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NASA NTRS2005

What Sensing Tells Us: Towards a Formal Theory of Testing for Dynamical Systems

Just as actions can have indirect effects on the state of the world, so too can sensing actions have indirect effects on an agent's state of knowledge. In this paper, we investigate "what sensing actions tell us", i.e., what an agent comes to know indirectly from the outcome of a sensing action, given knowledge of its actions and state constraints that hold in the world. To this end, we propose a formalization of the notion of testing within a dialect of the situation calculus that includes knowledge and sensing actions. Realizing this formalization requires addressing the ramification problem for sensing actions. We formalize simple tests as sensing actions. Complex tests are expressed in the logic programming language Golog. We examine what it means to perform a test, and how the outcome of a test affects an agent's state of knowledge. Finally, we propose automated reasoning techniques for test generation and complex-test verification, under certain restrictions. The work presented in this paper is relevant to a number of application domains including diagnostic problem solving, natural language understanding, plan recognition, and active vision.

McIlraith, Sheila↗

NASA NTRS2005

Towards an Automated Development Methodology for Dependable Systems with Application to Sensor Networks

A general-purpose method to mechanically transform system requirements into a probably equivalent model has yet to appeal: Such a method represents a necessary step toward high-dependability system engineering for numerous possible application domains, including sensor networks and autonomous systems. Currently available tools and methods that start with a formal model of a system and mechanically produce a probably equivalent implementation are valuable but not su8cient. The "gap" unfilled by such tools and methods is that their. formal models cannot be proven to be equivalent to the system requirements as originated by the customel: For the classes of systems whose behavior can be described as a finite (but significant) set of scenarios, we offer a method for mechanically transforming requirements (expressed in restricted natural language, or in other appropriate graphical notations) into a probably equivalent formal model that can be used as the basis for code generation and other transformations.

Hinchey, Michael G.↗

NASA NTRS2005

SmaggIce 2D Version 1.8: Software Toolkit Developed for Aerodynamic Simulation Over Iced Airfoils

SmaggIce 2D version 1.8 is a software toolkit developed at the NASA Glenn Research Center that consists of tools for modeling the geometry of and generating the grids for clean and iced airfoils. Plans call for the completed SmaggIce 2D version 2.0 to streamline the entire aerodynamic simulation process--the characterization and modeling of ice shapes, grid generation, and flow simulation--and to be closely coupled with the public-domain application flow solver, WIND. Grid generated using version 1.8, however, can be used by other flow solvers. SmaggIce 2D will help researchers and engineers study the effects of ice accretion on airfoil performance, which is difficult to do with existing software tools because of complex ice shapes. Using SmaggIce 2D, when fully developed, to simulate flow over an iced airfoil will help to reduce the cost of performing flight and wind-tunnel tests for certifying aircraft in natural and simulated icing conditions.

Choo, Yung K.↗

NASA NTRS2005

Preferences in Data Production Planning

This paper discusses the data production problem, which consists of transforming a set of (initial) input data into a set of (goal) output data. There are typically many choices among input data and processing algorithms, each leading to significantly different end products. To discriminate among these choices, the planner supports an input language that provides a number of constructs for specifying user preferences over data (and plan) properties. We discuss these preference constructs, how we handle them to guide search, and additional challenges in the area of preference management that this important application domain offers.

Golden, Keith↗

NASA NTRS1996

Challenges of Human-Robot Communication in Telerobotics

Some general considerations are presented on bilateral human-telerobot control and information communication issues. Advances are reviewed related to the more conventional human-telerobot communication techniques, and some unconventional but promising communication methods are briefly discussed. Future needs and emerging application domains are briefly indicated.

robot telerobot communication↗

NASA NTRS2005

Requirements to Design to Code: Towards a Fully Formal Approach to Automatic Code Generation

A general-purpose method to mechanically transform system requirements into a provably equivalent model has yet to appear. Such a method represents a necessary step toward high-dependability system engineering for numerous possible application domains, including distributed software systems, sensor networks, robot operation, complex scripts for spacecraft integration and testing, and autonomous systems. Currently available tools and methods that start with a formal model of a system and mechanically produce a provably equivalent implementation are valuable but not sufficient. The gap that current tools and methods leave unfilled is that their formal models cannot be proven to be equivalent to the system requirements as originated by the customer. For the classes of systems whose behavior can be described as a finite (but significant) set of scenarios, we offer a method for mechanically transforming requirements (expressed in restricted natural language, or in other appropriate graphical notations) into a provably equivalent formal model that can be used as the basis for code generation and other transformations.

