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NASA NTRS1990

On recursive least-squares filtering algorithms and implementations

In many real-time signal processing applications, fast and numerically stable algorithms for solving least-squares problems are necessary and important. In particular, under non-stationary conditions, these algorithms must be able to adapt themselves to reflect the changes in the system and take appropriate adjustments to achieve optimum performances. Among existing algorithms, the QR-decomposition (QRD)-based recursive least-squares (RLS) methods have been shown to be useful and effective for adaptive signal processing. In order to increase the speed of processing and achieve high throughput rate, many algorithms are being vectorized and/or pipelined to facilitate high degrees of parallelism. A time-recursive formulation of RLS filtering employing block QRD will be considered first. Several methods, including a new non-continuous windowing scheme based on selectively rejecting contaminated data, were investigated for adaptive processing. Based on systolic triarrays, many other forms of systolic arrays are shown to be capable of implementing different algorithms. Various updating and downdating systolic algorithms and architectures for RLS filtering are examined and compared in details, which include Householder reflector, Gram-Schmidt procedure, and Givens rotation. A unified approach encompassing existing square-root-free algorithms is also proposed. For the sinusoidal spectrum estimation problem, a judicious method of separating the noise from the signal is of great interest. Various truncated QR methods are proposed for this purpose and compared to the truncated SVD method. Computer simulations provided for detailed comparisons show the effectiveness of these methods. This thesis deals with fundamental issues of numerical stability, computational efficiency, adaptivity, and VLSI implementation for the RLS filtering problems. In all, various new and modified algorithms and architectures are proposed and analyzed; the significance of any of the new method depends crucially on specific application.

Hsieh, Shih-Fu↗

NASA NTRS2011

Aerosol Retrieval and Atmospheric Correction Algorithms for EPIC

EPIC is a multi-spectral imager onboard planned Deep Space Climate ObserVatoRy (DSCOVR) designed for observations of the full illuminated disk of the Earth with high temporal and coarse spatial resolution (10 km) from Lagrangian L1 point. During the course of the day, EPIC will view the same Earth surface area in the full range of solar and view zenith angles at equator with fixed scattering angle near the backscattering direction. This talk will describe a new aerosol retrieval/atmospheric correction algorithm developed for EPIC and tested with EPIC Simulator data. This algorithm uses the time series approach and consists of two stages: the first stage is designed to periodically re-initialize the surface spectral bidirectional reflectance (BRF) on stable low AOD days. Such days can be selected based on the same measured reflectance between the morning and afternoon reciprocal view geometries of EPIC. On the second stage, the algorithm will monitor the diurnal cycle of aerosol optical depth and fine mode fraction based on the known spectral surface BRF. Testing of the developed algorithm with simulated EPIC data over continental USA showed a good accuracy of AOD retrievals (10-20%) except over very bright surfaces.

Wang, Yujie↗

NASA NTRS1977

An implicit factored scheme for the compressible Navier-Stokes equations

An implicit finite difference scheme is developed for the numerical solution of the compressible Navier-Stokes equations in conservation-law form. The algorithm is second-order-time accurate, noniterative, and spatially factored. In order to obtain an efficient factored algorithm, the spatial cross-derivatives are evaluated explicitly. However, the algorithm is unconditionally stable and, although a three-time-level scheme, requires only two-time-levels of data storage. The algorithm is constructed in a 'delta' form (i.e., increments of the conserved variables and fluxes) that provides a direct derivation of the scheme and leads to an efficient computational algorithm. In addition, the delta form has the advantageous property of a steady-state (if one exists) independent of the size of the time step. Numerical results are presented for a two-dimensional shock boundary-layer interaction problem.

Beam, R. M.↗

NASA NTRS1988

A traveling-salesman-based approach to aircraft scheduling in the terminal area

An efficient algorithm is presented, based on the well-known algorithm for the traveling salesman problem, for scheduling aircraft arrivals into major terminal areas. The algorithm permits, but strictly limits, reassigning an aircraft from its initial position in the landing order. This limitation is needed so that no aircraft or aircraft category is unduly penalized. Results indicate, for the mix of arrivals investigated, a potential increase in capacity in the 3 to 5 percent range. Furthermore, it is shown that the computation time for the algorithm grows only linearly with problem size.

