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Towards Persistent Space Observations through Autonomous Multi-Agent Formations

Sensing platforms must advance in scale and sophistication in order to support increasingly ambitious missions across Earth and space science; intelligence, surveillance, and reconnaissance (ISR); and planetary exploration. Distributed, persistent observation platforms have the potential to play a pivotal role in next generation missions through improved area coverage, enhanced situational awareness, and faster identification of trends and changes. The Multi-Agent Clusters for Persistent Observations from Space (MACPOS) project at NASA Langley Research Center is developing key technologies for the autonomous, heterogeneous formations that will comprise such platforms. Research thrusts include dynamic formation negotiation for self-assembling clusters of agents, distributed motion planning, and coordinated trajectory execution. Adaptive leader-follower formation negotiation allows agents to cluster and break off as necessary to adapt to both nominal and new mission objectives. Coordinated motion planning and execution maintain the formation while ensuring safe separation distances among agents and obstacles in the environment. These capabilities align MACPOS with NASA’s initiative for space and surface in-situ assembly through fundamental technology development for autonomous multi-agent systems. This paper presents an overview and early progress for the MACPOS project. We describe the system architecture for both individual agents and the overall fleet. Design considerations are given for the planning, control, and metrology subsystems. Finally, we discuss planned project milestones and the expected course of development.

Matthew P Vaughan↗

NASA NTRS1984

Functional integration of vertical flight path and speed control using energy principles

A generalized automatic flight control system was developed which integrates all longitudinal flight path and speed control functions previously provided by a pitch autopilot and autothrottle. In this design, a net thrust command is computed based on total energy demand arising from both flight path and speed targets. The elevator command is computed based on the energy distribution error between flight path and speed. The engine control is configured to produce the commanded net thrust. The design incorporates control strategies and hierarchy to deal systematically and effectively with all aircraft operational requirements, control nonlinearities, and performance limits. Consistent decoupled maneuver control is achieved for all modes and flight conditions without outer loop gain schedules, control law submodes, or control function duplication.

Lambregts, A. A.↗

NASA NTRS1972

Optimum performance of static propellers and rotors.

A criterion for the optimum performance of static propellers and hovering helicopter rotors is developed. Numerical results are presented for the optimum radial distributions of circulation and inflow at the propeller disk and relating the optimum power coefficient and the figure of merit to the thrust coefficient. It is shown that the present theory, which fully accounts for the effect of slipstream rotation, predicts optimum distributions of circulation and inflow that differ significantly from those based on approximate methods.

Wu, J. C.↗

NASA NTRS1985

MPD thruster performance - Propellant distribution and species effects

Previous research has shown that MPD thruster performance, as measured by thrust, specific impulse, and efficiency, is limited by a so-called 'onset' current level. Experimental results are presented which show that the onset current level varies with the radial position of mass injection. Specifically, mass injection into either of two zones results in drastically different performance for both argon and xenon propellants. This difference in performance is evidenced by the onset current levels, the onset V-J signatures, and the overall V-J characteristics. The behavior of the thruster with the total mass flow split between the two zones follows a transition between the zonal behavioral limits. The behavior of propellant mixtures also follows a transition between the behavior of the individual propellant species. The flow region between the two zones is characterized by a particle number density discontinuity, a large axial current density, and a large electron Hall parameter, suggesting a possible correlation between observed onset phenomena and a shear-flow discontinuity located in the region between the two zones.

