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NASA NTRS2010

Algorithms for Learning Preferences for Sets of Objects

A method is being developed that provides for an artificial-intelligence system to learn a user's preferences for sets of objects and to thereafter automatically select subsets of objects according to those preferences. The method was originally intended to enable automated selection, from among large sets of images acquired by instruments aboard spacecraft, of image subsets considered to be scientifically valuable enough to justify use of limited communication resources for transmission to Earth. The method is also applicable to other sets of objects: examples of sets of objects considered in the development of the method include food menus, radio-station music playlists, and assortments of colored blocks for creating mosaics. The method does not require the user to perform the often-difficult task of quantitatively specifying preferences; instead, the user provides examples of preferred sets of objects. This method goes beyond related prior artificial-intelligence methods for learning which individual items are preferred by the user: this method supports a concept of setbased preferences, which include not only preferences for individual items but also preferences regarding types and degrees of diversity of items in a set. Consideration of diversity in this method involves recognition that members of a set may interact with each other in the sense that when considered together, they may be regarded as being complementary, redundant, or incompatible to various degrees. The effects of such interactions are loosely summarized in the term portfolio effect. The learning method relies on a preference representation language, denoted DD-PREF, to express set-based preferences. In DD-PREF, a preference is represented by a tuple that includes quality (depth) functions to estimate how desired a specific value is, weights for each feature preference, the desired diversity of feature values, and the relative importance of diversity versus depth. The system applies statistical concepts to estimate quantitative measures of the user s preferences from training examples (preferred subsets) specified by the user. Once preferences have been learned, the system uses those preferences to select preferred subsets from new sets. The method was found to be viable when tested in computational experiments on menus, music playlists, and rover images. Contemplated future development efforts include further tests on more diverse sets and development of a sub-method for (a) estimating the parameter that represents the relative importance of diversity versus depth, and (b) incorporating background knowledge about the nature of quality functions, which are special functions that specify depth preferences for features.

Wagstaff, Kiri L.↗
NASA NTRS2009

Smart and Intelligent Sensors

John C. Stennis Space Center (SSC) provides rocket engine propulsion testing for NASA's space programs. Since the development of the Space Shuttle, every Space Shuttle Main Engine (SSME) has undergone acceptance testing at SSC before going to Kennedy Space Center (KSC) for integration into the Space Shuttle. The SSME is a large cryogenic rocket engine that uses Liquid Hydrogen (LH2) as the fuel. As NASA moves to the new ARES V launch system, the main engines on the new vehicle, as well as the upper stage engine, are currently base lined to be cryogenic rocket engines that will also use LH2. The main rocket engines for the ARES V will be larger than the SSME, while the upper stage engine will be approximately half that size. As a result, significant quantities of hydrogen will be required during the development, testing, and operation of these rocket engines.Better approaches are needed to simplify sensor integration and help reduce life-cycle costs. 1.Smarter sensors. Sensor integration should be a matter of "plug-and-play" making sensors easier to add to a system. Sensors that implement new standards can help address this problem; for example, IEEE STD 1451.4 defines transducer electronic data sheet (TEDS) templates for commonly used sensors such as bridge elements and thermocouples. When a 1451.4 compliant smart sensor is connected to a system that can read the TEDS memory, all information needed to configure the data acquisition system can be uploaded. This reduces the amount of labor required and helps minimize configuration errors. 2.Intelligent sensors. Data received from a sensor be scaled, linearized; and converted to engineering units. Methods to reduce sensor processing overhead at the application node are needed. Smart sensors using low-cost microprocessors with integral data acquisition and communication support offer the means to add these capabilities. Once a processor is embedded, other features can be added; for example, intelligent sensors can make a health assessment to inform the data acquisition client when sensor performance is suspect. 3.Distributed sample synchronization. Networks of sensors require new ways for synchronizing samples. Standards that address the distributed timing problem (for example, IEEE STD 1588) provide the means to aggregate samples from many distributed smart sensors with sub-microsecond accuracy. 4. Reduction in interconnect. Alternative means are needed to reduce the frequent problems associated with cabling and connectors. Wireless technologies offer the promise of reducing interconnects and simultaneously making it easy to quickly add a sensor to a system.

