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NASA NTRS2020

A ROS-based Simulator for Testing the Enhanced Autonomous Navigation of the Mars 2020 Rover

In order to achieve the ambitious objectives of the Mars 2020 (M2020) mission, in particular the ability to autonomously traverse more challenging terrains more efficiently, new surface mobility software was developed for Enhanced Navigation (ENav). That decision was made early in the project, before most of the new surface flight software (FSW) existed, which created a need for a separate framework where the new navigation algorithms could be quickly prototyped and tested, before more realistic FSW-based testbeds became available. The JPL robotics team chose the Robot Operating System [1] (ROS) as the environment in which to test the new ENav algorithms. This made it possible to write the algorithms in the C language required by the FSW, so they could be directly ported over to the flight module later on, while leveraging all the C++ libraries and tools provided by ROS for simulation and testing. The ENav algorithms were developed as a separate C library, and stubs were used to replace any FSW-specific code, such as Event Reporting (EVRs) and data products (DPs). A ROS simulator was developed to generate a rich set of varied 3D terrains representative of the candidate Mars landing sites and simulate the physics of the rover motion, the point cloud perceived by the rover’s stereo vision system, and the new thinking-while-driving (TWD) navigation logic which directs the rover to drive autonomously to user-specified waypoints. To simulate the rover motion and perception, a ROS node was developed that uses a software library called HyperDrive Sim (HDSim), which is a wrapper for the Rover Sequencing and Visualization Program [2] (RSVP). That library provides roverterrain settling, realistic slip modelling, and camera rendering capability based on the rover’s NavCam machine vision models. To simulate the navigation logic, a ROS node was created that initializes and runs the ENav algorithms in a way that mimics the FSW execution, while also providing the capability to load and replay data products, including re-running the recorded inputs through the ENav algorithms for testing. An engineering Graphical User Interface (GUI) was also developed to visualize various elements, such as the rover pose during the drive, the simulated and perceived terrain, the selected local and global paths to the goal, the evaluated candidate paths and the reasons why they were rejected, the keep-in and keep-out zones (KIOZs), etc. Finally, an advanced Monte Carlo (MC) framework that can run many simulations in parallel on the Cloud and automatically generate reports that capture the key ENav performance metrics was developed to evaluate the system in a statisticallymeaningful way. This paper provides an overview of the ROSbased simulator used for testing the M2020 ENav algorithms.

Toupet, Olivier↗
NASA NTRS1983

Sea surface temperatures from the Nimbus-7 scanning multichannel microwave radiometer

The algorithm was developed to determine sea surface temperature (SST) from the Nimbus-7 Scanning Multichannel Microwave Radiometer (SMMR) data. The SST algorithm has evolved over the last several years. The final version that will be applied to the 1979 SMMR data (more tuning may be needed for later data) is described. Four different stages in the development are reported: Versions I to IV; each version has evolved out of its predecessor either because newly processed data became available or because significant problems were uncovered in earlier versions.

Milman, A. S.↗
NASA NTRS2002

Design of a Dual Waveguide Normal Incidence Tube (DWNIT) Utilizing Energy and Modal Methods

This report investigates the partition design of the proposed Dual Waveguide Normal Incidence Tube (DWNIT). Some advantages provided by the DWNIT are (1) Assessment of coupling relationships between resonators in close proximity, (2) Evaluation of "smart liners", (3) Experimental validation for parallel element models, and (4) Investigation of effects of simulated angles of incidence of acoustic waves. Energy models of the two chambers were developed to determine the Sound Pressure Level (SPL) drop across the two chambers, through the use of an intensity transmission function for the chamber's partition. The models allowed the chamber's lengthwise end samples to vary. The initial partition design (2" high, 16" long, 0.25" thick) was predicted to provide at least 160 dB SPL drop across the partition with a compressive model, and at least 240 dB SPL drop with a bending model using a damping loss factor of 0.01. The end chamber sample transmissions coefficients were set to 0.1. Since these results predicted more SPL drop than required, a plate thickness optimization algorithm was developed. The results of the algorithm routine indicated that a plate with the same height and length, but with a thickness of 0.1" and 0.05 structural damping loss, would provide an adequate SPL isolation between the chambers.

