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NASA NTRS2004

Filtering in Hybrid Dynamic Bayesian Networks

We demonstrate experimentally that inference in a complex hybrid Dynamic Bayesian Network (DBN) is possible using the 2 - T i e Slice DBN (2T-DBN) from [Koller & Lerner, 20001 to model fault detection in a watertank system. In [Koller & Lerner, 20001 a generic Particle Filter (PF) is used for inference. We extend the experiment and perform approximate inference using The Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF). Furthermore, we combine these techniques in a 'non-strict' Rao-Blackwellisation framework and apply it to the watertank system. We show that UKF and UKF in a PF framework outperfom the generic PF, EKF and EKF in a PF framework with respect to accuracy and robustness in terms of estimation RMSE. Especially we demonstrate the superiority of UKF in a PF framework when our beliefs of how data was generated are wrong. We also show that the choice of network structure is very important for the performance of the generic PF and the EKF algorithms, but not for the UKF algorithms. Furthermore, we investigate the influence of data noise in the water[ank simulation. Theory and implementation is based on the theory presented.

Andersen, Morten Nonboe↗

NASA NTRS1982

Boundary-fitted coordinate systems for numerical solution of partial differential equations - A review

A comprehensive review of methods of numerically generating curvilinear coordinate systems with coordinate lines coincident with all boundary segments is given. Some general mathematical framework and error analysis common to such coordinate systems is also included. The general categories of generating systems are those based on conformal mapping, orthogonal systems, nearly orthogonal systems, systems produced as the solution of elliptic and hyperbolic partial differential equations, and systems generated algebraically by interpolation among the boundaries. Also covered are the control of coordinate line spacing by functions embedded in the partial differential operators of the generating system and by subsequent stretching transformation. Dynamically adaptive coordinate systems, coupled with the physical solution, and time-dependent systems that follow moving boundaries are treated. References reporting experience using such coordinate systems are reviewed as well as those covering the system development.

Thompson, J. F.↗

NASA NTRSDate not supplied

Global Landslide Hazard Assessment for Situational Awareness (LHASA) Version 2: New Activities and Future Plans

A remote sensing-based system has been developed to characterize the potential for rainfall-triggered landslides across the globe in near real-time. The Landslide Hazard Assessment for Situational Awareness (LHASA) model uses a decision tree framework to combine a static susceptibility map derived from information on slope, rock characteristics, forest loss, distance to fault zones and distance to road networks with satellite precipitation estimates from the Global Precipitation Measurement (GPM) mission. Since 2016, the LHASA model has been providing near real-time and retrospective estimates of potential landslide activity. Results of this work are available at https://landslides.nasa.gov. In order to advance LHASA’s capabilities to characterize landslide hazards and impacts dynamically, we have implemented a new approach that leverages machine learning, new parameters, and new inventories. LHASA 2.0 uses the XGBoost machine learning model to bring in dynamic variables as well as additional static variables to better represent landslide hazard globally. Global rainfall forecasts are also being evaluated to provide a 1-3 day forecast of potential landslide activity. Additional factors such as recent seismicity and burned areas are also being considered to represent the preconditioning or changing interactions with subsequent rainfall over affected areas. A series of parameters are being tested within this structure using NASA’s Global Landslide Catalog as well as many other event-based and multi-temporal inventories mapped by the project team or provided by project partners. In addition to estimates of landslide hazard, LHASA Version 2 will incorporate dynamic estimates of exposure including population, roads and infrastructure to highlight the potential impacts that rainfall-triggered landslides. The ultimate goal of LHASA Version 2.0 is to approximate the relative probabilities of landslide hazard and exposure across different space and time scales to inform hazard assessment retrospectively over the past 20 years, in near real-time, and in the future. In addition to the hazard. This presentation will outline the new activities for LHASA Version 2.0 and present some next steps for this system.

