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NASA NTRSDate not supplied

Distributed Visual Sensing and Fusion for Advanced Air Mobility

Surveillance solutions for Advanced and Urban Air Mobility frameworks are a key factor to enable safe operations of highly automated aircraft in the civil airspace. To design solutions suitable for all types of aircraft, non-cooperative sensors can be used, though many challenges arise when the small dimensions of the vehicles and their proximity to the ground during low-altitude missions are considered. A distributed sensing concept can be efficiently applied to address these challenges by exploiting multiple sensors within a surveillance network. This paper proposes a strategy to fuse the information collected by three ground-fixed cameras within a network of multiple distributed sensors and is tested with during experimental flight tests. The solution exploits standalone tracking estimates of each camera within a fusion center that performs triangulation and three-dimensional tracking. This approach is tested in a scenario involving two small UAVs flying at low altitude. The paper deals with the challenges of associating the two objects from independent and unrelated tracks to achieve robust triangulation, which produces meter-level mean errors with respect to GNSS-based ground truth.

Federica Vitiello↗
NASA NTRSDate not supplied

Optimal Sensor Mobility Design for Target Tracking with Distributed Sensing, Communication and Computing Infrastructure

The paper presents an airborne target tracking approach with data fusion from distributed stationary and mobile sensor network transmitted through a wireless/wired communication network and using a distributed computing infrastructure. To obtain high quality measurements, sensor flight platforms' positions and orientations are optimized with respect to the available target's position and velocity estimates, and a formation control strategy is applied to derive desired trajectories for the flight platforms. As sensors move, the communication network topology switching is determined using the worst-case approach to handle uncertainties in the target's and sensors' positions, which alters communication delays for sensors' data transmission to computing centers. An optimal data migration algorithm is periodically applied to determine these communication delays for each sensor and the optimal location with minimum end-to-end latency for the target tracking algorithm execution, which is based on adaptive information fusion from multi-modal mobile and stationary sensors inside an Extended Kalman Filter framework. The approach is validated in a desktop simulation environment using synthetic sensor data generated for a simulated target's flight.

Distributed sensing↗
NASA NTRS2000

A Reliable Earth Return System for Safe Recovery of Mars Samples

The objective of a Mars sample return mission is to bring selected Mars surface materials to Earth. Numerous approaches for the Earth-return segment have been analyzed including propulsive or aerocapture return to low-Earth orbit followed by Space Shuttle rendezvous and direct entry. Of these approaches, ballistic entry of a small capsule terminating in a ground landing has been shown to be the lowest risk strategy. Over the past two years, significant work has been performed towards development of a robust direct entry vehicle for Mars sample return. In June 1999, the NASA Planetary Protection Officer provided initial guidance to the former Mars Sample Return Project. The sample return phase of the mission was assigned a restricted Earth return planetary protection classification. The draft mission requirement states that the total mean probability of release of unsterilized Mars material into the Earth;s biosphere must be less than 1.0E-06 (1 in a million). This strict requirement drives the approach and design of the Earth return system. To meet this requirement, selection of the Earth return strategy and development of the Earth return system must be guided by risk, not performance, based decisions. An initial Probabilistic Risk Assessment (PRA) was performed to address the direct entry Earth return system containment assurance reliability and to identify high-risk elements of this system. The results of this PRA identified risk elements that include thermal protection system performance during entry, spin-eject orientation and aerodynamic stability during entry, structural integrity under atmospheric deceleration and impact loads, and tracking/recovery of this system. This initial probabilistic risk quantification demonstrates that, with the proper development program, a prototypical direct entry design can satisfy the containment assurance reliability requirement. Through the current Mars Sample Return Advanced Technology Development effort, an extensive design, analysis, and test program is presently proceeding with the aim of reducing the containment assurance risk of this system. This technology development effort, guided by a continuing PRA, focuses on key risk areas of a direct entry Earth return system including: the thermal protection system, impact dynamics, structural performance, aerodynamic stability, and ground recovery. This development program will culminate in a system validation flight test, 1-2 years prior to launch of the flight system. This flight test would include the launch, entry, and recovery of a full-scale Earth return system, as a scientific validation of the key risk elements to verify nominal design performance. The results of the initial PRA suggested several dominant failure sequences that can be validated in a flight test. These include: demonstrating the thermal protection system reliability and performance during entry, demonstrating the spin-eject orientation and aero-dynamic stability during entry, demonstrating the structural integrity under atmospheric deceleration and impact loads, and demonstrating tracking and recovery of the Earth return system. This single test will directly address over 50% of the total containment assurance risk elements. This presentation will begin by presenting the relative risk of various Earth return strategies. The results of the initial probabilistic risk assessment will be presented followed by a discussion of the development accomplishments and plans for demonstration of a highly reliable direct entry Earth return system.

