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NASA NTRS2020

Robotic Specialization in Autonomous Robotic Structural Assembly

Robotic in-space assembly of large space structures is a long-term NASA goal to reduce launch costs and enable larger scale missions. Recently, researchers have proposed using discrete lattice building blocks and co-designed robots to build high-performance, scalable primary structure for various on-orbit and surface applications. These robots would locomote on the lattice and work in teams to build and reconfigure building-blocks into functional structure. However, the most reliable and efficient robotic system architecture, characterized by the number of different robotic 'species' and the allocation of functionality between species, is an open question. To address this problem, we decompose the robotic building-block assembly task into functional primitives and, in simulation, study the performance of the the variety of possible resulting architectures. For a set consisting of five process types (move self, move block, move friend, align bock, fasten block), we describe a method of feature space exploration and ranking based on energy and reliability cost functions. The solution space is enumerated, filtered for unique solutions, and evaluated against energy and reliability cost functions for various simulated build sizes. We find that a 2 species system, dividing the five mentioned process types between one unit cell transport robot and one fastening robot, results in the lowest energy cost system, at some cost to reliability. This system enables fastening functionality to occupy the build front while reducing the need for that functional mass to travel back and forth from a feed station. Because the details of a robot design affect the weighting and final allocation of functionality, a sensitivity analysis was conducted to evaluate the effect of changing mass allocations on architecture performance. Future systems with additional functionalities such as repair, inspection, and others may use this process to analyze and determine alternative robot architectures.

Bernus, Borbala↗

NASA NTRS1976

Relative toxicity of products of pyrolysis and combustion of polymeric materials using various test conditions

Relative toxicity data for a large number of natural and synthetic polymeric materials are presented which were obtained by 11 pyrolysis and three flaming-combustion test methods. The materials tested include flexible and rigid polyurethane foams, different kinds of fabrics and woods, and a variety of commodity polymers such as polyethylene. Animal exposure chambers of different volumes containing mice, rats, or rabbits were used in the tests, which were performed over the temperature range from ambient to 800 C with and without air flow or recirculation. The test results are found to be sensitive to such variables as exposure mode, temperature, air flow and dilution, material concentration, and animal species, but relative toxicity rankings appear to be similar for many methods and materials. It is concluded that times to incapacitance and to death provide a more suitable basis for relative toxicity rankings than percent mortality alone, that temperature is the most important variable in the tests reported, and that variables such as chamber volume and animal species may not significantly affect the rankings.

Hilado, C. J.↗

NASA NTRSDate not supplied

Determining the Most Influencing Medical Conditions in MEDPRAT’s SIN Directed Graph

INTRODUCTION: The Susceptibility Inference Network (SIN) is a network of medical conditions, part of the Medical Extensible Probabilistic Risk Assessment Tool (MEDPRAT) developed by NASA to assess human health and medical risk to space exploration missions. The SIN is subject matter expert informed and acts as a prototype that provides relationships and dependencies between events modeled by MEDPRAT. Each vertex in the SIN has a weight which evaluates the severity of having the condition regardless of the progression from or to that condition. In this presentation, we consider two statistics to measure that stand alone risk: Quality Time Lost (QTL) and Loss of Crew Life (LOCL). Our goal is to identify the medical conditions that contribute the most to crew members QTL and LOCL risks due to progression of conditions in the network. We investigate how different computation parameters result in different condition rankings and address the choice of parameters that allows appropriate interventions to ensure space mission success. METHODS: The Katz score, one of many centrality measures created for ranking purposes in network analysis, takes into account all possible walks through the network, penalizing each additional step in a walk by a factor α called the Katz parameter. The literature does not provide specific values for the choice of α. We derive an analytical relationship between α and the maximum path length which has influence on the Katz score and ranking. Based on the probability of progression of each condition in the SIN, we identify that maximum path length of interest and calculate α that is then used in the Katz formula to rank the conditions in the SIN. RESULTS AND CONCLUSION: The effective probabilities of the SIN matrix generally fall below 10−6, which is below the level of the least influencing condition in the set. This corresponds to the probability of at most six consecutive progressions of a condition. Consequently, we calculate the Katz Parameter α and get 0.32. We rank the medical conditions and find that Acute Radiation Symptom is the condition the most prone to contribute to quality time loss due to progression.