Lansaw, John↗
NASA NTRS2010

Multifunctional and biologically active matrices from multicomponent polymeric solutions

The present invention relates to a biologically active functionalized electrospun matrix to permit immobilization and long-term delivery of biologically active agents. In particular the invention relates to a functionalized polymer matrix comprising a matrix polymer, a compatibilizing polymer and a biomolecule or other small functioning molecule. In certain aspects the electrospun polymer fibers comprise at least one biologically active molecule functionalized with low molecular weight heparin. Examples of active molecules that may be used with the multicomponent polymer of the invention include, for example, a drug, a biopolymer, for example a growth factor, a protein, a peptide, a nucleotide, a polysaccharide, a biological macromolecule or the like. The invention is further directed to the formation of functionalized crosslinked matrices, such as hydrogels, that include at least one functionalized compatibilizing polymer capable of assembly.

Kiick, Kristi L.↗
NASA NTRS2010

Liquid Rocket Engine Testing - Historical Lecture: Simulated Altitude Testing at AEDC

The span of history covered is from 1958 to the present. The outline of this lecture draws from historical examples of liquid propulsion testing done at AEDC primarily for NASA's Marshall Space Flight Center (NASA/MSFC) in the Saturn/Apollo Program and for USAF Space and Missile Systems dual-use customers. NASA has made dual use of Air Force launch vehicles, Test Ranges and Tracking Systems, and liquid rocket altitude test chambers / facilities. Examples are drawn from the Apollo/ Saturn vehicles and the testing of their liquid propulsion systems. Other examples are given to extend to the family of the current ELVs and Evolved ELVs (EELVs), in this case, primarily to their Upper Stages. The outline begins with tests of the XLR 99 Engine for the X-15 aircraft, tests for vehicle / engine induced environments during flight in the atmosphere and in Space, and vehicle staging at high altitude. The discussion is from the author's perspective and background in developmental testing.

Dougherty, N. S.↗
NASA NTRS2010

Architectural Analysis of Dynamically Reconfigurable Systems

oTpics include: the problem (increased flexibility of architectural styles decrease analyzability, behavior emerges and varies depending on the configuration, does the resulting system run according to the intended design, and architectural decisions can impede or facilitate testing); top down approach to architecture analysis, detection of defects and deviations, and architecture and its testability; currently targeted projects GMSEC and CFS; analyzing software architectures; analyzing runtime events; actual architecture recognition; GMPUB in Dynamic SAVE; sample output from new approach; taking message timing delays into account; CFS examples of architecture and testability; some recommendations for improved testablity; and CFS examples of abstract interfaces and testability; CFS example of opening some internal details.

Lindvall, Mikael↗
NASA NTRS2011

Making Human Spaceflight Practical and Affordable: Spacecraft Designs and their Degree of Operability

As we push toward new and diverse space transportation capabilities, reduction in operations cost becomes increasingly important. Achieving affordable and safe human spaceflight capabilities will be the mark of success for new programs and new providers. The ability to perceive the operational implications of design decisions is crucial in developing safe yet cost competitive space transportation systems. Any human spaceflight program - government or commercial - must make countless decisions either to implement spacecraft system capabilities or adopt operational constraints or workarounds to account for the lack of such spacecraft capabilities. These decisions can benefit from the collective experience that NASA has accumulated in building and operating crewed spacecraft over the last five decades. This paper reviews NASA s history in developing and operating human rated spacecraft, reviewing the key aspects of spacecraft design and their resultant impacts on operations phase complexity and cost. Specific examples from current and past programs - including the Space Shuttle and International Space Station - are provided to illustrate design traits that either increase or increase cost and complexity associated with spacecraft operations. These examples address factors such as overall design performance margins, levels of redundancy, degree of automated failure response, type and quantity of command and telemetry interfaces, and the definition of reference scenarios for analysis and test. Each example - from early program requirements, design implementation and resulting real-time operations experience - to tell the end-to-end "story" Based on these experiences, specific techniques are recommended to enable earlier and more effective assessment of operations concerns during the design process. A formal method for the assessment of spacecraft operability is defined and results of such operability assessments for recent spacecraft designs are provided. Recent experience in applying these techniques to Orion spacecraft development is reviewed to highlight the direct benefits of early operational assessment and collaborative development efforts.