Braun, R.↗
NASA NTRS2012

Enhancing Cassini Operations & Science Planning Tools

The Cassini team uses a variety of software utilities as they manage and coordinate their mission to Saturn. Most of these tools have been unchanged for many years, and although stability is a virtue for long-lived space missions, there are some less-fragile tools that could greatly benefit from modern improvements. This report shall describe three such upgrades, including their architectural differences and their overall impact. Emphasis is placed on the motivation and rationale behind architectural choices rather than the final product, so as to illuminate the lessons learned and discoveries made.These three enhancements included developing a strategy for migrating Science Planning utilities to a new execution model, rewriting the team's internal portal for ease of use and maintenance, and developing a web-based agenda application for tracking the sequence of files being transmitted to the Cassini spacecraft. Of this set, the first two have been fully completed, while the agenda application is currently in the early prototype stage.

science planning↗
NASA NTRS2015

Deploying the NASA Meter Class Autonomous Telescope (MCAT) on Ascension Island

NASA has successfully constructed the 1.3m Meter Class Autonomous Telescope (MCAT) facility on Ascension Island in the South Atlantic Ocean. MCAT is an optical telescope designed specifically to collect ground-based data for the statistical characterization of orbital debris ranging from Low Earth Orbit (LEO) through Middle Earth Orbits (MEO) and beyond to Geo Transfer and Geosynchronous Orbits (GTO/GEO). The location of Ascension Island has two distinct advantages. First, the near-equatorial location fills a significant longitudinal gap in the Ground-based Electro-Optical Deep Space Surveillance (GEODSS) network of telescopes, and second, it allows access to objects in Low Inclination Low-Earth Orbits (LILO). The MCAT facility will be controlled by a sophisticated software suite that operates the dome and telescope, assesses sky and weather conditions, conducts all necessary calibrations, defines an observing strategy (as dictated by weather, sky conditions and the observing plan for the night), and carries out the observations. It then reduces the collected data via four primary observing modes ranging from tracking previously cataloged objects to conducting general surveys for detecting uncorrelated debris. Nightly observing plans, as well as the resulting text file of reduced data, will be transferred to and from Ascension, respectively, via a satellite connection. Post-processing occurs at NASA Johnson Space Center. Construction began in September, 2014 with dome and telescope installation occurring in April through early June, 2015. First light was achieved in June, 2015. Acceptance testing, full commissioning, and calibration of this soon-to-be fully autonomous system commenced in summer 2015. The initial characterization of the system from these tests is presented herein.

