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NASA NTRS2008

Parametric-Studies and Data-Plotting Modules for the SOAP

"Parametric Studies" and "Data Table Plot View" are the names of software modules in the Satellite Orbit Analysis Program (SOAP). Parametric Studies enables parameterization of as many as three satellite or ground-station attributes across a range of values and computes the average, minimum, and maximum of a specified metric, the revisit time, or 21 other functions at each point in the parameter space. This computation produces a one-, two-, or three-dimensional table of data representing statistical results across the parameter space. Inasmuch as the output of a parametric study in three dimensions can be a very large data set, visualization is a paramount means of discovering trends in the data (see figure). Data Table Plot View enables visualization of the data table created by Parametric Studies or by another data source: this module quickly generates a display of the data in the form of a rotatable three-dimensional-appearing plot, making it unnecessary to load the SOAP output data into a separate plotting program. The rotatable three-dimensionalappearing plot makes it easy to determine which points in the parameter space are most desirable. Both modules provide intuitive user interfaces for ease of use.

Source record↗

NASA NTRS2023

Trades, Architecture, and Design of the Joint Augmented Reality Visual Informatics (Joint AR) Product

Future expeditions will enable exploration and study of the planetary surfaces of the Moon and Mars by performing extravehicular activity (EVA) operations. Present-day International Space Station (ISS) EVA operations require an intricate and tight choreography of crew, space suits, tools, systems, and flight teams to plan, train, and execute with limited advanced informatics. Additionally, EVA operations, aside from the Apollo Lunar surface missions, have predominately focused on maintenance and construction tasks where success criteria are clearly measurable. However, future exploration missions expect to enable crew to carry out scientific objectives in increasingly Earth-independent ways. In this paper, the Joint Augmented Reality Visual Informatics System (Joint AR) characterizes the design space for developing a modular augmented reality (AR) device for a spacesuit form factor that can support crew decision-making for EVA. This paper highlights the project’s experience with a product-focused management style and use-case centered systems engineering approach to iteratively design, build, and test. The Joint AR product features were defined via trade studies and market analysis of previous EVA display efforts, various AR components such as optics, commercial AR systems, light engines, data interfaces, graphics engine software and analog test beds. We outline the defining architectural design decisions, including safety criticality considerations, suit mounting interfaces, computer architectures, and partnership contracting mechanisms. The outcomes of these studies, architecture decisions, and management requirements result in a recommended design which is the Joint AR product. We discuss the evolution, development of these system components, and what work remains. We hope to share a unified understanding of various design decisions and how they impact the future of crew members’ access to data during Lunar and Martian EVAs. This ongoing effort can enable a community-wide discovery process toward realizing necessary AR features and capabilities for future missions.

Augmented Reality↗

NASA NTRS2012

Fully Self-Contained Vision-Aided Navigation and Landing of a Micro Air Vehicle Independent from External Sensor Inputs

Direct-lift micro air vehicles have important applications in reconnaissance. In order to conduct persistent surveillance in urban environments, it is essential that these systems can perform autonomous landing maneuvers on elevated surfaces that provide high vantage points without the help of any external sensor and with a fully contained on-board software solution. In this paper, we present a micro air vehicle that uses vision feedback from a single down looking camera to navigate autonomously and detect an elevated landing platform as a surrogate for a roof top. Our method requires no special preparation (labels or markers) of the landing location. Rather, leveraging the planar character of urban structure, the landing platform detection system uses a planar homography decomposition to detect landing targets and produce approach waypoints for autonomous landing. The vehicle control algorithm uses a Kalman filter based approach for pose estimation to fuse visual SLAM (PTAM) position estimates with IMU data to correct for high latency SLAM inputs and to increase the position estimate update rate in order to improve control stability. Scale recovery is achieved using inputs from a sonar altimeter. In experimental runs, we demonstrate a real-time implementation running on-board a micro aerial vehicle that is fully self-contained and independent from any external sensor information. With this method, the vehicle is able to search autonomously for a landing location and perform precision landing maneuvers on the detected targets.

autonomous landing↗

NASA NTRS2002

Virtual Engineering and Science Team - Reusable Autonomy for Spacecraft Subsystems

