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All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Determining a Method of Enabling and Disabling the Integral Torque in the SDO Science and Inertial Mode Controllers

During design of the SDO Science and Inertial mode PID controllers, the decision was made to disable the integral torque whenever system stability was in question. Three different schemes were developed to determine when to disable or enable the integral torque, and a trade study was performed to determine which scheme to implement. The trade study compared complexity of the control logic, risk of not reenabling the integral gain in time to reject steady-state error, and the amount of integral torque space used. The first scheme calculated a simplified Routh criterion to determine when to disable the integral torque. The second scheme calculates the PD part of the torque and looked to see if that torque would cause actuator saturation. If so, only the PD torque is used. If not, the integral torque is added. Finally, the third scheme compares the attitude and rate errors to limits and disables the integral torque if either of the errors is greater than the limit. Based on the trade study results, the third scheme was selected. Once it was decided when to disable the integral torque, analysis was performed to determine how to disable the integral torque and whether or not to reset the integrator once the integral torque was reenabled. Three ways to disable the integral torque were investigated: zero the input into the integrator, which causes the integral part of the PID control torque to be held constant; zero the integral torque directly but allow the integrator to continue integrating; or zero the integral torque directly and reset the integrator on integral torque reactivation. The analysis looked at complexity of the control logic, slew time plus settling time between each calibration maneuver step, and ability to reject steady-state error. Based on the results of the analysis, the decision was made to zero the input into the integrator without resetting it. Throughout the analysis, a high fidelity simulation was used to test the various implementation methods.

Vess, Melissa F.↗
NASA NTRS2006

Proficiency Testing for Evaluating Aerospace Materials Test Anomalies

ASTM G 86 and ASTM G 74 are commonly used to evaluate materials susceptibility to ignition in liquid and gaseous oxygen systems. However, the methods have been known for their lack of repeatability. The inherent problems identified with the test logic would either not allow precise identification or the magnitude of problems related to running the tests, such as lack of consistency of systems performance, lack of adherence to procedures, etc. Excessive variability leads to increasing instances of accepting the null hypothesis erroneously, and so to the false logical deduction that problems are nonexistent when they really do exist. This paper attempts to develop and recommend an approach that could lead to increased accuracy in problem diagnostics by using the 50% reactivity point, which has been shown to be more repeatable. The initial tests conducted indicate that PTFE and Viton A (for pneumatic impact) and Buna S (for mechanical impact) would be good choices for additional testing and consideration for inter-laboratory evaluations. The approach presented could also be used to evaluate variable effects with increased confidence and tolerance optimization.

Hirsch, D.↗
NASA NTRS2008

Aircraft Engine On-Line Diagnostics Through Dual-Channel Sensor Measurements: Development of a Baseline System

In this paper, a baseline system which utilizes dual-channel sensor measurements for aircraft engine on-line diagnostics is developed. This system is composed of a linear on-board engine model (LOBEM) and fault detection and isolation (FDI) logic. The LOBEM provides the analytical third channel against which the dual-channel measurements are compared. When the discrepancy among the triplex channels exceeds a tolerance level, the FDI logic determines the cause of the discrepancy. Through this approach, the baseline system achieves the following objectives: (1) anomaly detection, (2) component fault detection, and (3) sensor fault detection and isolation. The performance of the baseline system is evaluated in a simulation environment using faults in sensors and components.

Kobayashi, Takahisa↗
NASA NTRS2008

Aircraft Engine On-Line Diagnostics Through Dual-Channel Sensor Measurements: Development of an Enhanced System

In this paper, an enhanced on-line diagnostic system which utilizes dual-channel sensor measurements is developed for the aircraft engine application. The enhanced system is composed of a nonlinear on-board engine model (NOBEM), the hybrid Kalman filter (HKF) algorithm, and fault detection and isolation (FDI) logic. The NOBEM provides the analytical third channel against which the dual-channel measurements are compared. The NOBEM is further utilized as part of the HKF algorithm which estimates measured engine parameters. Engine parameters obtained from the dual-channel measurements, the NOBEM, and the HKF are compared against each other. When the discrepancy among the signals exceeds a tolerance level, the FDI logic determines the cause of discrepancy. Through this approach, the enhanced system achieves the following objectives: 1) anomaly detection, 2) component fault detection, and 3) sensor fault detection and isolation. The performance of the enhanced system is evaluated in a simulation environment using faults in sensors and components, and it is compared to an existing baseline system.

