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NASA NTRS1992

Manipulator control for rover planetary exploration

An anticipated goal of Mars surface exploration missions will be to survey and sample surface rock formations which appear scientifically interesting. In such a mission, a planetary rover would navigate close to a selected sampling site and the remote operator would use a manipulator mounted on the rover to perform a sampling operation. Techniques for accomplishing the necessary manipulation for the sampling components of such a mission have been developed and are presented. We discuss the implementation of a system for controlling a seven (7) degree of freedom Puma manipulator, equipped with a special rock gripper mounted on a planetary rover prototype, intended for the purpose of performing the sampling operation. Control is achieved by remote teleoperation. This paper discusses the real-time force control and supervisory control aspects of the rover manipulation system. Integration of the Puma manipulator with the existing distributed computer architecture is also discussed. The work described is a contribution toward achieving the coordinated manipulation and mobility necessary for a Mars sample acquisition and return scenario.

Cameron, Jonathan M.↗

NASA NTRS1981

Delineation of soil temperature regimes from HCMM data

Evaluation of LANDSAT and Heat Capacity Mapping Mission (HCMM) data as input into National Cooperative Soil Survey is discussed. Signature classification techniques were applied to 13 May 76 LANDSAT data. LANDSAT data was overlaid with HCMM data, revealing registration problems caused by a shortage of control points in LANDSAT data, and the WARP program developed to improve registration accuracy. Initial images for control point selection were produced using digital terrain elevation data. Statistical procedures for evaluating data classification and to describe spatial distribution of surface temperature and its correlation with soil surface conditions were investigated.

Day, R. L.↗

NASA NTRS1999

A Survey of Collective Intelligence

This chapter presents the science of "COllective INtelligence" (COIN). A COIN is a large multi-agent systems where: i) the agents each run reinforcement learning (RL) algorithms; ii) there is little to no centralized communication or control; iii) there is a provided world utility function that, rates the possible histories of tile full system. Tile conventional approach to designing large distributed systems to optimize a world utility does not use agents running RL algorithms. Rather that approach begins with explicit modeling of the overall system's dynamics, followed by detailed hand-tuning of the interactions between the components to ensure that they "cooperate" as far as the world utility is concerned. This approach is labor-intensive, often results in highly non-robust systems, and usually results in design techniques that, have limited applicability. In contrast, with COINs we wish to solve the system design problems implicitly, via the 'adaptive' character of the RL algorithms of each of the agents. This COIN approach introduces an entirely new, profound design problem: Assuming the RL algorithms are able to achieve high rewards, what reward functions for the individual agents will, when pursued by those agents, result in high world utility? In other words, what reward functions will best ensure that we do not have phenomena like the tragedy of the commons, or Braess's paradox? Although still very young, the science of COINs has already resulted in successes in artificial domains, in particular in packet-routing, the leader-follower problem, and in variants of Arthur's "El Farol bar problem". It is expected that as it matures not only will COIN science expand greatly the range of tasks addressable by human engineers, but it will also provide much insight into already established scientific fields, such as economics, game theory, or population biology.

Wolpert, David H.↗

NASA NTRS2001

Development and Demonstration of a Self-Calibrating Pseudolite Array for Task Level Control of a Planetary Rover

