Mapping a Path to Autonomous Flight in the National Airspace

The introduction of autonomous flight, whether military, commercial, or civilian, into the National Airspace System (NAS) will present significant challenges. Minimizing the impact and preventing the changes from becoming disruptive, rather than an enhancing technology will not be without difficulty. From obstacle detection and avoidance to real-time verification and validation of system behavior, there are significant problems which must be solved prior to the general acceptance of autonomous systems. This paper examines some of the key challenges and the multi-disciplinary collaboration which must occur for autonomous systems to be accepted as equal partners in the NAS

Biology Inspired Approach for Communal Behavior in Sensor Networks

Research in wireless sensor network technology has exploded in the last decade. Promises of complex and ubiquitous control of the physical environment by these networks open avenues for new kinds of science and business. Due to the small size and low cost of sensor devices, visionaries promise systems enabled by deployment of massive numbers of sensors working in concert. Although the reduction in size has been phenomenal it results in severe limitations on the computing, communicating, and power capabilities of these devices. Under these constraints, research efforts have concentrated on developing techniques for performing relatively simple tasks with minimal energy expense assuming some form of centralized control. Unfortunately, centralized control does not scale to massive size networks and execution of simple tasks in sparsely populated networks will not lead to the sophisticated applications predicted. These must be enabled by new techniques dependent on local and autonomous cooperation between sensors to effect global functions. As a step in that direction, in this work we detail a technique whereby a large population of sensors can attain a global goal using only local information and by making only local decisions without any form of centralized control

Emergent Adaptive Noise Reduction from Communal Cooperation of Sensor Grid

In the last decade, the realization of small, inexpensive, and powerful devices with sensors, computers, and wireless communication has promised the development of massive sized sensor networks with dense deployments over large areas capable of high fidelity situational assessments. However, most management models have been based on centralized control and research has concentrated on methods for passing data from sensor devices to the central controller. Most implementations have been small but, as it is not scalable, this methodology is insufficient for massive deployments. Here, a specific application of a large sensor network for adaptive noise reduction demonstrates a new paradigm where communities of sensor/computer devices assess local conditions and make local decisions from which emerges a global behaviour. This approach obviates many of the problems of centralized control as it is not prone to single point of failure and is more scalable, efficient, robust, and fault toleran

Biology-inspired Architecture for Situation Management

Situation Management is a rapidly developing science combining new techniques for data collection with advanced methods of data fusion to facilitate the process leading to correct decisions prescribing action. Current research focuses on reducing increasing amounts of diverse data to knowledge used by decision makers and on reducing time between observations, decisions and actions. No new technology is more promising for increasing the diversity and fidelity of observations than sensor networks. However, current research on sensor networks concentrates on a centralized network architecture. We believe this trend will not realize the full potential of situation management. We propose a new architecture modeled after biological ecosystems where motes are autonomous and intelligent, yet cooperate with local neighborhoods. Providing a layered approach, they sense and act independently when possible, and cooperate with neighborhoods when necessary. The combination of their local actions results in global effects. While situation management research is currently dominated by military applications, advances envisioned for industrial and business applications have similar requirements. NASA has requirements for intelligent and autonomous systems in future missions that can benefit from advances in situation management. We describe requirements for the Integrated Vehicle Health Management program where our biology-inspired architecture provides a layered approach and decisions can be made at the proper level to improve safety, reduce costs, and improve efficiency in making diagnostic and prognostic assessments of the structural integrity, aerodynamic characteristics, and operation of aircraft

Method of Adjusting Acoustic Impedances for Impedance-Tunable Acoustic Segments

A method is provided for making localized decisions and taking localized actions to achieve a global solution. In an embodiment of the present invention, acoustic impedances for impedance-tunable acoustic segments are adjusted. A first acoustic segment through an N-th acoustic segment are defined. To start the process, the first acoustic segment is designated as a leader and a noise-reducing impedance is determined therefor. This is accomplished using (i) one or more metrics associated with the acoustic wave at the leader, and (ii) the metric(s) associated with the acoustic wave at the N-th acoustic segment. The leader, the N-th acoustic segment, and each of the acoustic segments exclusive of the leader and the N-th acoustic segment, are tuned to the noise-reducing impedance. The current leader is then excluded from subsequent processing steps. The designation of leader is then given one of the remaining acoustic segments, and the process is repeated for each of the acoustic segments through an (N-1)-th one of the acoustic segments

Communal Cooperation in Sensor Networks for Situation Management

Situation management is a rapidly evolving science where managed sources are processed as realtime streams of events and fused in a way that maximizes comprehension, thus enabling better decisions for action. Sensor networks provide a new technology that promises ubiquitous input and action throughout an environment, which can substantially improve information available to the process. Here we describe a NASA program that requires improvements in sensor networks and situation management. We present an approach for massively deployed sensor networks that does not rely on centralized control but is founded in lessons learned from the way biological ecosystems are organized. In this approach, fully distributed data aggregation and integration can be performed in a scalable fashion where individual motes operate based on local information, making local decisions that achieve globally-meaningful results. This exemplifies the robust, fault-tolerant infrastructure required for successful situation management systems

