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NASA NTRS1992

Designing minimal space telerobotics systems for maximum performance

The design of the remote site of a local-remote telerobot control system is described which addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The Modular Telerobot Task Execution System (MOTES) provides supervised autonomous control, shared control and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. The MOTES system is minimized while providing a large capability by limiting its functionality to only that which is necessary at the remote site and by utilizing a unified multi-sensor based impedance control scheme. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. The system is written in Ada and runs in a VME environment on 68020 processors and initially controls a Robotics Research K1207 7 degree of freedom manipulator.

Backes, Paul G.↗

NASA NTRS1991

Data storage and retrieval system

The Data Storage and Retrieval System (DSRS) consists of off-the-shelf system components integrated as a file server supporting very large files. These files are on the order of one gigabyte of data per file, although smaller files on the order of one megabyte can be accommodated as well. For instance, one gigabyte of data occupies approximately six 9 track tape reels (recorded at 6250 bpi). Due to this large volume of media, it was desirable to shrink the size of the proposed media to a single portable cassette. In addition to large size, a key requirement was that the data needs to be transferred to a (VME based) workstation at very high data rates. One gigabyte (GB) of data needed to be transferred from an archiveable media on a file server to a workstation in less than 5 minutes. Equivalent size, on-line data needed to be transferred in less than 3 minutes. These requirements imply effective transfer rates on the order of four to eight megabytes per second (4-8 MB/s). The DSRS also needed to be able to send and receive data from a variety of other sources accessible from an Ethernet local area network.

Nakamoto, Glen↗

NASA NTRS1992

Data storage and retrieval system

The Data Storage and Retrieval System (DSRS) consists of off-the-shelf system components integrated as a file server supporting very large files. These files are on the order of one gigabyte of data per file, although smaller files on the order of one megabyte can be accommodated as well. For instance, one gigabyte of data occupies approximately six 9-track tape reels (recorded at 6250 bpi). Due to this large volume of media, it was desirable to 'shrink' the size of the proposed media to a single portable cassette. In addition to large size, a key requirement was that the data needs to be transferred to a (VME based) workstation at very high data rates. One gigabyte (GB) of data needed to be transferred from an archiveable media on a file server to a workstation in less than 5 minutes. Equivalent size, on-line data needed to be transferred in less than 3 minutes. These requirements imply effective transfer rates on the order of four to eight megabytes per second (4-8 MB/s). The DSRS also needed to be able to send and receive data from a variety of other sources accessible from an Ethernet local area network.

Nakamoto, Glen↗

NASA NTRS1992

Data storage and retrieval system abstract

The STX mass storage system design is intended for environments requiring high speed access to large volumes of data (terabyte and greater). Prior to commitment to a product design plan, STX conducted an exhaustive study of the commercially available off-the-shelf hardware and software. STX also conducted research into the area of emerging technologies in networks and storage media so that the design could easily accommodate new interfaces and peripherals as they came on the market. All the selected system elements were brought together in a demo suite sponsored jointly by STX and ALLIANT where the system elements were evaluated based on actual operation using a client-server mirror image configuration. Testing was conducted to assess the various component overheads and results were compared against vendor data claims. The resultant system, while adequate to meet our capacity requirements, fell short of transfer speed expectations. A product team lead by STX was assembled and chartered with solving the bottleneck issues. Optimization efforts yielded a 60 percent improvement in throughput performance. The ALLIANT computer platform provided the I/O flexibility needed to accommodate a multitude of peripheral interfaces including the following: up to twelve 25MB/s VME I/O channels; up to five HiPPI I/O full duplex channels; IPI-s, SCSI, SMD, and RAID disk array support; standard networking software support for TCP/IP, NFS, and FTP; open architecture based on standard RISC processors; and V.4/POSIX-based operating system (Concentrix). All components including the software are modular in design and can be reconfigured as needs and system uses change. Users can begin with a small system and add modules as needed in the field. Most add-ons can be accomplished seamlessly without revision, recompilation or re-linking of software.

