed component. The QualNet IP Network Emulator module allows externally generated network traffic to be passed through MACHETE to experience simulated network behaviors such as propagation delay, data loss, orbital effects and other communications characteristics, including entire network behaviors. We report a successful integration of MACHETE with a space communication testbed modeling a lunar exploration scenario. This document is the viewgraph slides of the presentation.

hybrid simulation↗

NASA NTRS2019

Characterization of a Photon Counting Test Bed for Space to Ground Optical Pulse Position Modulation Communications Links

The National Aeronautics and Space Administration (NASA) Glenn Research Center (GRC) has developed a laboratory transmitter and receiver prototype of a space to ground optical communications link. The system is meant to emulate future deep space optical communication links, such as the first crewed flight of Orion, in which the transmitted laser is modulated using pulse position modulation and the receiver is capable of detecting single photons. The transmitter prototype consists of a software defined radio, a high extinction ratio electro-optic modulator system, and 1550 nm laser. The receiver is a scalable concept and utilizes a single-pixel array of fiber coupled superconducting nanowire single photon detectors. The transmit and receive waveforms follow the Consultative Committee for Space Data Systems (CCSDS) Optical Communications High Photon Efficiency Standard. This paper describes the transmitter and receiver prototypes as well as the system test configuration. System level tests results are presented and compared to predictions from software simulations.

Nappier, Jennifer M.↗

NASA NTRS2019

Characterization of a Photon Counting Test Bed for Space to Ground Optical Pulse Position Modulation Communications Links

The National Aeronautics and Space Administration (NASA) Glenn Research Center (GRC) has developed a laboratory transmitter and receiver prototype of a space-to-ground optical communications link. The system is meant to emulate future deep space optical communication links, such as the first crewed flight of Orion, in which the transmitted laser is modulated using pulse position modulation and the receiver is capable of detecting single photons. The transmitter prototype consists of a software defined radio, a high extinction ratio electro-optic modulator system, and a 1550 nm laser. The receiver is a scalable concept and utilizes a single-pixel array of fiber coupled superconducting nanowire single photon detectors. The transmit and receive waveforms follow the Consultative Committee for Space Data Systems (CCSDS) Optical Communications Coding and Synchronization Standard. A software model of the optical transmitter and receiver has also been implemented to predict performance of the optical test bed. This paper describes the transmitter and receiver prototypes as well as the system test configuration. System level tests results are presented and shown to align with predictions from software simulations. The validated software model can be used to in the future to reduce the design cycle of optical communications systems.

software defined radio↗

NASA NTRS2025

Cognitive Engine One: A Cross-Layer Framework for Autonomy in Multi-Provider Space Communications Environments

Spacecraft information needs, along with the communications environments in which data transfers occur, are becoming increasingly dynamic. Earth orbit is served by dozens of ground station and relay satellite providers – each with unique protocols and service capabilities. In this context, we present a system to automate end-to-end space communications across the protocol stack for each of several providers. The proposed system schedules contacts with providers, configures point-to-point RF links, and ensures data is transferred to its destination. Data monitoring and rescheduling provide an automated failover capability in the event of unsuccessful contacts. We verify system performance in a high-fidelity emulation testbed. Results from several scenarios demonstrate favorable system performance across a variety of mission use cases.

space communications↗

NASA NTRS1975

A Standard Kinematic Model for Flight Simulation at NASA Ames

A standard kinematic model for aircraft simulation exists at NASA-Ames on a variety of computer systems, one of which is used to control the flight simulator for advanced aircraft (FSAA). The derivation of the kinematic model is given and various mathematical relationships are presented as a guide. These include descriptions of standardized simulation subsystems such as the atmospheric turbulence model and the generalized six-degrees-of-freedom trim routine, as well as an introduction to the emulative batch-processing system which enables this facility to optimize its real-time environment.

Mcfarland, R. E.↗

NASA NTRS2004

Space Communications Emulation Facility

Establishing space communication between ground facilities and other satellites is a painstaking task that requires many precise calculations dealing with relay time, atmospheric conditions, and satellite positions, to name a few. The Space Communications Emulation Facility (SCEF) team here at NASA is developing a facility that will approximately emulate the conditions in space that impact space communication. The emulation facility is comprised of a 32 node distributed cluster of computers; each node representing a satellite or ground station. The objective of the satellites is to observe the topography of the Earth (water, vegetation, land, and ice) and relay this information back to the ground stations. Software originally designed by the University of Kansas, labeled the Emulation Manager, controls the interaction of the satellites and ground stations, as well as handling the recording of data. The Emulation Manager is installed on a Linux Operating System, employing both Java and C++ programming codes. The emulation scenarios are written in extensible Markup Language, XML. XML documents are designed to store, carry, and exchange data. With XML documents data can be exchanged between incompatible systems, which makes it ideal for this project because Linux, MAC and Windows Operating Systems are all used. Unfortunately, XML documents cannot display data like HTML documents. Therefore, the SCEF team uses XML Schema Definition (XSD) or just schema to describe the structure of an XML document. Schemas are very important because they have the capability to validate the correctness of data, define restrictions on data, define data formats, and convert data between different data types, among other things. At this time, in order for the Emulation Manager to open and run an XML emulation scenario file, the user must first establish a link between the schema file and the directory under which the XML scenario files are saved. This procedure takes place on the command line on the Linux Operating System. Once this link has been established the Emulation manager validates all the XML files in that directory against the schema file, before the actual scenario is run. Using some very sophisticated commercial software called the Satellite Tool Kit (STK) installed on the Linux box, the Emulation Manager is able to display the data and graphics generated by the execution of a XML emulation scenario file. The Emulation Manager software is written in JAVA programming code. Since the SCEF project is in the developmental stage, the source code for this type of software is being modified to better fit the requirements of the SCEF project. Some parameters for the emulation are hard coded, set at fixed values. Members of the SCEF team are altering the code to allow the user to choose the values of these hard coded parameters by inserting a toolbar onto the preexisting GUI.

