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NASA NTRS2014

Space Launch System Implementation of Adaptive Augmenting Control

Given the complex structural dynamics, challenging ascent performance requirements, and rigorous flight certification constraints owing to its manned capability, the NASA Space Launch System (SLS) launch vehicle requires a proven thrust vector control algorithm design with highly optimized parameters to provide stable and high-performance flight. On its development path to Preliminary Design Review (PDR), the SLS flight control system has been challenged by significant vehicle flexibility, aerodynamics, and sloshing propellant. While the design has been able to meet all robust stability criteria, it has done so with little excess margin. Through significant development work, an Adaptive Augmenting Control (AAC) algorithm has been shown to extend the envelope of failures and flight anomalies the SLS control system can accommodate while maintaining a direct link to flight control stability criteria such as classical gain and phase margin. In this paper, the work performed to mature the AAC algorithm as a baseline component of the SLS flight control system is presented. The progress to date has brought the algorithm design to the PDR level of maturity. The algorithm has been extended to augment the full SLS digital 3-axis autopilot, including existing load-relief elements, and the necessary steps for integration with the production flight software prototype have been implemented. Several updates which have been made to the adaptive algorithm to increase its performance, decrease its sensitivity to expected external commands, and safeguard against limitations in the digital implementation are discussed with illustrating results. Monte Carlo simulations and selected stressing case results are also shown to demonstrate the algorithm's ability to increase the robustness of the integrated SLS flight control system.

Wall, John H.↗

NASA NTRS2016

Experimental Simulations of Lunar Magma Ocean Crystallization: The Plot (But Not the Crust) Thickens

Numerical models of differentiation of a global-scale lunar magma ocean (LMO) have raised as many questions as they have answered. Recent orbital missions and sample studies have provided new context for a large range of lithologies, from the comparatively magnesian "purest anorthosite" reported by to Si-rich domes and spinel-rich clasts with widespread areal distributions. In addition, the GRAIL mission provided strong constraints on lunar crustal density and average thickness. Can this increasingly complex geology be accounted for via the formation and evolution of the LMO? We have in recent years been conducting extensive sets of petrologic experiments designed to fully simulate LMO crystallization, which had not been attempted previously. Here we review the key results from these experiments, which show that LMO differentiation is more complex than initial models suggested. Several important features expected from LMO crystallization models have yet to be reproduced experimentally; combined modelling and experimental work by our group is ongoing.

Draper, D. S.↗

NASA NTRSDate not supplied

Development of Acoustic Mufflers for Cabin Noise Reduction in Orion Spacecraft

Controlling cabin acoustic noise levels in the Crew Module (CM) of the Orion spacecraft is critical to ensure adequate speech intelligibility, to avoid fatigue, and prevent any possibility of temporary and permanent hearing loss to the crew. The primary source of cabin noise for the on-orbit phase of the mission is from the Environmental Control and Life Support System (ECLSS) which recycles and conditions breathing air and maintains cabin pressurization through its duct network and components. Unfortunately, as a side effect, noise from the ECLSS fans propagates through theses ducts and emanate into the cabin habitable volume via the ECLSS inlet and outlets. To mitigate excessive duct-borne noise, two ECLSS mufflers have been designed to provide significant acoustic transmission loss (TL) so that the cabin noise requirements can be met. Each muffler is meant to be installed in the ducting of the ECLSS air inlet and outlet sides, respectively. Packaging constraints and tight volume requirements necessitated the mufflers to be of complex geometry and compatible with the bends of the ECLSS duct layout. To design and characterize the acoustic performance of the inlet and outlet mufflers, computational acoustic models were developed using the Finite Element Method (FEM) with 𝑤𝑎𝑣𝑒଺ vibroacoustic software. Characterization of the acoustic material and perforations in the mufflers were addressed with poroelastic theory. Once the mufflers were designed on paper and its TL predicted, prototypes of these mufflers were created using additive manufacturing. The muffler prototypes were subsequently tested for acoustic TL in the laboratory with various con-figurations of acoustic materials. Comparing the analytical predictions to the test performance yielded excellent correlation for acoustic TL and demonstrated significant broadband noise attenuation. The ECLSS mufflers are currently scheduled to be installed on the Artemis II Crew Module (CM) of the Orion spacecraft and will provide significant cabin comfort to crew during the mission.