Lederer, S. M.↗
NASA NTRS2016

Effect of Satellite Formations and Imaging Modes on Global Albedo Estimation

We confirm the applicability of using small satellite formation flight for multi-angular earth observation to retrieve global, narrow band, narrow field-of-view albedo. The value of formation flight is assessed using a coupled systems engineering and science evaluation model, driven by Model Based Systems Engineering and Observing System Simulation Experiments. Albedo errors are calculated against bi-directional reflectance data obtained from NASA airborne campaigns made by the Cloud Absorption Radiometer for the seven major surface types, binned using MODIS' land cover map - water, forest, cropland, grassland, snow, desert and cities. A full tradespace of architectures with three to eight satellites, maintainable orbits and imaging modes (collective payload pointing strategies) are assessed. For an arbitrary 4-sat formation, changing the reference, nadir-pointing satellite dynamically reduces the average albedo error to 0.003, from 0.006 found in the static reference case. Tracking pre-selected waypoints with all the satellites reduces the average error further to 0.001, allows better polar imaging and continued operations even with a broken formation. An albedo error of 0.001 translates to 1.36 W/sq m or 0.4% in Earth's outgoing radiation error. Estimation errors are found to be independent of the satellites' altitude and inclination, if the nadir-looking is changed dynamically. The formation satellites are restricted to differ in only right ascension of planes and mean anomalies within slotted bounds. Three satellites in some specific formations show average albedo errors of less than 2% with respect to airborne, ground data and seven satellites in any slotted formation outperform the monolithic error of 3.6%. In fact, the maximum possible albedo error, purely based on angular sampling, of 12% for monoliths is outperformed by a five-satellite formation in any slotted arrangement and an eight satellite formation can bring that error down four fold to 3%. More than 70% ground spot overlap between the satellites is possible with 0.5deg of pointing accuracy, 2 Km of GPS accuracy and commands uplinked once a day. The formations can be maintained at less than 1 m/s of monthly (Delta)V per satellite.

BRDF↗
NASA NTRS1985

Determination of atmospheric density using a space-launched projectile

A method is proposed that provides advance information about unpredictable atmospheric density dispersions that must be accommodated during random operations of aeroassisted-orbital-transfer vehicles (AOTVs). The principal feature is that a test or 'scout' projectile precedes the AOTV through the same region of the atmosphere as that of the predicted transatmospheric flight trajectory. The atmospheric density structure is determined from the vehicle's aerodynamic deceleration characteristics by on-board or ground-based tracking equipment. The time lag between passage of the projectile and the AOTV can be adjusted to only that time necessary to implement required guidance, navigation, and control (GN&C) corrections. The various strategies available to control the projectile's flight characteristics are analyzed in detail. The results are correlated with aerothermodynamic heating and materials requirements to ensure the survival of the projectile and, consequently, the capability of the AOTV to navigate a variable upper atmosphere within specified limits.

Menees, G. P.↗
NASA NTRS2010

Verification and Tuning of an Adaptive Controller for an Unmanned Air Vehicle

This paper focuses on the analysis and tuning of a controller based on the Adaptive Control Technology for Safe Flight (ACTS) architecture. The ACTS architecture consists of a nominal, non-adaptive controller that provides satisfactory performance under nominal flying conditions, and an adaptive controller that provides robustness under off-nominal ones. A framework unifying control verification and gain tuning is used to make the controller s ability to satisfy the closed-loop requirements more robust to uncertainty. In this paper we tune the gains of both controllers using this approach. Some advantages and drawbacks of adaptation are identified by performing a global robustness assessment of both the adaptive controller and its non-adaptive counterpart. The analyses used to determine these characteristics are based on evaluating the degradation in closed-loop performance resulting from uncertainties having increasing levels of severity. The specific adverse conditions considered can be grouped into three categories: aerodynamic uncertainties, structural damage, and actuator failures. These failures include partial and total loss of control effectiveness, locked-in-place control surface deflections, and engine out conditions. The requirements considered are the peak structural loading, the ability of the controller to track pilot commands, the ability of the controller to keep the aircraft s state within the reliable flight envelope, and the handling/riding qualities of the aircraft. The nominal controller resulting from these tuning strategies was successfully validated using the NASA GTM Flight Test Vehicle.

Crespo, Luis G.↗
NASA NTRS2020

Goal-Oriented Architecture for Telescope Control Software

Modern telescope control systems control a multitude of sensors and actuators physically distributed across subsystems. Traditionally, control systems are specified to compute system outputs based on reference setpoints despite environmental or internal disturbances. The control strategies are typically tightly coupled and very prescriptive, defining how exactly the control is to be achieved. In a goal-oriented approach, the control system architecture emphasizes the operational aspect, specifying the behavior at a higher level in terms of operational goals, considering several aspects such as environmental conditions and required wavefront quality. The result is an architecture that can more autonomously handle different control strategies, taking into account systematically the physical states of the system which are relevant for control. This paper demonstrates the feasibility of a goal-oriented approach by analyzing four fundamental functions: pointing, tracking, offsetting, and dome vignetting. The resulting SysML analysis and design models are used to develop a software prototype for distributed telescope control. Typical operational scenarios are discussed and compared to the ESO Very Large Telescope control software architecture.

