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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Formal Specification and Parametric Verification of the ICAROUS Distributed Merging Protocol for Autonomous Aircraft Systems

ICAROUS is a software architecture that provides highly assured core software modules for building safety-centric autonomous unmanned aircraft applications. One of its core components is the ICAROUS distributed merging (IDM) protocol, which allows for decentralized merging of autonomous aircrafts through a designated intersection. This report presents initial results on formal specification and parametric verification of the IDM protocol. We present the development of a formal, discrete-time specification of the ICAROUS distributed merging protocol in TLA+. The developed TLA+ specification includes an abstracted model of the physical aircraft dynamics, the consensus machinery for leader election and coordination, and the computation of merging schedules. In addition, we present details on a command line tool we developed verimerge, that utilizes the TLC model checker for doing bounded, parametric verification and allows for plotting of these results in 2D parameter spaces. The tool also provides functionality for visualization of concrete protocol behaviors, to aid debugging and understanding. We present preliminary, bounded time verification results for a finite number of aircraft. Limitations of the current techniques and possible future extensions of this work are also discussed.

ICAROUS↗
NASA NTRS1991

Software reliability through fault-avoidance and fault-tolerance

Twenty independently developed but functionally equivalent software versions were used to investigate and compare empirically some properties of N-version programming, Recovery Block, and Consensus Recovery Block, using the majority and consensus voting algorithms. This was also compared with another hybrid fault-tolerant scheme called Acceptance Voting, using dynamic versions of consensus and majority voting. Consensus voting provides adaptation of the voting strategy to varying component reliability, failure correlation, and output space characteristics. Since failure correlation among versions effectively reduces the cardinality of the space in which the voter make decisions, consensus voting is usually preferable to simple majority voting in any fault-tolerant system. When versions have considerably different reliabilities, the version with the best reliability will perform better than any of the fault-tolerant techniques.

Vouk, Mladen A.↗
NASA NTRS2018

PACE Technical Report Series, Volume 4: Cloud Retrievals in the PACE Mission: PACE Science Team Consensus Document

Earth is a complex dynamical system exhibiting continuous change in its atmosphere, ocean,and surface elements. Nearly all (99.97%) of the energy driving these systems is linked to the Sun. Measurements of reflected sunlight contain a unique signature of wavelength-specific scattering and absorption interactions occurring between incoming solar energy and atmospheric (molecules, aerosols,clouds) and surface features Clouds can affect significantly both shortwave and long wave radiation, depending on altitude/vertical structure, thermodynamic phase, and optical properties. Low, warm, and optically thick clouds predominantly have a cooling effect, while high, cold, optically thin clouds can cause warming by absorbing warmer radiation emitted from the surface and lower atmosphere.When the net difference between outgoing and incoming solar radiation is matched by the net infrared radiation emitted to space, the Earth's climate is in radiative balance. While radiative forcing components (GHGs, aerosols - direct and indirect) contribute to a net radiative imbalance, climate sensitivity is ultimately determined by the contribution of various system feed backs. The role of cloud feedback in a warming climate is currently the largest inter-model uncertainty in climate sensitivity and therefore in climate prediction [Bony and Dufresne 2005]. A comprehensive understanding of current cloud propertiesand dynamic/microphysical processes requires a global perspective from satellites.

Plankton, Aerosol, Cloud, ocean Ecosystem (PACE)↗
NASA NTRS1999

MRI Measurements and Granular Dynamics Simulation of Segregation of Granular Mixture