Betts, Juan F.↗
NASA NTRS1995

The minimal time detection algorithm

An aerospace vehicle may operate throughout a wide range of flight environmental conditions that affect its dynamic characteristics. Even when the control design incorporates a degree of robustness, system parameters may drift enough to cause its performance to degrade below an acceptable level. The object of this paper is to develop a change detection algorithm so that we can build a highly adaptive control system applicable to aircraft systems. The idea is to detect system changes with minimal time delay. The algorithm developed is called Minimal Time-Change Detection Algorithm (MT-CDA) which detects the instant of change as quickly as possible with false-alarm probability below a certain specified level. Simulation results for the aircraft lateral motion with a known or unknown change in control gain matrices, in the presence of doublet input, indicate that the algorithm works fairly well as theory indicates though there is a difficulty in deciding the exact amount of change in some situations. One of MT-CDA distinguishing properties is that detection delay of MT-CDA is superior to that of Whiteness Test.

Kim, Sungwan↗
NASA NTRS1980

A study of autonomous satellite navigation methods using the global positioning satellite system

Special orbit determination algorithms were developed to accommodate the size and speed limitations of on-board computer systems of the NAVSTAR Global Positioning System. The algorithms use square root sequential filtering methods. A new method for the time update of the square root covariance matrix was also developed. In addition, the time update method was compared with another square root convariance propagation method to determine relative performance characteristics. Comparisions were based on the results of computer simulations of the LANDSAT-D satellite processing pseudo range and pseudo range-rate measurements from the phase one GPS. A summary of the comparison results is presented.

Tapley, B. D.↗
NASA NTRS1979

A study of redundancy management strategy for tetrad strap-down inertial systems

Algorithms were developed that attempt to identify which sensor in a tetrad configuration has experienced a step failure. An algorithm is also described that provides a measure of the confidence with which the correct identification was made. Experimental results are presented from real-time tests conducted on a three-axis motion facility utilizing an ortho-skew tetrad strapdown inertial sensor package. The effects of prediction errors and of quantization on correct failure identification are discussed as well as an algorithm for detecting second failures through prediction.

Hruby, R. J.↗
NASA NTRS1979

Numerical methods of solving a system of multi-dimensional nonlinear equations of the diffusion type

The principles of conservation and stability of difference schemes achieved using the iteration control method were examined. For the schemes obtained of the predictor-corrector type, the conversion was proved for the control sequences of approximate solutions to the precise solutions in the Sobolev metrics. Algorithms were developed for reducing the differential problem to integral relationships, whose solution methods are known, were designed. The algorithms for the problem solution are classified depending on the non-linearity of the diffusion coefficients, and practical recommendations for their effective use are given.

Agapov, A. V.↗
NASA NTRS1983

New Syndrome Decoding Techniques for the (n, K) Convolutional Codes

This paper presents a new syndrome decoding algorithm for the (n,k) convolutional codes (CC) which differs completely from an earlier syndrome decoding algorithm of Schalkwijk and Vinck. The new algorithm is based on the general solution of the syndrome equation, a linear Diophantine equation for the error polynomial vector E(D). The set of Diophantine solutions is a coset of the CC. In this error coset a recursive, Viterbi-like algorithm is developed to find the minimum weight error vector (circumflex)E(D). An example, illustrating the new decoding algorithm, is given for the binary nonsystemmatic (3,1)CC.

Reed, I. S.↗
NASA NTRS1981

Methodologies for initialization experiments with NWP mesoscale model and geostationary satellite data

An algorithm is developed for the initialization of a mesoscale NWP model with geostationary satellite data and conventional data. The algorithm is a blend of the four-dimensional assimilation technique (Charney, Jastrow and Halem, 1969) for large-scale NWP models and the variational techniques used in cloud models (Gal-Chen, 1978) and large-scale models (Sasaki, 1969). The model's generated winds are combined with rawinsonde measurements.

Gal-Chen, T.↗
NASA NTRS1984

High-resolution frequency determination of discrete signal components

An important problem in many applications involves the determination of the frequency of a limited set of sinusoidal components in a time domain signal. The Fourier transform is used as the fundamental tool for conversion to the frequency domain. In the present investigation, an analysis is conducted of the errors inherent in the use of the Fourier transform without time domain windowing, and an algorithm is developed which makes it possible to obtain the frequency of the component signals with high accuracy. This algorithm combines the advantages of the Gaussian window with the computational efficiency of the Fast Fourier Transform (FFT).

Walton, E. K.↗
NASA NTRS1984

New syndrome decoding techniques for the (n, k) convolutional codes

This paper presents a new syndrome decoding algorithm for the (n, k) convolutional codes (CC) which differs completely from an earlier syndrome decoding algorithm of Schalkwijk and Vinck. The new algorithm is based on the general solution of the syndrome equation, a linear Diophantine equation for the error polynomial vector E(D). The set of Diophantine solutions is a coset of the CC. In this error coset a recursive, Viterbi-like algorithm is developed to find the minimum weight error vector (circumflex)E(D). An example, illustrating the new decoding algorithm, is given for the binary nonsystemmatic (3, 1)CC. Previously announced in STAR as N83-34964

Reed, I. S.↗
NASA NTRS1986

Contrast-Sensitivity Research

Report presents study of visual effects of frequencies of luminance patterns and particularly how frequency components affect visibilty of spatial phase differences over several octaves. Of interest to researchers engaged in development of algorithms relating to visual processing in robots, incorporation of human factors in design of visual displays, and development of set of rules visual system uses to reconstruct three-dimensional perception from two-dimensional neural representation.

