Numerical optimization algorithms, appendix A
Numerical optimization algorithms for space shuttle trajectory control
Mac Kinnon, D.↗
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Minimum shuttle thermal protection system weight through trajectory shaping
Entry trajectory control effects on thermal protection system weight of space shuttle
Kipp, H. W.↗
Apollo experience report: Mission planning for Apollo entry
The problems encountered and the experience gained in the entry mission plans, flight software, trajectory-monitoring procedures, and backup trajectory-control techniques of the Apollo Program should provide a foundation upon which future spacecraft programs can be developed. Descriptions of these entry activities are presented. Also, to provide additional background information needed for discussion of the Apollo entry experience, descriptions of the entry targeting for the Apollo 11 mission and the postflight analysis of the Apollo 10 mission are presented.
Graves, C. A.↗
Aerodynamic characteristics of some modified conical bodies with low lift-drag ratios at Mach numbers of 2.30 and 4.63
A wind-tunnel investigation was conducted at Mach numbers of 2.30 and 4.63 to determine the static aerodynamic characteristics of three 60 deg half-angle cone models. Configuration 1 was obtained by raking off a symmetrical cone at a base angle of 6.15 deg, and configuration 2 and 3 were obtained by adding flaps to a symmetrical cone. The models were tested at angles of attack from about -5 deg to about 20 deg at roll angles of 0 deg to -180 deg and at a freestream Reynolds number of 1.09 x one million, based on body diameter. The results showed that all three configurations produced finite values of lift-drag ratio useful for lifting planetary entry. All three configurations exhibited increases in yawing moment and side force with roll angle; thus, the capability for lateral trajectory control is provided.
Davenport, E. E.↗
Space Trajectory Error Analysis Program (STEAP) for halo orbit missions. Volume 1: Analytic and user's manual
Development, test, conversion, and documentation of computer software for the mission analysis of missions to halo orbits about libration points in the earth-sun system is reported. The software consisting of two programs called NOMNAL and ERRAN is part of the Space Trajectories Error Analysis Programs (STEAP). The program NOMNAL targets a transfer trajectory from Earth on a given launch date to a specified halo orbit on a required arrival date. Either impulsive or finite thrust insertion maneuvers into halo orbit are permitted by the program. The transfer trajectory is consistent with a realistic launch profile input by the user. The second program ERRAN conducts error analyses of the targeted transfer trajectory. Measurements including range, doppler, star-planet angles, and apparent planet diameter are processed in a Kalman-Schmidt filter to determine the trajectory knowledge uncertainty. Execution errors at injection, midcourse correction and orbit insertion maneuvers are analyzed along with the navigation uncertainty to determine trajectory control uncertainties and fuel-sizing requirements. The program is also capable of generalized covariance analyses.
Byrnes, D. V.↗
System design impact of guidance and navigation analysis for a SEPS 1979 Encke flyby
Baseline guidance and navigation strategy for an ecliptic projection of the Encke flyby mission consider solar electric propulsion stage parameters in generating optimized and targeted trajectory control. Results show the Encke relative approach error to be dominated by ephemerical uncertainties, particularly the velocity components.
Hong, P.↗
The Automated Planetary Space Station
Results are presented for a study on mission definition and design to determine broad technology directions and needs for advanced planetary spacecraft and future planetary missions. The discussion covers mission selection, system design, and technology assessment and review for a multicomponent spacecraft exploration facility provided with nuclear power propulsion. As an example, the Automated Planetary Space Station at Jupiter is examined as a generic concept which has the capability of conducting in-depth investigations of different aspects of the entire Jovian system. Mission planning is discussed relative to low-thrust trajectory control, automatic target identification and landing, roving vehicle operation, and automated sample analysis.
