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All sourcesNASA NTRSDOE OSTI
NASA NTRS1998

Explaining Synthesized Software

Motivated by NASA's need for high-assurance software, NASA Ames' Amphion project has developed a generic program generation system based on deductive synthesis. Amphion has a number of advantages, such as the ability to develop a new synthesis system simply by writing a declarative domain theory. However, as a practical matter, the validation of the domain theory for such a system is problematic because the link between generated programs and the domain theory is complex. As a result, when generated programs do not behave as expected, it is difficult to isolate the cause, whether it be an incorrect problem specification or an error in the domain theory. This paper describes a tool we are developing that provides formal traceability between specifications and generated code for deductive synthesis systems. It is based on extensive instrumentation of the refutation-based theorem prover used to synthesize programs. It takes augmented proof structures and abstracts them to provide explanations of the relation between a specification, a domain theory, and synthesized code. In generating these explanations, the tool exploits the structure of Amphion domain theories, so the end user is not confronted with the intricacies of raw proof traces. This tool is crucial for the validation of domain theories as well as being important in everyday use of the code synthesis system. It plays an important role in validation because when generated programs exhibit incorrect behavior, it provides the links that can be traced to identify errors in specifications or domain theory. It plays an important role in the everyday use of the synthesis system by explaining to users what parts of a specification or of the domain theory contribute to what pieces of a generated program. Comments are inserted into the synthesized code that document these explanations.

VanBaalen, Jeffrey↗
NASA NTRS2020

Distributed Spacecraft Autonomy (DSA): Development of Swarm Autonomy Capability and Scalability for Spacecraft

The Distributed Spacecraft Autonomy project is developing a suite of software tools that enable an operator to command and receive data from a swarm as a single entity, enable a swarm to autonomously coordinate its actions via distributed decision making and reactive closed-loop control, and model swarm behavior in the presence of anomalies or failures. Our use case is the mapping of the electron density of the ionosphere using radio tomography by coordinating the selection of appropriate GPS channels, and by recording Total Electron Count (TEC)measurements. DSA will be demonstrated on board the NASA Ames Starling mission a swarm of four small, LEO spacecraft, scheduled to launch in 2021. We will also perform a ground demonstration with simulated and hardware-in-the-loop elements, to validate the tools for controlling swarms of up to 100 assets.The capability to communicate autonomously between the swarm satellites is demonstrated via a sophisticated simulation architecture. Historical Plasma sphere TEC data obtained via dual-band Novatel GPS Receivers are utilized as a representative input data set for the swarm. The representative TEC data and GPS satellite observability information is fed to the autonomous software package in place of a true real-time ground data collection process. The swarm satellites actively share status updates amongst one another and utilize multi-agent decision making to optimally identify regions of interest in the TEC distribution. The software,aware of the bandwidth limitations of the swarm satellites, prioritizes explorative measurements,which define the range of observability for the satellites, as well as exploitative measurements,which focus on maximizing the observance potential of regions with prolonged, elevated TEC density. The science of this study can ultimately be used to determine the dynamics and coupling of Earth's magnetosphere, ionosphere, and atmosphere and their response to solar and terrestrial inputs. The findings can be applied to the imaging of critical, transient phenomena in the magnetosphere in later missions. Meanwhile, the swarm autonomy capabilities have far reaching potential in future satellite missions.As an experimental demonstration of the autonomous capabilities of the network, a message is first printed within a core Flight Executive (cFE) application. Two cFE applications that communicate with one another within the same core Flight System (cFS) are shown.Communication between mission applications on the internal cFE bus is extended to utilize Data Distribution Service (DDS) for vehicle-to-vehicle networking. The DDS middle ware provides reliable delivery, routing, and topic subscription features over User Data gram Protocol (UDP).Leveraging Linux containerization, a networked set of satellite instances are generated by script to simulate swarm behavior. Swarm commanding and synchronization through the network is demonstrated under various topologies and data-loss conditions. Finally, autonomous swarms calability from 2 satellites to 100 satellites is shown.

Fugate, Jason↗
NASA NTRS1991

Engine Data Interpretation System (EDIS), phase 2

A prototype of an expert system was developed which applies qualitative constraint-based reasoning to the task of post-test analysis of data resulting from a rocket engine firing. Data anomalies are detected and corresponding faults are diagnosed. Engine behavior is reconstructed using measured data and knowledge about engine behavior. Knowledge about common faults guides but does not restrict the search for the best explanation in terms of hypothesized faults. The system contains domain knowledge about the behavior of common rocket engine components and was configured for use with the Space Shuttle Main Engine (SSME). A graphical user interface allows an expert user to intimately interact with the system during diagnosis. The system was applied to data taken during actual SSME tests where data anomalies were observed.

