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In this hardware project, the students developed ideas for attaching objects to the surface of small moons or asteroids. A device was designed, and built in the university machine shop, that uses a projectile shot into concrete, thereby attaching a model spacecraft to the landing site.
Autonomous software holds the promise of new operation possibilities, easier design and development, and lower operating costs. However, as those system close control loops and arbitrate resources on-board with specialized reasoning, the range of possible situations becomes very large and uncontrollable from the outside, making conventional scenario-based testing very inefficient. Analytic verification and validation (V&V) techniques, and model checking in particular, can provide significant help for designing autonomous systems in a more efficient and reliable manner, by providing a better coverage and allowing early error detection. This article discusses the general issue of V&V of autonomy software, with an emphasis towards model-based autonomy, model-checking techniques, and concrete experiments at NASA.
Autonomous software holds the promise of new operation possibilities, easier design and development and lower operating costs. However, as those system close control loops and arbitrate resources on board with specialized reasoning, the range of possible situations becomes very large and uncontrollable from the outside, making conventional scenario-based testing very inefficient. Analytic verification and validation (V&V) techniques, and model checking in particular, can provide significant help for designing autonomous systems in a more efficient and reliable manner, by providing a better coverage and allowing early error detection. This article discusses the general issue of V&V of autonomy software, with an emphasis towards model-based autonomy, model-checking techniques and concrete experiments at NASA.
This paper describes the application of magnetically-soft ribbon-like sensors for measurement of temperature and stress, as well as corrosive monitoring, based upon changes in the amplitudes of the higher-order harmonics generated by the sensors in response to a magnetic interrogation signal. The sensors operate independently of mass loading, and so can be placed or rigidly embedded inside nonmetallic, opaque structures such as concrete or plastic. The passive harmonic-based sensor is remotely monitored through a single coplanar interrogation and detection coil. Effects due to the relative location of the sensor are eliminated by tracking harmonic amplitude ratios, thereby, enabling wide area monitoring. The wireless, passive, mass loading independent nature of the described sensor platform makes it ideally suited for long-term structural monitoring applications, such as measurement of temperature and stress inside concrete structures. A theoretical model is presented to explain the origin and behavior of the higher-order harmonics in response to temperature and stress. c2002 Elsevier Science B.V. All rights reserved.
In electro-neurophysiology, single-trial brain responses to a sensory stimulus or a motor act are commonly assumed to result from the linear superposition of a stereotypic event-related signal (e.g. the event-related potential or ERP) that is invariant across trials and some ongoing brain activity often referred to as noise. To extract the signal, one performs an ensemble average of the brain responses over many identical trials to attenuate the noise. To date, h s simple signal-plus-noise (SPN) model has been the dominant approach in cognitive neuroscience. Mounting empirical evidence has shown that the assumptions underlying this model may be overly simplistic. More realistic models have been proposed that account for the trial-to-trial variability of the event-related signal as well as the possibility of multiple differentially varying components within a given ERP waveform. The variable-signal-plus-noise (VSPN) model, which has been demonstrated to provide the foundation for separation and characterization of multiple differentially varying components, has the potential to provide a rich source of information for questions related to neural functions that complement the SPN model. Thus, being able to estimate the amplitude and latency of each ERP component on a trial-by-trial basis provides a critical link between the perceived benefits of the VSPN model and its many concrete applications. In this paper we describe a Bayesian approach to deal with this issue and the resulting strategy is referred to as the differentially Variable Component Analysis (dVCA). We compare the performance of dVCA on simulated data with Independent Component Analysis (ICA) and analyze neurobiological recordings from monkeys performing cognitive tasks.
We describe a method to automatically generate discrete-state models of abstract Plan Execution Interchange Language (PLEXIL) programs that can be analyzed using model checking tools. Starting from a high-level description of a PLEXIL program or a family of programs with common characteristics, the generator lays the framework that models the principles of program execution. The concrete parts of the program are not automatically generated, but require the modeler to introduce them by hand. As a case study, we generate models to verify properties of the PLEXIL macro constructs that are introduced as shorthand notation. After an exhaustive analysis, we conclude that the macro definitions obey the intended semantics and behave as expected, but contingently on a few specific requirements on the timing semantics of micro-steps in the concrete executive implementation.