risk analysis↗

NASA NTRS1999

Gaussian Decomposition of Laser Altimeter Waveforms

We develop a method to decompose a laser altimeter return waveform into its Gaussian components assuming that the position of each Gaussian within the waveform can be used to calculate the mean elevation of a specific reflecting surface within the laser footprint. We estimate the number of Gaussian components from the number of inflection points of a smoothed copy of the laser waveform, and obtain initial estimates of the Gaussian half-widths and positions from the positions of its consecutive inflection points. Initial amplitude estimates are obtained using a non-negative least-squares method. To reduce the likelihood of fitting the background noise within the waveform and to minimize the number of Gaussians needed in the approximation, we rank the "importance" of each Gaussian in the decomposition using its initial half-width and amplitude estimates. The initial parameter estimates of all Gaussians ranked "important" are optimized using the Levenburg-Marquardt method. If the sum of the Gaussians does not approximate the return waveform to a prescribed accuracy, then additional Gaussians are included in the optimization procedure. The Gaussian decomposition method is demonstrated on data collected by the airborne Laser Vegetation Imaging Sensor (LVIS) in October 1997 over the Sequoia National Forest, California.

Hofton, Michelle A.↗

NASA NTRS2022

Continuum Covariance Propagation for Understanding Variance Loss in Advective Systems

Motivated by the spurious variance loss encountered during covariance propagation in atmospheric and other large-scale data assimilation systems, we consider the problem for state dynamics governed by the continuity and related hyperbolic partial differential equations. This loss of variance has been attributed to reduced-rank representations of the covariance matrix, as in ensemble methods for example, or else to the use of dissipative numerical methods. Through a combination of analytical work and numerical experiments, we demonstrate that significant variance loss, as well as gain, typically occurs during covariance propagation, even at full rank. The cause of this unusual behavior is a discontinuous change in the continuum covariance dynamics as correlation lengths become small, for instance in the vicinity of sharp gradients in the velocity field. This discontinuity in the covariance dynamics arises from hyperbolicity: the diagonal of the kernel of the covariance operator is a characteristic surface for advective dynamics. Our numerical experiments demonstrate that standard numerical methods for evolving the state are not adequate for propagating the covariance, because16they do not capture the discontinuity in the continuum covariance dynamics as correlations lengths tend to zero. Our analytical and numerical results show that this leads to significant, spurious variance loss in certain regions, and gain in others. The results suggest that developing local covariance propagation methods designed specifically to capture covariance evolution near the diagonal may prove a useful alternative to current methods of covariance propagation.

covariance propagation↗

NASA NTRS1985

Existence and stability, and discrete BB and rank conditions, for general mixed-hybrid finite elements in elasticity

In this paper, all possible forms of mixed-hybrid finite element methods that are based on multi-field variational principles are examined as to the conditions for existence, stability, and uniqueness of their solutions. The reasons as to why certain 'simplified hybrid-mixed methods' in general, and the so-called 'simplified hybrid-displacement method' in particular (based on the so-called simplified variational principles), become unstable, are discussed. A comprehensive discussion of the 'discrete' BB-conditions, and the rank conditions, of the matrices arising in mixed-hybrid methods, is given. Some recent studies aimed at the assurance of such rank conditions, and the related problem of the avoidance of spurious kinematic modes, are presented.

