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At least 1,207 records · Page 67

The phantom robot - Predictive displays for teleoperation with time delay

An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Bejczy, Antal K.↗

VSTOL ground effects testing with flow visualization and image enhancement

A remotely controlled high-energy fiber-optic light delivery technique is employed to examine the implementation of a laser-light-sheet flow-visualization system. During testing, video data are enhanced in real time using digital image processing techniques. A summary of test results for an advanced VSTOL configuration in ground effect, and techniques for the generation of 3D reconstructions for the flowfield are outlined. The system performed well during all phases of the test and proved to be an extremely useful asset to the overall test program. The most useful application of the flow visualization system was the interactive real-time flow field analysis made during the actual testing.

Kegelman, Jerome T.↗

Flight control system design factors for applying automated testing techniques

The principal design features and operational experiences of the X-29 forward-swept-wing aircraft and F-18 high alpha research vehicle (HARV) automated test systems are discussed. It is noted that operational experiences in developing and using these automated testing techniques have highlighted the need for incorporating target system features to improve testability. Improved target system testability can be accomplished with the addition of nonreal-time and real-time features. Online access to target system implementation details, unobtrusive real-time access to internal user-selectable variables, and proper software instrumentation are all desirable features of the target system. Also, test system and target system design issues must be addressed during the early stages of the target system development. Processing speeds of up to 20 million instructions/s and the development of high-bandwidth reflective memory systems have improved the ability to integrate the target system and test system for the application of automated testing techniques. It is concluded that new methods of designing testability into the target systems are required.

Sitz, Joel R.↗

Design for interaction between humans and intelligent systems during real-time fault management

Initial results are reported to provide guidance and assistance for designers of intelligent systems and their human interfaces. The objective is to achieve more effective human-computer interaction (HCI) for real time fault management support systems. Studies of the development of intelligent fault management systems within NASA have resulted in a new perspective of the user. If the user is viewed as one of the subsystems in a heterogeneous, distributed system, system design becomes the design of a flexible architecture for accomplishing system tasks with both human and computer agents. HCI requirements and design should be distinguished from user interface (displays and controls) requirements and design. Effective HCI design for multi-agent systems requires explicit identification of activities and information that support coordination and communication between agents. The effects are characterized of HCI design on overall system design and approaches are identified to addressing HCI requirements in system design. The results include definition of (1) guidance based on information level requirements analysis of HCI, (2) high level requirements for a design methodology that integrates the HCI perspective into system design, and (3) requirements for embedding HCI design tools into intelligent system development environments.

Malin, Jane T.↗

A parallel trajectory optimization tool for aerospace plane guidance

A parallel trajectory optimization algorithm is being developed. One possible mission is to provide real-time, on-line guidance for the National Aerospace Plane. The algorithm solves a discrete-time problem via the augmented Lagrangian nonlinear programming algorithm. The algorithm exploits the dynamic programming structure of the problem to achieve parallelism in calculating cost functions, gradients, constraints, Jacobians, Hessian approximations, search directions, and merit functions. Special additions to the augmented Lagrangian algorithm achieve robust convergence, achieve (almost) superlinear local convergence, and deal with constraint curvature efficiency. The algorithm can handle control and state inequality constraints such as angle-of-attack and dynamic pressure constraints. Portions of the algorithm have been tested. The nonlinear programming core algorithm performs well on a variety of static test problems and on an orbit transfer problem. The parallel search direction algorithm can reduce wall clock time by a factor of 10 for this part of the computation task.

Psiaki, Mark L.↗

Estimation and enhancement of real-time software reliability through mutation analysis

A simulation-based technique for obtaining numerical estimates of the reliability of N-version, real-time software is presented. An extended stochastic Petri net is employed to represent the synchronization structure of N versions of the software, where dependencies among versions are modeled through correlated sampling of module execution times. Test results utilizing specifications for NASA's planetary lander control software indicate that mutation-based testing could hold greater potential for enhancing reliability than the desirable but perhaps unachievable goal of independence among N versions.

Geist, Robert↗

An enhanced Ada run-time system for real-time embedded processors

An enhanced Ada run-time system has been developed to support real-time embedded processor applications. The primary focus of this development effort has been on the tasking system and the memory management facilities of the run-time system. The tasking system has been extended to support efficient and precise periodic task execution as required for control applications. Event-driven task execution providing a means of task-asynchronous control and communication among Ada tasks is supported in this system. Inter-task control is even provided among tasks distributed on separate physical processors. The memory management system has been enhanced to provide object allocation and protected access support for memory shared between disjoint processors, each of which is executing a distinct Ada program.

