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NASA NTRS1988

Toward a computational theory for motion understanding: The expert animators model

Artificial intelligence researchers claim to understand some aspect of human intelligence when their model is able to emulate it. In the context of computer graphics, the ability to go from motion representation to convincing animation should accordingly be treated not simply as a trick for computer graphics programmers but as important epistemological and methodological goal. In this paper we investigate a unifying model for animating a group of articulated bodies such as humans and robots in a three-dimensional environment. The proposed model is considered in the framework of knowledge representation and processing, with special reference to motion knowledge. The model is meant to help setting the basis for a computational theory for motion understanding applied to articulated bodies.

Mohamed, Ahmed S.↗

NASA NTRS2001

Highly Survivable Avionics Systems for Long-Term Deep Space Exploration

The design of highly survivable avionics systems for long-term (> 10 years) exploration of space is an essential technology for all current and future missions in the Outer Planets roadmap. Long-term exposure to extreme environmental conditions such as high radiation and low-temperatures make survivability in space a major challenge. Moreover, current and future missions are increasingly using commercial technology such as deep sub-micron (0.25 microns) fabrication processes with specialized circuit designs, commercial interfaces, processors, memory, and other commercial off the shelf components that were not designed for long-term survivability in space. Therefore, the design of highly reliable, and available systems for the exploration of Europa, Pluto and other destinations in deep-space require a comprehensive and fresh approach to this problem. This paper summarizes work in progress in three different areas: a framework for the design of highly reliable and highly available space avionics systems, distributed reliable computing architecture, and Guarded Software Upgrading (GSU) techniques for software upgrading during long-term missions. Additional information is contained in the original extended abstract.

Alkalai, L.↗

NASA NTRS2004

An Introduction to Flight Software Development: FSW Today, FSW 2010

Experience and knowledge gained from ongoing maintenance of Space Shuttle Flight Software and new development projects including Cockpit Avionics Upgrade are applied to projected needs of the National Space Exploration Vision through Spiral 2. Lessons learned from these current activities are applied to create a sustainable, reliable model for development of critical software to support Project Constellation. This presentation introduces the technologies, methodologies, and infrastructure needed to produce and sustain high quality software. It will propose what is needed to support a Vision for Space Exploration that places demands on the innovation and productivity needed to support future space exploration. The technologies in use today within FSW development include tools that provide requirements tracking, integrated change management, modeling and simulation software. Specific challenges that have been met include the introduction and integration of Commercial Off the Shelf (COTS) Real Time Operating System for critical functions. Though technology prediction has proved to be imprecise, Project Constellation requirements will need continued integration of new technology with evolving methodologies and changing project infrastructure. Targets for continued technology investment are integrated health monitoring and management, self healing software, standard payload interfaces, autonomous operation, and improvements in training. Emulation of the target hardware will also allow significant streamlining of development and testing. The methodologies in use today for FSW development are object oriented UML design, iterative development using independent components, as well as rapid prototyping . In addition, Lean Six Sigma and CMMI play a critical role in the quality and efficiency of the workforce processes. Over the next six years, we expect these methodologies to merge with other improvements into a consolidated office culture with all processes being guided by automated office assistants. The infrastructure in use today includes strict software development and configuration management procedures, including strong control of resource management and critical skills coverage. This will evolve to a fully integrated staff organization with efficient and effective communication throughout all levels guided by a Mission-Systems Architecture framework with focus on risk management and attention toward inevitable product obsolescence. This infrastructure of computing equipment, software and processes will itself be subject to technological change and need for management of change and improvement,

Gouvela, John↗

NASA NTRS2006

Intelligent Rover Execution for Detecting Life in the Atacama Desert

On-board supervisory execution is crucial for the deployment of more capable and autonomous remote explorers. Planetary science is considering robotic explorers operating for long periods of time without ground supervision while interacting with a changing and often hostile environment. Effective and robust operations require on-board supervisory control with a high level of awareness of the principles of functioning of the environment and of the numerous internal subsystems that need to be coordinated. We describe an on-board rover executive that was deployed on a rover as past of the "Limits of Life in the Atacama Desert (LITA)" field campaign sponsored by the NASA ASTEP program. The executive was built using the Intelligent Distributed Execution Architecture (IDEA), an execution framework that uses model-based and plan-based supervisory control of its fundamental computational paradigm. We present the results of the third field experiment conducted in the Atacama desert (Chile) in August - October 2005.

