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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Observing Ice Phase Clouds and Precipitation with Millimeter- and Submillimeter-wave Radiometry during the IMPACTS field campaign: Algorithm Development for the Emerging Class of Microwave Radiometers

Millimeter- and submillimeter-wave (mmWave, submm) radiometers provide significant information content on atmospheric water in liquid, ice, and vapor phases. Recent sensors, such as the Global Precipitation Measurement (GPM) or the Temporal Experiment for Storms and Tropical Systems Technology – Demonstration (TEMPEST-D), use mmWave bands to improve estimation of ice-phase precipitation, and future missions, such as the Atmosphere Observing System (AOS), will extend to submm to provide additional information on thinner ice clouds, linking clouds and precipitation and therefore elucidating the links between weather, climate, and the water cycle. To support the expanded use of mmWave/submm radiometry and exploit the available information content on condensed water mass, we demonstrate ice and liquid water path retrievals for NASA Goddard Space Flight Center's airborne radiometers the Conical Scanning Millimeter-wave Imaging Radiometer (CoSMIR) and the Configurable Scanning Submillimeter-wave Instrument/Radiometer (CoSSIR, formerly the Compact Scanning Submillimeter Imaging Radiometer). The analysis is based on data collected during the Investigation of Microphysics and Precipitation for Atlantic Coast-Threatening Storms (IMPACTS) field campaign. A simulation study compares and contrasts retrievals for CoSMIR and CoSSIR, with CoSSIR demonstrating higher skill in ice retrievals, particularly for thin clouds, and the CoSMIR frequencies performing better for liquid. Additionally, we look at dual-polarized radiances observed by CoSMIR during the first two IMPACTS deployments to understand the polarization signatures induced by oriented hydrometeors. Results will be presented in the context of upcoming missions and sensors including AOS and the Ice Cloud Imager (ICI). We will describe the objectives for the expected first flight of the newly upgraded CoSSIR during the final IMPACTS deployment, and we will share novel science investigations we plan to undertake with CoSSIR's new capabilities. Popular Summary: Ice in clouds and falling snow is an important component of weather, climate, and water resources. To better use a new class of sensors that provide information on atmospheric ice, we developed an approach to measure ice clouds and falling snow using airborne data taken during the Investigation of Microphysics and Precipitation for Atlantic Coast-Threatening Storms (IMPACTS), a field campaign to study winter storms. We look at the results for two similar instruments to understand how those differences affect these measurements of clouds and snow, and we further investigate the information the sensors can provide on properties of the clouds and snow.

Ian S Adams↗
NASA NTRS2000

Performance Assessment of OVERFLOW on Distributed Computing Environment

The aerodynamic computer code, OVERFLOW, with a multi-zone overset grid feature, has been parallelized to enhance its performance on distributed and shared memory paradigms. Practical application benchmarks have been set to assess the efficiency of code's parallelism on high-performance architectures. The code's performance has also been experimented with in the context of the distributed computing paradigm on distant computer resources using the Information Power Grid (IPG) toolkit, Globus. Two parallel versions of the code, namely OVERFLOW-MPI and -MLP, have developed around the natural coarse grained parallelism inherent in a multi-zonal domain decomposition paradigm. The algorithm invokes a strategy that forms a number of groups, each consisting of a zone, a cluster of zones and/or a partition of a large zone. Each group can be thought of as a process with one or multithreads assigned to it and that all groups run in parallel. The -MPI version of the code uses explicit message-passing based on the standard MPI library for sending and receiving interzonal boundary data across processors. The -MLP version employs no message-passing paradigm; the boundary data is transferred through the shared memory. The -MPI code is suited for both distributed and shared memory architectures, while the -MLP code can only be used on shared memory platforms. The IPG applications are implemented by the -MPI code using the Globus toolkit. While a computational task is distributed across multiple computer resources, the parallelism can be explored on each resource alone. Performance studies are achieved with some practical aerodynamic problems with complex geometries, consisting of 2.5 up to 33 million grid points and a large number of zonal blocks. The computations were executed primarily on SGI Origin 2000 multiprocessors and on the Cray T3E. OVERFLOW's IPG applications are carried out on NASA homogeneous metacomputing machines located at three sites, Ames, Langley and Glenn. Plans for the future will exploit the distributed parallel computing capability on various homogeneous and heterogeneous resources and large scale benchmarks. Alternative IPG toolkits will be used along with sophisticated zonal grouping strategies to minimize the communication time across the computer resources.

