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NASA NTRS2001

Institution Morphisms

Institutions formalize the intuitive notion of logical system, including both syntax and semantics. A surprising number of different notions of morphisim have been suggested for forming categories with institutions as objects, and a surprising variety of names have been proposed for them. One goal of this paper is to suggest a terminology that is both uniform and informative to replace the current rather chaotic nomenclature. Another goal is to investigate the properties and interrelations of these notions. Following brief expositions of indexed categories, twisted relations, and Kan extensions, we demonstrate and then exploit the duality between institution morphisms in the original sense of Goguen and Burstall, and the 'plain maps' of Meseguer, obtaining simple uniform proofs of completeness and cocompleteness for both resulting categories; because of this duality, we prefer the name 'comorphism' over 'plain map.' We next consider 'theoroidal' morphisms and comorphisims, which generalize signatures to theories, finding that the 'maps' of Meseguer are theoroidal comorphisms, while theoroidal morphisms are a new concept. We then introduce 'forward' and 'semi-natural' morphisms, and appendices discuss institutions for hidden algebra, universal algebra, partial equational logic, and a variant of order sorted algebra supporting partiality.

Goguen, Joseph↗

NASA NTRS1994

A Portable Debugger for Parallel and Distributed Programs

In this paper, we describe the design and implementation of a portable debugger for parallel and distributed programs. The design incorporates a client-server model in order to isolate non-portable debugger code from the user interface. The precise definition of a protocol for client-server interaction permits a high degree of portability of the client user interface. Replication of server components permits the implementation of a debugger for distributed computations. Portability across message passing implementations is achieved with a protocol that dictates the interaction between a message passing library and the debugger. This permits the same debugger to be used both on PVM and MTI programs. The process abstractions used for debugging message-passing programs can be easily adapted to debug HPF programs at the source level. This allows the debugger to present information hidden in tool-generated code in a meaningful manner.

Cheng, Doreen Y.↗

NASA NTRS2001

Using Remotely Sensed Observations of Ancient Mare Deposits on the Moon as Possible Analogs to the Intercrater Plains on Mercury

Two commonly held models for the formation of the mercurian intercrater plains are: a global volcanic resurfacing event or basin-ejecta material. Although Mariner 10 images have provided morphologic and limited compositional information of the intercrater plains, the origin of these materials remains ambiguous. We examine whether Mariner 10 image at 355 (UV (ultraviolet)) and 575 nm (orange) can be used to distinguish between these models. Here we use Clementine image data (415 and 750 nm) for ancient lunar mare deposits to evaluate this suggestion. The inventorying of 'hidden' volcanic deposits is important to mercurian studies because they provide evidence of ancient volcanism, which yields clues to the thermal evolution of the planet. The greater abundance of intercrater plains on Mercury, relative to the intercrater plains observed within the lunar highlands, suggests that the resurfacing was comparably more intense. Mercury may represent an intermediate member of planet resurfacing; with the extremes being the Moon (approximately 17% resurfacing) and Venus (global resurfacing). Additional information is contained in the original extended abstract.

Gillis, J. J.↗

NASA NTRS2001

The Integration of COTS/GOTS within NASA's HST Command and Control System

NASA's mission critical Hubble Space Telescope (HST) command and control system has been re-engineered with commercial-off-the-shelf (COTS/GOTS) and minimal custom code. This paper focuses on the design of this new HST Control Center System (CCS) and the lessons learned throughout its development. CCS currently utilizes more than 30 COTS/GOTS products with an additional 1/2 million lines of custom glueware code; the new CCS exceeds the capabilities of the original system while significantly reducing the lines of custom code by more than 50%. The lifecycle of COTS/GOTS products will be examined including the package selection process, evaluation process, and integration process. The advantages, disadvantages, issues, concerns, and lessons learned for integrating COTS/GOTS into the NASA's mission critical HST CCS will be examined in detail. This paper will reveal the many hidden costs of COTS/GOTS solutions when compared to traditional custom code development efforts; this paper will show the high cost of COTS/GOTS solutions including training expenses, consulting fees, and long-term maintenance expenses.