Sims, J. T.↗

Integrated human-machine intelligence in space systems

The integration of human and machine intelligence in space systems is outlined with respect to the contributions of artificial intelligence. The current state-of-the-art in intelligent assistant systems (IASs) is reviewed, and the requirements of some real-world applications of the technologies are discussed. A concept of integrated human-machine intelligence is examined in the contexts of: (1) interactive systems that tolerate human errors; (2) systems for the relief of workloads; and (3) interactive systems for solving problems in abnormal situations. Key issues in the development of IASs include the compatibility of the systems with astronauts in terms of inputs/outputs, processing, real-time AI, and knowledge-based system validation. Real-world applications are suggested such as the diagnosis, planning, and control of enginnered systems.

Boy, Guy A.↗

Aerodyne Research mobile infrared methane monitor

An improved real-time methane monitor based on infrared absorption of the 3.39 micron line of a HeNe laser is described. Real time in situ measurement of methane has important applications in stratospheric and tropospheric chemistry, especially when high accuracy measurements can be made rapidly, providing fine spatial-scale information. The methane instrument provides 5 ppb resolution in a 1 sec averaging time. A key feature in this instrument is the use of magnetic (Zeeman) broadening to achieve continuous tunability with constant output power over a range of 0.017/cm. The instruments optical absorption path length is 47 m through sampled air held at 50 torr in a multipass cell of the Herriott (off-axis resonator) type. A microprocessor controls laser frequency and amplitude and collects data with minimal operator attention. The instrument recently has been used to measure methane emissions from a variety of natural and artificial terrestrial sources.

Mcmanus, J. B.↗

Demonstration of rapid and sensitive module leak certification for Space Station Freedom

A leak detection and quantification demonstration using perflurocarbon tracer (PFT) technology was successfully performed at the NASA Marshall Space Flight Center on January 25, 1991. The real-time Dual Trap Analyzer (DTA) at one-half hour after the start of the first run gave an estimated leak rate of 0.7 mL/min. This has since been refined to be 1.15 (+ or -) 0.09 mL/min. The leak rates in the next three runs were determined to be 9.8 (+ or -) 0.7, -0.4 (+ or -) 0.3, and 76 (+ or -) 6 mL/min, respectively. The theory on leak quantification in the steady-state and time-dependent modes for a single zone test facility was developed and applied to the above determinations. The laboratory PFT analysis system gave a limit-of-detection (LOD) of 0.05 fL for ocPDCH. This is the tracer of choice and is about 100-fold better than that for the DTA. Applied to leak certification, the LOD is about 0.00002 mL/s (0.000075 L/h), a 5 order-of-magnitude improvement over the original leak certification specification. Furthermore, this limit can be attained in a measurement period of 3 to 4 hours instead of days, weeks, or months. A new Leak Certification Facility is also proposed to provide for zonal (three zones) determination of leak rates. The appropriate multizone equations, their solutions, and error analysis have already been derived. A new concept of seal-integrity certification has been demonstrated for a variety of controlled leaks in the range of module leak testing. High structural integrity leaks were shown to have a linear dependence of flow on (Delta)p. The rapid determination of leak rates at different pressures is proposed and is to be determined while subjecting the module to other external force-generating parameters such as vibration, torque, solar intensity, etc.

Dietz, R. N.↗

A fundamental study of suction for Laminar Flow Control (LFC)

This report covers the period forming the first year of the project. The aim is to experimentally investigate the effects of suction as a technique for Laminar Flow Control. Experiments are to be performed which require substantial modifications to be made to the experimental facility. Considerable effort has been spent developing new high performance constant temperature hot-wire anemometers for general purpose use in the Fluid Mechanics Laboratory. Twenty instruments have been delivered. An important feature of the facility is that it is totally automated under computer control. Unprecedently large quantities of data can be acquired and the results examined using the visualization tools developed specifically for studying the results of numerical simulations on graphics works stations. The experiment must be run for periods of up to a month at a time since the data is collected on a point-by-point basis. Several techniques were implemented to reduce the experimental run-time by a significant factor. Extra probes have been constructed and modifications have been made to the traverse hardware and to the real-time experimental code to enable multiple probes to be used. This will reduce the experimental run-time by the appropriate factor. Hot-wire calibration drift has been a frustrating problem owing to the large range of ambient temperatures experienced in the laboratory. The solution has been to repeat the calibrations at frequent intervals. However the calibration process has consumed up to 40 percent of the run-time. A new method of correcting the drift is very nearly finalized and when implemented it will also lead to a significant reduction in the experimental run-time.

