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NASA NTRSDate not supplied

The Anatomy of Software Changes and Bugs in Autonomous Operating System

Cyberphysical systems with autonomous functions are complex pieces of software, consisting of many components, some of which implement autonomous functionality and some may use AI or machine learning algorithms. Software bugs in an autonomous system are of particular concern, as they can have catastrophic consequences. However, detailed studies based on empirical data are rare and therefore these bugs are not well understood. This paper aims to contribute towards filling that gap by investigating the software changes and bugs in Autonomy Operating System (AOS) for Unmanned Aircraft Systems (UAS), which consist of 26 components containing about 103,000 lines of code and having a total of 772 bugfixes. Based on the data extracted from the code repository and semi-structured interviews with the developers of AOS, we explore the differences among autonomous software components, components developed using Model-based Software Engineering, and reuse with respect to change proneness, fault proneness, distribution of bugfixes among AOS components and files of these components, and characteristics of bugs of different AOS components. Our results show that the autonomous components were significantly more change prone (measured in number of commits and code churn) and fault prone (measured in bugfixes per KLoC) than non-autonomous components. The distribution of the locations of bugfixes was skewed, both at component and file level (i.e., a small number of components / files contained the majority of bugs). These evidence-based findings provide important insights to researchers and practitioners alike and can be used to efficiently improve the quality and reliability of autonomous systems.

Katerina Goseva-Popstojanova↗

NASA NTRSDate not supplied

Computationally Guided Development of Components for High Energy Density Solid-State Lithium-Sulfur Batteries

All electric vertical take-off and landing vehicles (eVTOL) for urban air mobility (UAM) concepts face numerous challenging technical barriers before their introduction into the consumer marketplace. The most challenging of these technical barriers to overcome is developing an energy storage system capable of meeting the rigorous aerospace safety and performance criteria1. The performance metrics for eVTOL craft, such as specific energy, specific power, and safety, exceed those of electric automobiles by a factor of two to four. Current state-of-the-art (SOA) lithium-ion batteries are incapable of meeting the key performance criteria of energy and safety for eVTOL. Therefore, next generation advanced chemistries and designs must be developed to meet required performance metrics for electric aviation2. Beyond lithium-ion chemistries, such as lithium-sulfur, show promise in their high energy, while limitations exist in their power and cyclability due to low electrical conductivity and high intermediate solubility in organic liquid electrolytes. Several strategies to overcome the low electrical conductivity involve the use of selenium as a dopant in the active sulfur material, along with the incorporation of 2-dimensional electron-conducting holey-graphene to improve the composite cathodes electronic conductivity. Furthermore, combining this chemistry with a solid-electrolyte avoids the components’ dissolution issues3. However, the development of composite solid-state cathodes is non-trivial as several components must be intimately mixed so that the active component has sufficient access to both electrons and lithium ions to undergo full electrochemical conversion. Mathematical modeling of battery components can assist experimental design through a robust and rigorous combination of computational modeling techniques covering multiple length scales. The objective is to leverage modern computational materials methods combined with battery multiphysics tools to develop radically advanced compatible cathode and electrolyte materials, build and test solid state lithium-sulfur cells and packs. A NASA-based cross-organizational team of high-powered experts combined integrated computational predictive modeling, fundamental chemistry analysis, advanced material science, and battery cell development to tackle this very challenging, multidisciplinary problem. This presentation will show a multiscale computational modeling approach that has produced a novel particle dynamics method called Solid Electrolyte Sphere Approximation Model (SESAM). SESAM modeling targets the 1-10 µm scale structures and provides electromechanical and grain interactions for predictive design guidelines for the manufacturing of solid-state components. Parameters such as particle size and volume fraction of the constituent materials were modeled and experimentally fabricated to optimize electrochemical performance through improved microstructure design. Experimental feedback was provided through ionic and electronic conductivity assessment and structural analysis of developed materials and cell components.