Kelly, A. J.↗

NASA NTRS2018

Auralization of an Unmanned Aerial Vehicle Under Propeller Phase Control

Community noise has been identified as a major barrier to entry into service of unmanned aerial vehicle platforms. Common among such vehicle architectures is a distributed electric propulsion system, in which many propellers and/or rotors are used for thrust and/or lift. A promising noise reduction technique was recently developed to favorably modify the vehicle source noise directivity, by adjusting the relative azimuthal position of the prop/rotor blades between propulsors. Un- der idealized conditions, such phase control can yield noise reductions on the order of 20 dB at a ground observer relative to the average case having a random phase distribution. However, human perception of the resulting noise may not be fully captured by such a simple acoustic measure. To this end, this paper under- takes the auralization of the tonal vehicle noise. Specifically, total propeller tonal noise is optimized over a set of observer zones, e.g., 45 deg. wedges, around the vehicle. Each zone represents a unique set of relative phases. The forward flight of the vehicle adjacent to a noise-sensitive area is simulated by prescribing a series of zones over the flight path having minimum noise in the direction of the ob- server. Auralizations and their associated metrics are compared with a reference condition.

Pascioni, Kyle A.↗

NASA NTRS1994

The Determination of Forces and Moments on a Gimballed SRM Nozzle Using a Cold Flow Model

The Solid Rocket Motor Air Flow Facility (SAF) at NASA Marshall Space Flight Center was used to characterize the flow in the critical aft end and nozzle of a solid propellant rocket motor (SRM) as part of the design phase of development. The SAF is a high pressure, blowdown facility which supplies a controlled flow of air to a subscale model of the internal port and nozzle of a SRM to enable measurement and evaluation of the flow field and surface pressure distributions. The ASRM Aft Section/Nozzle Model is an 8 percent scale model of the 19 second burn time aft port geometry and nozzle of the Advanced Solid Rocket Motor, the now canceled new generation space Shuttle Booster. It has the capability to simulate fixed nozzle gimbal angles of 0, 4, and 8 degrees. The model was tested at full scale motor Reynolds Numbers with extensive surface pressure instrumentation to enable detailed mapping of the surface pressure distributions over the nozzle interior surface, the exterior surface of the nozzle nose and the surface of the simulated propellant grain in the aft motor port. A mathematical analysis and associated numerical procedure were developed to integrate the measured surface pressure distributions to determine the lateral and axial forces on the moveable section of the nozzle, the effective model thrust and the effective aerodynamic thrust vector (as opposed to the geometric nozzle gimbal angle). The nozzle lateral and axial aerodynamic loads and moments about the pivot point are required for design purposes and require complex, three dimensional flow analyses. The alignment of the thrust vector with the nozzle geometric centerline is also a design requirement requiring three dimensional analyses which were supported by this experimental program. The model was tested with all three gimbal angles at three pressure levels to determine Reynolds number effects and reproducibility. This program was successful in demonstrating that a measured surface pressure distribution could be integrated to determine the lateral and axial loads, moments and thrust vector alignment for the scaled model of a large space booster nozzle. Numerical results were provided which are scaleable to the full scale rocket motor and can be used as benchmark data for 3-D CFD analyses.

Whitesides, R. Harold↗

NASA NTRS1986

General equilibrium characteristics of a dual-lift helicopter system

The equilibrium characteristics of a dual-lift helicopter system are examined. The system consists of the cargo attached by cables to the endpoints of a spreader bar which is suspended by cables below two helicopters. Results are given for the orientation angles of the suspension system and its internal forces, and for the helicopter thrust vector requirements under general circumstances, including nonidentical helicopters, any accelerating or static equilibrium reference flight condition, any system heading relative to the flight direction, and any distribution of the load to the two helicopters. Optimum tether angles which minimize the sum of the required thrust magnitudes are also determined. The analysis does not consider the attitude degrees of freedom of the load and helicopters in detail, but assumes that these bodies are stable, and that their aerodynamic forces in equilibrium flight can be determined independently as functions of the reference trajectory. The ranges of these forces for sample helicopters and loads are examined and their effects on the equilibrium characteristics are given parametrically in the results.