In this paper we address the design, development, and evaluation of the Virtual Engineering and Science Team (VEST) tool - a revolutionary way to achieve onboard subsystem/instrument autonomy. VEST directly addresses the technology needed for advanced autonomy enablers for spacecraft subsystems. It will significantly support the efficient and cost effective realization of on-board autonomy and contribute directly to realizing the concept of an intelligent autonomous spacecraft. VEST will support the evolution of a subsystem/instrument model that is probably correct and from that model the automatic generation of the code needed to support the autonomous operation of what was modeled. VEST will directly support the integration of the efforts of engineers, scientists, and software technologists. This integration of efforts will be a significant advancement over the way things are currently accomplished. The model, developed through the use of VEST, will be the basis for the physical construction of the subsystem/instrument and the generated code will support its autonomous operation once in space. The close coupling between the model and the code, in the same tool environment, will help ensure that correct and reliable operational control of the subsystem/instrument is achieved.VEST will provide a thoroughly modern interface that will allow users to easily and intuitively input subsystem/instrument requirements and visually get back the system's reaction to the correctness and compatibility of the inputs as the model evolves. User interface/interaction, logic, theorem proving, rule-based and model-based reasoning, and automatic code generation are some of the basic technologies that will be brought into play in realizing VEST.

Bailin, Sidney C.↗

NASA NTRS1996

Integration of the Shuttle RMS/CBM Positioning Virtual Environment Simulation

Constructing the International Space Station, or other structures, in space presents a number of problems. In particular, payload restrictions for the Space Shuttle and other launch mechanisms prohibit assembly of large space-based structures on Earth. Instead, a number of smaller modules must be boosted into orbit separately and then assembled to form the final structure. The assembly process is difficult, as docking interfaces such as Common Berthing Mechanisms (CBMS) must be precisely positioned relative to each other to be within the "capture envelope" (approximately +/- 1 inch and +/- 0.3 degrees from the nominal position) and attach properly. In the case of the Space Station, the docking mechanisms are to be positioned robotically by an astronaut using the 55-foot-long Remote Manipulator System (RMS) robot arm. Unfortunately, direct visual or video observation of the placement process is difficult or impossible in many scenarios. One method that has been tested for aligning the CBMs uses a boresighted camera mounted on one CBM to view a standard target on the opposing CBM. While this method might be sufficient to achieve proper positioning with considerable effort, it does not provide a high level of confidence that the mechanisms have been placed within capture range of each other. It also does nothing to address the risk of inadvertent contact between the CBMS, which could result in RMS control software errors. In general, constraining the operator to a single viewpoint with few, if any, depth cues makes the task much more difficult than it would be if the target could be viewed in three-dimensional space from various viewpoints. The actual work area could be viewed by an astronaut during EVA; however, it would be extremely impractical to have an astronaut control the RMS while spacewalking. On the other hand, a view of the RMS and CBMs to be positioned in a virtual environment aboard the Space Shuttle orbiter or Space Station could provide similar benefits more safely and conveniently with little additional cost. In order to render and view the RMS and CBMs in a virtual world, the position and orientation of the end effector in three-dimensional space must be known with a high degree of accuracy. A precision video alignment sensor has been developed which can determine the position and orientation of the controlled element relative to the target CBM within approximately one-sixteenth inch and 0.07 angular degrees. Such a sensor could replace or augment the boresighted camera mentioned above. The computer system used to render the virtual world and the position tracking systems which might be used to monitor the user's movements (in order to adjust the viewpoint in virtual space) are small enough to carry to orbit. Thus, such a system would be feasible for use in constructing structures in space.

Dumas, Joseph D.↗

NASA NTRS1986

Droplet field visualization and characterization via digital image analysis

This paper describes techniques that have been developed at JPL for visualization and measurements of droplet fields in a moving airstream. The techniques have been applied to a variety of problems which include simulation of heavy rain conditions in a wind tunnel, engine ingestion of wheel spray, analysis of fuel nozzle sprays and aerodynamic breakup of non-Newtonian liquids. The approach pursued here is direct imaging using a pulsed laser illumination source, followed by digital processing of photographic images. A laser double pulse technique has been used for determination of droplet velocities. Laser induced fluorescence has been used to enhance droplet definition in photographic images. The image processing software developed is capable of distinguishing between out-of-focus and in-focus drops, retaining only the latter for size determination.

Hernan, M. A.↗

NASA NTRS1992

On the acquisition and representation of procedural knowledge

Historically knowledge acquisition has proven to be one of the greatest barriers to the development of intelligent systems. Current practice generally requires lengthy interactions between the expert whose knowledge is to be captured and the knowledge engineer whose responsibility is to acquire and represent knowledge in a useful form. Although much research has been devoted to the development of methodologies and computer software to aid in the capture and representation of some of some types of knowledge, little attention has been devoted to procedural knowledge. NASA personnel frequently perform tasks that are primarily procedural in nature. Previous work is reviewed in the field of knowledge acquisition and then focus on knowledge acquisition for procedural tasks with special attention devoted to the Navy's VISTA tool. The design and development is described of a system for the acquisition and representation of procedural knowledge-TARGET (Task Analysis and Rule Generation Tool). TARGET is intended as a tool that permits experts to visually describe procedural tasks and as a common medium for knowledge refinement by the expert and knowledge engineer. The system is designed to represent the acquired knowledge in the form of production rules. Systems such as TARGET have the potential to profoundly reduce the time, difficulties, and costs of developing knowledge-based systems for the performance of procedural tasks.

