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On-board estimation, navigation and control technologies addressing safety problems of robotic flight operations in urban environment with atmospheric hazards and component failures contingencies are presented.
Increasing research is being done into industrial uses for the microgravity environment aboard orbiting space vehicles. However, there is some concern over the effects of reaction forces produced by moving objects, especially motors, robotic actuators, and astronauts. Reaction forces produced by the movement of these objects may manifest themselves as undesirable accelerations in the space vehicle making the vehicle unusable for microgravity applications. It is desirable to provide compensation for such forces using active means. This paper presents the design and experimental evaluation of the NASA three degree of freedom reaction compensation platform, a system designed to be a testbed for the feasibility of active attenuation of reaction forces caused by moving objects in a microgravity environment. Unique 'linear motors,' which convert electrical current directly into rectilinear force, are used in the platform design. The linear motors induce accelerations of the displacer inertias. These accelerations create reaction forces that may be controlled to counteract disturbance forces introduced to the platform. The stated project goal is to reduce reaction forces by 90 percent, or -20 dB. Description of the system hardware, characterization of the actuators and the composite system, and design of the software safety system and control software are included.
In this presentation a review of galactic cosmic ray (GCR) effects on microelectronic systems and human health and safety is given. The methods used to evaluate and mitigate unwanted cosmic ray effects in ground-based, atmospheric flight, and space flight environments are also reviewed. However not all GCR effects are undesirable. We will also briefly review how observation and analysis of GCR interactions with planetary atmospheres and surfaces and reveal important compositional and geophysical data on earth and elsewhere. About 1000 GCR particles enter every square meter of Earth’s upper atmosphere every second, roughly the same number striking every square meter of the International Space Station (ISS) and every other low- Earth orbit spacecraft. GCR particles are high energy ionized atomic nuclei (90% protons, 9% alpha particles, 1% heavier nuclei) traveling very close to the speed of light. The GCR particle flux is even higher in interplanetary space because the geomagnetic field provides some limited magnetic shielding. Collisions of GCR particles with atomic nuclei in planetary atmospheres and/or regolith as well as spacecraft materials produce nuclear reactions and energetic/highly penetrating secondary particle showers. Three twentieth century technology developments have driven an ongoing evolution of basic cosmic ray science into a set of practical engineering tools needed to design, test, and verify the safety and reliability of modern complex technological systems and assess effects on human health and safety effects. The key technology developments are: 1) high altitude commercial and military aircraft; 2) manned and unmanned spacecraft; and 3) increasingly complex and sensitive solid state micro-electronics systems. Space and geophysical exploration needs drove the development of the instruments and analytical tools needed to recover compositional and structural data from GCR induced nuclear reactions and secondary particle showers. Finally, the possible role of GCR secondary particle showers in addressing an important homeland security problem, finding nuclear contraband and weapons, will be briefly reviewed.
The next-generation air traffic control system must be designed to safely and efficiently accommodate the large growth of traffic expected in the near future. It should be sufficiently scalable to contend with the factor of 2 or more increase in demand expected by the year 2020. Analysis has shown that the current method of controlling air traffic cannot be scaled up to provide such levels of capacity. Therefore, to achieve a large increase in capacity while also giving pilots increased freedom to optimize their flight trajectories requires a fundamental change in the way air traffic is controlled. The key to achieving a factor of 2 or more increase in airspace capacity is to automate separation monitoring and control and to use an air-ground data link to send trajectories and clearances directly between ground-based and airborne systems. In addition to increasing capacity and offering greater flexibility in the selection of trajectories, this approach also has the potential to increase safety by reducing controller and pilot errors that occur in routine monitoring and voice communication tasks.
