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NASA NTRS2019

The Space Communications and Navigation Testbed aboard International Space Station: Seven Years of Space-based Reconfigurable Software Defined Communications, Navigation, and Networking

The adoption of software defined radios offers space missions a new way to develop and operate space transceivers for communications and navigation.The SCaN Testbed on-board the ISS led groundbreaking efforts to champion use of software defined radios for space communications. The SCaN Testbed has allowed NASA, industry, academia, and international partners to pursue their respective interests in joint collaboration with NASA, and move this technology and it's applications to the space domain. Launched in 2012, The SCaN Testbed has logged over 4000 hours of operation exploring the development, reconfiguration, and operation of software defined radios and their software applications. Over the past seven years, experimenters and organizations from across the United States and around the world, have advanced the applications of software defined radios and networks using the SCaN Tested. Some of SCaN Testbed's successful experiments include the demonstration of the first Ka-band full duplex space transceiver, which became an R&D 100 award winning technology, and was inducted into the Space Technology Hall of Fame, following the launch and space deployment of a successful commercial product line based on the Testbed radios.Experiments have focused on new software development and operations concepts for understanding how to manage and apply this relatively new technology to space to improve communications and navigation for space science and exploration missions. The advanced capabilities of the software radios allow for multiple applications or functions (e.g., communication and navigation) to operate from the same radio platform. Multiple software waveform applications enable software component reuse and improve efficiency for multiple applications operating over different mission phases. The new capabilities of software defined radios such as on-orbit reconfiguration, also present new challenges such as increased operational complexity. Experiments of the SCaN testbed include more intelligent or cognitive applications to improve communications efficiency and manage the complexity of the radios, the communication channels, and the network itself. The software defined radios on the SCaN Testbed are each compliant to NASA's Space Telecommunications Radio System (STRS) Architecture. The STRS Architecture provides commonality among radio developments from different providers and different mission applications, and is designed to reduce the cost, risk, and complexity of unique and custom radio developments. This radio architecture standard defines common waveform software interfaces, methods of instantiation, operation, and documentation. As the SCaN Testbed concludes its operations on ISS, this presentation explores the advancements and accomplishments made to advance software defined radio technology and its applications for exploration. The accomplishments cover a number of experiment areas in Ka-band and S-band communications with TDRS, high rate communications, adaptive waveform operation, navigation using both GPA and Galileo constellations, complex networking and disruptive tolerant link protocols, user initiative service, and initial experiments with intelligent and cognitive applications which demonstrate the significant potential of software defined and cognitive radios.

Mortensen, Dale↗
NASA NTRS2024

Launch Complex 39B, SWMU 009, 2023 Performance Monitoring and Air Sparge Expansion Construction Completion Report, Kennedy Space Center, Florida

