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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Sensor Data Distribution With Robustness and Reliability: Toward Distributed Components Model

In planetary surface exploration mission, sensor data distribution is required in many aspects, for example, in navigation, scheduling, planning, monitoring, diagnostics, and automation of the field tasks. The challenge is to distribute such data in the robust and reliable way so that we can minimize the errors caused by miscalculations, and misjudgments that based on the error data input in the mission. The ad-hoc wireless network on planetary surface is not constantly connected because of the nature of the rough terrain and lack of permanent establishments on the surface. There are some disconnected moments that the computation nodes will re-associate with different repeaters or access points until connections are reestablished. Such a nature requires our sensor data distribution software robust and reliable with ability to tolerant disconnected moments. This paper presents a distributed components model as a framework to accomplish such tasks. The software is written in Java and utilized the available Java Message Services schema and the Boss implementation. The results of field experimentations show that the model is very effective in completing the tasks.

Alena, Richard L.↗
NASA NTRS2014

Seasonal Ventilation of the Stratosphere: Robust Diagnostics from One-Way Flux Distributions

We present an analysis of the seasonally varying ventilation of the stratosphere using one-way flux distributions. Robust transport diagnostics are computed using GEOSCCM subject to fixed present-day climate forcings. From the one-way flux, we determine the mass of the stratosphere that is in transit since entry through the tropical tropopause to its exit back into the troposphere, partitioned according to stratospheric residence time and exit location. The seasonalities of all diagnostics are quantified with respect to the month of year (a) when air enters the stratosphere, (b) when the mass of the stratosphere is partitioned, and (c) when air exits back into the troposphere. We find that the return flux, within 3 months since entry, depends strongly on when entry occurred: (34 +/- 10)% more of the air entering the stratosphere in July leaves poleward of 45 deg N compared to air that enters in January. The month of year when the air mass is partitioned is also found to be important: The stratosphere contains about six times more air of tropical origin during late summer and early fall that will leave poleward of 45 deg within 6 months since entering the stratosphere compared to during late winter to late spring. When the entire mass of the air that entered the stratosphere at the tropics regardless of its residence time is considered, we find that (51 +/- 1)% and (39 +/- 2)% will leave poleward of 10 deg in the Northern Hemisphere (NH) and Southern Hemisphere (SH), respectively.

Stratosphere-Troposphere Exchange↗
NASA NTRS1989

How robust are distributed systems

A distributed system is made up of large numbers of components operating asynchronously from one another and hence with imcomplete and inaccurate views of one another's state. Load fluctuations are common as new tasks arrive and active tasks terminate. Jointly, these aspects make it nearly impossible to arrive at detailed predictions for a system's behavior. It is important to the successful use of distributed systems in situations in which humans cannot provide the sorts of predictable realtime responsiveness of a computer, that the system be robust. The technology of today can too easily be affected by worn programs or by seemingly trivial mechanisms that, for example, can trigger stock market disasters. Inventors of a technology have an obligation to overcome flaws that can exact a human cost. A set of principles for guiding solutions to distributed computing problems is presented.

Birman, Kenneth P.↗
NASA NTRS1990

ISIS and META projects

ISIS and META are two distributed systems projects at Cornell University. The ISIS project, has developed a new methodology, virtual synchrony, for writing robust distributed software. This approach is directly supported by the ISIS Toolkit, a programming system that is distributed to over 300 academic and industrial sites. Several interesting applications that exploit the strengths of ISIS, including an NFS-compatible replicated file system, are being developed. The META project, is about distributed control in a soft real time environment incorporating feedback. This domain encompasses examples as diverse as monitoring inventory and consumption on a factory floor and performing load-balancing on a distributed computing system. One of the first uses of META is for distributed application management: the tasks of configuring a distributed program, dynamically adapting to failures, and monitoring its performance. Recent progress and current plans are presented. This approach to distributed computing, a philosophy that is believed to significantly distinguish the work from that of others in the field, is explained.

Birman, Kenneth↗
NASA NTRS1989

The role of order in distributed programs

The role of order in building distributed systems is discussed. It is the belief that a principle of event ordering underlies the wide range of operating systems mechanisms that were put forward for building robust distributed software. Stated concisely, this principle achieves correct distributed behavior by ordering classes of distributed events that conflict with one another. By focusing on order, simplified descriptions can be obtained and convincingly correct solutions to problems that might otherwise have looked extremely complex. Moreover, it is observed that there are a limited number of ways to obtain order, and that the choice made impacts greatly on performance.

Birman, Kenneth P.↗
NASA NTRS1990

ISIS and META projects

The ISIS project has developed a new methodology, virtual synchony, for writing robust distributed software. High performance multicast, large scale applications, and wide area networks are the focus of interest. Several interesting applications that exploit the strengths of ISIS, including an NFS-compatible replicated file system, are being developed. The META project is distributed control in a soft real-time environment incorporating feedback. This domain encompasses examples as diverse as monitoring inventory and consumption on a factory floor, and performing load-balancing on a distributed computing system. One of the first uses of META is for distributed application management: the tasks of configuring a distributed program, dynamically adapting to failures, and monitoring its performance. Recent progress and current plans are reported.