Matheson, Barbara↗

NASA NTRS1991

Architectures for intelligent machines

The theory of intelligent machines has been recently reformulated to incorporate new architectures that are using neural and Petri nets. The analytic functions of an intelligent machine are implemented by intelligent controls, using entropy as a measure. The resulting hierarchical control structure is based on the principle of increasing precision with decreasing intelligence. Each of the three levels of the intelligent control is using different architectures, in order to satisfy the requirements of the principle: the organization level is moduled after a Boltzmann machine for abstract reasoning, task planning and decision making; the coordination level is composed of a number of Petri net transducers supervised, for command exchange, by a dispatcher, which also serves as an interface to the organization level; the execution level, include the sensory, planning for navigation and control hardware which interacts one-to-one with the appropriate coordinators, while a VME bus provides a channel for database exchange among the several devices. This system is currently implemented on a robotic transporter, designed for space construction at the CIRSSE laboratories at the Rensselaer Polytechnic Institute. The progress of its development is reported.

Saridis, George N.↗

NASA NTRS1991

Performance of a disk array prototype

A prototype disk array's component-performance limits are examined using SCSI bus traces, Sprite operating system traces, and user programs. The array performs successfully for a workload of small, random I/O operations, achieving 275 I/Os per second on 14 disks before the Sun4/280 host becomes CPU-limited. The prototype is less successful in delivering high throughput for large, sequential operations. Memory system contention on the Sun4/280 host limits throughput to 2.3 MBytes/sec under the Sprite Operating System. Throughput is also limited by the bandwidth supported by the VME backplane, disk controller and disks, and overheads associated with the SCSI protocol. We conclude that merely using a powerful host CPU and many disks will not provide the full bandwidth possible from disk arrays. Host memory bandwidth and throughput of disk controllers are equally important. In addition, operating systems should avoid unnecessary copy and cache flush operations that can saturate the host memory system.

Chervenak, Ann L.↗

NASA NTRS1994

Computer Control For Gas/Tungsten-Arc Welding

Prototype computer-based feedback control system developed for use in gas/tungsten arc welding. Beyond improving welding technician's moment-to-moment general control of welding process, control system designed to assist technician in selecting appropriate welding-process parameters, and provide better automatic voltage control. Modular for ease of reconfiguration and upgrading. Modularity also reflected in software. Includes rack-mounted computer, based on VME bus, containing Intel 80286 and 80386 processors.

Andersen, Kristinn↗

NASA NTRS1990

The Jet Propulsion Laboratory shared control architecture and implementation

A hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.

Backes, Paul G.↗

NASA NTRS1992

The data acquisition system for the Anglo-Australian Observatory 2-degree field project

The Anglo-Australian Observatory (AAO) is building a system that will provide a two-degree field of view at prime focus. A robot positioner will be used to locate up to 400 optical fibers at pre-determined positions in this field. While observations are being made using one set of 400 fibers, the robot will be positioning a second set of fibers in a background field that can be moved in to replace the first when the telescope is moved to a new position. The fibers feed two spectrographs each with a 1024 square CCD detector. The software system being produced to control this involves Vaxes for overall control and data recording, UNIX workstations for fiber configuration calculations and on-line data reduction, and VME systems running VxWorks for real-time control of critical parts such as the positioner robot. The system has to be able to interact with the observatory's present data acquisition systems, which use the ADAM system. As yet, the real-time parts of ADAM have not been ported to Unix, and so we are having to produce a smaller-scale system that is similar but inherently distributed (which ADAM is not). We are using this system as a testbed for ideas that we hope may eventually influence an ADAM II system. The system we are producing is based on a message system that is designed to be able to handle inter-process and inter-processor messages of any length, efficiently, and without ever requiring a task to block (i.e., be unresponsive to 'cancel' messages, enquiry messages), other than when deliberately waiting for external input - all of which will be through such messages. The essential requirement is that a message 'send' operation should never be able to block. The messages will be hierarchical, self-defining, machine-independent data structures. This allows us to provide very simple monitoring of messages for diagnostic purposes, and allows general purpose interface programs to be written without needing to share precise byte by byte message format definitions. Programs in this system have interfaces defined simply in terms of named actions and their parameters. Real-time control programs are required to be able to handle a number of such actions concurrently; data reduction programs will normally only need to handle one action at a time ('process an image', 'display a spectrum', etc).