Djomehri, M. Jahed↗
DOE OSTI2025

CIE Curriculum Guide (V.2.0)

The Cyber-Informed Engineering (CIE) Curriculum Guide offers a comprehensive framework, guidance, and resources for integrating CIE into university-level engineering programs and related educational activities. The primary goal is to help educators adopt CIE principles into their teaching to produce future engineers and technicians who understand digital risks in modern engineered systems, thereby addressing the nation’s infrastructure resilience needs. This guide outlines practical integration examples, links to resources to accelerate CIE adoption, and shares insights from partner academic institutions on various implementation strategies. CIE is a framework for embedding engineered controls that mitigate the impact of cyber-attacks in any cyber-physical system used in critical energy infrastructure and other sectors. Developed by the U.S. Department of Energy’s Office of Cybersecurity, Energy Security, and Emergency Response (CESER), the National Cyber-Informed Engineering Strategy emphasizes embedding CIE into formal education, training, and credentialing. This guide supports this strategic objective by providing examples of integrating CIE concepts into engineering curricula, from class activities to new courses and certificate programs. The importance of educating cyber-informed engineers is underscored by the evolving cybersecurity threats facing engineered systems. As industrial control systems (ICS) increasingly incorporate digital technologies, the responsibility for security extends to both cyber professionals and engineers. CIE addresses critical gaps in designing and protecting physical systems with digital components against cyber risks, ensuring engineers consider digital risk throughout the engineering design lifecycle. Currently, engineering education does not routinely include cyber-informed principles, highlighting a gap in addressing modern engineering system risks. This guide advocates for updating engineering curricula to include digital risk management as a fundamental element. By doing so, future engineers will be equipped to design resilient systems that mitigate digital risks from the outset. Through this guide, engineering faculty can integrate CIE into their curricula, bridging the gap between digital risk and engineering. This approach prepares a cyber-informed workforce capable of safeguarding the cyber-physical systems crucial to national security and public welfare. By embedding CIE into education and training, institutions can produce engineers and technicians who can effectively mitigate cyber impacts throughout the engineering design lifecycle, resulting in more secure critical infrastructures.

42 - ENGINEERING↗
NASA NTRSDate not supplied

NASA’s Simulation Activities for Evaluating UAM Concept of Operations

NASA’s vision for Advanced Air Mobility (AAM) is to help emerging aviation markets to safely develop an air transportation system that moves people and cargo between places previously not served or underserved by aviation using revolutionary new aircraft types. Urban Air Mobility (UAM), the concept of expanding transportation networks by serving short flights to transport people and goods around metropolitan areas, is part of a larger paradigm shift toward AAM, in which new technologies and business models are enabling transformational applications of aviation. In NASA’s Concept of Operations for UAM, Providers of Services for UAM (PSU) play a key role to enable safe and efficient UAM operations by sharing operational data among UAM operators. PSUs provide a pre-departure strategic conflict management service that establishes operational plans for new flights and coordinates them with all relevant operations in shared airspace. The strategic conflict management aims to minimize the need for tactical separation provision, while considering anticipated traffic demand, vertiport capacity and availability, forecasted weather, and airspace restrictions. NASA is currently preparing a new lab evaluation activity with aviation industry partners, called the X4 simulation, to demonstrate their airspace services and capabilities and test new information exchange requirements for UAM operations. This simulation activity will support NASA’s National Campaign (NC) flight tests which are planned over the next several years to guide the collective community and stakeholders through a series of scenario-based test activities that involve vehicles and airspace management services operating in a live test environment. This presentation will provide an overview of the X4 simulation, including objectives, scenarios, assumptions, system architecture, and test schedule. The X4 simulation will evaluate the interconnectivity and operational intent sharing between PSUs for multiple operators, as well as the performance of strategic conflict management.