Cicolani, L. S.↗

NASA NTRS2008

Operability of an Ejector Enhanced Pulse Combustor in a Gas Turbine Environment

A pressure-gain combustor comprised of a mechanically valved, liquid fueled pulsejet, an ejector, and an enclosing shroud, was coupled to a small automotive turbocharger to form a self-aspirating, thrust producing gas turbine engine. The system was constructed in order to investigate issues associated with the interaction of pulsed combustion devices and turbomachinery. Installed instrumentation allowed for sensing of distributed low frequency pressure and temperature, high frequency pressure in the shroud, fuel flow rate, rotational speed, thrust, and laboratory noise. The engine ran successfully and reliably, achieving a sustained thrust of 5 to 6 lbf, and maintaining a rotor speed of approximately 90,000 rpm, with a combustor pressure gain of approximately 4 percent. Numerical simulations of the system without pressure-gain combustion indicated that the turbocharger would not operate. Thus, the new combustor represented a substantial improvement in system performance. Acoustic measurements in the shroud and laboratory indicated turbine stage sound pressure level attenuation of 20 dB. This is consistent with published results from detonative combustion experiments. As expected, the mechanical reed valves suffered considerable damage under the higher pressure and thermal loading characteristics of this system. This result underscores the need for development of more robust valve systems for this application. The efficiency of the turbomachinery components did not appear to be significantly affected by unsteadiness associated with pulsed combustion, though the steady component efficiencies were already low, and thus not expected to be particularly sensitive.

Paxson, Daniel E.↗

NASA NTRS1989

Performance of an aero-space plane propulsion nozzle

An inviscid and viscous analysis is provided for an exposed half nozzle that is used with a scramjet for thrust generation. The analysis is based on the inviscid theory of a two-dimensional, minimum length nozzle with a curved inlet surface, where the flow may be sonic or supersonic. Inlet conditions are prescribed and the gas is assumed to be perfect. Viscous, and when appropriate inviscid, nondimensional parametric results are provided for the thrust, lift, heat transfer, pitching moment, and a variety of boundary-layer thicknesses. In addition to global results, wall distributions of pressure, heat transfer, etc., are provided. The analysis demonstrates that the nozzle produces a considerable lift force whose magnitude may exceed the thrust and a significant pitching moment. The thrust is quite sensitive to the inlet Mach number; it rapidly decreases as the inlet Mach number increases There is little loss in the thrust as the nozzle's downstream wall is truncated. The corresponding decrease in lift and the pitching moment is moderate.

Emanuel, George↗

NASA NTRS1973

A numerical procedure for the parametric optimization of three dimensional scramjet nozzles

A numerical procedure permitting the rapid determination of the internal performance of a class of scramjet nozzle configurations is presented. The approach developed is based on the construction of quasi two dimensional simple wave networks, where lateral expansion effects are incorporated by one dimensional approximations. A numerical procedure following this approach has has been developed and results obtained are highly comparable to those obtained employing a characteristic procedure. The numerical program developed permits the parametric variation of cowl length, turning angles on the cowl and vehicle undersurface and lateral expansion and is subject to fixed constraints such as the vehicle length and nozzle exit height. The program requires uniform initial conditions at the burner exit station and yields the location of all predominant wave zones, accounting for lateral expansion effects. In addition, the program yields the detailed pressure distribution on the cowl and vehicle undersurface and calculates the nozzle thrust, lift and pitching moment.

Dash, S.↗

NASA NTRS1974

MSFC Skylab Orbital Workshop, volume 2

The design and development of the Skylab Orbital Workshop are discussed. The subjects considered are: (1) thrust attitude control system, (2) solar array system, (3) electrical power distribution system, (4) communication and data acquisition system, (5) illumination system, and (6) caution and warning system.

