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Genetic Algorithms that are used for learning as one way to control the combinational explosion associated with the generation of new rules are discussed. The Genetic Algorithm approach tends to work best when it can be applied to a domain independent knowledge representation. Applications to real time control in space systems are discussed.
An important enabler of the new national Vision for Space Exploration is the ability to rapidly and efficiently develop optimized concepts for the manifold future space missions that this effort calls for. The design of such complex systems requires a tight integration of all the engineering disciplines involved, in an environment that fosters interaction and collaboration. The research performed under this grant explored areas where the space systems design process can be enhanced: by integrating risk models into the early stages of the design process, and by including rapid-turnaround variable-fidelity tools for key disciplines. Enabling early assessment of mission risk will allow designers to perform trades between risk and design performance during the initial design space exploration. Entry into planetary atmospheres will require an increased emphasis of the critical disciplines of aero- and thermodynamics. This necessitates the pulling forward of EDL disciplinary expertise into the early stage of the design process. Radiation can have a large potential impact on overall mission designs, in particular for the planned nuclear-powered robotic missions under Project Prometheus and for long-duration manned missions to the Moon, Mars and beyond under Project Constellation. This requires that radiation and associated risk and hazards be assessed and mitigated at the earliest stages of the design process. Hence, RPS is another discipline needed to enhance the engineering competencies of conceptual design teams. Researchers collaborated closely with NASA experts in those disciplines, and in overall space systems design, at Langley Research Center and at the Jet Propulsion Laboratory. This report documents the results of this initial effort.
Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.
The compilation of Scientific Data Requirements (SDRs) were based on discussions with a representative cross section of the scientific community and a selected survey of the extensive literature dealing with the measurement of CO2-induced climatic changes. This approach resulted in a baseline set of SDRs to determine what could be accomplished with space-based sensors. Twenty-three SDRs emerged as the basis for the investigation of space systems.
An algorithm for identifying state-space models from frequency response data of linear systems is presented. A matrix-fraction description of the transfer function is employed to curve-fit the frequency response data, using the least-squares method. The parameters of the matrix-fraction representation are then used to construct the Markov parameters of the system. Finally, state-space models are obtained through the Eigensystem Realization Algorithm using Markov parameters. The main advantage of this approach is that the curve-fitting and the Markov parameter construction are linear problems which avoid the difficulties of nonlinear optimization of other approaches. Another advantage is that it avoids windowing distortions associated with other frequency domain methods.
A study which defined an optimized low-thrust orbit transfer vehicle (OTV) is presented. The objectives of this NASA study were to (1) characterize missions which require or benefit from low-orbit transfer; (2) evaluate and compare candidate low-thrust liquid propulsion orbit transfer vehicle concepts; (3) determine propulsion/system characteristics which have the greatest influence on system suitability/capability; and (4) identify and describe propulsion technology requirements. A computerized optimization procedure was developed to determine the effect of thrust level and transients, number of burns, and payload structure material; a baseline hydrogen/oxygen low thrust OTV configured specifically for orbit transfer of large space systems was defined. Finally, the requirements for the engine for an optimized low thrust stage and the optimum vehicle for low acceleration missions were specified.
The quick suppression of the structural vibrations excited by bang-bang (BB) type time-optional slew maneuvers via modal-dashpot design of velocity output feedback control was investigated. Simulation studies were conducted, and modal dashpots were designed for the SCOLE flexible body dynamics. A two-stage approach was proposed for rapid slewing and precision pointing/retargeting of large, flexible space systems: (1) slew the whole system like a rigid body in a minimum time under specified limits on the control moments and forces, and (2) damp out the excited structural vibrations afterwards. This approach was found promising. High-power modal/dashpots can suppress very large vibrations, and can add a desirable amount of active damping to modeled modes. Unmodeled modes can also receive some concomitant active damping, as a benefit of spillover. Results also show that not all BB type rapid pointing maneuvers will excite large structural vibrations. When properly selected small forces (e.g., vernier thrusters) are used to complete the specified slew maneuver in the shortest time, even BB-type maneuvers will excite only small vibrations (e.g., 0.3 ft peak deflection for a 130 ft beam).
