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Digital Twins and Living Models at NASA

The idea of a “digital twin” was born at NASA in the 1960s as a “living model” of the Apollo mission. In response to Apollo 13’s oxygen tank explosion and subsequent damage to the main engine, NASA employed multiple simulators to evaluate the failure and extended a physical model of the vehicle to include digital components. This “digital twin” was the first of its kind, allowing for a continuous ingestion of data to model the events leading to up to the accident for forensic analysis and exploration of next steps. Fast forward half a century and NASA, along with others in the aerospace community, continues to develop and utilize high-fidelity digital models of physical systems and components as well as the extreme environments in which they operate. NASA aims to travel further and stay longer in space as we realize the Artemis program, taking us from the moon to Mars by establishing a sustainable presence on the Moon to prepare for missions to Mars. We will no longer be able to rely on constant connectivity with an asset nor be in-the-loop for on-demand human intervention in the event of an anomaly. Further, the importance of digital twins is increasing as we seek alternatives for certification of structures so large that they cannot be fully evaluated in existing test facilities and autonomous systems that are not deterministic. The idea of a digital twin is not a new one. What is new is the scale, ordinality, and non-deterministic nature of the models that are critical to achieving NASA’s goals. Their number and autonomy from each other as well as the reference system is suggestive of a changing ecosystem, returning us the idea of a living model.

Digital Twin↗

NASA NTRS1974

Six degree of freedom FORTRAN program, ASTP docking dynamics, users guide

The digital program ASTP Docking Dynamics as outlined is intended to aid the engineer using the program to determine the docking system loads and attendant vehicular motion resulting from docking two vehicles that have an androgynous, six-hydraulic-attenuator, guide ring, docking interface similar to that designed for the Apollo/Soyuz Test Project (ASTP). This program is set up to analyze two different vehicle combinations: the Apollo CSM docking to Soyuz and the shuttle orbiter docking to another orbiter. The subroutine modifies the vehicle control systems to describe one or the other vehicle combinations; the rest of the vehicle characteristics are changed by input data. To date, the program has been used to predict and correlate ASTP docking loads and performance with docking test program results from dynamic testing. The program modified for use on IBM 360 computers. Parts of the original docking system equations in the areas of hydraulic damping and capture latches are modified to better describe the detail design of the ASTP docking system.

Mount, G. O., Jr.↗

NASA NTRS1976

In-flight utilization of the Mariner 10 spacecraft computer

Mariner 10 in its mission to Venus and Mercury used an onboard control computer with a 512-word memory. An outline is presented of the general philosophy adopted with respect to the utilization of the available memory and a description is given of the actual in-flight operation of the machine. The onboard computer system provided automatic stored-program sequence control of all spacecraft scientific, engineering, and propulsive maneuver operations. The system consisted of the special purpose digital computer and a fixed hard-wired sequencer. Attention is given to the programming architecture, aspects of mission design, and computer performance.

Hooke, A. J.↗

NASA NTRS1987

Simulation Of The Internal-Combustion Engine

Program adapts to available information about particular engine. Mathematical model of internal-combustion engine constructed and implemented as computer program suitable for use on large digital computer systems. ZMOTTO program calculates Otto-cycle performance parameters as well as working-fluid compositions and properties throughout cycle for number of consecutive cycles and for variety of input parameters. Written in standard FORTRAN IV.

Zeleznik, Frank J.↗

NASA NTRS1991

Heterogeneous distributed databases: A case study

Alternatives are reviewed for accessing distributed heterogeneous databases and a recommended solution is proposed. The current study is limited to the Automated Information Systems Center at the Naval Sea Combat Systems Engineering Station at Norfolk, VA. This center maintains two databases located on Digital Equipment Corporation's VAX computers running under the VMS operating system. The first data base, ICMS, resides on a VAX11/780 and has been implemented using VAX DBMS, a CODASYL based system. The second database, CSA, resides on a VAX 6460 and has been implemented using the ORACLE relational database management system (RDBMS). Both databases are used for configuration management within the U.S. Navy. Different customer bases are supported by each database. ICMS tracks U.S. Navy ships and major systems (anti-sub, sonar, etc.). Even though the major systems on ships and submarines have totally different functions, some of the equipment within the major systems are common to both ships and submarines.