Saito, T.↗

NASA NTRS1991

Results of prototype software development for automation of shuttle proximity operations

A Rendezvous Expert System (REX) was implemented on a Symbolics 3650 processor and integrated with the 6 DOF, high fidelity Systems Engineering Simulator (SES) at the NASA Johnson Space Center in Houston, Texas. The project goals were to automate the terminal phase of a shuttle rendezvous, normally flown manually by the crew, and proceed automatically to docking with the Space Station Freedom (SSF). The project goals were successfully demonstrated to various flight crew members, managers, and engineers in the technical community at JSC. The project was funded by NASA's Office of Space Flight, Advanced Program Development Division. Because of the complexity of the task, the REX development was divided into two distinct efforts. One to handle the guidance and control function using perfect navigation data, and another to provide the required visuals for the system management functions needed to give visibility to the crew members of the progress being made towards docking the shuttle with the LVLH stabilized SSF.

Hiers, Harry K.↗

NASA NTRS2004

Light Microscopy Module Imaging Tested and Demonstrated

The Fluids Integrated Rack (FIR), a facility-class payload, and the Light Microscopy Module (LMM), a subrack payload, are integrated research facilities that will fly in the U.S. Laboratory module, Destiny, aboard the International Space Station. Both facilities are being engineered, designed, and developed at the NASA Glenn Research Center by Northrop Grumman Information Technology. The FIR is a modular, multiuser scientific research facility that is one of two racks that make up the Fluids and Combustion Facility (the other being the Combustion Integrated Rack). The FIR has a large volume dedicated for experimental hardware; easily reconfigurable diagnostics, power, and data systems that allow for unique experiment configurations; and customizable software. The FIR will also provide imagers, light sources, power management and control, command and data handling for facility and experiment hardware, and data processing and storage. The first payload in the FIR will be the LMM. The LMM integrated with the FIR is a remotely controllable, automated, on-orbit microscope subrack facility, with key diagnostic capabilities for meeting science requirements--including video microscopy to observe microscopic phenonema and dynamic interactions, interferometry to make thin-film measurements with nanometer resolution, laser tweezers to manipulate micrometer-sized particles, confocal microscopy to provide enhanced three-dimensional visualization of structures, and spectrophotometry to measure the photonic properties of materials. Vibration disturbances were identified early in the LMM development phase as a high risk for contaminating the science microgravity environment. An integrated FIR-LMM test was conducted in Glenn's Acoustics Test Laboratory to assess mechanical sources of vibration and their impact to microscopic imaging. The primary purpose of the test was to characterize the LMM response at the sample location, the x-y stage within the microscope, to vibration emissions from the FIR and LMM support structures.

Gati, Frank↗

NASA NTRS2009

Lunar Landing Trajectory Design for Onboard Hazard Detection and Avoidance

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is developing the software and hardware technology needed to support a safe and precise landing for the next generation of lunar missions. ALHAT provides this capability through terrain-relative navigation measurements to enhance global-scale precision, an onboard hazard detection system to select safe landing locations, and an Autonomous Guidance, Navigation, and Control (AGNC) capability to process these measurements and safely direct the vehicle to a landing location. This paper focuses on the key trajectory design issues relevant to providing an onboard Hazard Detection and Avoidance (HDA) capability for the lander. Hazard detection can be accomplished by the crew visually scanning the terrain through a window, a sensor system imaging the terrain, or some combination of both. For ALHAT, this hazard detection activity is provided by a sensor system, which either augments the crew s perception or entirely replaces the crew in the case of a robotic landing. Detecting hazards influences the trajectory design by requiring the proper perspective, range to the landing site, and sufficient time to view the terrain. Following this, the trajectory design must provide additional time to process this information and make a decision about where to safely land. During the final part of the HDA process, the trajectory design must provide sufficient margin to enable a hazard avoidance maneuver. In order to demonstrate the effects of these constraints on the landing trajectory, a tradespace of trajectory designs was created for the initial ALHAT Design Analysis Cycle (ALDAC-1) and each case evaluated with these HDA constraints active. The ALHAT analysis process, described in this paper, narrows down this tradespace and subsequently better defines the trajectory design needed to support onboard HDA. Future ALDACs will enhance this trajectory design by balancing these issues and others in an overall system design process.

