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At least 199 records · Page 11

Rapid Development of the Seeker Free-Flying Inspector Guidance, Navigation, and Control System

Seeker is an automated extravehicular free-flying inspector CubeSat designed and built in-house at the Johnson Space Center (JSC). As a Class 1E project funded by the International Space Station (ISS) Program, Seeker had a streamlined process to flight certification, but the vehicle had to be designed, developed, tested, and delivered within approximately one year after authority to pro-ceed (ATP) and within a $1.8 million budget. These constraints necessitated an expedited Guidance, Navigation, and Control (GNC) development schedule, development began with a navigation sensor trade study using Linear Covariance (LinCov) analysis and a rapid sensor downselection process, resulting in the use of commercial off-the-shelf (COTS) sensors which could be procured quickly and subjected to in-house environmental testing to qualify them for flight. A neural network was used to enable a COTS camera to provide bearing measurements for visual navigation. The GNC flight software (FSW) algorithms utilized lean development practices and leveraged the Core Flight Software (CFS) architecture to rapidly develop the GNC system, tune the system parameters, and verify performance in simulation. This pace was anchored by several Hardware-Software Integration (HSI) milestones, which forced the Seeker GNC team to develop the interfaces both between hardware and software and between the GNC domains early in the project and to enable a timely delivery.

Sullivan, Jacob↗

Rapid Development of the Seeker Free-Flying Inspector Guidance, Navigation, and Control System

Seeker is an automated extravehicular free-flying inspector CubeSat designed and built in-house at the Johnson Space Center (JSC). As a Class 1E project funded by the International Space Station (ISS) Program, Seeker had a stream-lined process to flight certification, but the vehicle had to be designed, developed, tested, and delivered within approximately one year after authority to proceed (ATP) and within a $1.8 million budget. These constraints necessitated an expedited Guidance, Navigation, and Control (GNC) development schedule. Development began with a navigation sensor trade study using Linear Covariance (LinCov) analysis and a rapid sensor down-selection process, resulting in the use of commercial off-the-shelf (COTS) sensors which could be procured quickly and subjected to in-house environmental testing to qualify them for flight. A neural network was used to enable a COTS camera to provide bearing measure-ments for visual navigation. The GNC flight software (FSW) algorithms utilized lean development practices and leveraged the Core Flight Software (CFS) architecture to rapidly develop the GNC system, tune the system parameters, and verify performance in simulation. This pace was anchored by several Hardware-Software Integration (HSI) milestones, which forced the Seeker GNC team to develop the interfaces both between hardware and software and between the GNC domains early in the project and to enable a timely delivery.

Sullivan, Jake↗

Performance Portability Evaluation of OpenCL Benchmarks across Intel and NVIDIA Platforms

We evaluate the capabilities of vendor-provided OpenCL implementations for performance portability across multiple computing platforms. The Rodinia benchmark suite is used for this evaluation. We apply the metric defined by Pennycook et al., and we use roofline efficiency from the Roofline performance model as the "performance efficiency" in the metric's definition. We found that the delivered performance portability is similar for several benchmarks, even if the roofline-based performance efficiencies across platforms are very different among the benchmarks. To help distinguish between these instances, we extend the metric by adding the standard deviation of the performance efficiencies for each benchmark. We argue that the standard deviation gives additional insight into performance portability assessment since it adds the performance variability across platforms. Additionally, we discuss the challenges to measure performance portability associated with algorithms and system software. In terms of algorithms, we need to carefully construct the benchmarks and appropriately use the concurrency available on a platform. In terms of system software, we depend on the vendor performance tools to support the desired programming model and runtime to be able to measure the metrics of interest.

GPU↗

Parallel-Processing Test Bed For Simulation Software

Second-generation Hypercluster computing system is multiprocessor test bed for research on parallel algorithms for simulation in fluid dynamics, electromagnetics, chemistry, and other fields with large computational requirements but relatively low input/output requirements. Built from standard, off-shelf hardware readily upgraded as improved technology becomes available. System used for experiments with such parallel-processing concepts as message-passing algorithms, debugging software tools, and computational steering. First-generation Hypercluster system described in "Hypercluster Parallel Processor" (LEW-15283).