Stewart, Tracy R.↗

NASA NTRS1990

Simulated fault injection - A methodology to evaluate fault tolerant microprocessor architectures

A simulation-based fault-injection method for validating fault-tolerant microprocessor architectures is described. The approach uses mixed-mode simulation (electrical/logic analysis), and injects transient errors in run-time to assess the resulting fault impact. As an example, a fault-tolerant architecture which models the digital aspects of a dual-channel real-time jet-engine controller is used. The level of effectiveness of the dual configuration with respect to single and multiple transients is measured. The results indicate 100 percent coverage of single transients. Approximately 12 percent of the multiple transients affect both channels; none result in controller failure since two additional levels of redundancy exist.

Choi, Gwan S.↗

NASA NTRS1987

A/C 67 Investigation Board Final Report

On March 26, 1987, after the launch of an Atlas/Centaur rocket with a payload of a Navy Communications Satellite, a problem developed and the rocket was lost. John Busse chaired the Accident Investigation Board that was convened to investigate the incident. This videotape is a press conference with Mr Busse, who reviews the findings of the investigation concerning the loss of the Atlas/Centaur-67 launch vehicle. The loss is primarily attributed to a hardover engine yaw command that was caused by an erroneous signal from the digital computer unit. The generation of the erroneous signal is blamed on unfavorable weather conditions which created a lightning hazard. Mr. Busse, also, reviews the investigation's recommendations for avoiding similar occurrences. The press then asks questions about the findings and recommendations.

Source record↗

NASA NTRS2006

Spatial Resolution Characterization for Aerial Digital Imagery

The U.S. Geological Survey (USGS) and the National Aeronautics and Space Administration have jointly conducted characterizations of aerial digital imagery from commercial data providers. In a typical scenario, a vendor acquired imagery over the Stennis Space Center test range and provided a common data package to SSC. SSC personnel analyzed the geopositional accuracy and spatial resolution of the images, then documented the characterization results in a report and delivered the report to the USGS. Spatial resolution characterization was based on edge response measurements using one of the SSC edge targets and the tilted-edge technique. Relative Edge Response (RER) has been estimated for aerial digital imagery from several commercial data providers. RER is one of the engineering parameters used in the General Image Quality Equation to provide predictions of imaging system performance expressed in terms of the National Imagery Interpretability Rating Scale.

Blonski, Slawomir↗

NASA NTRS2020

InSight Entry, Descent and Landing Pre-Flight Performance Predictions

On November 26, 2018, the Interior Exploration using Seismic Investigations, Geodesy and Heat Transport (InSight) lander successfully touched down on the surface of Mars. Over its seven-plus year development, NASA Langley Research Center’s (LaRC) Program to Optimize Simulated Trajectories II (POST2) was used to assess the mission’s Entry, Descent and Landing (EDL) vehicle system performance against related requirements across the full range of possible environmental and spacecraft conditions. Much of the simulation code was derived from the Phoenix mission, for which this vehicle is very similar. The InSight six degree-of-freedom simulation included models for Mars atmosphere, gravity and digital elevation maps of the landing location. Additionally, vehicle specific aerodynamic, parachute, engine, navigation sensor, flight software and landing radar models were also included. A set of dispersions for each model, as well as for additional simulation input parameters, were also included in order to provide a statistical, Monte Carlo prediction of the EDL system performance. An overview of the pre-flight performance assessments completed, including the various simulation campaigns used, will be provided. Ultimately, this work was critical in the assessment of readiness for InSight launch. A brief description of the use of this simulation in support of flight operations is also discussed.

