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At least 19 records

Abstract-Reasoning Software for Coordinating Multiple Agents

A computer program for scheduling the activities of multiple agents that share limited resources has been incorporated into the Automated Scheduling and Planning Environment (ASPEN) software system, aspects of which have been reported in several previous NASA Tech Briefs articles. In the original intended application, the agents would be multiple spacecraft and/or robotic vehicles engaged in scientific exploration of distant planets. The program could also be used on Earth in such diverse settings as production lines and military maneuvers. This program includes a planning/scheduling subprogram of the iterative repair type that reasons about the activities of multiple agents at abstract levels in order to greatly improve the scheduling of their use of shared resources. The program summarizes the information about the constraints on, and resource requirements of, abstract activities on the basis of the constraints and requirements that pertain to their potential refinements (decomposition into less-abstract and ultimately to primitive activities). The advantage of reasoning about summary information is that time needed to find consistent schedules is exponentially smaller than the time that would be needed for reasoning about the same tasks at the primitive level.

Clement, Bradley↗

Turning Limitations into Opportunities in the Development of the Orion Medical System: Incorporation of mHealth Devices

INTRODUCTION: Selection of medical devices for the Orion medical system is a complex task which is dependent on the current state of terrestrial technology. In this work we review the interplay between NASA requirements, constraints, and opportunities for synergy during the development of the Orion medical system. METHODS: The “plan to treat” list of conditions, and subsequently the medical resource list for the Orion Artemis II lunar flyby mission was completed using semi-quantitative methods. During this process, some medical resources were excluded to comply with mass and volume limits, while other resources applicable to multiple medical requirements were prioritized for inclusion. Choices were also examined considering NASA level of care standards for the Artemis design reference missions. As a means to optimize capabilities in spite of mass and volume constraints, ideas for integration of multiple devices into a single platform were explored, including a ‘hackathon’ challenge which was conducted to generate and evaluate concepts for combining medical devices into a single app-based mobile device (ultrasound, ECG, etc.). RESULTS: The Orion team identified 128 medical conditions that we “plan to treat”, with 139 unique medical resources to address these conditions, including 5 digital diagnostic devices (ECG, otoscope, stethoscope, pulse oximeter, and blood pressure monitor). During selection of these digital devices the team noted that miniaturized medical devices often use mobile device platforms (mHealth), some displaying and transmitting data exclusively via mobile device. Of the 5 initially selected devices, all are capable of mobile connection, one which cannot function without a mobile device (ECG). Furthermore, only one of these devices connects natively to a Windows platform, which is currently the only operating system available on Orion. DISCUSSION: Significant savings in mass and volume as well as training and usability improvements can be achieved by leveraging mHealth technologies. However, the platform presents significant challenges for deployment within the Artemis Program including lack of internet connectivity, incompatible operating systems, and radiation concerns. Each of these drawbacks are surmountable with investment in the supporting vehicle architecture, which may become necessary to support the technology trends seen in commercially available medical devices today. Objective: Learn about the opportunities and challenges of leveraging mHealth devices in the development of medical capabilities for austere environments. Learn about the constraints of the NASA spaceflight environment with regards to digital medical device integration.

Douglas Ebert↗

Composite Overwrapped Pressure Vessels (COPV): Flight Rationale for the Space Shuttle Program

