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NASA NTRSDate not supplied

Component Level Regression Testing in a Hierarchical Architecture

The Goddard Earth Observing System (GEOS) is an Earth system model consisting of a large suite of individual model components that can be coupled in a flexible manner to investigate a variety of Earth science issues. Specific GEOS model configurations are composed as a hierarchical collection of components based on the Earth System Modeling Framework (ESMF). Regression testing of GEOS is currently limited to (1) full system tests that are poor at isolating specific defects and (2) a suite of unit tests which have very limited coverage. As part of our approach to improve upon the current testing situation, we have prototyped the capability to perform regression tests on individual GEOS components by leveraging and extending existing checkpoint/restart capabilities. In our implementation, each ESMF component has 3 states: Import (what it needs to run), Export (which it needs to provide to other components), and Internal (the component state proper). By capturing, Import, Export and Internal states for a given component during a ull run of GEOS, a generic driver can then rerun the component offline and compare expected exports with those that have been saved. The hierarchical structure of GEOS introduces an interesting wrinkle when trying to test components that in turn drive interacting child components. To fully isolate a parent component, we use the approach of software mocks, in which the exports of children are also saved during the initial capture run of GEOS. Then when testing the parent component, the children components are replaced by a generic mock component that produces exports from the previously saved data and ensures that that all interdependencies among children components are satisfied.

Thomas Clune↗

NASA NTRSDate not supplied

Component Level Testing in a Hierarchical Architecture

Tom Clune↗

NASA NTRS2001

Robust entry navigation using hierarchical filter architectures regulated with gating networks

The application of a hierarchical mixture of experts architecture to Martian entry navigation during the highly dynamic hypersonic pre-parachute deploy phase is investigated.

(IMU) navigation dead reckoning↗

DOE OSTI2024

Catalytic Consequences of Hierarchical Pore Architectures within MFI and FAU Zeolites for Polyethylene Conversion

The benefits of hierarchical zeolites for the conversion of bulky molecules like polymeric waste have been reported in the literature; however, the impact of mesopore sizes and connectivities on rates, product selectivities, and catalyst deactivation in the context of plastic upcycling has not been systematically probed. Here, in this study, we synthesized a suite of hierarchical MFI and FAU zeolites via desilication under varying conditions for metal-free polyethylene conversion reactions under batch and flow conditions (473–523 K). Polyethylene (solid) conversion rates (normalized by Bro̷nsted acid site density) were higher on hierarchical than parent microporous MFI regardless of mesopore connectivities, i.e., open or constricted, suggesting that the incorporation of mesopores facilitates diffusion of intermediate products to access medium-pore protons for successive scission events. Furthermore, higher branched:linear gaseous product ratios were produced on hierarchical than parent MFI, since mesopores allow for egress of bulkier molecules without undergoing further secondary events, e.g., isomerization back to linear alkanes/alkenes or beta scission. Solid conversion rates on hierarchical FAU synthesized via desilication with cetyltrimethylammonium bromide (CTABr), however, were not higher than parent FAU, likely because the presence of CTABr facilitates recrystallization of leached species to form composites (hierarchical FAU and ordered mesoporous materials) with more isolated mesopores. The stagnation in rates, despite increased mesopore volumes (>0.22 cm 3 g –1 ), highlights the importance of confinement effects provided by micropores for cleaving C–C bonds at modest reaction conditions. In situ 1 H MAS NMR performed on polyethylene with MFI zeolite show that PE isomerizes (and potentially deconstructs) at temperatures near 450 K, highlighting the role of Bro̷nsted acid sites in activating C–C bonds under mild reaction conditions. Catalyst recyclability studies showed that all catalysts undergo deactivation during plastic upcycling reactions, but to varying extents. Overall, hierarchical materials have better catalyst stability than parent materials, although the differences in stability between hierarchical and parent FAU are smaller than those for MFI. Taken together, these findings demonstrate how rates, selectivities, and catalyst deactivation from plastic upcycling reactions can be controlled via fine-tuning the identity and connectivity of mesopores.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

NASA NTRS1987

A hierarchically distributed architecture for fault isolation expert systems on the space station