Indranil Dandaroy↗

NASA NTRS2020

Navigation on the Line: Traversability Analysis and Path Planning for Extreme-Terrain Rappelling Rovers

Many areas of scientific interest in planetaryexploration, such as lunar pits, icy-moon crevasses, and Martiancraters, are inaccessible to current wheeled rovers. Rappellingrovers can safely traverse these steep surfaces, but requiretechniques to navigate their complex terrain. This dynamicnavigation is inherently time-critical and communication constraints(e.g. delays and small communication windows) willrequire planetary systems to have some autonomy.Autonomous navigation for Martian rovers is well studiedon moderately sloped and locally planar surfaces, but thesemethods do not readily transfer to tethered systems in nonplanar3D environments. Rappelling rovers in these situationshave additional challenges, including terrain-tether interactionand its effects on rover stability, path planning and control.This paper presents novel traversability analysis and pathplanning algorithms for rappelling rovers operating on steepterrains that account for terrain-tether interaction and theunique stability and reachability constraints of a rapellingsystem. The system is evaluated with a series of simulations andan analogue mission. In simulation, the planner was shown toreliably find safe paths down a 55 degree slope when a stabletether-terrain configuration exists and never recommended anunsafe path when one did not. In a planetary analogue mission,elements of the system were used to autonomously navigateAxel, a JPL rappelling rover, down a 30 degree slope with95% autonomy by distance travelled over 46 meters.

Nesnas, Issa↗

NASA NTRSDate not supplied

Making & Breaking the Rules for DED Design

Design for Additive Manufacturing (DfAM) is widely used to describe design activities and guidelines employed in the creation of Additively Manufactured (AM) parts. Basic design rules for widely adopted processes like Powder Bed Fusion (PBF) are relatively understood including material performance, part size constraints, self-supporting angles, overhangs, wall thicknesses, and feature resolution. Complexity is often inherent with PBF using organically inspired solutions through generative design and topology optimization software to create designs that often cannot be realized via traditional manufacturing processes. The design rules for Directed Energy Deposition (DED) are less well known, and, in some cases, the lack of understanding is likely inhibiting broader application of the various DED processes. This presentation covers key design rules for DED fusion processes and elucidates opportunities like multi-material deposition and build approaches ranging from basic features to complex large-scale parts. Complementary to the opportunistic characteristics of DfAM for DED, Manufacture for AM (MfAM) encompasses the restrictive aspects of the manufacturing lifecycle with limitations due to bead width and wall thickness, self-supporting angles, surface texture, microstructural evolution, and residual stresses. AM enabled part design must always consider the entire value chain starting with incoming feedstock (e.g. plate, wire, or powder) and progressing through the printing process, post-processing (e.g. machining, inspection), and final system assembly. Key considerations, like the tradeoffs between feature resolution and build rate, for process and part selection and economic assessments will be discussed as DED is often traded against other AM processes. After highlighting typical DED design rules, we will also show how some of those rules can be broken via use cases and part designs that span the full spectrum of DED processes with examples of various DED part designs.