Source record↗

NASA NTRS1976

Thermal design and analysis of a hydrogen-burning wind tunnel model of an airframe-integrated scramjet

An aerodynamic model of a hydrogen burning, airframe integrated scramjet engine has been designed, fabricated, and instrumented. This model is to be tested in an electric arc heated wind tunnel at an altitude of 35.39 km (116,094 ft.) but with an inlet Mach number of 6 simulating precompression on an aircraft undersurface. The scramjet model is constructed from oxygen free, high conductivity copper and is a heat sink design except for water cooling in some critical locations. The model is instrumented for pressure, surface temperature, heat transfer rate, and thrust measurements. Calculated flow properties, heat transfer rates, and surface temperature distributions along the various engine components are included for the conditions stated above. For some components, estimates of thermal strain are presented which indicate significant reductions in plastic strain by selective cooling of the model. These results show that the 100 thermal cycle life of the engine was met with minimum distortion while staying within the 2669 N (600 lbf) engine weight limitation and while cooling the engine only in critical locations.

Guy, R. W.↗

NASA NTRS1984

Analytical model of the structureborne interior noise induced by a propeller wake

The structure-borne contribution to the interior noise that is induced by the propeller wake acting on the wing was studied. Analytical models were developed to describe each aspect of this path including the excitation loads, the wing and fuselage structures, and the interior acoustic space. The emphasis is on examining a variety of parameters, and as a result different models were developed to examine specific parameters. The excitation loading on the wing by the propeller wake is modeled by a distribution of rotating potential vortices whose strength is related to the thrust per blade. The response of the wing to this loading is examined using beam models. A model of a beam structurally connected to a cylindrical shell with an internal acoustic fluid was developed to examine the coupling of energy from the wing to the interior space. The model of the acoustic space allows for arbitrary end conditions (e.g., rigid or vibrating end caps). Calculations are presented using these models to compare with a laboratory test configuration as well as for parameters of a prop-fan aircraft.

Junger, M. C.↗

NASA NTRS1986

Bomber design trends

Some basic trends in bomber aircraft are traced from the pre-World War I era to the present time. The historic review includes bombers of many countries. The primary discussion, however, will be based on U.S. bomber programs and, to the extent possible, on USSR bomber programs. The bomber aircraft will be examined in terms of performance and mission capability.Characteristics will include power or thrust loading, wing loading, maximum speed, cruising speed, weight and weight distribution, and payload. These trends can be used to indicate the rationale for certain design types. Performance characteristics can be used to indicate potential mission objectives. The overall design trends should be useful in revealing the influence of mission objectives, the influence of advanced technology and, in turn, may be useful in predicting likely future trends.

Spearman, M. L.↗

NASA NTRS1994

Higher harmonic control analysis for vibration reduction of helicopter rotor systems

An advanced higher harmonic control (HHC) analysis has been developed and applied to investigate its effect on vibration reduction levels, blade and control system fatigue loads, rotor performance, and power requirements of servo-actuators. The analysis is based on a finite element method in space and time. A nonlinear time domain unsteady aerodynamic model, based on the indicial response formulation, is used to calculate the airloads. The rotor induced inflow is computed using a free wake model. The vehicle trim controls and blade steady responses are solved as one coupled solution using a modified Newton method. A linear frequency-domain quasi-steady transfer matrix is used to relate the harmonics of the vibratory hub loads to the harmonics of the HHC inputs. Optimal HHC is calculated from the minimization of the vibratory hub loads expressed in term of a quadratic performance index. Predicted vibratory hub shears are correlated with wind tunnel data. The fixed-gain HHC controller suppresses completely the vibratory hub shears for most of steady or quasi-steady flight conditions. HHC actuator amplitudes and power increase significantly at high forward speeds (above 100 knots). Due to the applied HHC, the blade torsional stresses and control loads are increased substantially. For flight conditions where the blades are stalled considerably, the HHC input-output model is quite nonlinear. For such cases, the adaptive-gain controller is effective in suppressing vibratory hub loads, even though HHC may actually increase stall areas on the rotor disk. The fixed-gain controller performs poorly for such flight conditions. Comparison study of different rotor systems indicates that a soft-inplane hingeless rotor requires less actuator power at high speeds (above 130 knots) than an articulated rotor, and a stiff-inplane hingeless rotor generally requires more actuator power than an articulated or a soft-inplane hingeless rotor. Parametric studies for a hingeless rotor operating in a transition flight regime and for an articulated rotor operating at the level-flight boundary (high speed and high thrust conditions) indicate that blade parameters including flap, lag, torsion stiffness distributions, linear pretwist, chordwise offset of center-of-mass from elastic axis and chordwise offset of elastic axis from aerodynamic center can be selected to minimize the actuator power requirements for HHC.

