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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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NASA NTRS1998

Second International Workshop on Software Engineering and Code Design in Parallel Meteorological and Oceanographic Applications

This report contains the abstracts and technical papers from the Second International Workshop on Software Engineering and Code Design in Parallel Meteorological and Oceanographic Applications, held June 15-18, 1998, in Scottsdale, Arizona. The purpose of the workshop is to bring together software developers in meteorology and oceanography to discuss software engineering and code design issues for parallel architectures, including Massively Parallel Processors (MPP's), Parallel Vector Processors (PVP's), Symmetric Multi-Processors (SMP's), Distributed Shared Memory (DSM) multi-processors, and clusters. Issues to be discussed include: (1) code architectures for current parallel models, including basic data structures, storage allocation, variable naming conventions, coding rules and styles, i/o and pre/post-processing of data; (2) designing modular code; (3) load balancing and domain decomposition; (4) techniques that exploit parallelism efficiently yet hide the machine-related details from the programmer; (5) tools for making the programmer more productive; and (6) the proliferation of programming models (F--, OpenMP, MPI, and HPF).

OKeefe, Matthew↗
NASA NTRS1998

Integration of the Remote Agent for the NASA Deep Space One Autonomy Experiment

This paper describes the integration of the Remote Agent (RA), a spacecraft autonomy system which is scheduled to control the Deep Space 1 spacecraft during a flight experiment in 1999. The RA is a reusable, model-based autonomy system that is quite different from software typically used to control an aerospace system. We describe the integration challenges we faced, how we addressed them, and the lessons learned. We focus on those aspects of integrating the RA that were either easier or more difficult than integrating a more traditional large software application because the RA is a model-based autonomous system. A number of characteristics of the RA made integration process easier. One example is the model-based nature of RA. Since the RA is model-based, most of its behavior is not hard coded into procedural program code. Instead, engineers specify high level models of the spacecraft's components from which the Remote Agent automatically derives correct system-wide behavior on the fly. This high level, modular, and declarative software description allowed some interfaces between RA components and between RA and the flight software to be automatically generated and tested for completeness against the Remote Agent's models. In addition, the Remote Agent's model-based diagnosis system automatically diagnoses when the RA models are not consistent with the behavior of the spacecraft. In flight, this feature is used to diagnose failures in the spacecraft hardware. During integration, it proved valuable in finding problems in the spacecraft simulator or flight software. In addition, when modifications are made to the spacecraft hardware or flight software, the RA models are easily changed because they only capture a description of the spacecraft. one does not have to maintain procedural code that implements the correct behavior for every expected situation. On the other hand, several features of the RA made it more difficult to integrate than typical flight software. For example, the definition of correct behavior is more difficult to specify for a system that is expected to reason about and flexibly react to its environment than for a traditional flight software system. Consequently, whenever a change is made to the RA it is more time consuming to determine if the resulting behavior is correct. We conclude the paper with a discussion of future work on the Remote Agent as well as recommendations to ease integration of similar autonomy projects.

Dorais, Gregory A.↗
NASA NTRS2006

The Goddard Snow Radiance Assimilation Project: An Integrated Snow Radiance and Snow Physics Modeling Framework for Snow/cold Land Surface Modeling

Microwave-based retrievals of snow parameters from satellite observations have a long heritage and have so far been generated primarily by regression-based empirical "inversion" methods based on snapshots in time. Direct assimilation of microwave radiance into physical land surface models can be used to avoid errors associated with such retrieval/inversion methods, instead utilizing more straightforward forward models and temporal information. This approach has been used for years for atmospheric parameters by the operational weather forecasting community with great success. Recent developments in forward radiative transfer modeling, physical land surface modeling, and land data assimilation are converging to allow the assembly of an integrated framework for snow/cold lands modeling and radiance assimilation. The objective of the Goddard snow radiance assimilation project is to develop such a framework and explore its capabilities. The key elements of this framework include: a forward radiative transfer model (FRTM) for snow, a snowpack physical model, a land surface water/energy cycle model, and a data assimilation scheme. In fact, multiple models are available for each element enabling optimization to match the needs of a particular study. Together these form a modular and flexible framework for self-consistent, physically-based remote sensing and water/energy cycle studies. In this paper we will describe the elements and the integration plan. All modules will operate within the framework of the Land Information System (LIS), a land surface modeling framework with data assimilation capabilities running on a parallel-node computing cluster. Capabilities for assimilation of snow retrieval products are already under development for LIS. We will describe plans to add radiance-based assimilation capabilities. Plans for validation activities using field measurements will also be discussed.