Kobayashi, Takahisa↗
NASA NTRS2008

Algorithm-Based Fault Tolerance Integrated with Replication

In a proposed approach to programming and utilization of commercial off-the-shelf computing equipment, a combination of algorithm-based fault tolerance (ABFT) and replication would be utilized to obtain high degrees of fault tolerance without incurring excessive costs. The basic idea of the proposed approach is to integrate ABFT with replication such that the algorithmic portions of computations would be protected by ABFT, and the logical portions by replication. ABFT is an extremely efficient, inexpensive, high-coverage technique for detecting and mitigating faults in computer systems used for algorithmic computations, but does not protect against errors in logical operations surrounding algorithms.

Some, Raphael↗
NASA NTRS2008

Expressions Module for the Satellite Orbit Analysis Program

The Expressions Module is a software module that has been incorporated into the Satellite Orbit Analysis Program (SOAP). The module includes an expressions- parser submodule built on top of an analytical system, enabling the user to define logical and numerical variables and constants. The variables can capture output from SOAP orbital-prediction and geometric-engine computations. The module can combine variables and constants with built-in logical operators (such as Boolean AND, OR, and NOT), relational operators (such as >, <, or =), and mathematical operators (such as addition, subtraction, multiplication, division, modulus, exponentiation, differentiation, and integration). Parentheses can be used to specify precedence of operations. The module contains a library of mathematical functions and operations, including logarithms, trigonometric functions, Bessel functions, minimum/ maximum operations, and floating- point-to-integer conversions. The module supports combinations of time, distance, and angular units and has a dimensional- analysis component that checks for correct usage of units. A parser based on the Flex language and the Bison program looks for and indicates errors in syntax. SOAP expressions can be built using other expressions as arguments, thus enabling the user to build analytical trees. A graphical user interface facilitates use.

Edmonds, Karina↗
NASA NTRS2008

Scripting Module for the Satellite Orbit Analysis Program (SOAP)

This add-on module to the SOAP software can perform changes to simulation objects based on the occurrence of specific conditions. This allows the software to encompass simulation response of scheduled or physical events. Users can manipulate objects in the simulation environment under programmatic control. Inputs to the scripting module are Actions, Conditions, and the Script. Actions are arbitrary modifications to constructs such as Platform Objects (i.e. satellites), Sensor Objects (representing instruments or communication links), or Analysis Objects (user-defined logical or numeric variables). Examples of actions include changes to a satellite orbit ( v), changing a sensor-pointing direction, and the manipulation of a numerical expression. Conditions represent the circumstances under which Actions are performed and can be couched in If-Then-Else logic, like performing v at specific times or adding to the spacecraft power only when it is being illuminated by the Sun. The SOAP script represents the entire set of conditions being considered over a specific time interval. The output of the scripting module is a series of events, which are changes to objects at specific times. As the SOAP simulation clock runs forward, the scheduled events are performed. If the user sets the clock back in time, the events within that interval are automatically undone. This script offers an interface for defining scripts where the user does not have to remember the vocabulary of various keywords. Actions can be captured by employing the same user interface that is used to define the objects themselves. Conditions can be set to invoke Actions by selecting them from pull-down lists. Users define the script by selecting from the pool of defined conditions. Many space systems have to react to arbitrary events that can occur from scheduling or from the environment. For example, an instrument may cease to draw power when the area that it is tasked to observe is not in view. The contingency of the planetary body blocking the line of sight is a condition upon which the power being drawn is set to zero. It remains at zero until the observation objective is again in view. Computing the total power drawn by the instrument over a period of days or weeks can now take such factors into consideration. What makes the architecture especially powerful is that the scripting module can look ahead and behind in simulation time, and this temporal versatility can be leveraged in displays such as x-y plots. For example, a plot of a satellite s altitude as a function of time can take changes to the orbit into account.