Crocker, Alan R.↗
NASA NTRS2009

Latency and User Performance in Virtual Environments and Augmented Reality

System rendering latency has been recognized by senior researchers, such as Professor Fredrick Brooks of UNC (Turing Award 1999), as a major factor limiting the realism and utility of head-referenced displays systems. Latency has been shown to reduce the user's sense of immersion within a virtual environment, disturb user interaction with virtual objects, and to contribute to motion sickness during some simulation tasks. Latency, however, is not just an issue for external display systems since finite nerve conduction rates and variation in transduction times in the human body's sensors also pose problems for latency management within the nervous system. Some of the phenomena arising from the brain's handling of sensory asynchrony due to latency will be discussed as a prelude to consideration of the effects of latency in interactive displays. The causes and consequences of the erroneous movement that appears in displays due to latency will be illustrated with examples of the user performance impact provided by several experiments. These experiments will review the generality of user sensitivity to latency when users judge either object or environment stability. Hardware and signal processing countermeasures will also be discussed. In particular the tuning of a simple extrapolative predictive filter not using a dynamic movement model will be presented. Results show that it is possible to adjust this filter so that the appearance of some latencies may be hidden without the introduction of perceptual artifacts such as overshoot. Several examples of the effects of user performance will be illustrated by three-dimensional tracking and tracing tasks executed in virtual environments. These experiments demonstrate classic phenomena known from work on manual control and show the need for very responsive systems if they are indented to support precise manipulation. The practical benefits of removing interfering latencies from interactive systems will be emphasized with some classic final examples from surgical telerobotics, and human-computer interaction.

Ellis, Stephen R.↗
NASA NTRS2011

Multi-Maneuver Clohessy-Wiltshire Targeting

Orbital rendezvous involves execution of a sequence of maneuvers by a chaser vehicle to bring the chaser to a desired state relative to a target vehicle while meeting intermediate and final relative constraints. Intermediate and final relative constraints are necessary to meet a multitude of requirements such as to control approach direction, ensure relative position is adequate for operation of space-to-space communication systems and relative sensors, provide fail-safe trajectory features, and provide contingency hold points. The effect of maneuvers on constraints is often coupled, so the maneuvers must be solved for as a set. For example, maneuvers that affect orbital energy change both the chaser's height and downrange position relative to the target vehicle. Rendezvous designers use experience and rules-of-thumb to design a sequence of maneuvers and constraints. A non-iterative method is presented for targeting a rendezvous scenario that includes a sequence of maneuvers and relative constraints. This method is referred to as Multi-Maneuver Clohessy-Wiltshire Targeting (MM_CW_TGT). When a single maneuver is targeted to a single relative position, the classic CW targeting solution is obtained. The MM_CW_TGT method involves manipulation of the CW state transition matrix to form a linear system. As a starting point for forming the algorithm, the effects of a series of impulsive maneuvers on the state are derived. Simple and moderately complex examples are used to demonstrate the pattern of the resulting linear system. The general form of the pattern results in an algorithm for formation of the linear system. The resulting linear system relates the effect of maneuver components and initial conditions on relative constraints specified by the rendezvous designer. Solution of the linear system includes the straight-forward inverse of a square matrix. Inversion of the square matrix is assured if the designer poses a controllable scenario - a scenario where the the constraints can be met by the sequence of maneuvers. Matrices in the linear system are dependent on selection of maneuvers and constraints by the designer, but the matrices are independent of the chaser's initial conditions. For scenarios where the sequence of maneuvers and constraints are fixed, the linear system can be formed and the square matrix inverted prior to real-time operations. Example solutions are presented for several rendezvous scenarios to illustrate the utility of the method. The MM_CW_TGT method has been used during the preliminary design of rendezvous scenarios and is expected to be useful for iterative methods in the generation of an initial guess and corrections.

Dannemiller, David P.↗
NASA NTRS2011

Responding to the Consequences of Climate Change

The talk addresses the scientific consensus concerning climate change, and outlines the many paths that are open to mitigate climate change and its effects on human activities. Diverse aspects of the changing water cycle on Earth are used to illustrate the reality climate change. These include melting snowpack, glaciers, and sea ice; changes in runoff; rising sea level; moving ecosystems, an more. Human forcing of climate change is then explained, including: greenhouse gasses, atmospheric aerosols, and changes in land use. Natural forcing effects are briefly discussed, including volcanoes and changes in the solar cycle. Returning to Earth's water cycle, the effects of climate-induced changes in water resources is presented. Examples include wildfires, floods and droughts, changes in the production and availability of food, and human social reactions to these effects. The ~lk then passes to a discussion of common human reactions to these forecasts of climate change effects, with a summary of recent research on the subject, plus several recent historical examples of large-scale changes in human behavior that affect the climate and ecosystems. Finally, in the face for needed action on climate, the many options for mitigation of climate change and adaptation to its effects are presented, with examples of the ability to take affordable, and profitable action at most all levels, from the local, through national.