Dalia Kirschbaum↗

NASA NTRS2019

Multi-Agency Annual Southeastern Beach Mouse Habitat Occupancy Monitoring

The southeastern beach mouse (Peromyscus polionotus niveiventris, hereafter SEBM), a federally threatened species was identified by Merritt Island National Wildlife Refuge (MINWR) as one of the top five priorities for management. The Kennedy Space Center (KSC) Environmental Management Branch was asked to provide support in the form of population monitoring for SEBM on KSC and the surrounding properties. When we began the project, the SEBM was known to occupy sites ranging from Volusia through Brevard and Indian River Counties, but the exact distribution within the Federal lands encompassing the Cape Canaveral Barrier Island Complex (CCBIC) was not well known. The broad range of habitat conditions encompassing the species’ historical range and the diversity of sites historically known to contain SEBM required a landscape-scale approach for both monitoring the population and for investigating species habitat relationships. We designed a monitoring plan for the SEBM with the goal of estimating the habitat occupancy of beach mice annually each winter/spring throughout the entire area of suitable coastal habitat (approximately 72 km linear distance along the beach). Methods were tested in a 2008 pilot study, and during 2010-2018 we monitored the proportion of coastal habitat occupied by the SEBM on the CCBIC. Monitoring was focused on using dynamic habitat occupancy surveys with data collected with rapid assessment techniques (i.e., track tubes or live-traps) to detect SEBM occurrence at sampling stations. An important component of the study design was the use of repeated samples that provided the information needed to estimate detectability. Measuring detectability was required to account for the fact that surveys could fail to detect animals at sites at which they were actually present (Mackenzie et al., 2002). This monitoring framework is very flexible, allowing numerous hypothesis to be tested about how various factors influence beach mouse occupancy using habitat, geographic, and environmental covariates. Our survey has been the longest survey conducted for any of the seven extant beach mouse subspecies and has encompassed nearly the entire remaining range of the SEBM. Although occupancy surveys of other beach mouse subspecies via track tubes have been conducted on the Gulf coast of Florida by Florida Fish and Wildlife Conservation Commission (FWC), United States Fish and Wildlife Service (USFWS), and various universities, we expanded previous methods to fit unique aspects of the SEBM, and thus our study was very different from any of the previous studies. To achieve this specificity, we employed an adaptive approach throughout the study, with all activities aimed at providing managers with information related to environmental compliance and natural resource management on KSC and the surrounding Federal lands.

Eric Douglas Stolen↗

NASA NTRS1992

Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem is incorporated into the framework of an in-line motion-planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning, the deterministic problem where the information about the objects is assumed to be certain is examined. L(1) or L(infinity) norms are used to represent distance and the problem becomes a linear programming problem. The stochastic problem is formulated where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: First, filtering of the distance between the robot and the moving object at the present time. Second, prediction of the minimum distance in the future in order to predict the collision time.

Kyriakopoulos, K. J.↗

NASA NTRS1999

Integration of a Decentralized Linear-Quadratic-Gaussian Control into GSFC's Universal 3-D Autonomous Formation Flying Algorithm

A decentralized control is investigated for applicability to the autonomous formation flying control algorithm developed by GSFC for the New Millenium Program Earth Observer-1 (EO-1) mission. This decentralized framework has the following characteristics: The approach is non-hierarchical, and coordination by a central supervisor is not required; Detected failures degrade the system performance gracefully; Each node in the decentralized network processes only its own measurement data, in parallel with the other nodes; Although the total computational burden over the entire network is greater than it would be for a single, centralized controller, fewer computations are required locally at each node; Requirements for data transmission between nodes are limited to only the dimension of the control vector, at the cost of maintaining a local additional data vector. The data vector compresses all past measurement history from all the nodes into a single vector of the dimension of the state; and The approach is optimal with respect to standard cost functions. The current approach is valid for linear time-invariant systems only. Similar to the GSFC formation flying algorithm, the extension to linear LQG time-varying systems requires that each node propagate its filter covariance forward (navigation) and controller Riccati matrix backward (guidance) at each time step. Extension of the GSFC algorithm to non-linear systems can also be accomplished via linearization about a reference trajectory in the standard fashion, or linearization about the current state estimate as with the extended Kalman filter. To investigate the feasibility of the decentralized integration with the GSFC algorithm, an existing centralized LQG design for a single spacecraft orbit control problem is adapted to the decentralized framework while using the GSFC algorithm's state transition matrices and framework. The existing GSFC design uses both reference trajectories of each spacecraft in formation and by appropriate choice of coordinates and simplified measurement modeling is formulated as a linear time-invariant system. Results for improvements to the GSFC algorithm and a multiple satellite formation will be addressed. The goal of this investigation is to progressively relax the assumptions that result in linear time-invariance, ultimately to the point of linearization of the non-linear dynamics about the current state estimate as in the extended Kalman filter. An assessment will then be made about the feasibility of the decentralized approach to the realistic formation flying application of the EO-1/Landsat 7 formation flying experiment.

