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NASA NTRS1993

Real-time trajectory optimization on parallel processors

A parallel algorithm has been developed for rapidly solving trajectory optimization problems. The goal of the work has been to develop an algorithm that is suitable to do real-time, on-line optimal guidance through repeated solution of a trajectory optimization problem. The algorithm has been developed on an INTEL iPSC/860 message passing parallel processor. It uses a zero-order-hold discretization of a continuous-time problem and solves the resulting nonlinear programming problem using a custom-designed augmented Lagrangian nonlinear programming algorithm. The algorithm achieves parallelism of function, derivative, and search direction calculations through the principle of domain decomposition applied along the time axis. It has been encoded and tested on 3 example problems, the Goddard problem, the acceleration-limited, planar minimum-time to the origin problem, and a National Aerospace Plane minimum-fuel ascent guidance problem. Execution times as fast as 118 sec of wall clock time have been achieved for a 128-stage Goddard problem solved on 32 processors. A 32-stage minimum-time problem has been solved in 151 sec on 32 processors. A 32-stage National Aerospace Plane problem required 2 hours when solved on 32 processors. A speed-up factor of 7.2 has been achieved by using 32-nodes instead of 1-node to solve a 64-stage Goddard problem.

Psiaki, Mark L.↗
NASA NTRS1993

Space Shuttle Main Engine real time stability analysis

The Space Shuttle Main Engine (SSME) is a reusable, high performance, liquid rocket engine with variable thrust. The engine control system continuously monitors the engine parameters and issues propellant valve control signals in accordance with the thrust and mixture ratio commands. A real time engine simulation lab was installed at MSFC to verify flight software and to perform engine dynamic analysis. A real time engine model was developed on the AD100 computer system. This model provides sufficient fidelity on the dynamics of major engine components and yet simplified enough to be executed in real time. The hardware-in-the-loop type simulation and analysis becomes necessary as NASA is continuously improving the SSME technology, some with significant changes in the dynamics of the engine. The many issues of interfaces between new components and the engine can be better understood and be resolved prior to the firing of the engine. In this paper, the SSME real time simulation Lab at the MSFC, the SSME real time model, SSME engine and control system stability analysis, both in real time and non-real time is presented.

Kuo, F. Y.↗
NASA NTRS1993

Distributed simulation using a real-time shared memory network

The Advanced Control Technology Branch of the NASA Lewis Research Center performs research in the area of advanced digital controls for aeronautic and space propulsion systems. This work requires the real-time implementation of both control software and complex dynamical models of the propulsion system. We are implementing these systems in a distributed, multi-vendor computer environment. Therefore, a need exists for real-time communication and synchronization between the distributed multi-vendor computers. A shared memory network is a potential solution which offers several advantages over other real-time communication approaches. A candidate shared memory network was tested for basic performance. The shared memory network was then used to implement a distributed simulation of a ramjet engine. The accuracy and execution time of the distributed simulation was measured and compared to the performance of the non-partitioned simulation. The ease of partitioning the simulation, the minimal time required to develop for communication between the processors and the resulting execution time all indicate that the shared memory network is a real-time communication technique worthy of serious consideration.

Simon, Donald L.↗
NASA NTRS1993

Experimental comparison of time synchronization techniques by means of light signals and clock transport on the rotating earth