Each Orbiter Vehicle (Space Shuttle Program) contains up to 24 Kevlar49/Epoxy Composite Overwrapped Pressure Vessels (COPV) for storage of pressurized gases. In the wake of the Columbia accident and the ensuing Return To Flight (RTF) activities, Orbiter engineers reexamined COPV flight certification. The original COPV design calculations were updated to include recently declassified Kevlar COPV test data from Lawrence Livermore National Laboratory (LLNL) and to incorporate changes in how the Space Shuttle was operated as opposed to orinigially envisioned. 2005 estimates for the probability of a catastrophic failure over the life of the program (from STS-1 through STS-107) were one-in-five. To address this unacceptable risk, the Orbiter Project Office (OPO) initiated a comprehensive investigation to understand and mitigate this risk. First, the team considered and eventually deemed unfeasible procuring and replacing all existing flight COPVs. OPO replaced the two vessels with the highest risk with existing flight spare units. Second, OPO instituted operational improvements in ground procedures to signficiantly reduce risk, without adversely affecting Shuttle capability. Third, OPO developed a comprehensive model to quantify the likelihood of occurrance. A fully-instrumented burst test (recording a lower burst pressure than expected) on a flight-certified vessel provided critical understanding of the behavior of Orbiter COPVs. A more accurate model was based on a newly-compiled comprehensive database of Kevlar data from LLNL and elsewhere. Considering hardware changes, operational improvements and reliability model refinements, the mean reliability was determined to be 0.998 for the remainder of the Shuttle Program (from 2007, for STS- 118 thru STS-135). Since limited hardware resources precluded full model validation through multiple tests, additional model confidence was sought through the first-ever Accelerated Stress Rupture Test (ASRT) of a flown flight article. A Bayesian statistical approach was developed to interpret possible test results. Since the lifetime observed in the ASRT exceeded initial estimates by one to two orders of magnitude, the Space Shuttle Program deemed there was significant conservatism in the model and accepted continued operation with existing flight hardware. Given the variability in tank-to-tank original prooftest response, a non-destructive evaluation (NDE) technique utilizing Raman Spectroscopy was developed to directly measure COPV residual stress state. Preliminary results showed that patterns of low fiber elastic strains over the outside vessel surface, together with measured permanent volume growth during proof, could be directly correlated to increased fiber stress ratios on the inside fibers adjacent to the liner, and thus reduced reliability.

Kezirian, Michael T.↗

Portability and Cross-Platform Performance of an MPI-Based Parallel Polygon Renderer

Visualizing the results of computations performed on large-scale parallel computers is a challenging problem, due to the size of the datasets involved. One approach is to perform the visualization and graphics operations in place, exploiting the available parallelism to obtain the necessary rendering performance. Over the past several years, we have been developing algorithms and software to support visualization applications on NASA's parallel supercomputers. Our results have been incorporated into a parallel polygon rendering system called PGL. PGL was initially developed on tightly-coupled distributed-memory message-passing systems, including Intel's iPSC/860 and Paragon, and IBM's SP2. Over the past year, we have ported it to a variety of additional platforms, including the HP Exemplar, SGI Origin2OOO, Cray T3E, and clusters of Sun workstations. In implementing PGL, we have had two primary goals: cross-platform portability and high performance. Portability is important because (1) our manpower resources are limited, making it difficult to develop and maintain multiple versions of the code, and (2) NASA's complement of parallel computing platforms is diverse and subject to frequent change. Performance is important in delivering adequate rendering rates for complex scenes and ensuring that parallel computing resources are used effectively. Unfortunately, these two goals are often at odds. In this paper we report on our experiences with portability and performance of the PGL polygon renderer across a range of parallel computing platforms.

Crockett, Thomas W.↗

The economic value of remote sensing of earth resources from space: An ERTS overview and the value of continuity of service. Volume 4: Forestry, wildlife and rangeland

The economic value of ERS information in the resource management area of extensive use of living resources, forestry, wildlife, and rangeland, is determined. Timber and forage resources are quantitatively evaluated. It is shown that these resources have economic value in the tens of billions of dollars, but the economic benefits of improved management of the forests and rangelands are not limited to efficiency in the production of these commercial resources. Multiple-use values including watershed, wildlife, and recreation are also involved.

Andrews, J.↗

A knowledge-based approach to configuration layout, justification, and documentation

The design, development, and implementation is described of a prototype expert system which could aid designers and system engineers in the placement of racks aboard modules on Space Station Freedom. This type of problem is relevant to any program with multiple constraints and requirements demanding solutions which minimize usage of limited resources. This process is generally performed by a single, highly experienced engineer who integrates all the diverse mission requirements and limitations, and develops an overall technical solution which meets program and system requirements with minimal cost, weight, volume, power, etc. This system architect performs an intellectual integration process in which the underlying design rationale is often not fully documented. This is a situation which lends itself to an expert system solution for enhanced consistency, thoroughness, documentation, and change assessment capabilities.

Craig, F. G.↗

A Knowledge-Based Approach to Configuration Layout, Justification, and Documentation

The design, development, and implementation of a prototype expert system which could aid designers and system engineers in the placement of racks aboard modules on the Space Station Freedom are described. This type of problem is relevant to any program with multiple constraints and requirements demanding solutions which minimize usage of limited resources. This process is generally performed by a single, highly experienced engineer who integrates all the diverse mission requirements and limitations, and develops an overall technical solution which meets program and system requirements with minimal cost, weight, volume, power, etc. This system architect performs an intellectual integration process in which the underlying design rationale is often not fully documented. This is a situation which lends itself to an expert system solution for enhanced consistency, thoroughness, documentation, and change assessment capabilities.