Folta, David C.↗

NASA NTRS2007

Mission Simulation Toolkit

The Mission Simulation Toolkit (MST) is a flexible software system for autonomy research. It was developed as part of the Mission Simulation Facility (MSF) project that was started in 2001 to facilitate the development of autonomous planetary robotic missions. Autonomy is a key enabling factor for robotic exploration. There has been a large gap between autonomy software (at the research level), and software that is ready for insertion into near-term space missions. The MST bridges this gap by providing a simulation framework and a suite of tools for supporting research and maturation of autonomy. MST uses a distributed framework based on the High Level Architecture (HLA) standard. A key feature of the MST framework is the ability to plug in new models to replace existing ones with the same services. This enables significant simulation flexibility, particularly the mixing and control of fidelity level. In addition, the MST provides automatic code generation from robot interfaces defined with the Unified Modeling Language (UML), methods for maintaining synchronization across distributed simulation systems, XML-based robot description, and an environment server. Finally, the MSF supports a number of third-party products including dynamic models and terrain databases. Although the communication objects and some of the simulation components that are provided with this toolkit are specifically designed for terrestrial surface rovers, the MST can be applied to any other domain, such as aerial, aquatic, or space.

Pisaich, Gregory↗

NASA NTRS2012

Simulations of Magnetic Reconnection - Kinetic Mechanisms Underlying the Fluid Description of Ions

Because of its ability to transfer the energy stored in magnetic field together with the breaking of the flux freezing constraint, magnetic reconnection is considered as one of the most important phenomena in plasma physics. When it happens in a collision less environment such as the terrestrial magnetosphere, it should a priori be modelled with in the framework of kinetic physics. The evidence of kinetic features has incidentally for a long time, been shown by researchers with the help of both numerical simulations and satellite observations. However, most of our understanding of the process comes from the more intuitive fluid interpretation with simple closure hypothesis which do not include kinetic effects. To what extent are these two separate descriptions of the same phenomenon related? What is the role of kinetic effects in the averaged/fluid dynamics of reconnection? This thesis addresses these questions for the proton population in the particular case of anti parallel merging with the help of 2D Hybrid simulations. We show that one can not assume, as is usually done, that the acceleration of the proton flow is only due to the Laplace force. Our results show, for symmetric and asymmetric connection, the importance of the pressure force, opposed to the electric one on the separatrices, in the decoupling region. In the symmetric case, we emphasize the kinetic origin of this force by analyzing the proton distribution functions and explain their structure by studying the underlying particle dynamics. Protons, as individual particles, are shown to bounce in the electric potential well created by the Hall effect. The spatial divergence of this well results in a mixing in phase space responsible for the observed structure of the pressure tensor. A detailed energy budget analysis confirms the role of the pressure force for the acceleration; but, contrary to what is sometimes assumed, it also reveals that the major part of the incoming Poynting flux is transferred to the thermal energy flux rather than to the convective kinetic energy flux, although the latter is generally supposed dominant. In the symmetric case, we propose the pressure tensor to be an additional proxy of the ion decoupling region in satellite data and verify this suggestion by studying a reconnection event encountered by the Cluster spacecrafts. Finally, the last part of this thesis is devoted to the study of the kinetic structure of asymmetric tangential current sheets where connection can develop. This theoretical part consists in finding a steady state solution to the Vlasov-Maxwell system for the protons in such a configuration. We present the theory and its first confrontation to numerical tests.

Aunai, icolas↗

NASA NTRS2011

Modelling the Huge, Herschel-Resolved Debris Ring around HD 207129

Debris disks, which are inferred from the observed infrared excess to be ensembles of dust, rocks. and probably planetesimals, arc common features of stellar systems. As the mechanisms of their fonnation and evolution are linked to those of planetary bodies, they provide valuable infonnation. The few well-resolved debris disks are even more valuable because they can serve as modelling benchmarks and help resolve degeneracies in modelling aspects such as typical grain sizes and distances. Here, we present an analysis of the HD 207129 debris disk, based on its well-covered spectral energy distribution and Herschel/PACS images obtained in the framework of the DUNES (DUst around NEarby Stars) programme. We use an empirical power-law approach to the distribution of dust and we then model the production and removal of dust by means of collisions, direct radiation pressure, and drag forces. The resulting best-fit model contains a total of nearly 10(sup -2) Earth masses in dust, with typical grain sizes in the planetesimal beh ranging from 4 to 7 micrometers. We constrain the dynamical excitation to be low, which results in very long collisional lifetimes and a drag that notably fills the inner gap, especially at 70 micrometers. The radial distribution stretches from well within 100 AU in an unusual, outward-riSing slope towards a rather sharp outer edge at about 170-190 AU. The inner edge is therefore smoother than that reported for Fomalhaut, but the contribution from the extended halo of barely bound grains is similarly small. Both slowly self-stirring and planetary perturbations could potentially have formed and shaped this disk.

