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At least 973 records · Page 54
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NASA NTRS2000

Formal Analysis of the Remote Agent Before and After Flight

This paper describes two separate efforts that used the SPIN model checker to verify deep space autonomy flight software. The first effort occurred at the beginning of a spiral development process and found five concurrency errors early in the design cycle that the developers acknowledge would not have been found through testing. This effort required a substantial manual modeling effort involving both abstraction and translation from the prototype LISP code to the PROMELA language used by SPIN. This experience and others led to research to address the gap between formal method tools and the development cycle used by software developers. The Java PathFinder tool which directly translates from Java to PROMELA was developed as part of this research, as well as automatic abstraction tools. In 1999 the flight software flew on a space mission, and a deadlock occurred in a sibling subsystem to the one which was the focus of the first verification effort. A second quick-response "cleanroom" verification effort found the concurrency error in a short amount of time. The error was isomorphic to one of the concurrency errors found during the first verification effort. The paper demonstrates that formal methods tools can find concurrency errors that indeed lead to loss of spacecraft functions, even for the complex software required for autonomy. Second, it describes progress in automatic translation and abstraction that eventually will enable formal methods tools to be inserted directly into the aerospace software development cycle.

Havelund, Klaus↗
NASA NTRS1997

Mars Delay-Doppler Radar Observations With GSSR: Global Analysis for Landing Site Selection and Characterization

Earth-based radar data remain an important part of the information set used to select and certify spacecraft landing sites on Mars. Constraints on robotic landings on Mars include: terrain elevation, radar reflectivity. regional and local slopes, rock distribution and coverage, and surface roughness, all of which are addressed by radar data. Indeed, the usefulness of radar data for Mars exploration has been demonstrated in the past. Radar data were critical in assessing the Viking Lander I site, and more recently, the Mars Pathfinder landing site.

Haldemann, A. F. C.↗
NASA NTRS2000

Global Database of GSSR Mars Delay-Doppler Radar Obsevations: Analysis for Landing Site Characterization and Rover Trafficability

Earth-based radar data remain an important part of the information set used to select and certify spacecraft landing sites on Mars. Constraints on robotic landings on Mars include: terrain elevation, radar reflectivity, regional and local slopes, rock distribution and coverage, and surface roughness, all of which are addressed by radar data. Indeed, the usefulness of radar data for Mars exploration has been demonstrated in the past. Radar data were critical in assessing the Viking Lander, and more recently, the Mars Pathfinder landing.

Haldemann, A. F. C.↗
NASA NTRS1999

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Laubach, Sharon L.↗
NASA NTRS2000

Electroactive Polymers as Artificial Muscles: Capabilities, Potentials and Challenges

The low density and the relative ease of shaping made polymers highly attractive materials and they are increasingly being chosen for aerospace applications. Polymer matrix composite materials significantly impacted the construction of high performance aircraft components and structures. In recent years, the resilience characteristics of polymers made them attractive to the emerging field of inflatable structures. Balloons were used to cushion the deployment of the Mars Pathfinder lander on July 4, 1997, paving the way for the recent large number of related initiatives. Inflatable structures are now being used to construct a rover, aerial vehicles, telescopes, radar antennas, and others. Some of these applications have reached space flight experiments, whereas others are now at advanced stages of development.

Bar-Cohen, Yoseph↗
NASA NTRS2000

Message Mode Operations for Spacecraft: A Proposal for Operating Spacecraft During Cruise and Mitigating the Network Loading Crunch