Blech, Richard↗

Electronic structure with direct diagonalization on a D-wave quantum annealer

Quantum chemistry is regarded to be one of the first disciplines that will be revolutionized by quantum computing. Although universal quantum computers of practical scale may be years away, various approaches are currently being pursued to solve quantum chemistry problems on near-term gate-based quantum computers and quantum annealers by developing the appropriate algorithm and software base. This work implements the general Quantum Annealer Eigensolver (QAE) algorithm to solve the molecular electronic Hamiltonian eigenvalue-eigenvector problem on a D-Wave 2000Q quantum annealer. The approach is based on the matrix formulation, efficiently uses qubit resources based on a power-of-two encoding scheme and is hardware-dominant relying on only one classically optimized parameter. We demonstrate the use of D-Wave hardware for obtaining ground and excited electronic states across a variety of small molecular systems. The approach can be adapted for use by a vast majority of electronic structure methods currently implemented in conventional quantum-chemical packages. The results of this work will encourage further development of software such as qbsolv which has promising applications in emerging quantum information processing hardware and has expectation to address large and complex optimization problems intractable for classical computers.

97 MATHEMATICS AND COMPUTING↗

Contour Error Map Algorithm

The contour error map (CEM) algorithm and the software that implements the algorithm are means of quantifying correlations between sets of time-varying data that are binarized and registered on spatial grids. The present version of the software is intended for use in evaluating numerical weather forecasts against observational sea-breeze data. In cases in which observational data come from off-grid stations, it is necessary to preprocess the observational data to transform them into gridded data. First, the wind direction is gridded and binarized so that D(i,j;n) is the input to CEM based on forecast data and d(i,j;n) is the input to CEM based on gridded observational data. Here, i and j are spatial indices representing 1.25-km intervals along the west-to-east and south-to-north directions, respectively; and n is a time index representing 5-minute intervals. A binary value of D or d = 0 corresponds to an offshore wind, whereas a value of D or d = 1 corresponds to an onshore wind. CEM includes two notable subalgorithms: One identifies and verifies sea-breeze boundaries; the other, which can be invoked optionally, performs an image-erosion function for the purpose of attempting to eliminate river-breeze contributions in the wind fields.

Merceret, Francis↗

XES_Neo_Public

XES Neo is a fitting software that was based on the already approved EXAFS Neo genetic algorithm fitting software code. Using the principles of genetics, data fitting is done for x-ray emission spectroscopy data. Using the EXAFS Neo open source code, as well as the open source xes_neo code written by other collaborators, a new final repository for XES Neo was created with several necessary changes for general user use.

Humiston, Alaina [Los Alamos National Laboratory]↗

NASA's Moon to Mars Autonomous Habitat Status

NASA is developing a strategy for sending humans to the Mars vicinity, known broadly as the Moon to Mars (M2M) Campaign. A critical part of this campaign is the development of in-space and surface habitation systems capable of substantially extending human presence beyond Low Earth Orbit (LEO). Mars missions feature an in-space transit habitat capable of supporting crews of four on ~850-1200-day missions, including transit to and from Mars and time in Mars orbit. Surface and transit habitats are complex elements which must keep crewmembers healthy and productive in deep-space environments with limited resources, long rescue times in contingency situations, and communication delays; all within constrained mass, volume, and power budgets. These habitats provide crew both living and workspace as well as most of the resources needed to support crew life. For deep space habitats, automation needs to be employed due to latency and for significant amounts of time when the habitats are uncrewed. Automation of systems is possible in space applications, but there are limitations. Outside of the Earth’s (or any) magnetosphere, radiation environments are harsh to both the physical hardware and the software components. Radiation (charged particles and ionizing electromagnetic waves) degrades and damages the hardware and causes single event upsets (SEUs) in software. If the hardware is damaged, data can be lost, or control actions not made. For software, SEUs cause algorithms to result in different solutions, or incorrect commands to be sent out. This means that algorithms and hardware used for deep space systems are different than what is used on Earth. Radiation-tolerant hardware is generations behind the current state-of-the-art hardware. Recent NASA missions, such as James Webb Space Telescope, continue to rely on older technologies such as the RAD750 processor, and the most advanced processors are still single core and less than 1.5 GHz. There have been attempts to use higher performance processors, but these often take multiple mitigation steps to handle the radiation environments, which limits the processing power and/or throughput. Current techniques for radiation mitigation have been redundancies, voting, physical separation of hardware, encasing materials, under-clocking hardware, and more. Some radiation mitigation techniques do provide benefits such as having a redundant system to improve the probability that a system will be available when needed. Autonomous software systems will have fewer interactions with humans on deep space missions and therefore need to be able to handle more off-nominal conditions. Microgravity also complicates the autonomous aspects of the mission because autonomous systems are usually built from known deterministic states, but microgravity causes physical objects to shift and move changing the location an autonomous system placed the object. Not only does the software need to be reliable and deterministic, losing resources due to a software error is not only costly but detrimental to reputation. The combination of having lower performance hardware and having to be able to verify and deterministically run software and an ever-changing environment makes deep space autonomous systems more complicated. Multiple gaps have been identified including verification of autonomous software algorithms (including artificial intelligence and machine learning), higher performance processors (graphics and general purpose), high speed networks (onboard and transmissions), memory, power distribution, data security, and variations from these. These gaps need to be closed for more advanced systems to be deployed and reduce the size, weight, and power impacts on the habitats.

