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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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NASA NTRS1995

Formal methods in the design of Ada 1995

Formal, mathematical methods are most useful when applied early in the design and implementation of a software system--that, at least, is the familiar refrain. I will report on a modest effort to apply formal methods at the earliest possible stage, namely, in the design of the Ada 95 programming language itself. This talk is an 'experience report' that provides brief case studies illustrating the kinds of problems we worked on, how we approached them, and the extent (if any) to which the results proved useful. It also derives some lessons and suggestions for those undertaking future projects of this kind. Ada 95 is the first revision of the standard for the Ada programming language. The revision began in 1988, when the Ada Joint Programming Office first asked the Ada Board to recommend a plan for revising the Ada standard. The first step in the revision was to solicit criticisms of Ada 83. A set of requirements for the new language standard, based on those criticisms, was published in 1990. A small design team, the Mapping Revision Team (MRT), became exclusively responsible for revising the language standard to satisfy those requirements. The MRT, from Intermetrics, is led by S. Tucker Taft. The work of the MRT was regularly subject to independent review and criticism by a committee of distinguished Reviewers and by several advisory teams--for example, the two User/Implementor teams, each consisting of an industrial user (attempting to make significant use of the new language on a realistic application) and a compiler vendor (undertaking, experimentally, to modify its current implementation in order to provide the necessary new features). One novel decision established the Language Precision Team (LPT), which investigated language proposals from a mathematical point of view. The LPT applied formal mathematical analysis to help improve the design of Ada 95 (e.g., by clarifying the language proposals) and to help promote its acceptance (e.g., by identifying a verifiable subset that would meet the needs of safety-critical applications). The first LPT project, which ran from the fall of 1990 unti the end of 1992, produced studies of several language issues: optimization, sharing and storage, tasking and protected records, overload resolution, the floating point model, distribution, program erros, and object-oriented programming. The second LPT project, in 1994, formally modeled the dynamic semantics of a large part of the (almost) final language definition, looking especially for interactions between language features.

Guaspari, David↗
NASA NTRS1995

The effects of vortex modeling on blade-vortex interaction noise prediction

The use of a blade vortex interaction noise prediction scheme, based on CAMRAD/JA, FPR and RAPP, quantifies the effects of errors and assumptions in the modeling of the helicopter's shed vortex on the acoustic predictions. CAMRAD/JA computes the wake geometry and inflow angles that are used in FPR to solve for the aerodynamic surface pressures. RAPP uses these surface pressures to predict the acoustic pressure. Both CAMRAD/JA and FPR utilize the Biot-Savart Law to determine the influence of the vortical velocities on the blade loading and both codes use an algebraic vortex model for the solid body rotation of the vortex core. Large changes in the specification of the vortex core size do not change the inplane wake geometry calculated by CAMRAD/JA and only slightly affect the out-of-plane wake geometry. However, the aerodynamic surface pressure calculated by FPR changes in both magnitude and character with small changes to the core size used by the FPR calculations. This in turn affects the acoustic predictions. Shifting the CAMRAD/JA wake geometry away from the rotor plane by 1/4 chord produces drastic changes in the acoustic predictions indicating that the prediction of acoustic pressure is extremely sensitive to the miss distance between the vortex and the blade and that this distance must be calculated as accurately as possible for acceptable noise predictions. The inclusion or exclusion of a vortex in the FPR-RAPP calculation allows for the determination of the relative importance of that vortex as a BVI noise source.

Gallman, Judith M.↗
NASA NTRS2015

Human-Robot Interaction

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera frame of reference. The first study investigated the effects of inclusion and exclusion of the robot chassis along with superimposing a simple arrow overlay onto the video feed of operator task performance during teleoperation of a mobile robot in a driving task. In this study, the front half of the robot chassis was made visible through the use of three cameras, two side-facing and one forward-facing. The purpose of the second study was to compare operator performance when teleoperating a robot from an egocentric-only and combined (egocentric plus exocentric camera) view. Camera view parameters that are found to be beneficial in these laboratory experiments can be implemented on NASA rovers and tested in a real-world driving and navigation scenario on-site at the Johnson Space Center.

Sandor, Aniko↗
NASA NTRS1992

OSSA Space Station Freedom science utilization plans

Long duration exposure to an essentially zero-gravity environment is a phenomenon exclusive to the Space Station Freedom that cannot be duplicated on Earth. The Freedom Station will offer periods of time on orbit extending to weeks and months rather than hours or days, allowing for in-depth space based research and analysis to a degree never before achieved. OSSA remains committed to exploiting the unique capabilities provided by the Space Station as well as other space-based facilities to study the nature of physical, chemical, and biological processes in a low-gravity environment and to apply these studies to advance science and applications in such fields as biomedical research, plant and animal physiology, exobiology, biotechnology, materials science, fluid physics, and combustion science. The OSSA focus is on progressive science investigations, many requiring hands-on scientist involvement using sophisticated experiment hardware. OSSA science utilization planning for the Freedom Station is firmly established. For this presentation, this planning is discussed in three general areas: OSSA goals and overall approach, the current and on-going program, and plans for space station utilization. In the first area, OSSA addresses its overall approach to space science research, its commitment to transition to Space Station Freedom, and its top-level strategy for the utilization of Freedom. The current and on-going program is next discussed, focusing on the various Spacelab series of missions which are providing the stepping-stones to Space Station Freedom. Selected science results from SLS-1 and USML-1 are cited which underline the value of properly outfitted laboratories in space in which crew-intensive experiment interactions are possible. The presentation is concluded with a discussion of top-level goals and strategies for utilizing the Freedom Station by OSSA's Life Sciences Division and its Microgravity Science and Applications Division.

