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STS-1 operational flight profile. Volume 5: Descent cycle 3. Appendix D: GRTLS six degree of freedom Monte Carlo dispersion analysis

The results of a six degree of freedom (6-DOF) nonlinear Monte Carlo dispersion analysis for the latest glide return to landing site (GRTLS) abort trajectory for the Space Transportation System 1 Flight are presented. For this GRTLS, the number two main engine fails at 262.5 seconds ground elapsed time. Fifty randomly selected simulations, initialized at external tank separation, are analyzed. The initial covariance matrix is a 20 x 20 matrix and includes navigation errors and dispersions in position and velocity, time, accelerometer bias, and inertial platform misalinements. In all 50 samples, speedbrake, rudder, elevon, and body flap hinge moments are acceptable. Transitions to autoland begin before 9,000 feet and there are no tailscrapes. Navigation derived dynamic pressure accuracies exceed the flight control system constraints above Mach 2.5. Three out of 50 landings exceeded tire specification limit speed of 222 knots. Pilot manual landings are expected to reduce landing speed by landing farther downrange.

Montez, M. N.↗

DIAL simulations for satellite water vapor profile measurements within the BEST project

The project BEST has been proposed by several laboratories of the French Space Agency (CNES) as part of the GEWEX program. Its objective is the study of the energy budget of the tropical system, and aims at measuring different components of the water cycle by coupling several observing systems. As part of this, Service d'Aeronomie (SA) proposed to study a Differential Absorption Lidar (DIAL) system to measure tropical water vapor profiles and to determine humidity convergence fields, when coupled with the Doppler wind lidar. We have performed simulation analyses for water vapor measurement from the selected orbit of 400 km. For these simulations, we have adopted an atmospheric model developed at SA. We have optimized, by a Monte Carlo statistical method, the system parameters and evaluated bias and standard deviation of the retrieved water vapor mixing ratio.

Chazette, P.↗

Sensitivity of Lower Stratospheric Assimilated Ozone on Error Covariance Modeling and Data Selection

Assimilated ozone is produced at the NASA/Goddard Data Assimilation Office by blending ozone retrieved from the Solar Backscatter UltraViolet/2 (SBUV/2) instrument and the Earth Probe Total Ozone Mapping Spectrometer (EP TOMS) measurements into an off-line transport model. The current system tends to overestimate the amount of lower stratospheric ozone. This is a region where ozone plays a key role in the forcing of climate. A biased ozone field in this region will adversely impact calculations of the stratosphere-troposphere exchange and, when used as a first guess in retrievals, the values determined from satellite observations. Since these are all important applications of assimilated ozone products, effort is being directed towards reducing this bias. The SBUV ozone data have a coarse vertical resolution with increased uncertainty below the ozone maximum, and TOMS provides only total ozone columns. Thus, the assimilated ozone in the lower stratosphere, and its vertical distribution in particular, are only weakly constrained by the incoming SBUV and TOMS data. Consequently, the assimilated ozone distribution should be sensitive to changes in inputs to the statistical analysis scheme. Accordingly, the sensitivity of the assimilated lower stratospheric ozone fields to changes in the TOMS error-covariance modeling and the SBUV data selection has been investigated. The use of a spatially correlated TOMS error covariance model led to improvements in the product. However, withholding the SBUV/2 data for the layer between 63 and 126 hPa typically degraded the product, a result which vindicates the use of this layer ozone product, despite its known errors. These efforts to improve the lower stratospheric distribution will be extended to include a more advanced forecast error covariance model, and by assimilating ozone products from new instruments on Envisat and EOS Aura.

Stajner, Ivanka↗

Experimental breakdown of selected anodized aluminum samples in dilute plasmas

Anodized aluminum samples representative of Space Station Freedom structural material were tested for electrical breakdown under space plasma conditions. In space, this potential arises across the insulating anodized coating when the spacecraft structure is driven to a negative bias relative to the external plasma potential due to plasma-surface interaction phenomena. For anodized materials used in the tests, it was found that breakdown voltage varied from 100 to 2000 volts depending on the sample. The current in the arcs depended on the sample, the capacitor, and the voltage. The level of the arc currents varied from 60 to 1000 amperes. The plasma number density varied from 3 x 10 exp 6 to 10 exp 3 ions per cc. The time between arcs increased as the number density was lowered. Corona testing of anodized samples revealed that samples with higher corona inception voltage had higher arcing inception voltages. From this it is concluded that corona testing may provide a method of screening the samples.