Scott B. Tashakkor↗

NWGraph: A Library of Generic Graph Algorithms and Data Structures in C++20

The C++ Standard Library is a valuable collection of generic algorithms and data structures that improves the usability and reliability of C++ software. Graph algorithms and data structures are notably absent from the standard library, and previous attempts to fill this gap have not gained widespread adoption. With the new addition of ranges and concepts in C++20, the language has the mechanisms to cleanly support generic graph algorithms as operations on a range of ranges. This report presents NWGraph, a generic C++ graph library for expressing graph algorithms in a modern, composable, and extensible, aka generic, fashion.

97 MATHEMATICS AND COMPUTING↗

NWGraph: A Library of Generic Graph Algorithms and Data Structures in C++20

The C++ Standard Library is a valuable collection of generic algorithms and data structures that improves the usability and reliability of C++ software. Graph algorithms and data structures are notably absent from the standard library, and previous attempts to fill this gap have not gained widespread adoption. In this paper we show that the richness of graph algorithms and data structures can in fact be captured by straightforward composition of existing C++ mechanisms. Generic programming is algorithm-oriented. Accordingly, we apply a systematic approach to analyzing a broad set of graph algorithms, “lift” unnecessary constraints from them, and organize the resulting set of minimal common type requirements, i.e., concepts, for defining their interfaces. By using the newly available ranges and concepts in C++20, the type requirements for generic graph algorithms can be succinctly expressed. The generic algorithms and data structures resulting from our analysis are realized in NWGraph, in a modern, composable, and extensible C++ library.

graphs and networks, programming language, C++20↗

Complete Decoding and Reporting of Aviation Routine Weather Reports (METARs)

Aviation Routine Weather Report (METAR) provides surface weather information at and around observation stations, including airport terminals. These weather observations are used by pilots for flight planning and by air traffic service providers for managing departure and arrival flights. The METARs are also an important source of weather data for Air Traffic Management (ATM) analysts and researchers at NASA and elsewhere. These researchers use METAR to correlate severe weather events with local or national air traffic actions that restrict air traffic, as one example. A METAR is made up of multiple groups of coded text, each with a specific standard coding format. These groups of coded text are located in two sections of a report: Body and Remarks. The coded text groups in a U.S. METAR are intended to follow the coding standards set by National Oceanic and Atmospheric Administration (NOAA). However, manual data entry and edits made by a human report observer may result in coded text elements that do not follow the standards, especially in the Remarks section. And contrary to the standards, some significant weather observations are noted only in the Remarks section and not in the Body section of the reports. While human readers can infer the intended meaning of non-standard coding of weather conditions, doing so with a computer program is far more challenging. However such programmatic pre-processing is necessary to enable efficient and faster database query when researchers need to perform any significant historical weather analysis. Therefore, to support such analysis, a computer algorithm was developed to identify groups of coded text anywhere in a report and to perform subsequent decoding in software. The algorithm considers common deviations from the standards and data entry mistakes made by observers. The implemented software code was tested to decode 12 million reports and the decoding process was able to completely interpret 99.93 of the reports. This document presents the deviations from the standards and the decoding algorithm. Storing all decoded data in a database allows users to quickly query a large amount of data and to perform data mining on the data. Users can specify complex query criteria not only on date or airport but also on weather condition. This document also describes the design of a database schema for storing the decoded data, and a Data Warehouse web application that allows users to perform reporting and analysis on the decoded data. Finally, this document presents a case study correlating dust storms reported in METARs from the Phoenix International airport with Ground Stops issued by Air Route Traffic Control Centers (ATCSCC). Blowing widespread dust is one of the weather conditions when dust storm occurs. By querying the database, 294 METARs were found to report blowing widespread dust at the Phoenix airport and 41 of them reported such condition only in the Remarks section of the reports. When METAR is a data source for an ATM research, it is important to include weather conditions not only from the Body section but also from the Remarks section of METARs.