Carnright, Robert↗
NASA NTRS2009

Economical Implementation of a Filter Engine in an FPGA

A logic design has been conceived for a field-programmable gate array (FPGA) that would implement a complex system of multiple digital state-space filters. The main innovative aspect of this design lies in providing for reuse of parts of the FPGA hardware to perform different parts of the filter computations at different times, in such a manner as to enable the timely performance of all required computations in the face of limitations on available FPGA hardware resources. The implementation of the digital state-space filter involves matrix vector multiplications, which, in the absence of the present innovation, would ordinarily necessitate some multiplexing of vector elements and/or routing of data flows along multiple paths. The design concept calls for implementing vector registers as shift registers to simplify operand access to multipliers and accumulators, obviating both multiplexing and routing of data along multiple paths. Each vector register would be reused for different parts of a calculation. Outputs would always be drawn from the same register, and inputs would always be loaded into the same register. A simple state machine would control each filter. The output of a given filter would be passed to the next filter, accompanied by a "valid" signal, which would start the state machine of the next filter. Multiple filter modules would share a multiplication/accumulation arithmetic unit. The filter computations would be timed by use of a clock having a frequency high enough, relative to the input and output data rate, to provide enough cycles for matrix and vector arithmetic operations. This design concept could prove beneficial in numerous applications in which digital filters are used and/or vectors are multiplied by coefficient matrices. Examples of such applications include general signal processing, filtering of signals in control systems, processing of geophysical measurements, and medical imaging. For these and other applications, it could be advantageous to combine compact FPGA digital filter implementations with other application-specific logic implementations on single integrated-circuit chips. An FPGA could readily be tailored to implement a variety of filters because the filter coefficients would be loaded into memory at startup.

Kowalski, James E.↗
NASA NTRS2009

High-Performance Algorithm for Solving the Diagnosis Problem

An improved method of model-based diagnosis of a complex engineering system is embodied in an algorithm that involves considerably less computation than do prior such algorithms. This method and algorithm are based largely on developments reported in several NASA Tech Briefs articles: The Complexity of the Diagnosis Problem (NPO-30315), Vol. 26, No. 4 (April 2002), page 20; Fast Algorithms for Model-Based Diagnosis (NPO-30582), Vol. 29, No. 3 (March 2005), page 69; Two Methods of Efficient Solution of the Hitting-Set Problem (NPO-30584), Vol. 29, No. 3 (March 2005), page 73; and Efficient Model-Based Diagnosis Engine (NPO-40544), on the following page. Some background information from the cited articles is prerequisite to a meaningful summary of the innovative aspects of the present method and algorithm. In model-based diagnosis, the function of each component and the relationships among all the components of the engineering system to be diagnosed are represented as a logical system denoted the system description (SD). Hence, the expected normal behavior of the engineering system is the set of logical consequences of the SD. Faulty components lead to inconsistencies between the observed behaviors of the system and the SD. Diagnosis the task of finding faulty components is reduced to finding those components, the abnormalities of which could explain all the inconsistencies. The solution of the diagnosis problem should be a minimal diagnosis, which is a minimal set of faulty components. The calculation of a minimal diagnosis is inherently a hard problem, the solution of which requires amounts of computation time and memory that increase exponentially with the number of components of the engineering system. Among the developments to reduce the computational burden, as reported in the cited articles, is the mapping of the diagnosis problem onto the integer-programming (IP) problem. This mapping makes it possible to utilize a variety of algorithms developed previously for IP to solve the diagnosis problem. In the IP approach, the diagnosis problem can be formulated as a linear integer optimization problem, which can be solved by use of well-developed integer-programming algorithms. This concludes the background information.

Fijany, Amir↗
NASA NTRS1998

Evaluating Flight Crew Operator Manual Documentation

Aviation and cognitive science researchers have identified situations in which the pilot s expectations for the behavior of the avionics are not matched by the actual behavior of the avionics. Researchers have attributed these "automation surprises" to the complexity of the avionics mode logic, the absence of complete training, limitations in cockpit displays, and ad-hoc conceptual models of the avionics. Complete canonical rule-based descriptions of the behavior of the autopilot provide the basis for understanding the perceived complexity of the autopilots, the differences between the pilot s and autopilot s conceptual models, and the limitations in training materials and cockpit displays. This paper compares the behavior of the autopilot Vertical Speed/Flight Path Angle (VS-FPA) mode as described in the Flight Crew Operators Manual (FCOM) and the actual behavior of the VS-FPA mode defined in the autopilot software. This example demonstrates the use of the Operational Procedure Model (OPM) as a method for using the requirements specification for the design of the software logic as information requirements for training.