Baskaran, Vijayakumar↗

NASA NTRS2009

Stochastic Formal Correctness of Numerical Algorithms

We provide a framework to bound the probability that accumulated errors were never above a given threshold on numerical algorithms. Such algorithms are used for example in aircraft and nuclear power plants. This report contains simple formulas based on Levy's and Markov's inequalities and it presents a formal theory of random variables with a special focus on producing concrete results. We selected four very common applications that fit in our framework and cover the common practices of systems that evolve for a long time. We compute the number of bits that remain continuously significant in the first two applications with a probability of failure around one out of a billion, where worst case analysis considers that no significant bit remains. We are using PVS as such formal tools force explicit statement of all hypotheses and prevent incorrect uses of theorems.

Daumas, Marc↗

NASA NTRS2013

A Framework for Robust Multivariable Optimization of Integrated Circuits in Space Applications

Application Specific Integrated Circuit (ASIC) design for space applications involves multiple challenges of maximizing performance, minimizing power and ensuring reliable operation in extreme environments. This is a complex multidimensional optimization problem which must be solved early in the development cycle of a system due to the time required for testing and qualification severely limiting opportunities to modify and iterate. Manual design techniques which generally involve simulation at one or a small number of corners with a very limited set of simultaneously variable parameters in order to make the problem tractable are inefficient and not guaranteed to achieve the best possible results within the performance envelope defined by the process and environmental requirements. What is required is a means to automate design parameter variation, allow the designer to specify operational constraints and performance goals, and to analyze the results in a way which facilitates identifying the tradeoffs defining the performance envelope over the full set of process and environmental corner cases. The system developed by the Mixed Signal ASIC Group (MSAG) at the Goddard Space Flight Center is implemented as framework of software modules, templates and function libraries. It integrates CAD tools and a mathematical computing environment, and can be customized for new circuit designs with only a modest amount of effort as most common tasks are already encapsulated. Customization is required for simulation test benches to determine performance metrics and for cost function computation. Templates provide a starting point for both while toolbox functions minimize the code required. Once a test bench has been coded to optimize a particular circuit, it is also used to verify the final design. The combination of test bench and cost function can then serve as a template for similar circuits or be re-used to migrate the design to different processes by re-running it with the new process specific device models. The system has been used in the design of time to digital converters for laser ranging and time-of-flight mass spectrometry to optimize analog, mixed signal and digital circuits such as charge sensitive amplifiers, comparators, delay elements, radiation tolerant dual interlocked (DICE) flip-flops and two of three voter gates.

DuMonthier, Jeffrey↗

NASA NTRS2013

Robust Multivariable Optimization and Performance Simulation for ASIC Design

Application-specific-integrated-circuit (ASIC) design for space applications involves multiple challenges of maximizing performance, minimizing power, and ensuring reliable operation in extreme environments. This is a complex multidimensional optimization problem, which must be solved early in the development cycle of a system due to the time required for testing and qualification severely limiting opportunities to modify and iterate. Manual design techniques, which generally involve simulation at one or a small number of corners with a very limited set of simultaneously variable parameters in order to make the problem tractable, are inefficient and not guaranteed to achieve the best possible results within the performance envelope defined by the process and environmental requirements. What is required is a means to automate design parameter variation, allow the designer to specify operational constraints and performance goals, and to analyze the results in a way that facilitates identifying the tradeoffs defining the performance envelope over the full set of process and environmental corner cases. The system developed by the Mixed Signal ASIC Group (MSAG) at the Goddard Space Flight Center is implemented as a framework of software modules, templates, and function libraries. It integrates CAD tools and a mathematical computing environment, and can be customized for new circuit designs with only a modest amount of effort as most common tasks are already encapsulated. Customization is required for simulation test benches to determine performance metrics and for cost function computation.