The development of autonomy capabilities is the key to three vastly important strategic technical challenges facing NASA: the reduction of mission costs, the continuing return of quality science products through limited communications bandwidth, and the launching of a new era of solar system exploration characterized by sustained presence and in-depth scientific studies, including the search for life. Autonomy will benefit future NASA missions by migrating routine, traditionally ground-based functions to the spacecraft, by directly supporting the decoupling of spacecraft from the ground through new operations concepts, by enabling direct links between scientists and the space platforms carrying their instruments of investigation, and by the closing, of planning and control loops onboard, enabling space platforms to directly address uncertainty in the real-time mission context. The talk will survey ongoing, autonomy technology development projects at NASA, many of which have been or will soon be the subject of flight technology experiments, or are already targeted for mission use. The talk will also survey the exciting suite of future NASA space exploration missions, and make the case for the central role of autonomy in achieving the goals of these bold, unprecedented missions: cooperating rovers on the surface of Mars, the search for Earth-like planets around nearby stars, asteroid and comet landers, aerobots in planetary atmospheres, and a series of missions to intriguing Europa, perhaps culminating in a submersible to investigate its putative ocean. Finally, the talk will conclude with some farther-reaching speculations on how to create properties such as long-term survivability and evolvability in future space systems, such that they will be well equipped to extend humanity exploratory presence into the interstellar realm.
Two numerical modelling efforts, one using a large eddy simulation model and the other a numerical weather prediction model, are underway in support of NASA's Terminal Area Productivity program. The large-eddy simulation model (LES) has a meteorological framework and permits the interaction of wake vortices with environments characterized by crosswind shear, stratification, humidity, and atmospheric turbulence. Results from the numerical simulations are being used to assist in the development of algorithms for an operational wake-vortex aircraft spacing system. A mesoscale weather forecast model is being adapted for providing operational forecast of winds, temperature, and turbulence parameters to be used in the terminal area. This paper describes the goals and modelling approach, as well as achievements obtained to date. Simulation results will be presented from the LES model for both two and three dimensions. The 2-D model is found to be generally valid for studying wake vortex transport, while the 3-D approach is necessary for realistic treatment of decay via interaction of wake vortices and atmospheric boundary layer turbulence. Meteorology is shown to have an important affect on vortex transport and decay. Presented are results showing that wake vortex transport is unaffected by uniform fog or rain, but wake vortex transport can be strongly affected by nonlinear vertical change in the ambient crosswind. Both simulation and observations show that atmospheric vortices decay from the outside with minimal expansion of the core. Vortex decay and the onset three-dimensional instabilities are found to be enhanced by the presence of ambient turbulence.
Risk identification during the early design phases of complex systems is commonly implemented but often fails to result in the identification of events and circumstances that truly challenge project performance. Inefficiencies in cost and schedule estimation are usually held accountable for cost and schedule overruns, but the true root cause is often the realization of programmatic risks. A deeper understanding of frequent risk identification trends and biases pervasive during space system design and development is needed, for it would lead to improved execution of existing identification processes and methods.
Spacecraft formation flying involves the coordination of states among multiple spacecraft through relative sensing, inter-spacecraft communication, and control. Most existing formation-flying estimation algorithms can only be supported via highly centralized, all-to-all, static relative sensing. New algorithms are proposed that are scalable, modular, and robust to variations in the topology and link characteristics of the formation exchange network. These distributed algorithms rely on a local information exchange network, relaxing the assumptions on existing algorithms. Distributed space systems rely on a signal transmission network among multiple spacecraft for their operation. Control and coordination among multiple spacecraft in a formation is facilitated via a network of relative sensing and interspacecraft communications. Guidance, navigation, and control rely on the sensing network. This network becomes more complex the more spacecraft are added, or as mission requirements become more complex. The observability of a formation state was observed by a set of local observations from a particular node in the formation. Formation observability can be parameterized in terms of the matrices appearing in the formation dynamics and observation matrices. An agreement protocol was used as a mechanism for observing formation states from local measurements. An agreement protocol is essentially an unforced dynamic system whose trajectory is governed by the interconnection geometry and initial condition of each node, with a goal of reaching a common value of interest. The observability of the interconnected system depends on the geometry of the network, as well as the position of the observer relative to the topology. For the first time, critical GN&C (guidance, navigation, and control estimation) subsystems are synthesized by bringing the contribution of the spacecraft information-exchange network to the forefront of algorithmic analysis and design. The result is a formation estimation algorithm that is modular and robust to variations in the topology and link properties of the underlying formation network.