Pfarr, Thomas↗

NASA NTRS1994

The Greenhouse and Anti-Greenhouse Effects on Titan

Titan is the largest moon of Saturn and is the only moon in the solar system with a substantial atmosphere. Its atmosphere is mostly made of nitrogen, with a few percent CH4, 0.1% H2 and an uncertain level of Ar (less than 10%). The surface pressure is 1.5 atms and the surface temperature is 95 K, decreasing to 71 at the tropopause before rising to stratospheric temperatures of 180 K. In pressure and composition Titan's atmosphere is the closest twin to Earth's. The surface of Titan remains unknown, hidden by the thick smog layer, but it may be an ocean of liquid methane and ethane. Titan's atmosphere has a greenhouse effect which is much stronger than the Earth's - 92% of the surface warming is due to greenhouse radiation. However an organic smog layer in the upper atmosphere produces an anti-greenhouse effect that cuts the greenhouse warming in half - removing 35% of the incoming solar radiation. Models suggest that during its formation Titan's atmosphere was heated to high temperatures due to accretional energy. This was followed by a cold Triton-like period which gradually warmed to the present conditions. The coupled greenhouse and haze anti-greenhouse may be relevant to recent suggestions for haze shielding of a CH4 - NH3 early atmosphere on Earth or Mars. When the NASA/ESA mission to the Saturn System, Cassini, launches in a few years it will carry a probe that will be sent to the surface of Titan and show us this world that is strange and yet in many ways similar to our own.

McKay, C. P.↗

NASA NTRS1995

Mode Transitions in Glass Cockpit Aircraft: Results of a Field Study

One consequence of increased levels of automation in complex control systems is the presence of modes. A mode is a particular configuration of a control system that defines how human command inputs are interpreted. In complex systems, modes also often determine a specific allocation of control authority between the human and automated systems. Even in simple static devices (e.g., electronic watches, word processors), the presence of modes has been found to cause problems in either-the acquisition or production of skilled performance. Many of these problems arise due to the fact that the selection of a mode causes device behavior to be mediated by hidden internal state information. For these simple systems, many of these interaction problems can be solved by the design of appropriate feedback to communicate internal state information to the human operator. In complex dynamic systems, however, the design issues associated with modes seem to trancend the problem of merely communicating internal state information via displayed feedback. In complex supervisory control systems (e.g., aircraft, spacecraft, military command and control), a key function of modes is the selection of a particular configuration of control authority between the human operator and automated control systems. One mode may result in full manual control, another may result in a mix of manual and automatic control, while a third may result in full automatic control over the entire system. The human operator selects an appropriate mode as a function of current goals, operating conditions, and operating procedures. Thus, the operator is put in a position of essentially trying to control two coupled dynamic systems: the target system itself, and also a highly complex suite of automation controlling the target system. From a historical perspective, it should probably not come as a surprise that very little information is available to guide the design of mode-oriented control systems. The topic of function allocation (i.e., the proper division of control authority among human and computer) has a long history in human-machine systems research. Although this research has produced some relevant guidelines, a design approach capable of defining appropriate allocations of control function between the human and automation is not yet available. As a result, the function allocation decision itself has been allocated to the operator, to be performed in real-time, in the operation of mode-oriented control systems. A variety of documented aircraft accidents and incidents suggest that the real-time selection and monitoring of control modes is a weak link in the effective operation of complex supervisory control systems. Research in human-machine systems and human-computer interaction has barely scraped the surface of the problem of understanding how operators manage this task.The purpose of this paper is to present the results of a field study which examined how operators manage mode selection in a complex supervisory control system. Data on mode engagements using the Boeing B757/767 auto-flight system were collected during approach and descent into four major airports in the East Coast of the United States. Protocols documenting mode selection, automatic mode changes, pilot actions, quantitative records of flight-path variables, and verbal reports during and after mode engagements were collected by an observer from the jumpseat. Observations were conducted on two typical trips between three airports. Each trip was be replicated 11 times, which yielded a total of 22 trips and 66 legs on which data were collected. All data collected concerned the same flight numbers, and therefore, the same time of day, same type of aircraft, and identical operational environments (e.g., ATC facilities, weather patterns, traffic flow etc.)

