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NASA NTRS2008

Control Architecture for Robotic Agent Command and Sensing

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Huntsberger, Terrance↗

NASA NTRS2009

Mission Planning and Scheduling System for NASA's Lunar Reconnaissance Mission

In the framework of NASA's return to the Moon efforts, the Lunar Reconnaissance Orbiter (LRO) is the first step. It is an unmanned mission to create a comprehensive atlas of the Moon's features and resources necessary to design and build a lunar outpost. LRO is scheduled for launch in April, 2009. LRO carries a payload comprised of six instruments and one technology demonstration. In addition to its scientific mission LRO will use new technologies, systems and flight operations concepts to reduce risk and increase productivity of future missions. As part of the effort to achieve robust and efficient operations, the LRO Mission Operations Team (MOT) will use its Mission Planning System (MPS) to manage the operational activities of the mission during the Lunar Orbit Insertion (LOI) and operational phases of the mission. The MPS, based on GMV's flexplan tool and developed for NASA with Honeywell Technology Solutions (prime contractor), will receive activity and slew maneuver requests from multiple science operations centers (SOC), as well as from the spacecraft engineers. flexplan will apply scheduling rules to all the requests received and will generate conflict free command schedules in the form of daily stored command loads for the orbiter and a set of daily pass scripts that help automate nominal real-time operations.

Garcia, Gonzalo↗

NASA NTRS2008

The DAWN Project's Transition to Mission Operations: on Its Way to Rendezvous with (4) Vesta and (1) Ceres

Dawn launched on 27 September 2007 on a mission to orbit main belt asteroids (4) Vesta in 2011 - 2012 and (1) Ceres in 2015. The operations team conducted an extensive set of assessments of the engineering subsystems and science instruments during the first 80 days of the mission. A major objective of this period was to thrust for one week with the ion propulsion system to verify flight and ground systems readiness for typical interplanetary operations. Upon successful conclusion of the checkout phase, the interplanetary cruise phase began, most of which will be devoted to thrusting. The flexibility afforded by the use of ion propulsion enabled the project to accommodate a launch postponement of more than 3 months caused by a combination of launch vehicle and tracking system readiness, unfavorable weather, and then conflicts with other launches. Even with the shift in the launch date, all of the science objectives are retained with the same schedule and greater technical margins. This paper describes the conclusion of the development phase of the project, launch operations, and the progress of mission operations.

launch operations↗

NASA NTRS2006

Runway Incursion Prevention System for General Aviation Operations

A Runway Incursion Prevention System (RIPS) and additional incursion detection algorithm were adapted for general aviation operations and evaluated in a simulation study at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) in the fall of 2005. RIPS has been designed to enhance surface situation awareness and provide cockpit alerts of potential runway conflicts in order to prevent runway incidents while also improving operational capability. The purpose of the study was to evaluate the airborne incursion detection algorithms and associated alerting and airport surface display concepts for general aviation operations. This paper gives an overview of the system, simulation study, and test results.

Jones, Denise R.↗

NASA NTRS2009

The Urban Environmental Monitoring/100 Cities Project: Legacy of the First Phase and Next Steps

The Urban Environmental Monitoring (UEM) project, now known as the 100 Cities Project, at Arizona State University (ASU) is a baseline effort to collect and analyze remotely sensed data for 100 urban centers worldwide. Our overarching goal is to use remote sensing technology to better understand the consequences of rapid urbanization through advanced biophysical measurements, classification methods, and modeling, which can then be used to inform public policy and planning. Urbanization represents one of the most significant alterations that humankind has made to the surface of the earth. In the early 20th century, there were less than 20 cities in the world with populations exceeding 1 million; today, there are more than 400. The consequences of urbanization include the transformation of land surfaces from undisturbed natural environments to land that supports different forms of human activity, including agriculture, residential, commercial, industrial, and infrastructure such as roads and other types of transportation. Each of these land transformations has impacted, to varying degrees, the local climatology, hydrology, geology, and biota that predate human settlement. It is essential that we document, to the best of our ability, the nature of land transformations and the consequences to the existing environment. The focus in the UEM project since its inception has been on rapid urbanization. Rapid urbanization is occurring in hundreds of cities worldwide as population increases and people migrate from rural communities to urban centers in search of employment and a better quality of life. The unintended consequences of rapid urbanization have the potential to cause serious harm to the environment, to human life, and to the resulting built environment because rapid development constrains and rushes decision making. Such rapid decision making can result in poor planning, ineffective policies, and decisions that harm the environment and the quality of human life. Slower, more thought-out, decision making could result in more favorable outcomes. The harm to the environment includes poor air quality, soil erosion, polluted rivers and aquifers, and loss of wildlife habitat. Human life is then threatened because of increased potential for disease spreading, human conflict, environmental hazards, and diminished quality of life. The built environment is potentially threatened when cities are built in areas that can be impacted by events such as hurricanes, tsunamis, earthquakes, fires, and landslides. Our goals include assessing the threat of such events on cities and the people living there.

