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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.

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At least 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗
NASA NTRS1993

Cost and schedule estimation study report

This report describes the analysis performed and the findings of a study of the software development cost and schedule estimation models used by the Flight Dynamics Division (FDD), Goddard Space Flight Center. The study analyzes typical FDD projects, focusing primarily on those developed since 1982. The study reconfirms the standard SEL effort estimation model that is based on size adjusted for reuse; however, guidelines for the productivity and growth parameters in the baseline effort model have been updated. The study also produced a schedule prediction model based on empirical data that varies depending on application type. Models for the distribution of effort and schedule by life-cycle phase are also presented. Finally, this report explains how to use these models to plan SEL projects.

Condon, Steve↗
NASA NTRS1985

Software productivity improvement through software engineering technology

It has been estimated that NASA expends anywhere from 6 to 10 percent of its annual budget on the acquisition, implementation and maintenance of computer software. Although researchers have produced numerous software engineering approaches over the past 5-10 years; each claiming to be more effective than the other, there is very limited quantitative information verifying the measurable impact htat any of these technologies may have in a production environment. At NASA/GSFC, an extended research effort aimed at identifying and measuring software techniques that favorably impact productivity of software development, has been active over the past 8 years. Specific, measurable, software development technologies have been applied and measured in a production environment. Resulting software development approaches have been shown to be effective in both improving quality as well as productivity in this one environment.

Mcgarry, F. E.↗
NASA NTRS2007

System for Estimating Horizontal Velocity During Descent

The descent image motion estimation system (DIMES) is a system of hardware and software, designed for original use in estimating the horizontal velocity of a spacecraft descending toward a landing on Mars. The estimated horizontal velocity is used in generating rocket-firing commands to reduce the horizontal velocity as part of an overall control scheme to minimize the landing impact. DIMES can also be used for estimating the horizontal velocity of a remotely controlled or autonomous aircraft for purposes of navigation and control.

Johnson, Andrew↗
NASA NTRS1994

Grasping objects autonomously in simulated KC-135 zero-g

The KC-135 aircraft was chosen for simulated zero gravity testing of the Extravehicular Activity Helper/retriever (EVAHR). A software simulation of the EVAHR hardware, KC-135 flight dynamics, collision detection and grasp inpact dynamics has been developed to integrate and test the EVAHR software prior to flight testing on the KC-135. The EVAHR software will perform target pose estimation, tracking, and motion estimation for rigid, freely rotating, polyhedral objects. Manipulator grasp planning and trajectory control software has also been developed to grasp targets while avoiding collisions.

Norsworthy, Robert S.↗
DOE OSTI2019

Preliminary Routing for a National Laboratory Lab-Wide Commuting Program

There is a growing interest in reducing the amount of vehicle miles traveled (VMT), both in public and private sector organizations, in an effort to reduce overall carbon emissions. The Oak Ridge National Laboratory (ORNL), located in Oak Ridge, Tennessee, and located within close proximity to Knoxville, Tennessee, has more than 4,500 employees, most of which live in and around Knoxville. ORNL is currently developing a pilot commuting program for all employees, which incorporates the use of park-and-ride facilities. This study outlines the methodology behind the preliminary geoanalysis and routing used in developing a lab-wide commuting program. Due to privacy concerns, the data used for the study included numbers of employee residences per zip code rather than actual residential addresses. Commuting configurations by clustered zip code area and vehicle type were developed based on number of residences in a limited area, and the desire to minimize VMT. Central locations were selected using ArcGIS software. Satellite imagery was used to locate actual, suitable parking facilities to accommodate the specified number of residents involved in each commuting configuration. Optimized routing, and estimations of travel times, were performed using TransCAD GIS software. Energy estimates in kilowatt-hours (kwh) and gallons of gasoline, and gallons of gasoline equivalent, were all determined based on the scenarios. Standard petroleum-fueled vehicles were used in the initial estimates. Standard electric vehicles were also used in alternative scenarios to estimate potential additional energy and fuel savings. Furthermore the initial findings from this work will be used to develop a pilot program for ORNL.

