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At least 253 records · Page 14

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

A number of problems related to the design, construction and evaluation of an autonomous roving planetary vehicle and its control and operating systems intended for an unmanned exploration of Mars are studied. Vehicle configuration, dynamics, control, systems and propulsion; systems analysis; terrain sensing and modeling and path selection; and chemical analysis of samples are included.

Source record↗

Development of an autonomous video rendezous and docking system

Video control systems using three flashing lights and two other types of docking aids were evaluated through computer simulation and other approaches. The three light system performed much better than the others. Its accuracy is affected little by tumbling of the target spacecraft, and in the simulations it was able to cope with attitude rates up to 20,000 degrees per hour about the docking axis. Its performance with rotation about other axes is determined primarily by the state estimation and goal setting portions of the control system, not by measurement accuracy. A suitable control system, and a computer program that can serve as the basis for the physical simulation are discussed.

Tietz, J. C.↗

Multi-agent autonomous system and method

A method of controlling a plurality of crafts in an operational area includes providing a command system, a first craft in the operational area coupled to the command system, and a second craft in the operational area coupled to the command system. The method further includes determining a first desired destination and a first trajectory to the first desired destination, sending a first command from the command system to the first craft to move a first distance along the first trajectory, and moving the first craft according to the first command. A second desired destination and a second trajectory to the second desired destination are determined and a second command is sent from the command system to the second craft to move a second distance along the second trajectory.

Fink, Wolfgang↗

Use of Semi-Autonomous Tools for ISS Commanding and Monitoring

As the International Space Station (ISS) has moved into a utilization phase, operations have shifted to become more ground-based with fewer mission control personnel monitoring and commanding multiple ISS systems. This shift to fewer people monitoring more systems has prompted use of semi-autonomous console tools in the ISS Mission Control Center (MCC) to help flight controllers command and monitor the ISS. These console tools perform routine operational procedures while keeping the human operator "in the loop" to monitor and intervene when off-nominal events arise. Two such tools, the Pre-positioned Load (PPL) Loader and Automatic Operators Recorder Manager (AutoORM), are used by the ISS Communications RF Onboard Networks Utilization Specialist (CRONUS) flight control position. CRONUS is responsible for simultaneously commanding and monitoring the ISS Command & Data Handling (C&DH) and Communications and Tracking (C&T) systems. PPL Loader is used to uplink small pieces of frequently changed software data tables, called PPLs, to ISS computers to support different ISS operations. In order to uplink a PPL, a data load command must be built that contains multiple user-input fields. Next, a multiple step commanding and verification procedure must be performed to enable an onboard computer for software uplink, uplink the PPL, verify the PPL has incorporated correctly, and disable the computer for software uplink. PPL Loader provides different levels of automation in both building and uplinking these commands. In its manual mode, PPL Loader automatically builds the PPL data load commands but allows the flight controller to verify and save the commands for future uplink. In its auto mode, PPL Loader automatically builds the PPL data load commands for flight controller verification, but automatically performs the PPL uplink procedure by sending commands and performing verification checks while notifying CRONUS of procedure step completion. If an off-nominal condition occurs during procedure execution, PPL Loader notifies CRONUS through popup messages, allowing CRONUS to examine the situation and choose an option of how PPL loader should proceed with the procedure. The use of PPL Loader to perform frequent, routine PPL uplinks offloads CRONUS to better monitor two ISS systems. It also reduces procedure performance time and decreases risk of command errors. AutoORM identifies ISS communication outage periods and builds commands to lock, playback, and unlock ISS Operations Recorder files. Operation Recorder files are circular buffer files of continually recorded ISS telemetry data. Sections of these files can be locked from further writing, be played back to capture telemetry data that occurred during an ISS loss of signal (LOS) period, and then be unlocked for future recording use. Downlinked Operation Recorder files are used by mission support teams for data analysis, especially if failures occur during LOS. The commands to lock, playback, and unlock Operations Recorder files are encompassed in three different operational procedures and contain multiple user-input fields. AutoORM provides different levels of automation for building and uplinking the commands to lock, playback, and unlock Operations Recorder files. In its automatic mode, AutoORM automatically detects ISS LOS periods, then generates and uplinks the commands to lock, playback, and unlock Operations Recorder files when MCC regains signal with ISS. AutoORM also features semi-autonomous and manual modes which integrate CRONUS more into the command verification and uplink process. AutoORMs ability to automatically detect ISS LOS periods and build the necessary commands to preserve, playback, and release recorded telemetry data greatly offloads CRONUS to perform more high-level cognitive tasks, such as mission planning and anomaly troubleshooting. Additionally, since Operations Recorder commands contain numerical time input fields which are tedious for a human to manually build, AutoORM's ability to automatically build commands reduces operational command errors. PPL Loader and AutoORM demonstrate principles of semi-autonomous operational tools that will benefit future space mission operations. Both tools employ different levels of automation to perform simple and routine procedures, thereby offloading human operators to perform higher-level cognitive tasks. Because both tools provide procedure execution status and highlight off-nominal indications, the flight controller is able to intervene during procedure execution if needed. Semi-autonomous tools and systems that can perform routine procedures, yet keep human operators informed of execution, will be essential in future long-duration missions where the onboard crew will be solely responsible for spacecraft monitoring and control.