The NASA Deep Space Network (DSN) is a world-class spacecraft tracking facility with stations located in Spain, Australia and USA, servicing Deep Space Missions of many space agencies. The current system of scheduling spacecraft during cruise for multiple 8 hour tracking sessions per week currently leads to an overcommitted DSN. Studies indicate that future projected mission demands upon the Network will only make the loading problem worse. Therefore, a more efficient scheduling of DSN resources is necessary in order to support the additional network loading envisioned in the next few years: The number of missions is projected to increase from 25 in 1998 to 34 by 2001. In fact given the challenge of the NASA administrator, Dan Goldin, of launching 12 spacecraft per year, the DSN would be tracking approximately 90 spacecraft by 2010. Currently a large amount of antenna time and network resources are subscribed by a project in order to have their mission supported during the cruise phase. The recently completed Mars Pathfinder mission was tracked 3 times a week (8 hours/day) during the majority of its cruise to Mars. This paper proposes an innovative approach called Message Mode Operations (MMO) for mitigating the Network loading problem while continuing to meet the tracking, reporting, time management, and scheduling requirements of these missions during Cruise while occupying very short tracking times. MMO satisfies these requirements by providing the following services: Spacecraft Health and Welfare Monitoring Service Command Delivery Service Adaptive Spacecraft Scheduling Service Orbit Determination Service Time Calibration Service Utilizing more efficient engineering telemetry summarization and filtering techniques on-board the spacecraft and collapsing the navigation requirements for Doppler and Range into shorter tracks, we believe spacecraft can be adequately serviced using short 10 to 30 minute tracking sessions. This claim assumes that certain changes would have to he made in the way the Network traditionally services missions in Cruise. Furthermore, limiting spacecraft to short sessions will free up larger blocks of time in the tracking schedule to help accommodate future tracking demands soon to be placed upon the Network. This paper describes the key characteristics and benefits of MMO, the operational scenarios for its use, the required changes to the ground system in order to make this approach feasible and the results of two simulations: 1) to determine the effects of MMO on projected mission loading on the DSN and, 2) to determine the effect MMO has on spacecraft orbit determination.

Greenberg, Ed↗
NASA NTRS2000

Lybia Montes: A Safe, Ancient Cratered Terrain, Mars Surveyor Landing Site at the Isidis Basin Rim

The Isidis basin rim may be key to understanding Mars' past with future lander missions: this area enables the mission objective to explore Mars' climatic and geologic history, including the search for liquid water and evidence of prior or extant life in ancient terrains. While two safe candidate landIng sites for Mars Pathfinder were identified in Isidis Planitia, and one is being pursued for the Mars Surveyor 2001 Lander, the region around Isidis Planitia. in contrast to Tharsis for example, has only been lightly studied. The advent of new high resolution data sets provides an opportunity to re-assess the geologic context of this Impact basin and its rim within the Martian geologic sequence as a candidate site for studying Mars' ancient cratered terrain and ancient hydrosphere. This reexamination is warranted by the various hypotheses that Isidis was once filled with ice or water.

Haldemann, A. F. C.↗
NASA NTRS2000

Summary of Results from the Risk Management Program for the Mars Microrover Flight Experiment

On 4 July 1997, the Mars Pathfinder landed on the surface of Mars carrying the first planetary rover, known as the Sojourner. Formally known as the Microrover Flight Experiment (MFEX), the Sojourner was a low cost, high-risk technology demonstration, in which new risk management techniques were tried. This paper summarizes the activities and results of the effort to conduct a low-cost, yet meaningful risk management program for the MFEX. The specific activities focused on cost, performance, schedule, and operations risks. Just as the systems engineering process was iterative and produced successive refinements of requirements, designs, etc., so was the risk management process. Qualitative risk assessments were performed first to gain some insights for refining the microrover design and operations concept. These then evolved into more quantitative analyses. Risk management lessons from the manager's perspective is presented for other low-cost, high-risk space missions.

