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NASA NTRS1987

Measurement-based analysis of error latency

This paper demonstrates a practical methodology for the study of error latency under a real workload. The method is illustrated with sampled data on the physical memory activity, gathered by hardware instrumentation on a VAX 11/780 during the normal workload cycle of the installation. These data are used to simulate fault occurrence and to reconstruct the error discovery process in the system. The technique provides a means to study the system under different workloads and for multiple days. An approach to determine the percentage of undiscovered errors is also developed and a verification of the entire methodology is performed. This study finds that the mean error latency, in the memory containing the operating system, varies by a factor of 10 to 1 (in hours) between the low and high workloads. It is found that of all errors occurring within a day, 70 percent are detected in the same day, 82 percent within the following day, and 91 percent within the third day. The increase in failure rate due to latency is not so much a function of remaining errors but is dependent on whether or not there is a latent error.

Chillarege, Ram↗

NASA NTRS1987

Estimating the distribution of fault latency in a digital processor

Presented is a statistical approach to measuring fault latency in a digital processor. The method relies on the use of physical fault injection where the duration of the fault injection can be controlled. Although a specific fault's latency period is never directly measured, the method indirectly determines the distribution of fault latency.

Ellis, Erik L.↗

NASA NTRS1990

Measurement and analysis of workload effects on fault latency in real-time systems

The authors demonstrate the need to address fault latency in highly reliable real-time control computer systems. It is noted that the effectiveness of all known recovery mechanisms is greatly reduced in the presence of multiple latent faults. The presence of multiple latent faults increases the possibility of multiple errors, which could result in coverage failure. The authors present experimental evidence indicating that the duration of fault latency is dependent on workload. A synthetic workload generator is used to vary the workload, and a hardware fault injector is applied to inject transient faults of varying durations. This method makes it possible to derive the distribution of fault latency duration. Experimental results obtained from the fault-tolerant multiprocessor at the NASA Airlab are presented and discussed.

Woodbury, Michael H.↗

NASA NTRS1991

Error latency measurements in symbolic architectures

Error latency, the time that elapses between the occurrence of an error and its detection, has a significant effect on reliability. In computer systems, failure rates can be elevated during a burst of system activity due to increased detection of latent errors. A hybrid monitoring environment is developed to measure the error latency distribution of errors occurring in main memory. The objective of this study is to develop a methodology for gauging the dependability of individual data categories within a real-time application. The hybrid monitoring technique is novel in that it selects and categorizes a specific subset of the available blocks of memory to monitor. The precise times of reads and writes are collected, so no actual faults need be injected. Unlike previous monitoring studies that rely on a periodic sampling approach or on statistical approximation, this new approach permits continuous monitoring of referencing activity and precise measurement of error latency.

Young, L. T.↗

NASA NTRS1993

Low latency messages on distributed memory multiprocessors

Many of the issues in developing an efficient interface for communication on distributed memory machines are described and a portable interface is proposed. Although the hardware component of message latency is less than one microsecond on many distributed memory machines, the software latency associated with sending and receiving typed messages is on the order of 50 microseconds. The reason for this imbalance is that the software interface does not match the hardware. By changing the interface to match the hardware more closely, applications with fine grained communication can be put on these machines. Based on several tests that were run on the iPSC/860, an interface that will better match current distributed memory machines is proposed. The model used in the proposed interface consists of a computation processor and a communication processor on each node. Communication between these processors and other nodes in the system is done through a buffered network. Information that is transmitted is either data or procedures to be executed on the remote processor. The dual processor system is better suited for efficiently handling asynchronous communications compared to a single processor system. The ability to send data or procedure is very flexible for minimizing message latency, based on the type of communication being performed. The test performed and the proposed interface are described.

Rosing, Matthew↗

NASA NTRS1998

Sensor Spatial Distortion, Visual Latency, and Update Rate Effects on 3D Tracking in Virtual Environments

Several common defects that we have sought to minimize in immersing virtual environments are: static sensor spatial distortion, visual latency, and low update rates. Human performance within our environments during large amplitude 3D tracking was assessed by objective and subjective methods in the presence and absence of these defects. Results show that 1) removal of our relatively small spatial sensor distortion had minor effects on the tracking activity, 2) an Adapted Cooper-Harper controllability scale proved the most sensitive subjective indicator of the degradation of dynamic fidelity caused by increasing latency and decreasing frame rates, and 3) performance, as measured by normalized RMS tracking error or subjective impressions, was more markedly influenced by changing visual latency than by update rate.

