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NASA NTRSDate not supplied

A Verification Framework for Runtime Assurance of Autonomous UAS

Runtime Assurance (RTA) is a design-time architecture for safety-critical systems where an internal monitor acts upon detecting a violation of a property. The simplex architecture is an instance of RTA, where the action taken is to hand control of the overall system to a trusted controller when an untrusted one violates a safety property. Simplex RTA is emerging as a method for allowing AI/ML and other unverified software to be integrated into safety-critical applications like aircraft. To this end, the American Society for Testing and Materials (ASTM) and NASA have each published guidelines on the use of RTA in such systems. In the simplex RTA framework, a system has an advanced controller (AC) and a reversionary controller (RC). The system is allowed to operate with the AC until a runtime monitor detects that some property has been violated and then the RC takes over. Assuming that the sample rate of the monitor will detect improper functioning with enough time for the RC to correct the impending problem, and that the RC is trusted, the system will operate as intended. This use of the simplex RTA framework can allow for the integration of untrusted, but possibly more performant, controllers in a safe way. This paper presents a formalization of a simplex RTA framework in the Prototype Verification System (PVS) theorem prover using an embedding of differential dynamic logic (DDL) called Plaidypvs. A novel feature of this framework is that it can be instantiated at different levels of abstraction. This feature allows for the formal verification of a system with an untrusted black box component, such as an AI/ML controller. This paper does not address the many difficulties in deploying RTA in an industrial-level system. Instead, the focus is on the formal verification of the simplex RTA framework in the language of hybrid programs. Hybrid programs are programs that include both discrete and continuous dynamics and can be used to model complex cyber-physical systems. Plaidypvs is a tool that enables formalization of hybrid programs in the PVS theorem prover. Plaidypvs enables the verification of the general simplex RTA framework and then, by specializing some components of the hybrid program, verifying instances of the framework while treating the untrusted component as a black box. A selection of Unmanned Aircraft Systems (UAS) operations are shown as instances of the general RTA framework in PVS. This offers the benefit of design time verification of relevant safety properties to the system, and it also gives requirements on the sample rate of sensors that determine the time interval in which the ‘switch’ property of the RTA framework is checked.

PVS↗

NASA NTRS1990

Analysis of faults in an N-version software experiment

The authors have conducted a large-scale experiment in N-version programming. A total of 27 versions of a program were prepared independently from the same specification at two universities. The results of executing the versions revealed that the versions were individually extremely reliable but that the number of input cases in which more than one failed was substantially more than would be expected if they were statistically independent. After the versions had been executed, the failures of each version were examined and the associated faults located. The analysis showed that in some cases the programmers made equivalent logical errors, indicating that some parts of the problem were simply more difficult than others. The authors also found cases in which apparently different logical errors yielded faults that caused statistically correlated failures, indicating that there are special cases in the input space that present difficulty in various parts of the solution. A formal model is presented to explain this phenomenon. It appears that minor differences in the software development environment would not have a major impact in reducing the incidence of faults that cause correlated failures.

Brilliant, Susan S.↗

NASA NTRS2002

Space Solar Power Demonstrations: Challenges and Progress

The prospects of using electrical power beamed from space are coming closer to reality with the continued pursuit and improvements in the supporting space solar research and technology. Space Solar Power (SSP) has been explored off and on for approximately three decades as a viable alternative and clean energy source. Results produced through the more recent Space Solar Power Exploratory Research and Technology (SERT) program involving extensive participation by industry, universities, and government has provided a sound technical basis for believing that technology can be improved to the extent that SSP systems can be built, economically feasible, and successfully deployed in space. Considerable advancements have been made in conceptual designs and supporting technologies including solar power generation, wireless power transmission, power management distribution, thermal management and materials, and the integrated systems engineering assessments. Basic technologies have progressed to the point were the next logical step is to formulate and conduct sophisticated demonstrations involving prototype hardware as final proof of concepts and identify high end technology readiness levels in preparation for full scale SSP systems designs. In addition to continued technical development issues, environmental and safety issues must be addressed and appropriate actions taken to reassure the public and prepare them for the future use of this alternative renewable energy resource. Accomplishing these objectives will allow informed future decisions regarding further SSP and related R&D investments by both NASA management and prospective external partners. In particular, accomplishing these objectives will also guide further definition of SSP and related technology roadmaps including performance objectives, resources and schedules; including 'multi-purpose' applications (terrestrial markets, science, commercial development of space, and other government missions).

Howell, Joe T.↗

NASA NTRS1985

Neighborhood comparison operator

Digital values in a moving window are compared by an operator having nine comparators connected to line buffers for receiving a succession of central pixels together with eight neighborhood pixels. A single bit of program control determines whether the neighborhood pixels are to be compared with the central pixel or a threshold value. The central pixel is always compared with the threshold. The omparator output plus 2 bits indicating odd-even pixel/line information about the central pixel addresses a lookup table to provide 14 bits of information, including 2 bits which control a selector to pass either the central pixel value, the other 12 bits of table information, or the bit-wise logical OR of all nine pixels through circuit that implements a very wide OR gate.