Degani, Asaf↗

NASA NTRS1999

Unifying Model-Based and Reactive Programming within a Model-Based Executive

Real-time, model-based, deduction has recently emerged as a vital component in AI's tool box for developing highly autonomous reactive systems. Yet one of the current hurdles towards developing model-based reactive systems is the number of methods simultaneously employed, and their corresponding melange of programming and modeling languages. This paper offers an important step towards unification. We introduce RMPL, a rich modeling language that combines probabilistic, constraint-based modeling with reactive programming constructs, while offering a simple semantics in terms of hidden state Markov processes. We introduce probabilistic, hierarchical constraint automata (PHCA), which allow Markov processes to be expressed in a compact representation that preserves the modularity of RMPL programs. Finally, a model-based executive, called Reactive Burton is described that exploits this compact encoding to perform efficIent simulation, belief state update and control sequence generation.

Williams, Brian C.↗

NASA NTRS2002

Digital Control Technologies for Modular DC-DC Converters

Recent trends in aerospace Power Management and Distribution (PMAD) systems focus on using commercial off-the-shelf (COTS) components as standard building blocks. This move to more modular designs has been driven by a desire to reduce costs and development times, but is also due to the impressive power density and efficiency numbers achieved by today's commercial DC-DC converters. However, the PMAD designer quickly learns of the hidden "costs" of using COTS converters. The most significant cost is the required addition of external input filters to meet strict electromagnetic interference (MIAMI) requirements for space systems. In fact, the high power density numbers achieved by the commercial manufacturers are greatly due to the lack of necessary input filters included in the COTS module. The NASA Glenn Research Center is currently pursuing a digital control technology that addresses this problem with modular DC-DC converters. This paper presents the digital control technologies that have been developed to greatly reduce the input filter requirements for paralleled, modular DC-DC converters. Initial test result show that the input filter's inductor size was reduced by 75 percent, and the capacitor size was reduced by 94 percent while maintaining the same power quality specifications.

Button, Robert M.↗

NASA NTRS2000

Neuroelectric Virtual Devices

This paper presents recent results in neuroelectric pattern recognition of electromyographic (EMG) signals used to control virtual computer input devices. The devices are designed to substitute for the functions of both a traditional joystick and keyboard entry method. We demonstrate recognition accuracy through neuroelectric control of a 757 class simulation aircraft landing at San Francisco International Airport using a virtual joystick as shown. This is accomplished by a pilot closing his fist in empty air and performing control movements that are captured by a dry electrode array on the arm which are then analyzed and routed through a flight director permitting full pilot outer loop control of the simulation. We then demonstrate finer grain motor pattern recognition through a virtual keyboard by having a typist tap his traders on a typical desk in a touch typist position. The EMG signals are then translated to keyboard presses and displayed. The paper describes the bioelectric pattern recognition methodology common to both examples. Figure 2 depicts raw EMG data from typing, the numeral '8' and the numeral '9'. These two gestures are very close in appearance and statistical properties yet are distinguishable by our hidden Kharkov model algorithms. Extensions of this work to NASA emissions and robotic control are considered.

Wheeler, Kevin↗

NASA NTRS2002

Titan: A Place with Atmosphere

Titan is the largest moon of the planet Saturn and is the only moon in the solar system with a substantial atmosphere. Its atmosphere is mostly made of nitrogen and has a pressure one and a half times larger than sea level pressure on Earth. In these respects Titan's atmosphere is the closest twin to Earth's. Methane is found in Titan's atmosphere and results in the formation of a organic smog layer in the atmosphere via chemistry that is similar to the current theories for the origin of life on Earth. Unfortunately, Titan is much too cold for water to be liquid and life is therefore unlikely, earth-like life that is. Titan's atmosphere has a greenhouse effect which is much stronger than the Earth's. However the organic smog layer produces an anti-greenhouse effect that cuts the greenhouse warming in half. The surface of Titan remains unknown, hidden by the thick smog layer, but it may be an ocean of liquid methane and ethane or maybe just lakes. When the NASA/ESA mission to the Saturn System, Cassini/Huygens reaches Saturn in a few years it will launch a probe that to the surface of Titan and show us this world that is strange and yet in many ways similar to our own.

