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NASA NTRS2011

CloudSat Reflectivity Data Visualization Inside Hurricanes

Animations and other outreach products have been created and released to the public quickly after the CloudSat spacecraft flew over hurricanes. The automated script scans through the CloudSat quicklook data to find significant atmospheric moisture content. Once such a region is found, data from multiple sources is combined to produce the data products and the animations. KMZ products are quickly generated from the quicklook data for viewing in Google Earth and other tools. Animations are also generated to show the atmospheric moisture data in context with the storm cloud imagery. Global images from GOES satellites are shown to give context. The visualization provides better understanding of the interior of the hurricane storm clouds, which is difficult to observe directly. The automated process creates the finished animation in the High Definition (HD) video format for quick release to the media and public.

visualization↗
NASA NTRS2005

Solar-System Ephemeris Toolbox

NASA s Jet Propulsion Laboratory (JPL) generates planetary and lunar ephemeris data and FORTRAN routines that allow users to obtain state data for the Sun, the moon, and the planets. The JPL Solar System Ephemeris Toolbox, developed at Kennedy Space Center, is a set of functions that provides the same functionality in the MATLAB computing environment along with some additional capabilities. The toolbox can be used interactively via a graphical user interface (GUI), or individual functions can be called from the MATLAB command prompt or other MATLAB scripts and functions. The toolbox also includes utility functions to define and perform coordinate transformation (e.g., mean-of-date, true-of-date, J2000) that are common in the use of these ephemerides. An attached README file guides the user through the process of constructing binary ephemeris files, verifying correct installation, and using functions to extract state data. This process also can be performed using the GUI. Help from each toolbox function is available through MATLAB s "help" function. Many of the functions in the toolbox are MATLAB equivalents of the JPL-written FORTRAN programs and subroutines used for the same purposes. A novice can use the GUI to extract state data, while a more experienced user can use the functions directly, as needed, in his/her applications. The toolbox has been tested using MATLAB Releases 13 an

Walker, Charles F.↗
NASA NTRS2011

Situational Lightning Climatologies for Central Florida: Phase V

The AMU added three years of data to the POR from the previous work resulting in a 22-year POR for the warm season months from 1989-2010. In addition to the flow regime stratification, moisture and stability stratifications were added to separate more active from less active lighting days within the same flow regime. The parameters used for moisture and stability stratifications were PWAT and TI which were derived from sounding data at four Florida radiosonde sites. Lightning data consisted of NLDN CG lightning flashes within 30 NM of each airfield. The AMU increased the number of airfields from nine to thirty-six which included the SLF, CCAFS, PAFB and thirty-three airfields across Florida. The NWS MLB requested the AMU calculate lightning climatologies for additional airfields that they support as a backup to NWS TBW which was then expanded to include airfields supported by NWS JAX and NWS MFL. The updated climatologies of lightning probabilities are based on revised synoptic-scale flow regimes over the Florida peninsula (Lambert 2007) for 5-, 10-, 20- and 30-NM radius range rings around the thirty-six airfields in 1-, 3- and 6-hour increments. The lightning, flow regime, moisture and stability data were processed in S-PLUS software using scripts written by the AMU to automate much of the data processing. The S-PLUS data files were exported to Excel to allow the files to be combined in Excel Workbooks for easier data handling and to create the tables and charts for the Gill. The AMU revised the Gill developed in the previous phase (Bauman 2009) with the new data and provided users with an updated HTML tool to display and manipulate the data and corresponding charts. The tool can be used with most web browsers and is computer operating system independent. The AMU delivered two Gills - one with just the PWAT stratification and one with both the PWAT and TI stratifications due to insufficient data in some of the PWATITI stratification combinations. This will allow the forecasters to choose a moisture-only or moisture/stability stratification depending on the flow regime and available data.