Interactive mechanical theorem proving can provide high assurance of correct design, but it can also be a slow iterative process. Much time is spent determining why a proof of a conjecture is not forthcoming. In some cases, the conjecture is false and in others, the attempted proof is insufficient. In this case study, we use the SAL family of model checkers to generate a concrete counterexample to an unproven conjecture specified in the mechanical theorem prover, PVS. The focus of our case study is the ROBUS Interactive Consistency Protocol. We combine the use of a mechanical theorem prover and a model checker to expose a subtle flaw in the protocol that occurs under a particular scenario of faults and processor states. Uncovering the flaw allows us to mend the protocol and complete its general verification in PVS.
This is a progress report on applying formal methods in the context of building an automated diagnosis and recovery system for Autosub 6000, an Autonomous Underwater Vehicle (AUV). The diagnosis task involves building abstract models of the control system of the AUV. The diagnosis engine is based on Livingstone 2, a model-based diagnoser originally built for aerospace applications. Large parts of the diagnosis model can be built without concrete knowledge about each mission, but actual mission scripts and configuration parameters that carry important information for diagnosis are changed for every mission. Thus we use formal methods for generating the mission control part of the diagnosis model automatically from the mission script and perform a number of invariant checks to validate the configuration. After the diagnosis model is augmented with the generated mission control component model, it needs to be validated using verification techniques.
During the 1980s, a community of artificial intelligence researchers became interested in formalizing problem solving methods as part of an effort called "second generation expert systems" (2nd GES). How do the motivations and results of this research relate to building tools for the workplace today? We provide an historical review of how the theory of expertise has developed, a progress report on a tool for designing and implementing model-based automation (Brahms), and a concrete example how we apply 2nd GES concepts today in an agent-based system for space flight operations (OCAMS). Brahms incorporates an ontology for modeling work practices, what people are doing in the course of a day, characterized as "activities." OCAMS was developed using a simulation-to-implementation methodology, in which a prototype tool was embedded in a simulation of future work practices. OCAMS uses model-based methods to interactively plan its actions and keep track of the work to be done. The problem solving methods of practice are interactive, employing reasoning for and through action in the real world. Analogously, it is as if a medical expert system were charged not just with interpreting culture results, but actually interacting with a patient. Our perspective shifts from building a "problem solving" (expert) system to building an actor in the world. The reusable components in work system designs include entire "problem solvers" (e.g., a planning subsystem), interoperability frameworks, and workflow agents that use and revise models dynamically in a network of people and tools. Consequently, the research focus shifts so "problem solving methods" include ways of knowing that models do not fit the world, and ways of interacting with other agents and people to gain or verify information and (ultimately) adapt rules and procedures to resolve problematic situations.
My research involves detailed analysis of X-ray emission from Active Galactic Nuclei (AGN). For over a decade, the paradigm for AGN has rested soundly on the unified model hypothesis, which posits that the only difference between broad-line objects (e.g., Type 1 Seyfert galaxies) and narrow-line objects (e.g., Type 2 Seyferts) is that in the former case our line of sight evades toroidal obscuration surrounding the nucleus, while in the latter, our line of sight is blocked by the optically thick torus. It is well established that some Seyfert 2s contain Seyfert I nuclei (i.e., a hidden broad line region), but whether or not all Seyfert 2s contain obscured Seyfert 1 nuclei or whether some Seyfert 2s are intrinsically Seyfert 2s is not known. Optical, IR, and UV surveys are not appropriate to examine this hypothesis because such emissions are either anisotropic or subject to the effects of obscuration, and thus depend strongly on viewing angle. Hard X-rays, on the other hand, can penetrate gas with column densities as high as 10( exp 24.5) cm(-2) and thus provide reliable, direct probes of the cores of heavily obscured AGN. Combining NASA archival data from the Advanced Satellite of Cosmology and Astrophysics (ASCA), the Rossi X-ray Timing Explorer (RXTE), and Rosat, I am accumulating X-ray data between 0.1 and 60 keV to produce a catalog of the broad-band X-ray spectral properties of Seyfert galaxies. These data will be used to perform concrete tests of the unified model, and (compared with similar data on Starbursts) to examine a possible evolutionary connection between Seyfert and Starburst galaxies.
An algorithm is developed to construct the compliance matrix for a cracked solid in the integral-equation formulation of two-dimensional linear-elastic fracture mechanics. The integral equation is reduced to a system of algebraic equations for unknown values of the dislocation-density function at discrete points on the interval from -1 to 1, using the numerical procedure described by Gerasoulis (1982). Sample numerical results are presented, and it is suggested that the algorithm is especially useful in cases where iterative solutions are required; e.g., models of fiber-reinforced concrete, rocks, or ceramics where microcracking, fiber bridging, and other nonlinear effects are treated as nonlinear springs along the crack surfaces (Ballarini et al., 1984).