Cost, Thomas L.↗
NASA NTRS1997

On Designing Lightweight Threads for Substrate Software

Existing user-level thread packages employ a 'black box' design approach, where the implementation of the threads is hidden from the user. While this approach is often sufficient for application-level programmers, it hides critical design decisions that system-level programmers must be able to change in order to provide efficient service for high-level systems. By applying the principles of Open Implementation Analysis and Design, we construct a new user-level threads package that supports common thread abstractions and a well-defined meta-interface for altering the behavior of these abstractions. As a result, system-level programmers will have the advantages of using high-level thread abstractions without having to sacrifice performance, flexibility or portability.

Haines, Matthew↗
NASA NTRS2002

A Facility and Architecture for Autonomy Research

Autonomy is a key enabling factor in the advancement of the remote robotic exploration. There is currently a large gap between autonomy software at the research level and software that is ready for insertion into near-term space missions. The Mission Simulation Facility (MST) will bridge this gap by providing a simulation framework and suite of simulation tools to support research in autonomy for remote exploration. This system will allow developers of autonomy software to test their models in a high-fidelity simulation and evaluate their system's performance against a set of integrated, standardized simulations. The Mission Simulation ToolKit (MST) uses a distributed architecture with a communication layer that is built on top of the standardized High Level Architecture (HLA). This architecture enables the use of existing high fidelity models, allows mixing simulation components from various computing platforms and enforces the use of a standardized high-level interface among components. The components needed to achieve a realistic simulation can be grouped into four categories: environment generation (terrain, environmental features), robotic platform behavior (robot dynamics), instrument models (camera/spectrometer/etc.), and data analysis. The MST will provide basic components in these areas but allows users to plug-in easily any refined model by means of a communication protocol. Finally, a description file defines the robot and environment parameters for easy configuration and ensures that all the simulation models share the same information.

Pisanich, Greg↗
NASA NTRS2014

Anticipated Changes in Conducting Scientific Data-Analysis Research in the Big-Data Era

A Big-Data environment is one that is capable of orchestrating quick-turnaround analyses involving large volumes of data for numerous simultaneous users. Based on our experiences with a prototype Big-Data analysis environment, we anticipate some important changes in research behaviors and processes while conducting scientific data-analysis research in the near future as such Big-Data environments become the mainstream. The first anticipated change will be the reduced effort and difficulty in most parts of the data management process. A Big-Data analysis environment is likely to house most of the data required for a particular research discipline along with appropriate analysis capabilities. This will reduce the need for researchers to download local copies of data. In turn, this also reduces the need for compute and storage procurement by individual researchers or groups, as well as associated maintenance and management afterwards. It is almost certain that Big-Data environments will require a different "programming language" to fully exploit the latent potential. In addition, the process of extending the environment to provide new analysis capabilities will likely be more involved than, say, compiling a piece of new or revised code.We thus anticipate that researchers will require support from dedicated organizations associated with the environment that are composed of professional software engineers and data scientists. A major benefit will likely be that such extensions are of higherquality and broader applicability than ad hoc changes by physical scientists. Another anticipated significant change is improved collaboration among the researchers using the same environment. Since the environment is homogeneous within itself, many barriers to collaboration are minimized or eliminated. For example, data and analysis algorithms can be seamlessly shared, reused and re-purposed. In conclusion, we will be able to achieve a new level of scientific productivity in the Big-Data analysis environments.

Kuo, Kwo-Sen↗
NASA NTRS1984

A new implementation of the programming system for structural synthesis (PROSSS-2)

This new implementation of the PROgramming System for Structural Synthesis (PROSSS-2) combines a general-purpose finite element computer program for structural analysis, a state-of-the-art optimization program, and several user-supplied, problem-dependent computer programs. The results are flexibility of the optimization procedure, organization, and versatility of the formulation of constraints and design variables. The analysis-optimization process results in a minimized objective function, typically the mass. The analysis and optimization programs are executed repeatedly by looping through the system until the process is stopped by a user-defined termination criterion. However, some of the analysis, such as model definition, need only be one time and the results are saved for future use. The user must write some small, simple FORTRAN programs to interface between the analysis and optimization programs. One of these programs, the front processor, converts the design variables output from the optimizer into the suitable format for input into the analyzer. Another, the end processor, retrieves the behavior variables and, optionally, their gradients from the analysis program and evaluates the objective function and constraints and optionally their gradients. These quantities are output in a format suitable for input into the optimizer. These user-supplied programs are problem-dependent because they depend primarily upon which finite elements are being used in the model. PROSSS-2 differs from the original PROSSS in that the optimizer and front and end processors have been integrated into the finite element computer program. This was done to reduce the complexity and increase portability of the system, and to take advantage of the data handling features found in the finite element program.

