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NASA NTRSDate not supplied

Guiding Integration of Formal Verification in Assurance Cases

Assurance cases are being increasingly acknowledged as away to build trust in complex systems with autonomous capabilities. An assurance case is a comprehensive, defensible, and valid justification that a system will function as intended for a specific mission and operating environment. Formal verification is often reserved for the most critical components of such systems. However, formal verification tools are often complex, and their usage is subject to many constraints and contextual dependencies. This can raise challenges both for performing the verification as well as reflecting the verification results appropriately in the assurance case, especially for non-expert users of the verification tool. To address these challenges, we present a tool-supported methodology for integrating formal verification results in an assurance case by capturing key verification method information in a rigorously constructed assurance case. In particular, we capture the tool specification in terms of its inputs, outputs, and assurance constraints as assumptions over inputs and guarantees provided over its outputs. The tool specification is parametrized over the inputs and outputs to both guide the intended application of the tool, as well as to check that the tool has been applied following the stated assumptions and that the guarantees hold. We define a generic tool assurance argument pattern that enables integration of the verification results in the assurance case by allowing custom refinement and automated instantiation for each tool use. We demonstrate our methodology on two formal verification tools and their applications to the verification of neural network properties for the aircraft domain.

Assurance Cases↗

NASA NTRS1995

Averting Denver Airports on a Chip

As a result of recent advances in software engineering capabilities, we are now in a more stable environment. De-facto hardware and software standards are emerging. Work on software architecture and design patterns signals a consensus on the importance of early system-level design decisions, and agreements on the uses of certain paradigmatic software structures. We now routinely build systems that would have been risky or infeasible a few years ago. Unfortunately, technological developments threaten to destabilize software design again. Systems designed around novel computing and peripheral devices will spark ambitious new projects that will stress current software design and engineering capabilities. Micro-electro-mechanical systems (MEMS) and related technologies provide the physical basis for new systems with the potential to produce this kind of destabilizing effect. One important response to anticipated software engineering and design difficulties is carefully directed engineering-scientific research. Two specific problems meriting substantial research attention are: A lack of sufficient means to build software systems by generating, extending, specializing, and integrating large-scale reusable components; and a lack of adequate computational and analytic tools to extend and aid engineers in maintaining intellectual control over complex software designs.

Sullivan, Kevin J.↗

NASA NTRS1987

The terminal area simulation system. Volume 2: Verification cases

The numerical simulation of five case studies are presented and are compared with available data in order to verify the three-dimensional version of the Terminal Area Simulation System (TASS). A spectrum of convective storm types are selected for the case studies. Included are: a High-Plains supercell hailstorm, a small and relatively short-lived High-Plains cumulonimbus, a convective storm which produced the 2 August 1985 DFW microburst, a South Florida convective complex, and a tornadic Oklahoma thunderstorm. For each of the cases the model results compared reasonably well with observed data. In the simulations of the supercell storms many of their characteristic features were modeled, such as the hook echo, BWER, mesocyclone, gust fronts, giant persistent updraft, wall cloud, flanking-line towers, anvil and radar reflectivity overhang, and rightward veering in the storm propagation. In the simulation of the tornadic storm a horseshoe-shaped updraft configuration and cyclic changes in storm intensity and structure were noted. The simulation of the DFW microburst agreed remarkably well with sparse observed data. The simulated outflow rapidly expanded in a nearly symmetrical pattern and was associated with a ringvortex. A South Florida convective complex was simulated and contained updrafts and downdrafts in the form of discrete bubbles. The numerical simulations, in all cases, always remained stable and bounded with no anomalous trends.