Watmuff, Jonathan H.↗

Verifying command sequences for satellite systems

We present a formal basis for the design of a Checker used in validating safe schedules and in selecting error recovery schedules for satellite control systems. This design includes a high-level specification of Checker behavior and properties (called flight rules) of safe schedules. Specifications are written in Timed Linear Logic (TLL). Validation of schedules is performed in terms of real-time telemetry and deduction system proof rules. Telemetry (state information for satellite subsystems) serves as input to the Checker. Detection of violation of a flight rule by the Checker results in the selection of a contingency plan (error recovery schedule). The Checker is illustrated in terms of the TOPEX/Poseidon Oceanographic Satellite System.

Peters, James F., III↗

Edge smoothing for real-time simulation of a polygon face object system as viewed by a moving observer

The visual system within an aircraft flight simulation system receives flight data and terrain data which is formated into a buffer memory. The image data is forwarded to an image processor which translates the image data into face vertex vectors Vf, defining the position relationship between the vertices of each terrain object and the aircraft. The image processor then rotates, clips, and projects the image data into two-dimensional display vectors (Vd). A display generator receives the Vd faces, and other image data to provide analog inputs to CRT devices which provide the window displays for the simulated aircraft. The video signal to the CRT devices passes through an edge smoothing device which prolongs the rise time (and fall time) of the video data inversely as the slope of the edge being smoothed. An operational amplifier within the edge smoothing device has a plurality of independently selectable feedback capacitors each having a different value. The values of the capacitors form a series which doubles as a power of two. Each feedback capacitor has a fast switch responsive to the corresponding bit of a digital binary control word for selecting (1) or not selecting (0) that capacitor. The control word is determined by the slope of each edge. The resulting actual feedback capacitance for each edge is the sum of all the selected capacitors and is directly proportional to the value of the binary control word. The output rise time (or fall time) is a function of the feedback capacitance, and is controlled by the slope through the binary control word.

Lotz, Robert W.↗

Photovoltaic driven multiple quantum well optical modulator

Multiple quantum well (MQW) structures (12) are utilized to provide real-time, reliable, high-performance, optically-addressed spatial-light modulators (SLM) (10). The optically-addressed SLM comprises a vertical stack of quantum well layers (12a) within the penetration depth of an optical write signal 18, a plurality of space charge barriers (12b) having predetermined tunneling times by control of doping and thickness. The material comprising the quantum well layers has a lower bandgap than that of the space charge barrier layers. The write signal modulates a read signal (20). The modulation sensitivity of the device is high and no external voltage source is required. In a preferred embodiment, the SLM having interleaved doped semiconductor layers for driving the MQW photovoltaically is characterized by the use of a shift analogous to the Moss-Burnstein shift caused by the filling of two-dimensional states in the multiple quantum wells, thus allowing high modulation sensitivity in very narrow wells. Arrays (30) may be formed with a plurality of the modulators.

Maserjian, Joseph↗

Enhancing Security and Resiliency in Operational Technology Environments Through Network Slicing and Federated Learning

The growing convergence of Information Technology (IT) and Operational Technology (OT) within Industry 4.0 environments has introduced new demands on industrial network infrastructure. As cyber-physical systems become increasingly interconnected, ensuring the secure, timely, and efficient exchange of critical data is essential. This thesis explores how network slicing, a method of creating isolated virtual network segments, can be applied within OT environments to address challenges such as latency, security, and resource allocation. The first research question addressed in this thesis is: How can OT networks take advantage of NFV and SDN technology to become cyber resilient? This study examines the operational, security, and architectural implications of introducing network slicing into traditionally static OT infrastructures such as Industrial Control Systems (ICS) and SCADA. Through simulated deployments and case studies, the research demonstrates how slicing enables better isolation between critical and non-critical services, thereby improving response time, throughput, and security in sensitive environments. The second question considers: How to dynamically implement network slicing and take advantage of network resources towards integrating decentralized machine learning? In response, this thesis proposes a framework that combines Software-Defined Networking (SDN), Network Function Virtualization (NFV), and Federated Learning (FL) to enable real-time analytics while maintaining data locality. The proposed approach reduces the burden on centralized infrastructure and minimizes privacy risks by supporting on-site training of models across distributed OT nodes, coordinated through dynamically allocated network slices. The third focus explores: How slicing helps to increase the resiliency of OT networks through the orchestration of a dynamic DMZ? To answer this, the thesis presents a method for creating and managing Dynamic Demilitarized Zones (DMZs) using network slicing. This enables flexible and automated isolation of sensitive subsystems during threat scenarios or high-risk operations. Coupled with intelligent orchestration and containerized security services, the dynamic DMZ significantly enhances the system's ability to respond to cyber incidents without halting production. Ultimately, this thesis contributes a comprehensive architecture that blends network slicing with machine learning, secure segmentation, and automation, paving the way for resilient, adaptive, and intelligent OT environments. Performance evaluations across multiple scenarios show improvements in system reliability, threat response time, model accuracy, and resource utilization, providing a strong foundation for future industrial automation systems.

