Independent Orbiter Assessment (IOA): Analysis of the guidance, navigation, and control subsystem

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) is presented. The IOA approach features a top-down analysis of the hardware to determine failure modes, criticality, and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The independent analysis results corresponding to the Orbiter Guidance, Navigation, and Control (GNC) Subsystem hardware are documented. The function of the GNC hardware is to respond to guidance, navigation, and control software commands to effect vehicle control and to provide sensor and controller data to GNC software. Some of the GNC hardware for which failure modes analysis was performed includes: hand controllers; Rudder Pedal Transducer Assembly (RPTA); Speed Brake Thrust Controller (SBTC); Inertial Measurement Unit (IMU); Star Tracker (ST); Crew Optical Alignment Site (COAS); Air Data Transducer Assembly (ADTA); Rate Gyro Assemblies; Accelerometer Assembly (AA); Aerosurface Servo Amplifier (ASA); and Ascent Thrust Vector Control (ATVC). The IOA analysis process utilized available GNC hardware drawings, workbooks, specifications, schematics, and systems briefs for defining hardware assemblies, components, and circuits. Each hardware item was evaluated and analyzed for possible failure modes and effects. Criticality was assigned based upon the severity of the effect for each failure mode

Optical Communication System for Remote Monitoring and Adaptive Control of Distributed Ground Sensors Exhibiting Collective Intelligence

Comprehensive management of the battle-space has created new requirements in information management, communication, and interoperability as they effect surveillance and situational awareness. The objective of this proposal is to expand intelligent controls theory to produce a uniquely powerful implementation of distributed ground-based measurement incorporating both local collective behavior, and interoperative global optimization for sensor fusion and mission oversight. By using a layered hierarchal control architecture to orchestrate adaptive reconfiguration of autonomous robotic agents, we can improve overall robustness and functionality in dynamic tactical environments without information bottlenecks. In this concept, each sensor is equipped with a miniaturized optical reflectance modulator which is interactively monitored as a remote transponder using a covert laser communication protocol from a remote mothership or operative. Robot data-sharing at the ground level can be leveraged with global evaluation criteria, including terrain overlays and remote imaging data. Information sharing and distributed intelli- gence opens up a new class of remote-sensing applications in which small single-function autono- mous observers at the local level can collectively optimize and measure large scale ground-level signals. AS the need for coverage and the number of agents grows to improve spatial resolution, cooperative behavior orchestrated by a global situational awareness umbrella will be an essential ingredient to offset increasing bandwidth requirements within the net. A system of the type described in this proposal will be capable of sensitively detecting, tracking, and mapping spatial distributions of measurement signatures which are non-stationary or obscured by clutter and inter- fering obstacles by virtue of adaptive reconfiguration. This methodology could be used, for example, to field an adaptive ground-penetrating radar for detection of underground structures in urban environments and to detect chemical species concentrations in migrating plumes. Given is our research in these areas and a status report of our progress

Extended Kalman Filter for Photographic Data from Impact Acceleration Tests

This paper presents the development of an Extended Kalman Filter (EKF) that optimally processes photographic data collected during short-duration impact acceleration tests. The system is modeled by a non-linear state-space representation using quaternions for rotational kinematics. Three cameras are used to photograph up to 14 fiducials mounted on a plate attached to the subject\u27s mouth. The filter yields the history of the rotational and translational kinematics of the origin of the mouth plate. Results from the EKF and analysis of the estimation error are presented

Reconciling Semiclassical and Bohmian Mechanics: III. Scattering states for continuous potentials

In a previous paper [J. Chem. Phys. 121 4501 (2004)] a unique bipolar decomposition, Psi = Psi1 + Psi2 was presented for stationary bound states Psi of the one-dimensional Schroedinger equation, such that the components Psi1 and Psi2 approach their semiclassical WKB analogs in the large action limit. The corresponding bipolar quantum trajectories, as defined in the usual Bohmian mechanical formulation, are classical-like and well-behaved, even when Psi has many nodes, or is wildly oscillatory. A modification for discontinuous potential stationary stattering states was presented in a second paper [J. Chem. Phys. 124 034115 (2006)], whose generalization for continuous potentials is given here. The result is an exact quantum scattering methodology using classical trajectories. For additional convenience in handling the tunneling case, a constant velocity trajectory version is also developed.Comment: 16 pages and 14 figure

Computing with and without arbitrary large numbers

In the study of random access machines (RAMs) it has been shown that the availability of an extra input integer, having no special properties other than being sufficiently large, is enough to reduce the computational complexity of some problems. However, this has only been shown so far for specific problems. We provide a characterization of the power of such extra inputs for general problems. To do so, we first correct a classical result by Simon and Szegedy (1992) as well as one by Simon (1981). In the former we show mistakes in the proof and correct these by an entirely new construction, with no great change to the results. In the latter, the original proof direction stands with only minor modifications, but the new results are far stronger than those of Simon (1981). In both cases, the new constructions provide the theoretical tools required to characterize the power of arbitrary large numbers.Comment: 12 pages (main text) + 30 pages (appendices), 1 figure. Extended abstract. The full paper was presented at TAMC 2013. (Reference given is for the paper version, as it appears in the proceedings.