99 GENERAL AND MISCELLANEOUS↗
NASA NTRS1991

A nonparametric software-reliability growth model

The authors (1985) previously introduced a nonparametric model for software-reliability growth which is based on complete monotonicity of the failure rate. The authors extend the completely monotone software model by developing a method for providing long-range predictions of reliability growth, based on the model. They derive upper and lower bounds on extrapolation of the failure rate and the mean function. These are then used to obtain estimates for the future software failure rate and the mean future number of failures. Preliminary evaluation indicates that the method is competitive with parametric approaches, while being more robust.

Sofer, Ariela↗
DOE OSTI2014

SU-E-I-25: Determining Tube Current, Tube Voltage and Pitch Suitable for Low- Dose Lung Screening CT

Purpose: The quality of a computed tomography (CT) image and the dose delivered during its acquisition depend upon the acquisition parameters used. Tube current, tube voltage, and pitch are acquisition parameters that potentially affect image quality and dose. This study investigated physicians' abilities to characterize small, solid nodules in low-dose CT images for combinations of current, voltage and pitch, for three CT scanner models. Methods: Lung CT images was acquired of a Data Spectrum anthropomorphic torso phantom with various combinations of pitch, tube current, and tube voltage; this phantom was used because acrylic beads of various sizes could be placed within the lung compartments to simulate nodules. The phantom was imaged on two 16-slice scanners and a 64-slice scanner. The acquisition parameters spanned a range of estimated CTDI levels; the CTDI estimates from the acquisition software were verified by measurement. Several experienced radiologists viewed the phantom lung CT images and noted nodule location, size and shape, as well as the acceptability of overall image quality. Results: Image quality for assessment of nodules was deemed unsatisfactory for all scanners at 80 kV (any tube current) and at 35 mA (any tube voltage). Tube current of 50 mA or more at 120 kV resulted in similar assessments from all three scanners. Physician-measured sphere diameters were closer to actual diameters for larger spheres, higher tube current, and higher kV. Pitch influenced size measurements less for larger spheres than for smaller spheres. CTDI was typically overestimated by the scanner software compared to measurement. Conclusion: Based on this survey of acquisition parameters, a low-dose CT protocol of 120 kV, 50 mA, and pitch of 1.4 is recommended to balance patient dose and acceptable image quality. For three models of scanners, this protocol resulted in estimated CTDIs from 2.9–3.6 mGy.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1994

The software analysis project for the Office of Human Resources

There were two major sections of the project for the Office of Human Resources (OHR). The first section was to conduct a planning study to analyze software use with the goal of recommending software purchases and determining whether the need exists for a file server. The second section was analysis and distribution planning for retirement planning computer program entitled VISION provided by NASA Headquarters. The software planning study was developed to help OHR analyze the current administrative desktop computing environment and make decisions regarding software acquisition and implementation. There were three major areas addressed by the study: current environment new software requirements, and strategies regarding the implementation of a server in the Office. To gather data on current environment, employees were surveyed and an inventory of computers were produced. The surveys were compiled and analyzed by the ASEE fellow with interpretation help by OHR staff. New software requirements represented a compilation and analysis of the surveyed requests of OHR personnel. Finally, the information on the use of a server represents research done by the ASEE fellow and analysis of survey data to determine software requirements for a server. This included selection of a methodology to estimate the number of copies of each software program required given current use and estimated growth. The report presents the results of the computing survey, a description of the current computing environment, recommenations for changes in the computing environment, current software needs, management advantages of using a server, and management considerations in the implementation of a server. In addition, detailed specifications were presented for the hardware and software recommendations to offer a complete picture to OHR management. The retirement planning computer program available to NASA employees will aid in long-range retirement planning. The intended audience is the NASA civil service employee with several years until retirement. The employee enters current salary and savings information as well as goals concerning salary at retirement, assumptions on inflation, and the return on investments. The program produces a picture of the employee's retirement income from all sources based on the assumptions entered. A session showing features of the program was conducted for key personnel at the Center. After analysis, it was decided to offer the program through the Learning Center starting in August 1994.

