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NASA NTRS1992

Sensor fusion V; Proceedings of the Meeting, Boston, MA, Nov. 15-17, 1992

Topics addressed include 3D object perception, human-machine interface in multisensor systems, sensor fusion architecture, fusion of multiple and distributed sensors, interface and decision models for sensor fusion, computational networks, simple sensing for complex action, multisensor-based control, and metrology and calibration of multisensor systems. Particular attention is given to controlling 3D objects by sketching 2D views, the graphical simulation and animation environment for flexible structure robots, designing robotic systems from sensorimotor modules, cylindrical object reconstruction from a sequence of images, an accurate estimation of surface properties by integrating information using Bayesian networks, an adaptive fusion model for a distributed detection system, multiple concurrent object descriptions in support of autonomous navigation, robot control with multiple sensors and heuristic knowledge, and optical array detectors for image sensors calibration. (No individual items are abstracted in this volume)

Schenker, Paul S.↗

NASA NTRS1989

Space applications of artificial intelligence; Proceedings of the Annual Goddard Conference, Greenbelt, MD, May 16, 17, 1989

Theoretical and implementation aspects of AI systems for space applications are discussed in reviews and reports. Sections are devoted to planning and scheduling, fault isolation and diagnosis, data management, modeling and simulation, and development tools and methods. Particular attention is given to a situated reasoning architecture for space repair and replace tasks, parallel plan execution with self-processing networks, the electrical diagnostics expert system for Spacelab life-sciences experiments, diagnostic tolerance for missing sensor data, the integration of perception and reasoning in fast neural modules, a connectionist model for dynamic control, and applications of fuzzy sets to the development of rule-based expert systems.

Rash, James L.↗

NASA NTRS2013

Embedded diagnostic, prognostic, and health management system and method for a humanoid robot

A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.

Barajas, Leandro G.↗

NASA NTRS2008

Compliance and Functional Testing of IEEE 1451.1 for NCAP-to-NCAP Communications in a Sensor Network

Distributed control in a networked environment is an irreplaceable feature in systems with remote sensors and actuators. Although distributed control was not originally designed to be networked, usage of off-the-shelf networking technologies has become so prevalent that control systems are desired to have access mechanisms similar to computer networks. However, proprietary transducer interfaces for network communications and distributed control overwhelmingly dominate this industry. Unless the lack of compatibility and interoperability among transducers is resolved, the mature level of access (that computer networking can deliver) will not be achieved in such networked distributed control systems. Standardization of networked transducer interfaces will enable devices from different manufacturers to talk to each other and ensure their plug-and-play capability. One such standard is the suite of IEEE 1451 for sensor network communication and transducer interfaces. The suite not only provides a standard interface for smart transducers, but also outlines the connection of an NCAP (network capable application processor) and transducers (through a transducer interface module TIM). This paper presents the design of the compliance testing of IEEE 1451.1 (referred to as Dot1) compatible NCAP-to-NCAP communications on a link-layer independent medium. The paper also represents the first demonstration of NCAP-to-NCAP communications with Dot1 compatibility: a tester NCAP and an NCAP under test (NUT).

Figueroa, Jorge↗

NASA NTRS2009

Integration of Dust Prediction Systems and Vegetation Phenology to Track Pollen for Asthma Alerts in Public Health

Initial efforts to develop a deterministic model for predicting and simulating pollen release and downwind concentration to study dependencies of phenology on meteorology will be discussed. The development of a real-time, rapid response pollen release and transport system as a component of the New Mexico Environmental Public Health Tracking System (EPHTS), is based on meteorological models, NASA Earth science results (ESR), and an in-situ network of phenology cameras. The plan is to detect pollen release verified using ground based atmospheric pollen sampling within a few hours using daily MODIS daa in nearly real-time from Direct Broadcast, similar to the MODIS Rapid Response System for fire detection. As MODIS winds down, the NPOESS-VIIRS sensor will assume daily vegetation monitoring tasks. Also, advancements in geostationary satellites will allow 1km vegetation indices at 15-30 minute intervals. The pollen module in EPHTS will be used to: (1) support public health decisions for asthma and allergy alerts in New Mexico, Texas and Oklahoma; (2) augment the Centers for Disease Control and Prevention (CDC)'s Environmental Public Health Tracking Network (EPHTN); and (3) extend surveillance services to local healthcare providers subscribing to the Syndrome Reporting Information System (SYRIS). Previous studies in NASA's public health applications portfolios provide the infrastructure for this effort. The team is confident that NASA and NOAA ESR data, combined into a verified and validated dust model will yield groundbreaking results using the modified dust model to transport pollen. The growing ESR/health infrastructure is based on results from a rapid prototype scoping effort for pollen detection and simulation carried out by the principal investigators.

