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NASA NTRSDate not supplied

Design of Safe Separation Bounds for Temporally Deconflicted Trajectories Under Bounded Uncertainties

This paper explores the derivation of safe separation bounds for a heterogeneous group of~$n$ Uncrewed Aerial Systems (UAS) that are assigned temporally deconflicted trajectories. Compared to spatially deconflicted trajectories, temporal deconfliction can lead to higher traffic capacities and a more efficient use of the available airspace. One challenge with this type of deconfliction is that collisions can occur if some cooperating UAS are behind or ahead of schedule. To overcome this risk, this paper derives a lower bound on the safety distance between two heterogeneous UAS in the presence of bounded uncertainties. This safety distance can be leveraged to inform trajectory generation algorithms. The proposed bound establishes a rigorous safety margin when the fleet deviates from the planned trajectories, both temporally and spatially. For its derivation the paper assumes the UAS implement a distributed coordination algorithm that allows the fleet to maintain their schedules synchronized within a bounded temporal error, and a path-following algorithm that lets the vehicles track a target that moves along the planned trajectory with a bounded spatial error.

autonomy↗
NASA NTRS1990

Bounding the states of systems with unknown-but-bounded disturbances

Control systems with hard constraints on certain variables are characterized, in an analytical review of recent investigations based on an unknown-but-bounded description of magnitude uncertainties. Hard-constraint problems typically arise in the design of controllers for potentially hazardous systems such as nuclear power plants. Consideration is given to norm bounds based on matrix measures, extensions of Schweppe's (1968) ellipsoid bounds, and set-theoretic regulator design. The performance of these approaches is evaluated by means of numerical simulations involving a third-order nonlinear steam-boiler model; the results are presented in graphs, and it is found that ellipsoid bounds are tightest in the general case, but that box bounds are even tighter for linear systems with Metzler system matrices.

Tsai, Wei K.↗
NASA NTRS2012

Bound-free Spectra for Diatomic Molecules

It is now recognized that prediction of radiative heating of entering space craft requires explicit treatment of the radiation field from the infrared (IR) to the vacuum ultra violet (VUV). While at low temperatures and longer wavelengths, molecular radiation is well described by bound-bound transitions, in the short wavelength, high temperature regime, bound-free transitions can play an important role. In this work we describe first principles calculations we have carried out for bound-bound and bound-free transitions in N2, O2, C2, CO, CN, NO, and N2+. Compared to bound ]bound transitions, bound-free transitions have several particularities that make them different to deal with. These include more complicated line shapes and a dependence of emission intensity on both bound state diatomic and atomic concentrations. These will be discussed in detail below. The general procedure we used was the same for all species. The first step is to generate potential energy curves, transition moments, and coupling matrix elements by carrying out ab initio electronic structure calculations. These calculations are expensive, and thus approximations need to be made in order to make the calculations tractable. The only practical method we have to carry out these calculations is the internally contracted multi-reference configuration interaction (icMRCI) method as implemented in the program suite Molpro. This is a widely used method for these kinds of calculations, and is capable of generating very accurate results. With this method, we must first of choose which electrons to correlate, the one-electron basis to use, and then how to generate the molecular orbitals.

Schwenke, David W.↗
NASA NTRS1972

A bound on the rate-distortion function and application to images.

An upper bound on the rate-distortion function for discrete ergodic sources with memory is developed by partitioning the source sample space into a finite number of disjoint subsets and bounding the rates for each subset. The bound depends only on the mean vectors and covariance matrices for the subsets and is easy to compute. It is tighter than the Gaussian bound for sources that exhibit clustering of either the values or covariances of successive source outputs. The bound is evaluated for a certain class of pictorial data using both one-dimensional and two-dimensional blocks of picture elements. Two-dimensional blocks yield a tighter bound than one-dimensional blocks; both result in a significantly tighter bound than the Gaussian bound.