DuMonthier, Jeffrey↗

NASA NTRS2018

Comparison of CFD and DSMC Using Calibrated Transport Parameters

Hypersonic re-entry flows span a wide range of length scales where regions of both rarefied and continuum flow exist. Traditional computational fluid dynamics (CFD) techniques do not provide an accurate solution for the rarefied regions of such ‘mixed’ flow fields. Although direct simulation Monte Carlo (DSMC) can be used to accurately capture both the continuum and rarefied features of ‘mixed’ flow fields, they are computationally expensive when employed to simulate the low Knudsen number continuum regimes. Thus, a hybrid framework for seamlessly combining the two methodologies, CFD and DSMC, continues to be a topic of significant research effort. Ensuring consistency in the reaction kinetics and transport models employed within CFD and DSMC is a crucial requirement for obtaining a reliable solution from a hybrid framework for combined continuum/rarefied high speed flows. This paper represents one of the first studies to utilize the calibrated transport parameters developed to ensure consistency between CFD and DSMC solvers. The new variable soft sphere (VSS) parameters are compared to both previous “standard” variable hard sphere (VHS) parameters and also to solutions from the CFD transport properties that the new parameters were developed to reproduce.

Liechty, D. S.↗

NASA NTRSDate not supplied

Mars Global Climate Modeling.

Scientists use Global Climate Models (GCMs) to better under the current and past climate states of terrestrial (solid surface) bodies in our solar system and beyond, and the physical processes that control them. GCMs are complex, multi-dimensional computer codes that can generally be divided into two parts: the geophysical fluid dynamics (GFD) framework, which represents accelerations and spatially resolved processes, and the physics routines, which provide the forcing functions for the circulation. Producing a GCM that is appropriate for a particular body—Mars, for example—requires implementing the appropriate physics routines (e.g., radiative transfer, planetary boundary layer physics, dust lifting physics to generate dust storms, etc.) for that body. In this talk, I will give an overview of the components of the NASA Ames Mars GCM and discuss some of the scientific questions we address with this state-of-the-art numerical model.

Melinda A. Kahre↗

NASA NTRS2024

Accelerating Continuous Variable Coherent Ising Machines Via Momentum

The Coherent Ising Machine (CIM) is a non-conventional architecture that takes inspiration from physical annealing processes to solve Ising problems heuristically. Its dynamics are naturally continuous and described by a set of ordinary differential equations that have been proven to be useful for the optimization of continuous variables nonconvex quadratic optimization problems. The dynamics of such Continuous Variable CIMs (CV-CIM) encourage optimization via optical pulses whose amplitudes are determined by the negative gradient of the objective; however, standard gradient descent is known to be trapped by local minima and hampered by poor problem conditioning. In this work, we propose to modify the CV-CIM dynamics using more sophisticated pulse injections based on tried-and-true optimization techniques such as momentum and Adam. Through numerical experiments, we show that the momentum and Adam updates can significantly speed up the CV-CIM’s convergence and improve sample diversity over the original CV-CIM dynamics. We also find that the Adam-CV-CIM’s performance is more stable as a function of feedback strength, especially on poorly conditioned instances, resulting in an algorithm that is more robust, reliable, and easily tunable. More broadly, we identify the CIM dynamical framework as a fertile opportunity for exploring the intersection of classical optimization and modern analog computing.

Ising Model↗

NASA NTRS2026

Parametric-Based Heat Rejection Trade Study for Lunar and Martian Surface Operations

Establishing and maintaining a sustained presence on the lunar and/or Martian surfaces will require a diverse portfolio of surface elements (e.g., habitation, mobility, power generation, etc.). Many of these systems generate excess heat that must be rejected across a wide range of magnitudes, temperatures, and duty cycles and under variable environmental conditions. To identify the most promising heat rejection approaches for this diverse portfolio, a heat rejection trade study was conducted to evaluate the performance of different technology approaches across a spectrum of surface environments and heat-load requirements. The trade study consisted of three stages: (1) development of a parametric-based modeling framework, (2) creation of a database of heat rejection technologies, surface elements, and environmental conditions for the Moon and Mars, and (3) execution of a quantitative analysis of various heat rejection technologies across different operating conditions and surface elements. The modeling framework is developed in Python and Excel to prioritize small model size and hence low computational cost to enable large parametric sweeps while avoiding the reliance on proprietary software. Individual heat rejection processes are represented as simple Excel models, and a centralized Python script interfaces with the models to coordinate the parametric study. These simple sizing models were developed to take heat load requirements and environmental parameters as inputs and compute mass, power, and volume as outputs. Rather than assess each heat rejection technology separately for each surface element, a unified parametric space was developed to evaluate all technologies across all elements. This parametric space includes factors related to heat load (e.g., magnitude or temperature) and environment (e.g., surface temperature, sky temperature, solar flux). This effort generated a database containing information on over 60 heat rejection technologies and 30 surface elements. For each surface element, the expected heat rejection requirements were documented and analyzed to determine the most common needs shared across all elements. Environmental conditions at various lunar and Martian latitudes were also established for worst-case hot and worst-case cold scenarios. High-fidelity heat rejection models are currently under development. Preliminary trades between heat rejection technologies including radiators, venting technologies, convective coolers, and more have been conducted to identify promising options. This presentation will summarize the preliminary trade results and provide an overview and discussion of the expected heat loads and thermal environments for sustained surface operations on the Moon and Mars.