Hildebrand, Peter H.↗
NASA NTRS2010

4-D Cloud Water Content Fields Derived from Operational Satellite Data

In order to improve operational safety and efficiency, the transportation industry, including aviation, has an urgent need for accurate diagnoses and predictions of clouds and associated weather conditions. Adverse weather accounts for 70% of all air traffic delays within the U.S. National Airspace System. The Federal Aviation Administration has determined that as much as two thirds of weather-related delays are potentially avoidable with better weather information and roughly 20% of all aviation accidents are weather related. Thus, it is recognized that an important factor in meeting the goals of the Next Generation Transportation System (NexGen) vision is the improved integration of weather information. The concept of a 4-D weather cube is being developed to address that need by integrating observed and forecasted weather information into a shared 4-D database, providing an integrated and nationally consistent weather picture for a variety of users and to support operational decision support systems. Weather analyses and forecasts derived using Numerical Weather Prediction (NWP) models are a critical tool that forecasters rely on for guidance and also an important element in current and future decision support systems. For example, the Rapid Update Cycle (RUC) and the recently implemented Rapid Refresh (RR) Weather Research and Forecast (WRF) models provide high frequency forecasts and are key elements of the FAA Aviation Weather Research Program. Because clouds play a crucial role in the dynamics and thermodynamics of the atmosphere, they must be adequately accounted for in NWP models. The RUC, for example, cycles at full resolution five cloud microphysical species (cloud water, cloud ice, rain, snow, and graupel) and has the capability of updating these fields from observations. In order to improve the models initial state and subsequent forecasts, cloud top altitude (or temperature, T(sub c)) derived from operational satellite data, surface observations of cloud base altitude, radar reflectivity, and lightning data are used to help build and remove clouds in the models assimilation system. Despite this advance and the many recent advances made in our understanding of cloud physical processes and radiative effects, many problems remain in adequately representing clouds in models. While the assimilation of cloud top information derived from operational satellite data has merit, other information is available that has not yet been exploited. For example, the vertically integrated cloud water content (CWC) or cloud water path (CWP) and cloud geometric thickness (delta Z) are standard products being derived routinely from operational satellite data. These and other cloud products have been validated under a variety of conditions. Since the uncertainties have generally been found to be less than those found in model analyses and forecasts, the satellite products should be suitable for data assimilation, provided an appropriate strategy can be developed that links the satellite-derived cloud parameters with cloud parameters specified in the model. In this paper, we briefly outline such a strategy and describe a methodology to retrieve cloud water content profiles from operational satellite data. Initial results and future plans are presented. It is expected that the direct assimilation of this new product will provide the most accurate depiction of the vertical distribution of cloud water ever produced at the high spatial and temporal resolution needed for short term weather analyses and forecasts.

Smith, William L., Jr.↗
NASA NTRS2011

NASA Activities as they Relate to Microwave Technology for Aerospace Communications Systems

This presentation discusses current NASA activities and plans as they relate to microwave technology for aerospace communications. The presentations discusses some examples of the aforementioned technology within the context of the existing and future communications architectures and technology development roadmaps. Examples of the evolution of key technology from idea to deployment are provided as well as the challenges that lay ahead regarding advancing microwave technology to ensure that future NASA missions are not constrained by lack of communication or navigation capabilities. The presentation closes with some examples of emerging ongoing opportunities for establishing collaborative efforts between NASA, Industry, and Academia to encourage the development, demonstration and insertion of communications technology in pertinent aerospace systems.