Kim, E.↗
NASA NTRS1993

A SIMULINK environment for flight dynamics and control analysis: Application to the DHC-2 Beaver. Part 1: Implementation of a model library in SIMULINK. Part 2: Nonlinear analysis of the Beaver autopilot

The design of advanced Automatic Aircraft Control Systems (AACS's) can be improved upon considerably if the designer can access all models and tools required for control system design and analysis through a graphical user-interface, from within one software environment. This MSc-thesis presents the first step in the development of such an environment, which is currently being done at the Section for Stability and Control of Delft University of Technology, Faculty of Aerospace Engineering. The environment is implemented within the commercially available software package MATLAB/SIMULINK. The report consists of two parts. Part I gives a detailed description of the AACS design environment. The heart of this environment is formed by the SIMULINK implementation of a nonlinear aircraft model in block-diagram format. The model has been worked out for the old laboratory aircraft of the Faculty, the De Havilland DHC-2 'Beaver', but due to its modular structure, it can easily be adapted for other aircraft. Part I also describes MATLAB programs which can be applied for finding steady-state trimmed-flight conditions and for linearization of the aircraft model, and it shows how the built-in simulation routines of SIMULINK have been used for open-loop analysis of the aircraft dynamics. Apart from the implementation of the models and tools, a thorough treatment of the theoretical backgrounds is presented. Part II of this report presents a part of an autopilot design process for the 'Beaver' aircraft, which clearly demonstrates the power and flexibility of the AACS design environment from part I. Evaluations of all longitudinal and lateral control laws by means of nonlinear simulations are treated in detail. The AACS design environment from part I proved to be a very useful tool for designing the control laws of the 'Beaver' autopilot within a very tight time-schedule. The autopilot design process itself will be used as a guideline for future AACS research at the Faculty of Aerospace Engineering. Flight tests of the 'Beaver' autopilot, done after evaluating the control laws in the SIMULINK package, proved to be quite successful. In the future, the AACS design package will evolve into a standardized, integrated design environment which can be applied to virtually any type of aircraft. The AACS design cycle will be shortened further by developing tools for automatically porting control laws from the MATLAB/SIMULINK environment to a piloted real-time flight simulator and the Flight Control Computers of the aircraft.

Flight Control System Design↗
NASA NTRS2004

Development of Improved Models, Stochasticity, and Frameworks for the MIT Extensible Air Network Simulation

MEANS, the MIT Extensible Air Network Simulation, was created in February of 2001, and has been developed with support from NASA Ames since August of 2001. MEANS is a simulation tool which is designed to maximize fidelity without requiring data of such a low level as to preclude easy examination of alternative scenarios. To this end, MEANS is structured in a modular fashion to allow more detailed components to be brought in when desired, and left out when they would only be an impediment. Traditionally, one of the difficulties with high-fidelity models is that they require a level of detail in their data that is difficult to obtain. For analysis of past scenarios, the required data may not have been collected, or may be considered proprietary and thus difficult for independent researchers to obtain. For hypothetical scenarios, generation of the data is sufficiently difficult to be a task in and of itself. Often, simulations designed by a researcher will model exactly one element of the problem well and in detail, while assuming away other parts of the problem which are not of interest or for which data is not available. While these models are useful for working with the task at hand, they are very often not applicable to future problems. The MEAN Simulation attempts to address these problems by using a modular design which provides components of varying fidelity for each aspect of the simulation. This allows for the most accurate model for which data is available to be used. It also provides for easy analysis of sensitivity to data accuracy. This can be particularly useful in the case where accurate data is available for some subset of the situations that are to be considered. Furthermore, the ability to use the same model while examining effects on different parts of a system reduces the time spent learning the simulation, and provides for easier comparisons between changes to different parts of the system.

