Results for “hardware algorithms” — Page 67

NASA NTRS1979

Guidance of an autonomous planetary rover based on a short-range hazard detection system

The guidance of an autonomous planetary roving vehicle using a scanning laser/multidetector terrain sensor for short-range hazard detection has been simulated. The sensor data are used to model the terrain, thereby providing the information required by a path selection algorithm to control the motion of the rover. These simulation studies are providing the basis for developing both the real-time computer control software and the hardware systems for laboratory and field testing of rover.

Yerazunis, S. W.↗

NASA NTRS1979

Design of a 24-channel transmultiplexer

The design of a transmultiplexer capable of performing the bilateral conversion between one 1544 kbit/s digital signal (which represents 24 PCM coded voice channels) and two analog group signals (each one containing 12 voice channels in the 60-108 kHz band) is investigated. It is shown that an FIR filter bank required as part of such a transmultiplexer can be realized efficiently by cascading a discrete cosine transform processor and a weighting network. Fast convolution algorithms are derived for evaluating the cosine transform. A method of using the symmetry conditions to reduce the computation rate in the weighting network and an elegant hardware configuration for implementing it are also discussed.

Narasimha, M. J.↗

NASA NTRS1985

A new taxonomy for distributed computer systems based upon operating system structure

Characteristics of the resource structure found in the operating system are considered as a mechanism for classifying distributed computer systems. Since the operating system resources, themselves, are too diversified to provide a consistent classification, the structure upon which resources are built and shared are examined. The location and control character of this indivisibility provides the taxonomy for separating uniprocessors, computer networks, network computers (fully distributed processing systems or decentralized computers) and algorithm and/or data control multiprocessors. The taxonomy is important because it divides machines into a classification that is relevant or important to the client and not the hardware architect. It also defines the character of the kernel O/S structure needed for future computer systems. What constitutes an operating system for a fully distributed processor is discussed in detail.

Foudriat, E. C.↗

NASA NTRS1986

Precision maneuver determination for trajectory corrections

The interplanetary navigation of a spacecraft requires precise calculation of trajectory correction maneuver parameters. Velocity increments must be found which make the required corrections, minimize propellant consumption, and do not violate hardware design constraints or scientific objectives. This process is illustrated by its application to the Galileo Mission. The paper describes inflight analysis techniques, mathematical modeling, and computational algorithms used in the precision maneuver calculation scenario.

Hintz, G. R.↗

NASA NTRS1987

Automated problem scheduling and reduction of synchronization delay effects

It is anticipated that in order to make effective use of many future high performance architectures, programs will have to exhibit at least a medium grained parallelism. A framework is presented for partitioning very sparse triangular systems of linear equations that is designed to produce favorable preformance results in a wide variety of parallel architectures. Efficient methods for solving these systems are of interest because: (1) they provide a useful model problem for use in exploring heuristics for the aggregation, mapping and scheduling of relatively fine grained computations whose data dependencies are specified by directed acrylic graphs, and (2) because such efficient methods can find direct application in the development of parallel algorithms for scientific computation. Simple expressions are derived that describe how to schedule computational work with varying degrees of granularity. The Encore Multimax was used as a hardware simulator to investigate the performance effects of using the partitioning techniques presented in shared memory architectures with varying relative synchronization costs.

Saltz, Joel H.↗

NASA NTRS1991

A nonrecursive 'Order N' preconditioned conjugate gradient/range space formulation of MDOF dynamics

This paper addresses the requirements of present-day mechanical system simulations of algorithms that induce parallelism on a fine scale and of transient simulation methods which must be automatically load balancing for a wide collection of system topologies and hardware configurations. To this end, a combination range space/preconditioned conjugage gradient formulation of multidegree-of-freedon dynamics is developed, which, by employing regular ordering of the system connectivity graph, makes it possible to derive an extremely efficient preconditioner from the range space metric (as opposed to the system coefficient matrix). Because of the effectiveness of the preconditioner, the method can achieve performance rates that depend linearly on the number of substructures. The method, termed 'Order N' does not require the assembly of system mass or stiffness matrices, and is therefore amenable to implementation on work stations. Using this method, a 13-substructure model of the Space Station was constructed.

