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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 811 records · Page 45
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

AXI4MLIR: User-Driven Automatic Host Code Generation for Custom AXI-Based Accelerators

Tensor algebra operations represent an important class of algorithms used across many applications, including machine learning, scientific computing, and data analytics. As a result, the efficient generation of custom accelerators for tensor operations has received increased attention. Previous efforts have produced automated tools enabling users to prototype and explore optimized accelerators. However, little effort has been focused on the host-accelerator interaction in these tools. Efficient use of hardware accelerators requires knowledge about the accelerator's capabilities (operations, data formats, and opcode support), the host CPU microarchitecture (e.g., memory hierarchy), the host-accelerator interface, and the application's features (which code regions should be mapped onto an accelerator). Manually rewriting the original applications to facilitate improved custom accelerator mapping is an error-prone and time-consuming endeavor. To cope with this, we propose AXI4MLIR, a new framework to automatically generate and optimize the communication between the host CPU and arbitrary accelerators that implement linear algebra algorithms. AXI4MLIR extends the MLIR compiler framework to automatically generate efficient host-accelerator driver code for accelerators with AXI-based interfaces. Our compiler extensions enable automatic driver code generation while carefully considering the host's memory hierarchy and target accelerator features. To demonstrate the flexibility and utility of AXI4MLIR, we test it with diverse use cases that include different types of accelerators, tiling scenarios, and dataflow schemes. We compare our experimental results to manual implementations of host-accelerator driver code and find that our approach can reduce CPU cache references by 56% and deliver up to a 1.65x speedup.

Bohm Agostini, Nicolas↗
NASA NTRS1991

Techniques and implementation of the embedded rule-based expert system using Ada

Ada is becoming an increasingly popular programming language for large Government-funded software projects. Ada with its portability, transportability, and maintainability lends itself well to today's complex programming environment. In addition, expert systems have also assured a growing role in providing human-like reasoning capability and expertise for computer systems. The integration of expert system technology with Ada programming language, specifically a rule-based expert system using an ART-Ada (Automated Reasoning Tool for Ada) system shell is discussed. The NASA Lewis Research Center was chosen as a beta test site for ART-Ada. The test was conducted by implementing the existing Autonomous Power EXpert System (APEX), a Lisp-base power expert system, in ART-Ada. Three components, the rule-based expert system, a graphics user interface, and communications software make up SMART-Ada (Systems fault Management with ART-Ada). The main objective, to conduct a beta test on the ART-Ada rule-based expert system shell, was achieved. The system is operational. New Ada tools will assist in future successful projects. ART-Ada is one such tool and is a viable alternative to the straight Ada code when an application requires a rule-based or knowledge-based approach.

Liberman, Eugene M.↗
NASA NTRS2004

Structural Health Management for Future Aerospace Vehicles

Structural Health Management (SHM) will be of critical importance to provide the safety, reliability and affordability necessary for the future long duration space missions described in America's Vision for Space Exploration. Long duration missions to the Moon, Mars and beyond cannot be accomplished with the current paradigm of periodic, ground based structural integrity inspections. As evidenced by the Columbia tragedy, this approach is also inadequate for the current Shuttle fleet, thus leading to its initial implementation of on-board SHM sensing for impact detection as part of the return to flight effort. However, future space systems, to include both vehicles as well as structures such as habitation modules, will require an integrated array of onboard in-situ sensing systems. In addition, advanced data systems architectures will be necessary to communicate, store and process massive amounts of SHM data from large numbers of diverse sensors. Further, improved structural analysis and design algorithms will be necessary to incorporate SHM sensing into the design and construction of aerospace structures, as well as to fully utilize these sensing systems to provide both diagnosis and prognosis of structural integrity. Ultimately, structural integrity information will feed into an Integrated Vehicle Health Management (IVHM) system that will provide real-time knowledge of structural, propulsion, thermal protection and other critical systems for optimal vehicle management and mission control. This paper will provide an overview of NASA research and development in the area of SHM as well as to highlight areas of technology improvement necessary to meet these future mission requirements.