Luvall, Jeffrey↗

NASA NTRS2018

Intelligent Data Transfer for Multiple Sensor Networks over a Broad Temperature Range

A sensor network may be configured to operate in extreme temperature environments. A sensor may be configured to generate a frequency carrier, and transmit the frequency carrier to a node. The node may be configured to amplitude modulate the frequency carrier, and transmit the amplitude modulated frequency carrier to a receiver.

Krasowski, Michael↗

NASA NTRS2001

Offering an Array of Improvements

Sensors Unlimited, Inc., with SBIR funding from NASA's Langley Research Center, Goddard Space Flight Center, Marshall Space Flight Center, and the Jet Propulsion Laboratory, developed a monolithic focal plane array for near-infrared imaging. The company developed one- (1- D) and two-dimensional (2-D) imaging arrays consisting of a highly reliable InGaAs p-I-n diode as a photodetector for monitoring a variety of applications, including single element device applications in receivers. The InGaAs 1-D and 2-D arrays have many applications. For example, they monitor the performance of dense wavelength division multiplexing (DWDM) systems- the process of packaging many channels into a single fiber-optic cable. Sensors Unlimited commercially offers its LXTM and LYTM Series InGaAs linear arrays for reliable DWDM performance monitoring. The LX and LY arrays enable instrument module designs with no moving parts, which provides for superior uniformity, and fast, linear outputs that remain stable over a wide temperature range. Innovative technologies derived from the monolithic focal plane array have enabled telecommunication companies to optimize existing bandwidth in their fiber-optic networks in order to support a high volume of network traffic. At the same time, the technologies obtained from the array have the potential for reducing costs, while increasing performance from Sensors Unlimited's current product lines.

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NASA NTRS1980

Asynchronous interactive control systems

A class of interactive control systems is derived by generalizing interactive manipulator control systems. The general structural properties of such systems are discussed and an appropriate general software implementation is proposed. This is based on the fact that tasks of interactive control systems can be represented as a network of a finite set of actions which have specific operational characteristics and specific resource requirements, and which are of limited duration. This has enabled the decomposition of the overall control algorithm into a set of subalgorithms, called subcontrollers, which can operate simultaneously and asynchronously. Coordinate transformations of sensor feedback data and actuator set-points have enabled the further simplification of the subcontrollers and have reduced their conflicting resource requirements. The modules of the decomposed control system are implemented as parallel processes with disjoint memory space communicating only by I/O. The synchronization mechanisms for dynamic resource allocation among subcontrollers and other synchronization mechanisms are also discussed in this paper. Such a software organization is suitable for the general form of multiprocessing using computer networks with distributed storage.

Vuskovic, M. I.↗

NASA NTRS1999

Park Smart

The Parking Garage Automation System (PGAS) is based on a technology developed by a NASA-sponsored project called Robot sensorSkin(TM). Merritt Systems, Inc., of Orlando, Florida, teamed up with NASA to improve robots working with critical flight hardware at Kennedy Space Center in Florida. The system, containing smart sensor modules and flexible printed circuit board skin, help robots to steer clear of obstacles using a proximity sensing system. Advancements in the sensor designs are being applied to various commercial applications, including the PGAS. The system includes a smartSensor(TM) network installed around and within public parking garages to autonomously guide motorists to open facilities, and once within, to free parking spaces. The sensors use non-invasive reflective-ultrasonic technology for high accuracy, high reliability, and low maintenance. The system is remotely programmable: it can be tuned to site-specific requirements, has variable range capability, and allows remote configuration, monitoring, and diagnostics. The sensors are immune to interference from metallic construction materials, such as rebar and steel beams. Inside the garage, smart routing signs mounted overhead or on poles in front of each row of parking spots guide the motorist precisely to free spaces.

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NASA NTRS2015

SOAREX-8 Suborbital Experiments 2015 - A New Paradigm for Small Spacecraft Communication

