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At least 451 records · Page 25

Formal Methods in the Development of Highly Assured Software for Unmanned Aircraft Systems

In traditional software development methodologies, operational and functional requirements of systems are often specified in structured natural language notations. These restricted notations provide good documentation support, but only provide limited support for semantic analysis. These notations are generally not rich enough to unambiguously specify the requirements of safety-critical systems that, for example, involve complex numerical computations or that interact with the physical environment. Examples of these safety-critical systems are autonomous vehicles such as unmanned aircraft systems. This talk advocates the use of expressive formal logics, such as higher-order logic, to specify the operational and functional requirement of unmanned systems and to prove the correctness of these requirements. Semantic analysis of requirements written in higher-order logic is supported through the use of interactive theorem provers. Formal models serve as ideal reference implementations of functional requirements. Hence, formal logics enable software validation techniques where software implementations can be checked against functional requirements in a mechanical way. The Formal Methods group in the Safety-Critical Avionics Systems Branch at NASA Langley Research Center has conducted research on the development and application of formal verification techniques to safety-critical applications of interest to NASA for more than 30 years. This talk illustrates the use of formal methods in the development of highly-assured autonomous unmanned aircraft systems.

Formal Methods↗

Hazard avoidance for a Mars rover

The challenging geology of the surface of Mars, when coupled with the impossibility of continuous remote driving from earth, dictate the need for autonomous hazard detection, recognition and possibly hazard avoidance capabilities onboard any robotic Mars roving vehicle. The main technical issues represented by terrain hazards are accidental damage and vehicle entrapment. Several approaches to vehicle design geared to prevent such immobilization threats are identified. The gamut of alternatives for rover autonomy are also presented, and the applicability of the various options for the Mars Rover/Sample Return mission are assessed in the context of the technology state of the art for hazard sensors and processing algorithms.

Spiessbach, Andrew J.↗

Perseveration effects in detection tasks with correlated decision intervals

An investigation of the behavior of the human decisionmaker is described for a task related to the problem of a pilot using a traffic situation display to avoid collisions. This sequential signal detection task is characterized by highly correlated signals with time varying strength. Experimental results are presented and the behavior of the observers is analyzed using the theory of Markov processes and classical signal detection theory. Mathematical models are developed which describe the main result of the experiment: that correlation in sequential signals induced perseveration in the observer response and a strong tendency to repeat their previous decision, even when they were wrong.

Gai, E. G.↗

A TCAS-II Resolution Advisory Detection Algorithm

The Traffic Alert and Collision Avoidance System (TCAS) is a family of airborne systems designed to reduce the risk of mid-air collisions between aircraft. TCAS~II, the current generation of TCAS devices, provides resolution advisories that direct pilots to maintain or increase vertical separation when aircraft distance and time parameters are beyond designed system thresholds. This paper presents a mathematical model of the TCAS~II Resolution Advisory (RA) logic that assumes accurate aircraft state information. Based on this model, an algorithm for RA detection is also presented. This algorithm is analogous to a conflict detection algorithm, but instead of predicting loss of separation, it predicts resolution advisories. It has been formally verified that for a kinematic model of aircraft trajectories, this algorithm completely and correctly characterizes all encounter geometries between two aircraft that lead to a resolution advisory within a given lookahead time interval. The RA detection algorithm proposed in this paper is a fundamental component of a NASA sense and avoid concept for the integration of Unmanned Aircraft Systems in civil airspace.

Munoz, Cesar↗

Compute Element and Interface Box for the Hazard Detection System

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is building a sensor that enables a spacecraft to evaluate autonomously a potential landing area to generate a list of hazardous and safe landing sites. It will also provide navigation inputs relative to those safe sites. The Hazard Detection System Compute Element (HDS-CE) box combines a field-programmable gate array (FPGA) board for sensor integration and timing, with a multicore computer board for processing. The FPGA does system-level timing and data aggregation, and acts as a go-between, removing the real-time requirements from the processor and labeling events with a high resolution time. The processor manages the behavior of the system, controls the instruments connected to the HDS-CE, and services the "heavy lifting" computational requirements for analyzing the potential landing spots.