Grier, Norman T.↗

A Combined Al-Mg/Pb-Pb Age of the Solar System

Astrophysical models of planet formation and protoplanetary disk evolution demand precise and accurate timing of the sequence of events in the solar nebula, relative to a time t=0, usually taken to be during the short epoch of CAI (Ca-rich, Al-rich inclusion) formation. Most CAIs formed withlive26Al (mean-life τ26= 1.034 Myr [1]), with an abundance 26Al/27Al ≈ (26Al/27Al)SS= 5.23 × 10-5[2]. We adopt this as the widespread level of 26Al in the solar nebula at t=0. Assuming spatial homogeneity of 26Al, an inclusion that had less 26Al, (26Al/27Al)0, formed a time Δt26= τ26ln[(26Al/27Al)SS/ (26Al/27Al)0] after t=0.These ages are typical precise to within ±0.1 Myr. Igneous bulk meteorites and inclusions can be relatively dated by the Al-Mg chronometer, but only ifΔt26<6 Myr. The Pb-Pb system is useful as a longer relative chronometer. It yields absolute ages tPb using 207Pb/206Pb, 206Pb/204Pb, and 238U/235U ratios measured indifferent portions of a sample, assuming certain half-lives [4]. These absolute ages are uncertain to within ±9 Myr due to uncertainties in the 235U half-life[3], but times of formation ΔtPb= tCAI–tPb relative to t=0, are more precise(±0.5Myr),iftCAI can be found. Here, tCAI means the Pb-Pb age that would be measured in CAIs using the half-lives the community typically uses, if they achieved isotopic closure at t=0. Unfortunately, direct Pb-Pb dating of CAIs has not definitively determined tCAI. Based on four CAIs with canonical (26Al/27Al)0,[5,6] found tPb= 4567.30 ± 0.16 Myr. No other CAI ages with measured 238U/235U have been reported in the refereed literature, but there are hints of other CAIs with ages tPb= 4568.0 ± 0.2 Myr [7] and tPb= 4568.3 ± 0.2 Myr [8].It is unclear whether anyof these igneous type B CAIs isotopically closed at t=0 or represents tCAI. Instead of measurements, we advocate finding tCAI by minimizing the discrepancies between the Al-Mg and Pb-Pb chronometers. Assuming Δt26=ΔtPb, we find the implied t’CAI= tPb+Δt26, then define t*CAIas the weighted mean of the t’CAI. t*CAIis the best guess for the Pb-Pb age of t=0; the assumption of homogeneity is justified if the t’CAI cluster within errors around t*CAI. This statistical approach is similar to, but improves on, that of[9]. We find t*CAI= 4568.73 ± 0.16 Myr. Below we discuss our methodology and the implications of this age for CAIs, 1.4 Myr older than the reported and typically used age 4567.30±0.16 Myr. Methods: We base our estimate of t*CAIon five achondrites for which published (26Al/27Al)0and Pb-Pb ages exist: the quenched angrites D’Orbigny, Sahara 99555 (SAH 99555), and Northwest Africa (NWA) 1670; the pseudo-eucrite Asuka 881394; and the inner disk achondrite. All are “NC” (non-carbonaceous) achondrites that likely cooled quickly enough that the Al-Mg and Pb-Pb systems achieved isotopic closure simultaneously. We also considered the “CC” (carbonaceous chondrite-like) achondrites NWA 2796 and NWA 6704, butdo not include them in our fit. Al-Mg and Pb-Pb seem not to have closed simultaneously, possibly because formation in the outer disk from volatile-rich composition led to slower cooling. Of the 8 chondrules from NWA 5697 measured by [20,21], we also consider the 4 for which 238U/235U was measured: 2-C1, 5-C2, 3-C5, 11-C1.Depending on their post-formation thermal histories, the Al-Mg and Pb-Pb systems in chondrules may or may not have closed simultaneously. Table 1: (26Al/27Al)0, Pb-Pb ages of selected samplesSample(26Al/27Al)0/ 10-6RefPb-PbRefD’Orbigny3.98±0.15104563.43±0.19♮10-12SAH 995553.64±0.18104563.88±0.2712NWA16705.92±0.59104564.39±0.24*10Asuka 88139413.1±0.5613-154564.98±0.1715NWA 73253.03±0.14164563.4±2.616NWA 27963.94±0.16174562.89±0.5917NWA 67043.03±0.14184562.76±0.26192-C17.56±1.53204567.57±0.56*215-C27.04±1.51204567.54±0.52*213-C58.85±1.83204566.20±0.63*2111-C15.55±1.84204565.84±0.72*21*regression based on one subset of data points ♮weighted mean of two datasets Pb-Pb ages are proportional to the intercept of the line formed by linear regression