Sherry, Lance↗
NASA NTRS2008

Radiation-Insensitive Inverse Majority Gates

To help satisfy a need for high-density logic circuits insensitive to radiation, it has been proposed to realize inverse majority gates as microscopic vacuum electronic devices. In comparison with solid-state electronic devices ordinarily used in logic circuits, vacuum electronic devices are inherently much less adversely affected by radiation and extreme temperatures. The proposed development would involve state-of-the-art micromachining and recent advances in the fabrication of carbon-nanotube-based field emitters. A representative three-input inverse majority gate would be a monolithic, integrated structure that would include three gate electrodes, six bundles of carbon nanotubes (serving as electron emitters) at suitable positions between the gate electrodes, and an overhanging anode. The bundles of carbon nanotubes would be grown on degenerately doped silicon substrates that would be parts of the monolithic structure. The gate electrodes would be fabricated as parts of the monolithic structure by means of a double-silicon-on-insulator process developed at NASA's Jet Propulsion Laboratory. The tops of the bundles of carbon nanotubes would lie below the plane of the tops of the gate electrodes. The particular choice of shapes, dimensions, and relative positions of the electrodes and bundles of carbon nanotubes would provide for both field emission of electrons from the bundles of carbon nanotubes and control of the electron current to obtain the inverse majority function, which is described in the paper.

Manohara, Harish↗
NASA NTRS2008

Generating Safety-Critical PLC Code From a High-Level Application Software Specification

The benefits of automatic-application code generation are widely accepted within the software engineering community. These benefits include raised abstraction level of application programming, shorter product development time, lower maintenance costs, and increased code quality and consistency. Surprisingly, code generation concepts have not yet found wide acceptance and use in the field of programmable logic controller (PLC) software development. Software engineers at Kennedy Space Center recognized the need for PLC code generation while developing the new ground checkout and launch processing system, called the Launch Control System (LCS). Engineers developed a process and a prototype software tool that automatically translates a high-level representation or specification of application software into ladder logic that executes on a PLC. All the computer hardware in the LCS is planned to be commercial off the shelf (COTS), including industrial controllers or PLCs that are connected to the sensors and end items out in the field. Most of the software in LCS is also planned to be COTS, with only small adapter software modules that must be developed in order to interface between the various COTS software products. A domain-specific language (DSL) is a programming language designed to perform tasks and to solve problems in a particular domain, such as ground processing of launch vehicles. The LCS engineers created a DSL for developing test sequences of ground checkout and launch operations of future launch vehicle and spacecraft elements, and they are developing a tabular specification format that uses the DSL keywords and functions familiar to the ground and flight system users. The tabular specification format, or tabular spec, allows most ground and flight system users to document how the application software is intended to function and requires little or no software programming knowledge or experience. A small sample from a prototype tabular spec application is shown.

Source record↗
NASA NTRS2009

Efficient Model-Based Diagnosis Engine

An efficient diagnosis engine - a combination of mathematical models and algorithms - has been developed for identifying faulty components in a possibly complex engineering system. This model-based diagnosis engine embodies a twofold approach to reducing, relative to prior model-based diagnosis engines, the amount of computation needed to perform a thorough, accurate diagnosis. The first part of the approach involves a reconstruction of the general diagnostic engine to reduce the complexity of the mathematical-model calculations and of the software needed to perform them. The second part of the approach involves algorithms for computing a minimal diagnosis (the term "minimal diagnosis" is defined below). A somewhat lengthy background discussion is prerequisite to a meaningful summary of the innovative aspects of the present efficient model-based diagnosis engine. In model-based diagnosis, the function of each component and the relationships among all the components of the engineering system to be diagnosed are represented as a logical system denoted the system description (SD). Hence, the expected normal behavior of the engineering system is the set of logical consequences of the SD. Faulty components lead to inconsistencies between the observed behaviors of the system and the SD (see figure). Diagnosis - the task of finding faulty components - is reduced to finding those components, the abnormalities of which could explain all the inconsistencies. The solution of the diagnosis problem should be a minimal diagnosis, which is a minimal set of faulty components. A minimal diagnosis stands in contradistinction to the trivial solution, in which all components are deemed to be faulty, and which, therefore, always explains all inconsistencies.

Fijany, Amir↗
NASA NTRS2009

Digital Synchronizer without Metastability

A proposed design for a digital synchronizing circuit would eliminate metastability that plagues flip-flop circuits in digital input/output interfaces. This metastability is associated with sampling, by use of flip-flops, of an external signal that is asynchronous with a clock signal that drives the flip-flops: it is a temporary flip-flop failure that can occur when a rising or falling edge of an asynchronous signal occurs during the setup and/or hold time of a flip-flop. The proposed design calls for (1) use of a clock frequency greater than the frequency of the asynchronous signal, (2) use of flip-flop asynchronous preset or clear signals for the asynchronous input, (3) use of a clock asynchronous recovery delay with pulse width discriminator, and (4) tying the data inputs to constant logic levels to obtain (5) two half-rate synchronous partial signals - one for the falling and one for the rising edge. Inasmuch as the flip-flop data inputs would be permanently tied to constant logic levels, setup and hold times would not be violated. The half-rate partial signals would be recombined to construct a signal that would replicate the original asynchronous signal at its original rate but would be synchronous with the clock signal.