Villalpando, Carlos Y.↗

Optical Images of an Exosolar Planet 25 Light-Years from Earth

Fomalhaut is a bright star 7.7 parsec (25 light year) from Earth that harbors a belt of cold dust with a structure consistent with gravitational sculpting by an orbiting planet. Here, we present optical observations of an exoplanet candidate. Fomalhaut b. In the plane of the belt, Fomalhaut b lies approximately 119 astronomical units (AU) from the star, and within 18 All of the dust belt. We detect counterclockwise orbital motion using Hubble Space Telescope observations separated by 1.73 years. Dynamical models of the interaction between the planet and the belt indicate that the planet's mass is at most three times that of Jupiter for the belt to avoid gravitational disruption. The flux detected at 0.8 micron flux is also consistent with that of a planet with mass a few limes that of Jupiter. The brightness at 0.6 microns and the lack of detection at longer wavelengths suggest that the detected flux may include starlight reflected off a circumplanetary disk, with dimension comparable to the orbits of the Galilean satellites. We also observed variability of unknown origin at 0.6 microns.

Clampin, Mark↗

Optical Images of an Exosolar Planet 25 Light Years from Earth

Fomalhaut is a bright star 7.7 parsecs (25 light years) from Earth that harbors a belt of cold dust with a structure consistent with gravitational sculpting by an orbiting planet. Here, we present optical observations of an exoplanet candidate, Fomalhaut b. In the plane of the belt, Fomalhaut b lies approximately 119 astronomical units (AU) from the star and 18 AU from the dust belt, matching predictions. We detect counterclockwise orbital motion using Hubble Space Telescope observations separated by 1.73 years. Dynamical models of the interaction between the planet and the belt indicate that the planet's mass is at most three times that of Jupiter for the belt to avoid gravitational disruption. The flux detected at 0.8 m is also consistent with that of a planet with mass no greater than a few times that of Jupiter. The brightness at 0.6 micron and the lack of detection at longer wavelengths suggest that the detected flux may include starlight reflected off a circumplanetary disk, with dimension comparable to the orbits of the Galilean satellites. We also observed variability of unknown origin at 0.6 micron.

Kalas, Paul↗

Pi/4-QPSK modems for satellite sound/data broadcast systems

The use of pi/4-quadrature phase-shift keying (QPSK) modems for satellite sound broadcast systems (SSBS) broadcasting to mobile or portable receivers is proposed. Three different differential detectors (including the FM-discriminator followed by integrate-sample-and-dump filter) and a novel coherent detector are discussed. The degradation caused by the frequency offset between the local oscillator (LO) and the unmodulated carrier (CR) in the baseband differential detector is studied. The performance of both coherently and differentially detected pi/4-QPSK in a Gaussian channel is also studied. It is shown that with a frequency offset of more than 3 percent of the symbol rate, the performance degradation is more than 1 dB at 0.0001. The out-of-band power of the nonlinearly amplified bandlimited pi/4-QPSK signals is reduced from -13 dB to -37 dB if a 2-dB output back-off amplifier is used instead of a hardlimiter. The performance of the pi/4-QPSK is equivalent to that of QPSK, although the pi/4-QPSK has the advantage of less spectrum restoration after nonlinear amplification. The coherent demodulator and differential decoder avoid the three-level detection and achieve the same bit-error-rate performance as DEQPSK with a simple circuit.

Liu, Chia-Liang↗

Robust Kalman filter design for predictive wind shear detection

Severe, low-altitude wind shear is a threat to aviation safety. Airborne sensors under development measure the radial component of wind along a line directly in front of an aircraft. In this paper, optimal estimation theory is used to define a detection algorithm to warn of hazardous wind shear from these sensors. To achieve robustness, a wind shear detection algorithm must distinguish threatening wind shear from less hazardous gustiness, despite variations in wind shear structure. This paper presents statistical analysis methods to refine wind shear detection algorithm robustness. Computational methods predict the ability to warn of severe wind shear and avoid false warning. Comparative capability of the detection algorithm as a function of its design parameters is determined, identifying designs that provide robust detection of severe wind shear.

Stratton, Alexander D.↗

Development of advanced vacuum technologies for extending plasma pulse duration on EAST

Advanced vacuum technologies, including pumping, fueling and wall conditioning, have been successfully developed or upgraded to efficiently control the fuel and impurity particles to extend the plasma pulse duration in the experimental advanced superconducting tokamak (EAST). To improve the particle exhaust rate cryopumps with a 60% increase in pumping speed and ∼2 times increase in saturation capacity have been developed, and molecular pumps with a ∼30% increase in pumping speed have been upgraded. In order to monitor the molecular pump status while avoiding bearing faults and overload accidents, a fault detection system has been built which can offer an early warning to avoid more losses within the fusion device. A series of fueling technologies have been developed including gas injection system, supersonic molecular beam injector, pellet injector (PI), massive gas injector and shattered pellet injector, installed at the midplane and divertor positions at different ports to improve fueling uniformity and efficiency. Meanwhile, routine wall conditioning such as electric and hot N 2 baking, ion cyclotron wall conditioning and glow discharge cleaning have been successfully developed to remove the impurity particles from the inner component and materials. The low Z material wall coating and real-time powder injection during plasma discharge are also designed and applied to further improve particle control capability. Finally, by using these advanced vacuum related technologies, good vacuum (<2 × 10 −6 Pa) and wall conditions are realized, and the fuel and impurity particles can be effectively and stably controlled, which promotes the achievement of the record plasma of ∼1056 s pulse duration with the line-averaged electron density of 1.8 × 10 19 m −3 on EAST. They provide a very important reference for vacuum system design and operation for future fusion devices.