of 207Pb/206Pb vs. 206Pb/204Pb data from various washes, leachates and residues of acid dissolution of a sample. Because contamination by terrestrial or primordial Pb is pervasive, some fractions must be excluded from regressions to ensure a fit with acceptable mean squares weighted deviation (MSWD). Usually points are excluded based on low [Pb], or low 206Pb/204Pb ratio(low radiogenic component), with single outliers identified [11,12,15,16,17]. In the starred examples (Table 1)and the case of 3 CAI Pb-Pb ages [5], up to half the points were excluded solely because did not fit a pre-determined line. This approach is vulnerable to confirmation bias and produces fits with low MSWD and too-low Pb-Pb age uncertainty. Regressing the same data points as [10], were produce the Pb-Pb age of NWA 1670 of 4564.39±0.24 Myr. But selecting other combinations of data points, other, equally valid, isochrons yield ages from 4563.77±0.21 Myr to 4564.64±0.23 Myr. Similar arguments apply to the Pb-Pb isochrons built by [21] for chondrules 2-C1 (we find 4567.33±0.44 to 4567.85±0.46 Myr), 5-C2 (4566.84±0.53 to 4567.70±0.44 Myr), 3-C5 (4565.84±0.54to 4567.04±0.54)and 11-C1 (4565.36±0.51 to 4565.74±0.45 Myr). Our adopted ages for these and NWA 1670 are listed in Table 2.Table 2. tCAI estimated from various components, using our regressions for the chondrules & NWA 1670.SampleΔt26(Myr)tPb(Myr)t’CAI(Myr)D’Orbigny5.05±0.044563.43±0.194568.48±0.19SAH 995555.14±0.054563.88±0.274569.02±0.27NWA16704.64±0.104564.21±0.634568.85±0.67Asuka 8813943.81±0.044564.98±0.174568.79±0.17NWA 73255.33±0.054563.4±2.64568.7±2.6NWA 27965.06±0.044562.89±0.594567.95±0.59NWA 67045.29±0.134562.76±0.264568.05±0.292-C12.00±0.214567.59±0.704569.59±0.725-C22.07±0.224567.23±0.914569.30±0.933-C51.84±0.214566.44±1.124568.28±1.1411-C12.32±0.344565.52±0.664567.84±0.73achondrite4568.72±0.16chondrules4568.76±0.58combined4568.73±0.16A weighted average of the five NC achondrites(or just D’Orbigny, SAH 99555 and Asuka 881394)yields t*CAI= 4568.72 ± 0.16Myr. All are consistent with this value to within 1.8σ, and MSWD=1.5. Including the 4 U-corrected chondrules, t*CAI= 4568.73± 0.16Myrwith MSWD=1.66, which is statistically significant. All chondrules and NC achondrites are consistent with this to within 1.8σ, (Figure 1).Figure 1. Al-Mg formation times after t=0 vs. Pb-Pb ages. The five NC achondrites and four chondrules are consistent with a Pb-Pb age of t=0 of 4568.7 Myr. Discussion: The data from achondrites and chondrules are consistent with a single Pb-Pb age at t=0, justifying the assumption of 26Al homogeneity. The age, 4568.7 Myr, is ≈1.4 Myr older than the commonly accepted Pb-Pb age of CAIs that formed with canonical 26Al/27Al at t=0 [3]. Others have interpreted the discrepancy to signify 26Al heterogeneity in the CAI-forming region[5,21]. We suggest instead that CAIs were exposed to transient heating events that reset the Pb-Pb system without disturbing the Al-Mg system. Notably, chondrules typically experienced transient heating at these times in the nebula [22]. If so, direct measurements of CAIs will not yield as reliable a Pb-Pb age of t=0 as statistical approaches like this and that of [9].References:[1] Auer et al. 2009. [2] Jacobsen, B et al. 2008, EPSL 272, 353-364. [3] Tissot, Fet al. 2017, GCA 213, 593-617.[4] Villa, I et al. 2016, GCA 172, 387-392.[5] Amelin, Y et al. 2010, EPSL 300, 343-350.[6] Connelly, Jet al. 2012, Science 338, 651.[7] Bouvier, Aet al. 2011, LPICo 1639, 9054. [8] Bouvier, Aand Wadhwa, M2010, Nat Geosci 3, 637-641.[9] Nyquist, Let al. 2009, GCA 73, 5115-5136.[10] Schiller et al. 2015. [11] Wadhwa & Brennecka 2012. [12] Tissot et al. 2017. [13] Nyquist et al. 2003. [14] Wadhwa et al. 2009. [15] Wimpenny et al. 2019, GCA 244, 478-501.[16] Koefoed et al. 2016, GCA 183, 31-45. [17] Bouvier, A et al. 2011, GCA 75, 5310-5323. [18] Sanborn, Met al. 2019, GCA 245, 577-596. [19] Amelin, Yet al. 2019, GCA 245, 628-642.[20] Bollard, Jet al. 2017, Sci Adv 3 ,e1700407. [21] Bollard, Jet al. 2019, GCA 260, 62-83.[22] Villeneuve, J et al. 2009, Science 325, 985

