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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Astrobee's Multi-year Activities at the International Space Station's Japanese Experimental Module

The Astrobee free-flying robots recently completed their third successful year of operations, housed in the Japanese Experimental Module (JEM) on the International Space Station. We summarize the three years of operation, giving special attention to JAXA's 1st and 2nd Kibo Robot Programming Challenge (RPC) and the mapping processes and tools that make Astrobees' autonomous operation possible. The JEM is an ever changing, dynamic environment where light settings, cargo, payloads, and crew members constantly move and interact with one another. The 1st JAXA Kibo RPC event, a collaboration between JAXA and NASA, was held in 2020. Students from several countries in the Asia-Pacific region competed in programming challenges with a simulated Astrobee. The finalists were then invited to run their code on an actual Astrobee in the JEM. For the final round, students programmed Astrobee to visit three different locations to obtain data that would instruct the robot to complete a final task with the participation of ISS crew. The first competition was a tremendous success, leading to an equally successful 2nd JAXA Kibo RPC in 2021 with even larger participation. The 3rd JAXA Kibo RPC will occur in 2022 expanding further to incorporate US participants. These activities led to several firsts in Astrobee’s history: operation of an Astrobee free-flying robot without crew supervision in preparation for on-orbit operations, autonomous image acquisition towards updates of the navigation map, non-NASA code running on the robot (both from JAXA and participating students), two heterogeneous free-flying robots from two different space agencies working together (Int-Ball and Astrobee) during the final event in 2020, the first payload using Astrobee, and having Astrobee controlled from a non-NASA location (Tsukuba Space Center). The preparation towards these activities involved constant evaluation of the different components of Astrobee's systems, specially mapping and localization. The paper describes the evolution of these systems such as the improvements made in localization to reduce localization drift by using graph-based optimization instead of the extended Kalman Filter localizer. Additionally, it reports on the mapping process and analysis tools created to validate map consistency across different activities in the constantly changing JEM environment. These enhancements have enabled the Astrobee facility to successfully execute over 100 ISS activities supporting over a dozen researchers and partners around the world.

Astrobee↗
NASA NTRS2000

A Tool for Automatic Data Distribution for CFD Applications on Structured Grids

Development of HPF versions of NPB and ARC3D has shown that HPF provides an efficient, concise way to express parallelism and to organize data traffic. The use of HPF, as noted in the papers, requires an intimate knowledge of the applications and a detailed analysis of data affinity, data movement, and data granularity. To simplify and accelerate the task of developing HPF versions of existing CFD applications we have designed and implemented ADAPT (Automatic Data Alignment and Placement Tool). ADAPT analyzes a CFD application working on a single structured grid and generates HPF TEMPLATE, (RE)DISTRIBUTION, ALIGNMENT, and INDEPENDENT directives. The directives can be generated on the nest level, subroutine level, application level, or on the application interface level. ADAPT annotates an existing CFD FORTRAN application, performing computations on single or multiple grids. On each grid the application is considered as a sequence of operators, each applied to a set of variables defined in a particular grid domain. ADAPT automatically detects implicit operators (i.e., having data dependences) and explicit operators (without data dependences). For parallelization of an explicit operator ADAPT creates a template for the operator domain, aligns arrays used in the operator with the template, distributes the template, and declares the loops over the distributed dimensions as INDEPENDENT. For parallelization of an implicit operator, the distribution of the operator's domain should be consistent with the operator's dependences. Any dependence between sections distributed on different processors would preclude parallelization if the compiler does not have an ability to pipeline computations. If a data distribution is "orthogonal" to the dependences of an implicit operator, then the loop which implements the operator can be declared as INDEPENDENT. ADAPT starts with an analysis of array index expressions of the loop nests. For each pair of arrays referenced in an assignment statement, it generates an arc in the alignment graph and annotates it with an affinity relation. The template, alignment, and distribution directives for a particular loop nest are then derived from a transitive closure of the affinity relation. A compromise of data distributions in different nests and subroutines is achieved by merging annotated alignment graphs for adjacent nests/stibroutine calls in the nest/call graph of the application in the process called distribution lifting. ADAPT has been implemented as a C++ program running in conjunction with a parallelization tool called CAPTools. ADAPT uses the parse tree, interprocedural analysis and application database generated by CAPTools. It also uses the Directed Graph class, initially implemented in p2d2 (parallel debugger oi distributed programs), and some other classes supporting symbolic computations. ADAPT uses data distribution techniques described. ADAPT was tested with ARC3D and the FT benchmark and has demonstrated a code performance within a factor of 1.5 of handwritten versions.