Kurdila, A. J.↗

NASA NTRS1994

Rapid computation of spectrally integrated non-local thermodynamic equilibrium limb emission

The interpretation of infrared radiance measurements made by satellite-borne limb-scanning broadband radiometers requires accurate and computationally fast techniques with which to evaluate the equation of radiative transfer. This requirement is made even more stringent when analyzing measurements of non-local thermodynamic equilibrium (non-LTE) emission from the terrestrial mesosphere and lower thermosphere. In principle, line-by-line calculations which explicitly account for the departure from thermodynamic equilibrium in both the source functions and the transmittances are necessary. In this paper we extend the emissivity growth approximation (EGA) technique developed for local thermodynamic equilibrium (LTE) limb radiance for the molecular oxygen dayglow (1.27 micrometers and 762 nm), ozone and carbon dioxide in the 9- to 11-micrometer spectral interval, carbon monoxide (4.6 micrometers), nitric oxide (5.3 micrometers), and the carbon dioxide bands (15 micrometers) are presented. Using the non-LTE form of the EGA, the spectrally integrated limb emission is calculated for 35 tangent heights in the mesosphere and lower thermosphere (a total of 1200 atmospheric layers) with line-by-line accuracy in approximately 0.35 s of CPU time on readily available desktop computer hardware, while the corresponding line-by-line calculations may require several minutes. The non-LTE EGA technique will allow kinetic temperature and minor constituend retrieval algorithms to readily include non-LTE efects limited only by the a priori knowledge of the departure from LTE in the observed bands.

Mlynczak, Martin G.↗

NASA NTRSDate not supplied

Streamlining GNC Architecture Development and FSW Integration for the Mars Ascent Vehicle

The Mars Ascent Vehicle (MAV) will be the first vehicle to perform an ascent from the surface of another atmospheric planetary body outside of the Earth-Moon system. Significant light-time delay requires complete autonomy of flight throughout ascent, and naturally a high level of reliability is desired in both MAV’s hardware and software subsystems. The MAV Guidance, Navigation and Controls (GNC) team and the MAV Flight Software (FSW) team have partnered together to improve the efficiency of algorithm integration onto the MAV flight processor, and to increase confidence that said integration is successful and without human error. An interface architecture is proposed for the GNC suite that allows both the guidance and navigation subsystems to provide code algorithms directly in C++, and the controls subsystem to provide MATLAB Simulink auto-coded algorithms. Several continuous integration/deployment (CI/CD) methodologies have been considered for ease of transition of algorithm code from the GNC team to the FSW team. The GNC/FSW teams also worked together to develop a cFS-friendly wrapper which abstracts the integration of the GNC algorithm code into an interface-level API that is compatible with cFS. Several iterations of vehicle GNC code have been produced between the GNC/FSW team’s partnership, and this strong interface between these two teams have allowed the GNC/FSW teams to greatly increase confidence of efficient and error-free implementation of the GNC code onto MAV for a successful flight.

Engineering↗

NASA NTRSDate not supplied

Mars Ascent Vehicle GNC Targeting Routines with Considerations for Flight Software Development

The Mars Ascent Vehicle (MAV) will be the first vehicle to perform an ascent from the surface of another atmospheric planetary body outside of the Earth-Moon system. Significant light-time delay requires complete autonomy of flight throughout ascent, and naturally a high level of reliability is desired in both MAV’s hardware and software subsystems. The MAV Guidance, Navigation and Controls (GNC) team and the MAV Flight Software (FSW) team have partnered together to improve the efficiency of algorithm integration onto the MAV flight processor, and to increase confidence that said integration is successful and without human error. An interface architecture is proposed for the GNC suite that allows both the guidance and navigation subsystems to provide code algorithms directly in C++, and the controls subsystem to provide MATLAB Simulink auto-coded algorithms. Several continuous integration/deployment (CI/CD) methodologies have been considered for ease of transition of algorithm code from the GNC team to the FSW team. The GNC/FSW teams also worked together to develop a cFS-friendly wrapper which abstracts the integration of the GNC algorithm code into an interface-level API that is compatible with cFS. Several iterations of vehicle GNC code have been produced between the GNC/FSW team’s partnership, and this strong interface between these two teams have allowed the GNC/FSW teams to greatly increase confidence of efficient and error-free implementation of the GNC code onto MAV for a successful flight.

Jason Everett↗

NASA NTRSDate not supplied

Autonomous Robotic Manipulator Software

Autonomous robotic manipulation requires a deep and wide stack of supporting software. This paper presents Autonomous Robotic Manipulator Software (ARMS), a software suite designed at NASA Langley Research Center to support research and development of different algorithms for In-space Servicing, Assembly and Manufacturing (ISAM). ARMS solves common challenges along the autonomous manipulation software stack. Various challenges, such as integration with commercial hardware, simulation, and path planning, are solved through the use of Robot Operating System 2 and its community-developed packages. Other challenges, such as configuration management and task definition, and execution are solved in software built on those tools. The result is a modular approach to robotic system definition, agent actions, and assembly task definitions. ARMS has been used in two ISAM projects at NASA Langley Research Center, the Precision Assembled Space Structures project and the Built On-orbit Robotically assembled Gigatruss project.