A counter intuitive axial segregation phenomenon in a rotating horizontal cylinder has recently captured attention of many researchers in different disciplines. There is a growing consensus that the interplay between the particle dynamics and the evolution of the internal structure during the segregation process must be carefully investigated. Magnetic resonance imaging (MRI) has been used to non-invasively obtain much needed dynamic/static information such as velocity and concentration profiles, and it has proven to be capable of depicting the evolution of segregation processes. Segregation in a rotating cylinder involves two processes: the first is to transport small particles in the radial direction to form a radial core, and the second is to transform the radial core into axially segregated bands. Percolation and/or "stopping" have been proposed as mechanisms for the radial segregation. As to mechanisms for axial band formation, much less is known. The difference in the dynamic angle of repose has been proposed to segregate different components in the axial direction. Recently, Hill and Kakalios have reported that particles mix or demix depending upon the competition between diffusion and preferential drift whose order can be determined by the dynamic angle of repose through the adjustment of the rotation rate. We claim that the dynamic angle of repose could be one of the causes, however, it fails to offer reasonable explanations for certain aspects of the axial migration. For example, we always observe that the radial segregation precedes the axial segregation and small particles migrate in the radial direction to form an axially extended radial core. It then transforms into axially segregated bands. By definition, the effects of the dynamic angle of repose are restricted near the free surface where the flowing layer is present. However, during the process of transforming from the radially segregated core to axially segregated bands, small particles located in the deep core region, which is untouched by the flowing layer, also completely disappear. Usually, the dynamics angle of repose are uniquely defined for individual species to characterize particle properties, and the dynamic angle of repose thus defined provides little information for the dynamic angle of repose of the mixture since the concentration ratio and the internal packing structure do not remain the same during the segregation processes. Under microgravity environment, the dynamics angle of repose argument does not hold since there is simply no flowing layer to influence/determine the preferred directions of segregation. We have thus designed an experiment so that the effects of the dynamic angle of repose can be minimized by filling the cylinder almost completely full. Small particles still formed a radial core and also migrated to form axial bands. As ground based experiments we have designed and conducted both 2D and 3D segregation experiments. The 2D experiments are performed using a thin cylinder (the gap between two end caps is about 5 mm) filled with different combinations of particles. The 3D experiments are conducted with a long cylinder of its length and diameter of 27cm and 7cm, respectively. Results of 2D experiments indicate that different mechanisms govern particle motion in regions near and far from the axis of rotation. Results of 3D experiments indicate that a series of collapses of microstructures of particle packing (micro-collapses) may be responsible for the creation of voids for small particles to migrate through in the axial direction. We have successfully eliminated the dynamic angle of repose as a cause for segregation, however, by almost completely filling the cylinder with the particles, we have lost an opportunity to investigate a possibility of particle "mobility" being a cause for segregation which requires a flowing surface but not the difference in the angle of repose. This is currently being investigated.

Nakagawa, M.↗
NASA NTRS2014

Consensus-Based Formation Control of a Class of Multi-Agent Systems

This paper presents a consensus-based formation control scheme for autonomous multi-agent systems represented by double integrator dynamics. Assuming that the information graph topology consists of an undirected connected graph, a leader-based consensus-type control law is presented and shown to provide asymptotic formation stability when subjected to piecewise constant formation velocity commands. It is also shown that global asymptotic stability is preserved in the presence of (0, infinity)- sector monotonic non-decreasing actuator nonlinearities.

Joshi, Suresh↗
NASA NTRS2003

Shared Activity Coordination

Interacting agents that interleave planning and execution must reach consensus on their commitments to each other. In domains where agents have varying degrees of interaction and different constraints on communication and computation, agents will require different coordination protocols in order to efficiently reach consensus in real time. We briefly describe a largely unexplored class of real-time, distributed planning problems (inspired by interacting spacecraft missions), new challenges they pose, and a general approach to solving the problems. These problems involve self-interested agents that have infrequent communication but collaborate on joint activities. We describe a Shared Activity Coordination (SHAC) framework that provides a decentralized algorithm for negotiating the scheduling of shared activities in a dynamic environment, a soft, real-time approach to reaching consensus during execution with limited communication, and a foundation for customizing protocols for negotiating planner interactions. We apply SHAC to a realistic simulation of interacting Mars missions and illustrate the simplicity of protocol development.

coordination↗
NASA NTRS2008

Ground-based Network and Supersite Measurements for Studying Aerosol Properties and Aerosol-Cloud Interactions