McKay, Christopher P.↗

NASA NTRS1991

Aids to School Bus Design

Navistar International Transportation Corporation, Chicago, IL, used three separate NASA-developed technologies in the design and testing of their 3000 Series Bus Chassis which was developed expressly for school bus applications. For structural analysis, they used the MSC/NASTRAN program which mathematically analyzes a design and predicts how it will hold up under stress. They also used the SPATE 9000 system for non-contact measurement of stress, load transfer mechanisms, detection of hidden flaws, and monitoring structural changes during fatigue testing. SPATE 9000 was based on infrared stress measurement technology developed by Langley Research Center. They also employed the Wyle Ride Quality Meter, which was developed by Langley to aid in passenger aircraft design by providing an accurate measurement of ride vibration and sound level. These numbers translate into a subjective discomfort level index. These technologies contribute to the company's 45-48 percent share of the school bus chassis market.

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NASA NTRS1987

Hi-Tech for Archeology

Remote sensing is the process of acquiring physical information from a distance, obtaining data on Earth features from a satellite or an airplane. Advanced remote sensing instruments detect radiations not visible to the ordinary camera or the human eye in several bands of the spectrum. These data are computer processed to produce multispectral images that can provide enormous amounts of information about Earth objects or phenomena. Since every object on Earth emits or reflects radiation in its own unique signature, remote sensing data can be interpreted to tell the difference between one type of vegetation and another, between densely populated urban areas and lightly populated farmland, between clear and polluted water or in the archeological application between rain forest and hidden man made structures.

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NASA NTRS2002

Oceans, Ice Shells, and Life on Europa

The four large satellites of Jupiter are famous for their planet-like diversity and complexity, but none more so than ice-covered Europa. Since the provocative Voyager images of Europa in 1979, evidence has been mounting that a vast liquid water ocean may lurk beneath the moon's icy surface. Europa has since been the target of increasing and sometimes reckless speculation regarding the possibility that giant squid and other creatures may be swimming its purported cold, dark ocean. No wonder Europa tops everyone's list for future exploration in the outer solar system (after the very first reconnaissance of Pluto and the Kuiper belt, of course). Europa may be the smallest of the Galilean moons (so-called because they were discovered by Galileo Galilei in the early 17th century) but more than makes up for its diminutive size with a crazed, alien landscape. The surface is covered with ridges hundreds of meters high, domes tens of kilometers across, and large areas of broken and disrupted crust called chaos. Some of the geologic features seen on Europa resemble ice rafts floating in polar seas here on Earth-reinforcing the idea that an ice shell is floating over an ocean on this Moon-size satellite. However, such features do not prove that an ocean exists or ever did. Warm ice is unusually soft and will flow under its own weight. If the ice shell is thick enough, the warm bottom of the shell will flow, as do terrestrial glaciers. This could produce all the observed surface features on Europa through a variety of processes, the most important of which is convection. (Convection is the vertical overturn of a layer due to heating or density differences-think of porridge or sauce boiling on the stove.) Rising blobs from the base of the crust would then create the oval domes dotting Europa's surface. The strongest evidence for a hidden ocean beneath Europa's surface comes from the Galileo spacecraft's onboard magnetometer, which detected fluctuations in Jupiter's magnetic field consistent with a conductor inside Europa. The most likely conductor: a somewhat salty ocean.

Schenk, Paul↗

NASA NTRS2002

Machine Learning for Biological Trajectory Classification Applications

Machine-learning techniques, including clustering algorithms, support vector machines and hidden Markov models, are applied to the task of classifying trajectories of moving keratocyte cells. The different algorithms axe compared to each other as well as to expert and non-expert test persons, using concepts from signal-detection theory. The algorithms performed very well as compared to humans, suggesting a robust tool for trajectory classification in biological applications.