Shishko, Robert↗
NASA NTRS2000

Autonomy Architectures for a Constellation of Spacecraft

Until the past few years, missions typically involved fairly large expensive spacecraft. Such missions have primarily favored using older proven technologies over more recently developed ones, and humans controlled spacecraft by manually generating detailed command sequences with low-level tools and then transmitting the sequences for subsequent execution on a spacecraft controller. This approach toward controlling a spacecraft has worked spectacularly on previous missions, but it has limitations deriving from communications restrictions - scheduling time to communicate with a particular spacecraft involves competing with other projects due to the limited number of deep space network antennae. This implies that a spacecraft can spend a long time just waiting whenever a command sequence fails. This is one reason why the New Millennium program has an objective to migrate parts of mission control tasks onboard a spacecraft to reduce wait time by making spacecraft more robust. The migrated software is called a "remote agent" and has 4 components: a mission manager to generate the high level goals, a planner/scheduler to turn goals into activities while reasoning about future expected situations, an executive/diagnostics engine to initiate and maintain activities while interpreting sensed events by reasoning about past and present situations, and a conventional real-time subsystem to interface with the spacecraft to implement an activity's primitive actions. In addition to needing remote planning and execution for isolated spacecraft, a trend toward multiple-spacecraft missions points to the need for remote distributed planning and execution. The past few years have seen missions with growing numbers of probes. Pathfinder has its rover (Sojourner), Cassini has its lander (Huygens), and the New Millenium Deep Space 3 (DS3) proposal involves a constellation of 3 spacecraft for interferometric mapping. This trend is expected to continue to progressively larger fleets. For example, one mission proposed to succeed DS3 would have 18 spacecraft flying in formation in order to detect earth-sized planets orbiting other stars. A proposed magnetospheric constellation would involve 5 to 500 spacecraft in Earth orbit to measure global phenomena within the magnetosphere. This work describes and compares three autonomy architectures for a system that continuously plans to control a fleet of spacecraft using collective mission goals instead of goals or command sequences for each spacecraft. A fleet of self-commanding spacecraft would autonomously coordinate itself to satisfy high level science and engineering goals in a changing partially-understood environment making feasible the operation of tens or even a hundred spacecraft (such as for interferometry or plasma physics missions). The easiest way to adapt autonomous spacecraft research to controlling constellations involves treating the constellation as a single spacecraft. Here one spacecraft directly controls the others as if they were connected. The controlling "master" spacecraft performs all autonomy reasoning, and the slaves only have real-time subsystems to execute the master's commands and transmit local telemetry/observations. The executive/diagnostics module starts actions and the master's real-time subsystem controls the action either locally or remotely through a slave. While the master/slave approach benefits from conceptual simplicity, it relies on an assumption that the master spacecraft's executive can continuously monitor the slaves' real-time subsystems, and this relies on high-bandwidth highly-reliable communications. Since unintended results occur fairly rarely, one way to relax the bandwidth requirements involves only monitoring unexpected events in spacecraft. Unfortunately, this disables the ability to monitor for unexpected events between spacecraft and leads to a host of coordination problems among the slaves. Also, failures in the communications system can result in losing slaves. The other two architectures improve robustness while reducing communications by progressively distributing more of the other three remote agent components across the constellation. In a teamwork architecture, all spacecraft have executives and real-time subsystems - only the leader has the planner/scheduler and mission manager. Finally, distributing all remote agent components leads to a peer-to-peer approach toward constellation control.

Barrett, Anthony↗
NASA NTRS2000

Report on the Loss of the Mars Polar Lander and Deep Space 2 Missions

NASA's Mars Surveyor Program (MSP) began in 1994 with plans to send spacecraft to Mars every 26 months. Mars Global Surveyor (MGS), a global mapping mission, was launched in 1996 and is currently orbiting Mars. Mars Surveyor '98 consisted of Mars Climate Orbiter (MCO) and Mars Polar Lander (MPL). Lockheed Martin Astronautics (LMA) was the prime contractor for Mars Surveyor '98. The Jet Propulsion Laboratory (JPL), California Institute of Technology, manages the Mars Surveyor Program for NASA's Office of Space Science. MPL was developed under very tight funding constraints. The combined development cost of MPL and MCO, including the cost of the two launch vehicles, was approximately the same as the development cost of the Mars Pathfinder mission, including the cost of its single launch vehicle. The MPL project accepted the challenge to develop effective implementation methodologies consistent with programmatic requirements.

