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Debugging embedded computer programs

Every embedded computer program must complete its debugging cycle using some system that will allow real time debugging. Many of the common items addressed during debugging are listed. Seven approaches to debugging are analyzed to evaluate how well they treat those items. Cost evaluations are also included in the comparison. The results indicate that the best collection of capabilities to cover the common items present in the debugging task occurs in the approach where a minicomputer handles the environment simulation with an emulation of some kind representing the embedded computer. This approach can be taken at a reasonable cost. The case study chosen is an embedded computer in a tactical missile. Several choices of computer for the environment simulation are discussed as well as different approaches to the embedded emulator.

Kemp, G. H.↗

Conceptual Design of a Counter-Rotating Fan System for Distributed Boundary Layer Ingesting Propulsion

The present paper details the design of the counter rotating fans for a Turboelectric Distributed Propulsion (TeDP) system. Sixteen propulsors installed in mail-slot-shape nacelles are embedded on an aerodynamically optimized hybrid wing-body configuration. The hybrid-wing/body (HWB) configuration which was previously designed to satisfy the conditions of trim, longitudinally static stability and specific cargo space is employed as the baseline configuration in pursuing an optimal distributed propulsion system. A set of distributed propulsors is conceptually designed and the collective performance is evaluated against the target thrust mandated by the mission requirements. The concept of the distributed propulsion allows the fan pressure ratio to be around 1.27~1.32 for the target thrust. In addition, further splitting of the fan pressure ratio by using the counter-rotating fans for each slot realizes the target pressure ratio with low tip speed. In the distributed propulsion system, the nature of the flow conditions and/or the thickness of the ingested boundary layer may differ and result in different propulsive reaction of each individual propulsor. The optimization is, thus, approached from both the propulsion system and individual propulsor perspectives. An optimal distribution of the thrust and power output is determined by how the system utilizes each passage's propulsive characteristics and its interaction with the airframe. These system level analysis and optimization are conducted using an actuator disk model to account for the propulsion-airframe integration numerically. With respect to the propulsor level, aerodynamic shape optimizations of the fan blades are performed in a sequential multi-objective optimization process for various design objectives, such as mass flow rate condition, fan pressure ratio, efficiency and the exit flow angle of the fan stage by using a genetic algorithm, NSGA-II. The radial chord distribution, and meanline distribution of the rotors are designed on the circumferentially averaged axi-symmetric inlet profiles and tested on the six inlet profiles from six divided sectors to reckon flow distortion. The performances of the counter rotating fans are, thus, evaluated accordingly for obtaining distortion tolerant fan. The performance of the distributed propulsion system is evaluated by two CFD tools, i.e., a multi-stage turbo-machinery CFD code and one propulsion-airframe integration flow solver coupled with a body-force model. The optimized boundary layer ingestion propulsion system of 16 distributed slots not only reaches the system target thrust, but also delivers a close to 20% fuel saving benefit against its counterpart 12 distributed clean inlet propulsion system.

Boundary-Layer-Ingestion Propulsion↗

Understanding Subseasonal Moisture Recycling from Extreme MCSs Using a Land–Atmosphere Coupled Water Tracer Model

Extreme precipitation events often produce severe flooding and pose significant threats to our society. However, their subseasonal impacts on the terrestrial and atmospheric systems are not well understood. Here, we use a new land–atmosphere coupled water tracer tool embedded in the Weather Research and Forecasting (WRF) Model to “tag” precipitation produced by a series of extreme mesoscale convective systems (MCSs) in May 2015 over the southern Great Plains to reveal their contributions to different terrestrial water storages and moisture recycling during May–July. During May, we find that precipitation from earlier MCSs can contribute to 20%–50% of total evapotranspiration (ET) in later May and contribute ∼10% of local precipitation for later MCSs. After May, the water “tagged” to preceding May MCS events has the most active contribution to moisture recycling during the first 5 days in June, but this contribution diminishes quickly afterward. Both periods indicate a quick turnover of tagged precipitation, which may be representative of the southern Great Plains region. The quick turnover is closely associated with the direct evaporation from the soil surface due to the predominant shrubland and grassland coverage over this region. Over some forested areas, however, the tracer-ET flux is dominated by transpiration that stably supplies a small fraction (<1%) of moisture to the atmosphere throughout June and July. In conclusion, the tracer-contributed plume (through evaporation and transpiration) in atmospheric moisture can extend 500–700 km downstream between May and July, highlighting the far-reaching contribution to moisture recycling and precipitation from the tagged MCS events in the southern Great Plains.