Sbalzarini, Ivo F.↗

NASA NTRS2003

Progress Toward a Compact 0.05 K Magnet Refrigerator Operating from 10 K

Much of the most interesting information regarding our universe is hidden in the sub-millimeter, infrared, and x-rays bands of the spectrum, to which our atmosphere is largely opaque. Thus, missions exploring these bands are a very important part of NASA s Space Science program. Coincidentally, the most sensitive detectors in these spectral regions operate at extremely low temperatures, typically 0.05 - 0.10 K. Generally these temperatures will be achieved using magnetic refrigerators, also know as Adiabatic Demagnetization Refrigerators, or ADRs. Current ADRs, such as the one used in the XRS-II instrument on the Astro-E2 satellite, use a single-stage to cool detectors from 1.3 K to 0.06 K. The ADR is designed so that it can absorb the heat on the detector stage for at least 24 hours before it must stop, warm up to the helium bath temperature (1.3 K), and dump the accumulated heat. Future detector arrays will be much larger and will have higher heat dissipation. Furthermore, future missions will use mechanical cryocoolers to provide upper stage cooling, but they can only reach 4 - 10 K. Trying to scale heavy (-15 kg) single stage ADRs up to the higher heat loads and higher heat rejection temperatures required leads to unacceptably large systems. The GSFC Cryogenics Branch has developed the Continuous ADR (CADR) to solve this problem. The CADR consists of a series of ADR stages that sequentially pass heat from the load up to the high temperature heat sink. The stage connected to the load remains at a constant temperature. The continuous stage effectively decouples detector operation from ADR operation, allowing the ADR stages to be cycled much more rapidly. Rapid cycling leads to higher cooling power density. The cascading, multistage arrangement allows the magnetic refrigerant of each stage to be optimized for its own temperature swing. In the past year, we have made good progress toward a 0.05 to 10K system. A four-stage system that operates from 4.2 K was demonstrated. Magnetic shielding was added to eliminate inter-stage coupling. Improvements were made to superconducting and passive gas-gap heat switches. A second type of passive gas gap switch, one meant for use at higher temperature, was demonstrated. The presentation will focus primarily on these recent design improvements, and on the challenges that remain on the progress toward a system that will operate from 10 K or higher.

Canavan, Edgar↗

NASA NTRS2003

Jell-Molds and Cookie-cutters: Shrinkwrap Isn't Just for Leftovers Anymore

So what is Shrinkwrap all about? For those of you who may not know about it, Shrinkwrap is a type of data structure that can manifest itself as a feature or model. It is cleverly covered up, almost hidden, and doesn't get the press or widespread use of a solid or surface. The shrinkwrap feature is located under the data sharing submenu of the feature menu. The shrinkwrap feature, as described by PTC, is a collection of surfaces and datum features of a model that represents the exterior of the model . The advantages and applications of the shrinkwrap feature are in the creation of minimal memory guzzling representations of assemblies. These can be used to represent subassemblies in parent assemblies, and can handle control of dependency issues, geometry represented, and additional references through the use of the shrinkwrap feature options. The shrinkwrap model is an option available under the save as umbrella. Its function, as described by PTC, is to share data with internal and external design groups and improve performance in large assembly design . Some of the benefits of the shrinkwrap model include being able to represent complex assemblies with a single, lightweight part that protects design intent and parametric data, and the ability to improve performance of large assembly modeling in the area of less load time. The proper-scale models can be saved as IGES, STEP, and VRML (for fly-throughs).

Randazzo, John↗

NASA NTRS2003

Device Control Using Gestures Sensed from EMG

In this paper we present neuro-electric interfaces for virtual device control. The examples presented rely upon sampling Electromyogram data from a participants forearm. This data is then fed into pattern recognition software that has been trained to distinguish gestures from a given gesture set. The pattern recognition software consists of hidden Markov models which are used to recognize the gestures as they are being performed in real-time. Two experiments were conducted to examine the feasibility of this interface technology. The first replicated a virtual joystick interface, and the second replicated a keyboard.

Wheeler, Kevin R.↗

NASA NTRS2003

Chandra Observations of Point Sources in Abell 2255

In our search for "hidden" AGN we present results from a Chandra observation of the nearby cluster Abell 2255. Eight cluster galaxies are associated with point-like X-ray emission, and we classify these galaxies based on their X-ray, radio, and optical properties. At least three are associated with active galactic nuclei (AGN) with no optical signatures of nuclear activity, with a further two being potential AGN. Of the potential AGN, one corresponds to a galaxy with a post-starburst optical spectrum. The remaining three X-ray detected cluster galaxies consist of two starbursts and an elliptical with luminous hot gas. Of the eight cluster galaxies five are associated with luminous (massive) galaxies and the remaining three lie in much lower luminosity systems. We note that the use of X-ray to optical flux ratios for classification of X-ray sources is often misleading, and strengthen the claim that the fraction of cluster galaxies hosting an AGN based on optical data is significantly lower than the fraction based on X-ray and radio data.

Davis, David S.↗