Albee, Arden↗
NASA NTRS2000

NASA Fastrac Engine Gas Generator Component Test Program and Results

Low cost access to space has been a long-time goal of the National Aeronautics and Space Administration (NASA). The Fastrac engine program was begun at NASA's Marshall Space Flight Center to develop a 60,000-pound (60K) thrust, liquid oxygen/hydrocarbon (LOX/RP), gas generator-cycle booster engine for a fraction of the cost of similar engines in existence. To achieve this goal, off-the-shelf components and readily available materials and processes would have to be used. This paper will present the Fastrac gas generator (GG) design and the component level hot-fire test program and results. The Fastrac GG is a simple, 4-piece design that uses well-defined materials and processes for fabrication. Thirty-seven component level hot-fire tests were conducted at MSFC's component test stand #116 (TS116) during 1997 and 1998. The GG was operated at all expected operating ranges of the Fastrac engine. Some minor design changes were required to successfully complete the test program as development issues arose during the testing. The test program data results and conclusions determined that the Fastrac GG design was well on the way to meeting the requirements of NASA's X-34 Pathfinder Program that chose the Fastrac engine as its main propulsion system.

Dennis, Henry J., Jr.↗
NASA NTRS2000

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

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

McGill, Preston↗
NASA NTRS1999

Practical Application of Model Checking in Software Verification

This paper presents our experiences in applying the JAVA PATHFINDER (J(sub PF)), a recently developed JAVA to SPIN translator, in the finding of synchronization bugs in a Chinese Chess game server application written in JAVA. We give an overview of J(sub PF) and the subset of JAVA that it supports and describe the abstraction and verification of the game server. Finally, we analyze the results of the effort. We argue that abstraction by under-approximation is necessary for abstracting sufficiently smaller models for verification purposes; that user guidance is crucial for effective abstraction; and that current model checkers do not conveniently support the computational models of software in general and JAVA in particular.

Havelund, Klaus↗
NASA NTRS1999

Meteorological and Remote Sensing Applications of High Altitude Unmanned Aerial Vehicles

Unmanned aerial vehicles (UAVs) are maturing in performance and becoming available for routine use in environmental applications including weather reconnaissance and remote sensing. This paper presents a discussion of UAV characteristics and unique features compared with other measurement platforms. A summary of potential remote sensing applications is provided, along with details for four types of tropical cyclone missions. Capabilities of platforms developed under NASA's Environmental Research Aircraft and Sensor Technology (ERAST) program are reviewed, including the Altus, Perseus, and solar- powered Pathfinder, all of which have flown to over 57,000 ft (17 km). In many scientific missions, the science objectives drive the experimental design, thus defining the sensor payload, aircraft performance, and operational requirements. Some examples of science missions and the requisite UAV / payload system are given. A discussion of technology developments needed to fully mature UAV systems for routine operational use is included, along with remarks on future science and commercial UAV business opportunities.

Schoenung, S. M.↗
NASA NTRS1999

Elevation Change of the Southern Greenland Ice Sheet from Satellite Radar Altimeter Data

Long-term changes in the thickness of the polar ice sheets are important indicators of climate change. Understanding the contributions to the global water mass balance from the accumulation or ablation of grounded ice in Greenland and Antarctica is considered crucial for determining the source of the about 2 mm/yr sea-level rise in the last century. Though the Antarctic ice sheet is much larger than its northern counterpart, the Greenland ice sheet is more likely to undergo dramatic changes in response to a warming trend. This can be attributed to the warmer Greenland climate, as well as a potential for amplification of a global warming trend in the polar regions of the Northern Hemisphere. In collaboration with Drs. Curt Davis and Craig Kluever of the University of Missouri, we are using data from satellite radar altimeters to measure changes in the elevation of the Southern Greenland ice sheet from 1978 to the present. Difficulties with systematic altimeter measurement errors, particularly in intersatellite comparisons, beset earlier studies of the Greenland ice sheet thickness. We use altimeter data collected contemporaneously over the global ocean to establish a reference for correcting ice-sheet data. In addition, the waveform data from the ice-sheet radar returns are reprocessed to better determine the range from the satellite to the ice surface. At JPL, we are focusing our efforts principally on the reduction of orbit errors and range biases in the measurement systems on the various altimeter missions. Our approach emphasizes global characterization and reduction of the long-period orbit errors and range biases using altimeter data from NASA's Ocean Pathfinder program. Along-track sea-height residuals are sequentially filtered and backwards smoothed, and the radial orbit errors are modeled as sinusoids with a wavelength equal to one revolution of the satellite. The amplitudes of the sinusoids are treated as exponentially-correlated noise processes with a time-constant of six days. Measurement errors (e.g., altimeter range bias) are simultaneously recovered as constant parameters. The corrections derived from the global ocean analysis are then applied over the Greenland ice sheet. The orbit error and measurement bias corrections for different missions are developed in a single framework to enable robust linkage of ice-sheet measurements from 1978 to the present. In 1998, we completed our re-evaluation of the 1978 Seasat and 1985-1989 Geosat Exact Repeat Mission data. The estimates of ice thickness over Southern Greenland (south of 72N and above 2000 m) from 1978 to 1988 show large regional variations (+/-18 cm/yr), but yield an overall rate of +1.5 +/- 0.5 cm/yr (one standard error). Accounting for systematic errors, the estimate may not be significantly different from the null growth rate. The average elevation change from 1978 to 1988 is too small to assess whether the Greenland ice sheet is undergoing a long-term change.