Atmosphere-land interaction↗

Assessment Environment for Complex Systems Software Guide

This Software Guide (SG) describes the software developed to test the Assessment Environment for Complex Systems (AECS) by the West Virginia High Technology Consortium (WVHTC) Foundation's Mission Systems Group (MSG) for the National Aeronautics and Space Administration (NASA) Aeronautics Research Mission Directorate (ARMD). This software is referred to as the AECS Test Project throughout the remainder of this document. AECS provides a framework for developing, simulating, testing, and analyzing modern avionics systems within an Integrated Modular Avionics (IMA) architecture. The purpose of the AECS Test Project is twofold. First, it provides a means to test the AECS hardware and system developed by MSG. Second, it provides an example project upon which future AECS research may be based. This Software Guide fully describes building, installing, and executing the AECS Test Project as well as its architecture and design. The design of the AECS hardware is described in the AECS Hardware Guide. Instructions on how to configure, build and use the AECS are described in the User's Guide. Sample AECS software, developed by the WVHTC Foundation, is presented in the AECS Software Guide. The AECS Hardware Guide, AECS User's Guide, and AECS Software Guide are authored by MSG. The requirements set forth for AECS are presented in the Statement of Work for the Assessment Environment for Complex Systems authored by NASA Dryden Flight Research Center (DFRC). The intended audience for this document includes software engineers, hardware engineers, project managers, and quality assurance personnel from WVHTC Foundation (the suppliers of the software), NASA (the customer), and future researchers (users of the software). Readers are assumed to have general knowledge in the field of real-time, embedded computer software development.

tests↗

Concrete Thermal Energy Storage Enabling Flexible Operation without Coal Plant Cycling

The work described in this report is responsive to the Office of Fossil Energy program “Energy Storage for Fossil Power Generation.” The pilot plant built as a result of this project demonstrated the feasibility and performance of a concrete thermal energy storage (CTES) system integrated with a supercritical coal power plant. The 10 MWh electrical (>25 MWh thermal) CTES unit, developed by Storworks Power, was designed to enable flexible operation of coal plants without cycling damage. The project's key technical achievements showcase a significant advancement in energy storage technology. A modular CTES system using 42 “Bolderblocs” units was successfully designed and constructed at Alabama Power’s Plant Gaston Unit 5, with each block containing embedded stainless-steel coils in specialized, cost-effective high-temperature concrete. The system interfaced seamlessly with the plant's 3500 psig (241 barg), 1000°F (538°C) supercritical steam, demonstrating operational flexibility. Over 86 full cycles, the CTES exhibited rapid charging and discharging capabilities, effectively mimicking steam turbine feed conditions and handling varying load profiles and storage durations. Performance validation confirmed the system's ability to consistently meet design target steam conditions of 75 bar-a and ~400°C for nominal baseline discharge. The concrete material withstood repeated thermal cycling without degradation, validating earlier lab-scale tests. Integration of balance of plant components, including a condensate management system with storage tank and air-cooled condenser, minimized plant interfaces and water consumption. A robust control scheme ensured safe, automated operation across various scenarios. Key learnings from the project were invaluable: 1. Initial concrete drying and commissioning procedures were refined for future deployments, enhancing efficiency in subsequent installations. 2. System flexibility exceeded expectations, with rapid response to changing conditions. 3. Design improvements were identified including optimized insulation and piping that will enhance overall system efficiency in future deployments 4. Full cycle thermal roundtrip efficiencies exceeded 88%. While the roundtrip electrical efficiency was somewhat limited by known challenges using input steam, such constraints may be mitigated by swapping steam for hot air as thermal input. 5. A summary of key performance parameters for the pilot test and predicted performance of a full scale commercial system with specified improvements determined from the pilot are shown in Section 8. The project faced challenges, including COVID-19 delays and host plant availability constraints. However, these were overcome through adaptive planning and execution. The successful management of these obstacles demonstrated the resilience and adaptability of the project team and the robustness of the CTES technology. This successful pilot demonstrates the potential for CTES to enhance coal plant flexibility, supporting grid stability as renewable penetration increases. The validated design and operational data provide a solid foundation for scaling up to utility-scale implementations, potentially transforming how thermal plants operate in evolving energy landscapes. The system's ability to rapidly respond to changing grid conditions while maintaining high efficiency makes it a promising solution for balancing intermittent renewable energy sources. Furthermore, the project highlighted the potential for even greater efficiencies in future iterations. The use of air as an input medium could potentially eliminate the limitations observed with steam input, opening new possibilities for energy storage applications beyond coal plant integration. In conclusion, this pilot project not only achieved its primary goals but also uncovered additional benefits and potential applications of the CTES technology. It represents a significant step forward in addressing the challenges of grid stability and flexibility in an increasingly renewable-driven energy landscape.