The Space Station Axiomatic Fault Isolating Expert Systems (SAFTIES) system deals with the hierarchical distribution of control and knowledge among independent expert systems doing fault isolation and scheduling of Space Station subsystems. On its lower level, fault isolation is performed on individual subsystems. These fault isolation expert systems contain knowledge about the performance requirements of their particular subsystem and corrective procedures which may be involved in repsonse to certain performance errors. They can control the functions of equipment in their system and coordinate system task schedules. On a higher level, the Executive contains knowledge of all resources, task schedules for all systems, and the relative priority of all resources and tasks. The executive can override any subsystem task schedule in order to resolve use conflicts or resolve errors that require resources from multiple subsystems. Interprocessor communication is implemented using the SAFTIES Communications Interface (SCI). The SCI is an application layer protocol which supports the SAFTIES distributed multi-level architecture.

Miksell, Steve↗

NASA NTRS1994

Object-based task-level control: A hierarchical control architecture for remote operation of space robots

Expanding man's presence in space requires capable, dexterous robots capable of being controlled from the Earth. Traditional 'hand-in-glove' control paradigms require the human operator to directly control virtually every aspect of the robot's operation. While the human provides excellent judgment and perception, human interaction is limited by low bandwidth, delayed communications. These delays make 'hand-in-glove' operation from Earth impractical. In order to alleviate many of the problems inherent to remote operation, Stanford University's Aerospace Robotics Laboratory (ARL) has developed the Object-Based Task-Level Control architecture. Object-Based Task-Level Control (OBTLC) removes the burden of teleoperation from the human operator and enables execution of tasks not possible with current techniques. OBTLC is a hierarchical approach to control where the human operator is able to specify high-level, object-related tasks through an intuitive graphical user interface. Infrequent task-level command replace constant joystick operations, eliminating communications bandwidth and time delay problems. The details of robot control and task execution are handled entirely by the robot and computer control system. The ARL has implemented the OBTLC architecture on a set of Free-Flying Space Robots. The capability of the OBTLC architecture has been demonstrated by controlling the ARL Free-Flying Space Robots from NASA Ames Research Center.

Stevens, H. D.↗

DOE OSTI2025

Encoding hierarchical 3D architecture through inverse design of programmable bonds

The ability to fabricate materials and devices at small scales by design has resulted in tremendous technological progress. However, the need for engineered three-dimensional (3D) nanoscale materials requires new strategies for organizing nanocomponents. Here we demonstrate an inverse design approach for the assembly of nanoparticles into hierarchically ordered 3D organizations using DNA voxels with directional, addressable bonds. By identifying intrinsic symmetries in repeating mesoscale structural motifs, we prescribe a set of voxels, termed a mesovoxel, that are assembled into target 3D crystals. The relationship between different degrees of encoded information used for voxel bonds and the fidelity of assembly is investigated using experimental and computational methods. We apply this assembly strategy to create periodic 3D nanoparticle ordered organizations, including structures with low-dimensional elements, helical motifs, a nanoscale analogue of a face-centred perovskite crystal and a distributed Bragg reflector based on a crystal with plasmonic and photonic length-scale regimes.

36 MATERIALS SCIENCE↗

NASA NTRS1981

An hierarchical system architecture for automated design, fabrication, and repair

The architecture of an automated system which has the following properties is described: (1) if it is presented with a final product specification (within its capabilities) it will do the detailed design (all the way down to the raw materials if need be) and then produce that product; (2) if a faulty final product is presented to the system, it will repair it. Interesting extensions of this architecture would be the ability to add fabricator nodes when required and the ability to add entire ranks when required. This sort of system would be a useful component of a self-replicating system (used in space exploration).