Craig, F. G.↗

Economical Implementation of a Filter Engine in an FPGA

A logic design has been conceived for a field-programmable gate array (FPGA) that would implement a complex system of multiple digital state-space filters. The main innovative aspect of this design lies in providing for reuse of parts of the FPGA hardware to perform different parts of the filter computations at different times, in such a manner as to enable the timely performance of all required computations in the face of limitations on available FPGA hardware resources. The implementation of the digital state-space filter involves matrix vector multiplications, which, in the absence of the present innovation, would ordinarily necessitate some multiplexing of vector elements and/or routing of data flows along multiple paths. The design concept calls for implementing vector registers as shift registers to simplify operand access to multipliers and accumulators, obviating both multiplexing and routing of data along multiple paths. Each vector register would be reused for different parts of a calculation. Outputs would always be drawn from the same register, and inputs would always be loaded into the same register. A simple state machine would control each filter. The output of a given filter would be passed to the next filter, accompanied by a "valid" signal, which would start the state machine of the next filter. Multiple filter modules would share a multiplication/accumulation arithmetic unit. The filter computations would be timed by use of a clock having a frequency high enough, relative to the input and output data rate, to provide enough cycles for matrix and vector arithmetic operations. This design concept could prove beneficial in numerous applications in which digital filters are used and/or vectors are multiplied by coefficient matrices. Examples of such applications include general signal processing, filtering of signals in control systems, processing of geophysical measurements, and medical imaging. For these and other applications, it could be advantageous to combine compact FPGA digital filter implementations with other application-specific logic implementations on single integrated-circuit chips. An FPGA could readily be tailored to implement a variety of filters because the filter coefficients would be loaded into memory at startup.

Kowalski, James E.↗

Using APEX to Model Anticipated Human Error: Analysis of a GPS Navigational Aid

The interface development process can be dramatically improved by predicting design facilitated human error at an early stage in the design process. The approach we advocate is to SIMULATE the behavior of a human agent carrying out tasks with a well-specified user interface, ANALYZE the simulation for instances of human error, and then REFINE the interface or protocol to minimize predicted error. This approach, incorporated into the APEX modeling architecture, differs from past approaches to human simulation in Its emphasis on error rather than e.g. learning rate or speed of response. The APEX model consists of two major components: (1) a powerful action selection component capable of simulating behavior in complex, multiple-task environments; and (2) a resource architecture which constrains cognitive, perceptual, and motor capabilities to within empirically demonstrated limits. The model mimics human errors arising from interactions between limited human resources and elements of the computer interface whose design falls to anticipate those limits. We analyze the design of a hand-held Global Positioning System (GPS) device used for radical and navigational decisions in small yacht recalls. The analysis demonstrates how human system modeling can be an effective design aid, helping to accelerate the process of refining a product (or procedure).

VanSelst, Mark↗

SmallSat Navigation via the Deep Space Network: Lunar Transport

Spacecraft component miniaturization, the standardized CubeSat form factor, and a corresponding increase in launch ride-share availability have led to a renewed interest in smaller, more agile spacecraft missions. Naturally, interest in SmallSat capabilities extends outside of low Earth orbit for a variety of science and technology demonstration applications. As with larger missions, near-term deep-space SmallSats will more than likely rely on telecommunications and tracking via NASA's Deep Space Network or similar facilities. Given the predicted growth in the number of deep space missions, e ective use of telecommunication resources will be more critical than ever, even with Multiple Spacecraft Per Aperture capability. In particular, SmallSat missions will likely face stricter limitations on two-way contact with the tracking stations, thus making other options like one-way data types more attractive. While all missions must eventually develop their own detailed navigation plans, a common set of references is needed to support SmallSat missions, especially in the early development phases. Our investigation provides this initial survey of expected navigation performance for standard radiometric data types, from traditional two-way Doppler and ranging capabilities to one-way equivalents, including delta-di erential one-way range. In this investigation, we examine transport within the Earth-Moon region, the rst step outward from Earth into deep space exploration.