An experiment was conducted to investigate the equivalence of two methods of time transfer in a noninertial reference frame: by means of an electromagnetic signal using laser light pulses and by means of the slow ground transport of a hydrogen maser atomic clock. The experiment may also be interpreted as an investigation of whether the one-way speeds of light in the east-west and west-east directions on the rotating earth are the same. The light pulses were sent from a laser coupled to a telescope at the NASA Goddard Optical Research Facility (GORF) in Greenbelt, Maryland to the U.S. Naval Observatory (USNO) in Washington, DC. The optical path was made possible by a 30-cm flat mirror on a water tower near GORF and a 25-cm flat mirror on top of the Washington National Cathedral near USNO. The path length was 26.0 km with an east-west component of 20.7 km. The pulses were reflected back over the same path by a portable array of corner cube reflectors. The transmission and return times were measured with a stationary Sigma Tau hydrogen maser and a University of Maryland event timer at GORF, while the times of reflection were measured with a similar maser and event timer combination carefully transported to USNO. Both timekeeping systems were housed in highly insulated enclosures and were maintained at constant temperatures to within +/- 0.1 C by microprocessor controllers. The portable system was also protected from shock and vibration by pneumatic supports. The difference delta(T) between the directly measured time of reflection according to the portable clock and the time of reflection calculated from the light pulse signal times measured by the stationary clock was determined. For a typical trip delta(T) is less than 100 ps and the corresponding limit on an anisotropy of the one-way speed of light is delta(c/c) is less than 1.5 x 10(exp -6). This the only experiment to date in which two atomic clocks were calibrated at one location, one was slowly transported to the other end of a path, and the times of transmission, reflection, and return of short light pulses sent in different directions along the path were registered.

Nelson, R. A.↗
NASA NTRS1993

Finite difference time domain analysis of chirped dielectric gratings

The finite difference time domain (FDTD) method for solving Maxwell's time-dependent curl equations is accurate, computationally efficient, and straight-forward to implement. Since both time and space derivatives are employed, the propagation of an electromagnetic wave can be treated as an initial-value problem. Second-order central-difference approximations are applied to the space and time derivatives of the electric and magnetic fields providing a discretization of the fields in a volume of space, for a period of time. The solution to this system of equations is stepped through time, thus, simulating the propagation of the incident wave. If the simulation is continued until a steady-state is reached, an appropriate far-field transformation can be applied to the time-domain scattered fields to obtain reflected and transmitted powers. From this information diffraction efficiencies can also be determined. In analyzing the chirped structure, a mesh is applied only to the area immediately around the grating. The size of the mesh is then proportional to the electric size of the grating. Doing this, however, imposes an artificial boundary around the area of interest. An absorbing boundary condition must be applied along the artificial boundary so that the outgoing waves are absorbed as if the boundary were absent. Many such boundary conditions have been developed that give near-perfect absorption. In this analysis, the Mur absorbing boundary conditions are employed. Several grating structures were analyzed using the FDTD method.

Hochmuth, Diane H.↗
NASA NTRS1992

The VLBA correlator: Real-time in the distributed era

The correlator is the signal processing engine of the Very Long Baseline Array (VLBA). Radio signals are recorded on special wideband (128 Mb/s) digital recorders at the 10 telescopes, with sampling times controlled by hydrogen maser clocks. The magnetic tapes are shipped to the Array Operations Center in Socorro, New Mexico, where they are played back simultaneously into the correlator. Real-time software and firmware controls the playback drives to achieve synchronization, compute models of the wavefront delay, control the numerous modules of the correlator, and record FITS files of the fringe visibilities at the back-end of the correlator. In addition to the more than 3000 custom VLSI chips which handle the massive data flow of the signal processing, the correlator contains a total of more than 100 programmable computers, 8-, 16- and 32-bit CPUs. Code is downloaded into front-end CPU's dependent on operating mode. Low-level code is assembly language, high-level code is C running under a RT OS. We use VxWorks on Motorola MVME147 CPU's. Code development is on a complex of SPARC workstations connected to the RT CPU's by Ethernet. The overall management of the correlation process is dependent on a database management system. We use Ingres running on a Sparcstation-2. We transfer logging information from the database of the VLBA Monitor and Control System to our database using Ingres/NET. Job scripts are computed and are transferred to the real-time computers using NFS, and correlation job execution logs and status flow back by the route. Operator status and control displays use windows on workstations, interfaced to the real-time processes by network protocols. The extensive network protocol support provided by VxWorks is invaluable. The VLBA Correlator's dependence on network protocols is an example of the radical transformation of the real-time world over the past five years. Real-time is becoming more like conventional computing. Paradoxically, 'conventional' computing is also adopting practices from the real-time world: semaphores, shared memory, light-weight threads, and concurrency. This appears to be a convergence of thinking.