Lohne, T.↗

NASA NTRS2006

Instrument Remote Control Application Framework

The Instrument Remote Control (IRC) architecture is a flexible, platform-independent application framework that is well suited for the control and monitoring of remote devices and sensors. IRC enables significant savings in development costs by utilizing extensible Markup Language (XML) descriptions to configure the framework for a specific application. The Instrument Markup Language (IML) is used to describe the commands used by an instrument, the data streams produced, the rules for formatting commands and parsing the data, and the method of communication. Often no custom code is needed to communicate with a new instrument or device. An IRC instance can advertise and publish a description about a device or subscribe to another device's description on a network. This simple capability of dynamically publishing and subscribing to interfaces enables a very flexible, self-adapting architecture for monitoring and control of complex instruments in diverse environments.

Ames, Troy↗

NASA NTRS1992

Discrete-time entropy formulation of optimal and adaptive control problems

The discrete-time version of the entropy formulation of optimal control of problems developed by G. N. Saridis (1988) is discussed. Given a dynamical system, the uncertainty in the selection of the control is characterized by the probability distribution (density) function which maximizes the total entropy. The equivalence between the optimal control problem and the optimal entropy problem is established, and the total entropy is decomposed into a term associated with the certainty equivalent control law, the entropy of estimation, and the so-called equivocation of the active transmission of information from the controller to the estimator. This provides a useful framework for studying the certainty equivalent and adaptive control laws.

Tsai, Yweting A.↗

NASA NTRS1995

A vehicle health monitoring system for the Space Shuttle Reaction Control System during reentry

A general two tier framework for vehicle health monitoring of Guidance Navigation and Control (GN&C) system actuators, effectors, and propulsion devices is presented. In this context, a top level monitor that estimates jet thrust is designed for the Space Shuttle Reaction Control System (RCS) during the reentry phase of flight. Issues of importance for the use of estimation technologies in vehicle health monitoring are investigated and quantified for the Shuttle RCS demonstration application. These issues include rate of convergence, robustness to unmodeled dynamics, sensor quality, sensor data rates, and information recording objectives. Closed loop simulations indicate that a Kalman filter design is sensitive to modeling error and robust estimators may reduce this sensitivity. Jet plume interaction with the aerodynamic flowfield is shown to be a significant effect adversely impacting the ability to accurately estimate thrust.

Rosello, Anthony David↗

NASA NTRS2003

Accelerating the Design of Space Vehicles

One of NASA's key goals is to increase the safety and reduce the cost of space transportation. Thus, a key element of NASA's new Integrated Space Transportation Plan is to develop new propulsion, structures, and operations for future generations of reusable launch vehicles (RLVs). As part of this effort to develop the next RLV, the ClCT Program's Computing, Networking, and Information Systems (CNIS) Project is developing and demonstrating collaborative software technologies that use the collective power of the NASA Grid to accelerate spacecraft design. One of these technologies, called AeroDB, automates the execution and monitoring of computational fluid dynamics (CFD) parameter studies on the NASA Grid. About the NASA Grid The NASA Grid, or Information Power Grid,. is being developed to leverage the distributed resources of NASA's many computers. instruments, simulators, and data storage systems. The goal is to use these combined resources to sdve difficult NASA challenges, such as iimulating the entire flight of a space vehicle from ascent to descent.To realize the vision of the NASA Grid, the CNIS Project is developing the software framework and protocols for building domain-specific environments and interfaces, new Grid services based on emerging industry standards, and advanced networking and computing testbeds to support new Grid-based applications such as AeroDB.