Stefanov, William L.↗

NASA NTRS2008

Providing Goal-Based Autonomy for Commanding a Spacecraft

A computer program for use aboard a scientific-exploration spacecraft autonomously selects among goals specified in high-level requests and generates corresponding sequences of low-level commands, understandable by spacecraft systems. (As used here, 'goals' signifies specific scientific observations.) From a dynamic, onboard set of goals that could oversubscribe spacecraft resources, the program selects a non-oversubscribing subset that maximizes a quality metric. In an early version of the program, the requested goals are assumed to have fixed starting times and durations. Goals can conflict by exceeding a limit on either the number of separate goals or the number of overlapping goals making demands on the same resource. The quality metric used in this version is chosen to ensure that a goal will never be replaced by another having lower priority. At any time, goals can be added or removed, or their priorities can be changed, and the 'best' goal will be selected. Once a goal has been selected, the program implements a robust, flexible approach to generation of low-level commands: Rather than generate rigid sequences with fixed starting times, the program specifies flexible sequences that can be altered to accommodate run time variations.

Rabideau, Gregg↗

NASA NTRS2009

Relative Shock Effects in Mixed Powders of Calcite, Gypsum, and Quartz: A Calibration Scheme from Shock Experiments

The shock behavior of calcite and gypsum is important in understanding the Cretaceous/Tertiary event and other terrestrial impacts that contain evaporite sediments in their targets. Most interest focuses on issues of devolatilization to quantify the production of CO2 or SO2 to better understand their role in generating a temporary atmosphere and its effects on climate and biota [e.g., papers in 1,2,3,4]. Devolatilization of carbonate is also important because the dispersion and fragmentation of ejecta is strongly controlled by the expansion of large volumes of gas during the impact process as well [5,6]. Shock recovery experiments for calcite yield seemingly conflicting results: early experimental devolatilization studies [7,8,9] suggested that calcite was substantially outgassed at 30 GPa (> 50%). However, the recent petrographic work of [10,11,12] presented evidence that essentially intact calcite is recovered from 60 GPa experiments. [13] reported results of shock experiments on anhydrite, gypsum, and mixtures of those phases with silica. Their observations indicate little or no devolatilization of anhydrite shocked to 42 GPa and that the fraction of sulfur, by mass, that degassed is approx.10(exp -2) of theoretical prediction. In another (preliminary) report of shock experiments on calcite, anhydrite, and gypsum, [14] observe calcite recrystallization when shock loaded at 61 GPa, only intensive plastic deformation in anhydrite shock loaded at 63 GPa, and gypsum converted to anhydrite when shock loaded at 56 GPa. [15] shock loaded anhydrite and quartz to a peak pressure of 60 GPa. All of the quartz grains were trans-formed to glass and the platy anhydrite grains were completely pseudomorphed by small crystallized anhydrite grains. However, no evidence of interaction between the two phases could be observed and they suggest that recrystallization of anhydrite grains is the result of a solid state transformation. [16] reanalyzed the calcite and anhydrite shock wave experiments of [17] using improved equations of state of porous materials and vaporized products. They determined the pressures for incipient and complete vaporization to be 32.5 and 122 GPa for anhydrite and 17.8 and 54.1 GPa for calcite, respectively, a factor of 2 to 3 lower than reported earlier by [17].

Bell, Mary S.↗

NASA NTRS2009

Design and Verification of a Distributed Communication Protocol

The safety of remotely operated vehicles depends on the correctness of the distributed protocol that facilitates the communication between the vehicle and the operator. A failure in this communication can result in catastrophic loss of the vehicle. To complicate matters, the communication system may be required to satisfy several, possibly conflicting, requirements. The design of protocols is typically an informal process based on successive iterations of a prototype implementation. Yet distributed protocols are notoriously difficult to get correct using such informal techniques. We present a formal specification of the design of a distributed protocol intended for use in a remotely operated vehicle, which is built from the composition of several simpler protocols. We demonstrate proof strategies that allow us to prove properties of each component protocol individually while ensuring that the property is preserved in the composition forming the entire system. Given that designs are likely to evolve as additional requirements emerge, we show how we have automated most of the repetitive proof steps to enable verification of rapidly changing designs.

Munoz, Cesar A.↗

NASA NTRS1939

Full-Scale Wind-Tunnel Investigation of Wing-Cooling Ducts Effects of Propeller Slipstream, Special Report

Nickle, F. R.↗

NASA NTRS2009

OTF Proof of Concept: CCSDS Mission Operations Alert Services

Conclusions: Use of multiple vendor frameworks within a component creates thread lockups and fragility conflicts over the control of the main thread. Avoid closed vendor messaging frameworks. The MAL layer does isolate the data elements from the messaging framework but application work dispatch is heavily dominated by the framework chosen. API Language is a major factor in implementation. Message APIs with timeouts seem unavoidable in some environments (GUI). Language environment needs to support callbacks (or threads) from the messaging framework to deal with pub/sub management messages and status. Statusing of application communications demand a local broker agent per physical system or else the use of the AMSstyle registrar heartbeat.