As aircraft wings become much more flexible due to the use of light-weight composites material, adverse aerodynamics at off-design performance can result from changes in wing shapes due to aeroelastic deflections. Increased drag, hence increased fuel burn, is a potential consequence. Without means for aeroelastic compensation, the benefit of weight reduction from the use of light-weight material could be offset by less optimal aerodynamic performance at off-design flight conditions. Performance Adaptive Aeroelastic Wing (PAAW) technology can potentially address these technical challenges for future flexible wing transports. PAAW technology leverages multi-disciplinary solutions to maximize the aerodynamic performance payoff of future adaptive wing design, while addressing simultaneously operational constraints that can prevent the optimal aerodynamic performance from being realized. These operational constraints include reduced flutter margins, increased airframe responses to gust and maneuver loads, pilot handling qualities, and ride qualities. All of these constraints while seeking the optimal aerodynamic performance present themselves as a multi-objective flight control problem. The paper presents a multi-objective flight control approach based on a drag-cognizant optimal control method. A concept of virtual control, which was previously introduced, is implemented to address the pair-wise flap motion constraints imposed by the elastomer material. This method is shown to be able to satisfy the constraints. Real-time drag minimization control is considered to be an important consideration for PAAW technology. Drag minimization control has many technical challenges such as sensing and control. An initial outline of a real-time drag minimization control has already been developed and will be further investigated in the future. A simulation study of a multi-objective flight control for a flight path angle command with aeroelastic mode suppression and drag minimization demonstrates the effectiveness of the proposed solution. In-flight structural loads are also an important consideration. As wing flexibility increases, maneuver load and gust load responses can be significant and therefore can pose safety and flight control concerns. In this paper, we will extend the multi-objective flight control framework to include load alleviation control. The study will focus initially on maneuver load minimization control, and then subsequently will address gust load alleviation control in future work.
In recent designs of safety-critical pyro control circuitry, latching circuits, used to store the state of control signals, have been found to have sensitivity to noise that could lead to inadvertent firing. This technical bulletin describes the sensitive circuit, and provides best practice recommendations to improve the design.
Several projects have been completed or are nearing completion at the NASA Langley Research Center (LaRC) National Transonic Facility (NTF). The addition of a Model Flow-Control/Propulsion Simulation test capability to the NTF provides a unique, transonic, high-Reynolds number test capability that is well suited for research in propulsion airframe integration studies, circulation control high-lift concepts, powered lift, and cruise separation flow control. A 1992 vintage Facility Automation System (FAS) that performs the control functions for tunnel pressure, temperature, Mach number, model position, safety interlock and supervisory controls was replaced using current, commercially available components. This FAS upgrade also involved a design study for the replacement of the facility Mach measurement system and the development of a software-based simulation model of NTF processes and control systems. The FAS upgrades were validated by a post upgrade verification wind tunnel test. The data acquisition system (DAS) upgrade project involves the design, purchase, build, integration, installation and verification of a new DAS by replacing several early 1990's vintage computer systems with state of the art hardware/software. This paper provides an update on the progress made in these efforts. See reference 1.
The purpose of this report is to document the results of a high-level qualitative study that was conducted to identify future aviation safety risks and to assess the potential impacts to the National Airspace System (NAS) of NASA Aviation Safety research on these risks. Multiple external sources (for example, the National Transportation Safety Board, the Flight Safety Foundation, the National Research Council, and the Joint Planning and Development Office) were used to develop a compilation of future safety issues risks, also referred to as future tall poles. The primary criterion used to identify the most critical future safety risk issues was that the issue must be cited in several of these sources as a safety area of concern. The tall poles in future safety risk, in no particular order of importance, are as follows: Runway Safety, Loss of Control In Flight, Icing Ice Detection, Loss of Separation, Near Midair Collision Human Fatigue, Increasing Complexity and Reliance on Automation, Vulnerability Discovery, Data Sharing and Dissemination, and Enhanced Survivability in the Event of an Accident.
