Search NASA⌕ Search

SEARCH · Search NASA

Results for “fault localization”

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

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Non-Intrusive Techniques of Inspections During the Pre-Launch Phase of Space Vehicle

This paper addresses a method of non-intrusive local inspection of surface and sub-surface conditions, interfaces, laminations and seals in both space vehicle and ground operations with an integrated suite of imaging sensors during pre-launch operations. It employs an advanced Raman spectrophotometer with additional spectrophotometers and lidar mounted on a flying robot to constantly monitor the space hardware as well as inner surface of the vehicle and ground operations hardware. This paper addresses a team of micro flying robots with necessary sensors and photometers to monitor the entire space vehicle internally and externally. The micro flying robots can reach altitude with least amount of energy, where astronauts have difficulty in reaching and monitoring the materials and subsurface faults. The micro flying robot has an embedded fault detection system which acts as an advisory system and in many cases micro flying robots act as a Supervisor to fix the problems. As missions expand to a sustainable presence in the Moon, and extend for durations longer than one year in lunar outpost, the effectiveness of the instrumentation and hardware has to be revolutionized if NASA is to meet high levels of mission safety, reliability, and overall success. The micro flying robot uses contra-rotating propellers powered by an ultra-thin, ultrasonic motor with currently the world's highest power weight ratio, and is balanced in mid-air by means of the world's first stabilizing mechanism using a linear actuator. The essence of micromechatronics has been brought together in high-density mounting technology to minimize the size and weight. The robot can take suitable payloads of photometers, embedded chips for image analysis and micro pumps for sealing cracks or fixing other material problems. This paper also highlights advantages that this type of non-intrusive techniques offer over costly and monolithic traditional techniques.

Thirumalainambi, Rejkumar↗
NASA NTRS1983

The Pikwitonei granulite domain: A lower crustal level along the Churchill-Superior boundary in central Manitoba

The greenschist to amphibolite facies tonalite-greenstone terrain of the Gods Lake subprovince grades - in a northwesterly direction - into the granulite facies Pikwitonei domain at the western margins of the Superior Province. The transition is the result of prograde metamorphism and takes place over 50 - 100 km without any structural or lithological breaks. Locally the orthopyroxene isograd is oblique to the structural grain and transects greenstone belts, e.g., the Cross Lake belt. The greenstone belts in the granulite facies and adjacent lower grade domain consist mainly of mafic and (minor) ultramafic metavolcanics, and clastic and chemical metasedimentary rocks. Typical for the greenstone belts crossed by the orthopyroxene isograd are anorthositic gabbros and anorthosites, and plagiophyric mafic flows. The Pikwitonei granulite domain has been interpreted as to represent a lower crustal level which was uplifted to the present level of erosion. On the basis of gravimetric data this uplift has been modelled as an obduction onto the Churchill Province during the Hudsonian orogeny, similar to the Ivrea Zone. The fault between the Churchill and Superior Province is described.

Weber, W.↗
NASA NTRS2008

Geologic Mapping of the V-36 Thetis Regio Quadrangle: 2008 Progress Report

As a result of mapping, eleven material stratigraphic units and three structural units have been identified and mapped. The material units include (from older to younger): tessera terrain material (tt), material of densely fractured plains (pdf), material of fractured and ridged plains (pfr), material of shield plains (psh), material of plains with wrinkle ridges (pwr), material of smooth plains of intermediate brightness (psi), material of radardark smooth plains (psd), material of lineated plains (pli) material of lobate plains (plo), material of craters having no radar-dark haloes (c1), and material of craters having clear dark haloes (c2). The morphologies and probably the nature of the material units in the study area are generally similar to those observed in other regions of Venus [2]. The youngest units are lobate plains (plo) which here typically look less lobate than in other areas of the planet. Close to them in age are smooth plains which are indeed smooth and represented by two varieties mentioned above. Lineated plains (pli) are densely fractured in a geometrically regular way. Plains with wrinkle ridges, being morphologically similar to those observed in other regions, here occupy unusually small areas. Shield (psh) plains here are also not abundant. Locally they show wrinkle ridging. Fractured and ridged plains (pfr), which form in other regions, the so called ridge belts, are observed as isolated areas of clusters of ridged plains surrounded by other units. Densely fractured plains (pdf) are present in relatively small areas in association with coronae and corona-like features. Tessera terrain (tt) is dissected by structures oriented in two or more directions. Structures are so densely packed that the morphology (and thus nature) of the precursor terrain is not known. Structural units include tessera transitional terrain (ttt), fracture belts (fb) and rifted terrain (rt). Tessera transitional terrain was first identified and mapped by [4] as areas of fractured and ridged plains (pfr) and densely fractured plains (pdf) deformed by transverse faults that made it formally resemble tessera terrain (tt). The obvious difference between units tt and ttt is the recognizable morphology of precursor terrain of unit ttt. Fracture belts are probably ancient rift zones [3]. Rifted terrain (rt), as in other regions of Venus, is so saturated with faults that according to the recommendation of [1, 5] it should be mapped as a structural unit.

