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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↗

NASA NTRS2002

Flow Patterns During Friction Stir Welding

Friction Stir Welding is a relatively new technique for welding that uses a cylindrical pin or nib inserted along the weld seam. The nib (usually threaded) and the shoulder in which it is mounted are rapidly rotated and advanced along the seam. Extreme deformation takes place leaving a fine equiaxed structure in the weld region., The flow of metal during Friction Stir Welding is investigated using a faying surface tracer and a nib frozen in place during welding. It is shown that material is transported by two processes. The first is a wiping of material from the advancing front side of the nib onto a zone of material that rotates and advances with the nib. The material undergoes a helical motion within the rotational zone that both rotates and advances and descends in the wash of the threads on the nib and rises on the outer part of the rotational zone. After one or more rotations, this material is sloughed off in its wake of the nib, primarily on the advancing side. The second process is an entrainment of material from the front retreating side of the nib that fills in between the sloughed off pieces from the advancing side.

Guerra, M.↗

NASA NTRS2003

High-Level Data Races

Data races are a common problem in concurrent and multi-threaded programming. They are hard to detect without proper tool support. Despite the successful application of these tools, experience shows that the notion of data race is not powerful enough to capture certain types of inconsistencies occurring in practice. In this paper we investigate data races on a higher abstraction layer. This enables us to detect inconsistent uses of shared variables, even if no classical race condition occurs. For example, a data structure representing a coordinate pair may have to be treated atomically. By lifting the meaning of a data race to a higher level, such problems can now be covered. The paper defines the concepts view and view consistency to give a notation for this novel kind of property. It describes what kinds of errors can be detected with this new definition, and where its limitations are. It also gives a formal guideline for using data structures in a multi-threading environment.

Artho, Cyrille↗

NASA NTRS2003

Support of Multidimensional Parallelism in the OpenMP Programming Model

OpenMP is the current standard for shared-memory programming. While providing ease of parallel programming, the OpenMP programming model also has limitations which often effect the scalability of applications. Examples for these limitations are work distribution and point-to-point synchronization among threads. We propose extensions to the OpenMP programming model which allow the user to easily distribute the work in multiple dimensions and synchronize the workflow among the threads. The proposed extensions include four new constructs and the associated runtime library. They do not require changes to the source code and can be implemented based on the existing OpenMP standard. We illustrate the concept in a prototype translator and test with benchmark codes and a cloud modeling code.

Jin, Hao-Qiang↗

NASA NTRS2004

Solving Large Problems Quickly: Progress in 2001-2003

This document describes the progress we have made and the lessons we have learned in 2001 through 2003 under the NASA grant entitled "Solving Important Problems Faster". The long-term goal of this research is to accelerate large, irregular scientific applications which have enormous data sets and which are difficult to parallelize. To accomplish this goal, we are exploring two complementary techniques: (i) using compiler-inserted prefetching to automatically hide the I/O latency of accessing these large data sets from disk; and (ii) using thread-level data speculation to enable the optimistic parallelization of applications despite uncertainty as to whether data dependences exist between the resulting threads which would normally make them unsafe to execute in parallel. Overall, we made significant progress in 2001 through 2003, and the project has gone well.

Mowry, Todd C.↗

NASA NTRS2003

Optical and Probe Diagnostics Applied to Reacting Flows

The general theme of the research my NASA colleague and I have planned is "Optical and probe diagnostics applied to reacting flows". We plan to explore three major threads during the fellowship period. The first interrogates the flame synthesis of carbon nanotubes using aerosol catalysts. Having demonstrated the viability of the technique for nanotube synthesis, we seek to understand the details of this reacting system which are important to its practical application. Laser light scattering will reveal changes in particle size at various heights above the burner. Analysis of the flame gas by mass spectroscopy will reveal the chemical composition of the mixture. Finally, absorption measurements will map the nanotube concentration within the flow. The second thread explores soot oxidation kinetics. Despite the impact of soot on engine performance, fire safety and pollution, models for its oxidation are inhibited by uncertainty in the values of the oxidation rate. We plan to employ both optical and microscopic measurements to refine this rate. Cavity ring-down absorption measurements of the carbonaceous aerosol can provide a measure of the mass concentration with time and, hence, an oxidation rate. Spectroscopic and direct probe measurements will provide the temperature of the system needed for subsequent modeling. These data will be benchmarked against changes in soot nanostructures as revealed by transmission electron microscopic images from directly sampled material.