From radiometric principles, it is expected that the retrieved properties of extensive aerosols and clouds from reflected/emitted measurements by satellite (and/or aircraft) should be consistent with those retrieved from transmitted/emitted radiance observed at the surface. Although space-borne remote sensing observations contain large spatial domain, they are often plagued by contamination of surface signatures. Thus, ground-based in-situ and remote-sensing measurements, where signals come directly from atmospheric constituents, the sun, and the Earth-atmosphere interactions, provide additional information content for comparisons that confirm quantitatively the usefulness of the integrated surface, aircraft, and satellite datasets. The development and deployment of AERONET (AErosol RObotic NETwork) sunphotometer network and SMART-COMMIT (Surface-sensing Measurements for Atmospheric Radiative Transfer - Chemical, Optical & Microphysical Measurements of In-situ Troposphere) mobile supersite are aimed for the optimal utilization of collocated ground-based observations as constraints to yield higher fidelity satellite retrievals and to determine any sampling bias due to target conditions. To characterize the regional natural and anthropogenic aerosols, AERONET is an internationally federated network of unique sunphotometry that contains more than 250 permanent sites worldwide. Since 1993, there are more than 480 million aerosol optical depth observations and about 15 sites have continuous records longer than 10 years for annual/seasonal trend analyses. To quantify the energetics of the surface-atmosphere system and the atmospheric processes, SMART-COMMIT instrument into three categories: flux radiometer, radiance sensor and in-situ probe. Through participation in many satellite remote-sensing/retrieval and validation projects over eight years, SMART-COMMIT have gradually refine( and been proven vital for field deployment. In this paper, we will demonstrate the capability of AERONET SMART-COMMIT in current Asian Monsoon Year-2008 campaigns that are designed and being executed to study the compelling variability in temporal scale of both anthropogenic and natural aerosols (e.g., airborne dust, smoke, mega-city pollutant). Feedback mechanisms between aerosol radiative effects and monsoon dynamics have been recently proposed, however there is a lack of consensus on whether aerosol forcing would be more likely to enhance or reduce the strength of the monsoon circulation. We envision robust approaches which well-collocated ground-based measurements and space-borne observations will greatly advance our understanding of absorbing aerosols (e.g., "Global Dimming" vs. "Elevated Heat-Pump" effects) on aerosol cloud water cycle interactions.

Tsay, Si-Chee↗
NASA NTRS1986

The Oort cloud and the Galaxy - Dynamical interactions

The results of recent dynamical studies of the Oort cloud and its interaction with the Galaxy are discussed. Various studies which used Monte Carlo simulations to investigate the evolution of comets in the Oort cloud and the manner in which they are injected into the planetary region are reviewed. Work done on perturbation of cometary orbits by stars, interstellar clouds, and the Galaxy is examined. The growing consensus that there is a massive inner Oort cloud with a population up to 100 times that of the dynamically active outer cloud is addressed. Variations on the Oort hypothesis are discussed. It is argued that speculations about the existence of a small unseen solar companion star or a tenth planet causing periodic comet showers from the inner Oort cloud are not supported by dynamical studies or analyses of the terrestrial and lunar cratering record. Evidence for Oort clouds around other stars is summarized.

Weissman, Paul R.↗
NASA NTRS1992

The manned transportation system study - Defining human pathways into space

The Manned Transportation System (MTS) Study, conducted by a NASA-Industry Team (NIT), has developed substantiating data for subsequent NASA decisions on the “right” set of manned transportation elements needed for human access to space. It also provides the framework for detailed definition of those manned transportation elements. Including the next manned transportation system, to be developed. Process and product are presented to inform the aerospace community and subject our approach and conclusions to peer review, NASA/JSC lead the NIT, with participation from KSC, LaRC, MSFC, and NASA/Headquarters, along with six aerospace contractor (Boeing, General Dynamics, Lockheed Martin Marietta, McDonnell Douglas, and Rockwell). Each major milestone was archived through team consensus. Our mission model was derived from the FY90 Civil Needs Data Base (CNDB) and included flight assignments for Department of Defense (DOD) missions. Identifying and defining architecture evaluation criteria, i.e. attributes, specified the amount and type of data needed for each concept under consideration. Several architectures, each beginning with today’s transportation systems, were defined using representative systems to explore our future options and address specific questions currently being debated. Our solutions are a function of the level of space activity the nation chooses to follow. However, they all emphasize affordability, safety, routineness, and reliability. Finally, key issues associated with our current business practices were challenged and the impact associated with those practices quantified.

