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This paper presents arguments for a balanced approach to modelling and reasoning in an autonomous robotic system. The framework discussed utilizes both declarative and procedural modelling to define the domain, rules, and constraints of the system and also balances the use of deliberative and reactive reasoning during execution.
Shadowed regions on the lunar surface acquire a negative potential. In particular, shadowed craters can have a negative potential with respect to the surrounding lunar regolith in sunlight, especially near the terminator regions. Here we analyze the motion of a positively charged lunar dust grain in the presence of a shadowed crater at a negative potential in vacuum. Previous models describing the transport of charged lunar dust close to the surface have typically been limited to one-dimensional motion in the vertical direction, e.g. electrostatic levitation; however, the electric fields in the vicinity of shadowed craters will also have significant components in the horizontal directions. We propose a model that includes both the horizontal and vertical motion of charged dust grains near shadowed craters. We show that the dust grains execute oscillatory trajectories and present an expression for the period of oscillation drawing an analogy to the motion of a pendulum.
Shadowed regions on the lunar surface acquire a negative potential. In particular, shadowed craters can have a negative potential with respect to the surrounding lunar regolith in sunlight, especially near the terminator regions. Here we analyze the motion of a positively charged lnnar dust grain in the presence of a shadowed crater at a negative potential in vacuum. Previous models describing the transport of charged lunar dust close to the surface have typically been limited to one-dimensional motion in the vertical direction, e.g. electrostatic levitation; however. the electric fields in the vicinity of shadowed craters will also have significant components in the horizontal directions. We propose a model that includes both the horizontal and vertical motion of charged dust grains near shadowed craters. We show that the dust grains execute oscillatory trajectories and present an expression for the period of oscillation drawing an analogy to the motion of a pendulum.
Structural coverage metrics have traditionally categorized code as either covered or uncovered. Recent work presents a stronger notion of coverage, checked coverage, which counts only statements whose execution contributes to an outcome checked by an oracle. While this notion of coverage addresses the adequacy of the oracle, for Model-Based Development of safety critical systems, it is still not enough; we are also interested in how much of the oracle is covered, and whether the values of program variables are masked when the oracle is evaluated. Such information can help system engineers identify missing requirements as well as missing test cases. In this work, we add to the idea of checked coverage an analysis of requirements coverage to help provide insight to engineers as to whether the requirements or the test suite need to be improved. We implement our approach based on a dynamic backward slicing technique and evaluate it on several systems developed in Simulink. The results of our preliminary study show that even for systems with comprehensive test suites and good sets of requirements, our approach can identify cases where more tests or more requirements are needed to improve coverage numbers.
Learn-to-Fly (L2F) is an advanced technology development effort under the NASA Transformative Aeronautics Concepts Program (TACP) that is aimed at assessing the feasibility of self-learning flight vehicles. Specifically, research has been conducted to demonstrate the potential to merge two enabling technologies; real-time aerodynamic modeling and adaptive controls, to substantially reduce the typical ground and flight testing requirements for air vehicle design. The approach to this effort involved development of unique airframes and on-board algorithms to demonstrate key L2F technologies on a fully autonomous flight test vehicle. This research, that included an aggressive flight test program, was intended to rapidly advance these technologies and demonstrate capabilities of the L2F approach. Key components of the L2F architecture include real-time aerodynamic modeling, adaptive controls and control allocation, and guidance. This paper provides an overview of the guidance algorithm which primarily served as an executive function to coordinate control commands for range navigation and the desired test conditions, provide autonomous envelope limiting/expansion and enable automatic landing to touchdown with no intervention from a human operator. A discussion of the L2F concept-of-operations and unique flight testing considerations, which influenced the guidance functional requirements, is included and results of recent flight testing are presented.