Additive Manufacturing↗

NASA NTRS2015

Attitude Design for the LADEE Mission

The Lunar Atmosphere and Dust Environment Explorer (LADEE) satellite successfully completed its 148-day science investigation in a low-altitude, near-equatorial lunar orbit on April 18, 2014. The LADEE spacecraft was built, managed and operated by NASA's Ames Research Center (ARC). The Mission Operations Center (MOC) was located at Ames and was responsible for activity planning, command sequencing, trajectory and attitude design, orbit determination, and spacecraft operations. The Science Operations Center (SOC) was located at Goddard Space Flight Center and was responsible for science planning, data archiving and distribution. This paper details attitude design and operations support for the LADEE mission. LADEE's attitude design was shaped by a wide range of instrument pointing requirements that necessitated regular excursions from the baseline one revolution per orbit "Ram" attitude. Such attitude excursions were constrained by a number of flight rules levied to protect instruments from the Sun, avoid geometries that would result in simultaneous occlusion of LADEE's two star tracker heads, and maintain the spacecraft within its thermal and power operating limits. To satisfy LADEE's many attitude requirements and constraints, a set of rules and conventions was adopted to manage the complexity of this design challenge and facilitate the automation of ground software that generated pointing commands spanning multiple days of operations at a time. The resulting LADEE Flight Dynamics System (FDS) that was developed used Visual Basic scripts that generated instructions to AGI's Satellite Tool Kit (STK) in order to derive quaternion commands at regular intervals that satisfied LADEE's pointing requirements. These scripts relied heavily on the powerful "align and constrain" capability of STK's attitude module to construct LADEE's attitude profiles and the slews to get there. A description of the scripts and the attitude modeling they embodied is provided. One particular challenge analysts faced was in the design of LADEE maneuver attitudes. A flight rule requiring pre-maneuver verification of in-flight maneuver conditions by ground operators prior to burn execution resulted in the need to accommodate long periods in the maneuver attitude. This in turn complicated efforts to satisfy star tracker interference and communication constraints in lunar orbit. In response to this challenge, a graphical method was developed and used to survey candidate rotation angles about the thrust vector. This survey method is described and an example of its use on a particular LADEE maneuver is discussed. Finally, the software and methodology used to satisfy LADEE's attitude requirements are also discussed in the context of LADEE's overall activity planning effort. In particular, the way in which strategic schedules of instrument and engineering activities were translated into actual attitude profiles at the tactical level, then converted into precise quaternion commands to achieve those pointing goals is explained. In order to reduce the risk of time-consuming re-planning efforts, this process included the generation of long-term projections of constraint violation predictions for individual attitude profiles that could be used to establish keep-out time-frames for particular attitude profiles. The challenges experienced and overall efficacy of both the overall LADEE ground system and the attitude components of the Flight Dynamics System in meeting LADEE's varied pointing requirements are discussed.

LADEE↗

NASA NTRS2002

Advances in Robotic, Human, and Autonomous Systems for Missions of Space Exploration

Space exploration missions are evolving toward more complex architectures involving more capable robotic systems, new levels of human and robotic interaction, and increasingly autonomous systems. How this evolving mix of advanced capabilities will be utilized in the design of new missions is a subject of much current interest. Cost and risk constraints also play a key role in the development of new missions, resulting in a complex interplay of a broad range of factors in the mission development and planning of new missions. This paper will discuss how human, robotic, and autonomous systems could be used in advanced space exploration missions. In particular, a recently completed survey of the state of the art and the potential future of robotic systems, as well as new experiments utilizing human and robotic approaches will be described. Finally, there will be a discussion of how best to utilize these various approaches for meeting space exploration goals.

Gross, Anthony R.↗

NASA NTRS1991

POINT - An automated system for the solution of complex sequencing problems

Two sets of equations are defined: the first is used to derive ordering constraints from a set of operations, while the second is employed to validate proposed plans for performing those operations. These equations, together with related algorithms for the analysis and normalization of temporal constraints, form the basis of POINT (Propositional Objects for INferences over Time).

Fox, Barry↗

NASA NTRS1992

Uncertainty management by relaxation of conflicting constraints in production process scheduling

Mathematical-analytical methods as used in Operations Research approaches are often insufficient for scheduling problems. This is due to three reasons: the combinatorial complexity of the search space, conflicting objectives for production optimization, and the uncertainty in the production process. Knowledge-based techniques, especially approximate reasoning and constraint relaxation, are promising ways to overcome these problems. A case study from an industrial CIM environment, namely high-grade steel production, is presented to demonstrate how knowledge-based scheduling with the desired capabilities could work. By using fuzzy set theory, the applied knowledge representation technique covers the uncertainty inherent in the problem domain. Based on this knowledge representation, a classification of jobs according to their importance is defined which is then used for the straightforward generation of a schedule. A control strategy which comprises organizational, spatial, temporal, and chemical constraints is introduced. The strategy supports the dynamic relaxation of conflicting constraints in order to improve tentative schedules.