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A new and innovative way to evaluate runway safety initiatives for airports is through the use of interactive real-time simulation. The National Aeronautics and Space Administration (NASA) operates an integrated suite of simulators that can give both pilots and tower controllers the ability to simultaneously "try out" ideas in the safety of virtual reality. In February of 2003, the FAA conducted a demonstration in the NASA facilities for Dallas/Fort Worth International Airport (DFW) of a concept to reduce runway crossings and enhance the efficiency of the airport. Currently DFW experiences about 1,700 runway crossings per day, which contribute to arrival and departure delays and the potential for runway incursions. The proposed concept included the addition of new perimeter taxiways on the East and West sides of the airport. Through use of NASA's unique simulation capabilities, DFW controllers and commercial pilots provided expert feedback on the safety and operational implications by directly experiencing the proposed changes. Overall, the data collected from the participants and the simulators demonstrated that the concept would improve operations at DFW, if implemented. Improvements were observed in many areas including departure rates, taxi duration, runway crossings, and controller and pilot communications.
The NASA Engineering and Safety Center (NESC) was requested to conduct technical risk-reduction activities for safety-critical government-furnished environmental control and life support (ECLS) equipment for the Multi-Purpose Crew Vehicle Program. These items include the post-landing anomaly gas monitor, the in-flight anomaly gas monitor, the emergency breathing mask, the 144-hour in-suit survival capability, the portable fire extinguisher, the smoke eater, and the post-landing carbon dioxide control system. This document contains the outcome of the NESC assessment.
The latest generation of long life, space pulse-tube cryocoolers require electronics capable of controlling self-induced vibration down to a fraction of a newton and coldhead temperature with high accuracy down to a few kelvin. Other functions include engineering diagnostics, heater and valve control, telemetry and safety protection of the cryocooler subsystem against extreme environments and operational anomalies. The electronics are designed to survive the thermal, vibration, shock and radiation environment of launch and orbit, while providing a design life in excess of 10 years on-orbit. A number of our current generation high reliability radiation-hardened electronics units are in various stages of integration on several space flight payloads. This paper describes the features and performance of our latest flight electronics designed for the pulse-tube cryocooler that is the pre-cooler for a closed cycle Joule-Thomson cooler providing 6K cooling for the James Webb Space Telescope (JWST) Mid Infra-Red Instrument (MIRI). The electronics is capable of highly accurate temperature control over the temperature range from 4K to 15K. Self-induced vibration is controlled to low levels on all harmonics up to the 16th. A unique active power filter controls peak-to-peak reflected ripple current on the primary power bus to a very low level. The 9 kg unit is capable of delivering 360W continuous power to NGAS's 3-stage pulse-tube High-Capacity Cryocooler (HCC).
The procedures followed by the NASA Office of the Chief Engineer in developing the guidelines concerning the structures, materials, and fracture control of the Space Shuttle payloads are described. Factors controlling the payload launch safety, such as crew and passenger safety, reusability, and mixes of payloads in a single launch are emphasized. Special consideration is given to the STS design and testing approaches, materials considerations, safety criticality review processes, nondestructive evaluation inspection for STS payload fracture control, fracture mechanics screening procedures, and components of special concern (e.g., pressurized vessels, fasteners, and composite structures).
Correctness is paramount for safety-critical software control systems. Critical software failures in medical radiation treatment, communications, and defense are familiar to the public. The significant quantity of software malfunctions regularly reported to the software engineering community, the laws concerning liability, and a recent NRC Aeronautics and Space Engineering Board report additionally motivate the use of error-reducing and defect detection software development techniques. The benefits of formal methods in requirements driven software development ('forward engineering') is well documented. One advantage of rigorously engineering software is that formal notations are precise, verifiable, and facilitate automated processing. This paper describes the application of formal methods to reverse engineering, where formal specifications are developed for a portion of the shuttle on-orbit digital autopilot (DAP). Three objectives of the project were to: demonstrate the use of formal methods on a shuttle application, facilitate the incorporation and validation of new requirements for the system, and verify the safety-critical properties to be exhibited by the software.