Clarke, John-Paul↗
NASA NTRS1984

Practical considerations in aeroelastic design

The structural design process for large transport aircraft is described. Critical loads must be determined from a large number of load cases within the flight maneuver envelope. The structural design is also constrained by considerations of producibility, reliability, maintainability, durability, and damage tolerance, as well as impact dynamics and multiple constraints due to flutter and aeroelasticity. Aircraft aeroelastic design considerations in three distinct areas of product development (preliminary design, advanced design, and detailed design) are presented and contrasted. The present state of the art is challenged to solve the practical difficulties associated with design, analysis, and redesign within cost and schedule constraints. The current practice consists of largely independent engineering disciplines operating with unorganized data interfaces. The need is then demonstrated for a well-planned computerized aeroelastic structural design optimization system operating with a common interdisciplinary data base. This system must incorporate automated interfaces between modular programs. In each phase of the design process, a common finite-element model for static and dynamic optimization is required to reduce errors due to modeling discrepancies. As the design proceeds from the simple models in preliminary design to the more complex models in advanced and detailed design, a means of retrieving design data from the previous models must be established.

Rommel, B. A.↗
NASA NTRS1989

Space biology initiative program definition review. Trade study 1: Automation costs versus crew utilization

A significant emphasis upon automation within the Space Biology Initiative hardware appears justified in order to conserve crew labor and crew training effort. Two generic forms of automation were identified: automation of data and information handling and decision making, and the automation of material handling, transfer, and processing. The use of automatic data acquisition, expert systems, robots, and machine vision will increase the volume of experiments and quality of results. The automation described may also influence efforts to miniaturize and modularize the large array of SBI hardware identified to date. The cost and benefit model developed appears to be a useful guideline for SBI equipment specifiers and designers. Additional refinements would enhance the validity of the model. Two NASA automation pilot programs, 'The Principal Investigator in a Box' and 'Rack Mounted Robots' were investigated and found to be quite appropriate for adaptation to the SBI program. There are other in-house NASA efforts that provide technology that may be appropriate for the SBI program. Important data is believed to exist in advanced medical labs throughout the U.S., Japan, and Europe. The information and data processing in medical analysis equipment is highly automated and future trends reveal continued progress in this area. However, automation of material handling and processing has progressed in a limited manner because the medical labs are not affected by the power and space constraints that Space Station medical equipment is faced with. Therefore, NASA's major emphasis in automation will require a lead effort in the automation of material handling to achieve optimal crew utilization.

Jackson, L. Neal↗
NASA NTRS1994

SEQ-POINTER: Next generation, planetary spacecraft remote sensing science observation design tool

Since Mariner, NASA-JPL planetary missions have been supported by ground software to plan and design remote sensing science observations. The software used by the science and sequence designers to plan and design observations has evolved with mission and technological advances. The original program, PEGASIS (Mariners 4, 6, and 7), was re-engineered as POGASIS (Mariner 9, Viking, and Mariner 10), and again later as POINTER (Voyager and Galileo). Each of these programs were developed under technological, political, and fiscal constraints which limited their adaptability to other missions and spacecraft designs. Implementation of a multi-mission tool, SEQ POINTER, under the auspices of the JPL Multimission Operations Systems Office (MOSO) is in progress. This version has been designed to address the limitations experienced on previous versions as they were being adapted to a new mission and spacecraft. The tool has been modularly designed with subroutine interface structures to support interchangeable celestial body and spacecraft definition models. The computational and graphics modules have also been designed to interface with data collected from previous spacecraft, or on-going observations, which describe the surface of each target body. These enhancements make SEQ POINTER a candidate for low-cost mission usage, when a remote sensing science observation design capability is required. The current and planned capabilities of the tool will be discussed. The presentation will also include a 5-10 minute video presentation demonstrating the capabilities of a proto-Cassini Project version that was adapted to test the tool. The work described in this abstract was performed by the Jet Propulsion Laboratory, California Institute of Technology, under contract to the National Aeronautics and Space Administration.