A battery management system comprising a processor and a memory storing instructions that, when executed by the processor, cause the battery management system to estimate one or more states of the battery by applying a battery model to account for physical parameters of a chemical composition of the battery based on one or more measured characteristics of the battery and the one or more estimated characteristics of the battery and regulate a first charging mode of the battery based on the estimation of the one or more states of the one or more battery cells and switch between the first charging mode and a second charging mode based on the estimation of the one or more states of the battery to allow for rapid charging of the battery.
DIY2 is a programming model and runtime for block-parallel analytics on distributed-memory machines. Its main abstraction is block-structured data parallelism: data are decomposed into blocks; blocks are assigned to processing elements (processes or threads); computation is described as iterations over these blocks, and communication between blocks is defined by reusable patterns. By expressing computation in this general form, the DIY2 runtime is free to optimize the movement of blocks between slow and fast memories (disk and flash vs. DRAM) and to concurrently execute blocks residing in memory with multiple threads. This enables the same program to execute in-core, out-of-core, serial, parallel, single-threaded, multithreaded, or combinations thereof. This paper describes the implementation of the main features of the DIY2 programming model and optimizations to improve performance. DIY2 is evaluated on benchmark test cases to establish baseline performance for several common patterns and on larger complete analysis codes running on large-scale HPC machines.
An orthotropic elasto-plastic-damage three-dimensional model with tabulated input has been developed to analyze the impact response of composite materials. The theory has been implemented as MAT 213 into a tailored version of LS-DYNA being developed under a joint effort of the FAA and NASA and has the following features: (a) the theory addresses any composite architecture that can be experimentally characterized as an orthotropic material and includes rate and temperature sensitivities, (b) the formulation is applicable for solid as well as shell element implementations and utilizes input data in a tabulated form directly from processed experimental data, (c) deformation and damage mechanics are both accounted for within the material model, (d) failure criteria are established that are functions of strain and damage parameters, and mesh size dependence is included, and (e) the theory can be efficiently implemented into a commercial code for both sequential and parallel executions. The salient features of the theory as implemented in LS-DYNA are illustrated using a widely used composite - the T800S/3900-2B[P2352W-19] BMS8-276 Rev-H-Unitape fiber/resin unidirectional composite. First, the experimental tests to characterize the deformation, damage and failure parameters in the material behavior are discussed. Second, the MAT213 input model and implementation details are presented with particular attention given to procedures that have been incorporated to ensure that the yield surfaces in the rate and temperature dependent plasticity model are convex. Finally, the paper concludes with a validation test designed to test the stability, accuracy and efficiency of the implemented model.
Accurate predictive modeling of high explosives in abnormal conditions, such as a fire, is critical to personnel safety. Modeling depends heavily on precise physical characterization of the high explosive in question. The aim of this thesis was to characterize the detonation response to shock and the microstructure at high-temperature (250°C) of PBX 9502 and use these data to attempt to model these results using a new reactive burn model called SURF (Scaled Uniform Reactive Front). In order to characterize the shock response of PBX 9502 at high-temperature a 1D gas gun experiment was designed and executed that provided shock to detonation transition data. These data were then used to do a preliminary calibration of SURF for PBX 9502 at 250°C. Small-angle neutron scattering (SANS) was employed to characterize the void morphology of PBX 9502 as a function of temperature. This was done in order to feed a modified version of SURF called physically informed - SURF (π-SURF) which uses the void size and quantity distribution data as measured by SANS along with the deflagration and detonation characteristics of a high explosive to inform the SURF model. The π-SURF model was then used to model both ambient and high-temperature PBX 9502 SDT response and the results were compared to the physically measured results. It was found that π-SURF works in ambient cases. At high-temperature, however, it was determined that not enough information is known about hot spot formation to use the π-SURF model for high-temperature scenarios.