Brzezinski, Amy S.↗

Software assurance of autonomous spacecraft control

The work described addresses assurance of a planning and execution software system being added to an in-orbit CubeSat to demonstrate autonomous control of that spacecraft. Our focus was on how to develop assurance of the correct operation of the added software in its operational context, our approach to which was to use an assurance case to guide and organize the information involved.

Bocchino, Robert↗

Development of Supervisory Control System for Thermal Energy Distribution System

The integrated energy system (IES) refers to the combination of nuclear energy generation with other energy sources to enable the efficiency and reliability of power generations. To create technologically viable and economically competitive systems, supervisory control strategies are critical for optimizing performance and ensuring stability across different energy generation, transportation, and utilization. This work focuses on the control strategies for the thermal energy distribution system (TEDS), which is a cornerstone of the Dynamic Energy Transport and Integration Laboratory at Idaho National Laboratory. TEDS currently relies on operators to coordinate across different components to manage energy storage and ensure efficiency. This work demonstrates the use of model predictive control (MPC) with surrogate models in determining optimal setpoints for major TEDS components. The capability of MPC-based supervisory control system is evaluated by autonomously matching the power outputs from a Dymola-based TEDS with target heat demands.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗

Distributed control architecture for real-time telerobotic operation

The emerging field of telerobotics places new demands on control system architecture to allow both autonomous operations and natural human-machine interfacing. The feasibility of multiprocessor systems performing parallel control computations is realizable. A practical distribution of control processors is presented and the issues involved in the realization of this architecture are discussed. A prototype dual axis controller based on the NOVIX computer is described, and results of its implementation are discussed. Application of this type of control system to a replicated, redundant manipulator system is also described.

Martin, H. L.↗

Autonomous scheduling technology for Earth orbital missions

The development of a dynamic autonomous system (DYASS) of resources for the mission support of near-Earth NASA spacecraft is discussed and the current NASA space data system is described from a functional perspective. The future (late 80's and early 90's) NASA space data system is discussed. The DYASS concept, the autonomous process control, and the NASA space data system are introduced. Scheduling and related disciplines are surveyed. DYASS as a scheduling problem is also discussed. Artificial intelligence and knowledge representation is considered as well as the NUDGE system and the I-Space system.

Srivastava, S.↗

Spectral analysis of heart rate dynamics in elderly persons with postprandial hypotension

Prior studies suggest that postprandial hypotension in elderly persons may be due to defective sympathetic nervous system activation. We examined autonomic control of heart rate (HR) after a meal using spectral analysis of HR data in 13 old (89 +/- 6 years) and 7 young (24 +/- 4 years) subjects. Total spectral power, an index of overall HR variability, was calculated for the frequency band between 0.01 and 0.40 Hz. Relatively low-frequency power, associated with sympathetic nervous system and baroreflex activation, was calculated for the 0.01 to 0.15 Hz band. High-frequency power, representing parasympathetic influences on HR, was calculated for the 0.15 to 0.40 Hz band. Mean arterial blood pressure declined 27 +/- 8 mm Hg by 60 minutes after the meal in elderly subjects, compared with 9 +/- 8 mm Hg in young subjects (p less than or equal to 0.0001, young vs old). The mean change in low-frequency HR power from 30 to 50 minutes after the meal was +19.4 +/- 25.3 U in young subjects versus -0.1 +/- 1.5 U in old subjects (p less than or equal to 0.02). Mean change in total power was also greater in young (19.0 +/- 26.6 U) subjects compared with old subjects (0.0 +/- 1.6 U, p greater than or equal to 0.02). Mean ratio of low:high-frequency power increased 3.1 +/- 3.3 U in young subjects vs 0.5 +/- 2.7 U in old subjects (p less than or equal to 0.01). The increase in low-frequency HR power and in the low:high frequency band ratio in young subjects is consistent with sympathetic activation in the postprandial period.(ABSTRACT TRUNCATED AT 250 WORDS).