Wells, D. C.↗
NASA NTRS1994

Loran-C time management

As of 1 Oct. 1993, the US Coast Guard (USCG) supports and operates fifteen Loran-C chains. With the introduction of the Global Positioning Systems (GPS) and the termination of the Department of Defense (DOD) overseas need for Loran-C, the USCG will cease operating the three remaining overseas chains by 31 Dec. 1994. Following this date, the USCG Loran-C system will consist of twelve chains. Since 1971, management of time synchronization of the Loran-C system has been conducted under a Memorandum of Agreement between the US Naval Observatory (USNO) and the USCG. The requirement to maintain synchronization with Coordinated Universal Time (UTC) was initially specified as +/- 25 microseconds. This tolerance was rapidly lowered to +/- 2.5 microseconds in 1974. To manage this synchronization requirement, the USCG incorporated administrative practices which kept the USNO appraised of all aspects of the master timing path. This included procedures for responding to timing path failures, timing adjustments, and time steps. Conducting these aspects of time synchronization depended on message traffic between the various master stations and the USNO. To determine clock adjustment the USCG relied upon the USNO's Series 4 and 100 updates so that the characteristics of the master clock could be plotted and controls appropriately applied. In 1987, Public Law 100-223, under the Airport and Airway Improvement Act Amendment, reduced the synchronization tolerance to approximately 100 nanoseconds for chains serving the National Airspace System (NAS). This action caused changes in the previous administrative procedures and techniques. The actions taken by the USCG to meet the requirements of this law are presented.

Justice, Charles↗
NASA NTRS1994

A real-time prediction of UTC

The reference time scale for all scientific and technologic applications on the Earth, the Universal Coordinated Time (UTC), must be as stable, reliable, and accurate as possible. With this in view the BIPM and before it the BIH, have always calculated and then disseminated UTC with a delay of about 80 days. There are three fundamental reasons for doing this: (1) It takes some weeks for data, gathered from some 200 clocks spread world-wide, to be collected and for errors to be eliminated; (2) changes in clock rates can only be measured with high precision well after the fact; and (3) the measurement noise originating in time links, in particular using Loran-C, is smoothed out only when averaging over an extended period. Until mid-1992, the ultimate stability of UTC was reached at averaging times of about 100 days and corresponded to an Allan deviation sigma(sub y)(tau) of about 1,5x10(exp -14) then compared to the best primary clock in the world, the PTB CS2. For several years now, a predicted UTC has been computed by the USNO through an extrapolation of the values as published in deferred time by the BIPM. This is made available through the USNO Series 4, through the USNO Automated Data Service, and through GPS signals. Due to the instability of UTC, the poor predictability of the available clocks, and the intentional SA degradation of GPS signals, the real-time access to this extrapolated UTC has represented the true deferred-time UTC only to within several hundreds of nanoseconds.

Thomas, Claudine↗
NASA NTRS1994

Noise and drift analysis of non-equally spaced timing data

Generally, it is possible to obtain equally spaced timing data from oscillators. The measurement of the drifts and noises affecting oscillators is then performed by using a variance (Allan variance, modified Allan variance, or time variance) or a system of several variances (multivariance method). However, in some cases, several samples, or even several sets of samples, are missing. In the case of millisecond pulsar timing data, for instance, observations are quite irregularly spaced in time. Nevertheless, since some observations are very close together (one minute) and since the timing data sequence is very long (more than ten years), information on both short-term and long-term stability is available. Unfortunately, a direct variance analysis is not possible without interpolating missing data. Different interpolation algorithms (linear interpolation, cubic spline) are used to calculate variances in order to verify that they neither lose information nor add erroneous information. A comparison of the results of the different algorithms is given. Finally, the multivariance method was adapted to the measurement sequence of the millisecond pulsar timing data: the responses of each variance of the system are calculated for each type of noise and drift, with the same missing samples as in the pulsar timing sequence. An estimation of precision, dynamics, and separability of this method is given.