Proctor, F. H.↗

NASA NTRS1993

Automated cloud classification with a fuzzy logic expert system

An unresolved problem in current cloud retrieval algorithms concerns the analysis of scenes containing overlapping cloud layers. Cloud parameterizations are very important both in global climate models and in studies of the Earth's radiation budget. Most cloud retrieval schemes, such as the bispectral method used by the International Satellite Cloud Climatology Project (ISCCP), have no way of determining whether overlapping cloud layers exist in any group of satellite pixels. One promising method uses fuzzy logic to determine whether mixed cloud and/or surface types exist within a group of pixels, such as cirrus, land, and water, or cirrus and stratus. When two or more class types are present, fuzzy logic uses membership values to assign the group of pixels partially to the different class types. The strength of fuzzy logic lies in its ability to work with patterns that may include more than one class, facilitating greater information extraction from satellite radiometric data. The development of the fuzzy logic rule-based expert system involves training the fuzzy classifier with spectral and textural features calculated from accurately labeled 32x32 regions of Advanced Very High Resolution Radiometer (AVHRR) 1.1-km data. The spectral data consists of AVHRR channels 1 (0.55-0.68 mu m), 2 (0.725-1.1 mu m), 3 (3.55-3.93 mu m), 4 (10.5-11.5 mu m), and 5 (11.5-12.5 mu m), which include visible, near-infrared, and infrared window regions. The textural features are based on the gray level difference vector (GLDV) method. A sophisticated new interactive visual image Classification System (IVICS) is used to label samples chosen from scenes collected during the FIRE IFO II. The training samples are chosen from predefined classes, chosen to be ocean, land, unbroken stratiform, broken stratiform, and cirrus. The November 28, 1991 NOAA overpasses contain complex multilevel cloud situations ideal for training and validating the fuzzy logic expert system.

Tovinkere, Vasanth↗

NASA NTRS2016

Open Rotor Computational Aeroacoustic Analysis with an Immersed Boundary Method

Reliable noise prediction capabilities are essential to enable novel fuel efficient open rotor designs that can meet the community and cabin noise standards. Toward this end, immersed boundary methods have reached a level of maturity where more and more complex flow problems can be tackled with this approach. This paper demonstrates that our higher-order immersed boundary method provides the ability for aeroacoustic analysis of wake-dominated flow fields generated by a contra-rotating open rotor. This is the first of a kind aeroacoustic simulation of an open rotor propulsion system employing an immersed boundary method. In addition to discussing the methodologies of how to apply the immersed boundary method to this moving boundary problem, we will provide a detailed validation of the aeroacoustic analysis approach employing the Launch Ascent and Vehicle Aerodynamics (LAVA) solver. Two free-stream Mach numbers with M=0.2 and M=0.78 are considered in this analysis that are based on the nominally take-off and cruise flow conditions. The simulation data is compared to available experimental data and other computational results employing more conventional CFD methods. Spectral analysis is used to determine the dominant wave propagation pattern in the acoustic near-field.

Analysis↗

NASA NTRSDate not supplied

Spacesuit and Mobility Performance Changes

The complex interactions between the human body and spacesuit lead to changes inmovement patterns and mobility performancesof the wearer. In general, factors including the geometric properties, such as shape and size, mechanical properties of the suit, and pressurization of the suit are known to be associated with altered movement patterns as compared to an unsuited human.However, their relative contributions have not been explicitly quantified from the mobility performance perspectives. The goal of this study wasthus to assessthe effects fromthe different types of mobility constraintconditions, namely by wearing either a 3D printed hard upper torso (HUT) assembly orfully pressurized spacesuit. The outcome was also compared against the unsuited motions. For this study, an xEMU (exploration Extravehicular Mobility Unit) suitwas considered, which is the next generation spacesuit developed by NASA. In each test condition, the subject was asked to move the arm and hand as prescribedfor different task types, and the corresponding body segment locations were recordedusing a 3D motion capture system. The following three tasks were performedand analyzed: 1) Outward one-handed reaches:the subject in a standing pose made sweeping motions with the extended right arm from the extreme end-to-end positions, including side-to-side at different elevations and top-to-bottom at different azimuths. 2) Outward two-handed reaches:similarto the previous task, howeverthe subject kept the hands together during the motions in order to assessthe areas that can be reached by both hands. 3) Inward one-handed reaches:the subject made right-hand reach motions to the surface of the HUT.The hand traces collected from each task were modeled by a template shape parametrically deformed with a radial basis function. This process enabled foran abstraction of the hand traces into a smooth surface envelope representing the maximally reachable area of the test subject, of which the shapes and sizes were compared across the different test conditions. The preliminary analysis has shown that theoverall size of reachenvelopes decreases in a pressurized suit compared to 3D printed mockup HUT and unsuited conditions. The specific shape of the envelopes, which were determined by the reachable and unreachable zones, alsovary with the testconditions, and the differences werepronounced with the inward reaches to the HUT surface. The latter observation ispotentially relatedto the increased demandfor shoulder and elbow flexions.Overcomingthe resistance from the pressurizedsoft goods and mechanical constraints of the shoulder assemblywas seen to be associated with the difference in motion patterns between the suited and unsuited conditions. Overall, the information quantified from this study is expected to provide structured metrics for spacesuit mobility, which can improve design optimization and human-system integration.