Paschall, Steve↗

NASA NTRS2013

Artificial Intelligence Software for Assessing Postural Stability

A software package reads and analyzes pressure distributions from sensors mounted under a person's feet. Pressure data from sensors mounted in shoes, or in a platform, can be used to provide a description of postural stability (assessing competence to deficiency) and enables the determination of the person's present activity (running, walking, squatting, falling). This package has three parts: a preprocessing algorithm for reading input from pressure sensors; a Hidden Markov Model (HMM), which is used to determine the person's present activity and level of sensing-motor competence; and a suite of graphical algorithms, which allows visual representation of the person's activity and vestibular function over time.

Lieberman, Erez↗

NASA NTRS1977

Reliability measurement during software development

Measurement of software reliability was carried out during the development of data base software for a multi-sensor tracking system. Every run made during this project was scored as success or failure, and supporting data were collected on forms for further analysis. The failure ratio (number of failures per calendar interval divided by total number of runs) and failure rate (number of failures divided by CPU time for the interval) were found to be consistent measures, on a month-to-month basis as well as from module to module, and therefore considered valid indicators of reliability in this environment. Trend lines could be established from these measurements that provide good visualization of the progress on the job as a whole as well as on individual modules. Over one-half of the observed failures were due to factors associated with the specific run submission rather than with the code proper.

Hecht, H.↗

NASA NTRS2022

VIPRE: A Tool Aiding the Design for Entry Probe Missions

Exploring planetary atmospheres uncovers important information for how our solar system formed and evolved. While remote sensing is extensively used, some crucial observations require in-situ measurements by an atmospheric probe. Given their scientific importance, probe missions to Saturn, Uranus and Neptune are considered for the coming decades. In anticipation of future probe missions, the software tool VIPRE was developed as proof-of-concept to facilitate selection of probe entry locations. Currently, there is no analytical way to identify which interplanetary trajectory from thousands of feasible launch opportunities is optimal for a considered mission concept. The search and decision process for that solution is complex and relies on the intuition of mission designers, who focus on a subset of trajectories to make the trade space manageable. The idea of VIPRE is to (1) generate a multi-dimensional data cube showing relevant engineering and science parameters simultaneously for thousands of trajectories, and (2) visualize the data for all entry sites over the body's envelope. VIPRE lays the foundation to make the data available for browsing in a 3-D visualization to identify the best family of solutions for a given mission. The paper introduces the validated and verified core algorithms of VIPRE, published on GitHub. VIPRE serves as a basic framework to be used and extended for different purposes. The paper presents the motivation for the development and algorithms. It explains the computation and data visualization strategy, and gives a list of suggested functionalities to extend and further develop VIPRE to fully leverage its potential.

Ice Giants↗

NASA NTRS1990

A concurrent distributed system for aircraft tactical decision generation

A research program investigating the use of AI techniques to aid in the development of a tactical decision generator (TDG) for within visual range (WVR) air combat engagements is discussed. The application of AI programming and problem-solving methods in the development and implementation of a concurrent version of the computerized logic for air-to-air warfare simulations (CLAWS) program, a second-generation TDG, is presented. Concurrent computing environments and programming approaches are discussed, and the design and performance of prototype concurrent TDG system (Cube CLAWS) are presented. It is concluded that the Cube CLAWS has provided a useful testbed to evaluate the development of a distributed blackboard system. The project has shown that the complexity of developing specialized software on a distributed, message-passing architecture such as the Hypercube is not overwhelming, and that reasonable speedups and processor efficiency can be achieved by a distributed blackboard system. The project has also highlighted some of the costs of using a distributed approach to designing a blackboard system.

Mcmanus, John W.↗

NASA NTRS2000

Interactive Computer Graphics

Aerospace data analysis tools that significantly reduce the time and effort needed to analyze large-scale computational fluid dynamics simulations have emerged this year. The current approach for most postprocessing and visualization work is to explore the 3D flow simulations with one of a dozen or so interactive tools. While effective for analyzing small data sets, this approach becomes extremely time consuming when working with data sets larger than one gigabyte. An active area of research this year has been the development of data mining tools that automatically search through gigabyte data sets and extract the salient features with little or no human intervention. With these so-called feature extraction tools, engineers are spared the tedious task of manually exploring huge amounts of data to find the important flow phenomena. The software tools identify features such as vortex cores, shocks, separation and attachment lines, recirculation bubbles, and boundary layers. Some of these features can be extracted in a few seconds; others take minutes to hours on extremely large data sets. The analysis can be performed off-line in a batch process, either during or following the supercomputer simulations. These computations have to be performed only once, because the feature extraction programs search the entire data set and find every occurrence of the phenomena being sought. Because the important questions about the data are being answered automatically, interactivity is less critical than it is with traditional approaches.