Rogers, James L., Jr.↗
NASA NTRS2000

A Solution Methodology and Computer Program to Efficiently Model Thermodynamic and Transport Coefficients of Mixtures

A solution methodology has been developed to efficiently model multi-specie, chemically frozen, thermally perfect gas mixtures. The method relies on the ability to generate a single (composite) set of thermodynamic and transport coefficients prior to beginning a CFD solution. While not fundamentally a new concept, many applied CFD users are not aware of this capability nor have a mechanism to easily and confidently generate new coefficients. A database of individual specie property coefficients has been created for 48 species. The seven coefficient form of the thermodynamic functions is currently used rather then the ten coefficient form due to the similarity of the calculated properties, low temperature behavior and reduced CPU requirements. Sutherland laminar viscosity and thermal conductivity coefficients were computed in a consistent manner from available reference curves. A computer program has been written to provide CFD users with a convenient method to generate composite specie coefficients for any mixture. Mach 7 forebody/inlet calculations demonstrated nearly equivalent results and significant CPU time savings compared to a multi-specie solution approach. Results from high-speed combustor analysis also illustrate the ability to model inert test gas contaminants without additional computational expense.

Ferlemann, Paul G.↗
NASA NTRS1994

The 21St JANNAF Exhaust Plume Technology Meeting

This volume, the first of three volumes, is a collection of 10 unclassified/unlimited papers which were presented at the 21st Joint Army-Navy-NASA-Air Force (JANNAF) Exhaust Plume Technology Subcommittee Meeting in conjunction with the Combustion Subcommittee and SPIRITS User Group Meeting held 19-21 October 1994 at the Lockheed Missiles and Space Company, Sunnyvale, California. Specific subjects discussed include behavior of aluminum and aluminum oxide in solid rocket plumes, exhaust plume flowfield characterization and plume phenomena at high altitudes.

Gannaway, Mary T.↗
NASA NTRS2016

Simulation of Malfunctions for the ISS Double-Gimbal Control Moment Gyroscope

This paper presents a simplified approach to simulation of malfunctions of the Control Moment Gyroscope (CMG) on board the International Space Station (ISS). These malfunctions will be used as part of flight training of CMG failure scenarios in the guidance navigation control (GNC) subsystem of the Training Systems for 21st Century (TS21) simulator. The CMG malfunctions are grouped under mechanical, thermal and electrical categories. A malfunction can be as simple as one which only affects the telemetry or a complex one that changes the state and behavior of the CMG model. In both cases, the ISS GNC flight software will read the telemetry and respond accordingly. The user executes these malfunctions by supplying conditional data which modify internal model states and then elicit a response as seen on the user displays. Ground operators and crew on board the ISS use CMG malfunction procedures to better understand and respond to anomalies observed within the CMG subsystem.

Inampudi, Ravi↗
NASA NTRS2016

Self-Guided Multimedia Stress Management and Resilience Training for Flight Controllers

Stress and anxiety-related problems are among the most common and costly behavioral health problems in society, and for those working in operational environments (i.e. astronauts, flight controllers, military) this can seriously impact crew performance, safety, and wellbeing. Technology-based interventions are effective for treating behavioral health problems, and can significantly improve the delivery of evidence-based health care. This study is evaluating the effectiveness, usefulness, and usability of a self-guided multimedia stress management and resilience training program in a randomized controlled trial (RCT) with a sample of flight controllers at Johnson Space Center. The intervention, SMART-OP (Stress Management and Resilience Training for Optimal Performance), is a six-session, cognitive behavioral-based computer program that uses self-guided, interactive activities to teach skills that can help individuals build resilience and manage stress. In a prior RCT with a sample of stressed but otherwise healthy individuals, SMART-OP reduced perceived stress and increased perceived control over stress in comparison to an Attention Control (AC) group. SMART-OP was rated as "highly useful" and "excellent" in usability and acceptability. Based on α-amylase data, individuals in SMART-OP recovered quicker and more completely from a social stress test as compared to the AC group [1]. In the current study, flight controllers are randomized either to receive SMART-OP training, or to a 6-week waitlist control period (WLC) before beginning SMART-OP. Eligible participants include JSC flight controllers and instructors without any medical or psychiatric disorder, but who are stressed based on self-report. Flight controllers provide a valid analog sample to astronauts in that they work in an operational setting, use similar terminology to astronauts, are mission-focused, and work under the same broader work culture. The study began in December 2014, and to date 79 flight controllers and instructors have expressed interest in the study, 49 of those were cleared for participation, we have screened 44 for eligibility, and 23 have met inclusion criteria. Recruitment is ongoing and the study will continue until December 2016. Outcome measures include perceived stress, perceived control over stress, resilience, mood, personality, emotion regulation, sleep, health behaviors, and psychophysiological data such as 24-hour heart rate, alpha amylase, and urinary and salivary cortisol. We are also collecting user feedback such as usability, working alliance, usefulness, and treatment credibility.