Laufenberg, Larry↗

NASA NTRS2010

First Results of Venus Express Spacecraft Observations with Wettzell

The ESA Venus Express spacecraft was observed at X-band with the Wettzell radio telescope in October-December 2009 in the framework of an assessment study of the possible contribution of the European VLBI Network to the upcoming ESA deep space missions. A major goal of these observations was to develop and test the scheduling, data capture, transfer, processing, and analysis pipeline. Recorded data were transferred from Wettzell to Metsahovi for processing, and the processed data were sent from Mets ahovi to JIVE for analysis. A turnover time of 24 hours from observations to analysis results was achieved. The high dynamic range of the detections allowed us to achieve a milliHz level of spectral resolution accuracy and to extract the phase of the spacecraft signal carrier line. Several physical parameters can be determined from these observational results with more observational data collected. Among other important results, the measured phase fluctuations of the carrier line at different time scales can be used to determine the influence of the solar wind plasma density fluctuations on the accuracy of the astrometric VLBI observations.

Calves, Guifre Molera↗

NASA NTRS1994

ControlShell: A real-time software framework

The ControlShell system is a programming environment that enables the development and implementation of complex real-time software. It includes many building tools for complex systems, such as a graphical finite state machine (FSM) tool to provide strategic control. ControlShell has a component-based design, providing interface definitions and mechanisms for building real-time code modules along with providing basic data management. Some of the system-building tools incorporated in ControlShell are a graphical data flow editor, a component data requirement editor, and a state-machine editor. It also includes a distributed data flow package, an execution configuration manager, a matrix package, and an object database and dynamic binding facility. This paper presents an overview of ControlShell's architecture and examines the functions of several of its tools.

Schneider, Stanley A.↗

NASA NTRS1992

An extended Lagrangian method for subsonic flows

It is well known that fluid motion can be specified by either the Eulerian of Lagrangian description. Most of Computational Fluid Dynamics (CFD) developments over the last three decades have been based on the Eulerian description and considerable progress has been made. In particular, the upwind methods, inspired and guided by the work of Gudonov, have met with many successes in dealing with complex flows, especially where discontinuities exist. However, this shock capturing property has proven to be accurate only when the discontinuity is aligned with one of the grid lines since most upwind methods are strictly formulated in 1-D framework and only formally extended to multi-dimensions. Consequently, the attractive property of crisp resolution of these discontinuities is lost and research on genuine multi-dimensional approach has just been undertaken by several leading researchers. Nevertheless they are still based on the Eulerian description.

Liou, Meng-Sing↗

NASA NTRS2016

SUPIN: A Computational Tool for Supersonic Inlet Design

A computational tool named SUPIN is being developed to design and analyze the aerodynamic performance of supersonic inlets. The inlet types available include the axisymmetric pitot, three-dimensional pitot, axisymmetric outward-turning, two-dimensional single-duct, two-dimensional bifurcated-duct, and streamline-traced inlets. The aerodynamic performance is characterized by the flow rates, total pressure recovery, and drag. The inlet flow-field is divided into parts to provide a framework for the geometry and aerodynamic modeling. Each part of the inlet is defined in terms of geometric factors. The low-fidelity aerodynamic analysis and design methods are based on analytic, empirical, and numerical methods which provide for quick design and analysis. SUPIN provides inlet geometry in the form of coordinates, surface angles, and cross-sectional areas. SUPIN can generate inlet surface grids and three-dimensional, structured volume grids for use with higher-fidelity computational fluid dynamics (CFD) analysis. Capabilities highlighted in this paper include the design and analysis of streamline-traced external-compression inlets, modeling of porous bleed, and the design and analysis of mixed-compression inlets. CFD analyses are used to verify the SUPIN results.

computational fluid dynamics↗

NASA NTRS2014

Uncertainty Quantification and Certification Prediction of Low-Boom Supersonic Aircraft Configurations

The primary objective of this work was to develop and demonstrate a process for accurate and efficient uncertainty quantification and certification prediction of low-boom, supersonic, transport aircraft. High-fidelity computational fluid dynamics models of multiple low-boom configurations were investigated including the Lockheed Martin SEEB-ALR body of revolution, the NASA 69 Delta Wing, and the Lockheed Martin 1021-01 configuration. A nonintrusive polynomial chaos surrogate modeling approach was used for reduced computational cost of propagating mixed, inherent (aleatory) and model-form (epistemic) uncertainty from both the computation fluid dynamics model and the near-field to ground level propagation model. A methodology has also been introduced to quantify the plausibility of a design to pass a certification under uncertainty. Results of this study include the analysis of each of the three configurations of interest under inviscid and fully turbulent flow assumptions. A comparison of the uncertainty outputs and sensitivity analyses between the configurations is also given. The results of this study illustrate the flexibility and robustness of the developed framework as a tool for uncertainty quantification and certification prediction of low-boom, supersonic aircraft.

West, Thomas K., IV↗