Cressy, Philip J.↗
NASA NTRS2017

Fully Coupled Aero-Thermochemical-Elastic Simulations of an Eroding Graphite Nozzle

A multiphysics simulation capability has been developed that incorporates mutual interactions between aerodynamics, structural response from aero/thermal loading, ablation/pyrolysis, heating, and surface-to-surface radiation to perform high-fidelity, fully coupled aerothermoelastic ablation simulations, which to date had been unattainable. The multiphysics framework couples CHAR (a 3-D implicit charring ablator solver), Loci/CHEM (a computational fluid dynamics solver for high-speed chemically reacting flows), and Abaqus (a nonlinear structural dynamics solver) to create a fully coupled aerothermoelastic charring ablative solver. The solvers are tightly coupled in a fully integrated fashion to resolve the effects of the ablation pyrolysis and charring process and chemistry products upon the flow field, the changes in surface geometry due to recession upon the flow field, and thermal-structural analysis of the body from the induced aerodynamic heating from the flow field. The multiphysics framework was successfully demonstrated on a solid rocket motor graphite nozzle erosion application. Comparisons were made with available experimental data that measured the throat erosion during the motor firing. The erosion data is well characterized, as the test rig was equipped with a windowed nozzle section for real-time X-ray radiography diagnostics of the instantaneous throat variations for deducing the instantaneous erosion rates. The nozzle initially undergoes a nozzle contraction due to thermal expansion before ablation effects are able to widen the throat. A series of parameters studies were conducted using the coupled simulation capability to determine the sensitivity of the nozzle erosion to different parameters. The parameter studies included the shape of the nozzle throat (flat versus rounded), the material properties, the effect of the choice of turbulence model, and the inclusion or exclusion of the mechanical thermal expansion. Overall, the predicted results match the experiment very well, and the predictions were able to bound the data within acceptable limits.

Blades, E. L.↗
NASA NTRS2015

Software Development: 3D Animations and Creating User Interfaces for Realistic Simulations

My fall 2015 semester was spent at the Lyndon B. Johnson Space Center working in the Integrated Graphics, Operations, and Analysis Laboratory (IGOAL). My first project was to create a video animation that could tell the story of OMICS. OMICS is a term being used in the field of biomedical science to describe the collective technologies that study biological systems, such as what makes up a cell and how it functions with other systems. In the IGOAL I used a large 23 inch Wacom monitor to draw storyboards, graphics, and line art animations. I used Blender as the 3D environment to sculpt, shape, cut or modify the several scenes and models for the video. A challenge creating this video was to take a term used in biomedical science and describe it in such a way that an 8th grade student can understand. I used a line art style because it would visually set the tone for what we thought was an educational style. In order to get a handle on the perspective and overall feel for the animation without overloading my workspace, I split up the 2 minute animation into several scenes. I used Blender's python scripting capabilities which allowed for the addition of plugins to add or modify tools. The scripts can also directly interact with the objects to create naturalistic patterns or movements. After collecting the rendered scenes, I used Blender's built-in video editing workspace to output the animation. My second project was to write software that emulates a physical system's interface. The interface was to simulate a boat, ROV, and winch system. Simulations are a time and cost effective way to test complicated data and provide training for operators without having to use expensive hardware. We created the virtual controls with 3-D Blender models and 2-D graphics, and then add functionality in C# using the Unity game engine. The Unity engine provides several essential behaviors of a simulator, such as the start and update functions. A framework for Unity, which was developed in the lab, provided a way to place the different widgets on the virtual console dock and have them resize correctly based on the window dimensions.. My task in this project was to create the controls and visualizations for the data coming in from the simulator for the boat portion of the project. I wrote a class for each control window to handle the functionality of that widget. I implemented 11 widgets that make up the ship portion of the simulator. The members of the lab were each masters of their craft and I'm glad I had the opportunity to learn from them. I learned to plan strategically so I could finish this project on time. I allotted time for storyboarding, development, and refinement. In regards to animating I learned to use modifiers like lattice, boolean and build deformers. I also learned how to animate with drivers, how to use the dope sheet, and how to use the graph editor. In coding I learned to limit the chances for bugs by privatizing functions that should be exclusive to their class. I learned how to use the GIT repository to commit, stash and pull the latest build. I learned a bit of everything because I had the chance to see the entire application development process from the artwork, to the implementation.

Gordillo, Orlando Enrique↗