Hinchey, Michael G.↗

NASA NTRS2007

Blurring the Inputs: A Natural Language Approach to Sensitivity Analysis

To document model parameter uncertainties and to automate sensitivity analyses for numerical simulation codes, a natural-language-based method to specify tolerances has been developed. With this new method, uncertainties are expressed in a natural manner, i.e., as one would on an engineering drawing, namely, 5.25 +/- 0.01. This approach is robust and readily adapted to various application domains because it does not rely on parsing the particular structure of input file formats. Instead, tolerances of a standard format are added to existing fields within an input file. As a demonstration of the power of this simple, natural language approach, a Monte Carlo sensitivity analysis is performed for three disparate simulation codes: fluid dynamics (LAURA), radiation (HARA), and ablation (FIAT). Effort required to harness each code for sensitivity analysis was recorded to demonstrate the generality and flexibility of this new approach.

Kleb, William L.↗

NASA NTRS2005

IEEE/NASA Workshop on Leveraging Applications of Formal Methods, Verification, and Validation

This volume contains the Preliminary Proceedings of the 2005 IEEE ISoLA Workshop on Leveraging Applications of Formal Methods, Verification, and Validation, with a special track on the theme of Formal Methods in Human and Robotic Space Exploration. The workshop was held on 23-24 September 2005 at the Loyola College Graduate Center, Columbia, MD, USA. The idea behind the Workshop arose from the experience and feedback of ISoLA 2004, the 1st International Symposium on Leveraging Applications of Formal Methods held in Paphos (Cyprus) last October-November. ISoLA 2004 served the need of providing a forum for developers, users, and researchers to discuss issues related to the adoption and use of rigorous tools and methods for the specification, analysis, verification, certification, construction, test, and maintenance of systems from the point of view of their different application domains.

Margaria, Tiziana↗

NASA NTRS2009

Synthetic and Enhanced Vision System for Altair Lunar Lander

Past research has demonstrated the substantial potential of synthetic and enhanced vision (SV, EV) for aviation (e.g., Prinzel & Wickens, 2009). These augmented visual-based technologies have been shown to significantly enhance situation awareness, reduce workload, enhance aviation safety (e.g., reduced propensity for controlled flight -into-terrain accidents/incidents), and promote flight path control precision. The issues that drove the design and development of synthetic and enhanced vision have commonalities to other application domains; most notably, during entry, descent, and landing on the moon and other planetary surfaces. NASA has extended SV/EV technology for use in planetary exploration vehicles, such as the Altair Lunar Lander. This paper describes an Altair Lunar Lander SV/EV concept and associated research demonstrating the safety benefits of these technologies.

Prinzell, Lawrence J., III↗

NASA NTRS2001

Classification Experiments on Real-World Texture

Many papers have been published concerning the analysis of visual texture and yet, very few application domains use texture for image classification. A possible reason for this low transfer of the technology is the lack of experience and testing in real-world imagery. In this paper, we assess the performance of texture-based classification methods on a number of real-world images relevant to autonomous navigation on cross-country terrain and to autonomous geology. Texture analysis will form part of the closed loop that allows a robotic system to navigate autonomously. We have implemented two different classifiers on features extracted by Gabor filter banks. The first classifier models feature distributions for each texture class using a mixture of Gaussians. Classification is performed using Maximum Likelihood. The second classifier represents local statistics using marginal histograms of the features over a region centered on the pixel to be classified. We measure system performance by comparison to ground truth image labels.

image segmentation↗

NASA NTRS2010

Payload-Directed Control of Geophysical Magnetic Surveys

Using non-navigational (e.g. imagers, scientific) sensor information in control loops is a difficult problem to which no general solution exists. Whether the task can be successfully achieved in a particular case depends highly on problem specifics, such as application domain and sensors of interest. In this study, we investigate the feasibility of using magnetometer data for control feedback in the context of geophysical magnetic surveys. An experimental system was created and deployed to (a) assess sensor integration with autonomous vehicles, (b) investigate how magnetometer data can be used for feedback control, and (c) evaluate the feasibility of using such a system for geophysical magnetic surveys. Finally, we report the results of our experiments and show that payload-directed control of geophysical magnetic surveys is indeed feasible.