Xue, W.-M.↗

NASA NTRS1989

Flammability and sensitivity of materials in oxygen-enriched atmospheres; Proceedings of the Fourth International Symposium, Las Cruces, NM, Apr. 11-13, 1989. Volume 4

The present volume discusses the ignition of nonmetallic materials by the impact of high-pressure oxygen, the promoted combustion of nine structural metals in high-pressure gaseous oxygen, the oxygen sensitivity/compatibility ranking of several materials by different test methods, the ignition behavior of silicon greases in oxygen atmospheres, fire spread rates along cylindrical metal rods in high-pressure oxygen, and the design of an ignition-resistant, high pressure/temperature oxygen valve. Also discussed are the promoted ignition of oxygen regulators, the ignition of PTFE-lined flexible hoses by rapid pressurization with oxygen, evolving nonswelling elastomers for high-pressure oxygen environments, the evaluation of systems for oxygen service through the use of the quantitative fault-tree analysis, and oxygen-enriched fires during surgery of the head and neck.

Stoltzfus, Joel M.↗

NASA NTRS1997

A Practical Guide to Interpretation of Large Collections of Incident Narratives Using the QUORUM Method

Analysis of incident reports plays an important role in aviation safety. Typically, a narrative description, written by a participant, is a central part of an incident report. Because there are so many reports, and the narratives contain so much detail, it can be difficult to efficiently and effectively recognize patterns among them. Recognizing and addressing recurring problems, however, is vital to continuing safety in commercial aviation operations. A practical way to interpret large collections of incident narratives is to apply the QUORUM method of text analysis, modeling, and relevance ranking. In this paper, QUORUM text analysis and modeling are surveyed, and QUORUM relevance ranking is described in detail with many examples. The examples are based on several large collections of reports from the Aviation Safety Reporting System (ASRS) database, and a collection of news stories describing the disaster of TWA Flight 800, the Boeing 747 which exploded in mid- air and crashed near Long Island, New York, on July 17, 1996. Reader familiarity with this disaster should make the relevance-ranking examples more understandable. The ASRS examples illustrate the practical application of QUORUM relevance ranking.

McGreevy, Michael W.↗

NASA NTRS2010

System and method for image mapping and visual attention

A method is described for mapping dense sensory data to a Sensory Ego Sphere (SES). Methods are also described for finding and ranking areas of interest in the images that form a complete visual scene on an SES. Further, attentional processing of image data is best done by performing attentional processing on individual full-size images from the image sequence, mapping each attentional location to the nearest node, and then summing attentional locations at each node.

Peters, II, Richard A.↗

NASA NTRS2011

System and method for image mapping and visual attention

Peters, II, Richard A.↗

NASA NTRS2020

Orbit Selection for the Proposed Lynx Observatory Mission

The Advanced Concepts Office design team performed several analyses and trades in support of orbit selection for the proposed Lynx mission, an x-ray observatory being submitted to the Astro2020 Decadal Survey. Though the descriptions in this Technical Memorandum (TM) focus on the Lynx mission, the approach and process for selecting the final orbit is applicable to a variety of proposed science and exploration missions. To select the best orbit for the Lynx science, mission designers assembled a team of subsystem and discipline experts, in addition to mission analysts, to evaluate several candidate orbits. These discipline experts included members of the science and instrument team, power and avionics, thermal, propulsion, and environments. The goal was to clearly show the benefits and weaknesses of each orbit in the trade space and provide sound justification for the final selection. Discipline experts conducted trades and evaluated the results using a variety of methods including engineering judgement, rough estimates, and detailed calculations, and rolled the results into a final grade using a weighted grading method. The orbit options could then be ranked. The principal investigator (PI) for the mission, along with the science team, was given the task of final orbit selection. The result of the trades indicated that a halo orbit about the second Sun-Earth Lagrange point (SE-L2), similar to the planned orbit for the James Webb Space Telescope (JWST), was the best choice for the Lynx mission. Details of how the team arrived at this selection are below.