Lawton, T. A.↗
NASA NTRS1989

Global positioning system network analysis with phase ambiguity resolution applied to crustal deformation studies in California

An efficient algorithm is developed for multisession adjustment of GPS data with simultaneous orbit determination and ambiguity resolution. Application of the algorithm to the analysis of data from a five-year campaign in progress in southern and central California to monitor tectonic motions using observations by GPS satellites, demonstrates improvements in estimates of station position and satellite orbits when the phase ambiguities are resolved. Most of the phase ambiguities in the GPS network were resolved, particularly for all the baselines of geophysical interest in California.

Dong, Da-Nan↗
NASA NTRS1989

Topology of large-scale structure. IV - Topology in two dimensions

In a recent series of papers, an algorithm was developed for quantitatively measuring the topology of the large-scale structure of the universe and this algorithm was applied to numerical models and to three-dimensional observational data sets. In this paper, it is shown that topological information can be derived from a two-dimensional cross section of a density field, and analytic expressions are given for a Gaussian random field. The application of a two-dimensional numerical algorithm for measuring topology to cross sections of three-dimensional models is demonstrated.

Melott, Adrian L.↗
NASA NTRS1990

On-board attitude determination and control algorithms for SAMPEX

Algorithms for onboard attitude determination and control of the Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX) were developed. The algorithms include spacecraft ephemeris and geomagnetic field models, attitude determination with 2 degree accuracy, control of pitch axis pointing to the sun and yaw axis pointing away from the Earth to achieve control of pitch axis within 5 degrees of sunline, momentum unloading, and nutation damping. The closed loop simulations were performed on a VAX 8830 using a prototype version of the on-board software.

Flatley, Thomas W.↗
NASA NTRS1992

A numerical approach to controller design with an application to a space structure test facility

An iterative numerical algorithm that improves feasible closed loop design criteria by updating the parameters of a linear controller is developed. The algorithm allows the use of experimentally derived data collected from the open loop plant. It eliminates the need for an accurate parametric model of the open loop system. Experimental results from the application of a controller designed for a large space structure ground test facility using the algorithm are presented.

Frazier, W. G.↗
NASA NTRS1998

The Marshall Automated Wind Algorithm for Geostationary Satellite Wind Applications

The Marshall Automated Wind (MAW) algorithm was developed over a decade ago in support of specialized studies of mesoscale meteorology. In recent years, the algorithm has been generalized to address global climate issues and other specific objectives related to NASA missions. The MAW algorithm uses a tracking scheme which minimizes image brightness temperature differences in a sequence of satellite images to determine feature displacement (winds). With the appropriate methodology accurate satellite derived winds can be obtained from visible, infrared, and water vapor imagery. Typical errors are less than 4 m/s but depend on the quality and control constraints used in post-processing. Key to this success is the judicious use of template size and search area used for tracking, image resolution and time sampling, and selection of appropriate statistical constraints which may vary with image type and desired application. The conference paper and subsequent poster will provide details of the technique and examples of its application.

Jedlovec, Gary J.↗
NASA NTRS2001

Automatic Debugging Support for UML Designs

Design of large software systems requires rigorous application of software engineering methods covering all phases of the software process. Debugging during the early design phases is extremely important, because late bug-fixes are expensive. In this paper, we describe an approach which facilitates debugging of UML requirements and designs. The Unified Modeling Language (UML) is a set of notations for object-orient design of a software system. We have developed an algorithm which translates requirement specifications in the form of annotated sequence diagrams into structured statecharts. This algorithm detects conflicts between sequence diagrams and inconsistencies in the domain knowledge. After synthesizing statecharts from sequence diagrams, these statecharts usually are subject to manual modification and refinement. By using the "backward" direction of our synthesis algorithm. we are able to map modifications made to the statechart back into the requirements (sequence diagrams) and check for conflicts there. Fed back to the user conflicts detected by our algorithm are the basis for deductive-based debugging of requirements and domain theory in very early development stages. Our approach allows to generate explanations oil why there is a conflict and which parts of the specifications are affected.

Schumann, Johann↗