Birman, Kenneth↗
NASA NTRS2003

Providing Effective Access to Shared Resources: A COIN Approach

Managers of systems of shared resources typically have many separate goals. Examples are efficient utilization of the resources among its users and ensuring no user's satisfaction in the system falls below a preset minimal level. Since such goals will usually conflict with one another, either implicitly or explicitly the manager must determine the relative importance of the goals, encapsulating that into an overall utility function rating the possible behaviors of the entire system. Here we demonstrate a distributed, robust, and adaptive way to optimize that overall function. Our approach is to interpose adaptive agents between each user and the system, where each such agent is working to maximize its own private utility function. In turn, each such agent's function should be both relatively easy for the agent to learn to optimize, and 'aligned' with the overall utility function of the system manager - an overall function that is based on but in general different from the satisfaction functions of the individual users. To ensure this we enhance the COllective INtelligence (COIN) framework to incorporate user satisfaction functions in the overall utility function of the system manager and accordingly in the associated private utility functions assigned to the users agents. We present experimental evaluations of different COIN-based private utility functions and demonstrate that those COIN-based functions outperform some natural alternatives.

Airiau, Stephane↗
NASA NTRS2004

Providing Effective Access to Shared Resources: A COIN Approach

Managers of systems of shared resources typically have many separate goals. Examples are efficient utilization of the resources among its users and ensuring no user s satisfaction in the system falls below a preset minimal level. Since such goals will usually conflict with one another, either implicitly or explicitly the manager must determine the relative importance of the goals, encapsulating that into an overall utility function rating the possible behaviors of the entire system. Here we demonstrate a distributed, robust, and adaptive way to optimize that overall function. Our approach is to interpose adaptive agents between each user and the system, where each such agent is working to maximize its own private utility function. In turn, each such agent's function should be both relatively easy for the agent to learn to optimize, and "aligned" with the overall utility function of the system manager - an overall function that is based on but in general different from the satisfaction functions of the individual users. To ensure this we enhance the Collective INtelligence (COIN) framework to incorporate user satisfaction functions in the overall utility function of the system manager and accordingly in the associated private utility functions assigned to the users agents. We present experimental evaluations of different COIN-based private utility functions and demonstrate that those COIN-based functions outperform some natural alternatives.

Airiau, Stephane↗
NASA NTRS2008

Plan for the Characterization of HIRF Effects on a Fault-Tolerant Computer Communication System

This report presents the plan for the characterization of the effects of high intensity radiated fields on a prototype implementation of a fault-tolerant data communication system. Various configurations of the communication system will be tested. The prototype system is implemented using off-the-shelf devices. The system will be tested in a closed-loop configuration with extensive real-time monitoring. This test is intended to generate data suitable for the design of avionics health management systems, as well as redundancy management mechanisms and policies for robust distributed processing architectures.

Torres-Pomales, Wilfredo↗
NASA NTRS2010

Robonaut 2 - The First Humanoid Robot in Space

NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in late 2010 and undergo initial testing in early 2011. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth and improved dexterity. R2 s integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model s ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people.

Diftler, M. A.↗
NASA NTRS2011

Constraining Dark Matter Models from a Combined Analysis of Milky Way Satellites with the Fermi Large Area Telescope

Satellite galaxies of the Milky Way are among the most promising targets for dark matter searches in gamma rays. We present a search for dark matter consisting of weakly interacting massive particles, applying a joint likelihood analysis to 10 satellite galaxies with 24 months of data of the Fermi Large Area Telescope. No dark matter signal is detected. Including the uncertainty in the dark matter distribution, robust upper limits are placed on dark matter annihilation cross sections. The 95% confidence level upper limits range from about 10(exp -26) cm(exp 3) / s at 5 GeV to about 5 X 10(exp -23) cm(exp 3)/ s at 1 TeV, depending on the dark matter annihilation final state. For the first time, using gamma rays, we are able to rule out models with the most generic cross section (approx 3 X 10(exp -26) cm(exp 3)/s for a purely s-wave cross section), without assuming additional boost factors.