Kenwright, David↗

NASA NTRS1998

Simultaneous in situ Optical Monitoring Techniques during Crystal Growth of ZnSe by Physical Vapor Transport

ZnSe crystals grown in sealed ampoules by the physical vapor transport method were monitored in situ using three techniques, simultaneously. A Michelson interferometer was set-up to observe the growth rate and surface morphological evolution. An interference pattern (interferogram) is formed by the interaction between the reflection of a HeNe laser (632.8 nm wavelength) off the crystal-vapor interface and a reference beam from the same laser. Preliminary results indicate that the rate of growth/thermal-etching can be calculated using analog data acquisition and simple fringe counting techniques. Gross surface features may also be observed using a digital frame grabber and fringe analysis software. The second in situ technique uses optical absorption to determine the partial pressures of the vapor species. The Se2 and Zn vapor species present in the sealed ampoule absorb light at characteristic wavelengths. The optical absorption is determined by monitoring the light intensity difference between the sample and reference beams. The Se2 Partial pressure profile along the length of the ampoule was estimated from the vibronic absorption peaks at 340.5, 350.8, 361.3 and 379.2 nm using the Beer's law constants established in the calibration runs of pure Se. Finally, because the high temperature crystal growth furnace contains windows, in situ visual observation of the growing crystal is also possible. The use of these techniques not only permits in situ investigation of high temperature vapor growth of semiconductors, but also offers the potential for real time feed back on the growing crystal and allows the possibility of actively controlling the growth process.

Su, C.- H.↗

NASA NTRS2008

Designing a Composable Geometric Toolkit for Versatility in Applications to Simulation Development

Conceived and implemented through the development of probabilistic risk assessment simulations for Project Constellation, the Geometric Toolkit allows users to create, analyze, and visualize relationships between geometric shapes in three-space using the MATLAB computing environment. The key output of the toolkit is an analysis of how emanations from one "source" geometry (e.g., a leak in a pipe) will affect another "target" geometry (e.g., another heat-sensitive component). It can import computer-aided design (CAD) depictions of a system to be analyzed, allowing the user to reliably and easily represent components within the design and determine the relationships between them, ultimately supporting more technical or physics-based simulations that use the toolkit. We opted to develop a variety of modular, interconnecting software tools to extend the scope of the toolkit, providing the capability to support a range of applications. This concept of simulation composability allows specially-developed tools to be reused by assembling them in various combinations. As a result, the concepts described here and implemented in this toolkit have a wide range of applications outside the domain of risk assessment. To that end, the Geometric Toolkit has been evaluated for use in other unrelated applications due to the advantages provided by its underlying design.

Reed, Gregory S.↗

NASA NTRS2012

JPL Genesis and Rapid Intensification Processes (GRIP) Portal

Satellite observations can play a very important role in airborne field campaigns, since they provide a comprehensive description of the environment that is essential for the experiment design, flight planning, and post-experiment scientific data analysis. In the past, it has been difficult to fully utilize data from multiple NASA satellites due to the large data volume, the complexity of accessing NASA s data in near-real-time (NRT), as well as the lack of software tools to interact with multi-sensor information. The JPL GRIP Portal is a Web portal that serves a comprehensive set of NRT observation data sets from NASA and NOAA satellites describing the atmospheric and oceanic environments related to the genesis and intensification of the tropical storms in the North Atlantic Ocean. Together with the model forecast data from four major global atmospheric models, this portal provides a useful tool for the scientists and forecasters in planning and monitoring the NASA GRIP field campaign during the 2010 Atlantic Ocean hurricane season. This portal uses the Google Earth plug-in to visualize various types of data sets, such as 2D maps, wind vectors, streamlines, 3D data sets presented at series of vertical cross-sections or pointwise vertical profiles, and hurricane best tracks and forecast tracks. Additionally, it allows users to overlap multiple data sets, change the opacity of each image layer, generate animations on the fly with selected data sets, and compare the observation data with the model forecast using two independent calendars. The portal also provides the capability to identify the geographic location of any point of interest. In addition to supporting the airborne mission planning, the NRT data and portal will serve as a very rich source of information during the post-field campaign analysis stage of the airborne experiment. By including a diverse set of satellite observations and model forecasts, it provides a good spatial and temporal context for the high-resolution, but limited in space and time, airborne observations.

Knosp, Brian W.↗