Basilevsky, A. T.↗
NASA NTRS2020

Detecting differential ground displacements of civil structures in fast-subsiding metropolises with interferometric SAR and band-pass filtering

Ground displacements due to changes in soil conditions represent a threat to the stability of civil structures in many urban areas, worldwide. In fast-subsiding areas, regional subsidence (wavelength ~ 1,000’s m) can be dominantly high and, consequently, mask other signals at local scales (wavelength ~ 10–100’s m). Still, engineering and construction applications require a comprehensive knowledge of local-scale signals, which can threaten the stability of buildings and infrastructure. Here we present a new technique based on band-pass filters for uncovering local-scale signals hidden by regional subsidence as detected by interferometric SAR measurements. We apply our technique to a velocity field calculated from 21 high-resolution COSMO-SkyMed scenes acquired over Mexico City and obtain components of long (> 478 m), intermediate (42–478 m) and short (< 42 m) spatial wavelengths. Our results reveal that long-wavelength velocities exceed − 400 mm/year, whereas intermediate- and short-wavelength velocities are in the order of ± 15 mm/year. We show that intermediate-wavelength velocities are useful for retrieving signals such as uplift along elevated viaducts of Metro lines 4 and B, as well as differential displacements in Pantitlán station’s pedestrian overpass system and across sharp geotechnical boundaries in the piedmont of Sierra de Santa Catarina—where surface faulting occurs.

Darío Solano-Rojas↗
NASA NTRS1981

Modification of multi-ring basins - The Imbrium model

It is shown that the gross variations in wall height around Imbrium result largely from intersection of the Imbrium basin with pre-existing basins and faulting: angle of impact and slumping played a lesser modifying role. The gross irregularities in plan of the northern part of Imbrium is hypothesized to result from the collapse of large crustal blocks into the Imbrium and Serenitatis cavities. Lithosphere thickness is believed to play an important role in the mechanisms of formation and modification of large craters and basins. The deduction of slow sub-lithospheric flow of material toward the cavity centers does not lend support to the tsunami model, requires a minor modification of the nested-crater model and provides a mechanism for the production of megaterraces. Spatial and temporal lithosphere variations satisfy constraints requiring the overlap of morphology/diameter characteristics, variable onset diameters between planets, variable ring spacings from planet to planet and provide a mechanism for producing local irregularities in ring structures.

Whitford-Stark, J. L.↗
NASA NTRS1993

Towards the formal specification of the requirements and design of a processor interface unit: HOL listings

This technical report contains the HOL listings of the specification of the design and major portions of the requirements for a commercially developed processor interface unit (or PIU). The PIU is an interface chip performing memory interface, bus interface, and additional support services for a commercial microprocessor within a fault-tolerant computer system. This system, the Fault-Tolerant Embedded Processor (FTEP), is targeted towards applications in avionics and space requiring extremely high levels of mission reliability, extended maintenance-free operation, or both. This report contains the actual HOL listings of the PIU specification as it currently exists. Section two of this report contains general-purpose HOL theories that support the PIU specification. These theories include definitions for the hardware components used in the PIU, our implementation of bit words, and our implementation of temporal logic. Section three contains the HOL listings for the PIU design specification. Aside from the PIU internal bus (I-Bus), this specification is complete. Section four contains the HOL listings for a major portion of the PIU requirements specification. Specifically, it contains most of the definition for the PIU behavior associated with memory accesses initiated by the local processor.