Hopkins, R. C.↗

NASA NTRSDate not supplied

Selection of Next Priority IMPACT Medical Conditions Based on Available Terrestrial and Spaceflight Data

BACKGROUND: As the era of exploration class missions begins, identification of medical conditions that may occur and require management becomes essential for the modeling of medical risk. To this end, NASA has developed IMPACT (Informing Mission Planning via Analysis of Complex Tradespaces), a suite of tools to assist in assessment of medical risk analysis. It has incorporated an initial list of the 120 conditions of highest concern, labeled the IMPACT condition list 1.0 (ICL 1.0). This abstract describes a method for prioritizing the 92 conditions included on the Proposed Future Conditions List (PFCL) for inclusion in future iterations of the ICL. OVERVIEW: To construct the Prioritized Proposed Future Conditions List (P-PFCL), each condition on the PFCL was scored as “low,” “medium,” or “high” on each of four variables: incidence, likelihood of significant task impairment, diagnostic and treatment complexity, and treatment futility. Qualitative assessment using clinical judgement was utilized to score complexity, futility, and likelihood of impairment. Incidence was assessed quantitatively using spaceflight data and/or analog populations where available then assigned a score using established cutoffs. Logarithmic numerical values were assigned to each category label. A Prioritization Score was generated for each condition by taking the product of incidence and likelihood of task impairment (risk) divided by the product of complexity and futility (difficulty of care), with higher values corresponding to higher priority for future inclusion in the ICL. DISCUSSION: The described methods allow for the generation of a ranked P-PFCL to act as a decision support tool for selection of the next generation of modeled medical conditions. Some of the conditions ranked highly on the P-PFCL include EVA-related upper and lower extremity sprain/strain, iron deficiency, delirium, and hypertension, among others. While this effort does not attempt to quantify the absolute risk associated with each condition, it does attempt to semi-quantitatively estimate the risk of each condition relative to the other possible conditions. This tool in concert with subject matter expert opinion could optimize the future use of limited resources thereby producing a more accurate medical risk model, which will be essential to the upcoming exploration class missions.

Michael Pohlen↗

NASA NTRSDate not supplied

Propeller Source Noise Separation from Flight Test Measurements of the Joby Aviation Aircraft

The Vold-Kalman order-tracking filter is applied to full-scale acoustic flight test measurements of the Joby Aviation eVTOL aircraft. Using synchronized acquisition of the aircraft position, time-varying rotation rates of each propeller, and any given single-channel acoustic signal, harmonic and nonharmonic acoustic content can be separated. Furthermore, this time-domain technique can also separate harmonic content amongst individual propellers, providing additional physical insight into the total acoustic field. A 60 kt level flyover and hover are used to exemplify the effectiveness of the method. Results clearly demonstrate the ability to rank propulsors in terms of their relative importance without the use of phased arrays. Frequency- and order-domain results are provided, as well as noise hemispheres to illustrate directivity and individual propeller contributions. Differences can be associated with interactional or installation effects due to the similarities in propeller states for each condition. Simulated signals that track the measured time-varying shaft rates were used to assess the proper filter pole count and bandwidth.

evtol↗

NASA NTRS2001

Searching the ASRS Database Using QUORUM Keyword Search, Phrase Search, Phrase Generation, and Phrase Discovery

To support Search Requests and Quick Responses at the Aviation Safety Reporting System (ASRS), four new QUORUM methods have been developed: keyword search, phrase search, phrase generation, and phrase discovery. These methods build upon the core QUORUM methods of text analysis, modeling, and relevance-ranking. QUORUM keyword search retrieves ASRS incident narratives that contain one or more user-specified keywords in typical or selected contexts, and ranks the narratives on their relevance to the keywords in context. QUORUM phrase search retrieves narratives that contain one or more user-specified phrases, and ranks the narratives on their relevance to the phrases. QUORUM phrase generation produces a list of phrases from the ASRS database that contain a user-specified word or phrase. QUORUM phrase discovery finds phrases that are related to topics of interest. Phrase generation and phrase discovery are particularly useful for finding query phrases for input to QUORUM phrase search. The presentation of the new QUORUM methods includes: a brief review of the underlying core QUORUM methods; an overview of the new methods; numerous, concrete examples of ASRS database searches using the new methods; discussion of related methods; and, in the appendices, detailed descriptions of the new methods.