Ticich, Thomas M.↗

NASA NTRS2004

Solid Rocket Booster Hydraulic Pump Port Cap Joint Load Testing

The solid rocket booster uses hydraulic pumps fabricated from cast C355 aluminum alloy, with 17-4 PH stainless steel pump port caps. Corrosion-resistant steel, MS51830 CA204L self-locking screw thread inserts are installed into C355 pump housings, with A286 stainless steel fasteners installed into the insert to secure the pump port cap to the housing. In the past, pump port cap fasteners were installed to a torque of 33 Nm (300 in-lb). However, the structural analyses used a significantly higher nut factor than indicated during tests conducted by Boeing Space Systems. When the torque values were reassessed using Boeing's nut factor, the fastener preload had a factor of safety of less than 1, with potential for overloading the joint. This paper describes how behavior was determined for a preloaded joint with a steel bolt threaded into steel inserts in aluminum parts. Finite element models were compared with test results. For all initial bolt preloads, bolt loads increased as external applied loads increased. For higher initial bolt preloads, less load was transferred into the bolt, due to external applied loading. Lower torque limits were established for pump port cap fasteners and additional limits were placed on insert axial deformation under operating conditions after seating the insert with an initial preload.

Gamwell, W. R.↗

NASA NTRS2005

Homopolyrotaxanes and Homopolyrotaxane Networks of PEO

In order to identify the optimum size of macrocrown ether for threading, we first investigated the size and shape of simple crown ethers in the melt at 373 K, and their extent of threading with PEO in the melt using coarse-grained Monte Carlo simulations on the 2nnd (second nearest neighbor diamond) lattice, which is a high coordination lattice whose coarse-grained chains can be reverse mapped into fully atomistic models in continuous space.

Pugh, Coleen↗

NASA NTRS2005

Membrane Tension Control

An electrostrictive polymer actuator comprises an electrostrictive polymer with a tailorable Poisson's ratio. The electrostrictive polymer is electroded on its upper and lower surfaces and bonded to an upper material layer. The assembly is rolled tightly and capped at its ends. In a membrane structure having a membrane, a supporting frame and a plurality of threads connecting the membrane to the frame, an actuator can be integrated into one or more of the plurality of threads. The electrostrictive polymer actuator displaces along its longitudinal axis, thereby affecting movement of the membrane surface.

Ji Su↗

NASA NTRS2004

Web Growth Used to Confine Screw Dislocations to Predetermined Lateral Positions in 4H-SiC Epilayers