K Han Kim↗

NASA NTRS2002

CATS-based Air Traffic Controller Agents

This report describes intelligent agents that function as air traffic controllers. Each agent controls traffic in a single sector in real time; agents controlling traffic in adjoining sectors can coordinate to manage an arrival flow across a given meter fix. The purpose of this research is threefold. First, it seeks to study the design of agents for controlling complex systems. In particular, it investigates agent planning and reactive control functionality in a dynamic environment in which a variety perceptual and decision making skills play a central role. It examines how heuristic rules can be applied to model planning and decision making skills, rather than attempting to apply optimization methods. Thus, the research attempts to develop intelligent agents that provide an approximation of human air traffic controller behavior that, while not based on an explicit cognitive model, does produce task performance consistent with the way human air traffic controllers operate. Second, this research sought to extend previous research on using the Crew Activity Tracking System (CATS) as the basis for intelligent agents. The agents use a high-level model of air traffic controller activities to structure the control task. To execute an activity in the CATS model, according to the current task context, the agents reference a 'skill library' and 'control rules' that in turn execute the pattern recognition, planning, and decision-making required to perform the activity. Applying the skills enables the agents to modify their representation of the current control situation (i.e., the 'flick' or 'picture'). The updated representation supports the next activity in a cycle of action that, taken as a whole, simulates air traffic controller behavior. A third, practical motivation for this research is to use intelligent agents to support evaluation of new air traffic control (ATC) methods to support new Air Traffic Management (ATM) concepts. Current approaches that use large, human-in-the-loop simulations are unquestionably valuable for this purpose, but pose considerable logistical, fiscal, and experimental control problems. First, data analysis is extremely complicated, owing simply to the large number of participants and data sources in such simulations. In addition, experienced human air traffic controllers working adjacent sectors tend to flexibly adapt to the evolving control problem - potentially shifting to other strategies than those under investigation. In addition, their performance is tightly coupled to the control interface, which in the development phase may support some concepts and supporting strategies better than others. A simple shift in strategy by one controller can change the character of a particular traffic scenario dramatically, which makes experimental comparison of ATC performance under different traffic scenarios difficult. Training a given team of controllers on operations under a new ATM concept for a sufficient period of time could avert such difficulties, but instituting an adequate training program is expensive and logistically difficult.

Callantine, Todd J.↗

NASA NTRS2000

Experimental and Analytical Determinations of Spiral Bevel Gear-Tooth Bending Stress Compared

Spiral bevel gears are currently used in all main-rotor drive systems for rotorcraft produced in the United States. Applications such as these need spiral bevel gears to turn the corner from the horizontal gas turbine engine to the vertical rotor shaft. These gears must typically operate at extremely high rotational speeds and carry high power levels. With these difficult operating conditions, an improved analytical capability is paramount to increasing aircraft safety and reliability. Also, literature on the analysis and testing of spiral bevel gears has been very sparse in comparison to that for parallel axis gears. This is due to the complex geometry of this type of gear and to the specialized test equipment necessary to test these components. To develop an analytical model of spiral bevel gears, researchers use differential geometry methods to model the manufacturing kinematics. A three-dimensional spiral bevel gear modeling method was developed that uses finite elements for the structural analysis. This method was used to analyze the three-dimensional contact pattern between the test pinion and gear used in the Spiral Bevel Gear Test Facility at the NASA Glenn Research Center at Lewis Field. Results of this analysis are illustrated in the preceding figure. The development of the analytical method was a joint endeavor between NASA Glenn, the U.S. Army Research Laboratory, and the University of North Dakota.

Handschuh, Robert F.↗

NASA NTRS2022

Quantifying Spatial Drought Propagation Potential in North America Using Complex Network Theory

Droughts have a dominant three-dimensional (3-D) spatiotemporal structure typically spanning hundreds of kilometers and often lasting for months to years. Here, we introduced a novel framework to explore the 3-D structure of the evolution of droughts based on network theory concepts. The proposed framework is applied to identify critical source regions responsible for large-scale drought onsets during 1901–2014 for the North American continent using the Standardized Precipitation Evaporation Index (SPEI). We built a spatial network connecting the drought onset timings for the North American continent. Using a spatially weighted network partitioning algorithm, the whole continent is then classified into regional spatial drought networks (RSN), where droughts are more likely to propagate within these regional systems. Finally, a customized network metric was applied to identify locations (source regions) where the drought onsets further propagate to other areas within the regional spatial network. Our results indicated that the West coast, Texas coastal region, and Southeastern Arkansas as major source regions through which atmospheric drought propagates to Western, South Central, and Eastern North America. The formation of drought source regions are due to presence of high pressure ridges and anomalous wind patterns. Furthermore, our results indicate that the drought propagation from these source regions may be due to inadequate moisture transport. The proposed framework can help to develop an early warning detection system for droughts and other spatially extensive extreme events such as heatwaves and floods.