Prosser, W. H.↗
NASA NTRSDate not supplied

From Here to There - Bird's Eye Perspective on Grant Lifecycle and Administration

“What gets measured gets done ”or “measure it to manage it”. The statements have become matter of fact. However, measurement (and even metrics) alone cannot fully communicate an organization’s story without the point of accountability. As a dynamic org, we must measure what is necessary, using the appropriate lenses to analyze the most relevant information that allows robust decision-making. A key function of Program Planning and Control (PP&C) is to assist HRP in the development of such strategy that ensures the proper execution of program research goals. With introspection of the Technical Officer role as defined by 2 CFR(i.e., Part 200, Part 1800)and subsequent governance under the NASA Grant and Cooperative Agreement Manual (GCAM), we’ve realized an obvious disconnect among Principal Investigator’s (PI),technical communication with the elements and some of the administrative/fiduciary requirements that should run parallel to the science work. This find has introduced new program risks as evidenced through incomplete deliverables or other less-than-successful requirements through the lifecycle for work we fund. One solution the Grants Technical Officer proposes is for PP&C to share in the communication with stakeholders of grants administration much earlier in the award process in attempt to reduce programmatic risks; particularly in data, reporting and performance management. As such, the planned IWS 2022 session will focus on(plenary) topics that include (1) definition of the grant lifecycle, (2) anatomy of a grant(NF1687 the award document), and (3)performance measurement/post-award monitoring. As HH&P pursues its strategic objectives to evolve the directorate into a data rich and knowledge rich organization, it has become increasingly important to develop the multiple levels of insight across the program to ensure data and other reporting(qualitative/quantitative), alongside proper administration. And the desired outcome is to make certain HRP meets/exceeds the accountability standard that our research information is received, maintained and accessible in posterity.

Lucy D Barnes-Moten↗
DOE OSTI2025

RingX: Scalable Parallel Attention for Long-Context Learning on HPC

The attention mechanism has become foundational for remarkable AI breakthroughs since the introduction of the Transformer, driving the demand for increasingly longer context to power frontier models such as large-scale reasoning language models and high-resolution image/video generators. However, its quadratic computational and memory complexities present substantial challenges. Current state-of-the-art parallel attention methods, such as ring attention, are widely adopted for long-context training but utilize a point-to-point communication strategy that fails to fully exploit the capabilities of modern HPC network architectures. In this work, we propose ringX, a scalable family of parallel attention methods optimized explicitly for HPC systems. By enhancing workload partitioning, refining communication patterns, and improving load balancing, ringX achieves up to 3.4 × speedup compared to conventional ring attention on the Frontier supercomputer. Optimized for both bi-directional and causal attention mechanisms, ringX demonstrates its effectiveness through training benchmarks of a Vision Transformer (ViT) on a climate dataset and a Generative Pre-Trained Transformer (GPT) model, Llama3 8B. Our method attains an end-to-end training speedup of approximately 1.5 × in both scenarios. To our knowledge, the achieved 38% model FLOPs utilization (MFU) for training Llama3 8B with a 1M-token sequence length on 4,096 GPUs represents one of the highest training efficiencies reported for long-context learning on HPC systems. Our code implementation is available at https://github.com/jqyin/ringX-attention.

Yin, Junqi [ORNL] (ORCID:0000000338435520)↗
NASA NTRS1959

Global Aspects of the Exploration of Space

The interest of man in outer space began long ago among uncivilized peoples to whom the face of the sky was clock and almanac; the celestial bodies, objects of worship. Exploration was at first by visual observation, later aided by armillary spheres and quadrants, and still later by more precise measuring instruments, telescopes, and spectroscopes. The information obtained was that borne by the light that was transmitted from the distant celestial object through the atmosphere to the observing instrument on the ground. In recent years the light waves have been supplemented by radio waves as carriers of information from the stars and planets. Men of many nations have contributed through the centuries to the exploration of space by the methods of astronomy. The history of advances in astronomical knowledge and technique includes the records of Chinese, Babylonians, Greeks, Arabians, and of nearly every nation of the modern world. International cooperation was early recognized as essential and beneficial; the countless number of the stars and the vastness of space present mankind with a truly global task. The picture of the universe obtained by the astronomers early stirred the imagination of men to speculate about the existence of life elsewhere in the universe, about means of communication with distant stars, and in the last centuries about the possibility of the travel of man to the moon and planets. Some sought to apply the science and engineering of their day to describe the vehicles to be used. For example, Jules Verne published in 1865 in "From the Earth to the Moon" a description of a gun-launched projectile carrying passengers to orbit the moon. Today we have taken the first steps to bring this inspired vision to reality. The exploration of space by unmanned vehicles carrying scientific apparatus began on October 4, 1957; exploration by man will follow in due course.