Silicon-carbide- (SiC-) based power devices could enable substantial aerospace electronics benefits over today's silicon-based electronics. However, present-day SiC wafers contain electrically harmful dislocations (including micropipes) that are unpredictably distributed in high densities across all commercial 4H- and 6H-SiC wafers. The NASA Glenn Research Center recently demonstrated a crystal growth process that moves SiC wafer dislocations to predetermined lateral positions in epitaxial layers so that they can be reproducibly avoided during subsequent SiC electronic device fabrication. The process starts by reactive ion etching mesa patterns with enclosed trench regions into commercial on-axis (0001) 4H- or 6H-SiC substrates. An example of a pregrowth mesa geometry with six enclosed triangular-shaped trench regions is shown. After the etch mask is stripped, homoepitaxial growth is carried out in pure stepflow conditions that enable thin cantilevers to grow laterally from the tops of mesas whose pregrowth top surfaces are not threaded by substrate screw dislocations. The image in the bottom figure shows the postgrowth structure that forms after the lateral cantilevers expand to coalesce and completely roof over each of the six triangular trench regions. Atomic force microscope (AFM) measurements of the roof revealed that three elementary screw dislocation growth spirals, each shown in the AFM insets of the bottom image on the previous page, formed in the film roof at three respective points of cantilever film coalescence. The image above shows the structure following an etch in molten potassium hydroxide (KOH) that produced surface etch pits at the dislocation defects. The larger KOH etch pits--S1, S2, and S3--shown in this image correspond to screw dislocations relocated to the final points of cantilever coalescence. The smaller KOH etch pits are consistent with epilayer threading edge dislocations from the pregrowth substrate mesa (P1, P3, and P4) and a final cantilever coalescence point (P2). No defects (i.e., no etch pits) are observed in other cantilevered portions of the film surface. On the basis of the principle of dislocation Burgers vector conservation, we hypothesize that all vertically propagating substrate dislocations in an enclosed trench region become combined into a single dislocation in the webbed film roof at the point of final roof coalescence. The point of final roof coalescence, and therefore the lateral location of a webbed roof dislocation, can be designed into the pregrowth mesa pattern. Screw dislocations with predetermined lateral positions can then be used to provide the new growth steps necessary for growing a 4H/6H-SiC epilayer with a lower dislocation density than the substrate. Devices fabricated on top of such films can be positioned to avoid the preplaced dislocations.

Powell, J. Anthony↗

NASA NTRS2005

Releasable Locking Mechanisms

In the aerospace field spacecraft components are held together by separation systems until a specific time when they must be separated or deployed. Customarily a threaded joining bolt engages one of the components to be joined, and a threaded nut is placed on that bolt against the other component so they can be drawn together by a releasable locking assembly. The releasable locking assembly herein includes a plunger having one end coupled to one end of a plunger bolt. The other end is flanged to abut and compress a coil spring when the plunger is advanced toward the interface plane between the two components. When the plunger is so advanced toward the interface plane, the end of the plunger bolt can be connected to the joining bolt. Thus during retraction the joining bolt is drawn to one side of the interface plane by the force of the expanding spring.

Rafiq Ahmed↗

NASA NTRS2005

Assume-Guarantee Testing

Verification techniques for component-based systems should ideally be able to predict properties of the assembled system through analysis of individual components before assembly. This work introduces such a modular technique in the context of testing. Assume-guarantee testing relies on the (automated) decomposition of key system-level requirements into local component requirements at design time. Developers can verify the local requirements by checking components in isolation; failed checks may indicate violations of system requirements, while valid traces from different components compose via the assume-guarantee proof rule to potentially provide system coverage. These local requirements also form the foundation of a technique for efficient predictive testing of assembled systems: given a correct system run, this technique can predict violations by alternative system runs without constructing those runs. We discuss the application of our approach to testing a multi-threaded NASA application, where we treat threads as components.

Blundell, Colin↗

NASA NTRS2006

Multidisciplinary Environments: A History of Engineering Framework Development

This paper traces the history of engineering frameworks and their use by Multidisciplinary Design Optimization (MDO) practitioners. The approach is to reference papers that have been presented at one of the ten previous Multidisciplinary Analysis and Optimization (MA&O) conferences. By limiting the search to MA&O papers, the authors can (1) identify the key ideas that led to general purpose MDO frameworks and (2) uncover roadblocks that delayed the development of these ideas. The authors make no attempt to assign credit for revolutionary ideas or to assign blame for missed opportunities. Rather, the goal is to trace the various threads of computer architecture and software framework research and to observe how these threads contributed to the commercial framework products available today.