Vernotte, F.↗
NASA NTRS1994

Time synchronized video systems

The idea of synchronizing multiple video recordings to some type of 'range' time has been tried to varying degrees of success in the past. Combining this requirement with existing time code standards (SMPTE) and the new innovations in desktop multimedia however, have afforded an opportunity to increase the flexibility and usefulness of such efforts without adding costs over the traditional data recording and reduction systems. The concept described can use IRIG, GPS or a battery backed internal clock as the master time source. By converting that time source to Vertical Interval Time Code or Longitudinal Time Code, both in accordance with the SMPTE standards, the user will obtain a tape that contains machine/computer readable time code suitable for use with editing equipment that is available off-the-shelf. Accuracy on playback is then determined by the playback system chosen by the user. Accuracies of +/- 2 frames are common among inexpensive systems and complete frame accuracy is more a matter of the users' budget than the capability of the recording system.

Burnett, Ron↗
NASA NTRS1994

Modeling time-dependent corrosion fatigue crack propagation in 7000 series aluminum alloys

Stress corrosion cracking and corrosion fatigue experiments were conducted with the susceptible S-L orientation of AA7075-T651, immersed in acidified and inhibited NaCl solution, to provide a basis for incorporating environmental effects into fatigue crack propagation life prediction codes such as NASA FLAGRO. This environment enhances da/dN by five to ten-fold compared to fatigue in moist air. Time-based crack growth rates from quasi-static load experiments are an order of magnitude too small for accurate linear superposition prediction of da/dN for loading frequencies above 0.001 Hz. Alternate methods of establishing da/dt, based on rising-load or ripple-load-enhanced crack tip strain rate, do not increase da/dt and do not improve linear superposition. Corrosion fatigue is characterized by two regimes of frequency dependence; da/dN is proportional to f(exp -1) below 0.001 Hz and to F(exp 0) to F(exp -0.1) for higher frequencies. Da/dN increases mildly both with increasing hold-time at K(sub max) and with increasing rise-time for a range of loading waveforms. The mild time-dependence is due to cycle-time-dependent corrosion fatigue growth. This behavior is identical for S-L nd L-T crack orientations. The frequency response of environmental fatigue in several 7000 series alloys is variable and depends on undefined compositional or microstructural variables. Speculative explanations are based on the effect of Mg on occluded crack chemistry and embritting hydrogen uptake, or on variable hydrogen diffusion in the crack tip process zone. Cracking in the 7075/NaCl system is adequately described for life prediction by linear superposition for prolonged load-cycle periods, and by a time-dependent upper bound relationship between da/dN and delta K for moderate loading times.

Mason, Mark E.↗
NASA NTRS1992

The effect of differences in time to detection of circulating microbubbles on the risk of decompression sickness

Circulating microbubbles (CMB) are frequently detected prior to the appearance of symptoms of Decompression Sickness (DCS). It is difficult to analyze the effect of CMB on symptoms due to differences in the time to detection of CMB. This paper uses survival analysis models to evaluate the risk of symptoms in the presence of CMB. Methods: Information on 81 exposures to an altitude of 6,400 m (6.5 psi) for a period of three hours, with simulated extravehicular activities, was examined. The presence or absence of CMB was included as a time dependent covariate of the Cox proportional hazards regression model. Using this technique, the subgroup of exposures with CMB was analyzed further. Mean (S.D.) time in minutes to onset of CMB and symptoms were 125 (63) and 165 (33) respectively, following the three hours exposure. The risk of symptoms (17/81) increased 14 times in the presence of CMB, after controlling for variations in time to detection of CMB. Further, the risk was lower when time to detection of CMB was greater than 60 minutes (risk ratio = 0.96; 95 percent confidence intervals = 0.94 - 0.99 0.99 P less than 0.01) compared to CMB before 60 minutes at altitude. Conclusions: Survival analysis showed that individual risk of DCS changes significantly due to variations in time to detection of CMB. This information is important in evaluating the risk of DCS in the presence of CMB.