NASA Langley Research Center↗
NASA NTRS1994

Dynamics and X-ray emission of a galactic superwind interacting with disk and halo gas

There is a general agreement that the conspicuous extranuclear X-ray, optical-line, and radio-contiuum emission of starbursts is associated with powerful galactic superwinds blowing from their centers. However, despite the significant advances in observational studies of superwinds, there is no consensus on the nature of the emitting material and even on the emission mechanisms themselves. This is to a great extent a consequence of a poor understanding of dynamical processes in the starburst superwind regions. To address this issue, we have conducted two-dimensional hydrodynamical simulations of galactic superwinds. While previous similar studies have used a single (disk) component to represent the ISM of the starburst galaxy, we analyze the interaction of the wind with a two-component disk-halo ambient interstellar medium and argue that this two-component representation is crucial for adequate modeling of starbursts. The emphasis of this study is on the geometry and structure of the wind region and the X-ray emission arising in the wind material and the shocked gas in the disk and the halo of the galaxy. The simulation results have shown that a clear-cut bipolar wind can easily develop under a range of very different conditions. On the other hand, a complex 'filamentary' structure associated with the entrained dense disk material is found to arise within the hot bubble blown out by the wind. The flow pattern within the bubble is dominated equally by the central biconic outflow and a system of whirling motions r elated to the origin and development of the 'filaments'. The filament parameters make them a good candidate for optical-emission-line filamentary gas observed in starburst halos. We find that the history of mass and energy deposition in the starburst region of the galaxy is crucial for wind dynamics. A 'mild' early wind, which arises as a result of the cumulative effect of stellar winds from massive stars, produces a bipolar vertical cavity in the disk and halo gas without strongly affecting the gaseous disk, thus creating conditions for virtually free vertical escape of the hot gas at the later, much more violent supernova-dominated phases of the starburst. We calculate the luminosity, mass, and effective temperature of the X-ray emitting gas in the 'soft' (0.1 to 0.7 keV, 0.7 to 2.2 keV, and 0.1 to 2.2 keV) and 'hard' (1.6 to 8.3 keV) energy bands and estimate the contribution of different gaseous components to the X-ray flux in these bands. Analysis of these parameters enables us to make conclusions regarding the nature of the X-ray-emitting material. We have inferred that the bulk of the soft thermal X-ray emission from starbursts arises in the wind-shocked material of the disk and halo gas rather than in the wind material itself. This enables us to predict that the integrated soft X-ray spectra of starbursts need not show an overabundance of heavy elements which are believed to be produced copiously in the centers of starbursts. Unlike soft X-ray emission, the hard component of thermal X-ray emission is found to originate in the wind material ejected from the starburst region. However, the derived ratio of hard-to-soft X-ray luminosities is too small compared to that observed in starbursts. We conclude therefore that the observed hard X-ray emission of starbursts is probably not associated with the thermal emission of hot wind or ambient shocked gas. Typical temperatures of the bulk of the soft X-ray-emitting material in our very different models have been found to agree well with the ones estimated on the basis of the ROSAT data for the soft component of X-ray emission of nearby starbursts. We predict that temperatures of the extranuclear soft X-ray-emitting gas in starburst galaxies with heavy element abundances near solar should be close to T(sub Xs = 2 to 5 x 10(exp 6)K.