Cliff, R. A.↗

NASA NTRSDate not supplied

Risk-Reduction Autonomy Implementation to Enable NASA Artemis Missions

To achieve NASA’s Artemis program mission objectives a high level of autonomy that is ubiquitous throughout the systems that are being developed will be necessary. The autonomous systems of Artemis will require a distributed autonomy capability, with autonomous systems organized functionally in a hierarchical architecture, where systems at higher levels of the hierarchy have authority over systems at lower levels. The challenge of developing autonomy technologies and Concepts of Operations (ConOps) for Artemis has been undertaken by the NASA Gateway Working Group. This group has developed requirements, architectures, ConOps, and interface control documents (ICDs), in the context of a hierarchical distributed architecture that includes the following: a Vehicle System Manager (VSM) that autonomously manages the entire Gateway; Module System Managers (MSMs) that autonomously manage each module; and System Managers (SMs) that autonomously manage systems within a module (i.e. ECLSS). A substantially high level of autonomy needs to be achieved by each element of the hierarchy (VSM, MSM, SM) to meet requirements for uncrewed operations; this includes conditions that will have minimal and/or delayed ground intervention (i.e. requirements for sustainability for months of operation without crew or ground support). To advance an implementation of this autonomy design (Gateway Autonomy Design – GAD), a collaboration was established between the Autonomous Systems Laboratory (ASL) at NASA Stennis Space Center and Lockheed Martin. The objectives of this partnership were the following: (1) to implement autonomy at the VSM, MSM, and SM levels; (2) to implement communications among a VSM, 2 MSMs, ORION (a visiting vehicle somewhat equivalent to a module) and 1 SM (a power system), and (3) test autonomous operations with representative use cases. A SM backed by a high-fidelity simulation was created to facilitate demonstrations of use cases that originated in a system of a module. Communication between the VSM and MSMs was implemented according to Concepts of Operations and Interface Control Documents (ICDs). Demonstrations were conducted to address nominal and off-nominal operations and multi-module interactions with the VSM. Additionally, user interfaces were created to provide awareness about ongoing processes and results while enhancing the demonstration. Demonstrations included the following use cases: (1) Orion as visiting vehicle registers with VSM; (2) VSM reschedules a module’s timelines when another module’s MSM task fails; and (3) a module’s Power System Manager (PSM) demonstration that included component failure diagnostics, tracing component failure to effected components, which in turn, reports failure information up to the VSM for acknowledgement and display. This paper will describe the detailed technology and autonomous systems developed, and the integrated multi-module demonstrations conducted. Also, challenges that must be met to fully implement the GAD defined by Gateway will be addressed.

Fernando Figueroa↗

NASA NTRSDate not supplied

Risk-Reduction Autonomy Implementation to Enable NASA Artemis Missions

To achieve NASA’s Artemis program mission objectives a high level of autonomy and ubiquitous autonomy throughout the systems that are being developed will be necessary. The autonomous systems of Artemis will require a distributed autonomy capability, with autonomous systems organized functionally in a hierarchical architecture, where systems at higher levels of the hierarchy have authority over systems at lower levels. The challenge of developing autonomy technologies and concepts of operations for Artemis has been undertaken by the NASA Gateway Working Group. This group has developed requirements, architectures, concepts of operations, and interface control documents, in the context of a hierarchical distributed architecture that includes the following: a Vehicle System Manager (VSM) that autonomously manages the entire Gateway; Module System Managers (MSMs) that autonomously manage each module; and System Managers (SMs) that autonomously manage systems within a module(i.e. ECLSS).A substantially high level of autonomy needs to be achieved by each element of the hierarchy (VSM, MSM, SM)to meet requirements for uncrewed operations; this includes conditions that will have minimal and/or delayed ground intervention (i.e. requirements for sustainability for months of operation without crew or ground support). To advance an implementation of this autonomy design (Gateway Autonomy Design –GAD), a collaboration was established between the Autonomous Systems Laboratory (ASL) at NASA Stennis Space Center and Lockheed Martin. The objectives of this partnership were the following: (1)to implement autonomy at the VSM, MSM, and SM levels;(2) to implement communications among a VSM, 2 MSMs, ORION (a visiting vehicle somewhat equivalent to a module) and 1 SM (a power system), and (3) test autonomous operations with representative use cases. A SM backed by a high-fidelity simulation was created to facilitate demonstrations of use cases that originated in a system of a module. Communication between the VSM and MSMs was implemented according to Concepts of Operations and Interface Control Documents (ICDs). Demonstrations were conducted to address nominal and off-nominal operations and multi-module interactions with VSM. Additionally, user interfaces were created to provide awareness about ongoing processes and results while enhancing the demonstration. Demonstrations included the following use cases: (1)Orion as visiting vehicle registers with VSM;(2) VSM reschedules a module’s timelines when another module’s MSM task fails; and (3) a module’s Power System Manager (PSM) standalone demonstration that included component failure diagnostics, tracing component failure to effected components, which in turn, reports failure information up to the VSM for acknowledgement and display. This paper will describe the detailed technology and autonomous systems developed, and the integrated multi-module demonstrations conducted. Also, challenges that must be met to fully implement the GAD defined by Gateway will be addressed.