Ivie, C. V.↗
A singular perturbation analysis of minimum time long range intercept
The application of singular perturbation theory for deriving algorithms suitable for on board real time computation of optimal aircraft trajectory control was investigated. Minimum time intercept in three dimensions was selected as a pilot problem formulation, and data for an early version F-4 aircraft was used to represent aircraft aerodynamic and propulsion characteristics. Results include the derivation of nonlinear, near optimal feedback control laws that are readily implementable in an aircraft flight computer, performance results for a variety of initial conditions (including optimal intercept at short ranges), and a point mass three dimensional simulation suitable for representing fighter aircraft under closed loop optimal control.
Calise, A.↗
Static and transient performance of YF-102 engine with up to 14 percent core airbleed for the quiet short-haul research aircraft
An outdoor static test stand was used to measure the steady-state and transient performance of the YF-102 turbofan engine with core airbleed. The test configuration included a bellmouth inlet and a confluent-flow exhaust system similar in size to the quiet short-haul research aircraft (QSRA) exhaust system. For the steady-state tests, the engine operated satisfactorily with core bleed up to 14 percent of the core inlet flow. For the transient tests the engine accelerated and decelerated satisfactorily with no core bleed and with core bleed up to 11 percent of the core inlet flow (maximum tested). For some of the tests the core-bleed flow rate was scheduled to vary with fan discharge pressure, to simulate the QSRA bleed requirements. No stability, surge, stall, overtemperature, combustor flameout, or other operating problems were encountered in any of the tests. Steady-state and transient engine performance data are presented in graphs, and fuel-control trajectories for typical transient tests are shown.
Mcardle, J. G.↗
Hybrid Position/Force Control of Robot Manipulators
In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.
Raibert, M. H.↗
U.S. planetary protection program - Implementation highlights
The implementation of the United States planetary protection program, intended to prevent the contamination of the celestial bodies in the solar system during their exploration, in recent interplanetary projects is reviewed. The shift in planetary protection policy from that of absolute sterilization to a probabilistic approach is noted. Attention is then given to the use of microbiological assay, organic materials inventory, microbial burden reduction, contamination control, trajectory biasing and the analysis and identification of contaminating processes for purposed of planetary protection for the Pioneer 10 and 11, Viking and Voyager projects. The success of these measures, as demonstrated by the prevention of accidental planetary impact and the failure to detect terrestrial organisms by the Viking life detection experiments, is pointed out.
Barengoltz, J.↗
Optimal trajectories for aeroassisted orbital transfer
Consideration is given to classical and minimax problems involved in aeroassisted transfer from high earth orbit (HEO) to low earth orbit (LEO). The transfer is restricted to coplanar operation, with trajectory control effected by means of lift modulation. The performance of the maneuver is indexed to the energy expenditure or, alternatively, the time integral of the heating rate. Firist-order optimality conditions are defined for the classical approach, as are a sequential gradient-restoration algorithm and a combined gradient-restoration algorithm. Minimization techniques are presented for the aeroassisted transfer energy consumption and time-delay integral of the heating rate, as well as minimization of the pressure. It is shown that the eigenvalues of the Jacobian matrix of the differential system is both stiff and unstable, implying that the sequential gradient restoration algorithm in its present version is unsuitable. A new method, involving a multipoint approach to the two-poing boundary value problem, is recommended.
Miele, A.↗
Development of a bipropellant propulsion module for the Galileo spacecraft
The bipropellant engine retropropulsion module (RPM) of the Jupiter-exploration Galileo spacecraft provides attitude control, trajectory correction, a deep space velocity increment, a spacecraft deflection maneuver for an entry capsule, a retromaneuver for Jupiter approach, and a 'perijove raise' maneuver for the Jovian system tour of the spacecraft. Attention is given to the design features and performance capabilities of the RPM, which uses a set of 12 10-N thrusters in conjunction with a 400-N engine. Tanks contain 935 kg of propellant to satisfy mission requirements.