Nguyen, Khanh Q.↗

NASA NTRS2003

Next Generation of Hall Thrusters for Space Propulsion

During the previous year, grant activity research focused on demonstrating high thrust/power operation of Hall thrusters. Performance of a low power and a high power Hall thruster was experimentally investigated at discharge voltages from 100 to 150 volts. Discharge efficiencies dropped significantly as discharge voltage was decreased over this range. Reductions in discharge efficiency with decreasing discharge voltage were attributed to reductions in ionization efficiency and/or ion acceleration through a potential less that the applied discharge voltage relative to the performance of state-of-art Hall thrusters operating at discharge voltages of 300 Volts and above. The low power Hall thruster exhibited a more pronounced reduction in discharge efficiency with decreasing discharge voltage. This was attributed to increased electron leakage related to the axial distribution of the radial magnetic field. These data demonstrated that the thrust benefit of operating at discharge voltages below 130 Volts was offset by a corresponding decrease in discharge efficiency for a given input power. Additional activities included continued support of on-going Hall thruster propulsion research within the On-Board Propulsion Branch at NASA Glenn Research Center.

Keith, Theo G., Jr.↗

NASA NTRS2010

Transient Three-Dimensional Side Load Analysis of Out-of-Round Film Cooled Nozzles

The objective of this study is to investigate the effect of nozzle out-of-roundness on the transient startup side loads. The out-of-roundness could be the result of asymmetric loads induced by hardware attached to the nozzle, asymmetric internal stresses induced by previous tests and/or deformation, such as creep, from previous tests. The rocket engine studied encompasses a regeneratively cooled thrust chamber and a film cooled nozzle extension with film coolant distributed from a turbine exhaust manifold. The computational methodology is based on an unstructured-grid, pressure-based computational fluid dynamics formulation, and a transient inlet history based on an engine system simulation. Transient startup computations were performed with the out-of-roundness achieved by four degrees of ovalization of the nozzle: one perfectly round, one slightly out-of-round, one more out-of-round, and one significantly out-of-round. The computed side load physics caused by the nozzle out-of-roundness and its effect on nozzle side load are reported and discussed.

Wang, Ten-See↗

NASA NTRS2010

Transient Three-Dimensional Side Load Analysis of Out-of-Round Film Cooled Nozzles

The objective of this study is to investigate the effect of nozzle out-of-roundness on the transient startup side loads at a high altitude, with an anchored computational methodology. The out-of-roundness could be the result of asymmetric loads induced by hardware attached to the nozzle, asymmetric internal stresses induced by previous tests, and deformation, such as creep, from previous tests. The rocket engine studied encompasses a regeneratively cooled thrust chamber and a film cooled nozzle extension with film coolant distributed from a turbine exhaust manifold. The computational methodology is based on an unstructured-grid, pressure-based computational fluid dynamics formulation, and a transient inlet history based on an engine system simulation. Transient startup computations were performed with the out-of-roundness achieved by four different degrees of ovalization: one perfectly round, one slightly out-of-round, one more out-of-round, and one significantly out-of-round. The results show that the separation-line-jump is the peak side load physics for the round, slightly our-of-round, and more out-of-round cases, and the peak side load increases as the degree of out-of-roundness increases. For the significantly out-of-round nozzle, however, the peak side load reduces to comparable to that of the round nozzle and the separation line jump is not the peak side load physics. The counter-intuitive result of the significantly out-of-round case is found to be related to a side force reduction mechanism that splits the effect of the separation-line-jump into two parts, not only in the circumferential direction and most importantly in time.

Wang, Ten-See↗