Wood, Lincoln↗

Improving Scientific Payload Communication Over Multiple, Low-Capacity Links

Communication is an important part of every airborne science mission. It provides a means for a large group of ground-based scientists to monitor and adjust experiments aboard aircraft that often cannot support a large number of passengers. In some cases, such as unmanned aircraft, communication becomes critical to a successful mission. Existing communication systems require the use of multiple, low-capacity channels, or links, to handle the capacity requirements of the scientists. Current communication solutions attempt to balance performance and reliability, but ultimately suffer from some critical design flaws that limit the ability of the system to handle additional links. We show how adding resources to the current system results in decreased performance and reliability. We explore the use of a new communication protocol, MultiPath Transmission Control Protocol, to make better use of multiple communication links and propose a total system capable of scaling to any number of channels efficiently and dynamically. The tools developed to support and measure this solution are also detailed.

MPTCP↗

Autoplan: A self-processing network model for an extended blocks world planning environment

Self-processing network models (neural/connectionist models, marker passing/message passing networks, etc.) are currently undergoing intense investigation for a variety of information processing applications. These models are potentially very powerful in that they support a large amount of explicit parallel processing, and they cleanly integrate high level and low level information processing. However they are currently limited by a lack of understanding of how to apply them effectively in many application areas. The formulation of self-processing network methods for dynamic, reactive planning is studied. The long-term goal is to formulate robust, computationally effective information processing methods for the distributed control of semiautonomous exploration systems, e.g., the Mars Rover. The current research effort is focusing on hierarchical plan generation, execution and revision through local operations in an extended blocks world environment. This scenario involves many challenging features that would be encountered in a real planning and control environment: multiple simultaneous goals, parallel as well as sequential action execution, action sequencing determined not only by goals and their interactions but also by limited resources (e.g., three tasks, two acting agents), need to interpret unanticipated events and react appropriately through replanning, etc.

Dautrechy, C. Lynne↗

An innovative approach for distributed and integrated resources planning for the Space Station Freedom

This paper presents a planning approach to the Space Station Freedom program which takes into account the widely distributed nature of that program. The program management structure is organized into three major levels: a strategic level, a tactical level, and an execution level. For each level, resource availabilities are determined, the resources are distributed, schedules are built independently within the resource limits, the schedules are integrated into a single schedule, and conflicts are resolved by negotiating requirements and/or relaxing contraints. This approach distributes resources to multiple planning entities in such a way that when the multiple plans are collected, they fit together with minimal modification. The up-front distribution is planned in such a way and to a sufficient degree that a fit is virtually assured.

Hornstein, Rhoda S.↗

The Monostatic/Bistatic Approximation

Many Radar Cross Section (RCS) prediction codes are limited to one monostatic return per run. However, such codes can calculate multiple bistatic returns per incident angle for a relatively small amount of additional computer resources. This note describes a method of using bistatic returns to generate multiple monostatic predictions for each incident angle computed. Typical results are presented and show the accuracy is initially good and then degrades as the separation angle between the incident and viewing angles becomes large. Introduction Since 1990, the monostatic/bistatic approximation has been used to reduce the number of runs required by finite-volume time-domain (FVTD) codes for making RCS versus azimuth plots. This approximation was spawned by the observation of a range test where the transmit and receive antennas were separated by a few degrees to prevent cross talk between the antennas. The measurements from this range are presented as monostatic RCS rather than bistatic: RCS. The procedure of reporting experimental bistatic RCS as the monostatic RCS at the angle bisecting the transmit and receive antennas was extended to FVTD codes and produces excellent results.

Schuh, Michael J.↗

Thin Films and Inflatable Applications in Exploration Habitat Structures

NASA's vision to return to the Moon and then extend human exploration to Mars will benefit from human habitat technology development using new and creative applications of polymer materials and concepts. Thin Film and Inflatable (TFVI) materials are particularly interesting for exploration applications due to their light weight and low volume. Whereas TF/I materials can be launched and carried from Earth to multiple and distant exploration sites without the constraints of upmass limitations, eventually, with recycling and reclamation efforts, these materials may be developed using in-situ resources. These materials can be useful for fabricating, patching and repairing vehicles, replacement parts and even habitat structures, as well as for developing stand-alone habitat structure technologies and for nested and integrated applications. TF/Is can also be ideal environmental containment vessels within lunar or Martian regolith walls or as liners inside caves or raw regolith exterior structures for the provisions of atmosphere containment, debris protection and cleanliness. Further, TFOs can be specialized and matured for various and diverse applications. The desired range of applications will require materials specification for such properties as transparency, elasticity, thermal conductivity, mechanical strength, heat capacity, chemical resistance, and permeability. This paper will discuss Marshall Space Flight Center's plans to analyze and prioritize TF/I materials properties and classifications and to develop applications for these highly desirable materials in human habitat construction projects on the Moon and Mars.