Shortridge, K.↗

NASA NTRS1994

Missileborne Artificial Vision System (MAVIS)

Several years ago when INTEL and China Lake designed the ETANN chip, analog VLSI appeared to be the only way to do high density neural computing. In the last five years, however, digital parallel processing chips capable of performing neural computation functions have evolved to the point of rough equality with analog chips in system level computational density. The Naval Air Warfare Center, China Lake, has developed a real time, hardware and software system designed to implement and evaluate biologically inspired retinal and cortical models. The hardware is based on the Adaptive Solutions Inc. massively parallel CNAPS system COHO boards. Each COHO board is a standard size 6U VME card featuring 256 fixed point, RISC processors running at 20 MHz in a SIMD configuration. Each COHO board has a companion board built to support a real time VSB interface to an imaging seeker, a NTSC camera, and to other COHO boards. The system is designed to have multiple SIMD machines each performing different corticomorphic functions. The system level software has been developed which allows a high level description of corticomorphic structures to be translated into the native microcode of the CNAPS chips. Corticomorphic structures are those neural structures with a form similar to that of the retina, the lateral geniculate nucleus, or the visual cortex. This real time hardware system is designed to be shrunk into a volume compatible with air launched tactical missiles. Initial versions of the software and hardware have been completed and are in the early stages of integration with a missile seeker.

Andes, David K.↗

NASA NTRS1993

Telerobot local-remote control architecture for space flight program applications

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Zimmerman, Wayne↗

NASA NTRS1999

Design of a Channel Error Simulator using Virtual Instrument Techniques for the Initial Testing of TCP/IP and SCPS Protocols

There exists a need for designers and developers to have a method to conveniently test a variety of communications parameters for an overall system design. This is no different when testing network protocols as when testing modulation formats. In this report, we discuss a means of providing a networking test device specifically designed to be used for space communications. This test device is a PC-based Virtual Instrument (VI) programmed using the LabVIEW(TM) version 5 software suite developed by National Instruments(TM)TM. This instrument was designed to be portable and usable by others without special, additional equipment. The programming was designed to replicate a VME-based hardware module developed earlier at New Mexico State University (NMSU) and to provide expanded capabilities exceeding the baseline configuration existing in that module. This report describes the design goals for the VI module in the next section and follows that with a description of the design of the VI instrument. This is followed with a description of the validation tests run on the VI. An application of the error-generating VI to networking protocols is then given.