Urban Air Mobility, Simulation, Advanced Air Mobil↗
NASA NTRS1991

Design and Analysis Tools for Concurrent Blackboard Systems

A blackboard system consists of a set of knowledge sources, a blackboard data structure, and a control strategy used to activate the knowledge sources. The blackboard model of problem solving is best described by Dr. H. Penny Nii of the Stanford University AI Laboratory: "A Blackboard System can be viewed as a collection of intelligent agents who are gathered around a blackboard, looking at pieces of information written on it, thinking about the current state of the solution, and writing their conclusions on the blackboard as they generate them. " The blackboard is a centralized global data structure, often partitioned in a hierarchical manner, used to represent the problem domain. The blackboard is also used to allow inter-knowledge source communication and acts as a shared memory visible to all of the knowledge sources. A knowledge source is a highly specialized, highly independent process that takes inputs from the blackboard data structure, performs a computation, and places the results of the computation in the blackboard data structure. This design allows for an opportunistic control strategy. The opportunistic problem-solving technique allows a knowledge source to contribute towards the solution of the current problem without knowing which of the other knowledge sources will use the information. The use of opportunistic problem-solving allows the data transfers on the blackboard to determine which processes are active at a given time. Designing and developing blackboard systems is a difficult process. The designer is trying to balance several conflicting goals and achieve a high degree of concurrent knowledge source execution while maintaining both knowledge and semantic consistency on the blackboard. Blackboard systems have not attained their apparent potential because there are no established tools or methods to guide in their construction or analyze their performance.

McManus, John W.↗
DOE OSTI2024

A Privacy-Preserving Cyber Threat Intelligence Sharing System

Cyber Threat Intelligence (CTI) is a key resource for developing defensive strategies against potential cyber adversaries. Entities typically access CTI through open-source platforms, national agencies, or specialized commercial services. However, the bi-directional exchange of CTI is hindered by organizational trust boundaries, which complicate the sharing processes between entities and CTI providers. Centralized CTI services benefit from receiving suspicious cyber observables such as IP addresses, domain names, and email addresses from various entities. The aggregation allows for the correlation of widespread adversarial activities to enhance the alert and response mechanisms across the network of involved parties. Despite these benefits, openly sharing such observables incurs potential legal, regulatory, and reputational risks for the disclosing entities.This paper introduces a system designed to facilitate the secure exchange of cyber observables across trust boundaries without compromising the anonymity of the sharing entities. Here, we propose an architecture that leverages common web protocols alongside zero-knowledge proofs to authenticate members while maintaining anonymity. Additionally, we outline a privacy model tailored for STIX (Structured Threat Information eXpression) cyber observables to minimize the risk of inadvertently disclosing private information. Through our threat models, we assess the privacy implications of our proposed system and demonstrate its potential to enhance collaborative cyber defense efforts without exposing entities to undue risk.

BBS+ Signatures↗
DOE OSTI2022

NREL Fleet Analysis Support Through Technology Integration Collaboration

This study leveraged the partnership between the United States Department of Energy's (DOE) Clean Cities Coalition Network and the Association for the Work Truck Industry (NTEA) to launch a vehicle and fleet analysis project that assisted fleets in identifying opportunities to save energy, improve efficiency, reduce costs, and meet environmental goals via short term data logging and analysis. The National Renewable Energy Laboratory (NREL) sought to establish a process that included initial data acquisition, provided data storage, and developed analytic methods to inform fleets of areas of opportunity based on approximately 30 days of in use vehicle performance data. However, long-term the project will require ongoing funding to fully develop and maintain the data sharing platform and to produce more complex analysis.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2023

Operational Energy Life Cycle Data Development for the National Institute of Standards And Technology (NIST) Building Industry Reporting and Design for Sustainability (BIRDS) Neutral Environmental Software Tool (NEST)