Bauman, William H., III↗
NASA NTRS2004

An Architecture for Controlling Multiple Robots

The Control Architecture for Multirobot Outpost (CAMPOUT) is a distributed-control architecture for coordinating the activities of multiple robots. In the CAMPOUT, multiple-agent activities and sensor-based controls are derived as group compositions and involve coordination of more basic controllers denoted, for present purposes, as behaviors. The CAMPOUT provides basic mechanistic concepts for representation and execution of distributed group activities. One considers a network of nodes that comprise behaviors (self-contained controllers) augmented with hyper-links, which are used to exchange information between the nodes to achieve coordinated activities. Group behavior is guided by a scripted plan, which encodes a conditional sequence of single-agent activities. Thus, higher-level functionality is composed by coordination of more basic behaviors under the downward task decomposition of a multi-agent planner

Aghazarian, Hrand↗
NASA NTRS2004

Software for Autonomous Spacecraft Maneuvers

The AutoCon computer programs facilitate and accelerate the planning and execution of orbital control maneuvers of spacecraft while analyzing and resolving mission constraints. AutoCon-F is executed aboard spacecraft, enabling the spacecraft to plan and execute maneuvers autonomously; AutoCon-G is designed for use on the ground. The AutoCon programs utilize advanced techniques of artificial intelligence, including those of fuzzy logic and natural-language scripting, to resolve multiple conflicting constraints and automatically plan maneuvers. These programs can be used to satisfy requirements for missions that involve orbits around the Earth, the Moon, or any planet, and are especially useful for missions in which there are requirements for frequent maneuvers and for resolution of complex conflicting constraints. During operations, the software targets new trajectories, places and sizes maneuvers, and controls spacecraft burns. AutoCon-G provides a userfriendly graphical interface, and can be used effectively by an analyst with minimal training. AutoCon-F reduces latency and supports multiple-spacecraft and formation-flying missions. The AutoCon architecture supports distributive processing, which can be critical for formation- control missions. AutoCon is completely object-oriented and can easily be enhanced by adding new objects and events. AutoCon-F was flight demonstrated onboard GSFC's EO-1 spacecraft flying in formation with Landsat-7.

Bristow, John↗
NASA NTRS2004

Software for Automated Testing of Mission-Control Displays

MCC Display Cert Tool is a set of software tools for automated testing of computerterminal displays in spacecraft mission-control centers, including those of the space shuttle and the International Space Station. This software makes it possible to perform tests that are more thorough, take less time, and are less likely to lead to erroneous results, relative to tests performed manually. This software enables comparison of two sets of displays to report command and telemetry differences, generates test scripts for verifying telemetry and commands, and generates a documentary record containing display information, including version and corrective-maintenance data. At the time of reporting the information for this article, work was continuing to add a capability for validation of display parameters against a reconfiguration file.

OHagan, Brian↗
NASA NTRS2003

Software for Better Documentation of Other Software

The Literate Programming Extraction Engine is a Practical Extraction and Reporting Language- (PERL-)based computer program that facilitates and simplifies the implementation of a concept of self-documented literate programming in a fashion tailored to the typical needs of scientists. The advantage for the programmer is that documentation and source code are written side-by-side in the same file, reducing the likelihood that the documentation will be inconsistent with the code and improving the verification that the code performs its intended functions. The advantage for the user is the knowledge that the documentation matches the software because they come from the same file. This program unifies the documentation process for a variety of programming languages, including C, C++, and several versions of FORTRAN. This program can process the documentation in any markup language, and incorporates the LaTeX typesetting software. The program includes sample Makefile scripts for automating both the code-compilation (when appropriate) and documentation-generation processes into a single command-line statement. Also included are macro instructions for the Emacs display-editor software, making it easy for a programmer to toggle between editing in a code or a documentation mode.

Pinedo, John↗
NASA NTRS2011

Conical Probe Calibration and Wind Tunnel Data Analysis of the Channeled Centerbody Inlet Experiment

For a multi-hole test probe undergoing wind tunnel tests, the resulting data needs to be analyzed for any significant trends. These trends include relating the pressure distributions, the geometric orientation, and the local velocity vector to one another. However, experimental runs always involve some sort of error. As a result, a calibration procedure is required to compensate for this error. For this case, it is the misalignment bias angles resulting from the distortion associated with the angularity of the test probe or the local velocity vector. Through a series of calibration steps presented here, the angular biases are determined and removed from the data sets. By removing the misalignment, smoother pressure distributions contribute to more accurate experimental results, which in turn could be then compared to theoretical and actual in-flight results to derive any similarities. Error analyses will also be performed to verify the accuracy of the calibration error reduction. The resulting calibrated data will be implemented into an in-flight RTF script that will output critical flight parameters during future CCIE experimental test runs. All of these tasks are associated with and in contribution to NASA Dryden Flight Research Center s F-15B Research Testbed s Small Business Innovation Research of the Channeled Centerbody Inlet Experiment.