Lee, Ritchie↗

NASA NTRS2010

Multiple Kernel Learning for Heterogeneous Anomaly Detection: Algorithm and Aviation Safety Case Study

The world-wide aviation system is one of the most complex dynamical systems ever developed and is generating data at an extremely rapid rate. Most modern commercial aircraft record several hundred flight parameters including information from the guidance, navigation, and control systems, the avionics and propulsion systems, and the pilot inputs into the aircraft. These parameters may be continuous measurements or binary or categorical measurements recorded in one second intervals for the duration of the flight. Currently, most approaches to aviation safety are reactive, meaning that they are designed to react to an aviation safety incident or accident. In this paper, we discuss a novel approach based on the theory of multiple kernel learning to detect potential safety anomalies in very large data bases of discrete and continuous data from world-wide operations of commercial fleets. We pose a general anomaly detection problem which includes both discrete and continuous data streams, where we assume that the discrete streams have a causal influence on the continuous streams. We also assume that atypical sequence of events in the discrete streams can lead to off-nominal system performance. We discuss the application domain, novel algorithms, and also discuss results on real-world data sets. Our algorithm uncovers operationally significant events in high dimensional data streams in the aviation industry which are not detectable using state of the art methods

Das, Santanu↗

NASA NTRS2005

Requirements to Design to Code: Towards a Fully Formal Approach to Automatic Code Generation

A general-purpose method to mechanically transform system requirements into a provably equivalent model has yet to appear. Such a method represents a necessary step toward high-dependability system engineering for numerous possible application domains, including distributed software systems, sensor networks, robot operation, complex scripts for spacecraft integration and testing, and autonomous systems. Currently available tools and methods that start with a formal model of a: system and mechanically produce a provably equivalent implementation are valuable but not sufficient. The "gap" that current tools and methods leave unfilled is that their formal models cannot be proven to be equivalent to the system requirements as originated by the customer. For the ciasses of systems whose behavior can be described as a finite (but significant) set of scenarios, we offer a method for mechanically transforming requirements (expressed in restricted natural language, or in other appropriate graphical notations) into a provably equivalent formal model that can be used as the basis for code generation and other transformations.

Hinchey, Michael G.↗

NASA NTRS2012

IMAGESEER - IMAGEs for Education and Research

IMAGESEER is a new Web portal that brings easy access to NASA image data for non-NASA researchers, educators, and students. The IMAGESEER Web site and database are specifically designed to be utilized by the university community, to enable teaching image processing (IP) techniques on NASA data, as well as to provide reference benchmark data to validate new IP algorithms. Along with the data and a Web user interface front-end, basic knowledge of the application domains, benchmark information, and specific NASA IP challenges (or case studies) are provided.

Le Moigne, Jacqueline↗

NASA NTRS2009

Proceedings of the Third International Workshop on Proof-Carrying Code and Software Certification

This NASA conference publication contains the proceedings of the Third International Workshop on Proof-Carrying Code and Software Certification, held as part of LICS in Los Angeles, CA, USA, on August 15, 2009. Software certification demonstrates the reliability, safety, or security of software systems in such a way that it can be checked by an independent authority with minimal trust in the techniques and tools used in the certification process itself. It can build on existing validation and verification (V&V) techniques but introduces the notion of explicit software certificates, Vvilich contain all the information necessary for an independent assessment of the demonstrated properties. One such example is proof-carrying code (PCC) which is an important and distinctive approach to enhancing trust in programs. It provides a practical framework for independent assurance of program behavior; especially where source code is not available, or the code author and user are unknown to each other. The workshop wiII address theoretical foundations of logic-based software certification as well as practical examples and work on alternative application domains. Here "certificate" is construed broadly, to include not just mathematical derivations and proofs but also safety and assurance cases, or any fonnal evidence that supports the semantic analysis of programs: that is, evidence about an intrinsic property of code and its behaviour that can be independently checked by any user, intermediary, or third party. These guarantees mean that software certificates raise trust in the code itself, distinct from and complementary to any existing trust in the creator of the code, the process used to produce it, or its distributor. In addition to the contributed talks, the workshop featured two invited talks, by Kelly Hayhurst and Andrew Appel. The PCC 2009 website can be found at http://ti.arc.nasa.gov /event/pcc 091.