Tureman, Robert L., Jr.↗
NASA NTRS1993

Advanced Transport Operating System (ATOPS) Flight Management/Flight Controls (FM/FC) software description

The flight software developed for the Flight Management/Flight Controls (FM/FC) MicroVAX computer used on the Transport Systems Research Vehicle for Advanced Transport Operating Systems (ATOPS) research is described. The FM/FC software computes navigation position estimates, guidance commands, and those commands issued to the control surfaces to direct the aircraft in flight. Various modes of flight are provided for, ranging from computer assisted manual modes to fully automatic modes including automatic landing. A high-level system overview as well as a description of each software module comprising the system is provided. Digital systems diagrams are included for each major flight control component and selected flight management functions.

Wolverton, David A.↗
NASA NTRS2012

Constructing a Database from Multiple 2D Images for Camera Pose Estimation and Robot Localization

The LMDB (Landmark Database) Builder software identifies persistent image features (landmarks) in a scene viewed multiple times and precisely estimates the landmarks 3D world positions. The software receives as input multiple 2D images of approximately the same scene, along with an initial guess of the camera poses for each image, and a table of features matched pair-wise in each frame. LMDB Builder aggregates landmarks across an arbitrarily large collection of frames with matched features. Range data from stereo vision processing can also be passed to improve the initial guess of the 3D point estimates. The LMDB Builder aggregates feature lists across all frames, manages the process to promote selected features to landmarks, and iteratively calculates the 3D landmark positions using the current camera pose estimations (via an optimal ray projection method), and then improves the camera pose estimates using the 3D landmark positions. Finally, it extracts image patches for each landmark from auto-selected key frames and constructs the landmark database. The landmark database can then be used to estimate future camera poses (and therefore localize a robotic vehicle that may be carrying the cameras) by matching current imagery to landmark database image patches and using the known 3D landmark positions to estimate the current pose.

Wolf, Michael↗
NASA NTRS2012

A Change Impact Analysis to Characterize Evolving Program Behaviors

Change impact analysis techniques estimate the potential effects of changes made to software. Directed Incremental Symbolic Execution (DiSE) is an intraprocedural technique for characterizing the impact of software changes on program behaviors. DiSE first estimates the impact of the changes on the source code using program slicing techniques, and then uses the impact sets to guide symbolic execution to generate path conditions that characterize impacted program behaviors. DiSE, however, cannot reason about the flow of impact between methods and will fail to generate path conditions for certain impacted program behaviors. In this work, we present iDiSE, an extension to DiSE that performs an interprocedural analysis. iDiSE combines static and dynamic calling context information to efficiently generate impacted program behaviors across calling contexts. Information about impacted program behaviors is useful for testing, verification, and debugging of evolving programs. We present a case-study of our implementation of the iDiSE algorithm to demonstrate its efficiency at computing impacted program behaviors. Traditional notions of coverage are insufficient for characterizing the testing efforts used to validate evolving program behaviors because they do not take into account the impact of changes to the code. In this work we present novel definitions of impacted coverage metrics that are useful for evaluating the testing effort required to test evolving programs. We then describe how the notions of impacted coverage can be used to configure techniques such as DiSE and iDiSE in order to support regression testing related tasks. We also discuss how DiSE and iDiSE can be configured for debugging finding the root cause of errors introduced by changes made to the code. In our empirical evaluation we demonstrate that the configurations of DiSE and iDiSE can be used to support various software maintenance tasks