Dryden, Hugh L.↗
NASA NTRS1989

Feasibility study of a synthesis procedure for array feeds to improve radiation performance of large distorted reflector antennas

Surface errors on parabolic reflector antennas degrade the overall performance of the antenna. The errors are in the form of roughness on the surface, distortions in the shape, or structural design details. They cause amplitude and phase errors in the aperture field which lower the gain, raise the sidelobes, and fill in the nulls. These are major problems in large space reflector antennas. Planned mobile satellite communications systems having limited signal margin need high gain from the space reflectors. Future multiple beam antenna systems requiring spatial isolation to allow frequency reuse could be rendered useless if high sidelobes are present. High sidelobes are also responsible for noise. Ways of compensating for surface errors by pattern synthesis using an array of feed antennas are examined. Pattern corrections are directed specifically toward portions of the pattern requiring improvements. The pattern synthesis does not require knowledge of the surface errors. Both the amplitude and phase of the high side lobes caused by the distortion are required.

Stutzman, W. L.↗
NASA NTRS2013

Translating MAPGEN to ASPEN for MER

This software translates MAPGEN (Europa and APGEN) domains to ASPEN, and the resulting domain can be used to perform planning for the Mars Exploration Rover (MER). In other words, this is a conversion of two distinct planning languages (both declarative and procedural) to a third (declarative) planning language in order to solve the problem of faithful translation from mixed-domain representations into the ASPEN Modeling Language. The MAPGEN planning system is an example of a hybrid procedural/declarative system where the advantages of each are leveraged to produce an effective planner/scheduler for MER tactical planning. The adaptation of the planning system (ASPEN) was investigated, and, with some translation, much of the procedural knowledge encoding is amenable to declarative knowledge encoding. The approach was to compose translators from the core languages used for adapting MAGPEN, which consists of Europa and APGEN. Europa is a constraint- based planner/scheduler where domains are encoded using a declarative model. APGEN is also constraint-based, in that it tracks constraints on resources and states and other variables. Domains are encoded in both constraints and code snippets that execute according to a forward sweep through the plan. Europa and APGEN communicate to each other using proxy activities in APGEN that represent constraints and/or tokens in Europa. The composition of a translator from Europa to ASPEN was fairly straightforward, as ASPEN is also a declarative planning system, and the specific uses of Europa for the MER domain matched ASPEN s native encoding fairly closely. On the other hand, translating from APGEN to ASPEN was considerably more involved. On the surface, the types of activities and resources one encodes in APGEN appear to match oneto- one to the activities, state variables, and resources in ASPEN. But, when looking into the definitions of how resources are profiled and activities are expanded, one sees code snippets that access various information available during planning for the moment in time being planned to decide at the time what the appropriate profile or expansion is. APGEN is actually a forward (in time) sweeping discrete event simulator, where the model is composed of code snippets that are artfully interleaved by the engine to produce a plan/schedule. To solve this problem, representative code is simulated as a declarative series of task expansions. Predominantly, three types of procedural models were translated: loops, if statements, and code blocks. Loops and if statements were handled using controlled task expansion, and code blocks were handled using constraint networks that maintained the generation of results based on what the order of execution would be for a procedural representation. One advantage with respect to performance for MAPGEN is the use of APGEN s GUI. This GUI is written in C++ and Motif, and performs very well for large plans.

Rabideau, Gregg R.↗
NASA NTRS2017

An Autonomous Distributed Fault-Tolerant Local Positioning System

We describe a fault-tolerant, GPS-independent (Global Positioning System) distributed autonomous positioning system for static/mobile objects and present solutions for providing highly-accurate geo-location data for the static/mobile objects in dynamic environments. The reliability and accuracy of a positioning system fundamentally depends on two factors; its timeliness in broadcasting signals and the knowledge of its geometry, i.e., locations and distances of the beacons. Existing distributed positioning systems either synchronize to a common external source like GPS or establish their own time synchrony using a scheme similar to a master-slave by designating a particular beacon as the master and other beacons synchronize to it, resulting in a single point of failure. Another drawback of existing positioning systems is their lack of addressing various fault manifestations, in particular, communication link failures, which, as in wireless networks, are increasingly dominating the process failures and are typically transient and mobile, in the sense that they typically affect different messages to/from different processes over time.