Karban, R.↗
NASA NTRS2010

An High Resolution Near-Earth Objects Population Enabling Next-Generation Search Strategies

Over the past decade, the dedicated search for kilometer-size near-Earth objects (NEOs), potentially hazardous objects (PHOs), and potential Earth impactors has led to a boost in the rate of discoveries of these objects. The catalog of known NEOs is the fundamental ingredient used to develop a model for the NEOs population, either by assessing and correcting for the observational bias (Jedicke et al., 2002), or by evaluating the migration rates from the NEOs source regions (Bottke et al., 2002). The modeled NEOs population is a necessary tool used to track the progress in the search of large NEOs (Jedicke et al., 2003) and to try to predict the distribution of the ones still undiscovered, as well as to study the sky distribution of potential Earth impactors (Chesley & Spahr, 2004). We present a method to model the NEOs population in all six orbital elements, on a finely grained grid, allowing us the design and test of targeted and optimized search strategies. This method relies on the observational data routinely reported to the Minor Planet Center (MPC) by the Catalina Sky Survey (CSS) and by other active NEO surveys over the past decade, to determine on a nightly basis the efficiency in detecting moving objects as a function of observable quantities including apparent magnitude, rate of motion, airmass, and galactic latitude. The cumulative detection probability is then be computed for objects within a small range in orbital elements and absolute magnitude, and the comparison with the number of know NEOs within the same range allows us to model the population. When propagated to the present epoch and projected on the sky plane, this provides the distribution of the missing large NEOs, PHOs, and potential impactors.

Tricaico, Pasquale↗
NASA NTRS1977

A relationship between eye movement patterns and performance in a precognitive tracking task

Eye movements made by various subjects in the performance of a precognitive tracking task are studied. The tracking task persented by an antiaircraft artillery (AAA) simulator has an input forcing function represented by a deterministic aircraft fly-by. The performance of subjects is ranked by two metrics. Good, mediocre, and poor trackers are selected for analysis based on performance during the difficult segment of the tracking task and over replications. Using phase planes to characterize both the eye movement patterns and the displayed error signal, a simple metric is developed to study these patterns. Two characterizations of eye movement strategies are defined and quantified. Using these two types of eye strategies, two conclusions are obtained about good, mediocre, and poor trackers. First, the eye tracker who used a fixed strategy will consistently perform better. Secondly, the best fixed strategy is defined as a Crosshair Fixator.

Repperger, D. W.↗
NASA NTRS1998

Navigation of the space VLBI mission-HALCA

In February 1997, the Japanese Space Agency ISAS launched the first space VLBI satellite, HALCA, with an 8 meter diameter wire mesh antenna and radio astronomy receivers capable of observing at 1.6, 4.8, and 22 Ghz. In a 560 by 21000 km orbit with a 6 hour period and 31 degree inclination, it observes celestial radio sources in conjunction with a world wide network of ground radio telescopes as part of an international collaborative effort which includes facilities in Japan, the U.S., Canada, Australia, and Europe. JPL is providing tracking and navigation support using a dedicated subnet of 11 meter antennas as well as co-observations using the DSN 70 meter antennas. This paper describes the spacecraft dynamics model and orbit determination strategies developed to meet the stringent trajectory accuracy requirements for generating predictions for the transfer of a stable uplink frequency to the spacecraft and for determining reconstructed orbits for delivery to the NRAO VLBI correlator and the international VLBI science community.