Reynolds, Walt↗

NASA NTRS2009

Flight Deck Display Technologies for 4DT and Surface Equivalent Visual Operations

NASA research is focused on flight deck display technologies that may significantly enhance situation awareness, enable new operating concepts, and reduce the potential for incidents/accidents for terminal area and surface operations. The display technologies include surface map, head-up, and head-worn displays; 4DT guidance algorithms; synthetic and enhanced vision technologies; and terminal maneuvering area traffic conflict detection and alerting systems. This work is critical to ensure that the flight deck interface technologies and the role of the human participants can support the full realization of the Next Generation Air Transportation System (NextGen) and its novel operating concepts.

Prinzel, Lawrence J., III↗

NASA NTRS2009

Halophytes, Algae, and Bacteria Food and Fuel Feedstocks

The constant, increasing demand for energy, freshwater, and food stresses our ability to meet these demands within reasonable cost and impact on climate while sustaining quality of life. This environmental Triangle of Conflicts between energy, food, and water--while provoked by anthropogenic monetary and power struggles--can be resolved through an anthropogenic paradigm shift in how we produce and use energy, water, and food. With world population (6.6 billion) projected to increase 40 percent in 40 to 60 yr, proper development of saline agriculture and aquaculture is required, as 43 percent of the Earth's landmass is arid or semi-arid and 97 percent of the Earth's water is seawater. In light of this, we seek fuel alternatives in plants that thrive in brackish and saltwater with the ability to survive in arid lands. The development and application of these plants (halophytes) become the primary focus. Herein we introduce some not-so-familiar halophytes and present a few of their benefits, cite a few research projects (including some on the alternatives algae and bacteria), and then set theoretical limits on biomass production followed by projections in terms of world energy demands. Based on diverse arid lands with a total size equivalent to the Sahara Desert (8.6(exp 8) ha, or 2.1(exp 9) acres), these projections show that halophyte agriculture and algae systems can provide for the projected world energy demand.

Hendricks, R. C.↗

NASA NTRS2009

Apollo 13 Guidance, Navigation, and Control Challenges

Combustion and rupture of a liquid oxygen tank during the Apollo 13 mission provides lessons and insights for future spacecraft designers and operations personnel who may never, during their careers, have participated in saving a vehicle and crew during a spacecraft emergency. Guidance, Navigation, and Control (GNC) challenges were the reestablishment of attitude control after the oxygen tank incident, re-establishment of a free return trajectory, resolution of a ground tracking conflict between the LM and the Saturn V S-IVB stage, Inertial Measurement Unit (IMU) alignments, maneuvering to burn attitudes, attitude control during burns, and performing manual GNC tasks with most vehicle systems powered down. Debris illuminated by the Sun and gaseous venting from the Service Module (SM) complicated crew attempts to identify stars and prevented execution of nominal IMU alignment procedures. Sightings on the Sun, Moon, and Earth were used instead. Near continuous communications with Mission Control enabled the crew to quickly perform time critical procedures. Overcoming these challenges required the modification of existing contingency procedures.

Goodman, John L.↗

NASA NTRS2009

Relay Sequence Generation Software

Due to thermal and electromagnetic interactivity between the UHF (ultrahigh frequency) radio onboard the Mars Reconnaissance Orbiter (MRO), which performs relay sessions with the Martian landers, and the remainder of the MRO payloads, it is required to integrate and de-conflict relay sessions with the MRO science plan. The MRO relay SASF/PTF (spacecraft activity sequence file/ payload target file) generation software facilitates this process by generating a PTF that is needed to integrate the periods of time during which MRO supports relay activities with the rest of the MRO science plans. The software also generates the needed command products that initiate the relay sessions, some features of which are provided by the lander team, some are managed by MRO internally, and some being derived.

Gladden, Roy E.↗

NASA NTRS2009

Serial Network Flow Monitor

Using a commercial software CD and minimal up-mass, SNFM monitors the Payload local area network (LAN) to analyze and troubleshoot LAN data traffic. Validating LAN traffic models may allow for faster and more reliable computer networks to sustain systems and science on future space missions. Research Summary: This experiment studies the function of the computer network onboard the ISS. On-orbit packet statistics are captured and used to validate ground based medium rate data link models and enhance the way that the local area network (LAN) is monitored. This information will allow monitoring and improvement in the data transfer capabilities of on-orbit computer networks. The Serial Network Flow Monitor (SNFM) experiment attempts to characterize the network equivalent of traffic jams on board ISS. The SNFM team is able to specifically target historical problem areas including the SAMS (Space Acceleration Measurement System) communication issues, data transmissions from the ISS to the ground teams, and multiple users on the network at the same time. By looking at how various users interact with each other on the network, conflicts can be identified and work can begin on solutions. SNFM is comprised of a commercial off the shelf software package that monitors packet traffic through the payload Ethernet LANs (local area networks) on board ISS.