Goutam Konapala↗

NASA NTRS2020

The Pliocene Model Intercomparison Project Phase 2: Large-scale Climate Features and Climate Sensitivity

The Pliocene epoch has great potential to improve our understanding of the long-term climatic and environmental consequences of an atmospheric CO2 concentration near ∼400 parts per million by volume. Here we present the large-scale features of Pliocene climate as simulated by a new ensemble of climate models of varying complexity and spatial resolution based on new reconstructions of boundary conditions (the Pliocene Model Intercomparison Project Phase 2; PlioMIP2). As a global annual average, modelled surface air temperatures increase by between 1.7 and 5.2 ∘C relative to the pre-industrial era with a multi-model mean value of 3.2 ∘C. Annual mean total precipitation rates increase by 7 % (range: 2 %–13 %). On average, surface air temperature (SAT) increases by 4.3 ∘C over land and 2.8 ∘C over the oceans. There is a clear pattern of polar amplification with warming polewards of 60∘ N and 60∘ S exceeding the global mean warming by a factor of 2.3. In the Atlantic and Pacific oceans, meridional temperature gradients are reduced, while tropical zonal gradients remain largely unchanged. There is a statistically significant relationship between a model's climate response associated with a doubling in CO2 (equilibrium climate sensitivity; ECS) and its simulated Pliocene surface temperature response. The mean ensemble Earth system response to a doubling of CO2 (including ice sheet feedbacks) is 67 % greater than ECS; this is larger than the increase of 47 % obtained from the PlioMIP1 ensemble. Proxy-derived estimates of Pliocene sea surface temperatures are used to assess model estimates of ECS and give an ECS range of 2.6–4.8 ∘C. This result is in general accord with the ECS range presented by previous Intergovernmental Panel on Climate Change (IPCC) Assessment Reports.

Pliocene Model Intercomparison Project↗

NASA NTRS2016

Pluto's Global Surface Composition Through Pixel-by-Pixel Hapke Modeling of New Horizons Ralph LEISA Data

On July 14th 2015, NASA's New Horizons mission gave us an unprecedented detailed view of the Pluto system. The complex compositional diversity of Pluto's encounter hemisphere was revealed by the Ralph/LEISA infrared spectrometer on board of New Horizons. We present compositional maps of Pluto defining the spatial distribution of the abundance and textural properties of the volatiles methane and nitrogen ices and non-volatiles water ice and tholin. These results are obtained by applying a pixel-by-pixel Hapke radiative transfer model to the LEISA scans. Our analysis focuses mainly on the large scale latitudinal variations of methane and nitrogen ices and aims at setting observational constraints to volatile transport models. Specifically, we find three latitudinal bands: the first, enriched in methane, extends from the pole to 55degN, the second dominated by nitrogen, continues south to 35 degN, and the third, com- posed again mainly of methane, reaches 20 degN. We demonstrate that the distribution of volatiles across these surface units can be explained by differences in insolation over the past few decades. The latitudinal pattern is broken by Sputnik Planitia, a large reservoir of volatiles, with nitrogen playing the most important role. The physical properties of methane and nitrogen in this region are suggestive of the presence of a cold trap or possible volatile stratification. Furthermore our modeling results point to a possible sublimation transport of nitrogen from the northwest edge of Sputnik Planitia toward the south.