Pseudolites can extend the availability of GPS-type positioning systems to a wide range of applications not possible with satellite-only GPS. One such application is Mars exploration, where the centimeter-level accuracy and high repeatability of CDGPS would make it attractive for rover positioning during autonomous exploration, sample collection, and habitat construction if it were available. Pseudolites distributed on the surface would allow multiple rovers and/or astronauts to share a common navigational reference. This would help enable cooperation for complicated science tasks, reducing the need for instructions from Earth and increasing the likelihood of mission success. Conventional GPS Pseudolite arrays require that the devices be pre-calibrated through a Survey of their locations, typically to sub-centimeter accuracy. This is a problematic task for robots on the surface of another planet. By using the GPS signals that the Pseudolites broadcast, however, it is possible to have the array self-survey its own relative locations, creating a SelfCalibrating Pseudolite Array (SCPA). This requires the use of GPS transceivers instead of standard pseudolites. Surveying can be done either at carrier- or code-phase levels. An overview of SCPA capabilities, system requirements, and self-calibration algorithms is presented in another work. The Aerospace Robotics Laboratory at Statif0id has developed a fully operational prototype SCPA. The array is able to determine the range between any two transceivers with either code- or carrier-phase accuracy, and uses this inter-transceiver ranging to determine the at-ray geometry. This paper presents results from field tests conducted at Stanford University demonstrating the accuracy of inter-transceiver ranging and its viability and utility for array localization, and shows how transceiver motion may be utilized to refine the array estimate by accurately determining carrier-phase integers and line biases. It also summarizes the overall system requirements and architecture, and describes the hardware and software used in the prototype system.

Rock, Stephen M.↗

NASA NTRS1987

Meteor observation by the Kyoto meteor radar

The Kyoto Meteor Radar is a monostatic coherent pulsed Doppler radar operating on the frequency of 31.57 MH. The system is computer controlled and uses radio interferometry for echo height determination. The antenna, an improvement, can be directed either to the north or the east. The system has been continuously collecting data on winds at meteor heights by radar observation. The meteor echo rate was also measured, the echo rate distribution with height and the daily variation in height integrated echo rate are discussed. Investigations of atmospheric tides are being pursued by cooperative observations. A novel approach to the study of gravity waves was attempted using the meteor radar which is able to detect the horizontal propagation of the waves by observing the changing phase through the region illuminated by the radar.

Kato, Susumu↗

NASA NTRS2022

Starling Animation

NASA’s Starling mission is advancing the readiness of various technologies for cooperative groups of spacecraft – also known as distributed missions, clusters, or swarms. Starling will demonstrate technologies to enable multipoint science data collection by several small spacecraft flying in swarms. The six-month mission will use four CubeSats in low-Earth orbit to test four technologies that let spacecraft operate in a synchronized manner without resources from the ground. The technologies will advance the following capabilities. • Network Communication • Cluster Flight Control • Relative navigation • Distributed Spacecraft Autonomy The Starling mission will test whether the technologies work as expected, what their limitations are, and what developments are still needed for CubeSat swarms to be successful. This animation illustrates Starling mission operations, offering an overview of each technology being demonstrated.

Howard N Cannon↗

NASA NTRSDate not supplied

Distributed Vision Sensing of Small Uncrewed Aircraft Systems in Urban Traffic Corridors

The NASA Advanced Air Mobility mission will enable widespread low altitude passenger travel, cargo delivery, and a variety of public services through the development of Uncrewed Aerial Systems (UAS) operations. Ensuring safe, autonomous operations in densely populated environments requires careful consideration towards hazards including other aircraft, infrastructure, and evolving weather. Small Uncrewed Aerial Systems (SUAS) present a unique hazard to UAS operations as they share airspace and may be readily operated in a non-cooperative fashion. This work investigates distributed sensing of SUAS traversing an air traffic corridor in an urban setting. This work develops a distributed vision detect and track strategy at NASA Langley Research Center. Three nodes, each with at least one global shutter camera, are distributed around a traffic corridor to surveil flight operations for two SUAS performing low altitude flight operations. Each node is equipped with a GPS and cellular modem to enable timestamping and remote control of acquisition. Node one faces a traffic roundabout with buildings in the background and achieves 99% surveillance coverage for two SUAS against building and tree backgrounds at ranges 50 to 130m. The second node points down Langley Boulevard with trees and buildings in the background and achieves 99% coverage at separation distances between 70 and 180m. The analysis for the second node is limited to ranges below 180m due to low contrast against dark, tree backgrounds. Finally, the third node points down Langley Boulevard from another perspective and achieves 99% coverage at ranges 60m to 200m against mostly building with a few sections of trees in the background.