Frumkin, Michael↗
NASA NTRS1991

Optimal processor assignment for pipeline computations

The availability of large scale multitasked parallel architectures introduces the following processor assignment problem for pipelined computations. Given a set of tasks and their precedence constraints, along with their experimentally determined individual responses times for different processor sizes, find an assignment of processor to tasks. Two objectives are of interest: minimal response given a throughput requirement, and maximal throughput given a response time requirement. These assignment problems differ considerably from the classical mapping problem in which several tasks share a processor; instead, it is assumed that a large number of processors are to be assigned to a relatively small number of tasks. Efficient assignment algorithms were developed for different classes of task structures. For a p processor system and a series parallel precedence graph with n constituent tasks, an O(np2) algorithm is provided that finds the optimal assignment for the response time optimization problem; it was found that the assignment optimizing the constrained throughput in O(np2log p) time. Special cases of linear, independent, and tree graphs are also considered.

Nicol, David M.↗
NASA NTRS1997

An Automated Method for Identifying Inconsistencies within Diagrammatic Software Requirements Specifications

The development of large-scale, composite software in a geographically distributed environment is an evolutionary process. Often, in such evolving systems, striving for consistency is complicated by many factors, because development participants have various locations, skills, responsibilities, roles, opinions, languages, terminology and different degrees of abstraction they employ. This naturally leads to many partial specifications or viewpoints. These multiple views on the system being developed usually overlap. From another aspect, these multiple views give rise to the potential for inconsistency. Existing CASE tools do not efficiently manage inconsistencies in distributed development environment for a large-scale project. Based on the ViewPoints framework the WHERE (Web-Based Hypertext Environment for requirements Evolution) toolkit aims to tackle inconsistency management issues within geographically distributed software development projects. Consequently, WHERE project helps make more robust software and support software assurance process. The long term goal of WHERE tools aims to the inconsistency analysis and management in requirements specifications. A framework based on Graph Grammar theory and TCMJAVA toolkit is proposed to detect inconsistencies among viewpoints. This systematic approach uses three basic operations (UNION, DIFFERENCE, INTERSECTION) to study the static behaviors of graphic and tabular notations. From these operations, subgraphs Query, Selection, Merge, Replacement operations can be derived. This approach uses graph PRODUCTIONS (rewriting rules) to study the dynamic transformations of graphs. We discuss the feasibility of implementation these operations. Also, We present the process of porting original TCM (Toolkit for Conceptual Modeling) project from C++ to Java programming language in this thesis. A scenario based on NASA International Space Station Specification is discussed to show the applicability of our approach. Finally, conclusion and future work about inconsistency management issues in WHERE project will be summarized.

Zhang, Zhong↗
NASA NTRS2012

Calculation of Sensitivity Derivatives in an MDAO Framework

During gradient-based optimization of a system, it is necessary to generate the derivatives of each objective and constraint with respect to each design parameter. If the system is multidisciplinary, it may consist of a set of smaller "components" with some arbitrary data interconnection and process work ow. Analytical derivatives in these components can be used to improve the speed and accuracy of the derivative calculation over a purely numerical calculation; however, a multidisciplinary system may include both components for which derivatives are available and components for which they are not. Three methods to calculate the sensitivity of a mixed multidisciplinary system are presented: the finite difference method, where the derivatives are calculated numerically; the chain rule method, where the derivatives are successively cascaded along the system's network graph; and the analytic method, where the derivatives come from the solution of a linear system of equations. Some improvements to these methods, to accommodate mixed multidisciplinary systems, are also presented; in particular, a new method is introduced to allow existing derivatives to be used inside of finite difference. All three methods are implemented and demonstrated in the open-source MDAO framework OpenMDAO. It was found that there are advantages to each of them depending on the system being solved.