The NASa/ATK Thiokol space shuttle solid rocket motor program has doubled ground test firings and enhanced manufacturing quality and process control to increase safety for Discovery's return to flight. There are a number of places where we've strengthened our engineering and our processes, says Mike Kahn, ATK Thiokol vice president of space launch systems. Protecting the booster against corrosion in the humid Florida environment is one area that has been addressed. Since the loss of Columbia, ATK Thiokol and the Marshall Space Flight Center have completely reevaluated the shuttle solid rocket motor's design certification and found no major problems, Kahn said. The Thiokol solid motors did not play a role in the 2003 Columbia accident, but the motor's older field joint design (since replaced) was the primary cause of the 1986 Challenger accident that killed seven astronauts. The 129 X 12-ft. ATK Thiokol reusable solid rocket motor forms the core of the shuttle's two solid rocket boosters (SRBs). United Space Alliance (USA) has overall responsibility for the booster's nose-mounted systems such as recovery parachutes and aft-mounted thrust vector control systems that increase the length to 149 ft. USA and its subcontractors have also reaffirmed quality control on systems such as the booster's Hamilton Sundstrand hydraulic power units for critical thrust vector control. And to ensure greater safeguards against booster debris jeopardizing the orbiter, a bolt-catcher system to restrain the large bolts, severed at booster separation, was also redesigned.
This position with the Simulation and Graphics Branch (ER7) at Johnson Space Center (JSC) provided an introduction to vehicle hardware, mission planning, and simulation design. ER7 supports engineering analysis and flight crew training by providing high-fidelity, real-time graphical simulations in the Systems Engineering Simulator (SES) lab. The primary project assigned by NASA mentor and SES lab manager, Meghan Daley, was to develop a graphical simulation of the rendezvous, proximity operations, and docking (RPOD) phases of flight. The simulation is to include a generic crew/cargo transportation vehicle and a target object in low-Earth orbit (LEO). Various capsule, winged, and lifting body vehicles as well as historical RPOD methods were evaluated during the project analysis phase. JSC core mission to support the International Space Station (ISS), Commercial Crew Program (CCP), and Human Space Flight (HSF) influenced the project specifications. The simulation is characterized as a 30 meter +V Bar and/or -R Bar approach to the target object's docking station. The ISS was selected as the target object and the international Low Impact Docking System (iLIDS) was selected as the docking mechanism. The location of the target object's docking station corresponds with the RPOD methods identified. The simulation design focuses on Guidance, Navigation, and Control (GNC) system architecture models with station keeping and telemetry data processing capabilities. The optical and inertial sensors, reaction control system thrusters, and the docking mechanism selected were based on CCP vehicle manufacturer's current and proposed technologies. A significant amount of independent study and tutorial completion was required for this project. Multiple primary source materials were accessed using the NASA Technical Report Server (NTRS) and reference textbooks were borrowed from the JSC Main Library and International Space Station Library. The Trick Simulation Environment and User Training Materials version 2013.0 release was used to complete the Trick tutorial. Multiple network privilege and repository permission requests were required in order to access previous simulation models. The project was also an introduction to computer programming and the Linux operating system. Basic C++ and Python syntax was used during the completion of the Trick tutorial. Trick's engineering analysis and Monte Carlo simulation capabilities were observed and basic space mission planning procedures were applied in the conceptual design phase. Multiple professional development opportunities were completed in addition to project duties during this internship through the System for Administration, Training, and Education Resources for NASA (SATERN). Topics include: JSC Risk Management Workshop, CCP Risk Management, Basic Radiation Safety Training, X-Ray Radiation Safety, Basic Laser Safety, JSC Export Control, ISS RISE Ambassador, Basic SharePoint 2013, Space Nutrition and Biochemistry, and JSC Personal Protective Equipment. Additionally, this internship afforded the opportunity for formal project presentation and public speaking practice. This was my first experience at a NASA center. After completing this internship I have a much clearer understanding of certain aspects of the agency's processes and procedures, as well as a deeper appreciation from spaceflight simulation design and testing. I will continue to improve my technical skills so that I may have another opportunity to return to NASA and Johnson Space Center.
