Search NASA⌕ Search

SEARCH · Search NASA

Results for “Variable Trajectory”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 181 records · Page 10

ARM Trajectories Data Set Value-Added Product Report

The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s ARM Trajectories Data Set (ARMTRAJ) Value-Added Product (VAP) provides trajectory data sets initialized at ARM deployment coordinates and configured using ARM data sets. The four trajectory data sets support aerosol, cloud, and planetary boundary-layer research. Trajectory calculations use the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model informed by the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation atmospheric reanalysis (ERA5) data set at its highest spatial resolution (~31 km). HYSPLIT also runs at multiple initial starting locations surrounding ARM deployments (in latitude/longitude and/or vertical coordinates), facilitating an ensemble for each sample in the data sets. The ensemble mean and variability reported in ARMTRAJ improve the fidelity and provide uncertainty estimates of trajectory coordinates, thermodynamic properties, and other output fields.

54 ENVIRONMENTAL SCIENCES↗

ARM Trajectories Data Set Value-Added Product Report

The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) user facility’s ARM Trajectories Data Set (ARMTRAJ) Value-Added Product (VAP) provides trajectory data sets initialized at ARM deployment coordinates and configured using ARM data sets. The six trajectory data sets support aerosol, cloud, planetary boundary layer, and related research (aerosol-cloud interactions, etc.), as well as studies using ARM Aerial Facility (AAF) and tethered balloon system (TBS) measurements. Trajectory calculations use the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) model informed by the European Centre for Medium-Range Weather Forecasts (ECMWF) fifth-generation atmospheric reanalysis (ERA5) data set at its highest spatial resolution (~31 km). HYSPLIT also runs at multiple initial starting locations surrounding ARM deployments (in latitude/longitude and/or vertical coordinates), facilitating an ensemble for each sample in the data sets. The ensemble mean and variability reported in ARMTRAJ improve the fidelity and provide uncertainty estimates of trajectory coordinates, thermodynamic properties, and other output fields.

54 ENVIRONMENTAL SCIENCES↗

Flight test results for the Digital Integrated Automatic Landing Systems (DIALS): A modern control full-state feedback design

The Digital Integrated Automatic Landing System (DIALS) is discussed. The DIALS is a modern control theory design performing all the maneuver modes associated with current autoland systems: localizer capture and track, glideslope capture and track, decrab, and flare. The DIALS is an integrated full-state feedback system which was designed using direct-digital methods. The DIALS uses standard aircraft sensors and the digital Microwave Landing System (MLS) signals as measurements. It consists of separately designed longitudinal and lateral channels although some cross-coupling variables are fed between channels for improved state estimates and trajectory commands. The DIALS was implemented within the 16-bit fixed-point flight computers of the ATOPS research aircraft, a small twin jet commercial transport outfitted with a second research cockpit and a fly-by-wire system. The DIALS became the first modern control theory design to be successfully flight tested on a commercial-type aircraft. Flight tests were conducted in late 1981 using a wide coverage MLS on Runway 22 at Wallops Flight Center. All the modes were exercised including the capture and track of steep glidescopes up to 5 degrees.

Hueschen, R. M.↗

Optimal output fast feedback in two-time scale control of flexible arms

Control of lightweight flexible arms moving along predefined paths can be successfully synthesized on the basis of a two-time scale approach. A model following control can be designed for the reduced order slow subsystem. The fast subsystem is a linear system in which the slow variables act as parameters. The flexible fast variables which model the deflections of the arm along the trajectory can be sensed through strain gage measurements. For full state feedback design the derivatives of the deflections need to be estimated. The main contribution of this work is the design of an output feedback controller which includes a fixed order dynamic compensator, based on a recent convergent numerical algorithm for calculating LQ optimal gains. The design procedure is tested by means of simulation results for the one link flexible arm prototype in the laboratory.