EAST↗

Enumeration and Fluorescence In Situ Hybridization of Microbial Bioburden on Cleanroom Surfaces

Introduction: Microorganisms are everywhere on Earth, even in the cleanest of places. Spacecraft assembly cleanrooms can harbor low levels of living and dead microbial cells (e.g., [1,2]), and cleanroom bioburden can also include organic molecules from industrial sources and in situ biomass. Life detection missions require careful attention to avoid contaminants that can be easily convoluted with analytical targets. We are evaluating epifluorescent microscopy and fluorescence in situ hybridization (FISH) as methods to complement organic contamination detection techniques. Epifluorescent cell counting offers an accurate and cost-effective way to quantify low levels of surface biomass. FISH could allow for the identification of residual organisms, and can be targeted to detect active populations of specific organisms such as bacteria known to resist cleaning procedures. This effort is part of a larger study that is concentrated on characterizing the surface and airborne molecular organic contamination background in Johnson Space Center (JSC) Astromaterials curation laboratories and Goddard Space Flight Center (GSFC) spacecraft assembly rooms, and understanding contaminants in the context of cleaning procedures and residual bioburden. Methods: Samples were collected by swabbing surfaces in ISO 5 and ISO 7 equivalent cleanrooms at JSC. Swabs for FISH were fixed in 4% paraformaldehyde (PFA) for 3 hours and then stored in 1:1 ethanol:PBS, while swabs for cell counting were stored in 4% PFA until analysis to avoid any cell loss during centrifugation that could impact quantification of very low biomass samples. Cell counting was performed with SYBR Gold as in [3], but adapted for very low biomass. FISH was performed as in [4], using DAPI as a counterstain for all DNA-containing cells. Negative controls included wells with no probe applied, to test for natural fluorescence, as well as the nonsense probe NONEUB (reverse complement of EUB338) to evaluate non-specific probe binding. Results and Discussion: Cleanroom surfaces had 102-103 cells cm-2. The extremely low biomass of these samples was challenging for enumeration, and required careful and routine use of “field” and laboratory blanks. FISH was performed with the general archaeal and bacterial probes ARCH915 and EUB338 (EUBMIX, [4]), probe GAMBET ([4]), and PSE227, which targets the genus Pseudomonas [5]). The latter two probes were selected because Pseudomonas spp. and other Gammaproteobacteria have not been isolated from cleanroom surfaces but do appear frequently in rRNA gene libraries from these surfaces. While some active bacteria were identified (Fig. 1c), most cells detectable by DAPI did not have a strong or any fluorescent signal (e.g., Fig. 1d), indicating that the vast majority of cells are dead or inactive. This suggests that cleaning protocols are effective at inactivating microbial contaminants, but that dead or inactive cells can remain on surfaces. Cells were often clumped in a weakly autofluorescent matrix, possibly biofilm material (Fig. 1c,d). We also observed other particulate material that was collected by the swabs, including apparent textile fibers (Fig. 1b). Our results are consistent with other studies that show that the bioburden present in clean rooms includes active, dormant, and dead cells. We will discuss how FISH and epifluorescent cell counting could be applied in planetary protection protocols, including the advantages and disadvantages of FISH and cell counting for routine use, as well as different possible applications for more specialized FISH procedures. References: [1] Moissl-Eichinger et al. (2015) Sci Rep, 5, 9156 [2] Hendrickson et al. (2021) Microbiome, 9, 238 [3] Jones et al. (2017) Appl Environ Microbiol, 83, e00909-17 [4] Jones et al. (2015) Appl Environ Microbiol, 81, 1242-1250. [5] Watt et al. (2006) Environ Microbiol, 8, 871-884

C J Huff↗

Collision detection for planning collision-free motion of two robot arms

The authors focus on collision detection for planning collision-free motion of two robot arms in a common workspace. A collision-free motion is obtained by detecting collisions along the straight-line trajectories of the robots using a sphere model for the wrists and then replanning the paths and/or trajectories of one or both of the robots to avoid collisions. A novel approach to collision detection is presented and a discussion on collision avoidance is given.