Theory for the electromigration wind force in dilute alloys

A multiple scattering formulation for the electromigration wind force on atoms in dilute alloys is developed. The theory describes electromigration via a vacancy mechanism. The method is used to calculate the wind valence for electromigration in various host metals having a close-packed lattice structure, namely aluminum, the noble metals copper, silver and gold and the $4d$ transition metals. The self-electromigration results for aluminum and the noble metals compare well with experimental data. For the $4d$ metals small wind valences are found, which make these metals attractive candidates for the experimental study of the direct valence.Comment: 18 pages LaTeX, epsfig, 8 figures. to appear in Phys. Rev. B 56 of 15/11/199

Improvements to the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN)

Devices for manipulating and precisely placing payloads are critical for efficient space operations including berthing of spacecraft, in-space assembly, construction and repair. Key to the success of many NASA space activities has been the availability of long-reach crane-like devices such as the Shuttle Remote Manipulation System (SRMS) and the Space Station Remote Manipulation System (SSRMS). These devices have been used for many operations including berthing visiting spacecraft to the International Space Station, deployment of spacecraft, space station assembly, astronaut positioning, payload transfer, and spacecraft inspection prior to atmospheric re-entry. Retiring the Space Transportation System has led to the removal of the SRMS from consideration for in-space missions, thus creating a capability gap. Recognizing this gap, work was initiated at NASA on a new architecture for long-reach space manipulators. Most current devices are constructed by joining revolute joints with carbon composite tubes, with the joints accounting for the majority of the device mass. For example in the case of the SRMS, the entire device mass is 410 kg (904 lbm); the joint structure, motors, gear train, cabling, etc., accounts for the majority of the system mass because the carbon composite tubes mass is 46 kg (101 lbm). An alternate space manipulator concept, the Tendon-Actuated Lightweight In-Space MANipulator (TALISMAN) was created to address deficiencies in the current state-of-the-art in long-reach manipulators. The antagonistic tendon actuated joint architecture allows the motors actuating the joint to be removed from the joint axis, which simplifies the joint design while simultaneously providing mechanical advantage for the motors. The improved mechanical advantage, in turn, reduces the size and power requirements for the motor and gear train. This paper will describe recent architectural improvements to the TALISMAN design that: 1) improve the operational robustness of the system by enabling maneuvers not originally possible by varying the TALISMAN geometry; 2) enable efficient active antagonistic control of a joint while sharing cable between antagonistic tension networks; and 3) uses a unique arrangement of differential capstans to reduce motor torque requirements by an order of magnitude. The paper will also summarize recent efforts to enable autonomous deployment of a TALISMAN including the deployment concept of operations and associated hardware system design. The deployment forces are provided by the same motor systems that are used for articulation, thus reducing the mass associated with the deployment system. The deployment approach is being tested on a TALISMAN prototype which is designed to provide the same operational performance as a shuttle-class manipulator. The prototype has been fabricated and is operational in a new facility at NASA Langley Research Center that has a large area (15.2 m by 21.3 m [50 ft by 70 ft]) air-bearing floor

Secondary Ion Mass Spectrometry Studies of Isotope Effect in Diffusion

The mass effect of diffusion is of interest in connection with interactions between defects and impurities and with the mechanisms of atomic displacements in the condensed states. The delineation entails the precise measurement of the isotope ratio as function of tracer concentration, varying within several orders of magnitude along the diffusion profile. The measurement by SIMS (secondary ion mass spectrometry), using stable isotopes, has proved to possess advantages compared to familiar techniques with radiotracers. However, the aims require the utmost counting economy and optimal precision available in SIMS, including the control of the mass fractionation and of some features peculiar to cyclic profiling. Very good results have been obtained for the isotope effect at relatively deep profiling, where step scan analysis can be effected. For more shallow profiles, requiring head-on sputtering, more serious artifacts are encountered and the error margins have hitherto been relatively high. The paper discusses salient experimental points of the determination by SIMS of the isotope effect at different diffusion geometry, and briefly reviews the hitherto obtained results

Mass Fractionation and Energy Distribution of Sputtered Monatomic Positive Ions

Secondary ion yields in sputtering depend significantly on the mass of the emitted species. Ionization as observed by secondary ion mass spectrometry is characterized by isotope fractionation; the yield of an isotope ion of mass Mi being proportional to M-, where a varies with the emitted species, its kinetic energy Ek, and the matrix. By means of SIMS, isotope ratios have been measured for ions at energies up to ca 120 eV in different metallic matrices. For singly charged positive monatomic ions, a has been found to range between O and ca 4. While a may drop steeply at low or moderate Ek, at higher energies the gradient decreases and usually becomes positive. To some extent the trends of a are complementary to those of the energy dependence of elemental ion yields. In the present work, the main tendencies are surveyed for pure element matrices as well as for several elements sputtered from a given metallic matrix. It is attempted to correlate a with the energy distributions of ionic yields. Isotope effects appear inherent in all three basic mechanisms of ion emission, i.e., in sputter yield, ionization, and charge survival