Dorn, Juergen↗

NASA NTRS1983

Assessment of constraints on space shuttle launch rates

The range of number of annual STS flights with 4- and 5-orbiter fleets was estimated and an overview of capabilities needed to support annual rates of 24 and up with a survey of known constraints and emphasis on External Tank (ET) production requirements was provided. Facility capability estimates are provided for ground turnaround, cargo handling, flight training and flight operations. Emphasizing the complexity of the STS systems and the R&D nature of present flight experience, it is concluded that the most prominent constraints in the early growth of the STS as an operational system may manifest themselves not as shortages of investment items such as the ET or SRB, but as inability to provide timely repairs or replacement of flight system components needed to sustain launch rates.

Source record↗

NASA NTRS1984

Spacecraft structural system identification by modal test

A structural parameter estimation procedure using the measured natural frequencies and kinetic energy distribution as observers is proposed. The theoretical derivation of the estimation procedure is described and its constraints and limitations are explained. This procedure is applied to a large complex spacecraft structural system to identify the inertia matrix using modal test results. The inertia matrix is chosen after the stiffness matrix has been updated by the static test results.

Chen, J.-C.↗

NASA NTRS1986

Multiple instrument coverage analysis

In the Space Station era comprehensive investigations of the physical processes of the earth will rely on observations from several types of space-based instruments. Preliminary studies indicate that, due to projected limitations on spacecraft and launch-vehicle capability, these complementary instrument sets may have to be distributed among several spacecraft. The task of analyzing the coincident coverage areas between instruments operating from multiple spacecraft will be complex. Such factors as the instruments' observing capabilities, orbital parameters, and viewing constraints will have to be considered. To aid in this analysis a computer model is being developed. This model has the capability, among others, to compute the coincident coverage areas between two independently orbiting instruments. This paper describes the model, its capabilities, and several sample applications.

Horvat, G. M.↗

NASA NTRS1990

Requirements for long-life mechanical cryocoolers for space applications

The growing demand for long wavelength infrared and submillimeter imaging instruments for space observational applications, together with the emergence of the multiyear life Oxford University Stirling cycle cooler, has led to a rapidly expanding near term commitment to mechanical cryocoolers throughout the subkelvin to 150 K temperature range for long-life space missions. To satisfy this growing commitment, emerging cryocoolers must successfully address not only the input power, cooling power, and mass constraints of the spacecraft and instruments, but also the broad array of complex interface requirements that critically affect successful integration to the sensitive instrument detectors. Generic requirements are presented for each of the cryocooler requirement areas, which are then contrasted with the projected capabilities of emerging space cryocoolers. The degree of match is used to highlight both the strengths of existing technologies and the areas in need of increased development.

Ross, R. G., Jr.↗

NASA NTRS1991

Space Shuttle processing - A case study in artificial intelligence

A scheduling system incorporating AI is described and applied to the automated processing of the Space Shuttle. The unique problem of addressing the temporal, resource, and orbiter-configuration requirements of shuttle processing is described with comparisons to traditional project management for manufacturing processes. The present scheduling system is developed to handle the late inputs and complex programs that characterize shuttle processing by incorporating fixed preemptive scheduling, constraint-based simulated annealing, and the characteristics of an 'anytime' algorithm. The Space-Shuttle processing environment is modeled with 500 activities broken down into 4000 subtasks and with 1600 temporal constraints, 8000 resource constraints, and 3900 state requirements. The algorithm is shown to scale to very large problems and maintain anytime characteristics suggesting that an automated scheduling process is achievable and potentially cost-effective.