Moore, Kenneth T.↗
NASA NTRS1974

Energetic particle population in the Jovian magnetosphere - A preliminary note

Preliminary account of energetic particle measurements conducted by the Pioneer 10 spacecraft during approach to Jupiter in November and December 1973. Graphs illustrate electron and proton flux levels as a function of distance from the planet for different particle energy intervals. Times of predicted equatorial crossing are marked along with positions corresponding to the bowshock, magnetopause, and other features. The general patterns of particle distribution in the Jovian vicinity are discussed.

Trainor, J. H.↗
NASA NTRS1987

Computational aeroacoustics of propeller noise in the near and far field

Techniques for applying the NASPROP-E computer code (Bober et al., 1983) to characterize the acoustic field of a transonic propfan are described and demonstrated for the case of the SR-3 propfan. It is pointed out that NASPROP E accounts for the nonlinear quadrupole, monopole, and dipole noise sources. The approach used, based on that of White (1984) and Korkan et al. (1985 and 1986), is described in detail, and the results of simulations employing different (reflective and nonreflective) inflow-outflow boundary conditions and azimuthal mesh spacings are presented in graphs and briefly discussed.

Forsyth, D. W.↗
NASA NTRS1989

A comparison of the ground effects measured with and without rate-of-descent modeling on the F-15 S/MTD configuration

The effect of descent rate (DR) on the approach aerodynamics of the F-15 S/MTD aircraft is investigated experimentally using a moving model in the NASA Langley Vortex Research Facility. A 0.083-scale low-speed rotary-balance model equipped with a thrust-reverser simulator and with grit strips to assure turbulent flow was tested in an approach configuration at forward speed 60 ft/sec, corresponding to DR = 4.19 ft/sec. The results are presented in extensive graphs and compared with wind-tunnel data on the same configuration at DR = 0. Significant differences are attributed to the DR in the present experiments and the presence of a ground boundary layer in the wind-tunnel tests. It is predicted that safe approaches could be made with the lower thrust reverser vectored up to 80 deg, or even 110 deg if the DR were not arrested near the ground.

Kemmerly, Guy T.↗
NASA NTRS2002

NAS Grid Benchmarks

We provide a paper-and-pencil specification of a benchmark suite for computational grids. It is based on the NAS (NASA Advanced Supercomputing) Parallel Benchmarks (NPB) and is called the NAS Grid Benchmarks (NGB). NGB problems are presented as data flow graphs encapsulating an instance of a slightly modified NPB task in each graph node, which communicates with other nodes by sending/receiving initialization data. Like NPB, NGB specifies several different classes (problem sizes). In this report we describe classes S, W, and A, and provide verification values for each. The implementor has the freedom to choose any language, grid environment, security model, fault tolerance/error correction mechanism, etc., as long as the resulting implementation passes the verification test and reports the turnaround time of the benchmark.

VanderWijngaart, Rob↗
NASA NTRS2020

Customer Avionics Interface Development and Analysis Development Activity Tracking System

The Customer Avionics Interface Development and Analysis (CAIDA) Development Activity (DA)Tracking System is a Microsoft Access Database that tracks, organizes, and analyzes data about DAs from the work management tool. The CAIDA DA Tracking System takes data imported from the work management system. Once in the system, the data is filtered to generate each DA’s Asset. From there, many different queries are run on the data and their results are imported into forms to create graphs to get and display a wide range of metrics. These graphs are automatically updated with each new data import and over time. They can be easily exported for use in presentations, documents, etc. Additionally, the system is highly customizable and can be added upon to include more data members, generate new graphs, and much more.