Haines, Bruce J.↗
NASA NTRS2001

Microgravity Science Glovebox

The Microgravity Science Glovebox (MSG) is a versatile research facility designed to permit the flexibility of crew manipulated investigations on the International Space Station (ISS). The MSG configuration has been planned around the concept of an experimental workstation where a variety of experiments can be installed and operated in a fashion very similar to their operation in a ground-based laboratory. The approach has been to provide a large working volume with a significant set of power, data and imaging resources, all enclosed, but accessible by the crew through sealed glove ports. This arrangement allows the advantage of interactive experimentation without unduly compromising the experiment design with restrictions imposed by protective and containment challenges that normally arise in manned space-flight laboratories. In addition, the data and imaging resources allow cooperative monitoring of experiment progress between the crew and ground-based scientists. As ISS utilization evolves, the MSG is scheduled to become a major pathfinder for developing and exploiting the scientific advantages of truly enabling the coupling of experimentation in space with an evaluative response from the crew and investigators.

Roark, Walt↗
NASA NTRS1993

Mars Observer Orbit Insertion Briefing

Steve Wall is the host of this video entitled, "Return to the Red Planet". Live animation of the Mars Observer orbiting Mars is presented. Steve Wall explains the spacecraft insertion maneuver and also explains the purpose for the Mars Observer launch. Live coverage of the Cape Canaveral launch of the Mars Observer is also presented. Suzanne Dodd, Chief of the Mission Planning team describes the burn start and how the spacecraft will be captured by Mars' gravity. Glenn Cunningham, Mars Observer Project Manager, gives background information on the Mars Observer and describes the organizations behind the Mars Observer Spacecraft, such as the Deep Space Network, the Mission Operation Support Office, Science Investigators, the Flight Engineering Office, Operations Office, and the Ground Data System Office. Dr. William Piotrowski, Acting Director, Solar System Exploration Division, NASA, talks about the purpose of the Mars Pathfinder which is to develop the technology and systems for landing small science packages on Mars. Mr. Roger Gibbs, Former Mars Observer Spacecraft Systems Engineer, tells us how the Mars Observer was built and describes the structural elements on the Mars Observer. The 11-month cruise period for the spacecraft is given by Joseph Beerer, Manager of the Engineering office. The thrust for the Mars Orbit Insertion is described by Ronald Klemetson, Technical Manager, Propulsion Subsystem Jet Propulsion Laboratory (JPL). George Chen, Lead Engineer Attitude and Articulation Subsystem Spacecraft Team, explains the importance of the attitude control engines on the Spacecraft. Marvin Traxler, Manager of Tracking and Data Acquisition, describes how searching for a signal from the Mars Observer works. See NONP-NASA-VT-2000081555 for a continuation of this discussion with Marvin Traxler.

Source record↗
NASA NTRS2000

Considerations for a Next Generation GRB Observatory

A framework will be described for the planning of a Next Generation Burst Observatory. This Observatory, using Swift as a pathfinder mission, would study early star formation and early galaxy formation at very high redshifts through observations of thousands of GRBS, their afterglows and environments. It is suggested that the international GRB community should begin some initial studies for such an observatory.

Fishman, Gerald J.↗