Simle, Robert M.↗
NASA NTRS2007

A Method of Partly Automated Testing of Software

A method of automated testing of software has been developed that provides an alternative to the conventional mostly manual approach for software testing. The method combines (1) automated generation of test cases on the basis of systematic exploration of the input domain of the software to be tested with (2) run-time analysis in which execution traces are monitored, verified against temporal-logic specifications, and analyzed by concurrency-error-detection algorithms. In this new method, the user only needs to provide the temporal logic specifications against which the software will be tested and the abstract description of the input domain.

Lowry, Mike↗
NASA NTRS2010

Risk-Informed Safety Assurance and Probabilistic Assessment of Mission-Critical Software-Intensive Systems

This report validates and documents the detailed features and practical application of the framework for software intensive digital systems risk assessment and risk-informed safety assurance presented in the NASA PRA Procedures Guide for Managers and Practitioner. This framework, called herein the "Context-based Software Risk Model" (CSRM), enables the assessment of the contribution of software and software-intensive digital systems to overall system risk, in a manner which is entirely compatible and integrated with the format of a "standard" Probabilistic Risk Assessment (PRA), as currently documented and applied for NASA missions and applications. The CSRM also provides a risk-informed path and criteria for conducting organized and systematic digital system and software testing so that, within this risk-informed paradigm, the achievement of a quantitatively defined level of safety and mission success assurance may be targeted and demonstrated. The framework is based on the concept of context-dependent software risk scenarios and on the modeling of such scenarios via the use of traditional PRA techniques - i.e., event trees and fault trees - in combination with more advanced modeling devices such as the Dynamic Flowgraph Methodology (DFM) or other dynamic logic-modeling representations. The scenarios can be synthesized and quantified in a conditional logic and probabilistic formulation. The application of the CSRM method documented in this report refers to the MiniAERCam system designed and developed by the NASA Johnson Space Center.

Guarro, Sergio B.↗
NASA NTRS2007

Designing Rolling-Element Bearings

Bearing Analysis Tool (BAT) is a computer program for designing rolling-element bearings for cryogenic turbomachines. BAT provides a graphical user interface (GUI) that guides the entry of data to develop mathematical models of bearings. The GUI breaks model data into logical subsets that are entered through logic-driven input screens. The software generates a threedimensional graphical model of a bearing as the data are entered. Most dataentry errors become immediately obvious in the graphical model. BAT provides for storage of all the data on a shaft/bearing system, enabling the creation of a library of proven designs. Data from the library can be transferred to subsequent projects by use of simple cut-and-paste routines. BAT includes a library of temperature- dependent cryogenic bearing-material properties for use in the mathematical models. BAT implements algorithms that (1) enable the user to select combinations of design and/or operating-condition parameters, and then (2) automatically optimize the design by performing trade studies over all of the parameter combinations. This feature enables optimization over a large trade space in a fraction of the time taken when using prior bearingmodel software.

Moore, James D., Jr.↗
NASA NTRS2007

Wide Tuning Capability for Spacecraft Transponders

A document presents additional information on the means of implementing a capability for wide tuning of microwave receiver and transmitter frequencies in the development reported in the immediately preceding article, VCO PLL Frequency Synthesizers for Spacecraft Transponders (NPO- 42909). The reference frequency for a PLL-based frequency synthesizer is derived from a numerically controlled oscillator (NCO) implemented in digital logic, such that almost any reference frequency can be derived from a fixed crystal reference oscillator with microhertz precision. The frequency of the NCO is adjusted to track the received signal, then used to create another NCO frequency used to synthesize the transmitted signal coherent with, and at a specified frequency ratio to, the received signal. The frequencies can be changed, even during operation, through suitable digital programming. The NCOs and the related tracking loops and coherent turnaround logic are implemented in a field-programmable gate array (FPGA). The interface between the analog microwave receiver and transmitter circuits and the FPGA includes analog-to-digital and digital-toanalog converters, the sampling rates of which are chosen to minimize spurious signals and otherwise optimize performance. Several mixers and filters are used to properly route various signals.

Lux, James↗