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NASA NTRS1978

Spatially coherent beam formation and mode locking of an array of solid-state lasers

A study is reported on the spatially coherent beam formation from an array of four Nd-glass lasers and on mode locking of their longitudinal modes. The results indicate a nearly 16 times increase in radiance. For mode locking, only a single modulator is required. A spatial filter in the optical cavity performs the spatially coherent beam formation and the precision synchronization of the mode-locked pulses at the output mirror of the optical cavity.

Philipp-Rutz, E. M.↗

NASA NTRS1980

Motion of trapped electrons and protons in Saturn's inner magnetosphere

A summary is given of basic formulas for the guiding center motion of energetic charged particles trapped in a dipolar magnetic field. These formulas for longitudinal drift rates, latitudinal bounce periods, equatorial gyroradii, and equatorial gyroperiods are then stated in convenient numerical form for electrons and protons as functions of kinetic energy E, magnetic shell parameter L, and equatorial pitch angle alpha 0 for a slightly simplified model of the observed magnetic field of Saturn. To aid in the study of the interaction of charged particles with the rings and inner satellites of Saturn, additional formulas are given for the time interval between successive encounters of charged particles with a satellite in a circular prograde orbit and for the energy of electrons whose longitudinal angular velocity is resonant, or synchronous, with the Keplerian angular velocity of such a satellite.

Thomsen, M. F.↗

NASA NTRS1982

A new antenna concept for satellite communications

A novel antenna configuration of two reflecting surfaces and a phased array is examined for application to satellite communications and shown to be superior in every respect to earlier designs for service to the continental United States from synchronous orbit. The vignetting that afflicts other two reflector optical systems is eliminated by use of a reflecting field element. The remaining aberrations, predominantly coma, are isolated in the time delay distribution at the surface of the array and can be compensated by ordinary array techniques. The optics exhibits infinite bandwidth and the frequency range is limited only by the design of the array.

Skahill, G.↗

NASA NTRS1981

The effects of transmitter/receiver clock time base instability on coherent communication system performance

The purpose of this paper is to present a model and associated analysis of the deleterious effects which both transmitter and receiver data clock time-base instability have on bit error probability. The types of time-base instability modeled and analyzed include bit jitter (epoch jitter), bit jitter rate (time interval jitter) and data asymmetry. The bit error probability is determined as a function of the statistical characteristics of the time-base instability, the data transition density, the signal-to-noise ratio in the bit rate bandwidth and the mechanizations of both the data bit detector and bit synchronizer. Numerical results are provided.

Chie, C. M.↗

NASA NTRS1990

MAFT: The Multicomputer Architecture for Fault-Tolerance

Multicomputer Architecture for Fault-Tolerance (MAFT) is a loosely coupled multiprocessor system designed to achieve an unreliability of less than 10(exp -10)/hr in flight-critical real time applications. The MAFT design objectives and architecture are presented. The fault-tolerance implementation of major functions in MAFT is also presented, including communication; task scheduling; reconfiguration; clock synchronization; and data handling and voting. The need for Byzantine agreement or approximate agreement in various functions is discussed. Different methods were selected to achieve agreement in various subsystems. These methods are illustrated by a more detailed description of the task scheduling and error handling subsystems.

Kieckhafer, Roger M.↗

NASA NTRS1942

The Electrical Structure of Thunderstorms

The time histories of thunderstorm charge distribution during three storms occurring during the summer of 1940 in the vicinity of the Albuquerque Airport were investigated by the use of eight synchronized recording electrometers arranged in a particular pattern over a field 1.6 kilometers above sea level.