The 2023 Performance Monitoring and Construction Completion Report (PM-CCR) presents the findings, observations, and results for Air Sparging (AS) operations and expansion activities, as well as sitewide groundwater monitoring for Launch Complex 39B (LC39B), Solid Waste Management Unit (SWMU) 009, at Kennedy Space Center (KSC), Florida. The reporting period for activities covered under this PM-CCR is from January 1, 2023, to December 31, 2023. At LC39B, AS operations began in 2017 in the area west of the launch pad, in the liquid oxygen (LOX) tank area located northwest of the launch pad, and in an area outside of the perimeter fence to protect nearby Outstanding Florida Waters (OFW). The LC39B AS system was installed with 279 AS wells to depths ranging from 23 to 60 feet below land surface (bls), including the sump, correlating to top of screen depths ranging from 20 to 57 feet bls. In December 2022, a total of 22 AS wells were abandoned to support launch pad crane operations, and in November 2023, the system was expanded with five additional AS wells installed to 13 or 17 feet bls near the LOX tank. The remedial objective of the LC39B AS Interim Measure (IM) is to actively decrease concentrations of contaminants of concern (COCs) in groundwater, specifically trichloroethene (TCE), cis-1,2-Dichloroethene (cDCE), and vinyl chloride (VC), to less than their respective Natural Attenuation Default Concentrations (NADCs), so LC39B can transition into a Long-Term Monitoring (LTM) program. This PM-CCR presents the following information for LC39B: • AS system operations and maintenance (O&M) (Year 7 of operation) from January 2023 to December 2023, to include AS trailer relocation in March 2023 and subsequent replacement and re-start in June 2023. • Construction completion details for AS system expansion, which included installation of five new AS wells and one new monitoring well in November 2023. As part of expansion activities, soil samples were also collected for petroleum analysis; no exceedances were identified, and no further investigation for petroleum is warranted. • Performance monitoring results for groundwater sampling events conducted in May/June 2023 (30 wells) and November 2023 (31 wells) in the AS IM area and in the Low Concentration Plume (LCP) areas located north and east of the launch pad for volatile organic compound (VOC) analysis. • Sampling results for one monitoring well, LOX-IW0012S, which is sampled for aluminum on an annual basis (May/June 2023). This well was resampled in November 2023 for both total and dissolved aluminum. Due to a communication error with the laboratory, the May/June 2023 sample was analyzed for total aluminum only. • Groundwater sampling results for per- and polyfluoroalkyl substances (PFAS) collected from seven monitoring wells during the May/June 2023 event to further investigate the Former Sewage Treatment Plant #6 and Percolation Pond area, west of the launch pad. O&M and performance monitoring results show that the AS system at LC39B is operating as designed and meeting performance criteria. Overall runtime was 45 percent (%) during the reporting period (January to December), but the operational runtime was 78% during the timeframe when the system could run (June to December). The most significant downtime contributor was post-launch crane operations following the Artemis launch on November 16, 2022, which lasted until June 2023. During that timeframe, the AS trailer at LC39B was relocated to another KSC remediation site (Wilson Corners) and was subsequently replaced with the AS trailer from the Paint & Oil Locker (POL) remediation site at KSC to resume AS system operations. Performance monitoring results in the AS IM and LCP areas continue to show reduction in COC concentrations over time when compared to baseline levels. In 2023, only one monitoring well (MW0048) detected a COC exceeding its NADC (VC at 740 micrograms per liter [µg/L]), which marks the baseline result for this new well installed during system expansion. Across the rest of the site, VC concentrations have declined or remained stable during the 2023 sampling events. Excluding MW0048, the highest VC result in 2023 was during the May/June sampling event with a concentration of 63 µg/L at MW0032, which is located near MW0048 and the AS expansion area by the LOX tank. TCE was detected in select monitoring wells in the IM area in 2023, but only two locations exceeded the State of Florida Groundwater Cleanup Target Level (GCTL): MW0032 (21 µg/L in May/June 2023 and 9.1 µg/L in November 2023) and MW0036 (5.0 µg/L in November 2023). MW0036 is also located near the LOX tank, on the north side, where the AS system is still operational (Zone Z4). cDCE and trans-1,2-dichloroethene concentrations were less than laboratory method detection limits or their respective GCTLs in all wells sampled in 2023. Near the OFW located northwest of the launch complex, all COC concentrations were less than laboratory method detection limits from monitoring wells (MW0039, MW0040, and LOXTA0002S) sampled in 2023. Aluminum results from LOX-IW0012S, which has been sampled routinely since 2006, detected a total aluminum concentration of 3,900 µg/L during the May/June 2023 sampling event. Results from the November 2023 event detected 5,700 µg/L for total aluminum and 5,500 µg/L for dissolved aluminum. These concentrations slightly decreased from the previous year but remain relatively consistent with historical detections. Aluminum will continue to be sampled on an annual basis at this well as results still exceed the GCTL of 200 µg/L and the Upper Limit of the KSC Background Concentration of 280 µg/L. PFAS results detected nine different PFAS compounds (out of 32 analyzed) from seven wells sampled. Two PFAS compounds, perfluorooctanesulfonic acid (PFOS) and perfluorooctanoic acid (PFOA), currently have FDEP Provisional GCTLs of 70 nanograms per liter (ng/L). All seven samples collected resulted in concentrations less than the FDEP Provisional GCTLs for both PFAS compounds; no exceedances were observed. PFOS and PFOA also have assigned United States Environmental Protection Agency (USEPA) Maximum Contaminant Levels (MCLs) of 4 nanograms per liter (ng/L). None of the PFOS results exceeded the USEPA MCLs. PFOA was detected in two samples above the USEPA MCL at concentrations of 5.8 ng/L (ECS-IW0009I) and 5.5 ng/L (ECS-IW0009S). Three other PFAS compounds, perfluorohexanesulfonic acid (PFHxS), perfluoro-n-nonanoic acid (PFNA), and hexafluoropropylene oxide dimer acid (GenX), currently have USEPA MCLs of 10 ng/L. PFHxS, PFNA, and GenX were not detected at concentrations greater than their respective USEPA MCLs in any of the seven wells. PFAS compounds without FDEP Provisional GCTLs or USEPA MCLs were screened against USEPA RSLs. No other detections exceeded their respective USEPA RSLs. Additional PFAS sampling will be conducted as part of a future PFAS Site Assessment. Based on O&M activities and performance monitoring, the following is recommended for LC39B: • Continue with Year 8 AS system operation within Zone Z4, which includes the AS expansion area. Zone Z3, which has been off since 2018, should remain off as no rebound has been observed. Zones Z1 and Z2, which were turned off at the end of 2022, will remain shut down as monitoring well results have consistently been below GCTLs or have low-level detections with stable or decreasing trends (Meeting Minute 2402-M10, Decision 2402-D30). • Continue with performance monitoring in 2024 with the same monitoring well network as 2023, except with the addition of MW0048 in both semi-annual events. Baseline concentrations for this well were collected during the November 2023 performance monitoring event. Semi-annual sampling should be planned for the May 2024 and November 2024 timeframes (Meeting Minute 2402-M10, Decision 2402-D31). • Continue sampling monitoring well, LOX-IW0012S, for aluminum (total and dissolved) on an annual basis in May 2024. It is also recommended to re-develop this well prior to the next sampling event (Meeting Minute 2402-M10, Decision 2402-D32). The above recommendations for LC39B were presented at the February 2024 KSCRT Meeting, with Team consensus reached on the path forward. The contents of this PM-CCR were also presented at this meeting.