01 COAL, LIGNITE, AND PEAT↗

Optimal Control for Fast Frequency Response and Black-Start using Embedded Storages with Grid-Forming Control

The grid-forming inverter is regarded as the solution for integrating high levels of renewable resources into future power systems. Ensuring the stable operation of grids necessitates that grid-forming inverters offer fast frequency response. This report introduces an optimal control method that coordinates the embedded storage within the grid-forming control model with conventional synchronous generators. The optimized active power reference for the embedded storage is generated using receding horizon optimization control, aiming to keep the center of inertia frequency within acceptable limits. The effectiveness of the proposed control is verified through testing in the IEEE 39-bus system. In addition, with grid-forming capability, we will also investigate the application of using mobile embedded storages as black-start units to provide cranking power to energize non-blackstart generators in a black-start process.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Embedded EPICS server for PowerPMAC motion controllers

An embedded server layer of Experimental Physics and Industrial Control System (EPICS) for PowerPMAC motion controllers has been developed and deployed at two undulator beamlines of the National Institute of General Medical Sciences and the National Cancer Institute (GM/CA) Structural Biology Facility at the Advanced Photon Source (APS). This compact, open source solution makes the power and versatility of PowerPMAC motion controls directly accessible to distributed EPICS clients. At GM/CA the system controls about 200 servo and stepper motors — both encoded and unencoded — and multiple digital and analog I/O accessories. The server stack comprises two sublayers: a lower-level driver and database that communicates directly with PowerPMAC, and a facility-specific soft sublayer built on top. The paper describes installing EPICS on PowerPMAC, the implementation of both layers and client examples, including on-the-fly scanning.

EPICS↗

Experiments with Ada

A 1200-line Ada source code project simulating the most basic functions of an operations control center was developed. We selected George Cherry's Process Abstraction Methodology for Embedded Large Applications (PAMELA) and DEC's Ada Compilation System (ACS) under VAX/VMS to build the software from requirements to acceptance test. The system runs faster than its FORTRAN implementation and was produced on schedule and under budget with an overall productivity in excess of 30 lines of Ada source code per day.

Roy, D.↗

Gyroharmonic maser instability for weakly relativistic electrons with a loss-cone distribution

The weakly relativisitic dielectric tensor for a system of electrons comprised of cold and energetic populations, embedded in a neutralizing background, is reformulated in terms of an infinite series representation in powers of lamba = alpha ck(perpendicular)/omega (c), where alpha-squared is a parameter proportional to the average thermal energy of the energetic electrons, k(perpendicular) is the perpendicular component of the wave vector k, and omega (c) is the electron gyrofrequency. The energetic electrons are assumed to have a loss-cone feature in the perpendicular momentum space. The present formalism can be used in the problem of cyclotron maser as well as more general gyroharmonic maser (i.e., multiharmonics) emissions resulting from weakly relativistic loss-cone electrons. This is because, unlike the previous theories in which certain approximations such as the single-harmonic approximations are made, the present formalism retains contributions from the entire harmonics.