Efforts to design and operate hypersonic entry vehicles are constrained by many considerations that involve all aspects of an entry vehicle system. One of the more significant physical phenomenon that affect entry trajectory and thermal protection system design is the occurrence of boundary layer transition from a laminar to turbulent state. During the Space Shuttle Return To Flight activity following the loss of Columbia and her crew of seven, NASA's entry aerothermodynamics community implemented an engineering correlation based framework for the prediction of boundary layer transition on the Orbiter. The methodology for this implementation relies upon the framework of correlation techniques that have been in use for several decades. What makes the Orbiter boundary layer transition correlation implementation unique is that a statistically significant data set was acquired in multiple ground test facilities, flight data exists to assist in establishing a better correlation and the framework was founded upon state of the art chemical nonequilibrium Navier Stokes flow field simulations. The basic tenets that guided the formulation and implementation of the Orbiter Return To Flight boundary layer transition prediction capability will be reviewed as a recommended format for future empirical correlation efforts. The validity of this approach has since been demonstrated by very favorable comparison of recent entry flight testing performed with the Orbiter Discovery, which will be graphically summarized. These flight data can provide a means to validate discrete protuberance engineering correlation approaches as well as high fidelity prediction methods to higher confidence. The results of these Orbiter engineering and flight test activities only serve to reinforce the essential role that engineering correlations currently exercise in the design and operation of entry vehicles. The framework of information-related to the Orbiter empirical boundary layer transition prediction capability will be utilized to establish a fresh perspective on this role, to illustrate how quantitative statistical evaluations of empirical correlations can and should be used to assess accuracy and to discuss what the authors' perceive as a recent heightened interest in the application of high fidelity numerical modeling of boundary layer transition. Concrete results will also be developed related to empirical boundary layer transition onset correlations. This will include assessment of the discrete protuberance boundary layer transition onset data assembled for the Orbiter configuration during post-Columbia Return To Flight. Assessment of these data will conclude that momentum thickness Reynolds number based correlations have superior coefficients and uncertainty in comparison to roughness height based Reynolds numbers, aka Re(sub k) or Re(sub kk). In addition, linear regression results from roughness height Reynolds number based correlations will be evaluated, leading to a hypothesis that non-continuum effects play a role in the processes associated with incipient boundary layer transition on discrete protuberances.
The Forward-Looking Interferometer (FLI) is an airborne sensor concept for detection and estimation of potential atmospheric hazards to aircraft. The FLI concept is based on high-resolution Infrared Fourier Transform Spectrometry technologies that have been developed for satellite remote sensing. The FLI is being evaluated for its potential to address multiple hazards, during all phases of flight, including clear air turbulence, volcanic ash, wake vortices, low slant range visibility, dry wind shear, and icing. In addition, the FLI is being evaluated for its potential to detect hazardous runway conditions during landing, such as wet or icy asphalt or concrete. The validation of model-based instrument and hazard simulation results is accomplished by comparing predicted performance against empirical data. In the mountain lee wave data collected in the previous FLI project, the data showed a damped, periodic mountain wave structure. The wave data itself will be of use in forecast and nowcast turbulence products such as the Graphical Turbulence Guidance and Graphical Turbulence Guidance Nowcast products. Determining how turbulence hazard estimates can be derived from FLI measurements will require further investigation.
In this paper we present a formal model of asynchronous communication as a function in the Boyer-Moore logic. The function transforms the signal stream generated by one processor into the signal stream consumed by an independently clocked processor. This transformation 'blurs' edges and 'dilates' time due to differences in the phases and rates of the two clocks and the communications delay. The model can be used quantitatively to derive concrete performance bounds on asynchronous communications at ISO protocol level 1 (physical level). We develop part of the reusable formal theory that permits the convenient application of the model. We use the theory to show that a biphase mark protocol can be used to send messages of arbitrary length between two asynchronous processors. We study two versions of the protocol, a conventional one which uses cells of size 32 cycles and an unconventional one which uses cells of size 18. We conjecture that the protocol can be proved to work under our model for smaller cell sizes and more divergent clock rates but the proofs would be harder.