Deborah M Wilson↗
NASA NTRS2013

Spacecraft Complexity Subfactors and Implications on Future Cost Growth

During the last ten years the Jet Propulsion Laboratory has used a set of cost-risk subfactors to independently estimate the magnitude of development risks that may not be covered in the high level cost models employed during early concept development. Within the last several years the Laboratory has also developed a scale of Concept Maturity Levels with associated criteria to quantitatively assess a concept's maturity. This latter effort has been helpful in determining whether a concept is mature enough for accurate costing but it does not provide any quantitative estimate of cost risk. Unfortunately today's missions are significantly more complex than when the original cost-risk subfactors were first formulated. Risks associated with complex missions are not being adequately evaluated and future cost growth is being underestimated. The risk subfactor process needed to be updated.

Mission Design↗
NASA NTRS1994

Radiative transfer in shrub savanna sites in Niger: Preliminary results from HAPEX-Sahel. Part 3: Optical dynamics and vegetation index sensitivity to biomass and plant cover

A shrub savannah landscape in Niger was optically characterized utilizing blue, green, red and near-infrared wavelengths. Selected vegetation indices were evaluated for their performance and sensitivity to describe the complex Sahelian soil/vegetation canopies. Bidirectional reflectance factors (BRF) of plants and soils were measured at several view angles, and used as input to various vegetation indices. Both soil and vegetation targets had strong anisotropic reflectance properties, rendering all vegetation index (6) responses to be a direct function of sun and view geometry. Soil background influences were shown to alter the response of most vegetation indices. N-space greenness had the smallest dynamic range in VI response, but the n-space brightness index provided additional useful information. The global environmental monitoring index (GEMI) showed a large 6 dynamic range for bare soils, which was undesirable for a vegetation index. The view angle response of the normalized difference vegetation index (NDVI), atmosphere resistant vegetation index (ARVI) and soil atmosphere resistant vegetation index (SARVI) were asymmetric about nadir for multiple view angles, and were, except for the SARVI, altered seriously by soil moisture and/or soil brightness effects. The soil adjusted vegetation index (SAVI) was least affected by surface soil moisture and was symmetric about nadir for grass vegetation covers. Overall the SAVI, SARVI and the n-space vegetation index performed best under all adverse conditions and were recommended to monitor vegetation growth in the sparsely vegetated Sahelian zone.

vanLeeuwen, W. J. D.↗
NASA NTRS1976

Analysis of structural dynamic data from Skylab. Volume 1: Technical discussion

A compendium of Skylab structural dynamics analytical and test programs is presented. These programs are assessed to identify lessons learned from the structural dynamic prediction effort and to provide guidelines for future analysts and program managers of complex spacecraft systems. It is a synopsis of the structural dynamic effort performed under the Skylab Integration contract and specifically covers the development, utilization, and correlation of Skylab Dynamic Orbital Models.