METAR Decoder/Parser↗

Studies in Software Cost Model Behavior: Do We Really Understand Cost Model Performance?

While there exists extensive literature on software cost estimation techniques, industry practice continues to rely upon standard regression-based algorithms. These software effort models are typically calibrated or tuned to local conditions using local data. This paper cautions that current approaches to model calibration often produce sub-optimal models because of the large variance problem inherent in cost data and by including far more effort multipliers than the data supports. Building optimal models requires that a wider range of models be considered while correctly calibrating these models requires rejection rules that prune variables and records and use multiple criteria for evaluating model performance. The main contribution of this paper is to document a standard method that integrates formal model identification, estimation, and validation. It also documents what we call the large variance problem that is a leading cause of cost model brittleness or instability.

data mining↗

Space station dynamics, attitude control and momentum management

The Space Station Attitude Control System software test-bed provides a rigorous environment for the design, development and functional verification of GN and C algorithms and software. The approach taken for the simulation of the vehicle dynamics and environmental models using a computationally efficient algorithm is discussed. The simulation includes capabilities for docking/berthing dynamics, prescribed motion dynamics associated with the Mobile Remote Manipulator System (MRMS) and microgravity disturbances. The vehicle dynamics module interfaces with the test-bed through the central Communicator facility which is in turn driven by the Station Control Simulator (SCS) Executive. The Communicator addresses issues such as the interface between the discrete flight software and the continuous vehicle dynamics, and multi-programming aspects such as the complex flow of control in real-time programs. Combined with the flight software and redundancy management modules, the facility provides a flexible, user-oriented simulation platform.

Sunkel, John W.↗

Volumetric analysis and mesh generation of real and artificial microstructural geometries

Producing a viable finite element mesh of realistic microstructural structural geometry is a critical step in analyzing the thermo-mechanical behavior of complex multi-material composites. Advancements in imaging technology such as micro computed tomography have allowed modelers to access high resolution mesoscale geometries for direct numerical simulation. However, converting from voxel based 3D images to usable finite element meshes has been challenging. A robust method including algorithms and software scripts for generating finite element meshes from 3D imaged microstructures is presented in this paper. It includes a routine for inserting cohesive elements around material interfaces to enable modeling of interface properties including delamination and damage. The algorithms and procedures presented in this method leverage currently available software packages for processing surface based geometry into volume based meshes. In addition to converting real geometry from physical imaging systems, algorithms for producing numerically generated and statistically equivalent microstructural geometry are also included. These artificial microstructures can be a valuable resource for modelers when physical specimens do not exist or are limited in quantity: Method establishes a workflow from voxel data to viable finite element mesh including interface information, and Includes a method for synthetic geometry generation based on metrics from real microstructures.