Padula, Sharon L.↗

NASA NTRS2004

Removal of Perfluorinated Grease Components from NTO Oxidizer

Perfluorinated greases are typically used as a thread lubricant in the assembly of non-welded nitrogen tetroxide (NTO) oxidizer systems. These greases, typically a perfluoroalkylether, with suspended polytetrafluoroethylene (PTFE) micro-powder, have attractive lubricating properties toward threaded components and are relatively chemically inert toward NTO oxidizers. A major drawback, however, is that perfluoroalkylether greases are soluble or dispersible in NTO oxidizers and can contaminate the propellant. The result is propellant that fails the non-volatile residue (NVR) specification analyses and that may have negative effects on test hardware performance and lifetime. Consequently, removal of the grease contaminants from NTO may be highly desirable. Methods for the removal of perfluorinated grease components from NTO oxidizers including distillation, adsorption, filtration, and adjustment of temperature are investigated and reported in this work. Solubility or dispersibility data for the perfluoroalkylether oil (Krytox(tm)143 AC) component of a perfluorinated grease (Krytox 240 AC) and for Krytox 240 AC in NTO were determined and are reported.

McClure, Mark B.↗

NASA NTRS2004

Development of a State Machine Sequencer for the Keck Interferometer: Evolution, Development and Lessons Learned using a CASE Tool Approach

This paper presents a discussion of the evolution of a sequencer from a simple EPICS (Experimental Physics and Industrial Control System) based sequencer into a complex implementation designed utilizing UML (Unified Modeling Language) methodologies and a CASE (Computer Aided Software Engineering) tool approach. The main purpose of the sequencer (called the IF Sequencer) is to provide overall control of the Keck Interferometer to enable science operations be carried out by a single operator (and/or observer). The interferometer links the two 10m telescopes of the W. M. Keck Observatory at Mauna Kea, Hawaii. The IF Sequencer is a high-level, multi-threaded, Hare1 finite state machine, software program designed to orchestrate several lower-level hardware and software hard real time subsystems that must perform their work in a specific and sequential order. The sequencing need not be done in hard real-time. Each state machine thread commands either a high-speed real-time multiple mode embedded controller via CORB A, or slower controllers via EPICS Channel Access interfaces. The overall operation of the system is simplified by the automation. The UML is discussed and our use of it to implement the sequencer is presented. The decision to use the Rhapsody product as our CASE tool is explained and reflected upon. Most importantly, a section on lessons learned is presented and the difficulty of integrating CASE tool automatically generated C++ code into a large control system consisting of multiple infrastructures is presented.

interferometer↗

NASA NTRS1994

Dual load-path fastener

A fastener system is provided for securing a component to supporting structure. The fastener system comprises a pair of cooperating fastener modules. The first module includes a first stationary member attached to the supporting structure and a first bolt member threadedly engaged with the first stationary member. The second module includes a second stationary member also attached to the supporting structure and a second bolt member threadedly engaged with the second stationary member. The second bolt member also extends freely through a longitudinal bore in the first bolt member. Head members on the first and second head members are mutually engaged for their unitary rotation and the first head member engages the component. When the head members are rotated in one direction, they are advanced toward the supporting structure thereby drawing the component toward the supporting structure. Rotation in the opposite direction is effective to cause the head members to retract from the supporting structure and thereby separate the component from the supporting structure. With this construction, upon fracture either of the first fastener means at a location away from the first head member or of the second fastener means at a location away from the second head member, upon rotation of the first head member in the one direction, the first head member nevertheless continues to advance toward the supporting structure.

Driscoll, Timothy D.↗

NASA NTRS2001

Table-driven software architecture for a stitching system

Native code for a CNC stitching machine is generated by generating a geometry model of a preform; generating tool paths from the geometry model, the tool paths including stitching instructions for making stitches; and generating additional instructions indicating thickness values. The thickness values are obtained from a lookup table. When the stitching machine runs the native code, it accesses a lookup table to determine a thread tension value corresponding to the thickness value. The stitching machine accesses another lookup table to determine a thread path geometry value corresponding to the thickness value.

Thrash, Patrick J.↗

NASA NTRS2005

Releasable locking mechanisms

Ahmed, Rafiq↗