Demchak, L.↗
NASA NTRS1977

Automated image processing of Landsat II digital data for watershed runoff prediction

Digital image processing of Landsat data from a 230 sq km area was examined as a possible means of generating soil cover information for use in the watershed runoff prediction of Kern County, California. The soil cover information included data on brush, grass, pasture lands and forests. A classification accuracy of 94% for the Landsat-based soil cover survey suggested that the technique could be applied to the watershed runoff estimate. However, problems involving the survey of complex mountainous environments may require further attention

Sasso, R. R.↗
NASA NTRS1979

High-performance-vehicle technology

Propulsion needs of high performance military aircraft are discussed. Inlet performance, nozzle performance and cooling, and afterburner performance are covered. It is concluded that nonaxisymmetric nozzles provide cleaner external lines and enhanced maneuverability, but the internal flows are more complex. Swirl afterburners show promise for enhanced performance in the high altitude, low Mach number region.

Povinelli, L. A.↗
NASA NTRS1993

CONVEX mini manual

The use of the CONVEX computers that are an integral part of the Supercomputing Network Subsystems (SNS) of the Central Scientific Computing Complex of LaRC is briefly described. Features of the CONVEX computers that are significantly different than the CRAY supercomputers are covered, including: FORTRAN, C, architecture of the CONVEX computers, the CONVEX environment, batch job submittal, debugging, performance analysis, utilities unique to CONVEX, and documentation. This revision reflects the addition of the Applications Compiler and X-based debugger, CXdb. The document id intended for all CONVEX users as a ready reference to frequently asked questions and to more detailed information contained with the vendor manuals. It is appropriate for both the novice and the experienced user.

Tennille, Geoffrey M.↗
NASA NTRS2023

Sewage Treatment Plant #1 Area, SWMU 117 Per- and Polyfluoroalkyl Substances (PFAS) Site Assessment Progress Report

This Per- and Polyfluoroalkyl Substances (PFAS) Site Assessment (SA) Progress Report (SAPR) discusses the investigation activities and findings for the Sewage Treatment Plant #1 (STP1) Area located at Kennedy Space Center (KSC), Florida (Figure 1-1). This site has been designated Solid Waste Management Unit (SWMU) 117 under KSC’s Resource Conservation and Recovery Act (RCRA) Corrective Action Program, as the sewage treatment plant and associated areas were identified as a potential source of PFAS to the environment. This PFAS SAPR was prepared by Tetra Tech, Inc., for the National Aeronautics and Space Administration (NASA) under Indefinite Delivery Indefinite Quantity Contract 80KSC019D0011-80KSC019F0070. This is the first progress report to document on-going SA activities; supplemental progress reports will be provided as additional data is collected. PFAS SA activities were conducted between April 2020 and March 2022 to collect additional data to supplement the existing datasets to better understand the extent of PFAS impacts to the environment in the STP1 Area. The SA for the STP1 Area covers an approximately 130-acre investigation area with multiple structures and buildings. The focus of the SA is the STP1 Complex and associated structures, including the former Polishing Pond, former Sludge Disposal8 Area, and former Spray Field. The STP1 Complex is located in the KSC Industrial Area, at the southwest corner of 4th Street SE and C Avenue SE. The STP1 Complex is located approximately ¼-mile south and downgradient of the Fire Station #1 site (SWMU 116), which is also currently undergoing a PFAS SA because of potential releases of PFAS-containing aqueous film-forming foam (AFFF). During the SA, a total of seven soil, 131 groundwater direct push technology (DPT), 24 groundwater monitoring well, and 11 surface water samples were collected between April 2020 and March 2022. Monitoring well samples were analyzed for 18 PFAS compounds, with all other samples analyzed for 28 PFAS compounds. The SA sample results were used along with historical results to evaluate the extent of PFAS impacts to the environment in the STP1 Area. Data generated to date and prior results were screened against the United States Environmental Protection Agency (USEPA) May 2022 Tap Water Regional Screening Levels (RSL) for groundwater and residential RSLs for soil (hazard quotient of 0.1). Surface water results were screened against the State of Florida Human Health Surface Water Screening Levels (SWSLs). Results from the SA showed exceedances of the applicable screening criteria for groundwater and surface water. Considering the current and historical dataset, PFOS is the prevalent PFAS compound. Based on these results, additional groundwater DPT and surface water sampling should be considered for PFAS analysis, focused on evaluating surface water bodies in the southeast portion of the Industrial Area, which discharge into the Banana River. Additionally, installation of monitoring wells should be considered to evaluate the interaction between the groundwater and surface water at the site. Collection of additional samples for TOC analysis should also be considered from representative groundwater (saturated soils) and surface water locations to further evaluate potential correlations between PFAS and TOC to provide a more comprehensive dataset to assist in fate and transport analyses.