A nuclear reactor vessel is supported by a Z-ring and a box ring girder. The two proposed structural configurations to transmit the loads from the Z-ring and the box ring girder to the foundation are shown. The cantilever concrete ledge transmitting the load from the Z-ring and the box girder via the cavity wall to the foundation is shown, along with the loads being transmitted through one of the six steel columns. Both of these two supporting systems were analyzed by using rigid format 9 of NASTRAN for dynamic loads, and the thermal stresses were analyzed by AXISOL. The six column configuration was modeled by a combination of plate and bar elements, and the concrete cantilever ledge configuration was modeled by plate elements. Both configurations were found structurally satisfactory; however, nonstructural considerations favored the concrete cantilever ledge.
An experimental investigation has been made of some lunar-landing characteristics of a 1/6-scale dynamic model of a landing module having multiple-leg landing-gear systems. Symmetric four-point and five-point systems were investigated. The landing-gear legs were inverted tripod arrangements having a telescoping main strut which incorporated a yielding-metal strap for energy dissipation, hinged V-struts, and circular pads. The landing tests were made by launching a free model onto an impenetrable hard surface (concrete) and onto a powdered-pumice overlay of various depths. Landing motion and acceleration data were obtained for a range of touchdown speeds, touchdown attitudes, and landing-surface conditions. Maximum normal acceleration experienced at the module center of gravity during landings on hard surface or pumice was 2g (full-scale lunar value in terms of earth's gravity) over a wide range of touchdown conditions. acceleration experienced was 12 1/2 radians/sec(exp 2) and maximum longitudinal acceleration was 1 3/4g. The module was very stable with all gear configurations during landings on hard surface (coefficient of friction, micron = 0.4) at all conditions tested. Some overturn instability occurred during landings on powdered pumice (micron = 0.7 to 1.0) depending upon flight path, pitch and yaw attitude, depth of pumice, surface topography, and landing-gear configuration. The effect on stability of roll attitude for the limited amount of roll-attitude landing data obtained was insignificant. Compared with the four-point landing gear, the five-point system with equal maximum gear radius increased landing stability slightly and improved the static stability for subsequent lunar launch. A considerable increase in landing stability in the direction of motion was obtained with an asymmetric four-point gear having two pads offset to increase gear radius by 33 percent in the direction of horizontal flight.
In most identification problems, the possibility of identifying a model from the observation of input and output is approached by first assuming that the model is an exact representation of the process. Since models are only approximations to a real process, this paper presents a concrete way of taking into account the difference in structure between the model and the process it represents. The identifiability problem is reformulated on the basis of equivalence and near-equivalence between model and process. Necessary and sufficient conditions under which the differences between the outputs of the process and a model remains within a desired bound in the presence of modeling error are given. Necessary and sufficient conditions for the identifiability of parameters are presented.
An experimental investigation has been made of some lunar-landing characteristics of a 1/6-scale dynamic model of a landing module having multiple-leg landing-gear systems. Symmetric four-point and five-point systems and an asymmetric four-point system were investigated. The landing-gear legs were inverted tripod arrangements having a telescoping main strut which incorporated a yielding-metal strap for energy dissipation, hinged V-struts, and circular pads. The landing tests were made by launching a free model onto an impenetrable hard surface (concrete) and onto a powdered-pumice overlay of various depths. Landing motion and acceleration data were obtained for a range of touchdown speeds, touchdown speeds, touch attitudes, and landing-surface conditions. Symmetric four-point and five-point systems and an Maximum normal acceleration experienced at the module center of gravity during landings on hard surface or pumice was 2g (full-scale lunar value in terms of earth's gravity) over a wide range of touchdown conditions. Maximum angular acceleration experienced was 12-1/2 radians/sec(exp 2) and maximum longitudinal acceleration was 1-3/4 g. The module was very stable with all gear configurations during landings on hard surface (coefficient of friction, microns=0.4) at all conditions tested. Some overturn instability occurred during landings on powdered pumice (microns=0.7 to 1.0) depending upon flight path, pitch and yaw attitude, depth of pumice, surface topography, and landing-gear configuration. The effect of stability of roll attitude for the limited amount of roll-attitude landing data obtained was insignificant. Compared with the four-point system, the five-point system with equal maximum gear radius increased landing stability slightly and improved the static stability for subsequent lunar launch. A considerable increase in landing stability in the direction of motion was obtained with an asymmetric four-point gear having two pads offset to increase gear radius by 33 percent in the direction of horizontal flight.