Mahyar R Malekpour↗
NASA NTRSDate not supplied

Designing Experiments for SpinSat, A Novel Variable-Gravity-and-Radiation Platform for Deep-Space Science

Conducting experiments to measure the effects of deep-space radiation and reduced gravity on biological and physical systems remains challenging. The result is a substantial knowledge gap that poses risks to our ability to sustain life and conduct critical operations in deep space. The SpinSat spacecraft platform is designed to bridge such gaps by providing low-cost, reliable, and frequent access to deep space. A disk-shaped rotating satellite that can provide artificial gravity and exposure to space radiation simultaneously, SpinSat is designed to accommodate payloads in a CubeSat form factor (with at least 48 “U” volume), providing power, communications, and a benign thermal environment. It is orbit-agnostic, enabling access to a variety of radiation environments (Van Allen belts, deep space, cis-lunar); and can be equipped with shielding to mimic planetary radiation environments, for both short- and long-term experiments. Because of its versatility and prioritization of late loading for biological payloads, it is well suited to host a wide range of ranging from human tissues and organoids to microorganisms, plants, chemistry, and regolith. Here, we present examples of potential experiment concepts for SpinSat, and discuss the details of how experimental designs could interact with the platform. Potential SpinSat studies have diverse applications, including fundamental radiation biology and DNA repair; cancer biology and countermeasure development; space agriculture; bioproduction of nutrients and pharmaceuticals; understanding regolith dynamics in low gravity; prebiotic chemistry and panspermia. We will further highlight ideas for SpinSat-compatible experimental hardware, existing and in development, and experiment-relevant details on SpinSat capabilities including artificial gravity, potential radiation environments, data, and power. This presentation will aim to provide investigators with the high-level technical information necessary to inspire experiments for SpinSat. We also seek to stimulate conversation and to gain community input on accommodations needs to help guide the evolving design of this platform.

experiment design↗
NASA NTRS1994

Technology Benefit Estimator (T/BEST): User's Manual

The Technology Benefit Estimator (T/BEST) system is a formal method to assess advanced technologies and quantify the benefit contributions for prioritization. T/BEST may be used to provide guidelines to identify and prioritize high payoff research areas, help manage research and limited resources, show the link between advanced concepts and the bottom line, i.e., accrued benefit and value, and to communicate credibly the benefits of research. The T/BEST software computer program is specifically designed to estimating benefits, and benefit sensitivities, of introducing new technologies into existing propulsion systems. Key engine cycle, structural, fluid, mission and cost analysis modules are used to provide a framework for interfacing with advanced technologies. An open-ended, modular approach is used to allow for modification and addition of both key and advanced technology modules. T/BEST has a hierarchical framework that yields varying levels of benefit estimation accuracy that are dependent on the degree of input detail available. This hierarchical feature permits rapid estimation of technology benefits even when the technology is at the conceptual stage. As knowledge of the technology details increases the accuracy of the benefit analysis increases. Included in T/BEST's framework are correlations developed from a statistical data base that is relied upon if there is insufficient information given in a particular area, e.g., fuel capacity or aircraft landing weight. Statistical predictions are not required if these data are specified in the mission requirements. The engine cycle, structural fluid, cost, noise, and emissions analyses interact with the default or user material and component libraries to yield estimates of specific global benefits: range, speed, thrust, capacity, component life, noise, emissions, specific fuel consumption, component and engine weights, pre-certification test, mission performance engine cost, direct operating cost, life cycle cost, manufacturing cost, development cost, risk, and development time. Currently, T/BEST operates on stand-alone or networked workstations, and uses a UNIX shell or script to control the operation of interfaced FORTRAN based analyses. T/BEST's interface structure works equally well with non-FORTRAN or mixed software analysis. This interface structure is designed to maintain the integrity of the expert's analyses by interfacing with expert's existing input and output files. Parameter input and output data (e.g., number of blades, hub diameters, etc.) are passed via T/BEST's neutral file, while copious data (e.g., finite element models, profiles, etc.) are passed via file pointers that point to the expert's analyses output files. In order to make the communications between the T/BEST's neutral file and attached analyses codes simple, only two software commands, PUT and GET, are required. This simplicity permits easy access to all input and output variables contained within the neutral file. Both public domain and proprietary analyses codes may be attached with a minimal amount of effort, while maintaining full data and analysis integrity, and security. T/BESt's sotware framework, status, beginner-to-expert operation, interface architecture, analysis module addition, and key analysis modules are discussed. Representative examples of T/BEST benefit analyses are shown.