Miranda, Felix A.↗
NASA NTRS2011

Asia from Space: New Ideas for Exploration

Megafans, also known (incorrectly) as inland deltas, are partial cones of fluvial sediment with radii >~100 km. Each is generated by a formative river avulsing across a lowland. The alluvial tract (channel, levee, overbank, etc.) is the building block for megafans. Planform and sectional analyses, based on SRTM data, reveal their conical, low-angle morphology. Megafans are not geologically rare as often assumed but a normal feature in the hierarchy of fluvial features that is slowly beginning to be understood. Our global survey contains a total of >150 examples worldwide, in all tectonic basin types, with a majority of smaller, more easily distinguished megafans occupying classic foreland basins (54%) which may explain the general view that megafans only form in Himalaya-like foreland basins, especially since the Kosi Megafan in the Indogangetic Plain is one of the best known in the geological literature. Recent research has shown that all actively alluviating basins are occupied by fanlike sediment masses, from the well known smaller and steeper alluvial fan (level 8 in Miall s hierarchy of fluvial forms), to the much larger megafan feature (level 9). A close relationship exists between upland basin size and fan size and slope. Larger upland drainage basins give rise to low-slope megafan sedimentation, which can cover very large areas where the receptacle basin exists individual megafan areas are 10(sup 3-5) square kilometers, and collectively cover 1.2 million square kilometers in South America, for example. The habitat of megafans is now sufficiently well understood that prediction of some modern cryptic megafan locations has been successfully achieved. Underground prediction therefore seems possible, where sufficient data exists. It seems necessary to distinguish megafans from (i) steep, coarse-grained mountain-front alluvial fans which are overwhelmingly coarse-grained, (ii) deltas, since megafans lack distal shoreline processes), and (iii) confined floodplains which lack radial drainage. Numerous other differences can be identified. As a normal component of the modern fluvial environment, megafans must exist in the subsurface. Megafan size, predictable channel patterns of the formative river, and the gradation from coarser to finer sediments from apex to toe of megafans are characteristics that ought to assist in understanding subsurface patterns of hydrocarbon host rocks, and possibly source rocks as well. We show examples from various producing basins. A roughness map of Asia, based on an algorithm developed for Mars, shows megafan landscapes to be dominated by short baseline roughness and low slopes, consistent with megafan-dominated plains worldwide. Interestingly, this a unique signature for a larger continental landform.

Wilkinson, M. Justin↗
NASA NTRS2004

Ordered Nanostructures Made Using Chaperonin Polypeptides

A recently invented method of fabricating periodic or otherwise ordered nanostructures involves the use of chaperonin polypeptides. The method is intended to serve as a potentially superior and less expensive alternative to conventional lithographic methods for use in the patterning steps of the fabrication of diverse objects characterized by features of the order of nanometers. Typical examples of such objects include arrays of quantum dots that would serve as the functional building blocks of future advanced electronic and photonic devices. A chaperonin is a double-ring protein structure having a molecular weight of about 60 plus or minus 5 kilodaltons. In nature, chaperonins are ubiquitous, essential, subcellular structures. Each natural chaperonin molecule comprises 14, 16, or 18 protein subunits, arranged as two stacked rings approximately 16 to 18 nm tall by approximately 15 to 17 nm wide, the exact dimensions depending on the biological species in which it originates. The natural role of chaperonins is unknown, but they are believed to aid in the correct folding of other proteins, by enclosing unfolded proteins and preventing nonspecific aggregation during assembly. What makes chaperonins useful for the purpose of the present method is that under the proper conditions, chaperonin rings assemble themselves into higher-order structures. This method exploits such higher-order structures to define nanoscale devices. The higher-order structures are tailored partly by choice of chemical and physical conditions for assembly and partly by using chaperonins that have been mutated. The mutations are made by established biochemical techniques. The assembly of chaperonin polypeptides into such structures as rings, tubes, filaments, and sheets (two-dimensional crystals) can be regulated chemically. Rings, tubes, and filaments of some chaperonin polypeptides can, for example, function as nano vessels if they are able to absorb, retain, protect, and release gases or chemical reagents, including reagents of medical or pharmaceutical interest. Chemical reagents can be bound in, or released from, such structures under suitable controlled conditions. In an example of a contemplated application, a two-dimensional crystal of chaperonin polypeptides would be formed on a surface of an inorganic substrate and used to form a planar array of nanoparticles or quantum dots. Through genetic engineering of the organisms used to manufacture the chaperonins, specific sites on the chaperonin molecules and, thus, on the two-dimensional crystals can be chemically modified to react in a specific manner so as to favor the deposition of the material of the desired nanoparticles or quantum dots. A mutation that introduces a cysteine residue at the desired sites on a chaperonin of Sulfolobus shibatae was used to form planar arrays of gold nanoparticles (see figure).