Tasto, M.↗
NASA NTRS2009

Computing Bounds on Resource Levels for Flexible Plans

A new algorithm efficiently computes the tightest exact bound on the levels of resources induced by a flexible activity plan (see figure). Tightness of bounds is extremely important for computations involved in planning because tight bounds can save potentially exponential amounts of search (through early backtracking and detection of solutions), relative to looser bounds. The bound computed by the new algorithm, denoted the resource-level envelope, constitutes the measure of maximum and minimum consumption of resources at any time for all fixed-time schedules in the flexible plan. At each time, the envelope guarantees that there are two fixed-time instantiations one that produces the minimum level and one that produces the maximum level. Therefore, the resource-level envelope is the tightest possible resource-level bound for a flexible plan because any tighter bound would exclude the contribution of at least one fixed-time schedule. If the resource- level envelope can be computed efficiently, one could substitute looser bounds that are currently used in the inner cores of constraint-posting scheduling algorithms, with the potential for great improvements in performance. What is needed to reduce the cost of computation is an algorithm, the measure of complexity of which is no greater than a low-degree polynomial in N (where N is the number of activities). The new algorithm satisfies this need. In this algorithm, the computation of resource-level envelopes is based on a novel combination of (1) the theory of shortest paths in the temporal-constraint network for the flexible plan and (2) the theory of maximum flows for a flow network derived from the temporal and resource constraints. The measure of asymptotic complexity of the algorithm is O(N O(maxflow(N)), where O(x) denotes an amount of computing time or a number of arithmetic operations proportional to a number of the order of x and O(maxflow(N)) is the measure of complexity (and thus of cost) of a maximumflow algorithm applied to an auxiliary flow network of 2N nodes. The algorithm is believed to be efficient in practice; experimental analysis shows the practical cost of maxflow to be as low as O(N1.5). The algorithm could be enhanced following at least two approaches. In the first approach, incremental subalgorithms for the computation of the envelope could be developed. By use of temporal scanning of the events in the temporal network, it may be possible to significantly reduce the size of the networks on which it is necessary to run the maximum-flow subalgorithm, thereby significantly reducing the time required for envelope calculation. In the second approach, the practical effectiveness of resource envelopes in the inner loops of search algorithms could be tested for multi-capacity resource scheduling. This testing would include inner-loop backtracking and termination tests and variable and value-ordering heuristics that exploit the properties of resource envelopes more directly.

Muscvettola, Nicola↗
NASA NTRS1988

Confidence set inference with a prior quadratic bound

In the uniqueness part of a geophysical inverse problem, the observer wants to predict all likely values of P unknown numerical properties z = (z sub 1,...,z sub p) of the earth from measurement of D other numerical properties y(0)=(y sub 1(0),...,y sub D(0)) knowledge of the statistical distribution of the random errors in y(0). The data space Y containing y(0) is D-dimensional, so when the model space X is infinite-dimensional the linear uniqueness problem usually is insoluble without prior information about the correct earth model x. If that information is a quadratic bound on x (e.g., energy or dissipation rate), Bayesian inference (BI) and stochastic inversion (SI) inject spurious structure into x, implied by neither the data nor the quadratic bound. Confidence set inference (CSI) provides an alternative inversion technique free of this objection. CSI is illustrated in the problem of estimating the geomagnetic field B at the core-mantle boundary (CMB) from components of B measured on or above the earth's surface. Neither the heat flow nor the energy bound is strong enough to permit estimation of B(r) at single points on the CMB, but the heat flow bound permits estimation of uniform averages of B(r) over discs on the CMB, and both bounds permit weighted disc-averages with continous weighting kernels. Both bounds also permit estimation of low-degree Gauss coefficients at the CMB. The heat flow bound resolves them up to degree 8 if the crustal field at satellite altitudes must be treated as a systematic error, but can resolve to degree 11 under the most favorable statistical treatment of the crust. These two limits produce circles of confusion on the CMB with diameters of 25 deg and 19 deg respectively.

Backus, George E.↗
NASA NTRS1992

An algorithm for the estimation of bounds on the emissivity and temperatures from thermal multispectral airborne remotely sensed data