Heat Rejection↗

NASA NTRS1998

A Human Factors Framework for Payload Display Design

During missions to space, one charge of the astronaut crew is to conduct research experiments. These experiments, referred to as payloads, typically are controlled by computers. Crewmembers interact with payload computers by using visual interfaces or displays. To enhance the safety, productivity, and efficiency of crewmember interaction with payload displays, particular attention must be paid to the usability of these displays. Enhancing display usability requires adoption of a design process that incorporates human factors engineering principles at each stage. This paper presents a proposed framework for incorporating human factors engineering principles into the payload display design process.

Dunn, Mariea C.↗

NASA NTRS1982

Cartographic Modeling: Computer-assisted Analysis of Spatially Defined Neighborhoods

Cartographic models addressing a wide variety of applications are composed of fundamental map processing operations. These primitive operations are neither data base nor application-specific. By organizing the set of operations into a mathematical-like structure, the basis for a generalized cartographic modeling framework can be developed. Among the major classes of primitive operations are those associated with reclassifying map categories, overlaying maps, determining distance and connectivity, and characterizing cartographic neighborhoods. The conceptual framework of cartographic modeling is established and techniques for characterizing neighborhoods are used as a means of demonstrating some of the more sophisticated procedures of computer-assisted map analysis. A cartographic model for assessing effective roundwood supply is briefly described as an example of a computer analysis. Most of the techniques described have been implemented as part of the map analysis package developed at the Yale School of Forestry and Environmental Studies.

Berry, J. K.↗

NASA NTRS1982

Turbulence modeling for computational aerodynamics

The status of turbulence modeling for external aerodynamic flows is reviewed, and closure concepts for the compressible form of the Reynolds-averaged Navier-Stokes equations are briefly outlined to establish a framework for comparison. The importance of experimental requirements for developing and verifying turbulence models is emphasized. Attention is then given to three important flow categories: attached flows, separating and reattaching flows, and trailing-edge flows. Examples of comparisons between experiments and computations for twoand three-dimensional flows are presented to illustrate the status of modeling. It is shown that, for most two-dimensional attached flows, eddy viscosity concepts will probably be adequate. For attached three-dimensional flows, however, eddy-viscosity and Reynolds-stress models are both deficient, failing to predict the proper surface shear-stress in rapidly skewing boundary layers, regardless of whether they are pressure driven or strain driven.

Marvin, J. G.↗

NASA NTRS1986

Input impedance of a probe-fed circular microstrip antenna with thick substrate

A method of computing the input impedance for the probe fed circular microstrip antenna with thick dielectric substrate is presented. Utilizing the framework of the cavity model, the fields under the microstrip patch are expanded in a set of modes satisfying the boundary conditions on the eccentrically located probe, as well as on the cavity magnetic wall. A mode-matching technique is used to solve for the electric field at the junction between the cavity and the coaxial feed cable. The reflection coefficient of the transverse electromagnetic (TEM) mode incident in the coaxial cable is determined, from which the input impedance of the antenna is computed. Measured data are presented to verify the theoretical calculations. Results of the computation of various losses for the circular printed antenna as a function of substrate thickness are also included.