Basta, Robert A.↗

Dark showers from sneaky dark matter

We present a minimal composite dark matter model, based on a SU(Nd) dark sector with nf dark quarks and a heavy t-channel mediator. For nf ≥ 4, the dark flavor symmetry guarantees the stability of a subset of the dark pions, which serve as our dark matter candidates. Their relic abundance is determined by dark sector annihilation with the remaining dark pions, which are unstable and decay. Due to their degenerate masses, the annihilation cross section is suppressed at low temperatures, thereby avoiding stringent constraints from indirect detection and opening up the GeV mass window. The decaying dark pions are naturally long lived. We obtain limits on the model from semi-visible or emerging jet searches and estimate the reach of future probes.

ALPs↗

Detection of Br and I as atomic anions using liquid sampling – atmospheric pressure glow discharge/Orbitrap mass spectrometry

The quantification and determination of halogen isotope composition is essential in many fields including geochemistry and nuclear forensics. Detection of the halogen elements is commonly attempted with inductively coupled plasma mass spectrometry (ICP-MS) however, there are multiple challenges faced. Most significantly this includes very poor ionization efficiency and the potential for isobaric interferences from either matrix or plasma species. Thus, sensitivity and accuracy are often limiting issues. Here a liquid sampling-atmospheric pressure glow discharge (LS-APGD) ionization source is coupled with an ultrahigh resolution Orbitrap MS to perform halogen detection of bromine and iodine as initial analytes. This facilitates simple and sensitive detection of these elements as atomic anions from simple aqueous salt solutions. Collision-induced dissociation (CID) and higher-energy collisional dissociation (HCD) energies were optimized to produce the maximum response of Br − and I − . The LS-APGD conditions were optimized using a design of experiments (DOE) approach for Br − and I − concurrently. Response curves for Br − and I − solutions determined limit of detection (LOD) values of 50 pg and 5 pg, respectively, in 20 μL aliquots. The curves indicated response factors of 0.67 for 79 Br − and 0.90 for 127 I − . Br isotope ratios were determined with precision between 0.7 and 7.3% RSD, with the isotope ratios determined with precision 0.8% RSD at concentrations above the limit of quantification. Preliminary tests were conducted to evaluate the effect of different cations (Na + , K + , and Mg 2+ ) on Br − responses, with no discernible impacts observed on the halogen signal responses. This study demonstrates the potential use of the LS-APGD-Orbitrap-MS for the detection of multiple halogens while avoiding interferences, minimizing sample preparation, and overcoming ionization barriers.

Lang, Dehlia A. [Clemson University, SC (United St↗

A loophole-free Bell's inequality experiment

The proof of Nature's nonlocality through Bell-type experiments is a topic of longstanding interest. Nevertheless, no experiments performed thus far have avoided the so-called 'detection loophole,' arising from low detector efficiencies and angular-correlation difficulties. In fact, most, if not all, of the systems employed to date can never close this loophole, even with perfect detectors. In addition, another loophole involving the non-rapid, non-random switching of various parameter settings exists in all past experiments. We discuss a proposal for a potentially loophole-free Bell's inequality experiment. The source of the EPR-correlated pairs consists of two simultaneously-pumped type-2 phase-matched nonlinear crystals and a polarizing beam splitter. The feasibility of such a scheme with current detector technology seems high, and will be discussed. We also present a single-crystal version, motivated by other work presented at this conference. In a separate experiment, we have measured the absolute detection efficiency and time response of four single-photon detectors. The highest observed efficiencies were 70.7 plus or minus 1.9 percent (at 633 nm, with a device from Rockwell International) and 76.4 plus or minus 2.3 percent (at 702 nm, with an EG&G counting module). Possible efficiencies as high as 90 percent were implied. The EG&G devices displayed sub-nanosecond time resolution.

Kwiat, Paul G.↗

Piezo activated mode tracking system for widely tunable mode-hop-free external cavity mid-IR semiconductor lasers

A widely tunable, mode-hop-free semiconductor laser operating in the mid-IR comprises a QCL laser chip having an effective QCL cavity length, a diffraction grating defining a grating angle and an external cavity length with respect to said chip, and means for controlling the QCL cavity length, the external cavity length, and the grating angle. The laser of claim 1 wherein said chip may be tuned over a range of frequencies even in the absence of an anti-reflective coating. The diffraction grating is controllably pivotable and translatable relative to said chip and the effective QCL cavity length can be adjusted by varying the injection current to the chip. The laser can be used for high resolution spectroscopic applications and multi species trace-gas detection. Mode-hopping is avoided by controlling the effective QCL cavity length, the external cavity length, and the grating angle so as to replicate a virtual pivot point.