For this analysis, regionalized life cycle assessment (LCA) results for environmental impacts (using the Tool for Reduction and Assessment of Chemicals and Other Environmental Impacts [TRACI] 2.1) and cumulative energy demand (using the Federal Life Cycle Analysis Commons Elementary Flow List [FEDEFL] Inventory Methods v1.0.0) were evaluated for the production and utilization of electricity, natural gas, fuel oil, and propane as commodities within residential and commercial buildings. These results can used as a framework for future research into net zero, high-performance buildings, such as done here for the Building Industry Reporting and Design for Sustainability (BIRDS) database by the National Institute of Standards and Technology (NIST) Engineering Laboratory. The geographical results were assigned to each United States (U.S.) Zone Improvement Plan (ZIP) code based on the ZIP code location and corresponding Balancing Authority Area, natural gas basin, and Petroleum Administration for Defense Districts (PADDs). Additionally, previously developed models were utilized to develop future life cycle profiles. Projections were based on data available from the U.S. Energy Information Administration Annual Energy Outlook 2022 through 2050 (AEO 2022). Electricity LCA models were updated based on AEO 2022 projected annual generation mixes, while the natural gas baseline model was updated based on projected shares of natural gas types (conventional, shale, tight, and coalbed methane). Projections of crude oil production rates and export rates were applied to the petroleum baseline model in five-year increments to investigate their effects on the life cycle profile of fuel oil and propane. While only 100-year Global Warming Potential (GWP-100) with climate carbon feedback (CC-FB) and Cumulative Energy Demand are shown in Section 4: Results, the complete results, including Acidification Potential, Eutrophication Potential, Freshwater Ecotoxicity Potential, GWP-100 without inclusion of CC-FB, Human Health Impacts Potentials (Cancer, Non-Cancer), Ozone Depletion Potential, Particulate Matter Formation Potential, and Photochemical Smog Formation Potential, are tabulated for each ZIP code in the Excel worksheets that accompany this analysis. For the Excel spreadsheet tools associated with this report, please go to https://www.netl.doe.gov/energy-analysis/details?id=f8890fac-be55-44ac-aaa9-e2888bfabe93

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2024

DOE BSSD Performance Management Metrics Report Q3

Microbiome data is complex, spanning information from microbial genomes within diverse communities, protein and metabolite readouts, and contextual information (metadata) captured from the environments from which these samples were collected. While the variety and scale of microbiome data generation has dramatically expanded over the past twenty years, infrastructure to support data management, sharing, and access has lagged. New ways to improve interoperability across existing resources and advancing community standards are necessary to support how researchers create, use, and reuse data. The National Microbiome Data Collaborative (NMDC) aims to advance a microbiome data sharing network through infrastructure, data standards, and community building.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Application Deconfliction Characterization and Alternatives Analysis

This report provides an overview of the domain space and solution techniques that could be used to create a robust, flexible app deconfliction service. Three approaches are reviewed with summaries of the characteristics, elements, and results from preliminary demonstrations of solution techniques based on each approach: 1) rules and heuristics, 2) cooperation, and 3) optimization. The strengths and weaknesses of each solution technique were explored through a set of numerical demonstrations on modified IEEE 123 node and 9500 node test feeders. An alternatives analysis of individual deconfliction elements was performed with each solution technique element evaluated against criteria reflecting the dynamic app environment, need to balance app objectives, and scalability issues versus the number of applications, setpoints, and distributed control areas. It is anticipated that a combined solution for a GridAPPS-D Deconfliction Service can be formulated using a combination of elements from each solution technique. The combined solution would combine 1) device control budgets to reduce the size of the solution space by constraining system setpoints to those will not result in accelerated degradation of physical assets, 2) system operations rules to constrain the solution space by eliminating setpoints that result in violations of system limits or operational best practices, 3) contextual status signals shared with or among apps such that they could update their desired setpoints based on the evolving context, 4) a mediator that incentivizes apps to come to a cooperative solution, and 5) Setpoint-informed optimization as a fallback mechanism if a cooperative solution cannot be agreed upon by applications.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

Standardized Protocol for Real-Time APIs as Required by Title 23 CFR 680.116(c)

Improving the ability of drivers to easily locate working and available chargers is key to improving the public charging experience. Electric vehicle charging providers who are recipients of federal funds through the National Electric Vehicle Infrastructure (NEVI) Formula Program, Charging and Fueling Infrastructure (CFI) Discretionary Grant Program, and other funding programs as identified under Title 23 of the U.S. Code must deploy and maintain an application programming interface (API) to access information about charging stations they operate.1 This includes information about individual charging ports, pricing, and availability in accordance with the Federal Highway Administration’s National Electric Vehicle Infrastructure Standards and Requirements, 23 CFR 680.116(c), herein referred to as the minimum standards (Federal Highway Administration 2023). Specifically outlined in the minimum standards, states and other designated recipients are required to ensure that charging station information including location, connector type, power level, real-time status, and real-time price to charge are available free of charge to third-party software developers through an API. These requirements are intended to enable effective communication with consumers about available charging stations and help consumers make informed decisions about trip planning, including when and where to charge. This document provides a standardized protocol for how to structure data, data update frequency, and practices for making the data required to be shared via API usable for improving public transparency and the customer experience. These are recommendations only and do not modify the Federal Highway Administration’s minimum standards in any way.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS1984