battery↗

NASA NTRS1961

Some Recent Studies in Structural Dynamics of Rotor Aircraft

This paper presents a summary of four recent studies relating to the structural-dynamics problems of rotor-powered aircraft. The first study concerns the measurement by means of dynamic models of the forces and moments at the hubs of various rotor configurations. The results of this study show that the periodic components of the forces and moments are highly dependent on both the rotor configuration and the flight condition. The second study treats the problem of resonance amplifications of rotor-blade stress and shows that by using multiple flapping hinges or flex-joints it is possible to control the natural frequencies of the rotor blade so that conditions of resonance between the frequencies of the aerodynamic input forces and the natural frequencies of the lower blade modes are avoided for all rotor speeds. Two studies of the stability of rotor aircraft axe also discussed. One of these involves the mechanical instability or ground resonance of rotorcraft wherein the rotor support in each of two mutually perpendicular directions in the rotor plane is represented as a multiple-degree-of-freedom system in contrast to the system having a "single" degree of freedom normally used in helicopter analysis. The consideration of the rotor support system as a two-degree-of-freedom system predicts additional unstable ranges of rotor speed not predicted by former analyses. The other instability treated is propeller whirl for which the significant motions are the pitching and yawing motions of the propeller disk which are coupled together by gyroscopic forces. The effect of the significant variables on the instability is presented and shows that the speed at which the instability occurs can be increased by increasing the relative stiffness of the propeller in the pitch and yaw directions or by increasing the effective structural damping of the nacelle.

George W Brooks↗

NASA NTRS2012

Body weight of advanced concept hypersonic aircraft

In this paper, preliminary qualitative and quantitative comparisons of the body weight of five hypersonic aircraft configurations are conducted. The five configurations are briefly described as follows: (1) a wing-and-body arrangement with a power-law, circular cross-section body and a delta wing; (2) an all-body vehicle with delta planform and elliptical cross-sections; (3) a wingless wave rider configuration; (4) a winged wave rider configuration; and (5) the spacewing concept, an oblique flying wing at low speed that yaws to 90 deg sweep and flies end-on at hypersonic speeds. The vehicles are defined by their external moldline geometries and by the interior arrangement of their fuel tanks and other components. Intersecting, circular-lobed tankage is used in vehicles with noncircular bodies. The nonusable volume of such concepts is calculated. The structural concept, structural materials, Thermal Protection System, and heat load are allowed to vary with vehicle longitudinal station. Relative strengths and weaknesses of the various hypersonic aircraft concepts in terms of body weight are summarized.

Mark D Ardema↗

NASA NTRS1989

TBCs for better engine efficiency

State-of-the-art thermal barrier coatings (TBCs) developed for aircraft engines can achieve both hot-section component operating temperature reductions and superior oxidation resistance. Such TBCs typically consist of two layers: a metallic, often NiCrAlY 'bond' inner layer in contact with the superalloy structural component, and an outer, insulating ceramic layer. A ceramic frequently used in this role due to its high durability is plasma-sprayed ZrO2, partially stabilized with 6-8 wt pct Y2O3. TBCs can also be useful in nonaircraft gas turbines, which frequently use highly contaminated fuels.