Wysocki, Gerard↗

Regolith Volatile Characterization (RVC) in RESOLVE

Resource investigation in the lunar poles is of importance to the potential impact of in-situ resource utilization (ISRU). The RESOLVE project developed a payload to investigate the permanently shadowed areas of the lunar poles and demonstrate ISRU technology. As a part of the RESOLVE project, the regolith volatile characterization (RVC) subsystem was designed to examine the release of volatiles from sample cores. The test sample was heated in the reactor to release the volatiles where they were analyzed with gas chromatography. Subsequently, the volatile sample was introduced into the lunar water resource demonstration (LWRD) subsystem where the released hydrogen and water were selectively captured. The objective of the Regolith Volatile Characterization (RVC) subsystem was to heat the crushed core sample and determine the desorption of volatile species of interest. The RVC subsystem encompasses the reactor and the system for volatile analysis. The system was designed to analyze H2, He, CO, CO2, N2, 02, CH4, H2S and H2O. The GC chosen for this work is a Siemens MicroSAM process GC with 3 columns and 8 TCD detectors. Neon was chosen as the carrier gas to enhance the analysis of hydrogen and helium.The limit of detection for the gases is approx.1000ppm for H2, CO. CO2 , N2, O2 and H2 S. The limit of detection for CH4 is approx.4000ppm and the water limit of detection is -10000 ppm with a sample analysis time of 2-3 minutes. These values (with the exception of water and H2S) were determined by dilution of a six gas mixture from Scott Gas (5% CO2, CO, O2, N2, 4% CH4 and H2) using mass flow controllers (MFC5). Water was calibrated at low levels using an in house relative humidity (RH) generator. H 2S and high concentrations of H2 were calibrated by diluting a pure stream of gas with MFCs. Higher concentrations of N2 and 02 were calibrated using Air again diluting with MFCs. There were three modification goals for the GC in EBU2 that would allow this process GC to be used in the field demo for RESOLVE. The first modification was to decrease the weight associated with the GC, this included eliminating the explosion proof case (Figure 1) and replacing it with a lightweight case as well as using an on board COPV tank for the neon carrier gas. The next goal was to add a second oven for the molecular sieve column to allow for dual temperature control during GC operation; the separation of hydrogen and helium is optimum at lower temperatures while the water analysis required higher temperatures creating a competing design requirement. The second oven also allows a lower limit of detection for water quantification and avoids the possibility of water condensing in the GC which could ruin the column characteristics. The final goal was to modify the column arrangement to optimize the system for our specific application. Figure 2 shows the internal details of the module optimized optimized for our field application. The modifications and performance of the gas analysis system will be discussed in detail.

Captain, Janine↗

Spatially Resolving Ocean Color and Sediment Dispersion in River Plumes, Coastal Systems, and Continental Shelf Waters

Satellite remote sensing of ocean color in dynamic coastal, inland, and nearshorewaters is impeded by high variability in optical constituents, demands specialized atmospheric correction, and is limited by instrument sensitivity. To accurately detect dispersion of bio-optical properties, remote sensors require ample signal-to-noise ratio (SNR) to sense small variations in ocean color without saturating over bright pixels, an atmospheric correction that can accommodate significantwater-leaving radiance in the near infrared (NIR), and spatial and temporal resolution that coincides with the scales of variability in the environment. Several current and historic space-borne sensors have met these requirements with success in the open ocean, but are not optimized for highly red-reflective and heterogeneous waters such as those found near river outflows or in the presence of sediment resuspension. Here we apply analytical approaches for determining optimal spatial resolution, dominant spatial scales of variability ("patches"), and proportions of patch variability that can be resolved from four river plumes around the world between 2008 and 2011. An offshore region in the Sargasso Sea is analyzed for comparison. A method is presented for processing Moderate Resolution Imaging Spectroradiometer (MODIS) Aqua and Terra imagery including cloud detection, stray lightmasking, faulty detector avoidance, and dynamic aerosol correction using short-wave- and near-infrared wavebands in extremely turbid regions which pose distinct optical and technical challenges. Results showthat a pixel size of approx. 520 mor smaller is generally required to resolve spatial heterogeneity in ocean color and total suspended materials in river plumes. Optimal pixel size increases with distance from shore to approx. 630 m in nearshore regions, approx 750 m on the continental shelf, and approx. 1350 m in the open ocean. Greater than 90% of the optical variability within plume regions is resolvable with 500 m resolution, and small, but significant, differences were found between peak and nadir river flow periods in terms of optimal resolution and resolvable proportion of variability.

MODIS↗