Workman, E J↗

NASA NTRS2007

Model Checking a Byzantine-Fault-Tolerant Self-Stabilizing Protocol for Distributed Clock Synchronization Systems

This report presents the mechanical verification of a simplified model of a rapid Byzantine-fault-tolerant self-stabilizing protocol for distributed clock synchronization systems. This protocol does not rely on any assumptions about the initial state of the system. This protocol tolerates bursts of transient failures, and deterministically converges within a time bound that is a linear function of the self-stabilization period. A simplified model of the protocol is verified using the Symbolic Model Verifier (SMV) [SMV]. The system under study consists of 4 nodes, where at most one of the nodes is assumed to be Byzantine faulty. The model checking effort is focused on verifying correctness of the simplified model of the protocol in the presence of a permanent Byzantine fault as well as confirmation of claims of determinism and linear convergence with respect to the self-stabilization period. Although model checking results of the simplified model of the protocol confirm the theoretical predictions, these results do not necessarily confirm that the protocol solves the general case of this problem. Modeling challenges of the protocol and the system are addressed. A number of abstractions are utilized in order to reduce the state space. Also, additional innovative state space reduction techniques are introduced that can be used in future verification efforts applied to this and other protocols.

Malekpour, Mahyar R.↗

NASA NTRS2007

Reusable, Extensible High-Level Data-Distribution Concept

A framework for high-level specification of data distributions in data-parallel application programs has been conceived. [As used here, distributions signifies means to express locality (more specifically, locations of specified pieces of data) in a computing system composed of many processor and memory components connected by a network.] Inasmuch as distributions exert a great effect on the performances of application programs, it is important that a distribution strategy be flexible, so that distributions can be adapted to the requirements of those programs. At the same time, for the sake of productivity in programming and execution, it is desirable that users be shielded from such error-prone, tedious details as those of communication and synchronization. As desired, the present framework enables a user to refine a distribution type and adjust it to optimize the performance of an application program and conceals, from the user, the low-level details of communication and synchronization. The framework provides for a reusable, extensible, data-distribution design, denoted the design pattern, that is independent of a concrete implementation. The design pattern abstracts over coding patterns that have been found to be commonly encountered in both manually and automatically generated distributed parallel programs. The following description of the present framework is necessarily oversimplified to fit within the space available for this article. Distributions are among the elements of a conceptual data-distribution machinery, some of the other elements being denoted domains, index sets, and data collections (see figure). Associated with each domain is one index set and one distribution. A distribution class interface (where "class" is used in the object-oriented-programming sense) includes operations that enable specification of the mapping of an index to a unit of locality. Thus, "Map(Index)" specifies a unit, while "LocalLayout(Index)" specifies the local address within that unit. The distribution class can be extended to enable specification of commonly used distributions or novel user-defined distributions. A data collection can be defined over a domain. The term "data collection" in this context signifies, more specifically, an abstraction of mappings from index sets to variables. Since the index set is distributed, the addresses of the variables are also distributed.

James, Mark↗

NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗

NASA NTRS2007

Synchronous Phase-Resolving Flash Range Imaging

An apparatus, now undergoing development, for range imaging based on measurement of the round-trip phase delay of a pulsed laser beam is described. The apparatus would operate in a staring mode. A pulsed laser would illuminate a target. Laser light reflected from the target would be imaged on a verylarge- scale integrated (VLSI)-circuit image detector, each pixel of which would contain a photodetector and a phase-measuring circuit. The round-trip travel time for the reflected laser light incident on each pixel, and thus the distance to the portion of the target imaged in that pixel, would be measured in terms of the phase difference between (1) the photodetector output pulse and (2) a local-oscillator signal that would have a frequency between 10 and 20 MHz and that would be synchronized with the laser-pulse-triggering signal.

Pain, Bedabrata↗

NASA NTRS2018

The Diurnal Cycle of Cloud Profiles over Land and Ocean Between 51degS and 51degN, Seen by the CATS Spaceborne Lidar from the International Space Station