Rungta, Neha Shyam↗
DOE OSTI2024

Numerical Simulation of Light to Heat Conversion by Plasmonic Nanoheaters

Plasmonic nanoparticles are widely recognized as photothermal conversion agents, i.e., nanotransducers or nanoheaters. Translation of these materials into practical applications requires quantitative analyses of their photothermal conversion efficiencies (η). However, the value of η obtained for different materials is dramatically influenced by the experimental setup and method of calculation. Here, we evaluate the most common methods for estimating η (Roper’s and Wang’s) and compare these with numerical estimates using the simulation software ANSYS. Experiments were performed with colloidal gold nanorod solutions suspended in a hanging droplet irradiated by an 808 nm diode laser and monitored by a thermal camera. The ANSYS simulations accounted for both heating and evaporation, providing η values consistent with the Wang method but higher than the Roper approach. This study details methods for estimating the photothermal efficiency and finds ANSYS to be a robust tool where experimental constraints complicate traditional methods.

77 NANOSCIENCE AND NANOTECHNOLOGY↗
NASA NTRS1990

Improving software quality - The use of formal inspections at the Jet Propulsion Laboratory

The introduction of software formal inspections (Fagan Inspections) at JPL for finding and fixing defects early in the software development life cycle are reviewed. It is estimated that, by the year 2000, some software efforts will rise to as much as 80 percent of the total. Software problems are especially important at NASA as critical flight software must be error-free. It is shown that formal inspections are particularly effective at finding and removing defects having to do with clarity, correctness, consistency, and completeness. A very significant discovery was that code audits were not as effective at finding defects as code inspections.

Bush, Marilyn↗
NASA NTRS1991

Development of a calibrated software reliability model for flight and supporting ground software for avionic systems

The object of this project was to develop and calibrate quantitative models for predicting the quality of software. Reliable flight and supporting ground software is a highly important factor in the successful operation of the space shuttle program. The models used in the present study consisted of SMERFS (Statistical Modeling and Estimation of Reliability Functions for Software). There are ten models in SMERFS. For a first run, the results obtained in modeling the cumulative number of failures versus execution time showed fairly good results for our data. Plots of cumulative software failures versus calendar weeks were made and the model results were compared with the historical data on the same graph. If the model agrees with actual historical behavior for a set of data then there is confidence in future predictions for this data. Considering the quality of the data, the models have given some significant results, even at this early stage. With better care in data collection, data analysis, recording of the fixing of failures and CPU execution times, the models should prove extremely helpful in making predictions regarding the future pattern of failures, including an estimate of the number of errors remaining in the software and the additional testing time required for the software quality to reach acceptable levels. It appears that there is no one 'best' model for all cases. It is for this reason that the aim of this project was to test several models. One of the recommendations resulting from this study is that great care must be taken in the collection of data. When using a model, the data should satisfy the model assumptions.

Lawrence, Stella↗
DOE OSTI2023

Quantum Application Specifications and Benchmarks

This software describes computational tasks for quantum computers that are derived from LANL basic science research applications such as the modeling of materials, chemicals and compounds at atomic scales. The computations focus on quantum simulation tasks, such as quantum dynamics, thermal state preparation and ground state estimation. The primary function of the software is to develop estimates of the requirements for large-scale fault-tolerant quantum computers to solve these scientific computations. The secondary focus of the software are codes for assessing the limitations of conducting quantum computations on classical computers.

Coffrin, Carleton↗
NASA NTRS2000

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

We have developed and tested a software algorithm that enables onboard autonomous motion estimation near small bodies using descent camera imagery and laser altimetry. Through simulation and testing, we have shown that visual feature tracking can decrease uncertainty in spacecraft motion to a level that makes landing on small, irregularly shaped, bodies feasible. Possible future work will include qualification of the algorithm as a flight experiment for the Deep Space 4/Champollion comet lander mission currently under study at the Jet Propulsion Laboratory.

Johnson, Andrew Edie↗