Yoon, Peter H.↗

Auroral activity associated with Kelvin-Helmholtz instability at the inner edge of the low-latitude boundary layer

Auroral activity occurred in the late afternoon sector (approx. 16 MLT) in the northern hemisphere during the passage at Earth of an interplanetary magnetic cloud on January 14, 1988. The auroral activity consisted of a very dynamic display which was preceded and followed by quiet auroral displays. During the quiet displays, discrete rayed arcs aligned along the geomagnetic L shells were observed. In the active stage, rapidly evolving spiral forms centered on magnetic zenith were evident. The activity persisted for many minutes and was characterized by the absence of directed motion. They were strongly suggestive of intense filaments of upward field-aligned currents embedded in the large-scale region 1 current system. Distortions of the flux ropes as they connect from the equatorial magnetosphere to the ionosphere were witnessed. We assess as possible generating mechanisms three nonlocal sources known to be associated with field-aligned currents. Of these, partial compressions of the magnetosphere due to variations of solar wind dynamic pressure seem an unlikely source. The possibility that the auroral forms are due to reconnection is investigated but is excluded because the active aurora were observed on the closed field line region just equatorward of the convection reversal boundary. To support this conclusion further, we apply recent results on the mapping of ionospheric regions to the equatorial plane based on the Tsyganenko 1989 model (Kaufmann et al., 1993). We find that for comparable magnetic activity the aurora map to the equatorial plane at X(sub GSM) = approx. 3 R(sub E) and approx. 2 R(sub E) inward of the magnetopause, that is, the inner edge of the boundary layer close to dusk. Since the auroral forms are manifestly associated with magnetic field shear, a vortical motion at the equatorial end of the flux rope is indicated, making the Kelvin-Helmholtz instability acting at the inner edge of the low-latitude boundary layer the most probable generating source.

Farrugia, C. J.↗

Control and Observation in Distributed Environments

This viewgraph presentation gives an overview of the control and observation in distributed environments. No existing system meets all our needs (e.g., they cannot be embedded in tools or applications and have limited fault management functionality). The goals of our infrastructure include the following: (1) to develop a general framework for observation and control; (2) the framework should be extensible for specific tasks; and (3) it must be compatible with emerging standards.

Smith, Warren↗

Intelligent Highway System

Under contract to the Texas Department of Transportation, AlliedSignal Technical Services developed the Transportation Guidance System (TransGuide) used in San Antonio, Texas. The system monitors the passage of traffic over the sensors embedded in the roadways and detects incidents. Control center operators are alerted to the occurrence of an accident and the area of the occurrence is highlighted on a map display. TransGuide incorporates technology AlliedSignal developed under various contracts to NASA at Goddard Space Flight Center, Johnson Space Center and Jet Propulsion Laboratory, including the design of ground control centers.

Source record↗

Embedded Wing Propulsion Conceptual Study

As a part of distributed propulsion work under NASA's Revolutionary Aeropropulsion Concepts or RAC project, a new propulsion-airframe integrated vehicle concept called Embedded Wing Propulsion (EWP) is developed and examined through system and computational fluid dynamics (CFD) studies. The idea behind the concept is to fully integrate a propulsion system within a wing structure so that the aircraft takes full benefits of coupling of wing aerodynamics and the propulsion thrust stream. The objective of this study is to assess the feasibility of the EWP concept applied to large transport aircraft such as the Blended-Wing-Body aircraft. In this paper, some of early analysis and current status of the study are presented. In addition, other current activities of distributed propulsion under the RAC project are briefly discussed.