We document, for the first time, how detailed vertical profiles of cloud fraction (CF) change diurnally between 51 deg S and 51 deg N, by taking advantage of 15 months of measurements from the Cloud-Aerosol Transport System (CATS) lidar on the non-sun-synchronous International Space Station (ISS). Over the tropical ocean in summer, we find few high clouds during daytime. At night they become frequent over a large altitude range (11-16 km between 22:00 and 04:00 LT). Over the summer tropical continents, but not over ocean, CATS observations reveal mid-level clouds (4-8 km above sea level or a.s.l.) persisting all day long, with a weak diurnal cycle (minimum at noon). Over the Southern Ocean, diurnal cycles appear for the omnipresent low-level clouds (minimum between noon and 15:00) and high-altitude clouds (minimum between 08:00 and 14:00). Both cycles are time shifted, with high-altitude clouds following the changes in low-altitude clouds by several hours. Over all continents at all latitudes during summer, the low-level clouds develop upwards and reach a maximum occurrence at about 2.5 km a.s.l. in the early afternoon (around 14:00). Our work also shows that (1) the diurnal cycles of vertical profiles derived from CATS are consistent with those from ground-based active sensors on a local scale, (2) the cloud profiles derived from CATS measurements at local times of 01:30 and 13:30 are consistent with those observed from CALIPSO at similar times, and (3) the diurnal cycles of low and high cloud amounts (CAs) derived from CATS are in general in phase with those derived from geostationary imagery but less pronounced. Finally, the diurnal variability of cloud profiles revealed by CATS strongly suggests that CALIPSO measurements at 01:30 and 13:30 document the daily extremes of the cloud fraction profiles over ocean and are more representative of daily averages over land, except at altitudes above 10 km where they capture part of the diurnal variability. These findings are applicable to other instruments with local overpass times similar to CALIPSO's, such as all the other A-Train instruments and the future Earth-CARE mission.

Noel, Vincent↗

NASA NTRS1977

Open loop digital frequency multiplier

An open loop digital frequency multiplier is described which has a multiplied output synchronized to low frequency clock pulse. The system includes a multistage digital counter which provides a pulse output as a function of an integer divisor. The integer divisor and the timing or counting cycle of the counter are interrelated to the frequency of a clock input. The counting cycle is controlled by a one shot multivibrator which, in turn, is driven by a reference frequency input.

Moore, R. C.↗

NASA NTRS1977

Nuclear burst plasma injection into the magnetosphere and resulting spacecraft charging

The passage of debris from a high altitude ( 400 km) nuclear burst over the ionospheric plasma is found to be capable of exciting large amplitude whistler waves which can act to structure a collisionless shock. This instability will occur in the loss cone exits of the nuclear debris bubble, and the accelerated ambient ions will freestream along the magnetic field lines into the magnetosphere. Using Starfish-like parameters and accounting for plasma diffusion and thermalization of the propagating plasma mass, it is found that synchronous orbit plasma fluxes of high temperature electrons (near 10 keV) will be significantly greater than those encountered during magnetospheric substorms. These fluxes will last for sufficiently long periods of time so as to charge immersed bodies to high potentials and arc discharges to take place.

Pavel, A. L.↗

NASA NTRS1987

Parallel discrete event simulation: A shared memory approach

With traditional event list techniques, evaluating a detailed discrete event simulation model can often require hours or even days of computation time. Parallel simulation mimics the interacting servers and queues of a real system by assigning each simulated entity to a processor. By eliminating the event list and maintaining only sufficient synchronization to insure causality, parallel simulation can potentially provide speedups that are linear in the number of processors. A set of shared memory experiments is presented using the Chandy-Misra distributed simulation algorithm to simulate networks of queues. Parameters include queueing network topology and routing probabilities, number of processors, and assignment of network nodes to processors. These experiments show that Chandy-Misra distributed simulation is a questionable alternative to sequential simulation of most queueing network models.

Reed, Daniel A.↗

NASA NTRS1988

Signal Restoration of Non-stationary Acoustic Signals in the Time Domain

Signal restoration is a method of transforming a nonstationary signal acquired by a ground based microphone to an equivalent stationary signal. The benefit of the signal restoration is a simplification of the flight test requirements because it could dispense with the need to acquire acoustic data with another aircraft flying in concert with the rotorcraft. The data quality is also generally improved because the contamination of the signal by the propeller and wind noise is not present. The restoration methodology can also be combined with other data acquisition methods, such as a multiple linear microphone array for further improvement of the test results. The methodology and software are presented for performing the signal restoration in the time domain. The method has no restrictions on flight path geometry or flight regimes. Only requirement is that the aircraft spatial position be known relative to the microphone location and synchronized with the acoustic data. The restoration process assumes that the moving source radiates a stationary signal, which is then transformed into a nonstationary signal by various modulation processes. The restoration contains only the modulation due to the source motion.