You, Tung Han↗
NASA NTRS2002

A Robust Magnetic Resonance Imager For Ground and Flight Based Measurements of Fluid Physics Phenomena

Nuclear magnetic resonance (NMR) is a powerful and versatile, noninvasive method for studying fluid transport problems, However, its applications to these types of investigations have been limited. A primary factor that limits the application of NMR has been the lack of a user-friendly, versatile, and inexpensive NMR imaging apparatus that can be used by scientists who are not familiar with sophisticated NMR. To rectify this situation, we developed a user-friendly, NMR imager for projects of relevance to the MRD science community. To that end, we performed preliminary collaborative experiments between NASA, NCMR, and New Mexico Resonance in the high field NMR set up at New Mexico Resonance to track wetting front dynamics in foams under gravity. The experiments were done in a 30 cm, 1.9T Oxford magnet with a TECMAG Libra spectrometer (Tecmag, Inc., Houston, TX). We used two different imaging strategies depending on whether the water in the foam sample was static or moving. Stationary water distributions were imaged with the standard Fourier imaging method, as used in medical MRI, in which data are acquired from all parts of the region of interest at all times and Fourier transformed into a static spatial image.

Source record↗
NASA NTRS2004

The Wallops Flight Facility Rapid Response Range Operations Initiative

While the dominant focus on short response missions has appropriately centered on the launch vehicle and spacecraft, often overlooked or afterthought phases of these missions have been launch site operations and the activities of launch range organizations. Throughout the history of organized spaceflight, launch ranges have been the bane of flight programs as the source of expense, schedule delays, and seemingly endless requirements. Launch Ranges provide three basic functions: (1) provide an appropriate geographical location to meet orbital other mission trajectory requirements, (2) provide project services such as processing facilities, launch complexes, tracking and data services, and expendable products, and (3) assure safety and property protection to participating personnel and third-parties. The challenge with which launch site authorities continuously struggle, is the inherent conflict arising from projects whose singular concern is execution of their mission, and the range s need to support numerous simultaneous customers. So, while tasks carried out by a launch range committed to a single mission pale in comparison to efforts of a launch vehicle or spacecraft provider and could normally be carried out in a matter of weeks, major launch sites have dozens of active projects separate sponsoring organizations. Accommodating the numerous tasks associated with each mission, when hardware failures, weather, maintenance requirements, and other factors constantly conspire against the range resource schedulers, make the launch range as significant an impediment to responsive missions as launch vehicles and their cargo. The obvious solution to the launch site challenge was implemented years ago when the Department of Defense simply established dedicated infrastructure and personnel to dedicated missions, namely an Inter Continental Ballistic Missile. This however proves to be prohibitively expensive for all but the most urgent of applications. So the challenge becomes how can a launch site provide acceptably responsive mission services to a particular customer without dedicating extensive resources and while continuing to serve other projects? NASA's Wallops Flight Facility (WFF) is pursuing solutions to exactly this challenge. NASA, in partnership with the Virginia Commercial Space Flight Authority, has initiated the Rapid Response Range Operations Initiative (R3Ops). R3Ops is a multi-phased effort to incrementally establish and demonstrate increasingly responsive launch operations, with an ultimate goal of providing ELV-class services in a maximum of 7-10 days from initial notification routinely, and shorter schedules possible with committed resources. This target will be pursued within the reality of simultaneous concurrent programs, and ideally, largely independent of specialized flight system configurations. WFF has recently completed Phase 1 of R3Ops, an in-depth collection (through extensive expert interviews) and software modeling of individual steps by various range disciplines. This modeling is now being used to identify existing inefficiencies in current procedures, to identify bottlenecks, and show interdependencies. Existing practices are being tracked to provide a baseline to benchmark against as new procedures are implemented. This paper will describe in detail the philosophies behind WFF's R3Ops, the data collected and modeled in Phase 1, and strategies for meeting responsive launch requirements in a multi-user range environment planned for subsequent phases of this initiative.