Sewage Treatment Plant↗
NASA NTRS1998

Perennial Antarctic lake ice: an oasis for life in a polar desert

The permanent ice covers of Antarctic lakes in the McMurdo Dry Valleys develop liquid water inclusions in response to solar heating of internal aeolian-derived sediments. The ice sediment particles serve as nutrient (inorganic and organic)-enriched microzones for the establishment of a physiologically and ecologically complex microbial consortium capable of contemporaneous photosynthesis, nitrogen fixation, and decomposition. The consortium is capable of physically and chemically establishing and modifying a relatively nutrient- and organic matter-enriched microbial "oasis" embedded in the lake ice cover.

NASA Center ARC↗
NASA NTRS2012

Wideband Single-Crystal Transducer for Bone Characterization

The microgravity conditions of space travel result in unique physiological demands on the human body. In particular, the absence of the continual mechanical stresses on the skeletal system that are present on Earth cause the bones to decalcify. Trabecular structure decreases in thickness and increases in spacing, resulting in decreased bone strength and increased risk of injury. Thus, monitoring bone health is a high priority for long-term space travel. A single probe covering all frequency bands of interest would be ideal for such measurements, and this would also minimize storage space and eliminate the complexity of integrating multiple probes. This invention is an ultrasound transducer for the structural characterization of bone. Such characterization measures features of reflected and transmitted ultrasound signals, and correlates these signals with bone structure metrics such as bone mineral density, trabecular spacing, and thickness, etc. The techniques used to determine these various metrics require measurements over a broad range of ultrasound frequencies, and therefore, complete characterization requires the use of several narrowband transducers. This is a single transducer capable of making these measurements in all the required frequency bands. The device achieves this capability through a unique combination of a broadband piezoelectric material; a design incorporating multiple resonator sizes with distinct, overlapping frequency spectra; and a micromachining process for producing the multiple-resonator pattern with common electrode surfaces between the resonators. This device consists of a pattern of resonator bars with common electrodes that is wrapped around a central mandrel such that the radiating faces of the resonators are coplanar and can be simultaneously applied to the sample to be measured. The device operates as both a source and receiver of acoustic energy. It is operated by connection to an electronic system capable of both providing an excitation signal to the transducer and amplifying the signal received from the transducer. The excitation signal may be either a wide-bandwidth signal to excite the transducer across its entire operational spectrum, or a narrow-bandwidth signal optimized for a particular measurement technique. The transducer face is applied to the skin covering the bone to be characterized, and may be operated in through-transmission mode using two transducers, or in pulse-echo mode. The transducer is a unique combination of material, design, and fabrication technique. It is based on single-crystal lead magnesium niobate lead titanate (PMN-PT) piezoelectric material. As compared to the commonly used piezoceramics, this piezocrystal has superior piezoelectric and elastic properties, which results in devices with superior bandwidth, source level, and power requirements. This design necessitates a single resonant frequency. However, by operating in a transverse length-extensional mode, with the electric field applied orthogonally to the extensional direction, resonators of different sizes can share common electrodes, resulting in a multiply-resonant structure. With carefully sized resonators, and the superior bandwidth of piezocrystal, the resonances can be made to overlap to form a smooth, wide-bandwidth characteristic.