Horan, Stephen↗

NASA NTRS1999

Design Description of the X-33 Avionics Architecture

In this paper, we provide a design description of the X-33 avionics architecture. The X-33 is an autonomous Single Stage to Orbit (SSTO) launch vehicle currently being developed by Lockheed Martin for NASA as a technology demonstrator for the VentureStar Reusable Launch Vehicle (RLV). The X-33 avionics provides autonomous control of die vehicle throughout takeoff, ascent, descent, approach, landing, rollout, and vehicle safing. During flight the avionics provides communication to the range through uplinked commands and downlinked telemetry. During pre-launch and post-safing activities, the avionics provides interfaces to ground support consoles that perform vehicle flight preparations and maintenance. The X-33 Avionics is a hybrid of centralized and distributed processing elements connected by three dual redundant Mil-Std 1553 data buses. These data buses are controlled by a central processing suite located in the avionics bay and composed of triplex redundant Vehicle Mission Computers (VMCs). The VMCs integrate mission management, guidance, navigation, flight control, subsystem control and redundancy management functions. The vehicle sensors, effectors and subsystems are interfaced directly to the centralized VMCs as remote terminals or through dual redundant Data Interface Units (DIUs). The DIUs are located forward and aft of the avionics bay and provide signal conditioning, health monitoring, low level subsystem control and data interface functions. Each VMC is connected to all three redundant 1553 data buses for monitoring and provides a complete identical data set to the processing algorithms. This enables bus faults to be detected and reconfigured through a voted bus control configuration. Data is also shared between VMCs though a cross channel data link that is implemented in hardware and controlled by AlliedSignal's Fault Tolerant Executive (FTE). The FTE synchronizes processors within the VMC and synchronizes redundant VMCs to each other. The FTE provides an output-voting plane to detect, isolate and contain faults due to internal hardware or software faults and reconfigures the VMCs to accommodate these faults. Critical data in the 1553 messages are scheduled and synchronized to specific processing frames in order to minimize data latency. In order to achieve an open architecture, military and commercial off-the-shelf equipment is incorporated using common processors, standard VME backplanes and chassis, the VxWorks operating system, and MartixX for automatic code generation. The use of off-the-shelf tools and equipment helps reduce development time and enables software reuse. The open architecture allows for technology insertion, while the distributed modular elements allow for expansion to increased redundancy levels to meet the higher reliability goals of future RLVs.

Reichenfeld, Curtis J.↗

NASA NTRS1999

A Multichannel Averaging Phasemeter for Picometer Precision Laser Metrology

The Micro-Arcsecond Metrology (MAM) team at the Jet Propulsion Laboratory has developed a precision phasemeter for the Space Interferometry Mission (SIM). The current version of the phasemeter is well-suited for picometer accuracy distance measurements and tracks at speeds up to 50 cm/sec, when coupled to SIM's 1.3 micron wavelength heterodyne laser metrology gauges. Since the phasemeter is implemented with industry standard FPGA chips, other accuracy/speed trade-off points can be programmed for applications such as metrology for earth-based long-baseline astronomical interferometry (planet finding), and industrial applications such as translation stage and machine tool positioning. The phasemeter is a standard VME module, supports 6 metrology gauges, a 128 MHz clock, has programmable hardware averaging, and a maximum range of 232 cycles (2000 meters at 1.3 microns).

Halverson, Peter G.↗

NASA NTRS2000

NASA's 3D Flight Computer for Space Applications

The New Millennium Program (NMP) Integrated Product Development Team (IPDT) for Microelectronics Systems was planning to validate a newly developed 3D Flight Computer system on its first deep-space flight, DS1, launched in October 1998. This computer, developed in the 1995-97 time frame, contains many new computer technologies previously never used in deep-space systems. They include: advanced 3D packaging architecture for future low-mass and low-volume avionics systems; high-density 3D packaged chip-stacks for both volatile and non-volatile mass memory: 400 Mbytes of local DRAM memory, and 128 Mbytes of Flash memory; high-bandwidth Peripheral Component Interface (Per) local-bus with a bridge to VME; high-bandwidth (20 Mbps) fiber-optic serial bus; and other attributes, such as standard support for Design for Testability (DFT). Even though this computer system did not complete on time for delivery to the DS1 project, it was an important development along a technology roadmap towards highly integrated and highly miniaturized avionics systems for deep-space applications. This continued technology development is now being performed by NASA's Deep Space System Development Program (also known as X2000) and within JPL's Center for Integrated Space Microsystems (CISM).