Protopapa, S.↗

NASA NTRS1999

Advanced Electromagnetic Methods for Aerospace Vehicles

The imminent destructive threats of Lightning on helicopters and other airborne systems has always been a topic of great interest to this research grant. Previously, the lightning induced currents on the surface of the fuselage and its interior were predicted using the finite-difference time-domain (FDTD) method as well as the NEC code. The limitations of both methods, as applied to lightning, were identified and extensively discussed in the last meeting. After a thorough investigation of the capabilities of the FDTD, it was decided to incorporate into the numerical method a subcell model to accurately represent current diffusion through conducting materials of high conductivity and finite thickness. Because of the complexity of the model, its validity will be first tested for a one-dimensional FDTD problem. Although results are not available yet, the theory and formulation of the subcell model are presented and discussed here to a certain degree. Besides lightning induced currents in the interior of an aircraft, penetration of electromagnetic fields through apertures (e.g., windows and cracks) could also be devastating for the navigation equipment, electronics, and communications systems in general. The main focus of this study is understanding and quantifying field penetration through apertures. The simulation is done using the FDTD method and the predictions are compared with measurements and moment method solutions obtained from the NASA Langley Research Center. Cavity-backed slot (CBS) antennas or slot antennas in general have many applications in aircraft-satellite type of communications. These can be flushmounted on the surface of the fuselage and, therefore, they retain the aerodynamic shape of the aircraft. In the past, input impedance and radiation patterns of CBS antennas were computed using a hybrid FEM/MoM code. The analysis is now extended to coupling between two identical slot antennas mounted on the same structure. The predictions are performed using both the hybrid FEM/MoM and the FDTD NEWS code. The results are compared with each other as well as with measurements performed in the ElectroMagnetic Anechoic Chamber (EMAC) of ASU. In addition to self and mutual impedances versus frequency, the comparisons include mutual coupling S(sub 12) as a function of distance for various slot orientations.

Balanis, Constantine A.↗

NASA NTRS1994

Empirical Modeling of Plant Gas Fluxes in Controlled Environments

As humans extend their reach beyond the earth, bioregenerative life support systems must replace the resupply and physical/chemical systems now used. The Controlled Ecological Life Support System (CELSS) will utilize plants to recycle the carbon dioxide (CO2) and excrement produced by humans and return oxygen (O2), purified water and food. CELSS design requires knowledge of gas flux levels for net photosynthesis (PS(sub n)), dark respiration (R(sub d)) and evapotranspiration (ET). Full season gas flux data regarding these processes for wheat (Triticum aestivum), soybean (Glycine max) and rice (Oryza sativa) from published sources were used to develop empirical models. Univariate models relating crop age (days after planting) and gas flux were fit by simple regression. Models are either high order (5th to 8th) or more complex polynomials whose curves describe crop development characteristics. The models provide good estimates of gas flux maxima, but are of limited utility. To broaden the applicability, data were transformed to dimensionless or correlation formats and, again, fit by regression. Polynomials, similar to those in the initial effort, were selected as the most appropriate models. These models indicate that, within a cultivar, gas flux patterns appear remarkably similar prior to maximum flux, but exhibit considerable variation beyond this point. This suggests that more broadly applicable models of plant gas flux are feasible, but univariate models defining gas flux as a function of crop age are too simplistic. Multivariate models using CO2 and crop age were fit for PS(sub n), and R(sub d) by multiple regression. In each case, the selected model is a subset of a full third order model with all possible interactions. These models are improvements over the univariate models because they incorporate more than the single factor, crop age, as the primary variable governing gas flux. They are still limited, however, by their reliance on the other environmental conditions under which the original data were collected. Three-dimensional plots representing the response surface of each model are included. Suitability of using empirical models to generate engineering design estimates is discussed. Recommendations for the use of more complex multivariate models to increase versatility are included.

Cornett, Jessie David↗

NASA NTRS2012

Observations of Carbon Isotopic Fractionation in Interstellar Formaldehyde

Primitive Solar System materials (e.g. chondrites. IDPs, the Stardust sample) show large variations in isotopic composition of the major volatiles (H, C, N, and O ) even within samples, witnessing to various degrees of processing in the protosolar nebula. For ex~ ample. the very pronounced D enhancements observed in IDPs [I] . are only generated in the cold. dense component of the interstellar medium (ISM), or protoplanetary disks, through ion-molecule reactions in the presence of interstellar dust. If this isotopic anomaly has an interstellar origin, this leaves open the possibility for preservation of other isotopic signatures throughout the form ation of the Solar System. The most common form of carbon in the ISM is CO molecules, and there are two potential sources of C-13 fractionation in this reservoir: low temperature chemistry and selective photodissociation. While gas-phase chemistry in cold interstellar clouds preferentially incorporates C-13 into CO [2], the effect of self-shielding in the presence of UV radiation instead leads to a relative enhancement of the more abundant isotopologue, 12CO. Solar System organic material exhibit rather small fluctuations in delta C-13 as compared to delta N-15 and delta D [3][1], the reason for which is still unclear. However, the fact that both C-13 depleted and enhanced material exists could indicate an interstellar origin where the two fractionation processes have both played a part. Formaldehyde (H2CO) is observed in the gas-phase in a wide range of interstellar environments, as well as in cometary comae. It is proposed as an important reactant in the formation of more complex organic molecules in the heated environments around young stars, and formaldehyde polymers have been suggested as the common origin of chondritic insoluable organic matter (IOM) and cometary refractory organic solids [4]. The relatively high gas-phase abundance of H2CO observed in molecular clouds (10(exp- 9) - 10(exp- 8) relative to H2) makes it feasible to observe its less common isotopologues. As a step in our investigation of C-13 fractionation patterns in the ISM, we here present comparisons between observations of the C-13 fraction in formaldehyde, and chemical fractionation models.