Trent, Jonathan↗
NASA NTRS2004

Fast Query-Optimized Kernel-Machine Classification

A recently developed algorithm performs kernel-machine classification via incremental approximate nearest support vectors. The algorithm implements support-vector machines (SVMs) at speeds 10 to 100 times those attainable by use of conventional SVM algorithms. The algorithm offers potential benefits for classification of images, recognition of speech, recognition of handwriting, and diverse other applications in which there are requirements to discern patterns in large sets of data. SVMs constitute a subset of kernel machines (KMs), which have become popular as models for machine learning and, more specifically, for automated classification of input data on the basis of labeled training data. While similar in many ways to k-nearest-neighbors (k-NN) models and artificial neural networks (ANNs), SVMs tend to be more accurate. Using representations that scale only linearly in the numbers of training examples, while exploring nonlinear (kernelized) feature spaces that are exponentially larger than the original input dimensionality, KMs elegantly and practically overcome the classic curse of dimensionality. However, the price that one must pay for the power of KMs is that query-time complexity scales linearly with the number of training examples, making KMs often orders of magnitude more computationally expensive than are ANNs, decision trees, and other popular machine learning alternatives. The present algorithm treats an SVM classifier as a special form of a k-NN. The algorithm is based partly on an empirical observation that one can often achieve the same classification as that of an exact KM by using only small fraction of the nearest support vectors (SVs) of a query. The exact KM output is a weighted sum over the kernel values between the query and the SVs. In this algorithm, the KM output is approximated with a k-NN classifier, the output of which is a weighted sum only over the kernel values involving k selected SVs. Before query time, there are gathered statistics about how misleading the output of the k-NN model can be, relative to the outputs of the exact KM for a representative set of examples, for each possible k from 1 to the total number of SVs. From these statistics, there are derived upper and lower thresholds for each step k. These thresholds identify output levels for which the particular variant of the k-NN model already leans so strongly positively or negatively that a reversal in sign is unlikely, given the weaker SV neighbors still remaining. At query time, the partial output of each query is incrementally updated, stopping as soon as it exceeds the predetermined statistical thresholds of the current step. For an easy query, stopping can occur as early as step k = 1. For more difficult queries, stopping might not occur until nearly all SVs are touched. A key empirical observation is that this approach can tolerate very approximate nearest-neighbor orderings. In experiments, SVs and queries were projected to a subspace comprising the top few principal- component dimensions and neighbor orderings were computed in that subspace. This approach ensured that the overhead of the nearest-neighbor computations was insignificant, relative to that of the exact KM computation.

Mazzoni, Dominic↗
NASA NTRS2004

Masked Proportional Routing

Masked proportional routing is an improved procedure for choosing links between adjacent nodes of a network for the purpose of transporting an entity from a source node ("A") to a destination node ("B"). The entity could be, for example, a physical object to be shipped, in which case the nodes would represent waypoints and the links would represent roads or other paths between waypoints. For another example, the entity could be a message or packet of data to be transmitted from A to B, in which case the nodes could be computer-controlled switching stations and the links could be communication channels between the stations. In yet another example, an entity could represent a workpiece while links and nodes could represent, respectively, manufacturing processes and stages in the progress of the workpiece towards a finished product. More generally, the nodes could represent states of an entity and the links could represent allowed transitions of the entity. The purpose of masked proportional routing and of related prior routing procedures is to schedule transitions of entities from their initial states ("A") to their final states ("B") in such a manner as to minimize a cost or to attain some other measure of optimality or efficiency. Masked proportional routing follows a distributed (in the sense of decentralized) approach to probabilistically or deterministically choosing the links. It was developed to satisfy a need for a routing procedure that 1. Does not always choose the same link(s), even for two instances characterized by identical estimated values of associated cost functions; 2. Enables a graceful transition from one set of links to another set of links as the circumstances of operation of the network change over time; 3. Is preferably amenable to separate optimization of different portions of the network; 4. Is preferably usable in a network in which some of the routing decisions are made by one or more other procedure(s); 5. Preferably does not cause an entity to visit the same node twice; and 6. Preferably can be modified so that separate entities moving from A to B do not arrive out of order.