S. J. Desch↗

Distribution and evolution of asteroid rotation rates

Data on the rotational characteristics of more than 300 asteroids are currently available, and it is now clear that the distribution of the rotation rates is nonrandom. A plot of rotation rate against asteroid diameter shows large dispersion but is distinctly V-shaped. The minimum of this curve at about 120 km may separate primordial asteroids from their collision products. There is also evidence that rotation rate depends on type classification, and weak evidence that it may also depend on family membership. Recent bias-free observations suggest that the marked rise of rotation rate with decreasing diameter D for those asteroids with D less than 120 km cannot be completely accounted for by observational-selection effects. A significantly large subset of the small asteroids have exceptionally long rotation periods suggestive of either a different nature and origin or a peculiar history. Models that have been proposed to account for these results are discussed.

Dermott, S. F.↗

Determination of an Infrared Reference Frame

The mission of the European Space Agency's Hipparcos satellite was to provide high precision astrometric and photometric data for over 100,000 stars and somewhat lower precision data on over a million additional stars. These observations were made in the optical band (340 - 850 nm) and resulted in median precisions of better than 1 milli-arcsec (mas) in position and parallax and I mas/yr in proper motion. The Hipparcos frame is inertial within an estimated uncertainty of +/- 0.25 mas/yr. The other important wavelength band for astrometry has been the radio band. A reference frame has been defined based on absolute Very Long Baseline Interferometry (VLBI) positions of several hundreds of radio sources. There have been a number of projects to refine the link between the optical and radio reference frames. In recent years there has been increasing interest in the astrometry of infrared sources. For example, stars with circumstellar shells can be observed in both the optical and radio (e.g. SiO maser emission). The infrared emission from such sources is dominated by thermal dust emission. The spatial distribution of radiation in the three bands is expected to be quite different. In 1982 we proposed a number of infrared-selected sources (S(sub 10 micron) greater than or approx. equal to 100 J(sub y)) for inclusion in the Hipparcos Input Catalog. Most of those sources were observed, and in Sutton (1997) we report the optical astrometric results (position, proper motion, and parallax) for 87 such sources. These sources were selected to have reasonable agreement between infrared and optical positions, and so may be used as primary standards for future infrared astrometry. They are well distributed across the sky, but exhibit some bias towards the galactic plane and the northern hemisphere. We have also obtained a set of 1480 secondary standards (unpublished) A comparison between optical positions and 86 GHz SiO maser positions for 10 sources indicates coincidence at the 0.15 arcsec level, consistent with current uncertainties in the SiO positions. Improved measurements of the SiO maser positions are needed. VLBI data show that SiO maser spots can be distributed in broken rings of radii 10 - 30 mas, presumably centered on the stellar position. However the SiO flux may be distributed asymmetrically, in which case the flux-weighted center of the SiO emission can be different from the stellar position. We have also published a related paper on phase fluctuations in millimeter interferometry (Sutton and Hueckstaedt 1996). Radiometric monitoring of emission from atmospheric water vapor may be a method for correcting for such fluctuations. This is relevant to positional determinations at centimeter and millimeter wavelengths. The integration of visible, infrared, and radio astrometry is one of our principal goals.