In 2015 NASA plans to launch a payload to 280 Km altitude on a sounding rocket from the Wallops Flight Facility. This payload will contain several novel technologies that work together to demonstrate methodologies for space sample return missions and for nanosatellite communications in general. The payload will deploy and test an Exo-Brake, which slows the payload aerodynamically, providing eventual de-orbit and recovery of future ISS samples through a Small Payload Quick Return project. In addition, this flight addresses future Mars mission entry technology, space-to-space communications using the Iridium Short Messaging Service (SMS), GPS tracking, and wireless sensors using the ZigBee protocol. SOAREX-8 is being assembled and tested at Ames Research Center (ARC) and the NASA Engineering and Safety Center (NESC) is funding sensor and communications work. Open source Arduino technology and software are used for system control. The ZigBee modules used are XBee units that connect analog sensors for temperature, air pressure and acceleration measurement wirelessly to the payload telemetry system. Our team is developing methods for power distribution and module mounting, along with software for sensor integration, data assembly and downlink. We have demonstrated relaying telemetry to the ground using the Iridium satellite constellation on a previous flight, but the upcoming flight will be the first time we integrate useful flight test data from a ZigBee wireless sensor network. Wireless sensor data will measure the aerodynamic efficacy of the Exo-Brake permitting further on orbit flight tests of improved designs. The Exo-Brake is 5 sq m in area and will be stored in a container and deployed during ascent once the payload is jettisoned from the launch vehicle. We intend to further refine the hardware and continue testing on balloon launches, future sounding rocket flights and on nanosatellite missions. The use of standards-based and open source hardware/software has allowed for this project to be completed with a very modest budget and a challenging schedule. There is a wealth of hardware and software available for both the Arduino platform and the XBee, all low-cost or open-source. Along with the Exo-Brake hardware and deployment discussion, this paper will describe in detail the system architecture emphasizing the successful use of open source hardware and software to minimize effort and cost. Testing procedures, radio frequency interference (RFI) mitigation, success criteria and expected results will also be discussed. The use of Iridium short messaging capability for space-to-space links, standards-based wireless sensor networks, and other innovative communications technology are also presented.

aerobrake↗

NASA NTRS2015

Evaluation of the Surface PM2.5 in Version 1 of the NASA MERRA Aerosol Reanalysis over the United States

We use surface fine particulate matter (PM2.5) measurements collected by the United States Environmental Protection Agency (US EPA) and the Interagency Monitoring of Protected Visual Environments (IMPROVE) networks as independent validation for Version 1 of the Modern Era Retrospective analysis for Research and Applications Aerosol Reanalysis (MERRAero) developed by the Global Modeling Assimilation Office (GMAO). MERRAero is based on a version of the GEOS-5 model that is radiatively coupled to the Goddard Chemistry, Aerosol, Radiation, and Transport (GOCART) aerosol module and includes assimilation of bias corrected Aerosol Optical Depth (AOD) from Moderate Resolution Imaging Spectroradiometer (MODIS) sensors on both Terra and Aqua satellites. By combining the spatial and temporal coverage of GEOS-5 with observational constraints on AOD, MERRAero has the potential to provide improved estimates of PM2.5 compared to the model alone and with greater coverage than available observations.Importantly, assimilation of AOD data constrains the total column aerosol mass in MERRAero subject to assumptions about optical properties for each of the species represented in GOGART. However, single visible wavelength AOD data does not contain sufficient information content to correct errors in either aerosol vertical placement or composition, critical elements for a proper characterization of surface PM2.5. Despite this, we find that the data-assimilation equipped version of GEOS-5 better represents observed PM2.5 between 2003 and 2012 compared to the same version of the model without AOD assimilation. Compared to measurements from the EPA-AQS network, MERRAero shows better PM2.5 agreement with the IMPROVE network measurements, which are composed essentially of rural stations. Regardless the data network, MERRAero PM2.5 are closer to observation values during the summer while larger discrepancies are observed during the winter. Comparing MERRAero to PM2.5 data collected by the Chemical Speciation Network (CSN) offers greater insight on the species MERRAero predicts well and those for which there are biases relative to the EPA observations. Analysis of this speciated data indicates that the lack of nitrate emissions in MERRAero and an underestimation of carbonaceous emissions in the Western US explains much of the reanalysis bias during the winter. To further understand discrepancies between the reanalysis and observations, we use complimentary data to assess two important aspects of MERRAero that are of relevance to the diagnosis of PM2.5, in particular AOD and vertical structure

Air Pollution↗

NASA NTRS1999

Cross-Sensor Calibration of the GAI Long Range Detection Network

The long range component of the North American Lightning Detection Network has been providing experimental data products since July 1996, offering cloud-to-ground lightning coverage throughout the Atlantic and Western Pacific oceans, as well as south to the Intertropical Convergence Zone. The network experiences a strong decrease in detection efficiency with range, which is also significantly modulated by differential propagation under day, night and terminator-crossing conditions. A climatological comparison of total lightning data observed by the Optical Transient Detector (OTD) and CG lightning observed by the long range network is conducted, with strict quality control and allowance for differential network performance before and after the activation of the Canadian Lightning Detection Network. This yields a first-order geographic estimate of long range network detection efficiency and its spatial variability. Intercomparisons are also performed over the continental US, allowing large scale estimates of the midlatitude climatological IC:CG ratio and its possible dependence on latitude.