The effective flux incident upon the detectors of a thermal sensor, after it has been corrected for atmospheric effects, is a function of a non-linear combination of the emissivity of the target for that channel and the temperature of the target. The sensor system cannot separate the contribution from the emissivity and the temperature that constitute the flux value. A method that estimates the bounds on these temperatures and emissivities from thermal data is described. This method is then tested with remotely sensed data obtained from NASA's Thermal Infrared Multispectral Scanner (TIMS) - a 6 channel thermal sensor. Since this is an under-determined set of equations i.e. there are 7 unknowns (6 emissivities and 1 temperature) and 6 equations (corresponding to the 6 channel fluxes), there exist theoretically an infinite combination of values of emissivities and temperature that can satisfy these equations. Using some realistic bounds on the emissivities, bounds on the temperature are calculated. These bounds on the temperature are refined to estimate a tighter bound on the emissivity of the source. An error analysis is also carried out to quantitatively determine the extent of uncertainty introduced in the estimate of these parameters. This method is useful only when a realistic set of bounds can be obtained for the emissivities of the data. In the case of water the lower and upper bounds were set at 0.97 and 1.00 respectively. Five flights were flown in succession at altitudes of 2 km (low), 6 km (mid), 12 km (high), and then back again at 6 km and 2 km. The area selected with the Ross Barnett reservoir near Jackson, Mississippi. The mission was flown during the predawn hours of 1 Feb. 1992. Radiosonde data was collected for that duration to profile the characteristics of the atmosphere. Ground truth temperatures using thermometers and radiometers were also obtained over an area of the reservoir. The results of two independent runs of the radiometer data averaged 7.03 plus or minus .70 for the first run and 7.31 plus or minus .88 for the second run. The results of the algorithm yield a temperature of 7.68 for the low altitude data to 8.73 for the high altitude data.

Jaggi, S.↗
NASA NTRS2000

Populations of High-Luminosity Density-Bounded HII Regions in Spiral Galaxies? Evidence and Implications

In this paper we present evidence that the H II regions of high luminosity in disk galaxies may be density bounded, so that a significant fraction of the ionizing photons emitted by their exciting OB stars escape from the regions. The key piece of evidence is the presence, in the Ha luminosity functions (LFs) of the populations of H iI regions, of glitches, local sharp peaks at an apparently invariant luminosity, defined as the Stromgren luminosity Lstr), LH(sub alpha) = Lstr = 10(sup 38.6) (+/- 10(sup 0.1)) erg/ s (no other peaks are found in any of the LFs) accompanying a steepening of slope for LH(sub alpha) greater than Lstr This behavior is readily explicable via a physical model whose basic premises are: (a) the transition at LH(sub alpha) = Lstr marks a change from essentially ionization bounding at low luminosities to density bounding at higher values, (b) for this to occur the law relating stellar mass in massive star-forming clouds to the mass of the placental cloud must be such that the ionizing photon flux produced within the cloud is a function which rises more steeply than the mass of the cloud. Supporting evidence for the hypothesis of this transition is also presented: measurements of the central surface brightnesses of H II regions for LH(sub alpha) less than Lstr are proportional to L(sup 1/3, sub H(sub alpha)), expected for ionization bounding, but show a sharp trend to a steeper dependence for LH(sub alpha) greater than Lstr, and the observed relation between the internal turbulence velocity parameter, sigma, and the luminosity, L, at high luminosities, can be well explained if these regions are density bounded. If confirmed, the density-bounding hypothesis would have a number of interesting implications. It would imply that the density-bounded regions were the main sources of the photons which ionize the diffuse gas in disk galaxies. Our estimates, based on the hypothesis, indicate that these regions emit sufficient Lyman continuum not only to ionize the diffuse medium, but to cause a typical spiral to emit significant ionizing flux into the intergalactic medium. The low scatter observed in Lstr, less than 0.1 mag rms in the still quite small sample measured to date, is an invitation to widen the data base, and to calibrate against primary standards, with the aim of obtaining a precise, approx. 10(exp 5) solar luminosity widely distributed standard candle.

Beckman, J. E.↗
NASA NTRS2003

Match-bounded String Rewriting Systems

We introduce a new class of automated proof methods for the termination of rewriting systems on strings. The basis of all these methods is to show that rewriting preserves regular languages. To this end, letters are annotated with natural numbers, called match heights. If the minimal height of all positions in a redex is h+1 then every position in the reduct will get height h+1. In a match-bounded system, match heights are globally bounded. Using recent results on deleting systems, we prove that rewriting by a match-bounded system preserves regular languages. Hence it is decidable whether a given rewriting system has a given match bound. We also provide a sufficient criterion for the abence of a match-bound. The problem of existence of a match-bound is still open. Match-boundedness for all strings can be used as an automated criterion for termination, for match-bounded systems are terminating. This criterion can be strengthened by requiring match-boundedness only for a restricted set of strings, for instance the set of right hand sides of forward closures.