Luenberger, Robert A.↗

NASA NTRS1984

A real-time FORTRAN implementation of a sensor failure detection, isolation and accommodation algorithm

An advanced, sensor failure detection, isolation, and accomodation algorithm has been developed by NASA for the F100 turbofan engine. The algorithm takes advantage of the analytical redundancy of the sensors to improve the reliability of the sensor set. The method requires the controls computer, to determine when a sensor failure has occurred without the help of redundant hardware sensors in the control system. The controls computer provides an estimate of the correct value of the output of the failed sensor. The algorithm has been programmed in FORTRAN using a real-time microprocessor-based controls computer. A detailed description of the algorithm and its implementation on a microprocessor is given.

Delaat, J. C.↗

NASA NTRS2001

Better, Cheaper, Faster Molecular Dynamics

Recent, revolutionary progress in genomics and structural, molecular and cellular biology has created new opportunities for molecular-level computer simulations of biological systems by providing vast amounts of data that require interpretation. These opportunities are further enhanced by the increasing availability of massively parallel computers. For many problems, the method of choice is classical molecular dynamics (iterative solving of Newton's equations of motion). It focuses on two main objectives. One is to calculate the relative stability of different states of the system. A typical problem that has' such an objective is computer-aided drug design. Another common objective is to describe evolution of the system towards a low energy (possibly the global minimum energy), "native" state. Perhaps the best example of such a problem is protein folding. Both types of problems share the same difficulty. Often, different states of the system are separated by high energy barriers, which implies that transitions between these states are rare events. This, in turn, can greatly impede exploration of phase space. In some instances this can lead to "quasi non-ergodicity", whereby a part of phase space is inaccessible on time scales of the simulation. To overcome this difficulty and to extend molecular dynamics to "biological" time scales (millisecond or longer) new physical formulations and new algorithmic developments are required. To be efficient they should account for natural limitations of multi-processor computer architecture. I will present work along these lines done in my group. In particular, I will focus on a new approach to calculating the free energies (stability) of different states and to overcoming "the curse of rare events". I will also discuss algorithmic improvements to multiple time step methods and to the treatment of slowly decaying, log-ranged, electrostatic effects.

Pohorille, Andrew↗

NASA NTRS2010

Time of Closest Approach in Three-Dimensional Airspace

In air traffic management, the aircraft separation requirement is defined by a minimum horizontal distance and a minimum vertical distance that the aircraft have to maintain. Since this requirement defines a cylinder around each aircraft rather than a sphere, the three-dimensional Euclidean distance does not provide an appropriate basis for the definition of time of closest approach. For instance, conflicting aircraft are not necessarily in loss of separation at the time of closest three-dimensional Euclidean distance. This paper proposes a definition of time of closest approach that characterizes conflicts in a three-dimensional airspace. The proposed time is defined as the time that minimizes a distance metric called cylindrical norm. An algorithm that computes the time of closest approach between two aircraft is provided and the formal verification of its main properties is reported.

Munoz, Cesar A.↗

NASA NTRS2015

Taxi Time Prediction at Charlotte Airport Using Fast-Time Simulation and Machine Learning Techniques

Accurate taxi time prediction can be used for more efficient runway scheduling to increase runway throughput and reduce taxi times and fuel consumptions on the airport surface. This paper describes two different approaches to predicting taxi times, which are a data-driven analytical method using machine learning techniques and a fast-time simulation-based approach. These two taxi time prediction methods are applied to realistic flight data at Charlotte Douglas International Airport (CLT) and assessed with actual taxi time data from the human-in-the-loop simulation for CLT airport operations using various performance measurement metrics. Based on the preliminary results, we discuss how the taxi time prediction accuracy can be affected by the operational complexity at this airport and how we can improve the fast-time simulation model for implementing it with an airport scheduling algorithm in real-time operational environment.

Lee, Hanbong↗

NASA NTRS1999

Real-time Adaptive Control Using Neural Generalized Predictive Control

The objective of this paper is to demonstrate the feasibility of a Nonlinear Generalized Predictive Control algorithm by showing real-time adaptive control on a plant with relatively fast time-constants. Generalized Predictive Control has classically been used in process control where linear control laws were formulated for plants with relatively slow time-constants. The plant of interest for this paper is a magnetic levitation device that is nonlinear and open-loop unstable. In this application, the reference model of the plant is a neural network that has an embedded nominal linear model in the network weights. The control based on the linear model provides initial stability at the beginning of network training. In using a neural network the control laws are nonlinear and online adaptation of the model is possible to capture unmodeled or time-varying dynamics. Newton-Raphson is the minimization algorithm. Newton-Raphson requires the calculation of the Hessian, but even with this computational expense the low iteration rate make this a viable algorithm for real-time control.