Fura, David A.↗
NASA NTRS1995

Geology and landscape evolution of the Hellas region of Mars

Hellas basin on Mars has been the site of volcanism, tectonism, and modification by fluvial, mass-wasting, and eolian processes over its more than 4-b.y. existence. Our detailed geologic mapping and related studies have resulted in the following new interpretations. The asymmetric distribution of highland massifs and other structures that define the uplifted basin rim suggest a formation of the basin by the impact of a low-angle bolide having a trajectory heading S60E. During the Late Noachian, the basin was infilled, perhaps by lava flows, that were sufficiently thick (greater than 1 km) to produce wrinkle ridges on the fill material and extensional faulting along the west rim of the basin. At about the same time, deposits buried northern Malea Planum, which are interpreted to be pyroclastic flows from Amphitrites and Peneus Paterae on the basis of their degraded morphology, topology, and the application of a previous model for pyroclastic volcanism on Mars. Peneus forms a distinctive caldera structure that indicates eruption of massive volumes of magma, whereas Amphitrites is a less distinct circular feature surrounded by a broad, low, dissected shield that suggests generally smaller volume eruptions. During the Early Hesperian, an approximately 1-to 2km-thick sequence of primarily fined-grained, eolian material was deposited on the floor of Hellas basin. Subsequently, the deposit was deeply eroded, except where armored by crater ejecta, and it retreated as much as 200-300 km along its western margin, leaving behind pedestal craters and knobby outliers of the deposit. Local debris flows within the deposit attest to concentrations of groundwater, perhaps in part brought in by outflow floods along the east rim of the basin. These floods may have deposited approximately 100-200m of sediment, subduing wrinkle ridges in the eastern part of the basin floor. During the Late Hesperian and Amazonian, eolian mantles were emplaced on the basin rim and floor and surrounding highlands. Their subsequent erosion resulted in pitted and etched plains and crater fill, irregular mesas, and pedestal craters. Local evidence occurs for the possible former presence of ground ice or ice sheets approximately 100 km across; however, we disagree with a hypothesis that suggest that the entire south rim and much of the floor of Hellas have been glaciated. Orientations of dune fields and yardangs in lower parts of Hellas basin follow directions of the strongest winds predicted by a recently published general circulation model (GCM). Transient frost and dust splotches in the region are, by contrast, related to the GCM prediction for the season in which the images they appear in were taken.

Tanaka, Kenneth L.↗
NASA NTRS1988

An assessment of AVIRIS data for hydrothermal alteration mapping in the Goldfield Mining District, Nevada

Airborne Visible and Infrared Imaging Spectrometer (AVIRIS) data were acquired over the Goldfield Mining District, Nevada, in September 1987. Goldfield is one of the group of large epithermal precious metal deposits in Tertiary volcanic rocks, associated with silicic volcanism and caldera formation. Hydrothermal alteration consists of silicification along fractures, advanced agrillic and argillic zones further away from veins and more widespread propylitic zones. An evaluation of AVIRIS data quality was performed. Faults in the data, related to engineering problems and a different behavior of the instrument while on-board the U2, were encountered. Consequently, a decision was made to use raw data and correct them only for dark current variations and detector read-out-delays. New software was written to that effect. Atmospheric correction was performed using the flat field correction technique. Analysis of the data was then performed to extract spectral information, mainly concentrating on the 2 to 2.45 micron window, as the alteration minerals of interest have their distinctive spectral reflectance features in this region. Principally kaolinite and alunite spectra were clearly obtained. Mapping of the different minerals and alteration zones was attempted using ratios and clustering techniques. Poor signal-to-noise performance of the instrument and the lack of appropriate software prevented the production of an alteration map of the area. Spectra extracted locally from the AVIRIS data were checked in the field by collecting representative samples of the outcrops.