This project addresses the problem of achieving accurate material control and accountability (MC&A) around pyroprocessing electrorefiner systems. Spent nuclear fuel pyroprocessing poses a unique challenge with respect to reprocessing technology in that the fuel is never fully dissolved in the process fluid. In this case, the process fluid is molten, anhydrous LiCl-KCl salt. Therefore, there is no traditional input accountability tank. However, electrorefiners (ER) accumulate very large quantities of fissile nuclear material (including plutonium) and should be well safeguarded in a commercial facility. Idaho National Laboratory (INL) currently operates a pyroprocessing facility for treatment of spent fuel from Experimental Breeder Reactor-II with two such ER systems. INL implements MC&A via a mass tracking model in combination with periodic sampling of the salt and other materials followed by destructive analysis. This approach is projected to be insufficient to meet international safeguards timeliness requirements. A real time or near real time monitoring method is, thus, direly needed to support commercialization of pyroprocessing. A variety of approaches to achieving real time monitoring for ER salt have been proposed and studied to date—including a potentiometric actinide sensor for concentration measurements, a double bubbler for salt depth and density measurements, and laser induced breakdown spectroscopy (LIBS) for concentration measurements. While each of these methods shows some promise, each also involves substantial technical complexity that may ultimately limit their implementation. Yet another alternative is voltammetry —a very simple method in theory that has previously been tested for this application to a limited extent. The equipment for a voltammetry system consists of off-the-shelf components (three electrodes and a potentiostat), which results in substantial benefits relative to cost and robustness. Based on prior knowledge of electrochemical reduction potentials for each of the species of interest, voltammetry can be used to quantify concentrations of a variety of elemental species—including uranium, plutonium, minor actinides, and rare earths. Various methods have been tested by other researchers to date—including cyclic voltammetry, square wave voltammetry, normal pulse voltammetry, etc. In most cases, it has been observed that there is a very limited concentration range for which the output can be readily correlated with concentration in the salt. Furthermore, testing to date has been limited to simple ternary salts with only a single element being quantified. While incomplete for application to MC&A for pyroprocessing, these results lead us to believe that voltammetry can be optimized based on salt properties and fundamental electrochemical rate processes to yield a highly accurate and robust method. This project is divided into four tasks jointly executed by three university research groups. This includes experimental measurement of key physical data on the systems of interest, development of a predictive voltammetry model, experimental validation of the voltammetry model, and design/verification of an optimized measurement method. This project supports the goals of the US-ROK Joint Fuel Cycle Study in addition to the NA-24 Office of the National Nuclear Security Agency and the International Atomic Energy Agency (IAEA).
Automated planning systems (APS) are gaining acceptance for use on NASA missions as evidenced by APS flown On missions such as Orbiter and Deep Space 1 both of which were commanded by onboard planning systems. The planning system takes high level goals and expands them onboard into a detailed of action fiat the spacecraft executes. The system must be verified to ensure that the automatically generated plans achieve the goals as expected and do not generate actions that would harm the spacecraft or mission. These systems are typically tested using empirical methods. Formal methods, such as model checking, offer exhaustive or measurable test coverage which leads to much greater confidence in correctness. This paper describes a formal method based on the SPIN model checker. This method guarantees that possible plans meet certain desirable properties. We express the input model in Promela, the language of SPIN and express the properties of desirable plans formally.