Collin J Cresta↗

NASA NTRSDate not supplied

Autonomous Robotic Manipulator Software (ARMS)

Autonomous robotic manipulation requires a deep and wide stack of supporting software. This paper presents Autonomous Robotic Manipulator Software (ARMS), a software suite designed at NASA Langley Research Center to support research and development of different algorithms for In-space Servicing, Assembly and Manufacturing (ISAM). ARMS solves common challenges along the autonomous manipulation software stack. Various challenges, such as integration with commercial hardware, simulation, and path planning, are solved through the use of Robot Operating System 2 and its community-developed packages. Other challenges, such as configuration management and task definition, and execution are solved in software built on those tools. The result is a modular approach to robotic system definition, agent actions, and assembly task definitions. ARMS has been used in two ISAM projects at NASA Langley Research Center, the Precision Assembled Space Structures project and the Built On-orbit Robotically assembled Gigatruss project.

Collin J Cresta↗

DOE OSTI2024

Solid State Power Substation DC Node Optimization and Controller Hardware-In-The-Loop Demonstration

A solid state power substation (SSPS) node is a microgrid that integrates distributed energy resources and loads and injects/absorbs power to/from the SSPS distribution network. It is an essential building block of a futuristic distribution grid network. This paper presents the development and demonstration of optimization use cases of a SSPS DC node. By adopting multi-layer hierarchical control architecture and developing automatic device identification and dynamic optimization formulation algorithms, the SSPS DC node can perform plug-and-play resource integration and seamless transition of the optimized node operation under on and off grid condition without sophisticated algorithms, control mode changes, and user interactions. Four optimization use cases including economic dispatches with price signal changes, a sudden PV power drop, and a single directional meter and its associated costs with sending power back to the grid, and resiliency under a grid inverter trip condition were demonstrated through the real-time controller hardware-in-the-loop simulation.

Kim, Namwon↗

NASA NTRS2011

Analysis of Compression Algorithm in Ground Collision Avoidance Systems (Auto-GCAS)

Automatic Ground Collision Avoidance Systems (Auto-GCAS) utilizes Digital Terrain Elevation Data (DTED) stored onboard a plane to determine potential recovery maneuvers. Because of the current limitations of computer hardware on military airplanes such as the F-22 and F-35, the DTED must be compressed through a lossy technique called binary-tree tip-tilt. The purpose of this study is to determine the accuracy of the compressed data with respect to the original DTED. This study is mainly interested in the magnitude of the error between the two as well as the overall distribution of the errors throughout the DTED. By understanding how the errors of the compression technique are affected by various factors (topography, density of sampling points, sub-sampling techniques, etc.), modifications can be made to the compression technique resulting in better accuracy. This, in turn, would minimize unnecessary activation of A-GCAS during flight as well as maximizing its contribution to fighter safety.

Schmalz, Tyler↗

DOE OSTI2020

Low cost, flexible, and distribution level universal grid analyser platform: designs and implementations

This study presents the designs and implementations of a distribution level open-universal grid analyser (Open-UGA) platform. The proposed Open-UGA platform consists of distribution-level phasor measurement units (PMUs), a standard signal generator, a router, and a server. Firstly, an overall introduction for the software, hardware, and server architectures of the Open-UGA platform is given. To give a detailed design, the software, hardware, server block diagrams, flowcharts, and printed circuit board photo of the Open-UGA platform are presented in detail. Then, four different types of distribution level PMU algorithms are introduced and implemented in the Open-UGA platform to verify the flexibility and reconfigurability. The flowcharts and functionalities of these four UGAs with different PMU algorithms are given as example implementations. Lastly, a performance comparison is conducted with both quantitative and illustrative results.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2020

Heterogeneous data-processing optimization with CLARA’s adaptive workflow orchestrator

The hardware landscape used in HEP and NP is changing from homogeneous multi-core systems towards heterogeneous systems with many different computing units, each with their own characteristics. To achieve maximum performance with data processing, the main challenge is to place the right computing on the right hardware. In this paper, we discuss CLAS12 charge particle tracking workflow orchestration that allows us to utilize both CPU and GPU to improve the performance. The tracking application algorithm was decomposed into micro-services that are deployed on CPU and GPU processing units, where the best features of both are intelligently combined to achieve maximum performance. In this heterogeneous environment, CLARA aims to match the requirements of each micro-service to the strength of a CPU or a GPU architecture. A predefined execution of a micro-service on a CPU or a GPU may not be the most optimal solution due to the streaming data-quantum size and the data-quantum transfer latency between CPU and GPU. So, the CLARA workflow orchestrator is designed to dynamically assign micro-service execution to a CPU or a GPU, based on the online benchmark results analyzed for a period of real-time data-processing.