Rodiles Delgado, Brian G↗

A Fast Dynamic Internal Predictive Power Scheduling Approach for Power Management in Microgrids: Preprint

This paper presents a Dynamic Internal Predictive Power Scheduling (DIPPS) approach for optimizing power management in microgrids, particularly focusing on external power exchanges among diverse prosumers. DIPPS utilizes a dynamic objective function with a time-varying binary parameter to control the timing of power transfers to the external grid, facilitated by efficient usage of energy storage for surplus renewable power. The microgrid power scheduling problem is modeled as a mixed-integer nonlinear programming (MINLP-PS) and subsequently transformed into a mixed-integer linear programming (MILPPS) optimization through McCormick's relaxation to reduce computational complexity. A predictive window window with 6 data points is solved at an average of 0.92s, a 97.6% improvement over the 38.27s required for the MINLP-PS formulation, implying the numerical feasibility of the DIPPS approach for real-time implementation. Finally, the approach is validated against a static objective using real-world load data across three case studies with different time-varying parameters, demonstrating the ability of DIPPS to optimize power exchanges and efficiently utilize distributed resources while shifting the external power transfers to specified time durations.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Exploring the Use of Large Immersive Display Systems in the Nuclear Industry

Large immersive display systems play a critical role in the nuclear industry by enabling advanced training, design reviews, scientific visualization, and safety simulations. These systems, such as CAVE and powerwalls, allow engineers and operators to interact with virtual nuclear environments in real-time, providing a deeper understanding of complex systems. Their ability to simulate real-world scenarios for testing and optimization in a safe, controlled environment ensures that operators and engineers can refine process, enhance safety protocols, and troubleshoot complex challenges. This article outlines key lessons learned from deploying these systems, practical insights into their applications, and considerations for future improvements, aiming to guide their broader adoption and effective use in the nuclear industry.

99 - GENERAL AND MISCELLANEOUS↗

Learning to Trigger: Reinforcement Learning at the Large Hadron Collider

High-throughput scientific facilities such as the Large Hadron Collider depend on real-time event filtering (\textit{triggering}) under tight constraints on bandwidth, latency, and storage. In practice, trigger menus are largely static and hand-tuned and can become suboptimal as detector conditions, pileup, and background composition drift over time. We cast online threshold tuning as a sequential decision-making problem: a reinforcement learning agent ingests streaming summaries of recent rates and signal-sensitive features and updates trigger thresholds to maximize signal efficiency while tracking a target background rate within a tolerance band. We adapt Group-Filtered Policy Optimization (GFPO) to streaming control and introduce two variants (GFPO-F, GFPO-FR) that enforce background rate feasibility during training. On a benchmark that emulates realistic collider operation, we study two representative triggers: a total transverse energy ($H_{T}$) trigger sensitive to pileup variation, and an anomaly-detection (AD) trigger based on reconstruction loss for rare or non-standard signatures. On Monte Carlo streams, our agent increases the fraction of in-tolerance time intervals by 48% ($H_T$) and 28% (AD), with a cumulative gain of up to 2% in signal efficiency on those in-tolerance intervals. Transferring from simulation to \emph{real} collision data (CMS Run 283408), the same agent, without fine-tuning, achieves a 56% ($H_T$) and 28% (AD) in-tolerance improvement over baselines, with further signal-efficiency gain on both triggers. To our knowledge, this is the \emph{first} demonstration of RL-based trigger control on real Large Hadron Collider collision data. Code is available at https://github.com/Zixind/GFPO_LHC (see repo for details).

Ding, Zixin [Chicago U.]↗