Haley, Pam↗

NASA NTRS1989

A real time microcomputer implementation of sensor failure detection for turbofan engines

An algorithm was developed which detects, isolates, and accommodates sensor failures using analytical redundancy. The performance of this algorithm was demonstrated on a full-scale F100 turbofan engine. The algorithm was implemented in real-time on a microprocessor-based controls computer which includes parallel processing and high order language programming. Parallel processing was used to achieve the required computational power for the real-time implementation. High order language programming was used in order to reduce the programming and maintenance costs of the algorithm implementation software. The sensor failure algorithm was combined with an existing multivariable control algorithm to give a complete control implementation with sensor analytical redundancy. The real-time microprocessor implementation of the algorithm which resulted in the successful completion of the algorithm engine demonstration, is described.

Delaat, John C.↗

NASA NTRS1990

A real time microcomputer implementation of sensor failure detection for turbofan engines

An algorithm was developed that detects, isolates, and accommodates sensor failures using analytical redundancy. The performance of this algorithm has been demonstrated on a full-scale F100 turbofan engine. The algorithm was implemented in real-time on a microprocessor-based controls computer which includes parallel processing and high order language programming. Parallel processing was used to achieve the required computational power for the real-time implementation. High order language programming was used in order to reduce the programming and maintenance costs of the algorithm implementation software. The sensor failure algorithm was combined with an existing multivariable control algorithm to give a complete control implementation with sensor analytical redundancy. The real-time microprocessor implementation of the algorithm, which resulted in the successful completion of the algorithm engine demonstration, is described.

Delaat, John C.↗

NASA NTRS1993

Inertial-space disturbance rejection for space-based manipulators

The implementation of a disturbance rejection controller for a 6-DOF PUMA manipulator mounted on a 3-DOF platform was described. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Experimental results are presented for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities. Robotic manipulators were proposed as a means of reducing the amount of extra vehicular activity time required for space station assembly and maintenance. The proposed scenario involves a robotic manipulator attached to some mobile platform, such as a spacecraft, satellite, or the space station itself. Disturbances in the platform position and attitude may prevent the manipulator from successfully completing the task. The possibility of using the manipulator to compensate for platform disturbances was explored. The problem of controlling a robotic manipulator on a mobile platform has received considerable attention in the past few years. Joshi and Desrochers designed a nonlinear feedback control law to carry out tasks (with respect to the robot base frame) in the presence of roll, pitch and yaw disturbances in the platform axes. Dubowsky, Vance, and Torres proposed a time-optimal planning algorithm for a robotic manipulator mounted on a spacecraft, subject to saturation limits in the attitude control reaction jets. Papadopoulos and Dubowsky developed a general framework for analyzing the control of free-floating space manipulator systems. Most recently, Torres and Dubowsky have presented a technique called the enhanced disturbance map to find manipulator trajectories that reduce the effect of disturbances in the spacecraft position and attitude. One common assumption in the literature is that the disturbance signal is exactly known. If this is the case, then the end-effector location can be calculated without relying on direct end-point sensing. However, this assumption is invalid if there is a significant delay in the platform position and attitude measurements, or if the kinematics of the platform are not well known, or if the platform is a non-rigid structure. In the more likely case that only the nominal platform location and upper bound on the disturbance signal are known, direct end-point sensing is needed to measure the end-effector location.

Holt, Kevin↗

NASA NTRS1988

Rapid code acquisition algorithms employing PN matched filters

The performance of four algorithms using pseudonoise matched filters (PNMFs), for direct-sequence spread-spectrum systems, is analyzed. They are: parallel search with fix dwell detector (PL-FDD), parallel search with sequential detector (PL-SD), parallel-serial search with fix dwell detector (PS-FDD), and parallel-serial search with sequential detector (PS-SD). The operation characteristic for each detector and the mean acquisition time for each algorithm are derived. All the algorithms are studied in conjunction with the noncoherent integration technique, which enables the system to operate in the presence of data modulation. Several previous proposals using PNMF are seen as special cases of the present algorithms.

Su, Yu T.↗

NASA NTRS1993

Robust on-off pulse control of flexible space vehicles

The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.