Siciliano, B.↗

A new approach to global control of redundant manipulators

A new and simple approach to configuration control of redundant manipulators is presented. In this approach, the redundancy is utilized to control the manipulator configuration directly in task space, where the task will be performed. A number of kinematic functions are defined to reflect the desirable configuration that will be achieved for a given end-effector position. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. An adaptive scheme is then utilized to globally control the configuration variables so as to achieve tracking of some desired reference trajectories. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The control law is simple and computationally very fast, and does not require the complex manipulator dynamic model.

Seraji, Homayoun↗

Method and apparatus for configuration control of redundant robots

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

Seraji, Homayoun↗

Optimal guidance law development for an advanced launch system

The proposed investigation on a Matched Asymptotic Expansion (MAE) method was carried out. It was concluded that the method of MAE is not applicable to launch vehicle ascent trajectory optimization due to a lack of a suitable stretched variable. More work was done on the earlier regular perturbation approach using a piecewise analytic zeroth order solution to generate a more accurate approximation. In the meantime, a singular perturbation approach using manifold theory is also under current investigation. Work on a general computational environment based on the use of MACSYMA and the weak Hamiltonian finite element method continued during this period. This methodology is capable of the solution of a large class of optimal control problems.

Calise, Anthony J.↗

Microgravity Research on the NASA Lewis Learjet Test Facility

Results from preliminary performance tests conducted in an aircraft low-G testbed for nonfree-floating experimental packages have identified several operational variables that directly influence the duration and quality of each trajectory. Flight test measurements were made to identify and quantify the presence of higher-frequency airborne and structureborne noise that may affect the correlation of research data with acceleration levels recorded on trajectory traces.

Boyer, E. O.↗

Statistical Methods for Rapid Aerothermal Analysis and Design Technology

The cost and safety goals for NASA's next generation of reusable launch vehicle (RLV) will require that rapid high-fidelity aerothermodynamic design tools be used early in the design cycle. To meet these requirements, it is desirable to establish statistical models that quantify and improve the accuracy, extend the applicability, and enable combined analyses using existing prediction tools. The research work was focused on establishing the suitable mathematical/statistical models for these purposes. It is anticipated that the resulting models can be incorporated into a software tool to provide rapid, variable-fidelity, aerothermal environments to predict heating along an arbitrary trajectory. This work will support development of an integrated design tool to perform automated thermal protection system (TPS) sizing and material selection.

Morgan, Carolyn↗

Dynamics and Control of Quadcopter in Uncertain Environment

We consider problem of dynamics, control, and uncertainty quantification for quadcopter. We use the 6DOF model of quadcopter dynamics, linear quadratic regulator and linear quadratic Gaussian control of quadcopter in the presence of dynamical disturbances, measurement noise, hidden dynamical variables, dashing GPS signal, and wind gusts to predict quadcopter trajectory. We identify key sources of uncertainties and report on progress in development of a system that estimates the probability of safety-critical events using a set of algorithms based on the trajectory predictions.

uncertainty quantification↗

Airborne Trajectory Management for Urban Air Mobility

Urban Air Mobility (UAM) has captured the imagination of the public and the aviation industry for someday soon moving people and goods through and around metropolitan areas using Unmanned Aircraft Systems (UAS) that are electrically powered, environmentally friendly, and autonomously operated. Significant investment and rapid development of vehicles for this activity is taking place, with package delivery services already beginning in some areas. However, the ability to manage thousands of these vehicles safely in a congested urban area presents a challenge unprecedented in air traffic management. Initial studies of this problem led by NASA under the UAS Traffic Management (UTM) initiative have primarily focused on geo-fencing and centralized reservation of airspace for individual flights. This paper proposes an extension of UTM using a de-centralized approach employing airborne surveillance, self-separation, and a minimized “design separation” approach to permit the optimization and safety of each flight in very high traffic densities and close proximities. The concept employs Airborne Trajectory Management (ABTM) principles and a novel new concept for variable separation criteria to manage the angular velocity of a passing vehicle, thus eliminating the "startle factor" and perceived hazard of very close operations. ABTM also accomplishes most of the services required for safe planning and execution of normal flights and recovery from abnormal or emergency operations while accommodating conventional piloted flights using the current air traffic control paradigm. The environment for UAM operations is described along with the proposed means for autonomous, tactical separation of the vehicles. Sample geometries of traffic conflicts and resolutions are shown and the airspace definitions, rules for flight within them, and additions and exemptions to the rules for these flights are listed and explained.