Distinctions in the acquisition of vocabulary and grammar: An individual differences approach

Learning language requires acquiring the grammatical categories of words in the language, but learning those categories requires understanding the role of words in the syntax. In this study, we examined how this chicken and egg problem is resolved by learners of an artificial language comprising nouns, verbs, adjectives and case markers following syntactic rules. We also measured individual differences in declarative and procedural memory processing, which have been linked to vocabulary and grammar learning, respectively. The results showed that grammar and vocabulary can be acquired simultaneously, but with distinctive patterns of acquisition – the syntactic role of verbs and their referents first, then other lexical categories, and finally the syntactic function of case markers. Interdependencies in learning were found for word order and verbs, which related to verbal declarative memory, and also for nouns, adjectives and case markers, which related to procedural memory

Dynamical Behavior of Multi-Robot Systems Using Lattice Gas Automata

Recent attention has been given to the deployment of an adaptable sensor array realized by multi-robotic systems. Our group has been studying the collective behavior of autonomous, multi-agent systems and their applications in the area of remote-sensing and emerging threats. To accomplish such tasks, an interdisciplinary research effort at Sandia National Laboratories are conducting tests in the fields of sensor technology, robotics, and multi-robotic and multi-agents architectures. Our goal is to coordinate a constellation of point sensors that optimizes spatial coverage and multivariate signal analysis using unmanned robotic vehicles (e.g., RATLERs, Robotic All-ten-sin Lunar Exploration Rover-class vehicles). Overall design methodology is to evolve complex collective behaviors realized through simple interaction (kinetic) physics and artificial intelligence to enable real-time operational responses to emerging threats. This paper focuses on our recent work understanding the dynamics of many-body systems using the physics-based hydrodynamic model of lattice gas automata. Three design features are investigated. One, for single-speed robots, a hexagonal nearest-neighbor interaction topology is necessary to preserve standard hydrodynamic flow. Two, adaptability, defined by the swarm's deformation rate, can be controlled through the hydrodynamic viscosity term, which, in turn, is defined by the local robotic interaction rules. Three, due to the inherent non-linearity of the dynamical equations describing large ensembles, development of stability criteria ensuring convergence to equilibrium states is developed by scaling information flow rates relative to a swarm's hydrodynamic flow rate. An initial test case simulates a swarm of twenty-five robots that maneuvers past an obstacle while following a moving target. A genetic algorithm optimizes applied nearest-neighbor forces in each of five spatial regions distributed over the simulation domain. Armed with knowledge, the swarm adapts by changing state in order to avoid the obstacle. Simulation results are qualitatively similar to lattice gas

Electronic structure of NiS_{1-x}Se_x

We investigate the electronic structure of the metallic NiS$_{1-x}$Se$_x$ system using various electron spectroscopic techniques. The band structure results do not describe the details of the spectral features in the experimental spectrum, even for this paramagnetic metallic phase. However, a parameterized many-body multi-band model is found to be successful in describing the Ni~2$p$ core level and valence band, within the same model. The asymmetric line shape as well as the weak intensity feature in the Ni~2$p$ core level spectrum has been ascribed to extrinsic loss processes in the system. The presence of satellite features in the valence band spectrum shows the existence of the lower Hubbard band, deep inside the $pd$ metallic regime, consistent with the predictions of the dynamical mean field theory.Comment: To be published in Physical Review B, 18 pages and 5 figure

An evaluation of the effectiveness of PROMPT therapy in improving speech production accuracy in six children with cerebral palsy

This study evaluates perceptual changes in speech production accuracy in six children (3 – 11 years) with moderate-to-severe speech impairment associated with cerebral palsy before, during, and after participation in a motor-speech intervention program (Prompts for Restructuring Oral Muscular Phonetic Targets). An A1BCA2 single subject research design was implemented. Subsequent to the baseline phase (phase A1), phase B targeted each participant’s first intervention priority on the PROMPT motor-speech hierarchy. Phase C then targeted one level higher. Weekly speech probes were administered, containing trained and untrained words at the two levels of intervention, plus an additional level that served as a control goal. The speech probes were analysed for motor-speech-movement-parameters and perceptual accuracy. Analysis of the speech probe data showed all participants recorded a statistically significant change. Between phases A1 – B and B – C 6/6 and 4/6participants, respectively, recorded a statistically significant increase in performance level on the motor speech movement patterns targeted during the training of that intervention. The preliminary data presented in this study make a contribution to providing evidence that supports the use of a treatment approach aligned with dynamic systems theory to improve the motor-speech movement patterns and speech production accuracy in children with cerebral palsy