Wie, Bong↗

NASA NTRS2015

Verification of a Remaining Flying Time Prediction System for Small Electric Aircraft

This paper addresses the problem of building trust in online predictions of a battery powered aircraft's remaining available flying time. A set of ground tests is described that make use of a small unmanned aerial vehicle to verify the performance of remaining flying time predictions. The algorithm verification procedure described here uses a fully functional vehicle that is restrained to a platform for repeated run-to-functional-failure experiments. The vehicle under test is commanded to follow a predefined propeller RPM profile in order to create battery demand profiles similar to those expected in flight. The fully integrated aircraft is repeatedly operated until the charge stored in powertrain batteries falls below a specified lower-limit. The time at which the lower-limit on battery charge is crossed is then used to measure the accuracy of remaining flying time predictions. Accuracy requirements are considered in this paper for an alarm that warns operators when remaining flying time is estimated to fall below a specified threshold.

Hogge, Edward F.↗

NASA NTRS1998

Isosurface Extraction in Time-Varying Fields Using a Temporal Hierarchical Index Tree

Many high-performance isosurface extraction algorithms have been proposed in the past several years as a result of intensive research efforts. When applying these algorithms to large-scale time-varying fields, the storage overhead incurred from storing the search index often becomes overwhelming. this paper proposes an algorithm for locating isosurface cells in time-varying fields. We devise a new data structure, called Temporal Hierarchical Index Tree, which utilizes the temporal coherence that exists in a time-varying field and adoptively coalesces the cells' extreme values over time; the resulting extreme values are then used to create the isosurface cell search index. For a typical time-varying scalar data set, not only does this temporal hierarchical index tree require much less storage space, but also the amount of I/O required to access the indices from the disk at different time steps is substantially reduced. We illustrate the utility and speed of our algorithm with data from several large-scale time-varying CID simulations. Our algorithm can achieve more than 80% of disk-space savings when compared with the existing techniques, while the isosurface extraction time is nearly optimal.

Shen, Han-Wei↗

NASA NTRS1976

Diffusion algorithms and data reduction routine for onsite real-time launch predictions for the transport of Delta-Thor exhaust effluents

The National Aeronautics and Space Administration/Marshall Space Flight Center multilayer diffusion algorithms have been specialized for the prediction of the surface impact for the dispersive transport of the exhaust effluents from the launch of a Delta-Thor vehicle. This specialization permits these transport predictions to be made at the launch range in real time so that the effluent monitoring teams can optimize their monitoring grids. Basically, the data reduction routine requires only the meteorology profiles for the thermodynamics and kinematics of the atmosphere as an input. These profiles are graphed along with the resulting exhaust cloud rise history, the centerline concentrations and dosages, and the hydrogen chloride isopleths.

Stephens, J. B.↗

NASA NTRS2003

On the Determination of Local Sites for Shallow Ground Water Prospection Using Low Frequency Sounding Radars on Mars

Low frequency sounding radars should be able to probe the Martian subsurface layers down to varying depths, depending on the geo-electrical properties of the sounded sites. We present in this work four frequency dependent geo-electrical models of the Martian subsurface in the 1-20 MHz frequency band, based on laboratory electromagnetic characterization of Martian soil analogues. Those models correspond to local Martian sites, where we considered particular interest for the search of water using mainly the Ground Penetrating Radar (GPR) instrument of the Netlander mission. Results and discussion are also valid for both sounding experiments MARSIS and SHARAD. The four models of the Martian subsurface are designed to represent terrains where recent fluvial like features suggest the presence of near subsurface ground ice and probably liquid water. We performed measurements on volcanic and sedimentary materials that may be present on these sites under the appropriate geophysical conditions that may exist in those terrains. We then simulated the backscattered radar echo arising from each site in the 2 MHz frequency band, using the Finite Difference Time Domain (FDTD) algorithm, in order to evaluate the instrument performances to probe the subsurface stratigraphy of each site. Our results confirm that the near subsurface rich iron oxide mineralogy controls the instrument performances in terms of penetration depth and signal to noise ratio in the 2 MHz frequency band. We also discuss the geophysical and geo-electrical sounding conditions that could lead to an ambiguous detection of shallow subsurface water on Mars for the Netlander GPR. Finally we hope to present by the conference time a terrestrial test analogue site selected according to those creteria where deep sub-surface water have been detected 600 m deep using a prototype of the 2 MHz Netlander GPR in a field survey performed last febrary in the eastern part of the Egyptian desert.

Heggy, E.↗