Kim, Hyun D.↗

Surface Generation and Cartesian Mesh Support

This document serves as the final report for the grant titled Surface Generation and Cartesian Mesh Support . This completed work was in algorithmic research into automatically generating surface triangulations from CAD geometries. NASA's OVERFLOW and Cart3D simulation packages use surface triangulations as an underlying geometry description and the ability to automatically generate these from CAD files (without translation) substantially reduces both the wall-clock time and expertise required to get geometry out of CAD and into mesh generation. This surface meshing was exercised greatly during the Shuttle investigation during the last year with success. The secondary efforts performed in this grant involve work on a visualization system cut-cell handling for Cartesian Meshes with embedded boundaries.

Haimes, Robert↗

Deformation Measurements of Smart Aerodynamic Surfaces

Video Model Deformation (VMD) and Projection Moire Interferometry (PMI) were used to acquire wind tunnel model deformation measurements of the Northrop Grumman-built Smart Wing tested in the NASA Langley Transonic Dynamics Tunnel. The F18-E/F planform Smart Wing was outfitted with embedded shape memory alloys to actuate a seamless trailing edge aileron and flap, and an embedded torque tube to generate wing twist. The VMD system was used to obtain highly accurate deformation measurements at three spanwise locations along the main body of the wing, and at spanwise locations on the flap and aileron. The PMI system was used to obtain full-field wing shape and deformation measurements over the entire wing lower surface. Although less accurate than the VMD system, the PMI system revealed deformations occurring between VMD target rows indistinguishable by VMD. This paper presents the VMD and PMI techniques and discusses their application in the Smart Wing test.

Fleming, Gary A.↗

Hardware platforms for MEMS gyroscope tuning based on evolutionary computation using open-loop and closed -loop frequency response

We propose a tuning method for MEMS gyroscopes based on evolutionary computation to efficiently increase the sensitivity of MEMS gyroscopes through tuning. The tuning method was tested for the second generation JPL/Boeing Post-resonator MEMS gyroscope using the measurement of the frequency response of the MEMS device in open-loop operation. We also report on the development of a hardware platform for integrated tuning and closed loop operation of MEMS gyroscopes. The control of this device is implemented through a digital design on a Field Programmable Gate Array (FPGA). The hardware platform easily transitions to an embedded solution that allows for the miniaturization of the system to a single chip.

evolvable hardware↗

A Hardware Platform for Tuning of MEMS Devices Using Closed-Loop Frequency Response

We report on the development of a hardware platform for integrated tuning and closed-loop operation of MEMS gyroscopes. The platform was developed and tested for the second generation JPL/Boeing Post-Resonator MEMS gyroscope. The control of this device is implemented through a digital design on a Field Programmable Gate Array (FPGA). A software interface allows the user to configure, calibrate, and tune the bias voltages on the micro-gyro. The interface easily transitions to an embedded solution that allows for the miniaturization of the system to a single chip.

gyroscope controls↗

Eclipse-Free-Time Assessment Tool for IRIS

IRIS_EFT is a scientific simulation that can be used to perform an Eclipse-Free- Time (EFT) assessment of IRIS (Infrared Imaging Surveyor) mission orbits. EFT is defined to be those time intervals longer than one day during which the IRIS spacecraft is not in the Earth s shadow. Program IRIS_EFT implements a special perturbation of orbital motion to numerically integrate Cowell's form of the system of differential equations. Shadow conditions are predicted by embedding this integrator within Brent s method for finding the root of a nonlinear equation. The IRIS_EFT software models the effects of the following types of orbit perturbations on the long-term evolution and shadow characteristics of IRIS mission orbits. (1) Non-spherical Earth gravity, (2) Atmospheric drag, (3) Point-mass gravity of the Sun, and (4) Point-mass gravity of the Moon. The objective of this effort was to create an in-house computer program that would perform eclipse-free-time analysis. of candidate IRIS spacecraft mission orbits in an accurate and timely fashion. The software is a suite of Fortran subroutines and data files organized as a "computational" engine that is used to accurately predict the long-term orbit evolution of IRIS mission orbits while searching for Earth shadow conditions.

Eagle, David↗