This technical report summarizes model verification results and summary statistics for 41 evaporite mineral solubility cases evaluated by Savannah River National Laboratory using OLI Systems’ aqueous electrolyte thermodynamic modeling software. The 41 verification cases containing a total of 60 solubility curves comprise mineral solubility data from low to high ionic strength at 25°C for the eight-component system Na-K-Mg-Ca-H-Cl-SO 4 -OH-HCO 3 -CO 3 -CO 2 -H 2 O as reported by Harvie et al. (1984). Thermodynamic calculations were executed using OLI Systems’ Stream Analyzer computation module within the OLI Studio software platform (Ver. 11.0, Rev. 11.0.1.9). The Mixed Solvent Electrolyte (MSE) thermodynamic framework was chosen for this investigation because of its superiority in modeling high ionic-strength inorganic salt solutions and actinide redox chemistry and solubility, both of which are relevant to the geological repository conditions at the Waste Isolation Pilot Plant in Carlsbad, New Mexico. Mineral solubility data in various inorganic salt solutions were digitized and extracted from figures generated by Harvie et al. (1984). For each of the 60 solubility curves, a case-specific chemistry model and input file were generated in OLI Studio using OLI Stream Analyzer and the MSE (H 3 O + ion) public databank provided by OLI Systems. Model simulation results were exported to Microsoft Excel to calculate summary statistics and to generate graphs comparing the OLI model predictions to the solubility data. Summary statistics include residuals (model – data) and concordance (accuracy × precision, where precision is indicated by the Pearson correlation coefficient and accuracy accounts for bias and scale differential). Private databanks were not developed, and activity coefficient model regressions were not performed to improve OLI model fits to the data. Of the 41 model verification plots, 83% have a mean of the percent residuals less than or equal to 25%. Similarly, 75% display a concordance greater than or equal to 0.75. Only seven of the 41 verification plots fail to show good agreement between the model and data. Of these seven, three are relevant to the WIPP repository because they involve the Mg-OH-Cl-SO 4 -CO 3 aqueous system. The remaining four address salt solubilities at the pH extremes (strong acid and strong base). It should be noted that in two of the three Mg-OH-Cl-SO 4 -CO 3 system cases, the regressed Harvie et al. (1984) solubility curve also deviated from the data. Lack of agreement between the OLI model-predicted solubility curves and the data is attributable to one or more of the following: specific solid species are not included in the OLI MSE databank; there is significant variation among the different solubility datasets chosen by Harvie et al. (1984); the OLI MSE model’s thermodynamic parameters were determined using different solubility datasets; and the activity coefficient parameters for certain relevant ion-ion and ion-molecule pairs have not been optimized via data regression. Two recommendations for future work are to (1) evaluate solubility data for the Mg-OH-Cl-SO 4 -CO 3 system at high ionic strength and, if necessary, develop a private OLI MSE database that includes missing species and, where necessary, regressed standard state properties and interaction parameters; (2) perform similar verification testing of the OLI model for actinide solubility data.
Robust calibration of an agricultural-hydrological model is critical for simulating crop yield and water quality and making reasonable agricultural management. However, calibration of the agricultural-hydrological system models is challenging because of model complexity, the existence of strong parameter correlation, and significant computational requirements. Therefore, only a limited number of simulations can be allowed in any attempt to find a near-optimal solution within an affordable time, which greatly restricts the successful application of the model. The goal of this study is to locate the optimal solution of the Root Zone Water Quality Model (RZWQM2) given a limited simulation time, so as to improve the model simulation and help make rational and effective agricultural-hydrological decisions. To this end, we propose a computationally efficient global optimization procedure using sparse-grid based surrogates. We first used advanced sparse grid (SG) interpolation to construct a surrogate system of the actual RZWQM2, and then we calibrate the surrogate model using the global optimization algorithm, Quantum-behaved Particle Swarm Optimization (QPSO). As the surrogate model is a polynomial with fast evaluation, it can be efficiently evaluated with a sufficiently large number of times during the optimization, which facilitates the global search. We calibrate seven model parameters against five years of yield, drain flow, and NO 3 -N loss data from a subsurface-drained corn-soybean field in Iowa. Results indicate that an accurate surrogate model can be created for the RZWQM2 with a relatively small number of SG points (i.e., RZWQM2 runs). Compared to the conventional QPSO algorithm, our surrogate-based optimization method can achieve a smaller objective function value and better calibration performance using a fewer number of expensive RZWQM2 executions, which greatly improves computational efficiency.