Ellis, S. R.↗

NASA NTRS1998

The adequate stimulus for avian short latency vestibular responses to linear translation

Transient linear acceleration stimuli have been shown to elicit eighth nerve vestibular compound action potentials in birds and mammals. The present study was undertaken to better define the nature of the adequate stimulus for neurons generating the response in the chicken (Gallus domesticus). In particular, the study evaluated the question of whether the neurons studied are most sensitive to the maximum level of linear acceleration achieved or to the rate of change in acceleration (da/dt, or jerk). To do this, vestibular response thresholds were measured as a function of stimulus onset slope. Traditional computer signal averaging was used to record responses to pulsed linear acceleration stimuli. Stimulus onset slope was systematically varied. Acceleration thresholds decreased with increasing stimulus onset slope (decreasing stimulus rise time). When stimuli were expressed in units of jerk (g/ms), thresholds were virtually constant for all stimulus rise times. Moreover, stimuli having identical jerk magnitudes but widely varying peak acceleration levels produced virtually identical responses. Vestibular response thresholds, latencies and amplitudes appear to be determined strictly by stimulus jerk magnitudes. Stimulus attributes such as peak acceleration or rise time alone do not provide sufficient information to predict response parameter quantities. Indeed, the major response parameters were shown to be virtually independent of peak acceleration levels or rise time when these stimulus features were isolated and considered separately. It is concluded that the neurons generating short latency vestibular evoked potentials do so as "jerk encoders" in the chicken. Primary afferents classified as "irregular", and which traditionally fall into the broad category of "dynamic" or "phasic" neurons, would seem to be the most likely candidates for the neural generators of short latency vestibular compound action potentials.

NASA Discipline Neuroscience↗

NASA NTRS1996

Short latency vestibular evoked potentials in the chicken embryo

Electrophysiological responses to pulsed linear acceleration stimuli were recorded in chicken embryos incubated for 19 or 20 days (E19/E20). Responses occurred within the first 16 ms following the stimulus onset. The evoked potentials disappeared following bilateral labyrinthectomy, but persisted following cochlear destruction alone, thus demonstrating that the responses were vestibular. Approximately 8 to 10 response peaks could be identified. The first 4 positive and corresponding negative components (early peaks with latencies < 6.0 ms) were scored and latencies and amplitudes quantified. Vestibular response latencies were significantly longer (P < 0.01) and amplitudes significantly smaller (P < 0.001) than those observed in 2-week-old birds. Mean response threshold for anesthetized embryos was -15.9dBre 1.0 g/ms, which was significantly higher (P < 0.03) than those observed in 2-week-old birds (-23.0dBre 1.0 g/ms). Latency/intensity functions (that is, slopes) were not significantly different between embryos and 2-week-old animals, but amplitude/intensity functions for embryos were significantly shallower than those for 2-week-old birds (P < 0.001). We presume that these differences reflect the refinement of sensory function that occurs following 19 to 20 days of incubation. The recording of vestibular evoked potentials provides an objective, direct and noninvasive measure of peripheral vestibular function in the embryo and, as such, the method shows promise as an investigative tool. The results of the present study form the definitive basis for using vestibular evoked potentials in the detailed study of avian vestibular ontogeny and factors that may influence it.

Non-NASA Center↗

NASA NTRS1992

Vestibular short latency responses to pulsed linear acceleration in unanesthetized animals

Linear acceleration transients were used to elicit vestibular compound action potentials in non-invasively prepared, unanesthetized animals for the first time (chicks, Gallus domesticus, n = 33). Responses were composed of a series of up to 8 dominant peaks occurring within 8 msec of the stimulus. Response amplitudes for 1.0 g stimulus ranged from 1 to 10 microV. A late, slow, triphasic, anesthesia-labile component was identified as a dominant response feature in unanesthetized animals. Amplitudes increased and latencies decreased as stimulus intensity was increased (MANOVA P less than 0.05). Linear regression slope ranges were: amplitudes = 1.0-5.0 microV/g; latencies = -300 to -1100 microseconds/g. Thresholds for single polarity stimuli (0.035 +/- 0.022 g, n = 11) were significantly lower than those of alternating polarity (0.074 +/- 0.028 g, n = 18, P less than 0.001). Bilateral labyrinthectomy eliminated responses whereas bilateral extirpation of cochleae did not significantly change response thresholds. Intense acoustic masking (100/104 dB SL) produced no effect in 2 animals, but did produce small to moderate effects on response amplitudes in 7 others. Changes were attributed to effects on vestibular end organs. Results of unilateral labyrinth blockade (tetrodotoxin) suggest that P1 and N1 preferentially reflect ipsilateral eighth nerve compound action potentials whereas components beyond approximately 2 msec reflect activity from vestibular neurons that depend on both labyrinths. The results demonstrate that short latency vestibular compound action potentials can be measured in unanesthetized, non-invasively prepared animals.