Cotton, William↗

Formation acquisition sensor for the Terrestrial Planet Finder (TPF) mission

The Terrestrial Planet Finder (TPF) pre-project, an element of NASA’s Origins Program, is currently investigating multiple implementation architectures for finding earth-like planets around other stars. One of the technologies being developed is the Formation Flying Interferometer (FFI). The FFI is envisioned to consist of up to seven spacecraft, each with an infrared telescope, flying in precise formation within +/- l cm of pre-determined trajectories for synchronized observations. The spacecraft to- spacecraft separations are variable between 20 m to 100m during observations to support various interferometer configurations in the planet-finding mode. The challenges involved with TPF autonomous operations, ranging from formation acquisition and formation maneuvering, to high precision formation flying during science observations are unprecedented for deep space missions. To meet these challenges, the Formation Sensor Testbed (FST) under the TPF technology program will develop and demonstrate the key technology of the formation acquisition sensor. Key performance targets for the acquisition sensor are an instantaneous 4phi-steradian field of view and simultaneous range and bearing-angle measurements for multiple spacecraft with accuracy better than 50 cm and 1 degree, respectively. In this paper, we will describe the TPF FFI mission concept, the key formation flying challenges, the acquisition sensor design, the key design challenges, and the current plan to mitigate these design challenges.

Purcell, George H. Jr.↗

Successive Convexification for Powered Descent Guidance with Time-Varying Mass Properties

This paper extends the 6 degree-of-freedom successive convexification (SCvx) algorithm discussed in literature to account for time-varying mass properties in the representation of the attitude dynamics. Simulation results of a notional large-size lander performing the last minutes of Lunar powered descent with significant variations in the center-of-mass and moments of inertia over the duration of the trajectory are shown. Differences in the final optimal trajectories generated via SCvx are presented between the constant vs. variable mass property formulations for an in-plane and out-of-plane example.

Alex Hayes↗

Successive Convexification for Powered Descent Guidance with Time-Varying Mass Properties

This paper extends the 6 degree-of-freedom successive convexification (SCvx) algorithm discussed in literature to account for time-varying mass properties in the representation of the attitude dynamics. Simulation results of a notional large-size lander performing the last minutes of Lunar powered descent with significant variations in the center-of-mass and moments of inertia over the duration of the trajectory are shown. Differences in the final optimal trajectories generated via SCvx are presented between the constant vs. variable mass property formulations for an in-plane and out-of-plane example.

Alex Hayes↗

Comparison of Ground-Based and Airborne Function Allocation Concepts for NextGen Using Human-In-The-Loop Simulations

Investigation of function allocation for the Next Generation Air Transportation System is being conducted by the National Aeronautics and Space Administration (NASA). To provide insight on comparability of different function allocations for separation assurance, two human-in-the-loop simulation experiments were conducted on homogeneous airborne and ground-based approaches to four-dimensional trajectory-based operations, one referred to as ground-based automated separation assurance (groundbased) and the other as airborne trajectory management with self-separation (airborne). In the coordinated simulations at NASA s Ames and Langley Research Centers, controllers for the ground-based concept at Ames and pilots for the airborne concept at Langley managed the same traffic scenarios using the two different concepts. The common scenarios represented a significant increase in airspace demand over current operations. Using common independent variables, the simulations varied traffic density, scheduling constraints, and the timing of trajectory change events. Common metrics were collected to enable a comparison of relevant results. Where comparisons were possible, no substantial differences in performance or operator acceptability were observed. Mean schedule conformance and flight path deviation were considered adequate for both approaches. Conflict detection warning times and resolution times were mostly adequate, but certain conflict situations were detected too late to be resolved in a timely manner. This led to some situations in which safety was compromised and/or workload was rated as being unacceptable in both experiments. Operators acknowledged these issues in their responses and ratings but gave generally positive assessments of the respective concept and operations they experienced. Future studies will evaluate technical improvements and procedural enhancements to achieve the required level of safety and acceptability and will investigate the integration of airborne and ground-based capabilities within the same airspace to leverage the benefits of each concept.