Hagenest, W.↗
Candidate techniques for non-intrusive measurement of flight boundary-layer properties
Techniques to measure gas composition and chemical activity in the hypersonic boundary layer associated with entry research vehicles and with a tethered satellite deployed at 100-125 km altitude are currently being investigated at the NASA-Langley Research Center. These measurements are appropriate for the study of the aerothermodynamic properties of these vehicles when operating with controlled trajectories in the thermosphere between 125 and 55 km. A number of the required quantitative physical measurements have been identified, and candidate techniques to obtain the measurements without perturbing the flow are being considered. Two candidate techniques are discussed in this paper: a mass spectrometer to analyze the gas composition at the vehicle surface, and Rayleigh scattering to obtain density, velocity, and temperature gradients from the surface to the edge of the boundary layer.
Wood, G. M., Jr.↗
Approximating the linear quadratic optimal control law for hereditary systems with delays in the control
The fundamental control synthesis issue of establishing a priori convergence rates of approximation schemes for feedback controllers for a class of distributed parameter systems is addressed within the context of hereditary systems. Specifically, a factorization approach is presented for deriving approximations to the optimal feedback gains for the linear regulator-quadratic cost problem associated with time-varying functional differential equations with control delays. The approach is based on a discretization of the state penalty which leads to a simple structure for the feedback control law. General properties of the Volterra factors of Hilbert-Schmidt operators are then used to obtain convergence results for the controls, trajectories and feedback kernels. Two algorithms are derived from the basic approximation scheme, including a fast algorithm, in the time-invariant case. A numerical example is also considered.
Milman, Mark H.↗
Approximating the linear quadratic optimal control law for hereditary systems with delays in the control
The fundamental control synthesis issue of establishing a priori convergence rates of approximation schemes for feedback controllers for a class of distributed parameter systems is addressed within the context of hereditary schemes. Specifically, a factorization approach is presented for deriving approximations to the optimal feedback gains for the linear regulator-quadratic cost problem associated with time-varying functional differential equations with control delays. The approach is based on a discretization of the state penalty which leads to a simple structure for the feedback control law. General properties of the Volterra factors of Hilbert-Schmidt operators are then used to obtain convergence results for the controls, trajectories and feedback kernels. Two algorithms are derived from the basic approximation scheme, including a fast algorithm, in the time-invariant case. A numerical example is also considered.
Milman, Mark H.↗
Telerobotics - Problems and research needs
With major emphasis on simulation, a university laboratory telerobotics facility permits problems to be approached by groups of graduate students. Helmet-mounded displays provide realism; the slaving of the display to the human operator's viewpoint gives a sense of 'telepresence' that may be useful for prolonged tasks. Using top-down three-dimensional model control of distant images allows distant images to be reduced to a few parameters to update the model used for display to the human operator in a preview mode to circumvent, in part, the communication delay. Also, the model can be used as a format for supervisory control and permit short-term local autonomous operations. Image processing algorithms can be made simpler and faster without trying to construct sensible images from the bottom. Control studies of telerobots lead to preferential manual control modes and basic paradigms for human motion and thence, perhaps, to redesign of robotic control, trajectory path planning, and rehabilitation prosthetics.
Stark, Lawrence↗
Voyager 2 orbit determination at Neptune
In August 1989 the Voyager 2 spacecraft encountered Neptune and Triton. Precise knowledge of the trajectory of the spacecraft relative to the Neptunian system was essential to ensure successful observations during the flyby, and to perform trajectory control. Determination of the orbit of Voyager 2 with respect to the Neptunian system was accomplished by the use of radiometric Doppler, range, and VLBI observations of the spacecraft in combination with spacecraft-based optical observations of Neptune, Triton, Nereid, and the Voyager-discovered satellite 1989N1. These data types were used in a new version of the JPL Orbit Determination Program to determine the orbit of the spacecraft as well as Neptunian system ephemerides and dynamical parameters, resulting in accurate delivery of the spacecraft to targeted conditions at Neptune and Triton.
Lewis, G. D.↗