Gennery, D. B.↗

NASA NTRS1986

Experimental and Theoretical Study of Propeller Spinner/Shank Interference

A fundamental experimental and theoretical investigation into the aerodynamic interference associated with propeller spinner and shank regions was conducted. The research program involved a theoretical assessment of solutions previously proposed, followed by a systematic experimental study to supplement the existing data base. As a result, a refined computational procedure was established for prediction of interference effects in terms of interference drag and resolved into propeller thrust and torque components. These quantities were examined with attention to engineering parameters such as two spinner finess ratios, three blade shank forms, and two/three/four/six/eight blades. Consideration of the physics of the phenomena aided in the logical deduction of two individual interference quantities (cascade effects and spinner/shank juncture interference). These interference effects were semi-empirically modeled using existing theories and placed into a compatible form with an existing propeller performance scheme which provided the basis for examples of application.

Cornell, C. C.↗

NASA NTRS1996

Nonlinear Optical Properties of Organic and Polymeric Thin Film Materials of Potential for Microgravity Processing Studies

In this paper, we will take a closer look at the state of the art of polydiacetylene, and metal-free phthalocyanine films, in view of the microgravity impact on their optical properties, their nonlinear optical properties and their potential advantages for integrated optics. These materials have many attractive features with regard to their use in integrated optical circuits and optical switching. Thin films of these materials processed in microgravity environment show enhanced optical quality and better molecular alignment than those processed in unit gravity. Our studies of these materials indicate that microgravity can play a major role in integrated optics technology. Polydiacetylene films are produced by UV irradiation of monomer solution through an optical window. This novel technique of forming polydiacetylene thin films has been modified for constructing sophisticated micro-structure integrated optical patterns using a pre-programmed UV-Laser beam. Wave guiding through these thin films by the prism coupler technique has been demonstrated. The third order nonlinear parameters of these films have been evaluated. Metal-free phthalocyanine films of good optical quality are processed in our laboratories by vapor deposition technique. Initial studies on these films indicate that they have excellent chemical, laser, and environmental stability. They have large nonlinear optical parameters and show intrinsic optical bistability. This bistability is essential for optical logic gates and optical switching applications. Waveguiding and device making investigations of these materials are underway.

Abdeldayem, Hossin↗

NASA NTRS2002

Fifth Annual Workshop on the Application of Probabilistic Methods for Gas Turbine Engines

These are the proceedings of the 5th Annual FAA/Air Force/NASA/Navy Workshop on the Probabilistic Methods for Gas Turbine Engines hosted by NASA Glenn Research Center and held at the Holiday Inn Cleveland West. The history of this series of workshops stems from the recognition that both military and commercial aircraft engines are inevitably subjected to similar design and manufacturing principles. As such, it was eminently logical to combine knowledge bases on how some of these overlapping principles and methodologies are being applied. We have started the process by creating synergy and cooperation between the FAA, Air Force, Navy, and NASA in these workshops. The recent 3-day workshop was specifically designed to benefit the development of probabilistic methods for gas turbine engines by addressing recent technical accomplishments and forging new ideas. We accomplished our goals of minimizing duplication, maximizing the dissemination of information, and improving program planning to all concerned. This proceeding includes the final agenda, abstracts, presentations, and panel notes, plus the valuable contact information from our presenters and attendees. We hope that this proceeding will be a tool to enhance understanding of the developers and users of probabilistic methods. The fifth workshop doubled its attendance and had the success of collaboration with the many diverse groups represented including government, industry, academia, and our international partners. So, "Start your engines!" and utilize these proceedings towards creating safer and more reliable gas turbine engines for our commercial and military partners.

Briscoe, Victoria↗

NASA NTRS2012

Semantically-Rigorous Systems Engineering Modeling Using Sysml and OWL

The Systems Modeling Language (SysML) has found wide acceptance as a standard graphical notation for the domain of systems engineering. SysML subsets and extends the Unified Modeling Language (UML) to define conventions for expressing structural, behavioral, and analytical elements, and relationships among them. SysML-enabled modeling tools are available from multiple providers, and have been used for diverse projects in military aerospace, scientific exploration, and civil engineering. The Web Ontology Language (OWL) has found wide acceptance as a standard notation for knowledge representation. OWL-enabled modeling tools are available from multiple providers, as well as auxiliary assets such as reasoners and application programming interface libraries, etc. OWL has been applied to diverse projects in a wide array of fields. While the emphasis in SysML is on notation, SysML inherits (from UML) a semantic foundation that provides for limited reasoning and analysis. UML's partial formalization (FUML), however, does not cover the full semantics of SysML, which is a substantial impediment to developing high confidence in the soundness of any conclusions drawn therefrom. OWL, by contrast, was developed from the beginning on formal logical principles, and consequently provides strong support for verification of consistency and satisfiability, extraction of entailments, conjunctive query answering, etc. This emphasis on formal logic is counterbalanced by the absence of any graphical notation conventions in the OWL standards. Consequently, OWL has had only limited adoption in systems engineering. The complementary strengths and weaknesses of SysML and OWL motivate an interest in combining them in such a way that we can benefit from the attractive graphical notation of SysML and the formal reasoning of OWL. This paper describes an approach to achieving that combination.