Robert W Maddock↗

NASA NTRS2006

On Certain Theoretical Developments Underlying the Hilbert-Huang Transform

One of the main traditional tools used in scientific and engineering data spectral analysis is the Fourier Integral Transform and its high performance digital equivalent - the Fast Fourier Transform (FFT). Both carry strong a-priori assumptions about the source data, such as being linear and stationary, and of satisfying the Dirichlet conditions. A recent development at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC), known as the Hilbert-Huang Transform (HHT), proposes a novel approach to the solution for the nonlinear class of spectral analysis problems. Using a-posteriori data processing based on the Empirical Mode Decomposition (EMD) sifting process (algorithm), followed by the normalized Hilbert Transform of the decomposed data, the HHT allows spectral analysis of nonlinear and nonstationary data. The EMD sifting process results in a non-constrained decomposition of a source real-value data vector into a finite set of Intrinsic Mode Functions (IMF). These functions form a nearly orthogonal derived from the data (adaptive) basis. The IMFs can be further analyzed for spectrum content by using the classical Hilbert Transform. A new engineering spectral analysis tool using HHT has been developed at NASA GSFC, the HHT Data Processing System (HHT-DPS). As the HHT-DPS has been successfully used and commercialized, new applications pose additional questions about the theoretical basis behind the HHT and EMD algorithms. Why is the fastest changing component of a composite signal being sifted out first in the EMD sifting process? Why does the EMD sifting process seemingly converge and why does it converge rapidly? Does an IMF have a distinctive structure? Why are the IMFs nearly orthogonal? We address these questions and develop the initial theoretical background for the HHT. This will contribute to the development of new HHT processing options, such as real-time and 2-D processing using Field Programmable Gate Array (FPGA) computational resources,

Kizhner, Semion↗

NASA NTRS2005

On the Hilbert-Huang Transform Theoretical Developments

One of the main heritage tools used in scientific and engineering data spectrum analysis is the Fourier Integral Transform and its high performance digital equivalent - the Fast Fourier Transform (FFT). Both carry strong a-priori assumptions about the source data, such as linearity, of being stationary, and of satisfying the Dirichlet conditions. A recent development at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC), known as the Hilbert-Huang Transform (HHT), proposes a novel approach to the solution for the nonlinear class of spectrum analysis problems. Using a-posteriori data processing based on the Empirical Mode Decomposition (EMD) sifting process (algorithm), followed by the normalized Hilbert Transform of the decomposition data, the HHT allows spectrum analysis of nonlinear and nonstationary data. The EMD sifting process results in a non-constrained decomposition of a source real value data vector into a finite set of Intrinsic Mode Functions (IMF). These functions form a near orthogonal adaptive basis, a basis that is derived from the data. The IMFs can be further analyzed for spectrum interpretation by the classical Hilbert Transform. A new engineering spectrum analysis tool using HHT has been developed at NASA GSFC, the HHT Data Processing System (HHT-DPS). As the HHT-DPS has been successfully used and commercialized, new applications post additional questions about the theoretical basis behind the HHT and EMD algorithms. Why is the fastest changing component of a composite signal being sifted out first in the EMD sifting process? Why does the EMD sifting process seemingly converge and why does it converge rapidly? Does an IMF have a distinctive structure? Why are the IMFs near orthogonal? We address these questions and develop the initial theoretical background for the HHT. This will contribute to the developments of new HHT processing options, such as real-time and 2-D processing using Field Programmable Array (FPGA) computational resources, enhanced HHT synthesis, and broaden the scope of HHT applications for signal processing.

Kizhner, Semion↗

NASA NTRS1994

Micro-measurements of mechanical properties for adhesives and composites using digital imaging technology

The need for a constituent based durability or accelerated life prediction procedure to be used for the engineering design of polymer matrix composites is discussed in the light of current plans for the High Speed Civil Transport (HSCT) concerns about the U.S. infrastructure (bridges, pipelines, etc.) and other technological considerations of national concern. It is pointed out that good measurement procedures for insitu resin properties are needed for both adhesives and composites. A double cantilever beam (DCB) specimen which shows promise for the easy determination of adhesive shear properties is presented and compared with measurements of strains within the bondline using a new optical digital imaging micro-measurement system (DIMMS). The DCB specimen is also used to assess damage in a bonded joint using a dynamic mechanical thermal analysis system (DMTA). The possible utilization of the same DIMMS and DMTA procedures to determine the insitu properties of the resin in a composite specimen are discussed as well as the use of the procedures to evaluate long term mechanical and physical aging. Finally, a discussion on the state-of-the art of the measurement of strains in micron and sub-micron domains is given.