Tara Conti↗
NASA NTRSDate not supplied

Perturbations in Brain Functional Connectivity Patterns After Waking From Slow Wave Sleep Under Different Cognitive States

Sleep inertia refers to the state of transition between sleep and wake characterized by impaired alertness, confusion, and reduced cognitive and behavioral performance. While the behavioral symptoms of sleep inertia are well described, the neurological changes that lead to this state remain elusive. Here, to understand the state of sleep inertia and the reorganization that the brain undergoes, we took a graph theoretical approach and compared the EEG derived brain connectivity patterns before sleep and after waking up while participants (n = 10) performed multiple tasks that differed in cognitive complexities. We focused on how the degree and the clustering coefficient of brain regions (EEG sensors) change immediately after participants wake up from slow wave sleep. During a psychomotor vigilance task (PVT), designed to assess vigilant attention, we find that the brain regions with strong network connectivity (degree) before sleep show a reduction in connectivity after waking. In contrast, those with low connectivity before sleep have greater connectivity after waking. The regions that undergo these changes are specific to each participant and these findings are unique to the beta frequency range, which plays a key role in sensorimotor functioning and preserving the current state of the brain. Moreover, in tasks that required inhibitory control and arithmetic reasoning, we found that only regions with weak connectivity before sleep exhibited more connections after waking, but regions with high connectivity prior to sleeping remained unchanged, highlighting task specific effects. Furthermore, we find that during the PVT, the clustering coefficient within low frequency oscillations of the brain is reduced upon waking while it remains unchanged during other tasks. These results suggest that the connections between regions that are lost after abrupt awakening can be reallocated to other regions in order to renormalize the brain. However, this response may only be evident during specific cognitive states and may be more nuanced during complex task performance.

sleep inertia↗
NASA NTRS1975

The effect of adiabatic focusing upon charged particle propagation in random magnetic fields

Charged particles propagating along the diverging lines of force of a spatially inhomogeneous guiding field were considered as they are scattered by random fields. Their longitudinal transport is described in terms of the eigenfunctions of a Sturm-Liouville operator incorporating the effect of adiabatic focussing along with that of scattering. The relaxation times and characteristic velocities are graphed and tabulated. The particle density is evaluated as a function of space and time for two different regimes. In the first regime (relatively weak focussing), a diffusive mode of propagation is dominant but coherent modes are also dominant. In the second regime (strong focussing), diffusion does not occur and the propagation is purely coherent. This supercoherent mode corresponds exactly to the so-called scatter-free propagation of kilovolt solar flare electrons. On a larger scale, focussed transport provides an interpretation of many observed characteristics of extragalactic radio sources.

Earl, J. A.↗
NASA NTRS1995

The OEOP Duties of Reasonable Accommodation

I was fortunate enough to be assigned two assignments during my ten weeks here at NASA's Langley Research Center, in the Office of Equal Opportunity Programs (OEOP). One of my projects gave me the chance to gain experience in developing calculation formulas for the EXCEL computer system, while my second project gave me the chance to put my research skills and legal knowledge to use. The function of the OEOP is to ensure the adherence to personnel policy and practices in the employment, development, advancement and treatment of Federal employees and applicants for employment. This includes veterans and disabled as well. My initial project involved the research of hiring and promotion among the different minorities and females employed here at Langley. The objective of my first project was to develop graphs that showed the number of promotions during the past five years for each minority group here on the Center. I also had to show the average number of years it took for each promotion. The objective of my second and main research project was to find and research cases regarding the reasonable accommodation of disabled workers. The research of these cases is to ensure that individuals with disabilities are provided the necessary accommodations that are essential to the function of their job.

Coppedge, Angela↗
NASA NTRS1998

Crew Health and Performance on Mars

The issues surrounding the health and performance on Mars of a human crew are discussed in this presentation. The work of Human Space Life Sciences Program Office (HSLSPO) in the preparation of a crew for a Martian mission is reviewed. This includes a review of issues relating to human health and performance (HHP) in space and microgravity. The Mars design reference mission requires the most rigorous life sciences critical path of any manned mission in the forseeable future. This mission will require a 30 months round trip, with 4 different transistions to different gravities, and two episodes of high gravity load, during the Mars and Earth Aerobraking exercises. A graph is presented which shows the number of subjects with human space flight experience greater than 30 days. A chart presents the physical challenges to HHP in terms of gravity and acceleration and the length of times the crew will be exposed to the various gravity loads. Another chart presents the radiation challenges to the HHP for the duration of the trip. The human element is the most complex element of the mission design. Some challenges (i.e., human engineering and life support) must be overcome, and some issues such as bone loss, and radiation exposure must be addressed prior to making a decision for a manned Martian mission.