Robinson, Julie A.↗

NASA NTRS2009

Feasibility of Mixed Equipage Operations in the Same Airspace

This study used a human-in-the-loop simulation to examine the feasibility of mixed equipage operations in an automated separation assurance environment under higher traffic densities. The study involved two aircraft equipage alternatives with and without data link and four traffic conditions. In all traffic conditions the unequipped traffic count was increased linearly throughout the scenario from approximately 5 to 20 aircraft. Condition One consisted solely of this unequipped traffic, while the remaining three conditions also included a constant number of equipped aircraft operating within the same airspace: 15 equipped aircraft in condition two, 30 in condition three, and 45 in condition four. If traffic load became excessive during any run, participants were instructed to refuse sector entry to inbound unequipped aircraft until sector load became manageable. Results showed a progressively higher number of unequipped aircraft turned away under the second, third, and fourth scenario conditions. Controller workload also increased progressively. Participants rated the mixed operations concept as acceptable, with some qualifications about procedures and information displays. These results showed that mixed operations might be feasible in the same airspace, if unequipped aircraft count is held to a workable level. This level will decrease with increasing complexity. The results imply that integrated airspace configuration is feasible to a limit. The results also indicate that the conflict detection and resolution automation, equipage, and traffic density are important factors that will need to be considered for airspace configuration.

Kopardekar, Parimal↗

NASA NTRS2009

Spaceflight Sensorimotor Analogs: Simulating Acute and Adaptive Effects

Adaptive changes in sensorimotor function during spaceflight are reflected by spatial disorientation, motion sickness, gaze destabilization and decrements in balance, locomotion and eye-hand coordination that occur during and following transitions between different gravitational states. The purpose of this study was to conduct a meta-synthesis of data from spaceflight analogs to evaluate their effectiveness in simulating adaptive changes in sensorimotor function. METHODS. The analogs under review were categorized as either acute analogs used to simulate performance decrements accompanied with transient changes, or adaptive analogs used to drive sensorimotor learning to altered sensory feedback. The effectiveness of each analog was evaluated in terms of mechanisms of action, magnitude and time course of observed deficits compared to spaceflight data, and the effects of amplitude and exposure duration. RESULTS. Parabolic flight has been used extensively to examine effects of acute variation in gravitational loads, ranging from hypergravity to microgravity. More recently, galvanic vestibular stimulation has been used to elicit acute postural, locomotor and gaze dysfunction by disrupting vestibular afferents. Patient populations, e.g., with bilateral vestibular loss or cerebellar dysfunction, have been proposed to model acute sensorimotor dysfunction. Early research sponsored by NASA involved living onboard rotating rooms, which appeared to approximate the time course of adaptation and post-exposure recovery observed in astronauts following spaceflight. Exposure to different bed-rest paradigms (6 deg head down, dry immersion) result in similar motor deficits to that observed following spaceflight. Shorter adaptive analogs have incorporated virtual reality environments, visual distortion paradigms, exposure to conflicting tilt-translation cues, and exposure to 3Gx centrifugation. As with spaceflight, there is considerable variability in responses to most of the analogs reviewed. DISCUSSION. A true ground-based flight analog for sensorimotor function is not feasible. A combination of flight analogs; however, can be used to selectively mimic different aspects of the spaceflight-induced sensorimotor performance decrements.

Taylor, Laura C.↗

NASA NTRS2007

Probabilistic Reasoning for Robustness in Automated Planning

A general-purpose computer program for planning the actions of a spacecraft or other complex system has been augmented by incorporating a subprogram that reasons about uncertainties in such continuous variables as times taken to perform tasks and amounts of resources to be consumed. This subprogram computes parametric probability distributions for time and resource variables on the basis of user-supplied models of actions and resources that they consume. The current system accepts bounded Gaussian distributions over action duration and resource use. The distributions are then combined during planning to determine the net probability distribution of each resource at any time point. In addition to a full combinatoric approach, several approximations for arriving at these combined distributions are available, including maximum-likelihood and pessimistic algorithms. Each such probability distribution can then be integrated to obtain a probability that execution of the plan under consideration would violate any constraints on the resource. The key idea is to use these probabilities of conflict to score potential plans and drive a search toward planning low-risk actions. An output plan provides a balance between the user s specified averseness to risk and other measures of optimality.

Schaffer, Steven↗