Brindley, William J.↗

NASA NTRS1994

Technology Benefit Estimator (T/BEST): User's Manual

The Technology Benefit Estimator (T/BEST) system is a formal method to assess advanced technologies and quantify the benefit contributions for prioritization. T/BEST may be used to provide guidelines to identify and prioritize high payoff research areas, help manage research and limited resources, show the link between advanced concepts and the bottom line, i.e., accrued benefit and value, and to communicate credibly the benefits of research. The T/BEST software computer program is specifically designed to estimating benefits, and benefit sensitivities, of introducing new technologies into existing propulsion systems. Key engine cycle, structural, fluid, mission and cost analysis modules are used to provide a framework for interfacing with advanced technologies. An open-ended, modular approach is used to allow for modification and addition of both key and advanced technology modules. T/BEST has a hierarchical framework that yields varying levels of benefit estimation accuracy that are dependent on the degree of input detail available. This hierarchical feature permits rapid estimation of technology benefits even when the technology is at the conceptual stage. As knowledge of the technology details increases the accuracy of the benefit analysis increases. Included in T/BEST's framework are correlations developed from a statistical data base that is relied upon if there is insufficient information given in a particular area, e.g., fuel capacity or aircraft landing weight. Statistical predictions are not required if these data are specified in the mission requirements. The engine cycle, structural fluid, cost, noise, and emissions analyses interact with the default or user material and component libraries to yield estimates of specific global benefits: range, speed, thrust, capacity, component life, noise, emissions, specific fuel consumption, component and engine weights, pre-certification test, mission performance engine cost, direct operating cost, life cycle cost, manufacturing cost, development cost, risk, and development time. Currently, T/BEST operates on stand-alone or networked workstations, and uses a UNIX shell or script to control the operation of interfaced FORTRAN based analyses. T/BEST's interface structure works equally well with non-FORTRAN or mixed software analysis. This interface structure is designed to maintain the integrity of the expert's analyses by interfacing with expert's existing input and output files. Parameter input and output data (e.g., number of blades, hub diameters, etc.) are passed via T/BEST's neutral file, while copious data (e.g., finite element models, profiles, etc.) are passed via file pointers that point to the expert's analyses output files. In order to make the communications between the T/BEST's neutral file and attached analyses codes simple, only two software commands, PUT and GET, are required. This simplicity permits easy access to all input and output variables contained within the neutral file. Both public domain and proprietary analyses codes may be attached with a minimal amount of effort, while maintaining full data and analysis integrity, and security. T/BESt's sotware framework, status, beginner-to-expert operation, interface architecture, analysis module addition, and key analysis modules are discussed. Representative examples of T/BEST benefit analyses are shown.

Generazio, Edward R.↗

NASA NTRSDate not supplied

Development of Shared Mounting Structure for SUSAN Aircraft Tail and Aft Engine

This paper introduces an overview of the design and development of the Subsonic Single Aft eNgine (SUSAN) aircraft aft tail and engine shared mounting structure. Unique design considerations were made here to take advantage of aerodynamic effects such as boundary layer ingestion of the aft mounted engine. Challenges that arose from sharing the same mounting structure with the T-tail and aft engine were addressed. The structural development process will be discussed for both the initial design concept for the full-scale SUSAN aircraft concept, as well as the higher fidelity development of the 25% scale research vehicle. Numerical simulations for the aerodynamic loads are detailed and were fed into the 25% scale structural analysis effort. Additionally, mockup component fabrications of the shared aft engine and tail mounting structure are also shown to demonstrate design feasibility.

Lilia R Glaser↗

NASA NTRS1999

Exhaust Nozzle Materials Development for the High Speed Civil Transport

The United States has embarked on a national effort to develop the technology necessary to produce a Mach 2.4 High Speed Civil Transport (HSCT) for entry into service by the year 2005. The viability of this aircraft is contingent upon its meeting both economic and environmental requirements. Two engine components have been identified as critical to the environmental acceptability of the HSCT. These include a combustor with significantly lower emissions than are feasible with current technology, and a lightweight exhaust nozzle that meets community noise standards. The Enabling Propulsion Materials (EPM) program will develop the advanced structural materials, materials fabrication processes, structural analysis and life prediction tools for the HSCT combustor and low noise exhaust nozzle. This is being accomplished through the coordinated efforts of the NASA Lewis Research Center, General Electric Aircraft Engines and Pratt & Whitney. The mission of the EPM Exhaust Nozzle Team is to develop and demonstrate this technology by the year 1999 to enable its timely incorporation into HSCT propulsion systems.