Sutton, Edmund C.↗

Starburst modeling of M82 - Test case for a biased initial mass function

We compute starburst models for M82, making use of recent theoretical tracks of stellar evolution. Detailed comparisons of our models and those of others demonstrate this technique to be quite reliable, with relatively little change in output parameters as a function of the selection of theoretical tracks or of estimates of the observational characteristics of the stars along these tracks. The models are matched to the observational constraints for M82 summarized by McLeod et al. (1993). The rate of star formation and time of observation were thoroughly optimized to produce the most favorable fit to the observations, but we still found that the recently proposed forms for the solar-neighborhood IMF cannot produce starbursts adequate to fit the observations of this galaxy. We then explored adjustments to the shape of the IMF to improve the fit to M82. We find (1) the shape of the IMF for high-mass stars need not be different from that observed locally; and (2) the most likely modification to the IMF in M82 is that stars with masses below a few solar masses form much less commonly than in the solar neighborhood.

Rieke, G. H.↗

Sampling Landsat classifications for crop area estimation

An investigation was conducted to evaluate the effect of several sampling alternatives on the accuracy of crop area estimates made from classification of Landsat Multispectral Scanner (MSS) data. The specific objective was to assess the precision and the bias associated with alternative sampling schemes involving different numbers of several sampling unit sizes. The estimates achieved using the 5 by 6 nm segments were found to have the least precision of any sampling scheme tested. The estimates become more precise as the segment size decreases and more segments are taken. The precision of the 5 by 6 nm segments was significantly less than that of the pixel samples. None of the sampling schemes was significantly biased on the average, and none of the average estimates differed significantly from the population parameter. The maximum absolute deviation, however, was directly related to sampling unit size and should be considered in selection of a sampling unit.

Hixson, M. M.↗

Method of measuring field funneling and range straggling in semiconductor charge-collecting junctions

Electric-field funneling length is measured while irradiating a semiconductor charge-collecting junction with electron-hole-pair generating charged particles at a first junction bias voltage. The bias voltage is then reduced to a second level in order to reduce the depth of the depletion region such that the total charge can no longer be collected by drift and measured in the energy band previously displayed in the multichannel analyzer. This is representative of the maximum electric field funneling length which may be calculated by measuring the difference at the second bias voltage level of the depletion width and the ion penetration range. The bias voltage is further lowered to a third level at which the particles are collected over a spread of energy levels while at least some of the particles are still collected at the selected energy level. From this the different depths of penetration of the particles are determined while additional effects due to diffusion are minimized.

Zoutendyk, J. A.↗

Method of measuring field funneling and range straggling in semiconductor charge-collecting junctions

Electric-field funneling length is measured while irradiating a semiconductor charge-collecting junction with electron-hole-pair generating charged particles at a first junction bias voltage. The bias voltage is then reduced to a second level in order to reduce the depth of the depletion region such that the total charge can no longer be collected by drift and measured in the energy band previously displayed in the multichannel analyzer. This is representative of the maximum electric field funnelling length which may be calculated by measuring the difference at the second bias voltage level of the depletion width and the ion penetration range. The bias voltage is further lowered to a third level at which the particles are collected over a spread of energy levels while at least some of the particles are still collected at the selected energy level. From this the different depths of penetration of the particles are determined while additional effects due to diffusion are minimized.

Zoutendyk, John A.↗

Generating high precision ionospheric ground-truth measurements

A method, apparatus and article of manufacture provide ionospheric ground-truth measurements for use in a wide-area augmentation system (WAAS). Ionospheric pseudorange/code and carrier phase data as primary observables is received by a WAAS receiver. A polynomial fit is performed on the phase data that is examined to identify any cycle slips in the phase data. The phase data is then leveled. Satellite and receiver biases are obtained and applied to the leveled phase data to obtain unbiased phase-leveled ionospheric measurements that are used in a WAAS system. In addition, one of several measurements may be selected and data is output that provides information on the quality of the measurements that are used to determine corrective messages as part of the WAAS system.