NASA Discipline Neuroscience↗

NASA NTRS2011

Human Space Exploration and Human Space Flight: Latency and the Cognitive Scale of the Universe

The role of telerobotics in space exploration as placing human cognition on other worlds is limited almost entirely by the speed of light, and the consequent communications latency that results from large distances. This latency is the time delay between the human brain at one end, and the telerobotic effector and sensor at the other end. While telerobotics and virtual presence is a technology that is rapidly becoming more sophisticated, with strong commercial interest on the Earth, this time delay, along with the neurological timescale of a human being, quantitatively defines the cognitive horizon for any locale in space. That is, how distant can an operator be from a robot and not be significantly impacted by latency? We explore that cognitive timescale of the universe, and consider the implications for telerobotics, human space flight, and participation by larger numbers of people in space exploration. We conclude that, with advanced telepresence, sophisticated robots could be operated with high cognition throughout a lunar hemisphere by astronauts within a station at an Earth-Moon Ll or L2 venue. Likewise, complex telerobotic servicing of satellites in geosynchronous orbit can be carried out from suitable terrestrial stations.

Lester, Dan↗

NASA NTRS2004

Latency Requirements for Head-Worn Display S/EVS Applications

NASA s Aviation Safety Program, Synthetic Vision Systems Project is conducting research in advanced flight deck concepts, such as Synthetic/Enhanced Vision Systems (S/EVS), for commercial and business aircraft. An emerging thrust in this activity is the development of spatially-integrated, large field-of-regard information display systems. Head-worn or helmet-mounted display systems are being proposed as one method in which to meet this objective. System delays or latencies inherent to spatially-integrated, head-worn displays critically influence the display utility, usability, and acceptability. Research results from three different, yet similar technical areas flight control, flight simulation, and virtual reality are collectively assembled in this paper to create a global perspective of delay or latency effects in head-worn or helmet-mounted display systems. Consistent definitions and measurement techniques are proposed herein for universal application and latency requirements for Head-Worn Display S/EVS applications are drafted. Future research areas are defined.

Bailey, Randall E.↗

NASA NTRS2014

Low-latency Science Exploration of Planetary Bodies: a Demonstration Using ISS in Support of Mars Human Exploration

We summarize a proposed experiment to use the International Space Station to formally examine the application and validation of low-latency telepresence for surface exploration from space as an alternative, precursor, or potentially as an adjunct to astronaut "boots on the ground." The approach is to develop and propose controlled experiments, which build upon previous field studies and which will assess the effects of different latencies (0 to 500 msec), task complexity, and alternate forms of feedback to the operator. These experiments serve as an example of a pathfinder for NASA's roadmap of missions to Mars with low-latency telerobotic exploration as a precursor to astronaut's landing on the surface to conduct geological tasks.

ISS in Support↗

NASA NTRS2015

Low-Latency Teleoperations for Human Exploration and Evolvable Mars Campaign

NASA has been analyzing a number of mission concepts and activities that involve low-latency telerobotic (LLT) operations. One mission concept that will be covered in this presentation is Crew-Assisted Sample Return which involves the crew acquiring samples (1) that have already been delivered to space, and or acquiring samples via LLT from orbit to a planetary surface and then launching the samples to space to be captured in space and then returned to the earth with the crew. Both versions of have key roles for low-latency teleoperations. More broadly, the NASA Evolvable Mars Campaign is exploring a number of other activities that involve LLT, such as: (a) human asteroid missions, (b) PhobosDeimos missions, (c) Mars human landing site reconnaissance and site preparation, and (d) Mars sample handling and analysis. Many of these activities could be conducted from Mars orbit and also with the crew on the Mars surface remotely operating assets elsewhere on the surface, e.g. for exploring Mars special regions and or teleoperating a sample analysis laboratory both of which may help address planetary protection concerns. The operational and technology implications of low-latency teleoperations will be explored, including discussion of relevant items in the NASA Technology Roadmap and also how previously deployed robotic assets from any source could subsequently be used by astronauts via LLT.

crew autonomy↗

NASA NTRS2015

Message Latency Characterization of a Distributed Live, Virtual, Constructive Simulation Environment