Truong, Samson Siu↗
NASA NTRS2003

e-Stars Template Builder

e-Stars Template Builder is a computer program that implements a concept of enabling users to rapidly gain access to information on projects of NASA's Jet Propulsion Laboratory. The information about a given project is not stored in a data base, but rather, in a network that follows the project as it develops. e-Stars Template Builder resides on a server computer, using Practical Extraction and Reporting Language (PERL) scripts to create what are called "e-STARS node templates," which are software constructs that allow for project-specific configurations. The software resides on the server and does not require specific software on the user machine except for an Internet browser. A user's computer need not be equipped with special software (other than an Internet-browser program). e-Stars Template Builder is compatible with Windows, Macintosh, and UNIX operating systems. A user invokes e-Stars Template Builder from a browser window. Operations that can be performed by the user include the creation of child processes and the addition of links and descriptions of documentation to existing pages or nodes. By means of this addition of "child processes" of nodes, a network that reflects the development of a project is generated.

Cox, Brian↗
NASA NTRS2011

Thermal Protection System Imagery Inspection Management System -TIIMS

TIIMS is used during the inspection phases of every mission to provide quick visual feedback, detailed inspection data, and determination to the mission management team. This system consists of a visual Web page interface, an SQL database, and a graphical image generator. These combine to allow a user to ascertain quickly the status of the inspection process, and current determination of any problem zones. The TIIMS system allows inspection engineers to enter their determinations into a database and to link pertinent images and video to those database entries. The database then assigns criteria to each zone and tile, and via query, sends the information to a graphical image generation program. Using the official TIPS database tile positions and sizes, the graphical image generation program creates images of the current status of the orbiter, coloring zones, and tiles based on a predefined key code. These images are then displayed on a Web page using customized JAVA scripts to display the appropriate zone of the orbiter based on the location of the user's cursor. The close-up graphic and database entry for that particular zone can then be seen by selecting the zone. This page contains links into the database to access the images used by the inspection engineer when they make the determination entered into the database. Status for the inspection zones changes as determinations are refined and shown by the appropriate color code.

Goza, Sharon↗
NASA NTRS2011

Graphical Language for Data Processing

A graphical language for processing data allows processing elements to be connected with virtual wires that represent data flows between processing modules. The processing of complex data, such as lidar data, requires many different algorithms to be applied. The purpose of this innovation is to automate the processing of complex data, such as LIDAR, without the need for complex scripting and programming languages. The system consists of a set of user-interface components that allow the user to drag and drop various algorithmic and processing components onto a process graph. By working graphically, the user can completely visualize the process flow and create complex diagrams. This innovation supports the nesting of graphs, such that a graph can be included in another graph as a single step for processing. In addition to the user interface components, the system includes a set of .NET classes that represent the graph internally. These classes provide the internal system representation of the graphical user interface. The system includes a graph execution component that reads the internal representation of the graph (as described above) and executes that graph. The execution of the graph follows the interpreted model of execution in that each node is traversed and executed from the original internal representation. In addition, there are components that allow external code elements, such as algorithms, to be easily integrated into the system, thus making the system infinitely expandable.