Rose, R. D.↗
NASA NTRS2015

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Hebert, Paul↗
NASA NTRS1988

Computer simulation of cyclic oxidation

A computer program has been developed which simulates the cyclic oxidation behavior of materials. The simulation is based on the assumption that the weight fraction of scale that spalls in any thermal cycle is proportional to the amount of scale present on the surface at the beginning of the cycle. The program provides plots as well as tabular data which describe the cyclic oxidation behavior of a given material. Individual input parameters can be selectively altered and the resulting change in cyclic kinetics determined, allowing the user to quickly survey a wide range of cyclic conditions on the kinetics of a given material.

Probst, H. B.↗
NASA NTRS1989

A Simple Algebraic Grid Adaptation Scheme with Applications to Two- and Three-dimensional Flow Problems

An algebraic adaptive grid scheme based on the concept of arc equidistribution is presented. The scheme locally adjusts the grid density based on gradients of selected flow variables from either finite difference or finite volume calculations. A user-prescribed grid stretching can be specified such that control of the grid spacing can be maintained in areas of known flowfield behavior. For example, the grid can be clustered near a wall for boundary layer resolution and made coarse near the outer boundary of an external flow. A grid smoothing technique is incorporated into the adaptive grid routine, which is found to be more robust and efficient than the weight function filtering technique employed by other researchers. Since the present algebraic scheme requires no iteration or solution of differential equations, the computer time needed for grid adaptation is trivial, making the scheme useful for three-dimensional flow problems. Applications to two- and three-dimensional flow problems show that a considerable improvement in flowfield resolution can be achieved by using the proposed adaptive grid scheme. Although the scheme was developed with steady flow in mind, it is a good candidate for unsteady flow computations because of its efficiency.

Hsu, Andrew T.↗
NASA NTRS1992

Display of scientific data structures for algorithm visualization

We present a technique for defining graphical depictions for all the data types defined in an algorithm. The ability to display arbitrary combinations of an algorithm's data objects in a common frame of reference, coupled with interactive control of algorithm execution, provides a powerful way to understand algorithm behavior. Type definitions are constrained so that all primitive values occurring in data objects are assigned scalar types. A graphical display, including user interaction with the display, is modeled by a special data type. Mappings from the scalar types into the display model type provide a simple user interface for controlling how all data types are depicted, without the need for type-specific graphics logic.

Hibbard, William↗
NASA NTRS2011

User Centered, Application Independent Visualization of National Airspace Data

This paper describes an application independent software tool, IV4D, built to visualize animated and still 3D National Airspace System (NAS) data specifically for aeronautics engineers who research aggregate, as well as single, flight efficiencies and behavior. IV4D was origin ally developed in a joint effort between the National Aeronautics and Space Administration (NASA) and the Air Force Research Laboratory (A FRL) to support the visualization of air traffic data from the Airspa ce Concept Evaluation System (ACES) simulation program. The three mai n challenges tackled by IV4D developers were: 1) determining how to d istill multiple NASA data formats into a few minimal dataset types; 2 ) creating an environment, consisting of a user interface, heuristic algorithms, and retained metadata, that facilitates easy setup and fa st visualization; and 3) maximizing the user?s ability to utilize the extended range of visualization available with AFRL?s existing 3D te chnologies. IV4D is currently being used by air traffic management re searchers at NASA?s Ames and Langley Research Centers to support data visualizations.

Murphy, James R.↗
NASA NTRS2017

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

Farrell, Logan C.↗
NASA NTRS1994

(abstract) Automated Constraint Checking of Spacecraft Command Sequences

Making certain that spacecraft command sequences do not violate any constraints is often tedious and expensive in terms of both personnel and software development. To reduce this cost, we have pursued the development of a flexible system for specifying models of spacecraft behavior in response to commands as well as constraints on that behavior. The potential need for modeling complex spacecraft behavior required that the system be designed to be usable both on a conventional workstation and a parallel supercomputer. Finally, it needed to be intuitive enough for the the intended mission operations users to easily design sets of rules and models to automate tedious, resource-consuming constraint checking of commands. We have defined a Specification And Verification Environment (SAVE) for spacecraft flight rules.

automation spacecraft command sequences constraint↗