Brinson, Hal F.↗

NASA NTRS2021

Northern Great Plains Disasters: Using Earth Observations to Enhance Flood Monitoring on Tribal Lands in the Northern Great Plains

In 2019, the Great Plains experienced unprecedented catastrophic flooding. Large flood events are predicted to increase in frequency and severity, posing risks to communities in this region, particularly Tribal Nations. We used data from Sentinel-1 C-band Synthetic Aperture Radar (C-SAR), imagery from the Sentinel-2 MultiSpectral Instrument (MSI), and digital elevation models (DEMs) from the Shuttle Radar Topography Mission (SRTM) within Google Earth Engine to map historical floods in the region beginning in 2014 with particular attention to the Rosebud Sioux Reservation and the tribal lands of other Great Plains Tribal Water Alliance members. This historical mapping used C-SAR for a combined method approach with a Z-score algorithm in addition to an index for flooded short vegetation. We also developed a flood risk map by weighting different flood predictor variables according to flood risk literature. These variables included soil drainage from the Soil Survey Geographic Database (SSURGO); elevation, slope, and Topographic Wetness Index (TWI) derived from digital elevation models; precipitation from Climate Hazards Group InfraRed Precipitation with Station data (CHIRPS); land cover from the National Land Cover Database (NLDC); and Normalized Difference Vegetation Index (NDVI) derived from Landsat 8 Operational Land Imager (OLI). From the flood extent and risk maps, we identified widespread flooding in short vegetation (including cropland) and noted flood susceptibility in regions exhibiting high social vulnerability and low community resilience (FEMA indices). We created an ArcGIS Online StoryMap to share project background, results, and data. Additionally, we provided a written tutorial so partners may replicate the flood mapping for future flood events.

Anna Ballasiotes↗

NASA NTRS2004

Pre-Hardware Optimization and Implementation Of Fast Optics Closed Control Loop Algorithms

One of the main heritage tools used in scientific and engineering data spectrum analysis is the Fourier Integral Transform and its high performance digital equivalent - the Fast Fourier Transform (FFT). The FFT is particularly useful in two-dimensional (2-D) image processing (FFT2) within optical systems control. However, timing constraints of a fast optics closed control loop would require a supercomputer to run the software implementation of the FFT2 and its inverse, as well as other image processing representative algorithm, such as numerical image folding and fringe feature extraction. A laboratory supercomputer is not always available even for ground operations and is not feasible for a night project. However, the computationally intensive algorithms still warrant alternative implementation using reconfigurable computing technologies (RC) such as Digital Signal Processors (DSP) and Field Programmable Gate Arrays (FPGA), which provide low cost compact super-computing capabilities. We present a new RC hardware implementation and utilization architecture that significantly reduces the computational complexity of a few basic image-processing algorithm, such as FFT2, image folding and phase diversity for the NASA Solar Viewing Interferometer Prototype (SVIP) using a cluster of DSPs and FPGAs. The DSP cluster utilization architecture also assures avoidance of a single point of failure, while using commercially available hardware. This, combined with the control algorithms pre-hardware optimization, or the first time allows construction of image-based 800 Hertz (Hz) optics closed control loops on-board a spacecraft, based on the SVIP ground instrument. That spacecraft is the proposed Earth Atmosphere Solar Occultation Imager (EASI) to study greenhouse gases CO2, C2H, H2O, O3, O2, N2O from Lagrange-2 point in space. This paper provides an advanced insight into a new type of science capabilities for future space exploration missions based on on-board image processing for control and for robotics missions using vision sensors. It presents a top-level description of technologies required for the design and construction of SVIP and EASI and to advance the spatial-spectral imaging and large-scale space interferometry science and engineering.