Babkin, Alexander S.↗

NASA NTRS1994

Test Telemetry And Command System (TTACS)

The Jet Propulsion Laboratory has developed a multimission Test Telemetry and Command System (TTACS) which provides a multimission telemetry and command data system in a spacecraft test environment. TTACS reuses, in the spacecraft test environment, components of the same data system used for flight operations; no new software is developed for the spacecraft test environment. Additionally, the TTACS is transportable to any spacecraft test site, including the launch site. The TTACS is currently operational in the Galileo spacecraft testbed; it is also being provided to support the Cassini and Mars Surveyor Program projects. Minimal personnel data system training is required in the transition from pre-launch spacecraft test to post-launch flight operations since test personnel are already familiar with the data system's operation. Additionally, data system components, e.g. data display, can be reused to support spacecraft software development; and the same data system components will again be reused during the spacecraft integration and system test phases. TTACS usage also results in early availability of spacecraft data to data system development and, as a result, early data system development feedback to spacecraft system developers. The TTACS consists of a multimission spacecraft support equipment interface and components of the multimission telemetry and command software adapted for a specific project. The TTACS interfaces to the spacecraft, e.g., Command Data System (CDS), support equipment. The TTACS telemetry interface to the CDS support equipment performs serial (RS-422)-to-ethernet conversion at rates between 1 bps and 1 mbps, telemetry data blocking and header generation, guaranteed data transmission to the telemetry data system, and graphical downlink routing summary and control. The TTACS command interface to the CDS support equipment is nominally a command file transferred in non-real-time via ethernet. The CDS support equipment is responsible for metering the commands to the CDS; additionally for Galileo, TTACS includes a real-time-interface to the CDS support equipment. The TTACS provides the basic functionality of the multimission telemetry and command data system used during flight operations. TTACS telemetry capabilities include frame synchronization, Reed-Solomon decoding, packet extraction and channelization, and data storage/query. Multimission data display capabilities are also available. TTACS command capabilities include command generation verification, and storage.

Fogel, Alvin J.↗

NASA NTRS2003

Software for Acquiring Image Data for PIV

PIV Acquisition (PIVACQ) is a computer program for acquisition of data for particle-image velocimetry (PIV). In the PIV system for which PIVACQ was developed, small particles entrained in a flow are illuminated with a sheet of light from a pulsed laser. The illuminated region is monitored by a charge-coupled-device camera that operates in conjunction with a data-acquisition system that includes a frame grabber and a counter-timer board, both installed in a single computer. The camera operates in "frame-straddle" mode where a pair of images can be obtained closely spaced in time (on the order of microseconds). The frame grabber acquires image data from the camera and stores the data in the computer memory. The counter/timer board triggers the camera and synchronizes the pulsing of the laser with acquisition of data from the camera. PIVPROC coordinates all of these functions and provides a graphical user interface, through which the user can control the PIV data-acquisition system. PIVACQ enables the user to acquire a sequence of single-exposure images, display the images, process the images, and then save the images to the computer hard drive. PIVACQ works in conjunction with the PIVPROC program which processes the images of particles into the velocity field in the illuminated plane.

Wernet, Mark P.↗

NASA NTRS1982

Time comparison via OTS-2

The time comparisons carried out via OTS-2 between the Technical University Graz (Austria) and the Van Swinden Laboratory Delft (Netherlands) are discussed. The method is based on the use of the synchronization pulse in the TV-frame of the daily evening broadcasting of a French TV-program to Northern Africa. Corrections, as a consequence of changes in the position of the satellite coordinates are applied weekly after reception of satellite coordinates. A description of the method is given as well as some of the particular techniques used in both the participating laboratories. Preliminary results are presented.

Dejong, G.↗