Geser, Alfons↗
NASA NTRS2014

Combined Uncertainty and A-Posteriori Error Bound Estimates for General CFD Calculations: Theory and Software Implementation

This workshop presentation discusses the design and implementation of numerical methods for the quantification of statistical uncertainty, including a-posteriori error bounds, for output quantities computed using CFD methods. Hydrodynamic realizations often contain numerical error arising from finite-dimensional approximation (e.g. numerical methods using grids, basis functions, particles) and statistical uncertainty arising from incomplete information and/or statistical characterization of model parameters and random fields. The first task at hand is to derive formal error bounds for statistics given realizations containing finite-dimensional numerical error [1]. The error in computed output statistics contains contributions from both realization error and the error resulting from the calculation of statistics integrals using a numerical method. A second task is to devise computable a-posteriori error bounds by numerically approximating all terms arising in the error bound estimates. For the same reason that CFD calculations including error bounds but omitting uncertainty modeling are only of limited value, CFD calculations including uncertainty modeling but omitting error bounds are only of limited value. To gain maximum value from CFD calculations, a general software package for uncertainty quantification with quantified error bounds has been developed at NASA. The package provides implementations for a suite of numerical methods used in uncertainty quantification: Dense tensorization basis methods [3] and a subscale recovery variant [1] for non-smooth data, Sparse tensorization methods[2] utilizing node-nested hierarchies, Sampling methods[4] for high-dimensional random variable spaces.

CFD↗
NASA NTRS2019

Bounding Methods for Heterogeneous Lidar-derived Navigational Geofences

Safe Unmanned Aerial Vehicle (UAV) operations near the ground require navigation methods that avoid fixed obstacles such as buildings, power lines and trees. Aerial lidar surveys of ground structures are available with the precision and accuracy to geolocate obstacles, but the high volume of raw survey data can exceed the compute power of onboard processors and the rendering ability of ground-based flight planning maps. Representing ground structures with bounding polyhedra instead of point clouds greatly reduces the data size and can enable effective obstacle avoidance, as long as the bounding geometry envelopes the structures with high spatial fidelity. This report describes in detail four methods to compute bounding geometries of ground obstacles from lidar point clouds. The four methods are: 1) 2.5D Maximum Elevation Box, 2) 2.5D Ground Map Extrusion, 3) 3D Bounding Cylinder, and 4) 3D Bounding Box. The methods are applied to five point cloud datasets from lidar surveys of UAV flight research sites in Georgia and Virginia with an average point spacing that ranges from 0.1m to 0.6m. The methods are assessed using survey areas with geometrically heterogeneous ground structures: buildings, vegetation, power lines, and sub-meter structures such as road signs and guy wires. The 2.5D Maximum Elevation Box method is useful for simple structures. The 2.5D Ground Map Extrusion method efficiently encloses vegetation, but requires handdrawn ground footprints. The 3D Bounding Cylinder method excels at enclosing linear structures such as power lines and fences. The 3D Bounding Box method excels at enclosing planar structures such as buildings. The methods are compared on the basis of data compression and boundary fidelity on selected areas. The 2.5D methods yield the highest data compression but the polyhedra produced by them enclose significant amounts of empty space. Boundary fidelity is superior for the 3D methods, though this fidelity comes at the cost of a roughly thirtyfold lower data compression ratio than the 2.5D Maximum Elevation Box method. A mix of these output geometries is proposed for autonomous UAV navigation with limited on-board computing. Both the accuracy and spatial detail of emerging satellite-based survey technology lower than that of aerial lidar scanning survey technology. Sub-meter structures and thin linear structures are not reliably mapped at present by satellite-based surveys.

Moore, Andrew J.↗
NASA NTRS2003

Upper bounds to error probabilities of coded systems beyond the cutoff rate

A family of upper bounds to error probabilities of coded systems was recently proposed by Divsalar. These bounds are valid for transmission over the additive white Gaussian noise channel, and require only the knowledge of the weight spectrum of the code words. After illustrating these bounds, we extend them to fading channels. Contrary to the union bound, our bounds maintain their effectiveness below the signal-to-noise ratio (SNR)at which the cutoff rate of the channel equals the rate of the code. Some applications are shown. First, we derive upper bounds to the minimum SNR necessary to achieve zero error probability as the code block length increases to infinity. Next, we use our bounds to predict the performance of turbo codes and low-density parity-check codes.

Biglieri, Ezio↗