Carrere, Veronique↗
NASA NTRS1995

Geology and landscape evolution of the Hellas region of Mars

Hellas basin on Mars has been the site of volcanism, tectonism, and modification by fluvial, mass-wasting, and eolian processes over its more than 4-b.y. existence. Our detailed geologic mapping and related studies have resulted in the following new interpretations. The asymmetric distribution of highland massifs and other structures that define the uplifted basin rim suggest a formation of the basin by the impact of a low-angle bolide having a trajectory heading S 60 deg E. During the Late Noachian, the basin was infilled, perhaps by lava flows, that were sufficiently thick (>1 km) to produce wrinkle ridges on the fill material and extensional faulting along the west rim of the basin. At about the same time, deposits buried northern Malea Planum, which are interpreted to be pyroclastic flows from Amphitrites and Peneus Paterae on the basis of their degraded morphology, topography, and the application of a previous model for pyroclastic volcanism on Mars. Peneus forms a distinctive caldera structure that indicates eruption of massive volumes of magma, whereas Amphitrites is a less distinct circular feature surrounded by a broad, low, dissected shield that suggests generally smaller volume eruptions. During the Early Hesperian, an approx. 1- to 2-km-thick sequence of primarily fined-grained, eolian material was deposited on the floor of Hellas basin. Subsequently, the deposit was deeply eroded, except where armored by crater ejecta, and it retreated as much as 200-300 km along its western margin, leaving behind pedestal craters and knobby outliers of the deposit. Local debris flows within the deposit attest to concentrations of groundwater, perhaps in part brought in by outflow floods along the east rim of the basin. These floods may have deposited approx. 100-200 m of sediment, subduing wrinkle ridges in the eastern part of the basin floor. During the Late Hesperian and Amazonian, eolian mantles were emplaced on the basin rim and floor and surrounding highlands. Their subsequent erosion resulted in pitted and etched plains and crater fill, irregular mesas, and pedestal craters. Local evidence occurs for the possible former presence of ground ice or ice sheets approx. 100 km across; however, we disagree with a hypothesis that suggests that the entire south rim and much of the floor of Hellas have been glaciated. Orientations of dune fields and yardangs in lower parts of Hellas basin follow directions of the strongest winds predicted by a recently published general circulation model (GCM). Transient frost and dust splotches in the region are, by contrast, related to the GCM prediction for the season in which the images they appear in were taken.

Tanaka, Kenneth L.↗
NASA NTRS1981

The origin of lunar mascons - Analysis of the Bouguer gravity associated with Grimaldi

Grimaldi is a relatively small multi-ringed basin located on the western limb of the moon. Spacecraft free-air gravity data reveal a mascon associated with the inner ring of this structure, and the topographic correction to the local lunar gravity field indicates a maximum Bouguer anomaly of +90 milligals at an altitude of 70 kilometers. Approximately 20% of this positive Bouguer anomaly can be attributed to the mare material lying within the inner ring of this basin. From a consideration of the Bouguer gravity and structure of large lunar craters comparable in size to the central basin of Grimaldi, it is suggested that the remaining positive Bouguer anomaly is due to a centrally uplifted plug of lunar mantle material. The uplift was caused by inward crustal collapse which also resulted in the formation of the concentric outer scarp of Grimaldi. In addition, an annulus of low density material, probably a combination of ejecta and in situ breccia, is required to fully reproduce the Bouguer gravity signature across this basin. It is proposed that Grimaldi supplies a critical test in the theory of mascon formation: crustal collapse by ring faulting and central uplift to depths of the crust-mantle boundary are requisites