Suchkov, Anatoly A.↗
NASA NTRS2022

Development and Evaluation of Ensemble Consensus Precipitation Estimates over High Mountain Asia

Precipitation estimates are highly uncertain in complex regions such as High-Mountain Asia (HMA), where ground measurements are very difficult to obtain, and atmospheric dynamics poorly understood. Though gridded products derived from satellite-based observations and/or reanalysis can provide temporally and spatially distributed estimates of precipitation, there are significant inconsistencies in these products. As such, to date, there is little agreement in the community on the best and most accurate gridded precipitation product in HMA, which is likely area dependent because of HMA’s strong heterogeneities and complex orography. Targeting these gaps, this article presents the development of a consensus ensemble precipitation product using three gridded precipitation datasets (the Integrated Multi-satellitE Retrieals for Global Precipitation Measurement IMERG, the Climate Hazards group Infrared Precipitation with Stations CHIRPS, and the ECMWF Reanalysis ERA5) with a localized probability matched mean (LPM) approach. We evaluate the performance of the LPM estimate along with a simple ensemble mean (EM) estimate to overcome the differences and disparities of the three selected constituent products on long-term averages and trends in HMA. Our analysis demonstrates that LPM reduces the high biases embedded in the ensemble members and provides more realistic spatial patterns compared to EM. LPM is also a good alternative for merging data products with different spatio-temporal resolutions. By filtering disparities among the individual ensemble members, LPM overcomes the problem of a certain product performing well only in a particular area and provides a consensus estimate with plausible temporal trends.

Fadji Z Maina↗
NASA NTRS1994

Proton and electron mean free paths: The Palmer consensus revisited

We present experimental and theoretical evidence suggesting that the mean free path of cosmic-ray electrons and protons may be fundamentally different at low to intermediate (less than 50 MV) rigidities. The experimental evidence is from Helios observations of solar energetic particles, which show that the mean free path of 1.4 MV electrons is often similar to that of 187 MV protons, even though proton mean free paths continue to decrease comparatively rapidly with decreasing rigidty down to the lowest channels (about 100 MV) observed. The theoretical evidence is from computations of particle scattering in dynamical magnetic turbulence, which predict that electrons will have a larger mean free path than protons of the same rigidity. In the light of these new results, 'consensus' ideas about cosmic-ray mean free paths may require drastic revision.

Bieber, John W.↗
NASA NTRS1988

Knowledge-based zonal grid generation for computational fluid dynamics

Automation of flow field zoning in two dimensions is an important step towards reducing the difficulty of three-dimensional grid generation in computational fluid dynamics. Using a knowledge-based approach makes sense, but problems arise which are caused by aspects of zoning involving perception, lack of expert consensus, and design processes. These obstacles are overcome by means of a simple shape and configuration language, a tunable zoning archetype, and a method of assembling plans from selected, predefined subplans. A demonstration system for knowledge-based two-dimensional flow field zoning has been successfully implemented and tested on representative aerodynamic configurations. The results show that this approach can produce flow field zonings that are acceptable to experts with differing evaluation criteria.

Andrews, Alison E.↗
NASA NTRS1984

Solar Seismology from Space. a Conference at Snowmass, Colorado

The quality of the ground based observing environment suffers from several degrading factors: diurnal interruptions and thermal variations, atmospheric seeing and transparency fluctuations and adverse weather interruptions are among the chief difficulties. The limited fraction of the solar surface observable from only one vantage point is also a potential limitation to the quality of the data available without going to space. Primary conference goals were to discuss in depth the scientific return from current observations and analyses of solar oscillations, to discuss the instrumental and site requirements for realizing the full potential of the seismic analysis method, and to help bring new workers into the field by collecting and summarizing the key background theory. At the conclusion of the conference there was a clear consensus that ground based observation would not be able to provide data of the quality required to permit a substantial analysis of the solar convection zone dynamics or to permit a full deduction of the solar interior structure.