Liang, Yu↗
NASA NTRS2012

Wideband Single-Crystal Transducer for Bone Characterization

The microgravity conditions of space travel result in unique physiological demands on the human body. In particular, the absence of the continual mechanical stresses on the skeletal system that are present on Earth cause the bones to decalcify. Trabecular structure decreases in thickness and increases in spacing, resulting in decreased bone strength and increased risk of injury. Thus, monitoring bone health is a high priority for long-term space travel. A single probe covering all frequency bands of interest would be ideal for such measurements, and this would also minimize storage space and eliminate the complexity of integrating multiple probes. This invention is an ultrasound transducer for the structural characterization of bone. Such characterization measures features of reflected and transmitted ultrasound signals, and correlates these signals with bone structure metrics such as bone mineral density, trabecular spacing, and thickness, etc. The techniques used to determine these various metrics require measurements over a broad range of ultrasound frequencies, and therefore, complete characterization requires the use of several narrowband transducers. This is a single transducer capable of making these measurements in all the required frequency bands. The device achieves this capability through a unique combination of a broadband piezoelectric material; a design incorporating multiple resonator sizes with distinct, overlapping frequency spectra; and a micromachining process for producing the multiple-resonator pattern with common electrode surfaces between the resonators. This device consists of a pattern of resonator bars with common electrodes that is wrapped around a central mandrel such that the radiating faces of the resonators are coplanar and can be simultaneously applied to the sample to be measured. The device operates as both a source and receiver of acoustic energy. It is operated by connection to an electronic system capable of both providing an excitation signal to the transducer and amplifying the signal received from the transducer. The excitation signal may be either a wide-bandwidth signal to excite the transducer across its entire operational spectrum, or a narrow-bandwidth signal optimized for a particular measurement technique. The transducer face is applied to the skin covering the bone to be characterized, and may be operated in through transmission mode using two transducers, or in pulse-echo mode.

Liang, Yu↗
NASA NTRS2015

Predicting Clear-Sky Reflectance Over Snow/Ice in Polar Regions

Satellite remote sensing of clouds requires an accurate estimate of the clear-sky radiances for a given scene to detect clouds and aerosols and to retrieve their microphysical properties. Knowing the spatial and angular variability of clear-sky albedo is essential for predicting clear-sky radiance at solar wavelengths. The Clouds and the Earth's Radiant Energy System (CERES) Project uses the nearinfrared (NIR; 1.24, 1.6 or 2.13 micrometers), visible (VIS; 0.63 micrometers) and vegetation (VEG; 0.86 micrometers) channels available on the Terra and Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) to help identify clouds and retrieve their properties in both snow-free and snow-covered conditions. Thus, it is critical to have reliable distributions of clear-sky albedo for all of these channels. In CERES Edition 4 (Ed4), the 1.24-micrometer channel is used to retrieve cloud optical depth over snow/ice-covered surfaces. Thus, it is especially critical to accurately predict the 1.24-micrometer clear-sky albedo alpha and reflectance rho for a given location and time. Snow albedo and reflectance patterns are very complex due to surface texture, particle shapes and sizes, melt water, and vegetation protrusions from the snow surface. To minimize those effects, this study focuses on the permanent snow cover of Antarctica where vegetation is absent and melt water is minimal. Clear-sky albedos are determined as a function of solar zenith angle (SZA) from observations over all scenes determined to be cloud-free to produce a normalized directional albedo model (DRM). The DRM is used to develop alpha(SZA=0 degrees) on 10 foot grid for each season. These values provide the basis for predicting r at any location and set of viewing & illumination conditions. This paper examines the accuracy of this approach for two theoretical snow surface reflectance models.

Chen, Yan↗
NASA NTRSDate not supplied

Preliminary Application of Formal Verification to An Autonomy Architecture for Unmanned Aircraft