Alphonso, Keith↗
NASA NTRS2011

InSAR Scientific Computing Environment

This computing environment is the next generation of geodetic image processing technology for repeat-pass Interferometric Synthetic Aperture (InSAR) sensors, identified by the community as a needed capability to provide flexibility and extensibility in reducing measurements from radar satellites and aircraft to new geophysical products. This software allows users of interferometric radar data the flexibility to process from Level 0 to Level 4 products using a variety of algorithms and for a range of available sensors. There are many radar satellites in orbit today delivering to the science community data of unprecedented quantity and quality, making possible large-scale studies in climate research, natural hazards, and the Earth's ecosystem. The proposed DESDynI mission, now under consideration by NASA for launch later in this decade, would provide time series and multiimage measurements that permit 4D models of Earth surface processes so that, for example, climate-induced changes over time would become apparent and quantifiable. This advanced data processing technology, applied to a global data set such as from the proposed DESDynI mission, enables a new class of analyses at time and spatial scales unavailable using current approaches. This software implements an accurate, extensible, and modular processing system designed to realize the full potential of InSAR data from future missions such as the proposed DESDynI, existing radar satellite data, as well as data from the NASA UAVSAR (Uninhabited Aerial Vehicle Synthetic Aperture Radar), and other airborne platforms. The processing approach has been re-thought in order to enable multi-scene analysis by adding new algorithms and data interfaces, to permit user-reconfigurable operation and extensibility, and to capitalize on codes already developed by NASA and the science community. The framework incorporates modern programming methods based on recent research, including object-oriented scripts controlling legacy and new codes, abstraction and generalization of the data model for efficient manipulation of objects among modules, and well-designed module interfaces suitable for command- line execution or GUI-programming. The framework is designed to allow users contributions to promote maximum utility and sophistication of the code, creating an open-source community that could extend the framework into the indefinite future.

Rosen, Paul A.↗
NASA NTRS2005

Requirements to Design to Code: Towards a Fully Formal Approach to Automatic Code Generation

A general-purpose method to mechanically transform system requirements into a provably equivalent model has yet to appear. Such a method represents a necessary step toward high-dependability system engineering for numerous possible application domains, including distributed software systems, sensor networks, robot operation, complex scripts for spacecraft integration and testing, and autonomous systems. Currently available tools and methods that start with a formal model of a: system and mechanically produce a provably equivalent implementation are valuable but not sufficient. The "gap" that current tools and methods leave unfilled is that their formal models cannot be proven to be equivalent to the system requirements as originated by the customer. For the ciasses of systems whose behavior can be described as a finite (but significant) set of scenarios, we offer a method for mechanically transforming requirements (expressed in restricted natural language, or in other appropriate graphical notations) into a provably equivalent formal model that can be used as the basis for code generation and other transformations.

Hinchey, Michael G.↗
NASA NTRS2011

Object-Oriented Multi-Disciplinary Design, Analysis, and Optimization Tool

An Object-Oriented Optimization (O3) tool was developed that leverages existing tools and practices, and allows the easy integration and adoption of new state-of-the-art software. At the heart of the O3 tool is the Central Executive Module (CEM), which can integrate disparate software packages in a cross platform network environment so as to quickly perform optimization and design tasks in a cohesive, streamlined manner. This object-oriented framework can integrate the analysis codes for multiple disciplines instead of relying on one code to perform the analysis for all disciplines. The CEM was written in FORTRAN and the script commands for each performance index were submitted through the use of the FORTRAN Call System command. In this CEM, the user chooses an optimization methodology, defines objective and constraint functions from performance indices, and provides starting and side constraints for continuous as well as discrete design variables. The structural analysis modules such as computations of the structural weight, stress, deflection, buckling, and flutter and divergence speeds have been developed and incorporated into the O3 tool to build an object-oriented Multidisciplinary Design, Analysis, and Optimization (MDAO) tool.

Pak, Chan-gi↗
NASA NTRS2011

Space Telecommunications Radio System (STRS) Compliance Testing

The Space Telecommunications Radio System (STRS) defines an open architecture for software defined radios. This document describes the testing methodology to aid in determining the degree of compliance to the STRS architecture. Non-compliances are reported to the software and hardware developers as well as the NASA project manager so that any non-compliances may be fixed or waivers issued. Since the software developers may be divided into those that provide the operating environment including the operating system and STRS infrastructure (OE) and those that supply the waveform applications, the tests are divided accordingly. The static tests are also divided by the availability of an automated tool that determines whether the source code and configuration files contain the appropriate items. Thus, there are six separate step-by-step test procedures described as well as the corresponding requirements that they test. The six types of STRS compliance tests are: STRS application automated testing, STRS infrastructure automated testing, STRS infrastructure testing by compiling WFCCN with the infrastructure, STRS configuration file testing, STRS application manual code testing, and STRS infrastructure manual code testing. Examples of the input and output of the scripts are shown in the appendices as well as more specific information about what to configure and test in WFCCN for non-compliance. In addition, each STRS requirement is listed and the type of testing briefly described. Attached is also a set of guidelines on what to look for in addition to the requirements to aid in the document review process.