Web Ontology Language (OWL)↗

NASA NTRS1971

Logic design for dynamic and interactive recovery.

Recovery in a fault-tolerant computer means the continuation of system operation with data integrity after an error occurs. This paper delineates two parallel concepts embodied in the hardware and software functions required for recovery; detection, diagnosis, and reconfiguration for hardware, data integrity, checkpointing, and restart for the software. The hardware relies on the recovery variable set, checking circuits, and diagnostics, and the software relies on the recovery information set, audit, and reconstruct routines, to characterize the system state and assist in recovery when required. Of particular utility is a handware unit, the recovery control unit, which serves as an interface between error detection and software recovery programs in the supervisor and provides dynamic interactive recovery.

Carter, W. C.↗

NASA NTRS2011

FPGA Implementation of Stereo Disparity with High Throughput for Mobility Applications

High speed stereo vision can allow unmanned robotic systems to navigate safely in unstructured terrain, but the computational cost can exceed the capacity of typical embedded CPUs. In this paper, we describe an end-to-end stereo computation co-processing system optimized for fast throughput that has been implemented on a single Virtex 4 LX160 FPGA. This system is capable of operating on images from a 1024 x 768 3CCD (true RGB) camera pair at 15 Hz. Data enters the FPGA directly from the cameras via Camera Link and is rectified, pre-filtered and converted into a disparity image all within the FPGA, incurring no CPU load. Once complete, a rectified image and the final disparity image are read out over the PCI bus, for a bandwidth cost of 68 MB/sec. Within the FPGA there are 4 distinct algorithms: Camera Link capture, Bilinear rectification, Bilateral subtraction pre-filtering and the Sum of Absolute Difference (SAD) disparity. Each module will be described in brief along with the data flow and control logic for the system. The system has been successfully fielded upon the Carnegie Mellon University's National Robotics Engineering Center (NREC) Crusher system during extensive field trials in 2007 and 2008 and is being implemented for other surface mobility systems at JPL.

Random access memory↗

NASA NTRS1989

Parallel eigenanalysis of finite element models in a completely connected architecture

A parallel algorithm is presented for the solution of the generalized eigenproblem in linear elastic finite element analysis, (K)(phi) = (M)(phi)(omega), where (K) and (M) are of order N, and (omega) is order of q. The concurrent solution of the eigenproblem is based on the multifrontal/modified subspace method and is achieved in a completely connected parallel architecture in which each processor is allowed to communicate with all other processors. The algorithm was successfully implemented on a tightly coupled multiple-instruction multiple-data parallel processing machine, Cray X-MP. A finite element model is divided into m domains each of which is assumed to process n elements. Each domain is then assigned to a processor or to a logical processor (task) if the number of domains exceeds the number of physical processors. The macrotasking library routines are used in mapping each domain to a user task. Computational speed-up and efficiency are used to determine the effectiveness of the algorithm. The effect of the number of domains, the number of degrees-of-freedom located along the global fronts and the dimension of the subspace on the performance of the algorithm are investigated. A parallel finite element dynamic analysis program, p-feda, is documented and the performance of its subroutines in parallel environment is analyzed.

Akl, F. A.↗

NASA NTRS1987

Neighborhood comparison operator

Digital values in a moving window are compared by an operator having nine comparators (18) connected to line buffers (16) for receiving a succession of central pixels together with eight neighborhood pixels. A single bit of program control determines whether the neighborhood pixels are to be compared with the central pixel or a threshold value. The central pixel is always compared with the threshold. The comparator output, plus 2 bits indicating odd-even pixel/line information about the central pixel, addresses a lookup table (20) to provide 14 bits of information, including 2 bits which control a selector (22) to pass either the central pixel value, the other 12 bits of table information, or the bit-wise logic OR of all neighboring pixels.