Mollikarimi, Cindy↗

NASA NTRS2009

Peer-to-Peer Planning for Space Mission Control

Planning and scheduling for space operations entails the development of applications that embed intimate domain knowledge of distinct areas of mission control, while allowing for significant collaboration among them. The separation is useful because of differences in the planning problem, solution methods, and frequencies of replanning that arise in the different disciplines. For example, planning the activities of human spaceflight crews requires some reasoning about all spacecraft resources at timescales of minutes or seconds, and is subject to considerable volatility. Detailed power planning requires managing the complex interplay of power consumption and production, involves very different classes of constraints and preferences, but once plans are generated they are relatively stable.

Barreiro, Javier↗

NASA NTRS2012

Specification and Design of Electrical Flight System Architectures with SysML

Modern space flight systems are required to perform more complex functions than previous generations to support space missions. This demand is driving the trend to deploy more electronics to realize system functionality. The traditional approach for the specification, design, and deployment of electrical system architectures in space flight systems includes the use of informal definitions and descriptions that are often embedded within loosely coupled but highly interdependent design documents. Traditional methods become inefficient to cope with increasing system complexity, evolving requirements, and the ability to meet project budget and time constraints. Thus, there is a need for more rigorous methods to capture the relevant information about the electrical system architecture as the design evolves. In this work, we propose a model-centric approach to support the specification and design of electrical flight system architectures using the System Modeling Language (SysML). In our approach, we develop a domain specific language for specifying electrical system architectures, and we propose a design flow for the specification and design of electrical interfaces. Our approach is applied to a practical flight system.

specifications↗

NASA NTRS2014

Feedback-Driven Dynamic Invariant Discovery

Program invariants can help software developers identify program properties that must be preserved as the software evolves, however, formulating correct invariants can be challenging. In this work, we introduce iDiscovery, a technique which leverages symbolic execution to improve the quality of dynamically discovered invariants computed by Daikon. Candidate invariants generated by Daikon are synthesized into assertions and instrumented onto the program. The instrumented code is executed symbolically to generate new test cases that are fed back to Daikon to help further re ne the set of candidate invariants. This feedback loop is executed until a x-point is reached. To mitigate the cost of symbolic execution, we present optimizations to prune the symbolic state space and to reduce the complexity of the generated path conditions. We also leverage recent advances in constraint solution reuse techniques to avoid computing results for the same constraints across iterations. Experimental results show that iDiscovery converges to a set of higher quality invariants compared to the initial set of candidate invariants in a small number of iterations.

Daikon↗

NASA NTRS2014

Potential Multi-Component Structure of the Debris Disk Around HIP 17439 Revealed by Herschel DUNES

Context. The dust observed in debris disks is produced through collisions of larger bodies left over from the planet/planetesimal formation process. Spatially resolving these disks permits to constrain their architecture and thus that of the underlying planetary/planetesimal system. Aims. Our Herschel open time key program DUNES aims at detecting and characterizing debris disks around nearby, sun-like stars. In addition to the statistical analysis of the data, the detailed study of single objects through spatially resolving the disk and detailed modeling of the data is a main goal of the project. Methods. We obtained the first observations spatially resolving the debris disk around the sun-like star HIP 17439 (HD 23484) using the instruments PACS and SPIRE on board the Herschel Space Observatory. Simultaneous multi-wavelength modeling of these data together with ancillary data from the literature is presented. Results. A standard single component disk model fails to reproduce the major axis radial profiles at 70 μm, 100 μm, and 160 μm simultaneously. Moreover, the best-fit parameters derived from such a model suggest a very broad disk extending from few au up to few hundreds of au from the star with a nearly constant surface density which seems physically unlikely. However, the constraints from both the data and our limited theoretical investigation are not strong enough to completely rule out this model. An alternative, more plausible, and better fitting model of the system consists of two rings of dust at approx. 30 au and 90 au, respectively, while the constraints on the parameters of this model are weak due to its complexity and intrinsic degeneracies. Conclusions. The disk is probably composed of at least two components with different spatial locations (but not necessarily detached), while a single, broad disk is possible, but less likely. The two spatially well-separated rings of dust in our best-fit model suggest the presence of at least one high mass planet or several low-mass planets clearing the region between the two rings from planetesimals and dust.

sun-like stars↗