McGreevy, Michael W.↗

NASA NTRS1988

Convergence acceleration for vector sequences and applications to computational fluid dynamics

Some recent developments in acceleration of convergence methods for vector sequences are reviewed. The methods considered are the minimal polynomial extrapolation, the reduced rank extrapolation, and the modified minimal polynomial extrapolation. The vector sequences to be accelerated are those that are obtained from the iterative solution of linear or nonlinear systems of equations. The convergence and stability properties of these methods as well as different ways of numerical implementation are discussed in detail. Based on the convergence and stability results, strategies that are useful in practical applications are suggested. Two applications to computational fluid mechanics involving the three dimensional Euler equations for ducted and external flows are considered. The numerical results demonstrate the usefulness of the methods in accelerating the convergence of the time marching techniques in the solution of steady state problems.

Sidi, Avram↗

NASA NTRS1990

Convergence acceleration for vector sequences and applications to computational fluid dynamics

Sidi, Avram↗

NASA NTRS2018

Methodology and Application of HPC I/O Characterization with MPIProf and IOT

Combining the strengths of MPIProf and IOT, an efficient and systematic method is devised for I/O characterization at the per-job, per-rank, per-file and per-call levels of HPC programs running on the NASA Advanced Supercomputing Center. This method is applied to answer four I/O questions in this paper. A total of 13 MPI programs and 15 cases, ranging from 24 to 5968 ranks, are analyzed to establish the I/O landscape from answers to the four questions. Four of the 13 programs use MPI I/O and the behavior of their collective writes depends on the specific implementation of the MPI library used. The SGI MPT library, the prevailing MPI library for our systems, was found to gather small writes from a large number of ranks to perform larger writes by a small subset of collective buffering ranks. The number of collective buffering ranks invoked by MPT depends on the Lustre stripe count and the number of nodes used for the run. A demonstration of varying the stripe count to achieve double-digit speedup of one program's I/O was presented. Another program, which concurrently opens private files by all ranks and could potentially create a heavy load on the Lustre servers, was identified. The ability to systematically characterize I/O for a large number of programs running on a supercomputer, seek I/O optimization opportunity and identify programs that could cause a high load and instability on the filesystems is important for pursuing exascale in a real production environment.

Characterization↗

NASA NTRS2004

A Deconvolution Approach for the Mapping of Acoustic Sources (DAMAS) Determined from Phased Microphone Arrays

Current processing of acoustic array data is burdened with considerable uncertainty. This study reports an original methodology that serves to demystify array results, reduce misinterpretation, and accurately quantify position and strength of acoustic sources. Traditional array results represent noise sources that are convolved with array beamform response functions, which depend on array geometry, size (with respect to source position and distributions), and frequency. The Deconvolution Approach for the Mapping of Acoustic Sources (DAMAS) method removes beamforming characteristics from output presentations. A unique linear system of equations accounts for reciprocal influence at different locations over the array survey region. It makes no assumption beyond the traditional processing assumption of statistically independent noise sources. The full rank equations are solved with a new robust iterative method. DAMAS is quantitatively validated using archival data from a variety of prior high-lift airframe component noise studies, including flap edge/cove, trailing edge, leading edge, slat, and calibration sources. Presentations are explicit and straightforward, as the noise radiated from a region of interest is determined by simply summing the mean-squared values over that region. DAMAS can fully replace existing array processing and presentations methodology in most applications. It appears to dramatically increase the value of arrays to the field of experimental acoustics.

Brooks, Thomas F.↗