Boyer, Jeffrey S.↗
NASA NTRS2005

Large Engine Technology Program. Task 22: Variable Geometry Concepts for Rich-Quench-Lean Combustors

The objective of the task reported herein was to define, evaluate, and optimize variable geometry concepts suitable for use with a Rich-Quench-Lean (RQL) combustor. The specific intent was to identify approaches that would satisfy High Speed Civil Transport (HSCT) cycle operational requirements with regard to fuel-air ratio turndown capability, ignition, and stability margin without compromising the stringent emissions, performance, and reliability goals that this combustor would have to achieve. Four potential configurations were identified and three of these were refined and tested in a high-pressure modular RQL combustor rig. The tools used in the evolution of these concepts included models built with rapid fabrication techniques that were tested for airflow characteristics to confirm sizing and airflow management capability, spray patternation, and atomization characterization tests of these models and studies that were supported by Computational Fluid Dynamics analyses. Combustion tests were performed with each of the concepts at supersonic cruise conditions and at other critical conditions in the flight envelope, including the transition points of the variable geometry system, to identify performance, emissions, and operability impacts. Based upon the cold flow characterization, emissions results, acoustic behavior observed during the tests and consideration of mechanical, reliability, and implementation issues, the tri-swirler configuration was selected as the best variable geometry concept for incorporation in the RQL combustor evolution efforts for the HSCT.

Tacina, Robert R.↗
NASA NTRS1994

(abstract) SEQ_POINTER: Next Generation, Planetary Spacecraft Remote Sensing Science Observation Design Tool

Implementation of a multimission tool, SEQ_POINTER, under the auspices of the JPL Multimission Operations Systems Office (MOSO) is in progress. This version has been designed to address the limitations experienced on previous versions when being adopted to a new mission and spacecraft. The tool has been modularly designed with subroutine interface structures to support interchangeable celestial body and spacecraft definition models. The computational and graphics modules have also been designed to interface with data collected from previous spacecraft, or on-going observations, which describe the surface of each target body. These enhancements make SEQ_POINTER a candidate for low-cost mission usage, when a remote sensing science observation design capability is required.

remote↗
NASA NTRS2019

Electra: A Modular-Based Expansion of NASA's Supercomputing Capability

NASA has increasingly relied on high-performance computing (HPC) re- sources for computational modeling, simulation, and data analysis to meet the science and engineering goals of its missions in space exploration, aeronautics, and Earth and space science. The NASA Advanced Supercomputing (NAS) Division at Ames Research Center in Silicon Valley, Calif., hosts NASA’s premier supercomputing resources, integral to achieving and enhancing the success of the agency’s missions. NAS provides a balanced environment, funded under the High-End Computing Capability (HECC) project, comprised of world-class supercomputers, including its flagship distributed-memory cluster, Pleiades; high-speed networking; and massive data storage facilities, along with multi-disciplinary support teams for user support, code porting and optimization, and large-scale data analysis and scientific visualization. However, as scientists have increased the fidelity of their simulations and engineers are conducting larger parameter-space studies, the requirements for supercomputing resources have been growing by leaps and bounds. With the facility housing the HECC systems reaching its power and cooling capacity, NAS undertook a prototype project to investigate an alternative approach for housing supercomputers. Modular supercomputing, or container-based computing, is an innovative concept for expanding NASA’s HPC capabilities. With modular supercomputing, additional containers—similar to portable storage pods—can be connected together as needed to accommodate the agency’s ever-increasing demand for computing resources. In addition, taking advantage of the local weather permits the use of cooling technologies that would additionally save energy and reduce annual water usage. The first stage of NASA’s Modular Supercomputing Facility (MSF) prototype, which resulted in a 1,000 square-foot module on a concrete pad with room for 16 compute racks, was completed in Fall 2016 and an SGI (now HPE) computer system, named Electra, was deployed there in early 2017. Cooling is performed via an evaporative system built into the module, and preliminary experience shows a Power Usage Effectiveness (PUE) measurement of 1.03. Electra achieved over a petaflop on the LINPACK benchmark, sufficient to rank number 96 on the November 2016 TOP500 list [14]. The system consists of 1,152 InfiniBand-connected Intel Xeon Broadwell-based nodes. Its users access their files on a facility-wide file system shared by all HECC compute assets via Mellanox MetroX InfiniBand extenders, which connect the Electra fabric to Lustre routers in the primary facility over fiber-optic links about 900 feet long. The MSF prototype has exceeded expectations and is serving as a blueprint for future expansions. In the remainder of this chapter, we detail how modular data center technology can be used to expand an existing compute resource. We begin by describing NASA’s requirements for supercomputing and how resources were provided prior to the integration of the Electra module-based system.