Ackermann, M.↗
NASA NTRS2014

Spindle-shaped Microstructures: Potential Models for Planktonic Life Forms on Other Worlds

Spindle-shaped, organic microstructures ("spindles") are now known from Archean cherts in three localities (Figs. 1-4): The ~3 Ga Farrel Quartzite from the Pilbara of Australia [1]; the older, ~3.3-3.4 Ga Strelley Pool Formation, also from the Pilbara of Australia [2]; and the ~3.4 Ga Kromberg Formation of the Barberton Mountain Land of South Africa [3]. Though the spindles were previously speculated to be pseudofossils or epigenetic organic contaminants, a growing body of data suggests that these structures are bona fide microfossils and further, that they are syngenetic with the Archean cherts in which they occur [1-2, 4-10]. As such, the spindles are among some of the oldest-known organically preserved microfossils on Earth. Moreover, recent delta C-13 study of individual spindles from the Farrel Quartzite (using Secondary Ion Mass Spectrometry [SIMS]) suggests that the spindles may have been planktonic (living in open water), as opposed to benthic (living as bottom dwellers in contact with muds or sediments) [9]. Since most Precambrian microbiotas have been described from benthic, matforming communities, a planktonic lifestyle for the spindles suggests that these structures could represent a segment of the Archean biosphere that is poorly known. Here we synthesize the recent work on the spindles, and we add new observations regarding their geographic distribution, robustness, planktonic habit, and long-lived success. We then discuss their potential evolutionary and astrobiological significance.

Oehler, Dorothy Z.↗
NASA NTRS1988

Recent advances in control of nonlinear and distributed parameter systems, robust control, and aerospace control applications; Proceedings of the Symposium, ASME Winter Annual Meeting, Chicago, IL, Nov. 27-Dec. 2, 1988

Papers are presented on the control of distributed parameter systems using the coprime factorization approach, a hierarchy of geometrically exact models of rotating beams, and the temperature stability of a flux modulated radiant slab. Also considered are a network representation for robots, recovery from controller bounding, and the design of controllers for robust tracking and model following. Other topics include an active control law synthesis for flexible aircraft, the low-order control of large aerospsace structures using residual model filters, and a comparison of component cost methods for component model reduction.

Bentsman, Joseph↗
NASA NTRS1992

Robustness of a distributed neural network controller for locomotion in a hexapod robot

A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

Chiel, Hillel J.↗
NASA NTRS1994

Semigroup approximation and robust stabilization of distributed parameter systems

Theoretical results that enable rigorous statements of convergence and exponential stability of Galerkin approximations of LQR controls for infinite dimensional, or distributed parameter, systems have proliferated over the past ten years. In addition, extensive progress has been made over the same time period in the derivation of robust control design strategies for finite dimensional systems. However, the study of the convergence of robust finite dimensional controllers to robust controllers for infinite dimensional systems remains an active area of research. We consider a class of soft-constrained differential games evolving in a Hilbert space. Under certain conditions, a saddle point control can be given in feedback form in terms of a solution to a Riccati equation. By considering a related LQR problem, we can show a convergence result for finite dimensional approximations of this differential game. This yields a computational algorithm for the feedback gain that can be derived from similar strategies employed in infinite dimensional LQR control design problems. The approach described in this paper also inherits the additional properties of stability robustness common to game theoretic methods in finite dimensional analysis. These theoretical convergence and stability results are verified in several numerical experiments.

Kurdila, A. J.↗
NASA NTRS1988

Robust design of distributed controllers for large flexible space structures

Independent Modal Space Control (IMSC) method avoids control spillover generated by conventional control schemes such as Coupled Modal Control by decoupling the large flexible space structure into independent subsystems of second order and controlling each mode independently. The IMSC implementation requires that the number of actuators be equal to that of modeled modes, which is in general very huge. Consequently the number of required actuators is unrealizable. Two methods are proposed for the implementation of IMSC with reduced number of actuators. In the first method, the first m modes are optimized, leaving the last (n-m) modes unchanged. In the second method, generalized inverse matrices are employed to design the feedback controller so that the control scheme is suboptimal with respect to IMSC. The performance of the proposed methods is tested by performing computer simulation on a simply support beam. Simulation results are presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1989

The Raid distributed database system

Raid, a robust and adaptable distributed database system for transaction processing (TP), is described. Raid is a message-passing system, with server processes on each site to manage concurrent processing, consistent replicated copies during site failures, and atomic distributed commitment. A high-level layered communications package provides a clean location-independent interface between servers. The latest design of the package delivers messages via shared memory in a configuration with several servers linked into a single process. Raid provides the infrastructure to investigate various methods for supporting reliable distributed TP. Measurements on TP and server CPU time are presented, along with data from experiments on communications software, consistent replicated copy control during site failures, and concurrent distributed checkpointing. A software tool for evaluating the implementation of TP algorithms in an operating-system kernel is proposed.

Bhargava, Bharat↗
NASA NTRS1993

The WorkPlace distributed processing environment

Real time control problems require robust, high performance solutions. Distributed computing can offer high performance through parallelism and robustness through redundancy. Unfortunately, implementing distributed systems with these characteristics places a significant burden on the applications programmers. Goddard Code 522 has developed WorkPlace to alleviate this burden. WorkPlace is a small, portable, embeddable network interface which automates message routing, failure detection, and re-configuration in response to failures in distributed systems. This paper describes the design and use of WorkPlace, and its application in the construction of a distributed blackboard system.

Ames, Troy↗