Underwood, Bruce E.↗
NASA NTRS2003

Small Signal Point-to-Point Tracking of a Propellant Mixer

This paper addresses some theoretical modelling and control issues for a mixing chamber used in rocket engine testing at NASA Stennis Space Center. The mixer is responsible for combining high pressure LH2 and GH2 to produce a hydrogen flow that meets certain thermodynamic properties before it is fed into a test article. The desired properties are maintained by precise control of the LH2 and GH2 flows. The mixer is modelled as a general multi-flow lumped volume for single constituent fluids using density and internal energy as states. The set of nonlinear differential equations is modelled in the SIMULINK environment including a table look-up feature of the fluid thermodynamic properties. a small-signal (linear) model is developed based on the nonlinear model and simulated as well. Pulse disturbances are introduced to the valve positions and the quality of the linear model is ascertained by comparing its behavior against the nonlinear model simulations. Valve control strategies that simulate an operator-in-the-loop scenario are then explored demonstrating the need for automatic feedback control. Finally, classical optimal single-output and multi-output Proportional/Integral controllers are designed based on the linear model and applied to the nonlinear model with excellent results to track simultaneous, constant setpoint changes in desired exit flow, exit temperature, and mixer pressure, as well as to reject unmeasurable but bounded additive step perturbations in the valve positions.

Barbieri, Enrique↗
NASA NTRSDate not supplied

In Space Manufacturing and Extraterrestrial Construction: How Did We Get Here?Where Are We? Where Should We Be Going? THE CHALLENGE: Will We Be Ready?

NASA has held multiple workshops and sought inputs from a broad spectrum of sources, including international partners, other space agencies, industry, large and small businesses, academia, and private citizens to develop its Moon to Mars Strategy and Objectives. The goals and objectives set forth in the resulting documents are “designed to achieve the vision to create a blueprint for sustained human presence and exploration throughout the solar system.” The objectives were categorized into four distinct tracks: Operations, Infrastructure, Transportation and Habitation, and Science. In addition, common themes across the objectives were captured under Recurring Tenets. Within the Infrastructure category, several objectives directly address the need for manufacturing and construction on the lunar surface to support continuous human lunar presence and a robust lunar economy. In exploring the vision for creation of on-demand infrastructure on the lunar surface and beyond, this presentation will examine the development of these capabilities, starting in the late 1990’s and early 2000’s, up to the current state, and offer a perspective on the challenges facing operational implementation of these technologies. In the early 2000’s, the destination was the Moon. The International Space Station (ISS) was to be the test bed for demonstration of in space manufacturing technologies. Additive construction was in its infancy. These pioneering initiatives, having begun primarily under NASA’s Office of Biological and Physical Research In Situ Fabrication and Repair (ISFAR) Project, were short-lived. It was not until the early 2010’s that in space manufacturing and later extraterrestrial construction experienced renewed interest and support. At this time, the destination was Mars. This period saw the initial in space additive manufacturing experiments on the ISS, creation of a roadmap for development of in space manufacturing technologies, and development of additive construction systems for terrestrial use at scale. The period also included NASA’s 3D Printed Mars Habitat Centennial Challenge, which catalyzed interest in extraterrestrial construction. With NASA’s announcement of the intention to return to the Moon, and the subsequent release of the Artemis Accords in 2020, and the commensurate Moon to Mars Strategy, NASA’s Space Technology Mission Directorate initiated the Lunar Surface Innovation Initiative (LSII). The LSII has spurred technology development and maturation efforts across a spectrum of capabilities that would be needed to live on the lunar surface. The presentation will provide an overview of current technology developments in the areas of in space manufacturing and extraterrestrial construction. Looking forward from the current state, a perspective will be offered on capabilities that are still needed to “institutionalize” in space manufacturing and extraterrestrial construction to achieve the vision of NASA’s Moon to Mars Strategy. Finally, a challenge will be posed to the community to accelerate the development of these capabilities. When the explorers of the future need these enabling capabilities, will they be ready?

Raymond G Clinton Jr.↗
NASA NTRS1988

Prediction and measurement of human pilot dynamic characteristics in a manned rotorcraft simulation

An analytical and experimental study of the human pilot control strategies in a manned rotorcraft simulation is described. The task simulated involves a low-speed, constant-altitude maneuvering task in which a head-down display is utilized to allow the pilot to track a moving hover point. The efficacy of the display law driving an acceleration symbol is determined and the manner in which the prediction and measurement of pilot/vehicle dynamics can be made part of man/machine system evaluations is demonstrated.

Hess, Ronald A.↗