Chester V Dolph↗

NASA NTRS2009

Distribution Tolerant Network Technology Flight Validation Report: DINET

In October and November of 2008, the Jet Propulsion Laboratory installed and tested essential elements of Delay/Disruption Tolerant Networking (DTN) technology on the Deep Impact spacecraft. This experiment, called Deep Impact Network Experiment (DINET), was performed in close cooperation with the EPOXI project which has responsibility for the spacecraft. During DINET some 300 images were transmitted from the JPL nodes to the spacecraft. Then, they were automatically forwarded from the spacecraft back to the JPL nodes, exercising DTN's bundle origination, transmission, acquisition, dynamic route computation, congestion control, prioritization, custody transfer, and automatic retransmission procedures, both on the spacecraft and on the ground, over a period of 27 days. All transmitted bundles were successfully received, without corruption. The DINET experiment demonstrated DTN readiness for operational use in space missions.

networking↗

NASA NTRS1979

A progress report on a NASA research program for embedded computer systems software

The paper presents the results of the second stage of the Multipurpose User-oriented Software Technology (MUST) program. Four primary areas of activities are discussed: programming environment, HAL/S higher-order programming language support, the Integrated Verification and Testing System (IVTS), and distributed system language research. The software development environment is provided by the interactive software invocation system. The higher-order programming language (HOL) support chosen for consideration is HAL/S mainly because at the time it was one of the few HOLs with flight computer experience and it is the language used on the Shuttle program. The overall purpose of IVTS is to provide a 'user-friendly' software testing system which is highly modular, user controlled, and cooperative in nature.

Foudriat, E. C.↗

NASA NTRS1998

Orbital Processing of Eutectic Rod-Like Arrays

The eutectic is one of only three solidification classes that exist. The others are isostructural and peritectic-class reactions, respectively. Simplistically, in a binaryeutectic phase diagram, a single liquid phase isothermally decomposes to two solid phases in a cooperative manner. The melting point minimum at the eutectic composition, isothermal solidification temperature, near-isocompositional solidification and refined solidification microstructure lend themselves naturally to such applications as brazing and soldering; industries that eutectic alloys dominate. Interest in direct process control of microstructures has led, more recently, to in-situ eutectic directional solidification with applications in electro-magnetics and electro-optics. In these cases, controlled structural refinement and the high aspect ratio and regularity of the distributed eutectic phases is highly significant to the fabrication and application of these in-situ natural composites. The natural pattern formation and scaling of the dispersed phase on a sub-micron scale has enormous potential application, since fabricating bulk materials on this scale mechanically has proven to be particularly difficult. It is thus of obvious importance to understand the solidification of eutectic materials since they are of great commercial significance. The dominant theory that describes eutectic solidification was derived for diffusion-controlled growth of alloys where both solid eutectic phases solidify metallically, i.e. without faceting at the solidification interface. Both high volume fraction (lamellar) and low volume fraction (rod-like) regular metallic arrays are treated by this theory. Many of the useful solders and brazements, however, and most of the regular in-situ composites are characterized by solidification reactions that are faceted/non-faceted in nature, rather than doubly non-faceted (metallic). Further, diffusion-controlled growth conditions are atypical terrestrially since gravitationally-driven convection is pervasive. As a consequence, it is important to determine whether these faceted/non-faceted composites behave in the same manner as their doubly non-faceted counterparts, particularly in the presence of convection. Prior analytical convective sensitivity testing of this theory predicted insensitivity. Prior experimental testing of this theory offered broad-based agreement between theory and experiment, though most results were for high volume fraction lamellar eutectics that solidified without faceting at the solidification interface. Directional solidification experiments of low volume fraction rod eutectics under damped (microgravity or magnetic field) conditions, however, have demonstrated significant sensitivity, challenging this fundamental theory. More recent theories have been proposed which introduce kinetic undercooling, faceting, fluid shear of the solute redistribution zone and the possibility that the interface composition is not the same as the bulk liquid composition. This program tests the established and proposed analytical theories and addresses the origins of discrepancies between the experimental and analytical results.