Ulrich, R. K.↗
NASA NTRSDate not supplied

Wall Modeled Large Eddy Simulations for NASA’s Jet Noise Consensus Database of Single-Flow, Round, Convergent Jets

A campaign of wall-modeled large-eddy simulations (WMLES) using structured curvilinear overlapping grids has been performed with the Launch Ascent and Vehicle Aerodynamics(LAVA) computational fluid dynamics (CFD) software to predict jet noise for single-stream axisymmetric round jets. The simulations address the new Prediction Uncertainty Reduction(PUR) technical challenge within the context of NASA’s Commercial Supersonic Technology(CST) project. The goal of PUR is to quantify and reduce uncertainties from scale-resolving simulations to assess noise characteristics of next generation quiet supersonic commercial jets during takeoff and landing conditions where the noise from the exhaust jet dominates. The focus of this effort is to generate a simulation database for single-stream axisymmetric round nozzles at several conditions both for static (no ambient co-flow), which is the focus of this article, and in-flight (flight stream co-flow) conditions, which are beyond the current scope. Nine different flow conditions ranging in jet exit Mach number from 0.38 to 1.0 with nozzle temperature ratios (NTR) from 0.84 to 2.7 have been conducted. Details of the structured overset grids, numerical discretization and wall-model are provided. Near-field comparisons to PIV data show great agreement for both velocity and normal stresses, however a systematic TKE overshoot at the nozzle exit is seen in the lip line shear-layer. A permeable Ffowcs Williams Hawkings (FWH) surface, enclosing the jet, is used to predict far-field noise from the simulated flow-field. Comparison of CFD predictions to microphone array measurements demonstrate excellent agreement within the resolved frequency range. A systematic under-prediction of far-aft observer angles larger than 150 degrees has been observed across all simulations. We achieved a cost reduction of an order of magnitude for these WMLES compared to an earlier study of this configuration due to algorithmic and software improvements. The accuracy of the results and short turnaround time demonstrate that WMLES within the LAVA framework is a cost-effective approach for jet noise predictions that could soon be incorporated into the design cycle of jet noise reduction technologies.

CST↗
NASA NTRS2012

Particle Size Distributions Obtained Through Unfolding 2D Sections: Towards Accurate Distributions of Nebular Solids in the Allende Meteorite

Size distributions of nebular solids in chondrites suggest an efficient sorting of these early forming objects within the protoplanetary disk. The effect of this sorting has been documented by investigations of modal abundances of CAIs (e.g., [1-4]) and chondrules (e.g., [5-8]). Evidence for aerodynamic sorting in the disk is largely qualitative, and needs to be carefully assessed. It may be a way of concentrating these materials into planetesimal-mass clumps, perhaps 100 fs of ka after they formed. A key parameter is size/density distributions of particles (i.e., chondrules, CAIs, and metal grains), and in particular, whether the radius-density product (rxp) is a better metric for defining the distribution than r alone [9]. There is no consensus between r versus rxp based models. Here we report our initial tests and preliminary results, which when expanded will be used to test the accuracy of current dynamical disk models.

Christoffersen, P. A.↗
NASA NTRS2005

A Network of Geophysical Observatories for Mars

For the past 30 years there has been a strong consensus within the international scientific community in favor of sending a network of geophysical landers to Mars to characterize the near-surface weather and climate, determine the large-scale atmospheric dynamics and explore the interior structure and composition. Despite this scientific support, there has been an unbroken string of proposed missions over the past fifteen years which have failed for programmatic reasons to progress beyond the design stage (Mars Network Mission, MESUR, Marsnet, InterMarsnet, NetLander). In this presentation, we review the scientific rationale and technical requirements for such a mission, and discuss current activities aimed toward its implementation.

Banerdt, W. Bruce↗
NASA NTRS1983

Large Deployable Reflector (LDR) feasibility study update

In 1982 a workshop was held to refine the science rationale for large deployable reflectors (LDR) and develop technology requirements that support the science rationale. At the end of the workshop, a set of LDR consensus systems requirements was established. The subject study was undertaken to update the initial LDR study using the new systems requirements. The study included mirror materials selection and configuration, thermal analysis, structural concept definition and analysis, dynamic control analysis and recommendations for further study. The primary emphasis was on the dynamic controls requirements and the sophistication of the controls system needed to meet LDR performance goals.

Alff, W. H.↗