Ewen, Denney, W.↗

NASA NTRS2013

Electrochemistry-based Battery Modeling for Prognostics

Batteries are used in a wide variety of applications. In recent years, they have become popular as a source of power for electric vehicles such as cars, unmanned aerial vehicles, and commericial passenger aircraft. In such application domains, it becomes crucial to both monitor battery health and performance and to predict end of discharge (EOD) and end of useful life (EOL) events. To implement such technologies, it is crucial to understand how batteries work and to capture that knowledge in the form of models that can be used by monitoring, diagnosis, and prognosis algorithms. In this work, we develop electrochemistry-based models of lithium-ion batteries that capture the significant electrochemical processes, are computationally efficient, capture the effects of aging, and are of suitable accuracy for reliable EOD prediction in a variety of usage profiles. This paper reports on the progress of such a model, with results demonstrating the model validity and accurate EOD predictions.

battery↗

NASA NTRS2015

Integrated Medical Model Project - Overview and Summary of Historical Application

Introduction: The Integrated Medical Model (IMM) Project represents one aspect of NASA's Human Research Program (HRP) to quantitatively assess medical risks to astronauts for existing operational missions as well as missions associated with future exploration and commercial space flight ventures. The IMM takes a probabilistic approach to assessing the likelihood and specific outcomes of one hundred medical conditions within the envelope of accepted space flight standards of care over a selectable range of mission capabilities. A specially developed Integrated Medical Evidence Database (iMED) maintains evidence-based, organizational knowledge across a variety of data sources. Since becoming operational in 2011, version 3.0 of the IMM, the supporting iMED, and the expertise of the IMM project team have contributed to a wide range of decision and informational processes for the space medical and human research community. This presentation provides an overview of the IMM conceptual architecture and range of application through examples of actual space flight community questions posed to the IMM project. Methods: Figure 1 [see document] illustrates the IMM modeling system and scenario process. As illustrated, the IMM computational architecture is based on Probabilistic Risk Assessment techniques. Nineteen assumptions and limitations define the IMM application domain. Scenario definitions include crew medical attributes and mission specific details. The IMM forecasts probabilities of loss of crew life (LOCL), evacuation (EVAC), quality time lost during the mission, number of medical resources utilized and the number and type of medical events by combining scenario information with in-flight, analog, and terrestrial medical information stored in the iMED. In addition, the metrics provide the integrated information necessary to estimate optimized in-flight medical kit contents under constraints of mass and volume or acceptable level of mission risk. Results and Conclusions: Historically, IMM simulations support Science and Technology planning, Exploration mission planning, and ISS program operations by supplying simulation support, iMED data information, and subject matter expertise to Crew Health and Safety and the HRP. Upcoming release of IMM version 4.0 seeks to provide enhanced functionality to increase the quality of risk decisions made using the IMM through a more accurate representation of the real world system.

Myers, J.↗

NASA NTRS2019

Proceedings of the NASA Technical Interchange Meeting on Active Optical Systems for Supporting Science, Exploration, and Aeronautics Measurements Needs

Active optical (Laser/Lidar) measurement techniques are critical for the future National Aeronautics and Space Administration (NASA) Earth, Planetary Science, Exploration, and Aeronautics measurements. The latest science decadal surveys recommend a number of missions requiring active optical systems to meet the science measurement objectives and the aeronautics community continues to use Laser/Lidar technologies to meet the aeronautics measurement objectives. With these drivers, the NASA Agency Program Management Council (APMC), chaired by the NASA Associate Administrator, has tasked the NASA Sensors and Instrumentation (S&I) Capability Leadership Team (CLT) Leader to determine if the Agency has the necessary expertise and capabilities to execute successfully the active optical-based systems necessary to make the required measurements for Science, Exploration, and Aeronautics. This NASA Technical Interchange Meeting (TIM) was a forum to exchange perspectives on the current state of the discipline’s technologies and the direction NASA needs to take in the future to raise the Technical Readiness Level (TRL) of the measurement technologies to meet these measurement needs in the applications domains. The information developed at this TIM was used in formulating the Agency-level strategy and solutions for advancing high-risk Laser/Lidar technologies that are not currently being sufficiently planned, developed, or risk-reduced to meet NASA’s mission requirements. Given the crosscutting synergies in critical Active Optical measurements for NASA Science, Exploration, and Aeronautics, a strategic approach is needed to identify areas where NASA should “lead, leverage or collaborate” with existing national and international industries to meet its future needs. The TIM aimed at focusing NASA’s directions to attain the necessary TRLs to meet the Agency-level priority Active Optical measurements in Space and Aeronautics. The TIM presentations and strategic inputs were synthesized by the NASA Active Optical Tiger Team for presentation to the NASA APMC with a suggested strategy to address the Agency’s needs in a crosscutting, synergistic and cost-effective manner.

Singh, Upendra N↗