Hill, Chante A.↗

NASA NTRS2006

Technology developments integrating a space network communications testbed

hybrid simulations↗

NASA NTRSDate not supplied

Current State of NASA Continuously Rotating Detonation Cycle Engine Development

NASA is currently investigating continuous detonation cycle engines for the application of lander and interplanetary space exploration missions. The performance benefits of a detonation cycle engine may allow for a broader design trade space and more compact geometry required for future missions to the Moon and onwards towards Mars. However, the technology readiness level (TRL) within the US was found to be low with several major risk factors that require understanding prior to full engine system development. One area of uncertainty is the extreme heat loads expected during thermal steady state conditions. To achieve this, an announcement for collaborative opportunity (ACO) partnership between IN Space LLC and NASA Marshall Space Flight Center (MSFC) was established to explore integration of additive manufacturing (AM) processes and the high conductance copper-based alloys, GRCop-42 and GRCop-84. This work outlines the hot fire testing of a 7K lbf thrust class fully AM GRCop-alloy rotating detonation rocket engine (RDRE). Two annular thrust chamber configurations emulating a lander engine system were tested with LOx/GH2 and LOx/LCH4. In both configurations, select hardware was actively cooled using de-ionized water and regeneratively cooled using LCH4. All primary hardware survived long duration tests to thermal steady state up to 133 seconds in a single burn. In total, 18 starts and 802 seconds of duration were achieved with and without visual confirmation of waves present. The proportion of burned propellant, or level of complete combustion, was found to be high compared to the theoretically achievable mean chamber pressure in all cases.

Thomas Teasley↗

NASA NTRS1994

S-Band propagation measurements

A geosynchronous satellite system capable of providing many channels of digital audio radio service (DARS) to mobile platforms within the contiguous United States using S-band radio frequencies is being implemented. The system is designed uniquely to mitigate both multipath fading and outages from physical blockage in the transmission path by use of satellite spatial diversity in combination with radio frequency and time diversity. The system also employs a satellite orbital geometry wherein all mobile platforms in the contiguous United States have elevation angles greater than 20 deg to both of the diversity satellites. Since implementation of the satellite system will require three years, an emulation has been performed using terrestrial facilities in order to allow evaluation of DARS capabilities in advance of satellite system operations. The major objective of the emulation was to prove the feasibility of broadcasting from satellites 30 channels of CD quality programming using S-band frequencies to an automobile equipped with a small disk antenna and to obtain quantitative performance data on S-band propagation in a satellite spatial diversity system.

Briskman, Robert D.↗

NASA NTRS2008

Distributed Avionics and Software Verification for the Constellation Program

This viewgraph presentation reviews the planned verification of the avionics and software being developed for the Constellation program.The Constellation Distributed System Integration Laboratory (DSIL) will consist of multiple System Integration Labs (SILs), Simulators, Emulators, Testbeds, and Control Centers interacting with each other over a broadband network to provide virtual test systems for multiple test scenarios.

Hood, Laura E.↗

NASA NTRS1988

An expert system for a distributed real-time trainer

The problem addressed by this expert system concerns the expansion of capability of a Real Time Trainer for the Spacelab flight crew. As requirements for more models or fidelity are placed upon the system, expansion is necessary. The simulator can be expanded using a larger processor or by going to a distributed system and expand by adding additional processors. The distributed system is preferable because it is more economical and can be expanded in a more incremental manner. An expert system was developed to evaluate modeling and timing capability within a real time training simulator. The expert system is based upon a distributed configuration. Components of the modeled system are control tasks, network tasks, emulator tasks, processors, displays, and a network. The distributed module expert system (DMES) allows the configuring of processors, tasks, display use, keyboard use, and selection of alternate methods to update the data buffer. Modules can be defined with execution occurring in a specific processor on a network. The system consists of a knowledge front end editor to interactively generate or update the knowledge base, an inference engine, a display module, and a recording module.

Purinton, Steven C.↗