This report provides a high-level overview of Task 2 products that were developed through defining carbon storage systems, Precambrian basement structure and stress, developing regional technical collaboration, modeling and risk assessment. Subtask 2.1: Defining Sub-Regional CS/CCUS Systems Subtask 2.2: Defining Precambrian basement faulting/stress Subtask 2.3: Developing industrial partnerships and regional technical collaborations Subtask 2.4: Conducting regional/subregional analysis Subtask 2.5: Assessing and managing risk for potential commercial-scale storage complexes
Models and modeling environments for human performance are becoming significant contributors to early system design and analysis procedures. Issues of levels of automation, physical environment, informational environment, and manning requirements are being addressed by such man/machine analysis systems. The research reported here investigates the close interaction between models of human cognition and models that described procedural performance. We describe a methodology for the decomposition of aircrew procedures that supports interaction with models of cognition on the basis of procedures observed; that serves to identify cockpit/avionics information sources and crew information requirements; and that provides the structure to support methods for function allocation among crew and aiding systems. Our approach is to develop an object-oriented, modular, executable software representation of the aircrew, the aircraft, and the procedures necessary to satisfy flight-phase goals. We then encode in a time-based language, taxonomies of the conceptual, relational, and procedural constraints among the cockpit avionics and control system and the aircrew. We have designed and implemented a goals/procedures hierarchic representation sufficient to describe procedural flow in the cockpit. We then execute the procedural representation in simulation software and calculate the values of the flight instruments, aircraft state variables and crew resources using the constraints available from the relationship taxonomies. The system provides a flexible, extensible, manipulative and executable representation of aircrew and procedures that is generally applicable to crew/procedure task-analysis. The representation supports developed methods of intent inference, and is extensible to include issues of information requirements and functional allocation. We are attempting to link the procedural representation to models of cognitive functions to establish several intent inference methods including procedural backtracking with concurrent search, temporal reasoning, and constraint checking for partial ordering of procedures. Finally, the representation is being linked to models of human decision making processes that include heuristic, propositional and prescriptive judgement models that are sensitive to the procedural content in which the valuative functions are being performed.
This is the final technical report for the DOE-funded Panorama 360 project. Panorama 360 provided a resource for the collection, analysis, and sharing of performance data about end-to-end scientific workflows executing on DOE facilities. The work focused on workflows that include experimental data generation at DOE facilities. The main activities of Panorama 360 include the development of: 1. A distributed repository that stores different types of workflow execution data (e.g., point and time series performance traces at fine- and coarse-grained levels); 2. A set of open-source data capture, curation, and publishing tools fully integrated with a state-of-the-art workflow management system that automates data ingestion to the repository and enables users to discover, query, and process data from the repository; 3. A set of analysis algorithms and machine learning based tools to perform analysis and characterization of the gathered data, which can be used to detect anomalous performance or system faults; and 4. Best practices and recommendations for workflow evaluation, analysis, execution, and architectures.
In this work, a novel graphics processing unit (GPU) distributed sharing model for hybrid many-core architectures is introduced and employed in the acceleration of a production-level computational fluid dynamics (CFD) code. The latest generation graphics hardware allows multiple processor cores to simultaneously share a single GPU through concurrent kernel execution. This feature has allowed the NASA FUN3D code to be accelerated in parallel with up to four processor cores sharing a single GPU. For codes to scale and fully use resources on these and the next generation machines, codes will need to employ some type of GPU sharing model, as presented in this work. Findings include the effects of GPU sharing on overall performance. A discussion of the inherent challenges that parallel unstructured CFD codes face in accelerator-based computing environments is included, with considerations for future generation architectures. This work was completed by the author in August 2010, and reflects the analysis and results of the time.
Workload characterization is used for modeling and evaluating of computing systems at different levels of detail. We present workload characterization for a class of Computational Fluid Dynamics (CFD) applications that solve Partial Differential Equations (PDEs). This workload characterization focuses on three high performance computing platforms: SGI Origin2000, EBM SP-2, a cluster of Intel Pentium Pro bases PCs. We execute extensive measurement-based experiments on these platforms to gather statistics of system resource usage, which results in workload characterization. Our workload characterization approach yields a coarse-grain resource utilization behavior that is being applied for performance modeling and evaluation of distributed high performance metacomputing systems. In addition, this study enhances our understanding of interactions between PDE solver workloads and high performance computing platforms and is useful for tuning these applications.