Generazio, Edward R.↗
DOE OSTI2021

Incentivizing Adoption of Software Quality Practices

Although many software teams across the laboratories comply with yearly software quality engineering (SQE) assessments, the practice of introducing quality into each phase of the software lifecycle, or the team processes, may vary substantially. Even with the support of a quality engineer, many teams struggle to adapt and right-size software engineering best practices in quality to fit their context, and these activities aren’t framed in a way that motivates teams to take action. In short, software quality is often a “check the box for compliance” activity instead of a cultural practice that both values software quality and knows how to achieve it. In this report, we present the results of our 6600 VISTA Innovation Tournament project, "Incentivizing and Motivating High Confidence and Research Software Teams to Adopt the Practice of Quality." We present our findings and roadmap for future work based on 1) a rapid review of relevant literature, 2) lessons learned from an internal design thinking workshop, and 3) an external Collegeville 2021 workshop. These activities provided an opportunity for team ideation and community engagement/feedback. Based on our findings, we believe a coordinated effort (e.g. strategic communication campaign) aimed at diffusing the innovation of the practice of quality across Sandia National Laboratories could over time effect meaningful organizational change. As such, our roadmap addresses strategies for motivating and incentivizing individuals ranging from early career to seasoned software developers/scientists.

96 KNOWLEDGE MANAGEMENT AND PRESERVATION↗
NASA NTRS1997

STRIPE: Remote Driving Using Limited Image Data

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

REMOTE CONTROL↗
DOE OSTI2022

GSoFa: Scalable Sparse Symbolic LU Factorization on GPUs

Decomposing a matrix $\mathbf {A}$ into a lower matrix $\mathbf {L}$ and an upper matrix $\mathbf {U}$, which is also known as LU decomposition, is an essential operation in numerical linear algebra. For a sparse matrix, LU decomposition often introduces more nonzero entries in the $\mathbf {L}$ and $\mathbf {U}$ factors than in the original matrix. A symbolic factorization step is needed to identify the nonzero structures of $\mathbf {L}$ and $\mathbf {U}$ matrices. Attracted by the enormous potentials of the Graphics Processing Units (GPUs), an array of efforts have surged to deploy various LU factorization steps except for the symbolic factorization, to the best of our knowledge, on GPUs. This article introduces gSoFa, the first GPU-based symbolic factorization design with the following three optimizations to enable scalable LU symbolic factorization for nonsymmetric pattern sparse matrices on GPUs. First, here we introduce a novel fine-grained parallel symbolic factorization algorithm that is well suited for the Single Instruction Multiple Thread (SIMT) architecture of GPUs. Second, we tailor supernode detection into a SIMT friendly process and strive to balance the workload, minimize the communication and saturate the GPU computing resources during supernode detection. Third, we introduce a three-pronged optimization to reduce the excessive space consumption problem faced by multi-source concurrent symbolic factorization. Taken together, gSoFa achieves up to 31× speedup from 1 to 44 Summit nodes (6 to 264 GPUs) and outperforms the state-of-the-art CPU project, on average, by 5×. Notably, gSoFa also achieves up to 47 percent of the peak memory throughput of a V100 GPU in the Summit Supercomputer.

97 MATHEMATICS AND COMPUTING↗
NASA NTRSDate not supplied

Abrstract - OnePlace Redesign Spring 2020 Internship

The project I worked on was the OnePlace Redesign. In that, I converted the OnePlace home page to the Service Portal to match NASA OnePlace’s current application design standards, I was able to allow users to easily find applications in OnePlace and I was able to allow users to easily find and request OnePlace services (new app development, new knowledge base, etc.). It was a major accomplishment to be able to remodel a website that soon the entire Langley center that uses OnePlace will use. The website was made through ServiceNow’s Service Portal, and I organized the applications like never before, allowed a clear styling to applications a user does not have access to and/or are new applications, browsing of applications with clear button divisions, and allowing for different options depending if app is accessible or not, with proper error checking in place and very-well documented code. It was amazing to incorporate all this logic into one widget so that whoever wants to utilize this feature has no trouble at all to do so. The 3 most important things I learned were being able to do this work within ServiceNow, as it is such an important enterprise platform for CRM and boosting the connected workforce of NASA, incorporate built-in APIs from ServiceNow Glide Records to connect Server Scripts to Client Scripts and HTML, and be able to use agile to get another experience of managing work capacity with stories, and having proper communication with the team if every feature is done correctly and steps for continuing forward. The part that I enjoyed the most was the training I did for ServiceNow and I freedom I had to experiment to see how to structure the Service Portal. I was not tied down, and I believe this allowed for a better outcome of the product. As part of the internship, I created a very in-depth design document with the help of my team to document the project goals before it was started and technical documentation (including the design document) summarizing the final result of the product in terms of the new features added and the explanation of the logic thoroughly so that anyone can understand the project easily. The technical documentation will be published as a Knowledge Article within OnePlace Knowledge Base documentation.