A distributed test environment incorporating Live, Virtual, Constructive, (LVC) concepts was developed to execute standalone and integrated simulations and flight-tests that support unmanned aircraft research for NASA’s Unmanned Aircraft Systems (UAS) in the National Airspace System (NAS) Project. The LVC components form the core infrastructure that supports simulation of UAS operations by integrating live and virtual aircraft in a realistic air traffic environment. This LVC infrastructure enables efficient testing by leveraging the use of existing distributed assets. The LVC concepts used for the UAS in the NAS project include live aircraft, flight simulators, and virtual air traffic control assets operating at facilities distributed across multiple NASA Centers. With a distributed network, however, there is a concern that message latency could impact the realism of a simulation and its data. The latencies associated with sending data among these distributed facilities were, therefore, measured to ensure that they fall within acceptable parameters. Several live and virtual test assets were integrated into the LVC infrastructure including NASA Armstrong’s Ikhana MQ-9 unmanned aircraft, NASA Glenn’s S3-B manned aircraft, and the B747 flight simulator at NASA Ames. Average latencies from 100 to 150 milliseconds were observed between the LVC System running at NASA Ames and each of the participating NASA Centers under a light-to-moderate (fifty aircraft) traffic sample.

Murphy, James R.↗

NASA NTRS2019

EDOS Initiatives to Decrease Latency of NRT Data for LANCE

NASA's EOS Data and Operations System (EDOS) is the primary supplier of NRT (near real-time) data to the NASA NRT user community known as the Land, Atmosphere NRT Capability for EOS (LANCE). EDOS provides NRT data for various instruments on the EOS missions Terra, Aqua, Aura, as well as for the NOAA missions Suomi NPP and NOAA-20. This poster describes an overview of the EDOS multi-mission system with emphasis on the NRT products distributed for LANCE elements: AIRS, MISR, MLS, MODIS, MOPITT, OMPS, OMI and VIIRS. Remote EDOS high-rate data capture systems are deployed at NASA ground stations which provide data-driven capture of high-rate science for EOS missions. The remote EDOS components transfer the science data via high-rate WANs to the centralized EDOS Level-zero processing systems located at Goddard Space Flight Center. EDOS produces session-based data sets especially for LANCE NRT use from a single ground station contact; this data is sent to dual LANCE destinations as part of the standard redundancy requirement for LANCE elements. EDOS has implemented various latency improvements with the ultimate goal to have EDOS processing of NRT data keep up with the spacecraft data downlink. EDOS enhancements have included implementation of priority-based QoS, expanded network architecture to include open networks, and use of a delay-tolerant protocol. EDOS has streamlined its systems and infrastructure to minimize latency for NRT data delivery for LANCE. EDOS begins to transfer the NRT data to the LANCE elements within minutes of the end of the contact session with an average packet latency from instrument observation to Level 0 product delivery to each LANCE element of just over one hour.

Michael, Karen↗

NASA NTRSDate not supplied

Impact of Latency and Reliability on Separation Assurance with Remotely Piloted Aircraft in Terminal Operations

Remotely Piloted Aircraft (RPA) for cargo operations in the national airspace system will impact safety due to, among other factors, the latency and reliability of command & control, and of communication. This paper investigates the safety impact with increasing mix of RPA amidst manned traffic in a generic arrival pattern with three merging flows. Latency was modelled as the response time between air traffic control's determination of a resolution and the RPAs' initiation of the maneuver. Reliability was modelled as a message drop probability. The experiment was repeated with two different aircraft types having different performance characteristics as representatives of RPA for conducting automated cargo operations. Overall response time above thirty seconds and message drop probability over twenty percent caused losses of separation. Specific results depended on the RPA aircraft type. The detailed impacts of latency and reliability with increasing mix of RPA traffic are provided. Applications of the approach for further studies at increasing levels of automation are also discussed.

Vishwanath Bulusu↗

NASA NTRS2022

Impact of Latency and Reliability on Separation Assurance with Remotely Piloted Aircraft in Terminal Operations

Vishwanath Bulusu↗

NASA NTRS1976

Long-latency evoked potentials to irrelevant, deviant stimuli

Occasional shifts of loudness in a repetitive train of clicks elicited a late-positive wave (P3a) in nonattending subjects which peaked at a mean latency of 258 msec and had a frontocentral scalp distribution; P3a was typically preceded by an 'N2' component at 196 msec. The P3a wave was distinguishable from the longer-latency (378 msec) parietocentrally distributed 'P3b' wave that was evoked by the same stimulus in an actively attending subject, thus confirming the findings of Squires et al. (1975). Infrequently presented single sounds did not produce large or consistent N2-P3a components; the critical condition for the generation of an N2-P3a wave seemed to be that the infrequent sounds represent a deviation (intensity increment or decrement) from a repetitive background. Furthermore, increasing the repetition rate of the background clicks drastically reduced N1-P2 amplitude but had little effect on the amplitude of N2-P3a. This suggests that N2-P3a is not simply a delayed N1-P2 'vertex potential', but rather reflects the operation of a 'mismatch' detector, which registers deviations from an ongoing auditory background.

Snyder, E.↗