Komjathy, Attila↗

Regional Replay: A Unique Reanalysis-Based Tool for Addressing Model Error

Understanding and correcting errors in general circulation and climate models has long been part intuition and part trial and error. Efforts to diagnose the errors and provide some guidance to developers have been of some value, though such efforts, with few exceptions, have been more successful in identifying and documenting the errors in the model simulations rather than the model deficiencies that produced them. Modern atmospheric reanalyses such as MERRA-2 provide much-improved estimates of our climate system at hourly to interannual and longer time scales and have become an important tool for assessing model performance. Here we use MERRA-2 to address biases in the NASA/GMAO GEOS model by employing a "regional replay" approach developed in the GMAO. The regional replay approach constrains the model to remain close to the reanalysis over arbitrary regions and selected model variables, thus allowing us to examine how model error generated over one area is spatially translated across the globe. Several examples are given including an assessment of the global impact of errors produced over the Tibet region.

Tibet Region↗

System design of a rudder coordination system

The application of the parameter optimization computer program to the design of a rudder coordination system for the F-8 airplane is summarized. The flight condition was Mach 0.56 at 20,000 feet altitude. The system configuration selected consisted of signal paths that fed yaw rate and aileron signals to the rudder. The two signal paths were summed and then modified by a high pass filter to eliminate any steady state bias signal. The input axis of the yaw gyro was perpendicular to the aircraft zero lift line and the trim angle of attack was 7.75 degrees. The parameter optimization was used to design the complete system first, and then a root locus analysis of the individual component effects was made. The results are presented.

Whitaker, H. P.↗

Topic Modeling of NASA Space System Problem Reports: Research in Practice

Problem reports at NASA are similar to bug reports: they capture defects found during test, post-launch operational anomalies, and document the investigation and corrective action of the issue. These artifacts are a rich source of lessons learned for NASA, but are expensive to analyze since problem reports are comprised primarily of natural language text. We apply topic modeling to a corpus of NASA problem reports to extract trends in testing and operational failures. We collected 16,669 problem reports from six NASA space flight missions and applied Latent Dirichlet Allocation topic modeling to the document corpus. We analyze the most popular topics within and across missions, and how popular topics changed over the lifetime of a mission. We find that hardware material and flight software issues are common during the integration and testing phase, while ground station software and equipment issues are more common during the operations phase. We identify a number of challenges in topic modeling for trend analysis: 1) that the process of selecting the topic modeling parameters lacks definitive guidance, 2) defining semantically-meaningful topic labels requires nontrivial effort and domain expertise, 3) topic models derived from the combined corpus of the six missions were biased toward the larger missions, and 4) topics must be semantically distinct as well as cohesive to be useful. Nonetheless,topic modeling can identify problem themes within missions and across mission lifetimes, providing useful feedback to engineers and project managers.

Data Mining↗

Control system estimation and design for aerospace vehicles

The selection of an estimator which is unbiased when applied to structural parameter estimation is discussed. The mathematical relationships for structural parameter estimation are defined. It is shown that a conventional weighted least squares (CWLS) estimate is biased when applied to structural parameter estimation. Two approaches to bias removal are suggested: (1) change the CWLS estimator or (2) change the objective function. The advantages of each approach are analyzed.

Stefani, R. T.↗

The GEOS-3 orbit determination investigation

The nature and improvement in satellite orbit determination when precise altimetric height data are used in combination with conventional tracking data was determined. A digital orbit determination program was developed that could singly or jointly use laser ranging, C-band ranging, Doppler range difference, and altimetric height data. Two intervals were selected and used in a preliminary evaluation of the altimeter data. With the data available, it was possible to determine the semimajor axis and eccentricity to within several kilometers, in addition to determining an altimeter height bias. When used jointly with a limited amount of either C-band or laser range data, it was shown that altimeter data can improve the orbit solution.

Pisacane, V. L.↗

Adaptive momentum management for large space structures

Momentum management is discussed for a Large Space Structure (LSS) with the structure selected configuration being the Initial Orbital Configuration (IOC) of the dual keel space station. The external forces considered were gravity gradient and aerodynamic torques. The goal of the momentum management scheme developed is to remove the bias components of the external torques and center the cyclic components of the stored angular momentum. The scheme investigated is adaptive to uncertainties of the inertia tensor and requires only approximate knowledge of principle moments of inertia. Computational requirements are minimal and should present no implementation problem in a flight type computer and the method proposed is shown to be effective in the presence of attitude control bandwidths as low as .01 radian/sec.

Hahn, E.↗