Wing, David J.↗

Approach to forecasting daily maximum ozone levels in St. Louis

Measurements taken in 1976 from the St. Louis Regional Air Pollution Study (RAPS) data base, conducted by EPA, were analyzed to determine an optimum set of air-quality and meteorological variables for predicting maximum ozone levels for each day in 1976. A 'leaps and bounds' regression analysis was used to identify the best subset of variables. Three particular variables, the 9 a.m. ozone level, the forecasted maximum temperature, and the 6-9 a.m. averaged wind speed, have useful forecasting utility. The trajectory history of air masses entering St. Louis was studied, and it was concluded that transport-related variables contribute to the appearance of very high ozone levels. The final empirical forecast model predicts the daily maximum ozone over 341 days with a standard deviation of 11 ppb, which approaches the estimated error.

Prior, E. J.↗

Direct Multiple Shooting Optimization with Variable Problem Parameters

Taking advantage of a novel approach to the design of the orbital transfer optimization problem and advanced non-linear programming algorithms, several optimal transfer trajectories are found for problems with and without known analytic solutions. This method treats the fixed known gravitational constants as optimization variables in order to reduce the need for an advanced initial guess. Complex periodic orbits are targeted with very simple guesses and the ability to find optimal transfers in spite of these bad guesses is successfully demonstrated. Impulsive transfers are considered for orbits in both the 2-body frame as well as the circular restricted three-body problem (CRTBP). The results with this new approach demonstrate the potential for increasing robustness for all types of orbit transfer problems.

Whitley, Ryan J.↗

Thoughts Without Content are Empty, Intuitions Without Concepts are Blind - Determinism and Contingency Revisited

Was the emergence of life a predictable outcome of chemical evolution on earth? Could evolution produce life very different from ours? These are one of the oldest questions in the field of the origin of life that not only have broad philosophical implications but also impact how we approach the problem from the methodological standpoint. Framing the issue in terms of the dichotomy between contingency and determinism is not a fortunate because these two terms in their conventional meaning are neither mutually exclusive nor jointly exhaustive. Determinism, represented in natural sciences by Newtonian physics, relies on the assumption that every event is causally determined by a chain of previous events. In the context of the origin of life it means that once the initial conditions on the early earth have been specified further evolution follows inevitably. Considering uncertainties about conditions on the prebiotic earth, many plausible sets of initial conditions can be defined, each followed by a separate deterministic trajectory. This conventional understanding of determinism does not admit contingency. Further, it has no implications for evaluating how many sets of initial conditions lead to the emergence of life. It appears that a better framing of the problem is as follows: given plausible sets of initial conditions on the early earth how probable and broadly spread are evolutionary trajectories that lead to life? Instead of undertaking an impossible task of specifying microscopic initial conditions for all components of the system one uses a reduced representation of this system and specify only a small set of essential macroscopic parameters, values (or ranges of values) of which can be identified, inferred or estimated from experiment, theory or historical record. The following evolutionary trajectories are still governed by laws of physics and chemistry but become probabilistic and "contingency" is admitted as variations in other variables in the system. A similar reasoning is common in other fields of science, for example in statistical mechanics. Some trajectories lead to life, perhaps in different forms, whereas others do not. Of our true interest is the ratio of these two outcomes. The issue of determinism does not directly enter the picture. The debate about the likelihood of the emergence of life is quite old. One view holds that the origin of life is an event governed by chance, and the result of so many random events (contingencies) is unpredictable. This view was eloquently expressed by Monod. In his book "Chance or Necessity" he argued that life was a product of "nature's roulette." In an alternative view, expressed in particular by deDuve and Morowitz, the origin of life is considered a highly probable or even inevitable event (although its details need not be determined in every respect). Only in this sense the origin of life can be considered a "deterministic event".

Pohorille, Andrew↗