NASA Discipline Cardiopulmonary↗

Relative Navigation of Formation Flying Satellites

The Guidance, Navigation, and Control Center (GNCC) at Goddard Space Flight Center (GSFC) has successfully developed high-accuracy autonomous satellite navigation systems using the National Aeronautics and Space Administration's (NASA's) space and ground communications systems and the Global Positioning System (GPS). In addition, an autonomous navigation system that uses celestial object sensor measurements is currently under development and has been successfully tested using real Sun and Earth horizon measurements.The GNCC has developed advanced spacecraft systems that provide autonomous navigation and control of formation flyers in near-Earth, high-Earth, and libration point orbits. To support this effort, the GNCC is assessing the relative navigation accuracy achievable for proposed formations using GPS, intersatellite crosslink, ground-to-satellite Doppler, and celestial object sensor measurements. This paper evaluates the performance of these relative navigation approaches for three proposed missions with two or more vehicles maintaining relatively tight formations. High-fidelity simulations were performed to quantify the absolute and relative navigation accuracy as a function of navigation algorithm and measurement type. Realistically-simulated measurements were processed using the extended Kalman filter implemented in the GPS Enhanced Inboard Navigation System (GEONS) flight software developed by GSFC GNCC. Solutions obtained by simultaneously estimating all satellites in the formation were compared with the results obtained using a simpler approach based on differencing independently estimated state vectors.

Long, Anne↗

Autonomous spacecraft attitude control using magnetic torquing only

Magnetic torquing of spacecraft has been an important mechanism for attitude control since the earliest satellites were launched. Typically a magnetic control system has been used for precession/nutation damping for gravity-gradient stabilized satellites, momentum dumping for systems equipped with reaction wheels, or momentum-axis pointing for spinning and momentum-biased spacecraft. Although within the small satellite community there has always been interest in expensive, light-weight, and low-power attitude control systems, completely magnetic control systems have not been used for autonomous three-axis stabilized spacecraft due to the large computational requirements involved. As increasingly more powerful microprocessors have become available, this has become less of an impediment. These facts have motivated consideration of the all-magnetic attitude control system presented here. The problem of controlling spacecraft attitude using only magnetic torquing is cast into the form of the Linear Quadratic Regulator (LQR), resulting in a linear feedback control law. Since the geomagnetic field along a satellite trajectory is not constant, the system equations are time varying. As a result, the optimal feedback gains are time-varying. Orbit geometry is exploited to treat feedback gains as a function of position rather than time, making feasible the onboard solution of the optimal control problem. In simulations performed to date, the control laws have shown themselves to be fairly robust and a good candidate for an onboard attitude control system.

Musser, Keith L.↗

Simulation-Based Verification of Autonomous Controllers via Livingstone PathFinder

AI software is often used as a means for providing greater autonomy to automated systems, capable of coping with harsh and unpredictable environments. Due in part to the enormous space of possible situations that they aim to addrs, autonomous systems pose a serious challenge to traditional test-based verification approaches. Efficient verification approaches need to be perfected before these systems can reliably control critical applications. This publication describes Livingstone PathFinder (LPF), a verification tool for autonomous control software. LPF applies state space exploration algorithms to an instrumented testbed, consisting of the controller embedded in a simulated operating environment. Although LPF has focused on NASA s Livingstone model-based diagnosis system applications, the architecture is modular and adaptable to other systems. This article presents different facets of LPF and experimental results from applying the software to a Livingstone model of the main propulsion feed subsystem for a prototype space vehicle.

Lindsey, A. E.↗

Systems autonomy

Information on systems autonomy is given in viewgraph form. Information is given on space systems integration, intelligent autonomous systems, automated systems for in-flight mission operations, the Systems Autonomy Demonstration Project on the Space Station Thermal Control System, the architecture of an autonomous intelligent system, artificial intelligence research issues, machine learning, and real-time image processing.