Wolpert, David↗
NASA NTRS2003

Improved Multiple-DOF SAW Piezoelectric Motors

Surface-acoustic-wave (SAW) piezoelectric motors of a proposed type would be capable of operating in multiple degrees of freedom (DOFs) simultaneously and would be amenable to integration into diverse structures and mechanisms. These motors would be compact and structurally simple and would not contain bearings or lead screws. One example of a particularly useful motor of this type would be a two-dimensional- translation stage. Another such example would be a self-actuated spherical joint that could be made to undergo controlled, simultaneous rotations about two orthogonal axes: Such a motor could serve as a mechanism for aiming an "eyeball" camera or as a compact transducer in, and an integral part of, a joint in a robot arm. The multiple-DOF SAW piezoelectric motors as now proposed would be successors to the ones reported in "Multiple-DOF Surface-Acoustic-Wave Piezoelectric Motors" (NPO-20735), NASA Tech Briefs, Vol. 24, No. 12 (December 2000), page 5b. The basic principle of operation of a multiple-DOF SAW piezoelectric motor is a straightforward extension of that of single-DOF SAW piezoelectric motors, which have been reported in several previous NASA Tech Briefs articles: For example, in the case of a linear SAW piezoelectric motor, piezoelectric transducers at opposite ends of a stator excite surface acoustic waves that travel along the surface of the stator. An object (denoted the slider) is pressed against the stator with sufficient pressure (in practice .300 MPa) that it remains in frictional contact with the stator at all times. The slider rides the crests of the waves and is thereby made to move along the surface of the stator. The direction of motion (forward or backward) is controlled by selecting the relative phase of waves generated by the two piezoelectric transducers. The speed increases with the amplitude of the waves and thus with the magnitude of the voltage applied to the transducers.

Bar-Cohen, Yoseph↗
NASA NTRS2003

Software Searches for Better Spacecraft-Navigation Models

ADAPT is a computer program that searches for better mathematical models for spacecraft navigation. The task of tuning trajectory-determination models for interplanetary navigation is complex, requiring an intensive search of multiple dynamical and nondynamical models that yield trajectory solutions with minimal errors. By automating the search, ADAPT eases the task of human analysts and enables them to consider wider ranges of potential solutions. ADAPT uses genetic algorithms to search a range of relevant parameters in a user-selected design space to arrive at values for those parameters that best fit the measured spacecraft-tracking data. The user s guide for ADAPT reviews the theoretical basis of the program and presents two example applications. One example is that of selecting a solar-radiation model for the Mars Pathfinder (MPF) mission using MPF tracking data and an extended Kalman filter from prior spacecraft-navigation software. The second example is of the use of tracking data from the Stardust spacecraft mission combined with a pseudo-epoch-state batch filter and an empirical small-forces model to find improved impulse models for use during Stardust attitude adjustments.

Ely, Todd↗
NASA NTRS2011

Wheel-Based Ice Sensors for Road Vehicles

Wheel-based sensors for detection of ice on roads and approximate measurement of the thickness of the ice are under development. These sensors could be used to alert drivers to hazardous local icing conditions in real time. In addition, local ice-thickness measurements by these sensors could serve as guidance for the minimum amount of sand and salt required to be dispensed locally onto road surfaces to ensure safety, thereby helping road crews to utilize their total supplies of sand and salt more efficiently. Like some aircraft wing-surface ice sensors described in a number of previous NASA Tech Briefs articles, the wheelbased ice sensors are based, variously, on measurements of changes in capacitance and/or in radio-frequency impedance as affected by ice on surfaces. In the case of ice on road surfaces, the measurable changes in capacitance and/or impedance are attributable to differences among the electric permittivities of air, ice, water, concrete, and soil. In addition, a related phenomenon that can be useful for distinguishing between ice and water is a specific transition in the permittivity of ice at a temperature- dependent frequency. This feature also provides a continuous calibration of the sensor to allow for changing road conditions. Several configurations of wheel-based ice sensors are under consideration. For example, in a simple two-electrode capacitor configuration, one of the electrodes would be a circumferential electrode within a tire, and the ground would be used as the second electrode. Optionally, the steel belts that are already standard parts of many tires could be used as the circumferential electrodes. In another example (see figure), multiple electrodes would be embedded in rubber between the steel belt and the outer tire surface. These electrodes would be excited in alternating polarities at one or more suitable audio or radio frequencies to provide nearly continuous monitoring of the road surface under the tire. In still another example, one or more microwave stripline(s) or coplanar waveguide(s) would be embedded in a tire near its outer surface; in comparison with lower-frequency capacitive devices, a device of this type could be more sensitive.

Arndt, G. Dickey↗