Stegemoeller, Charlie↗
NASA NTRS2001

Evidence for yellow light suppression of lettuce growth

Researchers studying plant growth under different lamp types often attribute differences in growth to a blue light response. Lettuce plants were grown in six blue light treatments comprising five blue light fractions (0, 2, 6% from high-pressure sodium [HPS] lamps and 6, 12, 26% from metal halide [MH] lamps). Lettuce chlorophyll concentration, dry mass, leaf area and specific leaf area under the HPS and MH 6% blue were significantly different, suggesting wavelengths other than blue and red affected plant growth. Results were reproducible in two replicate studies at each of two photosynthetic photon fluxes, 200 and 500 mumol m-2 s-1. We graphed the data against absolute blue light, phytochrome photoequilibrium, phototropic blue, UV, red:far red, blue:red, blue: far red and 'yellow' light fraction. Only the 'yellow' wavelength range (580-600 nm) explained the differences between the two lamp types.

Non-NASA Center↗
NASA NTRS2016

A Test-Bed Validation of Electromagnetic Surface Wave Propagation Along a Dielectric-Coated Metal Pipe

This paper provides a summary of the results of an attempt at experimental verification of the propagation of electromagnetic surface waves at microwaves frequencies, in and along the uniform dielectric coating of a circular cylindrical metal pipe, based on the previously established theoretical investigation. These experimental results are of value for the diagnostic of anomalies on the surface of tar-coated pipes used in protecting the underground power transmission cables (feeder pipes). A test-bed was designed and implemented using an aluminum tubes (10” diameter) with an acrylic tube coating (0.25” thickness). Two identical wave launcher/receiver arrays, each of 32 elements around the tube for relatively uniform radiation/reception, were designed and fabricated at the frequency of interest (~6 GHz). This arrangement was put in a specially designed small anechoic chamber and attached to a network analyzer. A variety of tests were performed to establish the launch efficiency, prove surface wave propagation along, and reflection from different types of anomalies on the coating. In the paper, a number of test results and supporting graphs will be provided and future work for improving the performance of the launch array and the test-bed arrangement for better results will be outlined.

Gatti, Mark↗
NASA NTRS1973

Frequency modulation television analysis: Distortion analysis

Computer simulation is used to calculate the time-domain waveform of standard T-pulse-and-bar test signal distorted in passing through an FM television system. The simulator includes flat or preemphasized systems and requires specification of the RF predetection filter characteristics. The predetection filters are modeled with frequency-symmetric Chebyshev (0.1-db ripple) and Butterworth filters. The computer was used to calculate distorted output signals for sixty-four different specified systems, and the output waveforms are plotted for all sixty-four. Comparison of the plotted graphs indicates that a Chebyshev predetection filter of four poles causes slightly more signal distortion than a corresponding Butterworth filter and the signal distortion increases as the number of poles increases. An increase in the peak deviation also increases signal distortion. Distortion also increases with the addition of preemphasis.

Hodge, W. H.↗
NASA NTRS1976

Blast wave in a nozzle for propulsive applications

The reported investigation has been conducted in connection with studies concerning the development of a propulsion system based on the use of a detonating fluid propellant. Measurements have been made of the pressure and shock wave velocity in a conical nozzle at various ambient pressures and at an ambient temperature of 25 C. In the experiments a small amount of explosive was placed at the end wall of a conical aluminum nozzle and detonated by a microdetonator inside the nozzle. Differences regarding the characteristics of conventional chemical propulsion and detonation propulsion are illustrated with the aid of a graph. One- and two-dimensional numerical flow calculations were performed and compared with the experimental data.

Varsi, G.↗