Handler, Louis M.↗
NASA NTRS2012

Advancing Robotic Control for Space Exploration Using Robonaut 2

Robonaut 2, or R2, arrived on the International Space Station (ISS) in February 2011 and is currently being tested in preparation for its role initially as an Intra-Vehicular Activity (IVA) tool and eventually as a robot that performs Extra-Vehicular Activities (EVA). Robonaut 2, is a state of the art dexterous anthropomorphic robotic torso designed for assisting astronauts. R2 features increased force sensing, greater range of motion, higher bandwidth, and improved dexterity over its predecessor. Robonaut 2 is unique in its ability to safely allow humans in its workspace and to perform significant tasks in a workspace designed for humans. The current operational paradigm involves either the crew or the ground control team running semi-autonomous scripts on the robot as both the astronaut and the ground team monitor R2 and the data it produces. While this is appropriate for the check-out phase of operations, the future plans for R2 will stress the current operational framework. The approach described here will outline a suite of operational modes that will be developed for Robonaut 2. These operational modes include teleoperation, shared control, directed autonomy, and supervised autonomy, and they cover a spectrum of human involvement in controlling R2.

Badger, Julia↗
NASA NTRS2011

Comprehensive Forced Response Analysis of J2X Turbine Bladed-Discs with 360 Degree Variation in CFD Loading

The temporal frequency content of the dynamic pressure predicted by a 360 degree computational fluid dynamics (CFD) analysis of a turbine flow field provides indicators of forcing function excitation frequencies (e.g., multiples of blade pass frequency) for turbine components. For the Pratt and Whitney Rocketdyne J-2X engine turbopumps, Campbell diagrams generated using these forcing function frequencies and the results of NASTRAN modal analyses show a number of components with modes in the engine operating range. As a consequence, forced response and static analyses are required for the prediction of combined stress, high cycle fatigue safety factors (HCFSF). Cyclically symmetric structural models have been used to analyze turbine vane and blade rows, not only in modal analyses, but also in forced response and static analyses. Due to the tortuous flow pattern in the turbine, dynamic pressure loading is not cyclically symmetric. Furthermore, CFD analyses predict dynamic pressure waves caused by adjacent and non-adjacent blade/vane rows upstream and downstream of the row analyzed. A MATLAB script has been written to calculate displacements due to the complex cyclically asymmetric dynamic pressure components predicted by CFD analysis, for all grids in a blade/vane row, at a chosen turbopump running speed. The MATLAB displacements are then read into NASTRAN, and dynamic stresses are calculated, including an adjustment for possible mistuning. In a cyclically symmetric NASTRAN static analysis, static stresses due to centrifugal, thermal, and pressure loading at the mode running speed are calculated. MATLAB is used to generate the HCFSF at each grid in the blade/vane row. When compared to an approach assuming cyclic symmetry in the dynamic flow field, the current approach provides better assurance that the worst case safety factor has been identified. An extended example for a J-2X turbopump component is provided.

Elrod, David↗
NASA NTRS2011

Comprehensive Forced Response Analysis of J2X Turbine Bladed-Discs with 36- Degree Variation in CFD Loading

At NASA/MSFC, Structural Dynamics personnel continue to perform advanced analysis for the turbomachinery in the J2X Rocket Engine, which is under consideration for the new Space Launch System. One of the most challenging analyses in the program is predicting turbine blade structural capability. Resonance was predicted by modal analysis, so comprehensive forced response analyses using high fidelity cyclic symmetric finite element models were initiated as required. Analysis methodologies up to this point have assumed the flow field could be fully described by a sector, so the loading on every blade would be identical as it travelled through it. However, in the J2X the CFD flow field varied over the 360 deg of a revolution because of the flow speeds and tortuous axial path. MSFC therefore developed a complex procedure using Nastran Dmap's and Matlab scripts to apply this circumferentially varying loading onto the cyclically symmetric structural models to produce accurate dynamic stresses for every blade on the disk. This procedure is coupled with static, spin, and thermal loading to produce high cycle fatigue safety factors resulting in much more accurate analytical assessments of the blades.

Elrod, David↗