Grady, J. E.↗

NASA NTRS1981

Aircraft energy efficiency. Overview

Six advanced technology development projects that could cut fuel consumption of future civil air transports by as much as 50 percent are highlighted. These include improved engine components; better engine design; thin short blades for turboprop aircaft; using composite primary structures for weight reduction; the use of supercritical wings, higher aspect ratio, and winglets for improved aerodynamics; active controls; and laminar flow control. The time span of each of the six efforts and NASA's expected expenditures are also discussed.

Source record↗

NASA NTRS1993

Mutual Inductance Problem for a System Consisting of a Current Sheet and a Thin Metal Plate

Rapid inspection of aircraft structures for flaws is of vital importance to the commercial and defense aircraft industry. In particular, inspecting thin aluminum structures for flaws is the focus of a large scale R&D effort in the nondestructive evaluation (NDE) community. Traditional eddy current methods used today are effective, but require long inspection times. New electromagnetic techniques which monitor the normal component of the magnetic field above a sample due to a sheet of current as the excitation, seem to be promising. This paper is an attempt to understand and analyze the magnetic field distribution due to a current sheet above an aluminum test sample. A simple theoretical model, coupled with a two dimensional finite element model (FEM) and experimental data will be presented in the next few sections. A current sheet above a conducting sample generates eddy currents in the material, while a sensor above the current sheet or in between the two plates monitors the normal component of the magnetic field. A rivet or a surface flaw near a rivet in an aircraft aluminum skin will disturb the magnetic field, which is imaged by the sensor. Initial results showed a strong dependence of the flaw induced normal magnetic field strength on the thickness and conductivity of the current-sheet that could not be accounted for by skin depth attenuation alone. It was believed that the eddy current imaging method explained the dependence of the thickness and conductivity of the flaw induced normal magnetic field. Further investigation, suggested the complexity associated with the mutual inductance of the system needed to be studied. The next section gives an analytical model to better understand the phenomenon.

Fulton, J. P.↗

NASA NTRSDate not supplied

Component Characterization of an eVTOL Reference Model for Crashworthiness Studies

Researchers at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) have conducted a series of structural component and seat level tests to improve finite element model (FEM) characterization of a representative vertical take-off and landing (eVTOL) test article developed by NASA. A full-scale dynamic test was conducted on the representative eVTOL test article in November of 2022. The test article represented a high wing, six passenger eVTOL design concept and is referred to as the lift plus cruise (LPC) test article. The full-scale test identified limitations in the analytical models used to predict aircraft structural response, in particular the composite material models did not effectively capture brittle failure of the structure which were measured during dynamic loading. To better understand the mechanism behind the composite material failure mechanisms observed and to improve the FEM, intact sample specimens of the composite airframe structure were recovered from the test article post-test and used in material characterization testing. In addition, the seat configurations used in the LPC test article were further studied using isolated seat and anthropomorphic test device (ATD) drop tower testing. Dynamic compression tests and three-point bend tests, conducted at varied impact speeds, were performed on the recovered frame section specimens. Additional testing was conducted to characterize the material properties of the forming foam, which remained in the frames after fabrication. These tests were used to improve characterization of the damage and failure parameters of the composite material model used in the FE model of the LPC test article. Seat level tests were conducted on the seats used in the LPC test article using acceleration pulses inclusive of current general aviation and rotorcraft certification load levels as well as conditions representative of those measured at the seat base during the LPC test. The structural material models and seat environment models of the LPC test article FEM were calibrated using the generated component test data. The updates made to these models were then integrated into the LPC FEM and simulated in the full-scale test condition. Results demonstrated the effectiveness of component testing to improve predictive capability of composite aerospace structural models within the crash and dynamic loading environments. Demonstration of the LPC FEM response across an accumulation of coupon, component, seat environment, and full-scale test levels provides confidence in the predictive capability of this model for future use in the study of occupant safety within eVTOL relevant crash environments.