Biswas, Rupak↗
NASA NTRS2015

EM Modeling of Far-Field Radiation Patterns for Antennas on the GMA-TT UAV

To optimize communication with the Generic Modular Aircraft T-Tail (GMA-TT) unmanned aerial vehicle (UAV), electromagnetic (EM) simulations have been performed to predict the performance of two antenna types on the aircraft. Simulated far-field radiation patterns tell the amount of power radiated by the antennas and the aircraft together, taking into account blockage by the aircraft as well as radiation by conducting and dielectric portions of the aircraft. With a knowledge of the polarization and distance of the two communicating antennas, e.g. one on the UAV and one on the ground, and the transmitted signal strength, a calculation may be performed to find the strength of the signal travelling from one antenna to the other and to check that the transmitted signal meets the receiver system requirements for the designated range. In order to do this, the antenna frequency and polarization must be known for each antenna, in addition to its design and location. The permittivity, permeability, and geometry of the UAV components must also be known. The full-wave method of moments solution produces the appropriate dBi radiation pattern in which the received signal strength is calculated relative to that of an isotropic radiator.

Mackenzie, Anne I.↗
NASA NTRSDate not supplied

Developing a Multi-Lingual Autocoding Interface for the MAVERIC-II Dynamics Simulator

Simulation model development in certain high-level languages such as Python, MATLAB, or Simulink are unparalleled by their convenience and rapid turnover time. However, legacy simulation engines often depend on more traditional languages such as FORTRAN or C/C++. The NASA Marshall Aerospace Vehicle Representation in C version II (MAVERIC-II) is a modular, legacy-derived computer program used for high-fidelity, 6 degree-of-freedom (6dof) simulation for aerospace vehicle flights and analyses of guidance and control performance with built-in mathematical modeling of environmental effects such as wind, atmosphere, and gravity as well as dispersion capability for Monte Carlo analysis. MAVERIC-II is modular in the sense that each component software element of the simulation engine may be supplanted for a higher or lower fidelity version. The design flow of the development of these models is often performed in high-level languages as mentioned previously, which must then be translated into C or C++ code to be integrated into MAVERIC-II. We propose a unified method of autocoding and interfacing between several languages and MAVERIC-II, which may be generalized further to any type of 6dof simulation engine.

Mason Nixon↗
NASA NTRSDate not supplied

Developing a Multilingual Auto-coding Interface Control for the MAVERIC-II Dynamics Simulator

Simulation model development in certain high-level languages such as Python, MATLAB, or Simulink are unparalleled by their convenience and rapid turnover time. However, legacy simulation engines often depend on more traditional languages such as FORTRAN or C/C++. The NASA Marshall Aerospace Vehicle Representation in C version II (MAVERIC-II) is a modular, legacy-derived computer program used for high-fidelity, 6 degree-of-freedom (6DOF) simulation for aerospace vehicle flights and analyses of guidance and control performance with built-in mathematical modeling of environmental effects such as wind, atmosphere, and gravity as well as dispersion capability for Monte Carlo analysis. MAVERIC-II is modular in the sense that each component software element of the simulation engine may be supplanted for a higher or lower fidelity version. The design flow of the development of these models is often performed in high-level languages as mentioned previously, which must then be translated into C or C++ code to be integrated into MAVERIC-II. Using principles of model-based design, we propose a unified method of auto-coding and interfacing between several languages and MAVERIC-II, which may be generalized further to any type of 6DOF simulation engine.

Mason Nixon↗
NASA NTRS1998

Comments on the Diffusive Behavior of Two Upwind Schemes

The diffusive characteristics of two upwind schemes, multi-dimensional fluctuation splitting and locally one-dimensional finite volume, are compared for scalar advection-diffusion problems. Algorithms for the two schemes are developed for node-based data representation on median-dual meshes associated with unstructured triangulations in two spatial dimensions. Four model equations are considered: linear advection, non-linear advection, diffusion, and advection-diffusion. Modular coding is employed to isolate the effects of the two approaches for upwind flux evaluation, allowing for head-to-head accuracy and efficiency comparisons. Both the stability of compressive limiters and the amount of artificial diffusion generated by the schemes is found to be grid-orientation dependent, with the fluctuation splitting scheme producing less artificial diffusion than the finite volume scheme. Convergence rates are compared for the combined advection-diffusion problem, with a speedup of 2.5 seen for fluctuation splitting versus finite volume when solved on the same mesh. However, accurate solutions to problems with small diffusion coefficients can be achieved on coarser meshes using fluctuation splitting rather than finite volume, so that when comparing convergence rates to reach a given accuracy, fluctuation splitting shows a speedup of 29 over finite volume.