Autonomous Systems↗

NASA NTRS1987

NASREN: Standard reference model for telerobot control

A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task dedomposition heirarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repreated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored it the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarch is described and how it can be applied to space telerobot applications.

Albus, J. S.↗

DOE OSTI2023

Enhancing Composite Toughness Through Hierarchical Interphase Formation

High strength and ductility are highly desired in fiber-reinforced composites, yet achieving both simultaneously remains elusive. A hierarchical architecture is developed utilizing high aspect ratio chemically transformable thermoplastic nanofibers that form covalent bonding with the matrix to toughen the fiber-matrix interphase. The nanoscale fibers are electrospun on the micrometer-scale reinforcing carbon fiber, creating a physically intertwined, randomly oriented scaffold. Unlike conventional covalent bonding of matrix molecules with reinforcing fibers, here, the nanofiber scaffold is utilized - interacting non-covalently with core fiber but bridging covalently with polymer matrix - to create a high volume fraction of immobilized matrix or interphase around core reinforcing elements. This mechanism enables efficient fiber-matrix stress transfer and enhances composite toughness. Molecular dynamics simulation reveals enhancement of the fiber-matrix adhesion facilitated by nanofiber-aided hierarchical bonding with the matrix. The elastic modulus contours of interphase regions obtained from atomic force microscopy clearly indicate the formation of stiffer interphase. These nanoengineered composites exhibit a ≈60% and ≈100% improved in-plane shear strength and toughness, respectively. This approach opens a new avenue for manufacturing toughened high-performance composites.

36 MATERIALS SCIENCE↗

NASA NTRS1992

More About Architecture For Intelligent Robotic Control

Boolean neural networks proposed to implement part of intermediate level of hierarchical architecture of control system for artificially intelligent control of robot hand. Concept described in "Architecture for Intelligent Control of Robotic Tasks" (NPO-17871). Rule level of architecture implemented in two Boolean neural networks operated and updated in alternation. No explicit programming of network. Internal configuration not unique but, depends on initial state and history of previous adaptations. Accepts new rules sequentially presented by external controller.

Fiorini, Paolo↗

NASA NTRSDate not supplied

Stochastic Verification by Analysis for Autonomous Systems Management Architecture (ASMA)

The Gateway Vehicle Systems Manager (VSM) is the top-level of a distributed, hierarchical software control system. VSM is data-driven and will make decisions related to mission, fault, resource management and vehicle control. These attributes combined with a high degree of autonomy make it susceptible to emergent behavior. In order to achieve the high level of confidence needed in this critical system, the VSM team has developed a multifaceted verification strategy employing traditional verification techniques, simulation, model checking, and runtime verification. Individual algorithms are verified using conventional testing and model checking using assume-guarantee contracts. A discrete event-based simulation approach is being developed to verify timelines. This presentation describes an enhancement to the verification approach using analysis to enhance system robustness by detecting and resolving the potential for emergent behavior. The verification by analysis employs a Software in the Loop (SITL) environment with real flight software executing on emulated processors, simulations of vehicle subsystems, flight dynamics, and human inputs. Since the possible input space and configuration data set are too large for exhaustive testing, a Monte Carlo approach is used to cover feasible scenarios, augmented with corner cases and known higher-risk scenarios. A key problem in using Monte Carlo-based system verification is evaluating test results to ensure that system behavior is correct. The presentation describes the approach the VSM team uses to monitor behavior for compliance with predetermined boundaries and to identify anomalous behavior for further analysis. This presentation describes the multi-level systems approach to verification, and the simulation-based layer that covers the feasible state space: 1. Overview of the Gateway VSM 2. Special challenges due to heterogeneous, hierarchical architecture 3. Modeling and simulation environment using flight software and system simulations 4. Developing input sets to ensure state-space coverage 5. Developing model and data configuration sets to ensure model coverage 6. Interpreting results without predetermined outcomes 7. Lessons learned and future work