Ariel Wald↗
NASA NTRS1988

Microwave remote sensing of soil moisture

Knowledge of soil moisture is important to many disciplines, such as agriculture, hydrology, and meteorology. Soil moisture distribution of vast regions can be measured efficiently only with remote sensing techniques from airborne or satellite platforms. At low microwave frequencies, water has a much larger dielectric constant than dry soil. This difference manifests itself in surface emissivity (or reflectivity) change between dry and wet soils, and can be measured by a microwave radiometer or radar. The Microwave Sensors and Data Communications Branch is developing microwave remote sensing techniques using both radar and radiometry, but primarily with microwave radiometry. The efforts in these areas range from developing algorithms for data interpretation to conducting feasibility studies for space systems, with a primary goal of developing a microwave radiometer for soil moisture measurement from satellites, such as EOS or the Space Station. These efforts are listed.

Shiue, J. C.↗
NASA NTRS2007

Adaptive Deadband Synchronization for a Spacecraft Formation

A paper discusses general problems in estimation and control of the states (positions, attitudes, and velocities) of spacecraft flying in formation, then addresses the particular formation-flying-control problem of synchronization of deadbands. The paper presents a deadband synchronization algorithm for the case in which the spacecraft are equipped with pulse-width-modulated thrusters for maintaining their required states. The algorithm synchronizes thruster-firing times across all six degrees of freedom of all the spacecraft. The algorithm is scalable, inherently adapts to disturbances, and does not require knowledge of spacecraft masses and disturbance forces. In this algorithm, one degree of freedom of one spacecraft is designated the leader, and all other degrees of freedom of all spacecraft as followers. The Cassini adaptive optimum deadband drift controller is the subalgorithm for control in each degree of freedom, and the adaptation is run until each spacecraft achieves a specified drift period. The adaptation is critical because a different disturbance affects each different degree of freedom. Then the leader communicates its thruster-firing starting times to the followers. Then, for each follower, a deadband-synchronization subalgorithm determines the shift needed to synchronize its drift period with that of the leader.

Scharf, Daniel↗
NASA NTRS2016

ROS Hexapod

As an intern project for NASA Johnson Space Center (JSC), my job was to familiarize myself and operate a Robotics Operating System (ROS). The project outcome converted existing software assets into ROS using nodes, enabling a robotic Hexapod to communicate to be functional and controlled by an existing PlayStation 3 (PS3) controller. Existing control algorithms and current libraries have no ROS capabilities within the Hexapod C++ source code when the internship started, but that has changed throughout my internship. Conversion of C++ codes to ROS enabled existing code to be compatible with ROS, and is now controlled using an existing PS3 controller. Furthermore, my job description was to design ROS messages and script programs that enabled assets to participate in the ROS ecosystem by subscribing and publishing messages. Software programming source code is written in directories using C++. Testing of software assets included compiling code within the Linux environment using a terminal. The terminal ran the code from a directory. Several problems occurred while compiling code and the code would not compile. So modifying code to where C++ can read the source code were made. Once the code was compiled and ran, the code was uploaded to Hexapod and then controlled by a PS3 controller. The project outcome has the Hexapod fully functional and compatible with ROS and operates using the PlayStation 3 controller. In addition, an open source software (IDE) Arduino board will be integrated into the ecosystem with designing circuitry on a breadboard to add additional behavior with push buttons, potentiometers and other simple elements in the electrical circuitry. Other projects with the Arduino will be a GPS module, digital clock that will run off 22 satellites to show accurate real time using a GPS signal and an internal patch antenna to communicate with satellites. In addition, this internship experience has led me to pursue myself to learn coding more efficiently and effectively to write, subscribe and publish my own source code in different programming languages. With some familiarity with software programming, it will enhance my skills in the electrical engineering field. In contrast, my experience here at JSC with the Simulation and Graphics Branch (ER7) has led me to take my coding skill to be more proficient to increase my knowledge in software programming, and also enhancing my skills in ROS. This knowledge will be taken back to my university to implement coding in a school project that will use source coding and ROS to work on the PR2 robot which is controlled by ROS software. My skills learned here will be used to integrate messages to subscribe and publish ROS messages to a PR2 robot. The PR2 robot will be controlled by an existing PS3 controller by changing C++ coding to subscribe and publish messages to ROS. Overall the skills that were obtained here will not be lost, but increased.

Davis, Kirsch↗