Kumar, K. V.↗
NASA NTRS1995

Design of a real-time wind turbine simulator using a custom parallel architecture

The design of a new parallel-processing digital simulator is described. The new simulator has been developed specifically for analysis of wind energy systems in real time. The new processor has been named: the Wind Energy System Time-domain simulator, version 3 (WEST-3). Like previous WEST versions, WEST-3 performs many computations in parallel. The modules in WEST-3 are pure digital processors, however. These digital processors can be programmed individually and operated in concert to achieve real-time simulation of wind turbine systems. Because of this programmability, WEST-3 is very much more flexible and general than its two predecessors. The design features of WEST-3 are described to show how the system produces high-speed solutions of nonlinear time-domain equations. WEST-3 has two very fast Computational Units (CU's) that use minicomputer technology plus special architectural features that make them many times faster than a microcomputer. These CU's are needed to perform the complex computations associated with the wind turbine rotor system in real time. The parallel architecture of the CU causes several tasks to be done in each cycle, including an IO operation and the combination of a multiply, add, and store. The WEST-3 simulator can be expanded at any time for additional computational power. This is possible because the CU's interfaced to each other and to other portions of the simulation using special serial buses. These buses can be 'patched' together in essentially any configuration (in a manner very similar to the programming methods used in analog computation) to balance the input/ output requirements. CU's can be added in any number to share a given computational load. This flexible bus feature is very different from many other parallel processors which usually have a throughput limit because of rigid bus architecture.

Hoffman, John A.↗
NASA NTRS1995

Time activities at the BIPM

The generation and dissemination of International Atomic Time, TAI, and of Coordinated Universal Time, UTC, are explicitly mentioned in the list of the principal tasks of the BIPM, recalled in the Comptes Rendus of the 18th Conference Generale des Poids et Mesures, in 1987. These tasks are fulfilled by the BIPM Time Section, thanks to international cooperation with national timing centers, which maintain, under metrological conditions, the clocks used to generate TAI. Besides the current work of data collection and processing, research activities are carried out in order to adapt the computation of TAI to the most recent improvements occurring in the time and frequency domains. Studies concerning the application of general relativity and pulsar timing to time metrology are also actively pursued. This paper summarizes the work done in all these fields and outlines future projects.

Thomas, Claudine↗
NASA NTRS1994

Minimal microwave anisotrophy from perturbations induced at late times

Aside from primordial gravitational instability of the cosmological fluid, various mechanisms have been proposed to generate large-scale structure at relatively late times, including, e.g., 'late-time' cosmological phase transitions. In these scenarios, it is envisioned that the universe is nearly homogeneous at the times of last scattering and that perturbations grow rapidly sometimes after the primordial plasma recombines. On this basis, it was suggested that large inhomogeneities could be generated while leaving relatively little imprint on the cosmic microwave background (MBR) anisotropy. In this paper, we calculate the minimal anisotropies possible in any 'late-time' scenario for structure formation, given the level of inhomogeneity observed at present. Since the growth of the inhomogeneity involves time-varying gravitational fields, these scenarios inevitably generate significant MBR anisotropy via the Sachs-Wolfe effect. Moreover, we show that the large-angle MBR anisotropy produced by the rapid post-recombination growth of inhomogeneity is generally greater than that produced by the same inhomogeneity growth via gravitational instability. In 'realistic' scenarios one can decrease the anisotropy compared to models with primordial adiabatic fluctuations, but only on very small angular scales. The value of any particular measure of the anisotropy can be made small in late-time models, but only by making the time-dependence of the gravitational field sufficiently 'pathological'.