Phillips, R. J.↗
NASA NTRS1989

Eastern Ishtar Terra: Tectonic evolution derived from recognized features

Previous analyses have recognized several styles and orientations of compressional deformation, crustal convergence, and crustal thickening in Eastern Ishtar Terra. An east to west sense of crustal convergence through small scale folding, thrusting, and buckling is reflected in the high topography and ridge-and-valley morphology of Maxwell Montes and the adjacent portion of Fortuna Tessera. This east to west convergence was accompanied by up to 1000 km of lateral motion and large scale strike-slip faulting within two converging shear zones which has resulted in the present morphology of Maxwell Montes. A more northeast to southwest sense of convergence through large scale buckling and imbrication is reflected in large, northwest-trending scarps along the entire northern boundary of Ishtar Terra, with up to 2 km of relief present at many of the scarps. It was previously suggested that both styles of compression have occurred at the expense of pre-existing tessera regions which have then been overprinted by the latest convergence event. The difference in style is attributed mostly to differences in the properties of the crust converging with the tessera blocks. If one, presumably thick, tessera block converges with another tessera region, then the widespread, distributed style of deformation occurs, as observed in western Fortuna Tessera. However, if relatively thin crust (such as suggested for the North Polar Plains converges with thicker tessera regions, then localized deformation occurs, as reflected in the scarps along Northern Ishtar Terra. The purpose is to identify the types of features observed in Eastern Ishtar Terra. Their potential temporal and spatial relationships, is described, possible origins for them is suggested, and how the interpretation of some of these features has led to the multiple-style tectonic evolution model described is shown.

Vorderbruegge, R. W.↗
NASA NTRS2004

Planetary Transmission Diagnostics

This report presents a methodology for detecting and diagnosing gear faults in the planetary stage of a helicopter transmission. This diagnostic technique is based on the constrained adaptive lifting algorithm. The lifting scheme, developed by Wim Sweldens of Bell Labs, is a time domain, prediction-error realization of the wavelet transform that allows for greater flexibility in the construction of wavelet bases. Classic lifting analyzes a given signal using wavelets derived from a single fundamental basis function. A number of researchers have proposed techniques for adding adaptivity to the lifting scheme, allowing the transform to choose from a set of fundamental bases the basis that best fits the signal. This characteristic is desirable for gear diagnostics as it allows the technique to tailor itself to a specific transmission by selecting a set of wavelets that best represent vibration signals obtained while the gearbox is operating under healthy-state conditions. However, constraints on certain basis characteristics are necessary to enhance the detection of local wave-form changes caused by certain types of gear damage. The proposed methodology analyzes individual tooth-mesh waveforms from a healthy-state gearbox vibration signal that was generated using the vibration separation (synchronous signal-averaging) algorithm. Each waveform is separated into analysis domains using zeros of its slope and curvature. The bases selected in each analysis domain are chosen to minimize the prediction error, and constrained to have the same-sign local slope and curvature as the original signal. The resulting set of bases is used to analyze future-state vibration signals and the lifting prediction error is inspected. The constraints allow the transform to effectively adapt to global amplitude changes, yielding small prediction errors. However, local wave-form changes associated with certain types of gear damage are poorly adapted, causing a significant change in the prediction error. The constrained adaptive lifting diagnostic algorithm is validated using data collected from the University of Maryland Transmission Test Rig and the results are discussed.

Lewicki, David G.↗
NASA NTRS2004

Comparison of Plains Volcanism in the Tempe Terra Region of Mars to the Eastern Snake River Plains, Idaho with Implications for Geochemical Constraints

The Eastern Snake River Plains (ESRP) in Idaho have long been considered a terrestrial analog for the plains volcanism like that evident in Syria Planum and Tempe Terra, Mars. Both the ESRP and Tempe Terra are sediment-blanketed volcanic fields in areas with significant extensional faulting. Similar volcanic features can be observed throughout both study areas using field analysis and DEMs of the ESRP and the Mars Global Surveyor (MGS) data from Mars. These features include flow fields, low shields, shields with steep summits, and fissure eruptions. A few other volcanic features, such as cinder cones, which suggest variable compositions, volatile interactions, and multiple volcanic events can be seen in both areas. The eruptions in both the ESRP and Tempe Terra generally originate from the fissures creating elongate, multi-vent shields as well as isolated or aligned single vent shields. Many of these show evidence of radial flow patterns from summit craters as well as lava tube fed flows. The volcanoes of Tempe Terra display some of the global latitudinal parameter trends of small volcanoes on Mars. Some of these trends may be explained by the variation of volatile content and compositional variation across Mars. However, within Tempe Terra no significant local latitudinal trends can be seen in edifice attributes and not all variations are explained by global trends. This study builds upon previous studies of the Tempe Terra region and the ESRP in order to develop a more detailed representation of features and topographic data. Using these data we attempt to help constrain the composition and eruptive style of the Tempe Terra volcanoes by correlating them with the similar and quantified ESRP variations.