Kizhner, Semion↗

NASA NTRS2001

An Investigation of Surge in a High-Speed Centrifugal Compressor Using Digital PIV

Compressor stall is a catastrophic breakdown of the flow in a compressor, which con lead to a loss of engine power, large pressure transients in the inlet/nacelle, and engine flameout. The implementation of active or passive strategies for controlling rotating stall and surge can significantly extend the stable operating range of a compressor without substantially sacrificing performance. It is crucial to identify the dynamic changes occurring in the flow field prior to rotating stall and surge in order to control these events successfully. Generally, pressure transducer measurements are made to capture the transient response of a compressor prior to rotating stall. In this investigation, Digital Particle Imaging Velocimetry (DPIV) is used in conjunction with dynamic pressure transducers to capture transient velocity and pressure measurements simultaneously in the nonstationary flow field during compressor surge. DPIV is an instantaneous, planar measurement technique that is ideally suited for studying transient flow phenomena in highspeed turbomachinery and has been used previously to map the stable operating point flow field in the diffuser of a high-speed centrifugal compressor. Through the acquisition of both DPIV images and transient pressure data, the time evolution of the unsteady flow during surge is revealed.

Wernet, Mark P.↗

NASA NTRS2002

An Investigation of Surge in a High-Speed Centrifugal Compressor Using Digital PIV

Compressor stall is a catastrophic breakdown of the flow in a compressor, which can lead to a loss of engine power, large pressure transients in the inlet/nacelle and engine flameout. The implementation of active or passive strategies for controlling rotating stall and surge can significantly extend the stable operating range of a compressor without substantially sacrificing performance. It is crucial to identify the dynamic changes occurring in the flow field prior to rotating stall and surge in order to successfully control these events. Generally, pressure transducer measurements are made to capture the transient response of a compressor prior to rotating stall. In this investigation, Digital Particle Imaging Velocimetry (DPIV) is used in conjunction with dynamic pressure transducers to simultaneously capture transient velocity and pressure measurements in the non-stationary flow field during compressor surge. DPIV is an instantaneous, planar measurement technique which is ideally suited for studying transient flow phenomena in high speed turbomachinery and has been used previously to successfully map the stable operating point flow field in the diffuser of a high speed centrifugal compressor. Through the acquisition of both DPIV images and transient pressure data, the time evolution of the unsteady flow during surge is revealed.

Wernet, Mark P.↗

NASA NTRS1976

Flight experience with a digital integrated propulsion control system on an F-111E airplane

A digital integrated propulsion control system (IPCS) installed in the left side of an F-111 E aircraft was tested in flight. The F-111 aircraft was selected for the IPCS program because it incorporated a variable geometry inlet and an afterburning turbofan engine and had two engines, one of which could remain in the normal configuration to ensure flight safety. Flight data were compared with results of tests run in an altitude test chamber. The digital system was found to be capable of duplicating the standard engine and inlet control systems. Instabilities such as inlet buzz and afterburner rumble were detected and controlled. The usefulness of an altitude chamber for developing a software and testing hardware was proven. The flexibility of IPCS was demonstrated when an autothrottle, an in-flight thrust calculation, and a coannular noise study capability were added at the end of the flight tests.

Burcham, F. W., Jr.↗

NASA NTRS1985

Automotive Stirling Engine Development Program

Development test activities on Mod I engines directed toward evaluating technologies for potential inclusion in the Mod II engine are summarized. Activities covered include: test of a 12-tube combustion gas recirculation combustor; manufacture and flow-distribution test of a two-manifold annular heater head; piston rod/piston base joint; single-solid piston rings; and a digital air/fuel concept. Also summarized are results of a formal assessment of candidate technologies for the Mod II engine, and preliminary design work for the Mod II. The overall program philosophy weight is outlined, and data and test results are presented.

Nightingale, N.↗