Frazier, Donald O.↗

Centralized Planning for Multiple Exploratory Robots

A computer program automatically generates plans for a group of robotic vehicles (rovers) engaged in geological exploration of terrain. The program rapidly generates multiple command sequences that can be executed simultaneously by the rovers. Starting from a set of high-level goals, the program creates a sequence of commands for each rover while respecting hardware constraints and limitations on resources of each rover and of hardware (e.g., a radio communication terminal) shared by all the rovers. First, a separate model of each rover is loaded into a centralized planning subprogram. The centralized planning software uses the models of the rovers plus an iterative repair algorithm to resolve conflicts posed by demands for resources and by constraints associated with the all the rovers and the shared hardware. During repair, heuristics are used to make planning decisions that will result in solutions that will be better and will be found faster than would otherwise be possible. In particular, techniques from prior solutions of the multiple-traveling- salesmen problem are used as heuristics to generate plans in which the paths taken by the rovers to assigned scientific targets are shorter than they would otherwise be.

Estlin, Tara↗

Global Precipitation Measurement Program and the Development of Dual-Frequency Precipitation Radar

The Global Precipitation Measurement (GPM) program is a mission to measure precipitation from space, and is a similar but much expanded mission of the Tropical Rainfall Measuring Mission. Its scope is not limited to scientific research, but includes practical and operational applications such as weather forecasting and water resource management. To meet the requirements of operational use, the GPM uses multiple low-orbiting satellites to increase the sampling frequency and to create three-hourly global rain maps that will be delivered to the world in quasi-real time. A dual-frequency radar (DPR) will be installed on the primary satellite that plays an important role in the whole mission. The DPR will realize measurement of precipitation with high sensitivity, high precision and high resolutions. This paper describes an outline of the GPM program, its issues and the roles and development of the DPR.

Iguchi, Toshio↗

Down-Selection of Four Common Habitat Variants

The Common Habitat is a large habitat developed as an alternative architecture study, not part of the current NASA baseline, that uses the SLS core stage liquid oxygen tank as its primary structure. It has a gravity-independent internal architecture, such that identical units can be used on the lunar surface, Mars surface, and in microgravity. In developing the habitat, two key architectural questions emerged. Should the internal layout use a vertical or horizontal orientation of the tank? Should the crew size be four or eight? This led to the design of four variants: a four-crew horizontal, four-crew vertical, eight-crew horizontal, and eight-crew vertical. The four-crew variants use a shortened version of the tank while the eight-crew variants use the entire tank. The primary consideration applied for down-selection is the crew experience living and working in the habitat, inclusive of crew productivity, well-being, and survivability. Based on this consideration, a series of seven assessments were performed to compare the variants. This analysis was performed as an unfunded, volunteer activity leveraging civil servants across multiple field centers, most with expertise working in various Artemis teams. Additionally, the evaluation was limited to the use of CAD models, images, and spreadsheet data, with no resources available for mockups or Virtual Reality. A logistics analysis developed a standard logistics module and then estimated how much stowage could be carried onboard each Common Habitat and how many logistics modules are required by each variant for a given mission duration. It also considered the amounts of water to be stored in each variant. A functional analysis identified and compared the living and working functions across the habitats, ranking them relative to each other. A crew time assessment first estimated the total crew time, building a weekly crew timeline for both four and eight-person crews. It then allocated time to activities linked to living and working functions, comparing how much time was available for each function in each variant. A science productivity assessment developed a relative metric using crew time, science stowage, and assumed rates of experiment consumables use to analytically compare the four variants. It also comparatively ranked the habitats with respect to a number of subjective parameters and a workstation acceptability rating. A maintenance capacity assessment identified and compared eleven generic maintenance capabilities across the variants and also ranked them for their predicted ability to complete twelve fabrication, maintenance, and repair scenarios. A contingency responsiveness analysis examined twelve serious in-flight contingencies. For each scenario, the number of crew needed to respond were predicted and acceptability of various aspects of contingency response were evaluated, comparing the variants against each other. Finally, in a habitability assessment, 120 habitability characteristics reflecting 13 major categories were evaluated for each habitat. These results were compared to identify the most acceptable habitat in each category. Ultimately, the data favored the horizontal orientation over the vertical and an eight-person crew over four. Implications of selecting this variant are discussed, including specific architectural challenges that result from the use of the full tank.

Habitability↗