There is a desire to design autonomous systems in such a way that capabilities can be easily added or re- combined to produce new behaviors while preserving their safety properties. ICAROUS, a prototype software architecture for building safety-centric autonomous unmanned aircraft applications, is designed to support this type of extensibility and re-configurability. In ICAROUS, core capabilities are implemented as individual soft- ware services, so that enabling access to new capabilities simply requires adding new services. To make use of these capabilities, ICAROUS includes a specialized service that provides a general framework for config- uring the relative priorities, conditions, and rules that govern how different modules should be engaged and disengaged during flight. The inherent complexity of coordinating multiple modules under changing conditions makes it difficult to determine whether a particular configuration could have erroneous behaviors in certain circumstances. A robust set of integration tests can help discover errors, but testing can only realistically cover a relatively small proportion of total system behaviors. Developing good tests and interpreting the results to pinpoint the cause of errors when they arise can also be very time-consuming. To supplement testing, formal methods can be used to model and analyze complex systems, achieving better coverage and simplifying the process of finding, understanding, and fixing errors. To demonstrate these benefits, this paper explores the ap- plication of formal methods to ICAROUS. In particular, the Spin model checker is used to specify requirements for and model portions of the system, then verify whether the model satisfies the requirements and find and fix errors when it does not.

Formal Methods↗
NASA NTRSDate not supplied

Preliminary Application of Formal Verification to An Autonomy Architecture for Unmanned Aircraft

There is a desire to design autonomous systems in such a way that capabilities can be easily added or re-combined to produce new behaviors while preserving their safety properties. ICAROUS, a prototype software architecture for building safety-centric autonomous unmanned aircraft applications, is designed to support this type of extensibility and re-configurability. In ICAROUS, core capabilities are implemented as individual soft- ware services, so that enabling access to new capabilities simply requires adding new services. To make use of these capabilities, ICAROUS includes a specialized service that provides a general framework for config- uring the relative priorities, conditions, and rules that govern how different modules should be engaged and disengaged during flight. The inherent complexity of coordinating multiple modules under changing conditions makes it difficult to determine whether a particular configuration could have erroneous behaviors in certain circumstances. A robust set of integration tests can help discover errors, but testing can only realistically cover a relatively small proportion of total system behaviors. Developing good tests and interpreting the results to pinpoint the cause of errors when they arise can also be very time-consuming. To supplement testing, formal methods can be used to model and analyze complex systems, achieving better coverage and simplifying the process of finding, understanding, and fixing errors. To demonstrate these benefits, this paper explores the ap- plication of formal methods to ICAROUS. In particular, the Spin model checker is used to specify requirements for and model portions of the system, then verify whether the model satisfies the requirements and find and fix errors when it does not.

Formal Methods↗
NASA NTRS1977

On the relationship between reliability and linear quadratic optimal control

The linear quadratic optimal control method is used today to solve many complex systems problems. As system complexity increases, and as linear quadratic optimal control is used in more demanding situations, the extension of the design methodology to cover system failures, robustness and reliability is of crucial importance. This paper documents the progress toward a theory which incorporates reliability in the performance index; a linear quadratic control problem is formulated which accounts for system effectiveness and gives an offline procedure for comparing two linear quadratic control systems on the basis of both reliability and performance.

Birdwell, J. D.↗
NASA NTRS1985

Guidelines for improving illustrated technical talks

The steps in planning, preparing, and presenting a high-quality illustrated technical talk are presented. Related factors such as audience consideration, defining objectives, storyboarding, developing a written text, rehearsal, final editing, and delivery are covered. Suggestions are made for improving clarity, for achieving proper emphasis, and for easily assimilating information. Detailed considerations for reducing the complexity of visual aids are provided.

Pinelli, T. E.↗
NASA NTRS1991

Paleobiomarkers and defining exobiology experiments for future Mars experiments

Mars is a cold, dry planet with an oxidizing surface bombarded by ultraviolet and ionizing radiation, making prospects for an extant Mars biota bleak. Yet, it is suggested that early Earth and early Mars were similar enought that life may have evoled on Mars. If life did evolve on Mars, what evidence for its existence might we find? What constitutes a Martian paleobiomarker, and how can we distinguish such a marker from abiotically produced substances? The topics studied to answer this question include carbon and nitrogen cycling, as well as the stability and relative abundance of their intermediates in microbially dominated ecosystems. The microbially dominated ecosystems studied are the crytoendolithic microbial community living within sand rocks, the endoevaporite microbial community living inside salt crystals, and the microbial communities living beneath perennially ice-covered lakes and hypersaline ponds. The nitrogen cycle of these communities ranges from simple, where only assimilation occurs, to the more complex, where a complete cycle occurs. The carbon cycle of these communities appears to be complete.

Mancinelli, R. L.↗