Craswhorthiness↗

NASA NTRSDate not supplied

Component Characterization of an eVTOL Reference Model for Crashworthiness Studies

Craswhorthiness↗

NASA NTRS2010

Fast-Response-Time Shape-Memory-Effect Foam Actuators

Bulk shape memory alloys, such as Nitinol or CuAlZn, display strong recovery forces undergoing a phase transformation after being strained in their martensitic state. These recovery forces are used for actuation. As the phase transformation is thermally driven, the response time of the actuation can be slow, as the heat must be passively inserted or removed from the alloy. Shape memory alloy TiNi torque tubes have been investigated for at least 20 years and have demonstrated high actuation forces [3,000 in.-lb (approximately equal to 340 N-m) torques] and are very lightweight. However, they are not easy to attach to existing structures. Adhesives will fail in shear at low-torque loads and the TiNi is not weldable, so that mechanical crimp fits have been generally used. These are not reliable, especially in vibratory environments. The TiNi is also slow to heat up, as it can only be heated indirectly using heater and cooling must be done passively. This has restricted their use to on-off actuators where cycle times of approximately one minute is acceptable. Self-propagating high-temperature synthesis (SHS) has been used in the past to make porous TiNi metal foams. Shape Change Technologies has been able to train SHS derived TiNi to exhibit the shape memory effect. As it is an open-celled material, fast response times were observed when the material was heated using hot and cold fluids. A methodology was developed to make the open-celled porous TiNi foams as a tube with integrated hexagonal ends, which then becomes a torsional actuator with fast response times. Under processing developed independently, researchers were able to verify torques of 84 in.-lb (approximately equal to 9.5 Nm) using an actuator weighing 1.3 oz (approximately equal to 37 g) with very fast (less than 1/16th of a second) initial response times when hot and cold fluids were used to facilitate heat transfer. Integrated structural connections were added as part of the net shape process, eliminating the need for welding, adhesives, or mechanical crimping. Inexpensive net-shape processing was used, which reduces the cost of the actuator by over a factor of 10 over nonporous TiNi made by hot drawing of tube or electrical discharge machining. By forming the alloy as an open-celled foam, the surface area for heat transfer is dramatically increased, allowing for much faster response times. The technology also allows for netshape fabrication of the actuator, which allows for structural connections to be integrated into the actuator material, making these actuators significantly less expensive. Commercial applications include actuators for concepts such as the variable area chevron and nozzle in jet aircraft. Lightweight tube or rod components can be supplied to interested parties.

Jardine, Peter↗

NASA NTRS2015

In-Flight Suppression of a Destabilized F/A-18 Structural Mode Using the Space Launch System Adaptive Augmenting Control System

NASA's Space Launch System (SLS) Flight Control System (FCS) includes an Adaptive Augmenting Control (AAC) component which employs a multiplicative gain update law to enhance the performance and robustness of the baseline control system for extreme off nominal scenarios. The SLS FCS algorithm including AAC has been flight tested utilizing a specially outfitted F/A-18 fighter jet in which the pitch axis control of the aircraft was performed by a Non-linear Dynamic Inversion (NDI) controller, SLS reference models, and the SLS flight software prototype. This paper describes test cases from the research flight campaign in which the fundamental F/A-18 airframe structural mode was identified using frequency-domain reconstruction of flight data, amplified to result in closed loop instability, and suppressed in-flight by the SLS adaptive control system.

Wall, John H.↗

NASA NTRS2014

Impact Testing and Simulation of Composite Airframe Structures

Dynamic tests were performed at NASA Langley Research Center on composite airframe structural components of increasing complexity to evaluate their energy absorption behavior when subjected to impact loading. A second objective was to assess the capabilities of predicting the dynamic response of composite airframe structures, including damage initiation and progression, using a state-of-the-art nonlinear, explicit transient dynamic finite element code, LS-DYNA. The test specimens were extracted from a previously tested composite prototype fuselage section developed and manufactured by Sikorsky Aircraft Corporation under the US Army's Survivable Affordable Repairable Airframe Program (SARAP). Laminate characterization testing was conducted in tension and compression. In addition, dynamic impact tests were performed on several components, including I-beams, T-sections, and cruciform sections. Finally, tests were conducted on two full-scale components including a subfloor section and a framed fuselage section. These tests included a modal vibration and longitudinal impact test of the subfloor section and a quasi-static, modal vibration, and vertical drop test of the framed fuselage section. Most of the test articles were manufactured of graphite unidirectional tape composite with a thermoplastic resin system. However, the framed fuselage section was constructed primarily of a plain weave graphite fabric material with a thermoset resin system. Test data were collected from instrumentation such as accelerometers and strain gages and from full-field photogrammetry.