Boccippio, Dennis J.↗

NASA NTRS1993

Autonomous Deicing System For Airplane Wing

Prototype autonomous deicing system for airplane includes network of electronic and electromechanical modules at various locations in wings and connected to central data-processing unit. Small, integrated solid-state device, using long coils installed under leading edge, exciting small vibrations to detect ice and larger vibrations to knock ice off. In extension of concept, outputs of vibration sensors and other sensors used to detect rivet-line fractures, fatigue cracks, and other potentially dangerous defects.

Hickman, G. A.↗

NASA NTRS2011

Intelligent Wireless Sensor Networks for System Health Monitoring

Wireless sensor networks (WSN) based on the IEEE 802.15.4 Personal Area Network (PAN) standard are finding increasing use in the home automation and emerging smart energy markets. The network and application layers, based on the ZigBee 2007 Standard, provide a convenient framework for component-based software that supports customer solutions from multiple vendors. WSNs provide the inherent fault tolerance required for aerospace applications. The Discovery and Systems Health Group at NASA Ames Research Center has been developing WSN technology for use aboard aircraft and spacecraft for System Health Monitoring of structures and life support systems using funding from the NASA Engineering and Safety Center and Exploration Technology Development and Demonstration Program. This technology provides key advantages for low-power, low-cost ancillary sensing systems particularly across pressure interfaces and in areas where it is difficult to run wires. Intelligence for sensor networks could be defined as the capability of forming dynamic sensor networks, allowing high-level application software to identify and address any sensor that joined the network without the use of any centralized database defining the sensors characteristics. The IEEE 1451 Standard defines methods for the management of intelligent sensor systems and the IEEE 1451.4 section defines Transducer Electronic Datasheets (TEDS), which contain key information regarding the sensor characteristics such as name, description, serial number, calibration information and user information such as location within a vehicle. By locating the TEDS information on the wireless sensor itself and enabling access to this information base from the application software, the application can identify the sensor unambiguously and interpret and present the sensor data stream without reference to any other information. The application software is able to read the status of each sensor module, responding in real-time to changes of PAN configuration, providing the appropriate response for maintaining overall sensor system function, even when sensor modules fail or the WSN is reconfigured. The session will present the architecture and technical feasibility of creating fault-tolerant WSNs for aerospace applications based on our application of the technology to a Structural Health Monitoring testbed. The interim results of WSN development and testing including our software architecture for intelligent sensor management will be discussed in the context of the specific tradeoffs required for effective use. Initial certification measurement techniques and test results gauging WSN susceptibility to Radio Frequency interference are introduced as key challenges for technology adoption. A candidate Developmental and Flight Instrumentation implementation using intelligent sensor networks for wind tunnel and flight tests is developed as a guide to understanding key aspects of the aerospace vehicle design, test and operations life cycle.

networks↗

NASA NTRS2007

Switched Band-Pass Filters for Adaptive Transceivers

Switched band-pass filters are key components of proposed adaptive, software- defined radio transceivers that would be parts of envisioned digital-data-communication networks that would enable real-time acquisition and monitoring of data from geographically distributed sensors. Examples of sensors to be connected to such networks include security cameras, radio-frequency identification units, and geolocation units based on the Global Positioning System. Through suitable software configuration and without changing hardware, these transceivers could be made to operate according to any of a number of complex wireless-communication standards that could be characterized by diverse modulation schemes, bandwidths, and data-handling protocols. The adaptive transceivers would include field-programmable gate arrays (FPGAs) and digital signal-processing hardware. In the receiving path of a transceiver, the incoming signal would be amplified by a low-noise amplifier (LNA). The output spectrum of the LNA would be processed by a band-pass filter operating in the frequency range between 900 MHz and 2.4 GHz. Then a down-converter would translate the signal to a lower frequency range to facilitate analog-to-digital conversion, which would be followed by baseband processing by one or more FPGAs. In the transmitting path, a digital stream would first be converted to an analog signal, which would then be up-converted to a selected frequency band before being applied to a transmitting power amplifier. The aforementioned band-pass filter in the receiving path would be a combination of resonant inductor-and-capacitor filters and switched band-pass filters. The overall combination would implement a switch function designed mathematically to exhibit desired frequency responses and to switch the signal in each frequency band to an analog-to-digital converter appropriate for that band to produce a digital intermediate-frequency signal for digital signal processing.