Software modifications to the Demonstration Advanced Avionics Systems (DAAS)

Critical information required for the design of integrated avionics suitable for generation aviation is applied towards software modifications for the Demonstration Advanced Avionics System (DAAS). The program emphasizes the use of data busing, distributed microprocessors, shared electronic displays and data entry devices, and improved functional capability. A demonstration advanced avionics system (DAAS) is designed, built, and flight tested in a Cessna 402, twin engine, general aviation aircraft. Software modifications are made to DAAS at Ames concurrent with the flight test program. The changes are the result of the experience obtained with the system at Ames, and the comments of the pilots who evaluated the system.

Nedell, B. F.↗
NASA NTRS1989

Initial operating capability for the hypercluster parallel-processing test bed

The NASA Lewis Research Center is investigating the benefits of parallel processing to applications in computational fluid and structural mechanics. To aid this investigation, NASA Lewis is developing the Hypercluster, a multi-architecture, parallel-processing test bed. The initial operating capability (IOC) being developed for the Hypercluster is described. The IOC will provide a user with a programming/operating environment that is interactive, responsive, and easy to use. The IOC effort includes the development of the Hypercluster Operating System (HYCLOPS). HYCLOPS runs in conjunction with a vendor-supplied disk operating system on a Front-End Processor (FEP) to provide interactive, run-time operations such as program loading, execution, memory editing, and data retrieval. Run-time libraries, that augment the FEP FORTRAN libraries, are being developed to support parallel and vector processing on the Hypercluster. Special utilities are being provided to enable passage of information about application programs and their mapping to the operating system. Communications between the FEP and the Hypercluster are being handled by dedicated processors, each running a Message-Passing Kernel, (MPK). A shared-memory interface allows rapid data exchange between HYCLOPS and the communications processors. Input/output handlers are built into the HYCLOPS-MPK interface, eliminating the need for the user to supply separate I/O support programs on the FEP.

Cole, Gary L.↗
NASA NTRS2011

Collaboration Portals for NASA's Airborne Field Campaigns

The University of Alabama in Huntsville (UAH), in collaboration with the Global Hydrology Resource Center, a NASA Earth Science Data Center, has provided information management for a number of NASA Airborne Field campaigns, both hurricane science investigations and satellite instrument validation. Effective field campaign management requires communication and coordination tools, including utilities for personnel to upload and share flight plans, weather forecasts, a variety of mission reports, preliminary science data, and personal photos. Beginning with the Genesis and Rapid Intensification Processes (GRIP) hurricane field campaign in 2010, we have provided these capabilities via a Drupal-based collaboration portal. This portal was reused and modified for the Midlatitude Continental Convective Clouds Experiment (MC3E), part of the Global Precipitation Measurement mission ground validation program. An end goal of these development efforts is the creation of a Drupal profile for field campaign management. This presentation will discuss experiences with Drupal in developing and using these collaboration portals. Topics will include Drupal modules used, advantages and disadvantages of working with Drupal in this context, and how the science teams used the portals in comparison with other communication and collaboration tools.

Conover, Helen↗
NASA NTRSDate not supplied

Building Capacity for Policy-makers in a Virtual Setting: Providing Tools to Analyze Wildfire Smoke Plumes and Their Impacts