Larson, David J., Jr.↗

NASA NTRS1990

ISIS and META projects

The ISIS project has developed a new methodology, virtual synchony, for writing robust distributed software. High performance multicast, large scale applications, and wide area networks are the focus of interest. Several interesting applications that exploit the strengths of ISIS, including an NFS-compatible replicated file system, are being developed. The META project is distributed control in a soft real-time environment incorporating feedback. This domain encompasses examples as diverse as monitoring inventory and consumption on a factory floor, and performing load-balancing on a distributed computing system. One of the first uses of META is for distributed application management: the tasks of configuring a distributed program, dynamically adapting to failures, and monitoring its performance. Recent progress and current plans are reported.

Birman, Kenneth↗

NASA NTRS2004

Analyzing Dynamics of Cooperating Spacecraft

A software library has been developed to enable high-fidelity computational simulation of the dynamics of multiple spacecraft distributed over a region of outer space and acting with a common purpose. All of the modeling capabilities afforded by this software are available independently in other, separate software systems, but have not previously been brought together in a single system. A user can choose among several dynamical models, many high-fidelity environment models, and several numerical-integration schemes. The user can select whether to use models that assume weak coupling between spacecraft, or strong coupling in the case of feedback control or tethering of spacecraft to each other. For weak coupling, spacecraft orbits are propagated independently, and are synchronized in time by controlling the step size of the integration. For strong coupling, the orbits are integrated simultaneously. Among the integration schemes that the user can choose are Runge-Kutta Verner, Prince-Dormand, Adams-Bashforth-Moulton, and Bulirsh- Stoer. Comparisons of performance are included for both the weak- and strongcoupling dynamical models for all of the numerical integrators.

Hughes, Stephen P.↗

NASA NTRS1984

An operating system for future aerospace vehicle computer systems

The requirements for future aerospace vehicle computer operating systems are examined in this paper. The computer architecture is assumed to be distributed with a local area network connecting the nodes. Each node is assumed to provide a specific functionality. The network provides for communication so that the overall tasks of the vehicle are accomplished. The O/S structure is based upon the concept of objects. The mechanisms for integrating node unique objects with node common objects in order to implement both the autonomy and the cooperation between nodes is developed. The requirements for time critical performance and reliability and recovery are discussed. Time critical performance impacts all parts of the distributed operating system; e.g., its structure, the functional design of its objects, the language structure, etc. Throughout the paper the tradeoffs - concurrency, language structure, object recovery, binding, file structure, communication protocol, programmer freedom, etc. - are considered to arrive at a feasible, maximum performance design. Reliability of the network system is considered. A parallel multipath bus structure is proposed for the control of delivery time for time critical messages. The architecture also supports immediate recovery for the time critical message system after a communication failure.

Foudriat, E. C.↗

NASA NTRS1990

Tools for distributed application management

Distributed application management consists of monitoring and controlling an application as it executes in a distributed environment. It encompasses such activities as configuration, initialization, performance monitoring, resource scheduling, and failure response. The Meta system (a collection of tools for constructing distributed application management software) is described. Meta provides the mechanism, while the programmer specifies the policy for application management. The policy is manifested as a control program which is a soft real-time reactive program. The underlying application is instrumented with a variety of built-in and user-defined sensors and actuators. These define the interface between the control program and the application. The control program also has access to a database describing the structure of the application and the characteristics of its environment. Some of the more difficult problems for application management occur when preexisting, nondistributed programs are integrated into a distributed application for which they may not have been intended. Meta allows management functions to be retrofitted to such programs with a minimum of effort.