Jackson, Karen E.↗

NASA NTRS1978

Reproducibility of structural strength and stiffness for graphite-epoxy aircraft spoilers

Structural strength reproducibility of graphite epoxy composite spoilers for the Boeing 737 aircraft was evaluated by statically loading fifteen spoilers to failure at conditions simulating aerodynamic loads. Spoiler strength and stiffness data were statistically modeled using a two parameter Weibull distribution function. Shape parameter values calculated for the composite spoiler strength and stiffness were within the range of corresponding shape parameter values calculated for material property data of composite laminates. This agreement showed that reproducibility of full scale component structural properties was within the reproducibility range of data from material property tests.

Howell, W. E.↗

NASA NTRS2015

In-Flight Suppression of an Unstable F/A-18 Structural Mode Using the Space Launch System Adaptive Augmenting Control System

NASA's Space Launch System (SLS) Flight Control System (FCS) includes an Adaptive Augmenting Control (AAC) component which employs a multiplicative gain update law to enhance the performance and robustness of the baseline control system for extreme off-nominal scenarios. The SLS FCS algorithm including AAC has been flight tested utilizing a specially outfitted F/A-18 fighter jet in which the pitch axis control of the aircraft was performed by a Non-linear Dynamic Inversion (NDI) controller, SLS reference models, and the SLS flight software prototype. This paper describes test cases from the research flight campaign in which the fundamental F/A-18 airframe structural mode was identified using post-flight frequency-domain reconstruction, amplified to result in closed loop instability, and suppressed in-flight by the SLS adaptive control system.

VanZwieten, Tannen S.↗

NASA NTRS1993

Development and use of computational techniques in Army Aviation research and development programs for crash resistant helicopter technology

During the 1960's over 30 full-scale aircraft crash tests were conducted by the Flight Safety Foundation under contract to the Aviation Applied Technology Directorate (AATD) of the U.S. Army Aviation Systems Command (AVSCOM). The purpose of these tests were to conduct crash injury investigations that would provide a basis for the formulation of sound crash resistance design criteria for light fixed-wing and rotary wing aircraft. This resulted in the Crash Survival Design Criteria Designer's Guide which was first published in 1967 and has been revised numerous times, the last being in 1989. Full-scale aircraft crash testing is an expensive way to investigate structural deformations of occupied spaces and to determine the decelerative loadings experienced by occupants in a crash. This gave initial impetus to the U.S. Army to develop analytical methods to predict the dynamic response of aircraft structures in a crash. It was believed that such analytical tools could be very useful in the preliminary design stage of a new helicopter system which is required to demonstrate a level of crash resistance and had to be more cost effective than full-scale crash tests or numerous component design support tests. From an economic point of view, it is more efficient to optimize for the incorporation of crash resistance features early in the design stage. However, during preliminary design it is doubtful if sufficient design details, which influence the exact plastic deformation shape of structural elements, will be available. The availability of simple procedures to predict energy absorption and load-deformation characteristics will allow the designer to initiate valuable cost, weight, and geometry tradeoff studies. The development of these procedures will require some testing of typical specimens. This testing should, as a minimum, verify the validity of proposed procedures for providing pertinent nonlinear load-deformation data. It was hoped that through the use of these analytical models, the designer could optimize aircraft design for crash resistance from both a weight and cost increment standpoint, thus enhancing the acceptance of the design criteria for crash resistance.

Burrows, Leroy T.↗