Verification and Validation↗

NASA NTRS2006

Evaluation of an Outer Loop Retrofit Architecture for Intelligent Turbofan Engine Thrust Control

The thrust control capability of a retrofit architecture for intelligent turbofan engine control and diagnostics is evaluated. The focus of the study is on the portion of the hierarchical architecture that performs thrust estimation and outer loop thrust control. The inner loop controls fan speed so the outer loop automatically adjusts the engine's fan speed command to maintain thrust at the desired level, based on pilot input, even as the engine deteriorates with use. The thrust estimation accuracy is assessed under nominal and deteriorated conditions at multiple operating points, and the closed loop thrust control performance is studied, all in a complex real-time nonlinear turbofan engine simulation test bed. The estimation capability, thrust response, and robustness to uncertainty in the form of engine degradation are evaluated.

Litt, Jonathan S.↗

DOE OSTI2025

Solvation directed morphological control in metal oxide nanostructures

The development of structural hierarchy on various length scales during the crystallization process is ubiquitous in biological systems and minerals and is common in synthetic nanomaterials. The driving forces for the formation of complex architectures range from local interfacial interactions, that modify interfacial speciation, local supersaturation, and nucleation barriers, to macroscopic interparticle forces. Although it is enticing to interpret the formation of hierarchical architectures as the assembly of independently nucleated building blocks, crystallization pathways often follow monomer-by-monomer addition with structural complexity arising from interfacial chemical coupling and strongly correlated fluctuation dynamics in the electric double layers. Here, we show that the development of structural hierarchy through heterogeneous nucleation is driven by dipolar and solvation forces. Specifically, coupled simulations and experimental studies revealed that dipole build-up along the slow growth direction can trigger twinning and the development of branched architectures. Enthalpic solvation interactions were shown to either enhance or reduce the dipole moment of the nanoparticles and, thereby, control crystal morphology and architecture. The systematic studies of chemical coupling between different solvents and undercoordinated surface atoms of the growing nanocrystals revealed the mechanism of dimensionality control and the development of structural hierarchy without ligands or structure-directing agents.

77 NANOSCIENCE AND NANOTECHNOLOGY↗

NASA NTRS1995

Coordination of Distributed Fuzzy Behaviors in Mobile Robot Control

This presentation describes an approach to behavior coordination and conflict resolution within the context of a hierarchical architecture of fuzzy behaviors. Coordination is achieved using weighted decision-making based on behavioral degrees of applicability. This strategy is appropriate for fuzzy control of systems that can be represented by hierarchical or decentralized structures.

Robotics Robot Navigation Fuzzy Logic Control Syst↗

DOE OSTI2026

Architectural scaling tradeoffs in modular 3D bosonic quantum processors

We propose a modular three-dimensional bosonic quantum processor built from repeatable coupled-cavity modules linked by configurable interconnect networks. Using hardware-motivated graph-theoretic measures, we compare nearest-neighbor, hub-based, and hybrid architectures in terms of interconnect count, communication distance, resource concentration, and implementation complexity. Rather than identifying a universally optimal topology, our analysis shows how these architectures redistribute the costs of scaling, including wiring and port requirements, nonlocal communication distance, exposure to shared resources, routing bottlenecks, and scheduling overhead. Case studies of a \(3\times3\) processor and a larger hierarchical architecture further distinguish finite-size performance from asymptotic scaling. The resulting framework provides a systematic basis for evaluating modular three-dimensional bosonic processors and for identifying the device-level parameters required for quantitative hardware design.

Zhu, Shaojiang [Fermilab] (ORCID:0000000293180092)↗