Alkalai, Leon↗

NASA NTRS2000

The Low Temperature Microgravity Physics Experiments Project

The Low Temperature Microgravity Physics Facility (LTMPF) is being developed by NASA to provide long duration low temperature and microgravity environment on the International Space Station (ISS) for performing fundamental physics investigations. Currently, six experiments have been selected for flight definition studies. More will be selected in a two-year cycle, through NASA Research Announcement. This program is managed under the Low Temperature Microgravity Physics Experiments Project Office at the Jet Propulsion Laboratory. The facility is being designed to launch and returned to earth on a variety of vehicles including the HII-A and the space shuttle. On orbit, the facility will be connected to the Exposed Facility on the Japanese Experiment Module, Kibo. Features of the facility include a cryostat capable of maintaining super-fluid helium at a temperature of 1.4 K for 5 months, resistance thermometer bridges, multi-stage thermal isolation system, thermometers capable of pico-Kelvin resolution, DC SQUID magnetometers, passive vibration isolation, and magnetic shields with a shielding factor of 80dB. The electronics and software architecture incorporates two VME buses run using the VxWorks operating system. Technically challenging areas in the design effort include the following: 1) A long cryogen life that survives several launch and test cycles without the need to replace support straps for the helium tank. 2) The minimization of heat generation in the sample stage caused by launch vibration 3) The design of compact and lightweight DC SQUID electronics. 4) The minimization of RF interference for the measurement of heat at pico-Watt level. 5) Light weighting of the magnetic shields. 6) Implementation of a modular and flexible electronics and software architecture. The first launch is scheduled for mid-2003, on an H-IIA Rocket Transfer Vehicle, out of the Tanegashima Space Center of Japan. Two identical facilities will be built. While one facility is onboard the ISS, the other is re-integrated on the ground with new experiments. When the cryogen of the facility in space are exhausted, it will be swapped with the other facility with the new experiment. A total of 20 science missions are envisioned over the next 20 years.

Holmes, Warren↗

NASA NTRS2000

The Fast Alternative Cryogenic Experiment Testbed

One of the challenges in the area of cryogenics for space exploration in the next millennium is providing the capability for inexpensive, frequent, access to space. Faced with this challenge during the International Space Station (ISS) build era, when other Space Shuttle manifesting opportunities are unavailable, a "proof of concept" cryostat has been developed to demonstrate the ability to accommodate low temperature science investigations within the constraints of the Hitchhiker siderail carrier. The Hitchhiker siderail carrier is available on a "mass available" basis during the ISS build era. In fact, several hitchhiker payloads flew with the deployment of the Unity module. Hitchhiker siderail carrier payloads have historically flown an average of about four times a year. A hybrid Solid Neon - Superfluid Helium cryostat has been developed with Janis Research Company to accommodate instruments of 16.5 cm diameter and 30 cm. length. This hybrid approach was taken in part to provide adequate on-orbit lifetime for instruments with high (conducted) heat loads from the instrumentation wiring. Mass, volume, lifetime and the launch hold scenario were all design drivers. In addition, with Ball Aerospace and Technologies Corporation, a multichannel VME architecture Germanium Resistance Thermometer (GRT) readout and heater control servo system has been developed. In a flight system, the cryostat and electronics payloads would be umbilically attached in a paired Hitchhiker siderail mount, and permit on-orbit command and telemetry capability. The results of performance tests of both the cryostat, and a helium sample instrument will be presented. The instrument features a self contained, miniaturized, nano-Kelvin resolution High Resolution Thermometer (HRT). This high level of thermal resolution is achieved through the utilization of a dc Superconducting Quantum Interference Device (SQUID). Although developed for the Low Temperature Microgravity Fundamental Physics investigator community, many design features are applicable in fields such as infrared and x-ray astronomy.

Nash, Alfred↗

NASA NTRS1997

Telemetry Technology

In 1990, Avtec Systems, Inc. developed its first telemetry boards for Goddard Space Flight Center. Avtec products now include PC/AT, PCI and VME-based high speed I/O boards and turn-key systems. The most recent and most successful technology transfer from NASA to Avtec is the Programmable Telemetry Processor (PTP), a personal computer- based, multi-channel telemetry front-end processing system originally developed to support the NASA communication (NASCOM) network. The PTP performs data acquisition, real-time network transfer, and store and forward operations. There are over 100 PTP systems located in NASA facilities and throughout the world.

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