Lum, Henry, Jr.↗

Advanced Caution and Warning System, Final Report - 2011

The work described in this report is a continuation of the ACAWS work funded in fiscal year (FY) 2010 under the Exploration Technology Development Program (ETDP), Integrated Systems Health Management (ISHM) project. In FY 2010, we developed requirements for an ACAWS system and vetted the requirements with potential users via a concept demonstration system. In FY 2011, we developed a working prototype of aspects of that concept, with placeholders for technologies to be fully developed in future phases of the project. The objective is to develop general capability to assist operators with system health monitoring and failure diagnosis. Moreover, ACAWS was integrated with the Discrete Controls (DC) task of the Autonomous Systems and Avionics (ASA) project. The primary objective of DC is to demonstrate an electronic and interactive procedure display environment and multiple levels of automation (automatic execution by computer, execution by computer if the operator consents, and manual execution by the operator).

Spirkovska, Lilly↗

Humanoid Flight Metabolic Simulator Project

NASA's Evolvable Mars Campaign (EMC) has identified several areas of technology that will require significant improvements in terms of performance, capacity, and efficiency, in order to make a manned mission to Mars possible. These include crew vehicle Environmental Control and Life Support System (ECLSS), EVA suit Portable Life Support System (PLSS) and Information Systems, autonomous environmental monitoring, radiation exposure monitoring and protection, and vehicle thermal control systems (TCS). (MADMACS) in a Suit can be configured to simulate human metabolism, consuming crew resources (oxygen) in the process. In addition to providing support for testing Life Support on unmanned flights, MADMACS will also support testing of suit thermal controls, and monitor radiation exposure, body zone temperatures, moisture, and loads.

Ross, Stuart↗

The MDS autonomous control architecture

We describe the autonomous control architecture for the JPL Mission Data System (MDS). MDS is a comprehensive new software infrastructure for supporting unmanned space exploration. The autonomous control architecture is one component of MDS designed to enable autonomous operations.

MDS autonomous control unmanned space exploration↗

Lunar Navigation Determination System - LaNDS

A portable comprehensive navigational system has been developed that both robotic and human explorers can use to determine their location, attitude, and heading anywhere on the lunar surface independent of external infrastructure (needs no Lunar satellite network, line of sight to the Sun or Earth, etc.). The system combines robust processing power with an extensive topographical database to create a real-time atlas (GIS Geospatial Information System) that is able to autonomously control and monitor both single unmanned rovers and fleets of rovers, as well as science payload stations. The system includes provisions for teleoperation and tele-presence. The system accepts (but does not require) inputs from a wide range of sensors. A means was needed to establish a location when the search is taken deep in a crater (looking for water ice) and out of view of Earth or any other references. A star camera can be employed to determine the user's attitude in menial space and stellar map in body space. A local nadir reference (e.g., an accelerometer that orients the nadir vector in body space) can be used in conjunction with a digital ephemeris and gravity model of the Moon to isolate the latitude, longitude, and azimuth of the user on the surface. That information can be used in conjunction with a Lunar GIS and advanced navigation planning algorithms to aid astronauts (or other assets) to navigate on the Lunar surface.

Quinn, David↗

Validation of an Automated System for Arrival Traffic Management

The fuel-efficiencies of arrival flights that were managed by an automated system were compared to the fuel-efficiencies of arrival flights that were managed by air traffic controllers. It was infeasible to have the automated system control arrivals in real operations, so the comparison was accomplished by setting up a fast-time simulation where the automated system could manage arrivals with the same initial conditions and flight plans as those that operated in real operations during a selected comparison period and in the same background traffic. For this study, Newark Liberty International Airport was selected as the arrival airport because its high traffic load and constrained arrival procedures were expected to highlight fuel-efficiency benefits of an automated system. In the simulation, the automated system managed Newark arrivals, and the other flights (arrivals to other airports, departures, and overflights) composed the background traffic. To match the simulation and the real operations background traffic, the other flights flew in simulation the same trajectory that they flew in real operations during the comparison period. Fuel-efficiency was measured by calculating fuel burns of the arrival trajectories. The fuel-efficiencies of arrival trajectories produced in the simulation were compared with the estimated fuel-efficiencies of arrival trajectories recorded from real operations during the comparison period. Results showed that automation managed arrivals burned 346 lbs less fuel per flight on average than controller managed arrivals.

air traffic control↗