Marzullo, Keith↗

NASA NTRS2003

Inferior retinal light exposure is more effective than superior retinal exposure in suppressing melatonin in humans

Illumination of different areas of the human retina elicits differences in acute light-induced suppression of melatonin. The aim of this study was to compare changes in plasma melatonin levels when light exposures of equal illuminance and equal photon dose were administered to superior, inferior, and full retinal fields. Nine healthy subjects participated in the study. Plexiglass eye shields were modified to permit selective exposure of the superior and inferior halves of the retinas of each subject. The Humphrey Visual Field Analyzer was used both to confirm intact full visual fields and to quantify exposure of upper and lower visual fields. On study nights, eyes were dilated, and subjects were exposed to patternless white light for 90 min between 0200 and 0330 under five conditions: (1) full retinal exposure at 200 lux, (2) full retinal exposure at 100 lux, (3) inferior retinal exposure at 200 lux, (4) superior retinal exposure at 200 lux, and (5) a dark-exposed control. Plasma melatonin levels were determined by radioimmunoassay. ANOVA demonstrated a significant effect of exposure condition (F = 5.91, p < 0.005). Post hoc Fisher PLSD tests showed significant (p < 0.05) melatonin suppression of both full retinal exposures as well as the inferior retinal exposure; however, superior retinal exposure was significantly less effective in suppressing melatonin. Furthermore, suppression with superior retinal exposure was not significantly different from that of the dark control condition. The results indicate that the inferior retina contributes more to the light-induced suppression of melatonin than the superior retina at the photon dosages tested in this study. Findings suggest a greater sensitivity or denser distribution of photoreceptors in the inferior retina are involved in light detection for the retinohypothalamic tract of humans.

NASA Discipline Space Human Factors↗

NASA NTRS2006

Communal Cooperation in Sensor Networks for Situation Management

Situation management is a rapidly evolving science where managed sources are processed as realtime streams of events and fused in a way that maximizes comprehension, thus enabling better decisions for action. Sensor networks provide a new technology that promises ubiquitous input and action throughout an environment, which can substantially improve information available to the process. Here we describe a NASA program that requires improvements in sensor networks and situation management. We present an approach for massively deployed sensor networks that does not rely on centralized control but is founded in lessons learned from the way biological ecosystems are organized. In this approach, fully distributed data aggregation and integration can be performed in a scalable fashion where individual motes operate based on local information, making local decisions that achieve globally-meaningful results. This exemplifies the robust, fault-tolerant infrastructure required for successful situation management systems.

Jones, Kennie H.↗

NASA NTRS1990

Autonomous power management and distribution

The goal of the Autonomous Power System program is to develop and apply intelligent problem solving and control to the Space Station Freedom's electric power testbed being developed at NASA's Lewis Research Center. Objectives are to establish artificial intelligence technology paths, craft knowledge-based tools and products for power systems, and integrate knowledge-based and conventional controllers. This program represents a joint effort between the Space Station and Office of Aeronautics and Space Technology to develop and demonstrate space electric power automation technology capable of: (1) detection and classification of system operating status, (2) diagnosis of failure causes, and (3) cooperative problem solving for power scheduling and failure recovery. Program details, status, and plans will be presented.

Dolce, Jim↗

NASA NTRS1990

Automation in the Space Station module power management and distribution Breadboard

The Space Station Module Power Management and Distribution (SSM/PMAD) Breadboard, located at NASA's Marshall Space Flight Center (MSFC) in Huntsville, Alabama, models the power distribution within a Space Station Freedom Habitation or Laboratory module. Originally designed for 20 kHz ac power, the system is now being converted to high voltage dc power with power levels on a par with those expected for a space station module. In addition to the power distribution hardware, the system includes computer control through a hierarchy of processes. The lowest level process consists of fast, simple (from a computing standpoint) switchgear, capable of quickly safing the system. The next level consists of local load center processors called Lowest Level Processors (LLP's). These LLP's execute load scheduling, perform redundant switching, and shed loads which use more than scheduled power. The level above the LLP's contains a Communication and Algorithmic Controller (CAC) which coordinates communications with the highest level. Finally, at this highest level, three cooperating Artificial Intelligence (AI) systems manage load prioritization, load scheduling, load shedding, and fault recovery and management. The system provides an excellent venue for developing and examining advanced automation techniques. The current system and the plans for its future are examined.

Walls, Bryan↗