Weren, S. L.↗
NASA NTRS2022

A Dynamic Landslide Hazard Monitoring Framework for the Lower Mekong Region

The Lower Mekong region is one of the most landslide-prone areas of the world. Despite the need for dynamic characterization of landslide hazard zones within the region, it is largely understudied for several reasons. Dynamic and integrated understanding of landslide processes requires landslide inventories across the region, which have not been available previously. Computational limitations also hamper regional landslide hazard assessment, including accessing and processing remotely sensed information. Finally, open-source software and modelling packages are required to address regional landslide hazard analysis. Leveraging an open-source data-driven global Landslide Hazard Assessment for Situational Awareness model framework, this study develops a region-specific dynamic landslide hazard system leveraging satellite-based Earth observation data to assess landslide hazards across the lower Mekong region. A set of landslide inventories were prepared from high-resolution optical imagery using advanced image-processing techniques. Several static and dynamic explanatory variables (i.e., rainfall, soil moisture, slope, relief, distance to roads, distance to faults, distance to rivers) were considered during the model development phase. An extreme gradient boosting decision tree model was trained for the monsoon period of 2015–2019 and the model was evaluated with independent inventory information for the 2020 monsoon period. The model performance demonstrated considerable skill using receiver operating characteristic curve statistics, with Area Under the Curve values exceeding 0.95. The model architecture was designed to use near-real-time data, and it can be implemented in a cloud computing environment (i.e., Google Cloud Platform) for the routine assessment of landslide hazards in the Lower Mekong region. This work was developed in collaboration with scientists at the Asian Disaster Preparedness Center as part of the NASA SERVIR Program’s Mekong hub. The goal of this work is to develop a suite of tools and services on accessible open-source platforms that support and enable stakeholder communities to better assess landslide hazard and exposure at local to regional scales for decision making and planning.

Nishan Kumar Biswas↗
NASA NTRS2021

Computational Inference of Vibratory System with Incomplete Modal Information Using Parallel, Interactive and Adaptive Markov Chains

Inverse analysis of vibratory system is an important subject in fault identification, model updating, and robust design and control. It is challenging subject because 1) the problem is oftentimes underdetermined while the measurements are limited and/or incomplete; 2) many combinations of parameters may yield results that are similar with respect to actual response measurements; and 3) uncertainties inevitably exist. The aim of this research is to leverage upon computational intelligence through statistical inference to facilitate an enhanced, probabilistic framework using incomplete modal response measurement. This new framework is built upon efficient inverse identification through optimization, whereas Bayesian inference is employed to account for the effect of uncertainties. To overcome the computational cost barrier, we adopt Markov chain Monte Carlo (MCMC) to characterize the target function/distribution. Instead of using single Markov chain in conventional Bayesian approach, we develop a new sampling theory with multiple parallel, interactive and adaptive Markov chains and incorporate it into Bayesian inference. This can harness the collective power of these Markov chains to realize the concurrent search of multiple local optima. The number of required Markov chains and their respective initial model parameters are automatically determined via Monte Carlo simulation-based sample pre-screening followed by K-means clustering analysis. These enhancements can effectively address the aforementioned challenges in finite element inverse analysis. The validity of this framework is systematically demonstrated through case studies.

K Zhou↗
NASA NTRS1994

Deformation across the western United States: A local estimate of Pacific-North America transform deformation

We obtain a locally based estimate of Pacific-North America relative motion and an uncertainly in this estimate by integrating deformation rate along three different paths leading west across southwestern North America from east of the Rio Grande Rift to near the continental escarpment. Data are primarily Quatenary geologic slip rates estimates, and resulting deformation determinations therefore are 'instantaneous' in a geologic sense but 'long term' with respect to earthquake cycles. We deduce a rate of motion of the Pacific plane relative to North America that is 48 +/- 2 mm/yr, a rate indistinguishable from that predicted by the global kinematics models RM2 and NUVEL-1; however, we obtain an orientation that is 5-9 deg counterclockwise of these models. A more westerly motion of the Pacific plate, with respect to North America, is calculated from all three paths. The relatively westerly motion of the Pacific plate is accomodated by deformation in the North American continent that includes slip on relatively counterclockwise-oriented strike-slip faults (including the San Andreas fault), whic is especially relevant in and south of the Transverse Ranges, and a margin-normal component of net extension across the continent, which is especially relevant north of the Transverse Ranges. Deformation of the SW United States occurs in regionally coherent domains within the style of deformation is approximately uniform.