Gennery, Donald B.↗

NASA NTRS2016

Integrated System for Health Management and Autonomous Control (ISHM-AC): Development and Application

Autonomous control systems represent a technological barrier from manual and automated operated control systems in an industry wide application. An increase in energy-efficient storage, transfer and use of cryogens and cryogenic propellants on Earth and in space has been observed in space related industries between NASA, government and commercial programs. An increase in efficiency of cryogenic systems demands an increase in the capabilities of the control and monitoring system that manages them. As new technologies are developed for cryogenic systems, complexity and capability increases. The increase in complexities are a natural drive to develop better and more capable health monitoring and control system management. Current research and development efforts lead the Cryogenics Test Laboratory at the Kennedy Space Center to improve its automated control and health monitoring system from a Programmable Logic Control (PLC) based-only system to a fully Integrated System for Health Management (ISHM) - Autonomous Control (AC) capable of performing autonomous operations on a cryogenic propellant transfer system. This ISHM-AC system has been developed and tested by controlling a complete simulated propellant transfer operation. The capabilities and test results of this fully integrated autonomous system for cryogenics propellant transfer operation will be presented in this paper.

Toro, Jaime A.↗

NASA NTRS2016

Integrated System for Health Management and Autonomous Control (ISHM-AC) for Cryogenic Operations on the Simulated Propellant Loading System

Toro Medina, Jaime A.↗

NASA NTRS1990

Operationally Efficient Propulsion System Study (OEPSS) data book. Volume 1: Generic ground operations data

This study was initiated to identify operations problems and cost drivers for current propulsion systems and to identify technology and design approaches to increase the operational efficiency and reduce operations costs for future propulsion systems. To provide readily usable data for the Advance Launch System (ALS) program, the results of the Operationally Efficient Propulsion System Study (OEPSS) were organized into a series of OEPSS Data Books as follows: Volume 1, Generic Ground Operations Data; Volume 2, Ground Operations Problems; Volume 3, Operations Technology; Volume 4, OEPSS Design Concepts; and Volume 5, OEPSS Final Review Briefing, which summarizes the activities and results of the study. This volume presents ground processing data for a generic LOX/LH2 booster and core propulsion system based on current STS experience. The data presented includes: top logic diagram, process flow, activities bar-chart, loaded timelines, manpower requirements in terms of duration, headcount and skill mix per operations and maintenance instruction (OMI), and critical path tasks and durations.

Byrd, Raymond J.↗

NASA NTRS2013

Creating and Testing Simulation Software

The goal of this project is to learn about the software development process, specifically the process to test and fix components of the software. The paper will cover the techniques of testing code, and the benefits of using one style of testing over another. It will also discuss the overall software design and development lifecycle, and how code testing plays an integral role in it. Coding is notorious for always needing to be debugged due to coding errors or faulty program design. Writing tests either before or during program creation that cover all aspects of the code provide a relatively easy way to locate and fix errors, which will in turn decrease the necessity to fix a program after it is released for common use. The backdrop for this paper is the Spaceport Command and Control System (SCCS) Simulation Computer Software Configuration Item (CSCI), a project whose goal is to simulate a launch using simulated models of the ground systems and the connections between them and the control room. The simulations will be used for training and to ensure that all possible outcomes and complications are prepared for before the actual launch day. The code being tested is the Programmable Logic Controller Interface (PLCIF) code, the component responsible for transferring the information from the models to the model Programmable Logic Controllers (PLCs), basic computers that are used for very simple tasks.

Heinich, Christina M.↗

NASA NTRS1971

An analysis and comparison of several trajectory optimization methods

The sensitivities of the convergence characteristics of the methods to initially assumed parameters and trial solution, convergence times, computer logic, and storage requirements are discussed. Numerical comparison of the convergence characteristics is made by considering a minimum time, low thrust, Earth-Mars transfer trajectory. A modified quasi-linearization method reduces convergence time by approximately 70% when compared with the generalized Newton-Raphson method and allows the terminal boundary to be specified by a general function of the problem variables. A uniquely specified and easily determined, time dependent weighting matrix for the gradient techniques accelerates the shaping of the optimal control program and improves the convergence characteristics during the terminal iterations. Convergence envelopes, indicating how sensitive the convergence characteristics are to initially assumed parameters, are plotted for the perturbation and quasi-linearization methods. Several iteration schemes are proposed which increase the size of the convergence envelopes and decrease the sensitivity of the method to initially assumed parameters.

Lewallen, J. M.↗

NASA NTRS1984

Space station - The next logical step

NASA has been charged with the development, over the next decade, of a permanently manned space station in low earth orbit. The space station system will comprise a manned base and associated unmanned platforms; while one of the platforms will be in polar orbit, another (or several) platforms will, like the manned base, have an orbital inclination of 28.5 deg. Because it is permanent, the space station will have to be semiautonomous from its mission control center. NASA will take a number of steps to foster the commercial utilization of the space station, and one of the design goals of the project is the definition of astronaut facilities that are very 'customer friendly'. Reliance on a single, program-wide contractor has been deemed undesirable; several major aerospace manufacturers will instead distribute responsibility among themselves for the various modules constituting the craft.

Beggs, J. M.↗