Gyurjyan, Vardan↗

DOE OSTI2021

The Phase-2 Upgrade of the CMS Data Acquisition

The High Luminosity LHC (HL-LHC) will start operating in 2027 after the third Long Shutdown (LS3), and is designed to provide an ultimate instantaneous luminosity of 7:5 × 10$^{34}$ cm$^{-2}$ s$^{-1}$, at the price of extreme pileup of up to 200 interactions per crossing. The number of overlapping interactions in HL-LHC collisions, their density, and the resulting intense radiation environment, warrant an almost complete upgrade of the CMS detector. The upgraded CMS detector will be read out by approximately fifty thousand highspeed front-end optical links at an unprecedented data rate of up to 80 Tb/s, for an average expected total event size of approximately 8 - 10 MB. Following the present established design, the CMS trigger and data acquisition system will continue to feature two trigger levels, with only one synchronous hardware-based Level-1 Trigger (L1), consisting of custom electronic boards and operating on dedicated data streams, and a second level, the High Level Trigger (HLT), using software algorithms running asynchronously on standard processors and making use of the full detector data to select events for offline storage and analysis. The upgraded CMS data acquisition system will collect data fragments for Level-1 accepted events from the detector back-end modules at a rate up to 750 kHz, aggregate fragments corresponding to individual Level- 1 accepts into events, and distribute them to the HLT processors where they will be filtered further. Events accepted by the HLT will be stored permanently at a rate of up to 7.5 kHz. This paper describes the baseline design of the DAQ and HLT systems for the Phase-2 of CMS.

Badaro, Gilbert↗

DOE OSTI2023

SLAC microresonator RF(SMuRF) electronics: A tone-tracking readout system for superconducting microwave resonator arrays

Here, we describe the newest generation of the SLAC Microresonator RF (SMuRF) electronics, a warm digital control and readout system for microwave-frequency resonator-based cryogenic detector and multiplexer systems, such as microwave superconducting quantum interference device multiplexers (μmux) or microwave kinetic inductance detectors. Ultra-sensitive measurements in particle physics and astronomy increasingly rely on large arrays of cryogenic sensors, which in turn necessitate highly multiplexed readout and accompanying room-temperature electronics. Microwave-frequency resonators are a popular tool for cryogenic multiplexing, with the potential to multiplex thousands of detector channels on one readout line. The SMuRF system provides the capability for reading out up to 3328 channels across a 4–8 GHz bandwidth. Notably, the SMuRF system is unique in its implementation of a closed-loop tone-tracking algorithm that minimizes RF power transmitted to the cold amplifier, substantially relaxing system linearity requirements and effective noise from intermodulation products. Here, we present a description of the hardware, firmware, and software systems of the SMuRF electronics, comparing achieved performance with science-driven design requirements. In particular, we focus on the case of large-channel-count, low-bandwidth applications, but the system has been easily reconfigured for high-bandwidth applications. The system described here has been successfully deployed in lab settings and field sites around the world and is baselined for use on upcoming large-scale observatories.

47 OTHER INSTRUMENTATION↗

DOE OSTI2024

Evolution of the SLATE linear algebra library

SLATE (Software for Linear Algebra Targeting Exascale) is a distributed, dense linear algebra library targeting both CPU-only and GPU-accelerated systems, developed over the course of the Exascale Computing Project (ECP). While it began with several documents setting out its initial design, significant design changes occurred throughout its development. In some cases, these were anticipated: an early version used a simple consistency flag that was later replaced with a full-featured consistency protocol. In other cases, performance limitations and software and hardware changes prompted a redesign. Sequential communication tasks were parallelized; host-to-host MPI calls were replaced with GPU device-to-device MPI calls; more advanced algorithms such as Communication Avoiding LU and the Random Butterfly Transform (RBT) were introduced. Early choices that turned out to be cumbersome, error prone, or inflexible have been replaced with simpler, more intuitive, or more flexible designs. Applications have been a driving force, prompting a lighter weight queue class, nonuniform tile sizes, and more flexible MPI process grids. Of paramount importance has been building a portable library that works across several different GPU architectures – AMD, Intel, and NVIDIA – while keeping a clean and maintainable codebase. Here we explore the evolving design choices and their effects, both in terms of performance and software sustainability.

Gates, Mark↗