Jaffe, Andrew H.↗
NASA NTRS1996

South Atlantic Anomaly Entry and Exit as Measured by the X-Ray Timing Explorer

The Rossi X-ray Timing Explorer (RXTE) carries instruments that must switch off high voltages (HV) when passing through the South Atlantic Anomaly (SAA). The High Energy X-ray Timing Experiment (HEXTE) contains a particle monitor that detects the increased particle flux associated with the SAA and autonomously reduces its voltage. The Proportional Counter Array (PCA) relies on uplinked predictions of SAA entry/exit times based on ephemeris data provided by the Flight Dynamics Facility. A third instrument, the All-Sky Monitor (ASM) also uses a predicted SAA model to reduce voltage when passing through the SAA. Data collected from the HEXTE particle monitor, as well as other instrument readings near the times of SAA entry/exit offer the potential for refining models of the boundaries of the SAA. The SAA has an increased particle flux which causes high rates of detection in the RXTE instruments designed to observe x-rays. The high counting rates could degrade the PCA if HV is not reduced during SAA passages. On the other hand, PCA downtime can be minimized and the science return can be optimized by having the best possible model of the SAA boundary. Thus, the PCA team planned an extensive effort during in-orbit checkout to utilize both the HEXTE particle monitor data and instrument counting rates to refine the model of the SAA boundary. The times of SAA entry and exit are compared with the definitive epemeris to determine the precise location (latitude and longitude) of the SAA boundary. Over time, the SAA and its perimeter were mapped. The RXTE Science Operations Center is continuously working to feed back the results of this effort into the science scheduling process, improving the SAA model as it affects the RXTE instruments, thus obtaining more accurate estimates of the SAA entry/exit times.

Smith, Evan↗
NASA NTRS1996

The Role of Time and Frequency in Future Systems

Over the past twenty years, the Global Positioning System (GPS) has revolutionized the performance and the geographical availability of time and frequency discrimination, while at the same time reducing the cost to the individual user. This paper examines the question of what comes next for time and frequency dissemination. The question has two motivations: How can improved performance be achieved in the future, and how can redundant sources of time and frequency be provided to critical systems? A model is developed for time and frequency dissemination based on the time management performed in GPS. Several candidate systems for future time and frequency distribution are identified. One system - SONET telecommunications - is discussed in detail. Performance requirements and hardware implementation are presented.

Stein, Samuel R.↗
NASA NTRS1996

Some Operational Aspects of the International Two-Way Satellite Time and Frequency Transfer (TWSTFT) Experiment Using INTELSAT Satellites at 307 Degrees East

Eight laboratories are participating in an international two-way satellite time and frequency transfer (TWSTFT) experiment. Regular time and frequency transfers have been performed over a period of almost two years, including both European and transatlantic time transfers. The performance of the regular TWSTFT sessions over an extended period has demonstrated conclusively the usefulness of the TWSTFT method for routine international time and frequency comparisons. Regular measurements are performed three times per week resulting in a regular but unevenly spaced data set. A method is presented that allows an estimate of the values of delta (sub y)(gamma) to be formed from these data. In order to maximize efficient use of paid satellite time an investigation to determine the optimal length of a single TWSTFT session is presented. The optimal experiment length is determined by evaluating how long white phase modulation (PM) instabilities are the dominant noise source during the typical 300-second sampling times currently used. A detailed investigation of the frequency transfers realized via the transatlantic TWSTFT links UTC(USNO)-UTC(NPL), UTC(USNO)-UTC(PTB), and UTC(PTB)-UTC(NPL) is presented. The investigation focuses on the frequency instabilities realized, a three cornered hat resolution of the delta (sub y) (gamma) values, and a comparison of the transatlantic and inter-European determination of UTC(PTB)-UTC(NPL). Future directions of this TWSTFT experiment are outlined.

DeYoung, J. A.↗