Humphreys, Eugene D.↗
NASA NTRS1992

Automatic learning rate adjustment for self-supervising autonomous robot control

Described is an application in which an Artificial Neural Network (ANN) controls the positioning of a robot arm with five degrees of freedom by using visual feedback provided by two cameras. This application and the specific ANN model, local liner maps, are based on the work of Ritter, Martinetz, and Schulten. We extended their approach by generating a filtered, average positioning error from the continuous camera feedback and by coupling the learning rate to this error. When the network learns to position the arm, the positioning error decreases and so does the learning rate until the system stabilizes at a minimum error and learning rate. This abolishes the need for a predetermined cooling schedule. The automatic cooling procedure results in a closed loop control with no distinction between a learning phase and a production phase. If the positioning error suddenly starts to increase due to an internal failure such as a broken joint, or an environmental change such as a camera moving, the learning rate increases accordingly. Thus, learning is automatically activated and the network adapts to the new condition after which the error decreases again and learning is 'shut off'. The automatic cooling is therefore a prerequisite for the autonomy and the fault tolerance of the system.

Arras, Michael K.↗
NASA NTRS2002

Systems Architecture for Fully Autonomous Space Missions

The NASA Goddard Space Flight Center is working to develop a revolutionary new system architecture concept in support of fully autonomous missions. As part of GSFC's contribution to the New Millenium Program (NMP) Space Technology 7 Autonomy and on-Board Processing (ST7-A) Concept Definition Study, the system incorporates the latest commercial Internet and software development ideas and extends them into NASA ground and space segment architectures. The unique challenges facing the exploration of remote and inaccessible locales and the need to incorporate corresponding autonomy technologies within reasonable cost necessitate the re-thinking of traditional mission architectures. A measure of the resiliency of this architecture in its application to a broad range of future autonomy missions will depend on its effectiveness in leveraging from commercial tools developed for the personal computer and Internet markets. Specialized test stations and supporting software come to past as spacecraft take advantage of the extensive tools and research investments of billion-dollar commercial ventures. The projected improvements of the Internet and supporting infrastructure go hand-in-hand with market pressures that provide continuity in research. By taking advantage of consumer-oriented methods and processes, space-flight missions will continue to leverage on investments tailored to provide better services at reduced cost. The application of ground and space segment architectures each based on Local Area Networks (LAN), the use of personal computer-based operating systems, and the execution of activities and operations through a Wide Area Network (Internet) enable a revolution in spacecraft mission formulation, implementation, and flight operations. Hardware and software design, development, integration, test, and flight operations are all tied-in closely to a common thread that enables the smooth transitioning between program phases. The application of commercial software development techniques lays the foundation for delivery of product-oriented flight software modules and models. Software can then be readily applied to support the on-board autonomy required for mission self-management. An on-board intelligent system, based on advanced scripting languages, facilitates the mission autonomy required to offload ground system resources, and enables the spacecraft to manage itself safely through an efficient and effective process of reactive planning, science data acquisition, synthesis, and transmission to the ground. Autonomous ground systems in turn coordinate and support schedule contact times with the spacecraft. Specific autonomy software modules on-board include mission and science planners, instrument and subsystem control, and fault tolerance response software, all residing within a distributed computing environment supported through the flight LAN. Autonomy also requires the minimization of human intervention between users on the ground and the spacecraft, and hence calls for the elimination of the traditional operations control center as a funnel for data manipulation. Basic goal-oriented commands are sent directly from the user to the spacecraft through a distributed internet-based payload operations "center". The ensuing architecture calls for the use of spacecraft as point extensions on the Internet. This paper will detail the system architecture implementation chosen to enable cost-effective autonomous missions with applicability to a broad range of conditions. It will define the structure needed for implementation of such missions, including software and hardware infrastructures. The overall architecture is then laid out as a common thread in the mission life cycle from formulation through implementation and flight operations.

Esper, Jamie↗