Wirstrom, E. S.↗

NASA NTRS1992

Internal reversing flow in a tailpipe offtake configuration for SSTOVL aircraft

A generic one-third scale model of a tailpipe offtake system for a supersonic short takeoff vertical landing (SSTOVL) aircraft was tested at LeRC Powered Lift Facility. The model consisted of a tailpipe with twin elbows, offtake ducts, and flow control nozzles, plus a small ventral nozzle and a blind flange to simulate a blocked cruise nozzle. The offtake flow turned through a total angle of 177 degrees relative to the tailpipe inlet axis. The flow split was 45 percent to each offtake and 10 percent to the ventral nozzle. The main test objective was to collect data for comparison to the performance of the same configuration predicted by a computational fluid dynamics (CFD) analysis. Only the experimental results are given - the analytical results are published in a separate paper. Performance tests were made with unheated air at tailpipe-to-ambient pressure ratios up to 5. The total pressure loss through the offtakes was as high as 15.5 percent. All test results are shown as graphs, contour plots, and wall pressure distributions. The complex flow patterns in the tailpipe and elbows at the offtake openings are described with traversing flow angle probe and paint streak flow visualization data.

Mcardle, Jack G.↗

NASA NTRS1992

Internal reversing flow in a tailpipe offtake configuration for SSTOVL aircraft

Mcardle, Jack G.↗

NASA NTRS1993

Advanced microfabrication technologies for microspacecraft

Advanced microfabrication technologies offer the prospect of reducing the weight and size of spacecraft through the use of lighter and stronger materials in conjunction with new mechanical/structural design concepts and design optimization methods. At the same time, electronic components have been scaled down while increasing functional utility. A two-fold benefit is derived for space applications through the use of less expensive components and the lower launch costs associated with lighter components. GE-CRD is actively pursuing research in these key technologies for a wide range of applications including satellites. These key technologies will be reviewed and an update on GE progress will be given. The need to reduce weight and lower cost, while maintaining product quality and reliability are primary drivers in the design of satellites, in general, and microsatellites in particular. For the structural subsystem, these requirements pose a complex design problem unless new mechanical design concepts and computer-aided design optimization methods are employed. Several new concepts, such as battery packs doubling as panel reinforcements and fuel tanks as integral structural members, need to utilized. In addition, new viscoelastic material damping concepts for spacecraft components provide for lighter weight/lower cost designs, while satisfying the structural dynamics requirements. High density interconnect (HDI) technology permits the use of bare IC's on a ceramic substrate with 90 percent active area utilization. A copper/polyimide multilayer structure is the backbone of the technology, which has demonstrated a size/weight reduction of greater than 10x compared to printed circuit board with performance up to the GHz level. HDI modules have exceptional mechanical robustness as evidenced by survival of 180 kg rapid acceleration tests. Microelectromechanical systems (MEMS) are redefining sensors and actuators by miniaturization through micromachining techniques. Sharing many fabrication steps with HDI, we have developed a new technique for surface micromachining of copper/polyimide structures using computer-aided laser patterning.

Ghezzo, M.↗

NASA NTRS2005

Upper Torso Control for HOAP-2 Using Neural Networks

Humanoid robots have similar physical builds and motion patterns as humans. Not only does this provide a suitable operating environment for the humanoid but it also opens up many research doors on how humans function. The overall objective is replacing humans operating in unsafe environments. A first target application is assembly of structures for future lunar-planetary bases. The initial development platform is a Fujitsu HOAP-2 humanoid robot. The goal for the project is to demonstrate the capability of a HOAP-2 to autonomously construct a cubic frame using provided tubes and joints. This task will require the robot to identify several items, pick them up, transport them to the build location, then properly assemble the structure. The ability to grasp and assemble the pieces will require improved motor control and the addition of tactile feedback sensors. In recent years, learning-based control is becoming more and more popular; for implementing this method we will be using the Adaptive Neural Fuzzy Inference System (ANFIS). When using neural networks for control, no complex models of the system must be constructed in advance-only input/output relationships are required to model the system.

Sandoval, Steven P.↗