Wang, Ray↗

NASA NTRS2012

Behavioral Mapless Navigation Using Rings

This paper presents work on the development and implementation of a novel approach to robotic navigation. In this system, map-building and localization for obstacle avoidance are discarded in favor of moment-by-moment behavioral processing of the sonar sensor data. To accomplish this, we developed a network of behaviors that communicate through the passing of rings, data structures that are similar in form to the sonar data itself and express the decisions of each behavior. Through the use of these rings, behaviors can moderate each other, conflicting impulses can be mediated, and designers can easily connect modules to create complex emergent navigational techniques. We discuss the development of a number of these modules and their successful use as a navigation system in the Trinity omnidirectional robot.

Monroe, Randall P.↗

NASA NTRS2013

Modeling and Analysis of Asynchronous Systems Using SAL and Hybrid SAL

We present formal models and results of formal analysis of two different asynchronous systems. We first examine a mid-value select module that merges the signals coming from three different sensors that are each asynchronously sampling the same input signal. We then consider the phase locking protocol proposed by Daly, Hopkins, and McKenna. This protocol is designed to keep a set of non-faulty (asynchronous) clocks phase locked even in the presence of Byzantine-faulty clocks on the network. All models and verifications have been developed using the SAL model checking tools and the Hybrid SAL abstractor.

Tiwari, Ashish↗

NASA NTRS2012

NASA Tech Briefs, January 2012

Contents of this issue are: (1) Energy-Based Tetrahedron Sensor for High-Temperature, High-Pressure Environments (2) Handheld Universal Diagnostic Sensor (3) Large-Area Vacuum Ultraviolet Sensors (4) Fiber Bragg Grating Sensor System for Monitoring Smart Composite Aerospace Structures (5) Health-Enabled Smart Sensor Fusion Technology (6) Extended-Range Passive RFID and Sensor Tags (7) Hybrid Collaborative Learning for Classification and Clustering in Sensor Networks (8) Self-Healing, Inflatable, Rigidizable Shelter (9) Improvements in Cold-Plate Fabrication (10) Technique for Radiometer and Antenna Array Calibration - TRAAC (11) Real-Time Cognitive Computing Architecture for Data Fusion in a Dynamic Environment (12) Programmable Digital Controller (13) Use of CCSDS Packets Over SpaceWire to Control Hardware (14) Key Decision Record Creation and Approval Module (15) Enhanced Graphics for Extended Scale Range (16) Debris Examination Using Ballistic and Radar Integrated Software (17) Data Distribution System (DDS) and Solar Dynamic Observatory Ground Station (SDOGS) (18) Integration Manager (19) Eclipse-Free-Time Assessment Tool for IRIS (20) Automated and Manual Rocket Crater Measurement Software (21) MATLAB Stability and Control Toolbox Trim and Static Stability Module (22) Patched Conic Trajectory Code (23) Ring Image Analyzer (24) SureTrak Probability of Impact Display (25) Implementation of a Non-Metallic Barrier in an Electric Motor (26) Multi-Mission Radioisotope Thermoelectric Generator Heat Exchangers for the Mars Science Laboratory Rover (27) Uniform Dust Distributor for Testing Radiative Emittance of Dust-Coated Surfaces (28) MicroProbe Small Unmanned Aerial System (29) Highly Stable and Active Catalyst for Sabatier Reactions (30) Better Proton-Conducting Polymers for Fuel-Cell Membranes (31) CCD Camera Lens Interface for Real-Time Theodolite Alignment (32) Peregrine 100-km Sounding Rocket Project (33) SOFIA Closed- and Open-Door Aerodynamic Analyses (34) Sonic Thermometer for High-Altitude Balloons (35) Near-Infrared Photon-Counting Camera for High-Sensitivity Observations (36) Integrated Optics Achromatic Nuller for Stellar Interferometry (37) High-Speed Digital Interferometry (38) Ultra-Miniature Lidar Scanner for Launch Range Data Collection (39) Shape and Color Features for Object Recognition Search (40) Explanation Capabilities for Behavior-Based Robot Control (41) A DNA-Inspired Encryption Methodology for Secure, Mobile Ad Hoc Networks (42) Quality Control Method for a Micro-Nano-Channel Microfabricated Device (43) Corner-Cube Retroreflector Instrument for Advanced Lunar Laser Ranging (44) Electrospray Collection of Lunar Dust (45) Fabrication of a Kilopixel Array of Superconducting Microcalorimeters with Microstripline Wiring Spacecraft Attitude Tracking and Maneuver Using Combined Magnetic Actuators (46) Coherent Detector for Near-Angle Scattering and Polarization Characterization of Telescope Mirror Coatings

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