The NASA DEVELOP Program conducted 10-week long feasibility projects in a remote work setting, including partnering with The Nature Conservancy’s Washington Chapter and the Puget Sound Clean Air Agency to investigate wildfire smoke from 2000 - 2020 in the Pacific Northwest using satellite-derived data. The team engaged with platforms for collaboration both internally with NASA affiliates and externally with community organizations. Working from multiple states, the team members used a variety of software including Google Meet, Microsoft Teams, and Google Earth Engine to foster communication and work with data in a shared virtual environment. Throughout the project, the team learned that executing the project in a distanced work setting made it easier to reach out to scientists across the country for expertise and guidance. To study changes in air quality resulting from wildfire smoke, the team utilized data from NASA’s Fire Information from Resource Management System (FIRMS) and the ESA’s Sentinel-5 TROPOspheric Monitoring Instrument (TROPOMI). The team created a Google Earth Engine web-based tool, “Plume Hazards and Observations of Emissions by Navigating an Interactive eXplorer” (PHOENIX), to visualize changes in pollutants and aerosol optical depth after fire events. The potential relationship between plume height and fire radiative power was evaluated by using NASA’s Moderate Resolution Imaging Spectroradiometer (MODIS) aboard Aqua and Terra satellites and NASA’s Multi-angle Imaging SpectroRadiometer (MISR) aboard Terra with the MISR INteractive eXplorer (MINX). The PHOENIX smoke assessment tool and science communication infographics will be shared electronically with the partner organizations. Furthermore, the team introduced the partners to MINX and will provide a tailored tutorial that included a recorded video and a written component with a live virtual workshop. These resources build capacity for further research and education on wildfire smoke and air quality within communities.

NASA DEVELOP↗
DOE OSTI2025

Mechanistic and kinetic relevance of hydrogen and water in CO 2 hydrogenation on Cu-based catalysts

Here, we ally steady-state kinetics, kinetic isotope effects, and density functional theory (DFT) calculations to illustrate that Cu-based catalysts remain saturated by H-adatoms (H*) and molecular formic acid (HCOOH**) during CO 2 hydrogenation. High H* coverage under methanol synthesis conditions is evidenced by reverse water-gas shift (RWGS) rates that exhibit positive H 2 reaction orders only at P H2 ≲ 0.5 bar, above which methanol synthesis and RWGS rates exhibit first and zeroth order dependence on P H2 , respectively. HCOOH** also accumulates on the surface with increasing P CO2 as informed by the Langmuir-type dependence on P CO2 (0.25-23 bar) for both methanol synthesis and RWGS. As both HCOOH** and H* have one H-atom per site occupied, the two species share the same P H2 dependence and give rise to CO 2 reaction orders that are independent of P H2 . Surface coverages determined based on kinetic analyses are further corroborated with DFT-derived adsorption energies that show favorable HCOOH** adsorbate-adsorbate interactions as well as repulsive interactions for bidentate formate (HCOO**) on H*-saturated surfaces. Methanol selectivity remains invariant with P CO2 and P CO despite CO inhibiting reaction rates, thereby demonstrating methanol synthesis and RWGS occur on the same active site. In contrast, water preferentially inhibits methanol synthesis rates, increases methanol synthesis H 2 reaction order from 1.0 to 1.5, and alters the methanol synthesis H 2 /D 2 kinetic isotope effect; the inhibitory effect of H 2 O thus cannot be attributed to competitive adsorption alone and instead reflects a change in the rate-determining step for methanol synthesis. The disparate kinetics of methanol synthesis and RWGS evince a branching pathway where methanol is formed from formates and CO is formed from carboxylates. The presented work thus identifies the relevant surface species, underscores the distinct catalytic role of water in branching methanol synthesis and RWGS pathways, and, in doing so, details a mechanistic picture that yields predictable rates and reaction orders for both methanol synthesis and RWGS on Cu-based CO 2 hydrogenation catalysts.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
NASA NTRS1984

The role of optimization in structural model refinement

To evaluate the role that optimization can play in structural model refinement, it is necessary to examine the existing environment for the structural design/structural modification process. The traditional approach to design, analysis, and modification is illustrated. Typically, a cyclical path is followed in evaluating and refining a structural system, with parallel paths existing between the real system and the analytical model of the system. The major failing of the existing approach is the rather weak link of communication between the cycle for the real system and the cycle for the analytical model. Only at the expense of much human effort can data sharing and comparative evaluation be enhanced for the two parallel cycles. Much of the difficulty can be traced to the lack of a user-friendly, rapidly reconfigurable engineering software environment for facilitating data and information exchange. Until this type of software environment becomes readily available to the majority of the engineering community, the role of optimization will not be able to reach its full potential and engineering productivity will continue to suffer. A key issue in current engineering design, analysis, and test is the definition and development of an integrated engineering software support capability. The data and solution flow for this type of integrated engineering analysis/refinement system is shown.

Lehman, L. L.↗
NASA NTRS1993

Telerobot local-remote control architecture for space flight program applications

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Zimmerman, Wayne↗