36 MATERIALS SCIENCE↗

Ascent, Transition, Entry, and Abort Guidance Algorithm Design for the X-33 Vehicle

One of the primary requirements for X-33 is that it be capable of flying autonomously. That is, onboard computers must be capable of commanding the entire flight from launch to landing, including cases where a single engine failure abort occurs. Guidance algorithms meeting these requirements have been tested in simulation and have been coded into prototype flight software. These algorithms must be sufficiently robust to account for vehicle and environmental dispersions, and must issue commands that result in the vehicle operating, within all constraints. Continual tests of these algorithms (and modifications as necessary) will occur over the next year as the X-33 nears its first flight. This paper describes the algorithms in use for X-33 ascent, transition, and entry flight, as well as for the powered phase of PowerPack-out (PPO) aborts (equivalent in thrust impact to losing an engine). All following discussion refers to these phases of flight when discussing guidance. The paper includes some trajectory results and results of dispersion analysis.

Hanson, John M.↗

ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

Huntsberger, Terrance L.↗

Algorithms and file structures to enhance software workflows for ion mobility mass spectrometry (IM-MS)

Support customizations of algorithms and raw data file structures to enhance software workflows for liquid chromatography (LC), mass spectrometry (MS) and ion mobility mass spectrometry (IM-MS)-based metabolite characterization. Evaluate and improve the integration of ion mobility to existing MS analysis methods of the Mass Profiler Professional workflow (Mass Profiler, ID Browser and Mass Profiler Professional).

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Science Benefits of Onboard Spacecraft Navigation

Primitive bodies (asteroids and comets), which have remained relatively unaltered since their formation, are important targets for scientific missions that seek to understand the evolution of the solar system. Often the first step is to fly by these bodies with robotic spacecraft. The key to maximizing data returns from these flybys is to determine the spacecraft trajectory relative to the target body-in short, navigate the spacecraft- with sufficient accuracy so that the target is guaranteed to be in the instruments' field of view. The most powerful navigation data in these scenarios are images taken by the spacecraft of the target against a known star field (onboard astrometry). Traditionally, the relative trajectory of the spacecraft must be estimated hours to days in advance using images collected by the spacecraft. This is because of (1)!the long round-trip light times between the spacecraft and the Earth and (2)!the time needed to downlink and process navigation data on the ground, make decisions based on the result, and build and uplink instrument pointing sequences from the results. The light time and processing time compromise navigation accuracy considerably, because there is not enough time to use more accurate data collected closer to the target-such data are more accurate because the angular capability of the onboard astrometry is essentially constant as the distance to the target decreases, resulting in better "plane-of- sky" knowledge of the target. Excellent examples of these timing limitations are high-speed comet encounters. Comets are difficult to observe up close; their orbits often limit scientists to brief, rapid flybys, and their coma further restricts viewers from seeing the nucleus in any detail, unless they can view the nucleus at close range. Comet nuclei details are typically discernable for much shorter durations than the roundtrip light time to Earth, so robotic spacecraft must be able to perform onboard navigation. This onboard navigation can be accomplished through a self- contained system that by eliminating light time restrictions dramatically improves the relative trajectory knowledge and control and subsequently increases the amount of quality data collected. Flybys are one-time events, so the system's underlying algorithms and software must be extremely robust. The autonomous software must also be able to cope with the unknown size, shape, and orientation of the previously unseen comet nucleus. Furthermore, algorithms must be reliable in the presence of imperfections and/or damage to onboard cameras accrued after many years of deep-space operations. The AutoNav operational flight software packages, developed by scientists at the Jet Propulsion Laboratory (JPL) under contract with NASA, meet all these requirements. They have been directly responsible for the successful encounters on all of NASA's close-up comet-imaging missions (see Figure !1). AutoNav is the only system to date that has autonomously tracked comet nuclei during encounters and performed autonomous interplanetary navigation. AutoNav has enabled five cometary flyby missions (Table!1) residing on four NASA spacecraft provided by three different spacecraft builders. Using this software, missions were able to process a combined total of nearly 1000 images previously unseen by humans. By eliminating the need to navigate spacecraft from Earth, the accuracy gained by AutoNav during flybys compared to ground-based navigation is about 1!order of magnitude in targeting and 2!orders of magnitude in time of flight. These benefits ensure that pointing errors do not compromise data gathered during flybys. In addition, these benefits can be applied to flybys of other solar system objects, flybys at much slower relative velocities, mosaic imaging campaigns, and other proximity activities (e.g., orbiting, hovering, and descent/ascent).

Autonomy↗