Wood, William A.↗
NASA NTRS1998

Diffusion Characteristics of Upwind Schemes on Unstructured Triangulations

The diffusive characteristics of two upwind schemes, multi-dimensional fluctuation splitting and dimensionally-split finite volume, are compared for scalar advection-diffusion problems. Algorithms for the two schemes are developed for node-based data representation on median-dual meshes associated with unstructured triangulations in two spatial dimensions. Four model equations are considered: linear advection, non-linear advection, diffusion, and advection-diffusion. Modular coding is employed to isolate the effects of the two approaches for upwind flux evaluation, allowing for head-to-head accuracy and efficiency comparisons. Both the stability of compressive limiters and the amount of artificial diffusion generated by the schemes is found to be grid-orientation dependent, with the fluctuation splitting scheme producing less artificial diffusion than the dimensionally-split finite volume scheme. Convergence rates are compared for the combined advection-diffusion problem, with a speedup of 2-3 seen for fluctuation splitting versus finite volume when solved on the same mesh. However, accurate solutions to problems with small diffusion coefficients can be achieved on coarser meshes using fluctuation splitting rather than finite volume, so that when comparing convergence rates to reach a given accuracy, fluctuation splitting shows a 20-25 speedup over finite volume.

Wood, William A.↗
NASA NTRS2013

Towards Real-time, On-board, Hardware-Supported Sensor and Software Health Management for Unmanned Aerial Systems

Unmanned aerial systems (UASs) can only be deployed if they can effectively complete their missions and respond to failures and uncertain environmental conditions while maintaining safety with respect to other aircraft as well as humans and property on the ground. In this paper, we design a real-time, on-board system health management (SHM) capability to continuously monitor sensors, software, and hardware components for detection and diagnosis of failures and violations of safety or performance rules during the flight of a UAS. Our approach to SHM is three-pronged, providing: (1) real-time monitoring of sensor and/or software signals; (2) signal analysis, preprocessing, and advanced on the- fly temporal and Bayesian probabilistic fault diagnosis; (3) an unobtrusive, lightweight, read-only, low-power realization using Field Programmable Gate Arrays (FPGAs) that avoids overburdening limited computing resources or costly re-certification of flight software due to instrumentation. Our implementation provides a novel approach of combining modular building blocks, integrating responsive runtime monitoring of temporal logic system safety requirements with model-based diagnosis and Bayesian network-based probabilistic analysis. We demonstrate this approach using actual data from the NASA Swift UAS, an experimental all-electric aircraft.

System & Software Health Management↗
NASA NTRS2015

Towards Real-Time, On-Board, Hardware-Supported Sensor and Software Health Management for Unmanned Aerial Systems

For unmanned aerial systems (UAS) to be successfully deployed and integrated within the national airspace, it is imperative that they possess the capability to effectively complete their missions without compromising the safety of other aircraft, as well as persons and property on the ground. This necessity creates a natural requirement for UAS that can respond to uncertain environmental conditions and emergent failures in real-time, with robustness and resilience close enough to those of manned systems. We introduce a system that meets this requirement with the design of a real-time onboard system health management (SHM) capability to continuously monitor sensors, software, and hardware components. This system can detect and diagnose failures and violations of safety or performance rules during the flight of a UAS. Our approach to SHM is three-pronged, providing: (1) real-time monitoring of sensor and software signals; (2) signal analysis, preprocessing, and advanced on-the-fly temporal and Bayesian probabilistic fault diagnosis; and (3) an unobtrusive, lightweight, read-only, low-power realization using Field Programmable Gate Arrays (FPGAs) that avoids overburdening limited computing resources or costly re-certification of flight software. We call this approach rt-R2U2, a name derived from its requirements. Our implementation provides a novel approach of combining modular building blocks, integrating responsive runtime monitoring of temporal logic system safety requirements with model-based diagnosis and Bayesian network-based probabilistic analysis. We demonstrate this approach using actual flight data from the NASA Swift UAS.

Unmanned Aerial System↗