Davidovitz, M.↗

NASA NTRS2003

Accelerating the Design of Space Vehicles

One of NASA's key goals is to increase the safety and reduce the cost of space transportation. Thus, a key element of NASA's new Integrated Space Transportation Plan is to develop new propulsion, structures, and operations for future generations of reusable launch vehicles (RLVs). As part of this effort to develop the next RLV, the ClCT Program's Computing, Networking, and Information Systems (CNIS) Project is developing and demonstrating collaborative software technologies that use the collective power of the NASA Grid to accelerate spacecraft design. One of these technologies, called AeroDB, automates the execution and monitoring of computational fluid dynamics (CFD) parameter studies on the NASA Grid. About the NASA Grid The NASA Grid, or Information Power Grid,. is being developed to leverage the distributed resources of NASA's many computers. instruments, simulators, and data storage systems. The goal is to use these combined resources to sdve difficult NASA challenges, such as iimulating the entire flight of a space vehicle from ascent to descent.To realize the vision of the NASA Grid, the CNIS Project is developing the software framework and protocols for building domain-specific environments and interfaces, new Grid services based on emerging industry standards, and advanced networking and computing testbeds to support new Grid-based applications such as AeroDB.

Laufenberg, Larry↗

NASA NTRS2019

Using Graph Coloring to Compute Total Derivatives More Efficiently in OpenMDAO

When they are applicable, gradient based optimization algorithms are the most efficient way to solve design optimization problems. Although gradient based methods are generally efficient, they can be made significantly more so through the usage of analytic techniques to compute the necessary total derivatives. The traditional forward (direct) and reverse (adjoint) analytic techniques have computational costs that scale linearly with the number of design variables and the number of constraints, respectively. In this work, we present an application of a graph coloring algorithm to the analytic techniques for computing total derivative Jacobians in order to achieve much better computational scaling than the pure analytic methods can provide alone. A detailed theoretical explanation of how coloring algorithms interact with analytic derivative methods is presented that illustrates specific types of sparsity patterns that must be present in total derivative Jacobians in order for this coloring technique to be effective. The new technique has been implemented as a feature in the OpenMDAO framework and the implementation is demonstrated on two example problems. The performance on the example problems up to 50% reduction in compute cost for optimizations with bi-directional coloring compared to traditional constraint aggregation. Additionally, the results show how coloring technique alleviates some of the numerical difficulties that constraint aggregation can cause, leading to the ability to solve larger problems. It is expected that the new method will have wide applicability to multidisciplinary optimization problems, and that its availability in OpenMDAO will offer significant computational savings for users without the need for them to implement the coloring algorithm themselves.

Trajectory↗

NASA NTRS2002

Distributed Framework for Dynamic Telescope and Instrument Control

Traditionally, instrument command and control systems have been developed specifically for a single instrument. Such solutions are frequently expensive and are inflexible to support the next instrument development effort. NASA Goddard Space Flight Center is developing an extensible framework, known as Instrument Remote Control (IRC) that applies to any kind of instrument that can be controlled by a computer. IRC combines the platform independent processing capabilities of Java with the power of the Extensible Markup Language (XML). A key aspect of the architecture is software that is driven by an instrument description, written using the Instrument Markup Language (IML). IML is an XML dialect used to describe graphical user interfaces to control and monitor the instrument, command sets and command formats, data streams, communication mechanisms, and data processing algorithms. The IRC framework provides the ability to communicate to components anywhere on a network using the JXTA protocol for dynamic discovery of distributed components. JXTA (see httD://www.jxta.org,) is a generalized protocol that allows any devices connected by a network to communicate in a peer-to-peer manner. IRC uses JXTA to advertise a device's IML and discover devices of interest on the network. Devices can join or leave the network and thus join or leave the instrument control environment of IRC. Currently, several astronomical instruments are working with the IRC development team to develop custom components for IRC to control their instruments. These instruments include: High resolution Airborne Wideband Camera (HAWC), a first light instrument for the Stratospheric Observatory for Infrared Astronomy (SOFIA); Submillimeter And Far Infrared Experiment (SAFIRE), a Principal Investigator instrument for SOFIA; and Fabry-Perot Interferometer Bolometer Research Experiment (FIBRE), a prototype of the SAFIRE instrument, used at the Caltech Submillimeter Observatory (CSO). Most recently, we have been working with the Submillimetre High Angular Resolution Camera IInd Generation (SHARCII) at the CSO to investigate using IRC capabilities with the SHARC instrument.

Ames, Troy J.↗