The Solid Rocket Booster (SRB) element integrates all the subsystems needed for ascent flight, entry, and recovery of the combined Booster and Motor system. These include the structures, avionics, thrust vector control, pyrotechnic, range safety, deceleration, thermal protection, and retrieval systems. This represents the only human-rated, recoverable and refurbishable solid rocket ever developed and flown. Challenges included subsystem integration, thermal environments and severe loads (including water impact), sometimes resulting in hardware attrition. Several of the subsystems evolved during the program through design changes. These included the thermal protection system, range safety system, parachute/recovery system, and others. Obsolescence issues occasionally required component recertification. Because the system was recovered, the SRB was ideal for data and imagery acquisition, which proved essential for understanding loads and system response. The three main parachutes that lower the SRBs to the ocean are the largest parachutes ever designed, and the SRBs are the largest structures ever to be lowered by parachutes. SRB recovery from the ocean was a unique process and represented a significant operational challenge; requiring personnel, facilities, transportation, and ground support equipment. The SRB element achieved reliability via extensive system testing and checkout, redundancy management, and a thorough postflight assessment process. Assembly and integration of the booster subsystems was a unique process and acceptance testing of reused hardware components was required for each build. Extensive testing was done to assure hardware functionality at each level of stage integration. Because the booster element is recoverable, subsystems were available for inspection and testing postflight, unique to the Shuttle launch vehicle. Problems were noted and corrective actions were implemented as needed. The postflight assessment process was quite detailed and a significant portion of flight operations. The SRBs provided fully redundant critical systems including thrust vector control, mission critical pyrotechnics, avionics, and parachute recovery system. The design intent was to lift off with full redundancy. On occasion, the redundancy management scheme was needed during flight operations. This paper describes some of the design challenges, how the design evolved with time, and key areas where hardware reusability contributed to improved system level understanding.
The Solid Rocket Booster (SRB) element integrates all the subsystems needed for ascent flight, entry, and recovery of the combined Booster and Motor system. These include the structures, avionics, thrust vector control, pyrotechnic, range safety, deceleration, thermal protection, and retrieval systems. This represents the only human-rated, recoverable and refurbishable solid rocket ever developed and flown. Challenges included subsystem integration, thermal environments and severe loads (including water impact), sometimes resulting in hardware attrition. Several of the subsystems evolved during the program through design changes. These included the thermal protection system, range safety system, parachute/recovery system, and others. Because the system was recovered, the SRB was ideal for data and imagery acquisition, which proved essential for understanding loads, environments and system response. The three main parachutes that lower the SRBs to the ocean are the largest parachutes ever designed, and the SRBs are the largest structures ever to be lowered by parachutes. SRB recovery from the ocean was a unique process and represented a significant operational challenge; requiring personnel, facilities, transportation, and ground support equipment. The SRB element achieved reliability via extensive system testing and checkout, redundancy management, and a thorough postflight assessment process. However, the in-flight data and postflight assessment process revealed the hardware was affected much more strongly than originally anticipated. Assembly and integration of the booster subsystems required acceptance testing of reused hardware components for each build. Extensive testing was done to assure hardware functionality at each level of stage integration. Because the booster element is recoverable, subsystems were available for inspection and testing postflight, unique to the Shuttle launch vehicle. Problems were noted and corrective actions were implemented as needed. The postflight assessment process was quite detailed and a significant portion of flight operations. The SRBs provided fully redundant critical systems including thrust vector control, mission critical pyrotechnics, avionics, and parachute recovery system. The design intent was to lift off with full redundancy. On occasion, the redundancy management scheme was needed during flight operations. This paper describes some of the design challenges and technical issues, how the design evolved with time, and key areas where hardware reusability contributed to improved system level understanding.