The critical technologies associated with the development of deployable reflector antenna technology for the LSST program will be derived from NASA mission models and the subsequent requirements will be related to the classes of missions involved. The approach formulated for the development of reflector technology is based on the development of specific reflector concepts that have been identified as leading candidates for future applications. The development approach will be augmented by supporting technology disciplines such as controls, materials, electromagnetic analysis, as well as the capability of analytically predicting the overall performance of the large space system.
Models and simulations (M&S) are often developed to meet specific needs and unique requirements for a particular situation. Once the M&S is implemented for a specific case and questions are answered, the M&S may go dormant until a similar need arises again at a later time, perhaps months to years later. Possible modification of the M&S may be required, and issues may arise if the M&S is not well documented, captured, or available. This can severely limit the useful life of the M&S and hinder future development or enhancements. This situation occurred with an M&S tool that had been developed to determine the impact to space system performance due to the presence of molecular contaminant films accumulating on key spacecraft surfaces. The challenges and issues encountered when resurrecting, executing, and modernizing the tool will be presented as a case study. To stay ahead of tomorrow’s challenges, resources to create M&S tools must be utilized efficiently. Lessons learned from this case study will aid M&S developers and users in planning for proper maintenance, transfer, and capture of key M&S tools and knowledge to avoid increased cost, increased development time, and wasted resources for projects relying on M&S.
As routine space operations extend beyond earth orbit, the ability for ground infrastructures to take on new launch vehicle systems and a more complex suite of spacecraft and payloads has become a new challenge. The U.S. Vision for Space Exploration and its Constellation Program provides opportunities for our space operations community to meet this challenge. Presently, as new flight and ground systems add to the overall groundbased and space-based capabilities for NASA and its international partners, specific choices are being made as to what to abandon, what to retain, as well as what to build new. The total ground and space-based infrastructure must support a long-term, sustainable operation after it is all constructed, deployed, and activated. This paper addresses key areas of engineering concern during conceptual design, development, and routine operations, with a particular focus on: (1) legacy system reusability, (2) system supportability attributes and operations characteristics, (3) ground systems design trades and criteria, and (4) technology application survey. Each key area explored weighs the merits of reusability of the infrastructure in terms of: engineering analysis methods and techniques; top-level facility, systems, and equipment design criteria; and some suggested methods for making the operational system attributes (the "-ilities") highly visible to the design teams and decisionmakers throughout the design process.
The Life Support Systems Project (LSSP) under the Advanced Exploration Systems (AES) program builds upon the work performed under the AES Atmosphere Resource Recovery and Environmental Monitoring (ARREM) project focusing on the numerous technology development areas. The Carbon Dioxide (CO2) removal and associated air drying development efforts are focused on improving the current state-of-the-art system on the International Space Station (ISS) utilizing fixed beds of sorbent pellets by seeking more robust pelletized sorbents, evaluating structured sorbents, and examining alternate bed configurations to improve system efficiency and reliability. A component of the CO2 removal effort utilizes a virtual Carbon Dioxide Removal Assembly, revision 4 (CDRA-4) test bed to test a large number of potential operational configurations with independent variations in flow rate, cycle time, heater ramp rate, and set point. Initial ground testing will provide prerequisite source data and provide baseline data in support of the virtual CDRA. Once the configurations with the highest performance and lowest power requirements are determined by the virtual CDRA, the results will be confirmed by testing these configurations with the CDRA-4EU ground test hardware. This paper describes the initial ground testing of select configurations. The development of the virtual CDRA under the AES-LSS Project will be discussed in a companion paper.
The Long Duration Exposure Facility (LDEF) presents the international, aerospace community with an unprecedented opportunity to examine the synergistic, long term, space environmental effects on systems and materials. The analysis of the data within appropriate environmental contexts is essential to the overall process of advancing the understanding of space environmental effects needed for the continuing development of strategies to improve the reliability and durability of space systems and to effectively deal with the future challenges that new space initiatives will likely present.
The objectives of this project were: (1) to investigate the implications of qualitative modeling techniques for problems arising in the monitoring, diagnosis, and design of Space Station subsystems and procedures; (2) to identify the issues involved in using qualitative models to enhance and automate engineering functions. These issues include representing operational criteria, fault models, alternate ontologies, and modeling continuous signals at a functional level of description; and (3) to develop a prototype collection of qualitative models for fluid and thermal systems commonly found in Space Station subsystems. Potential applications of qualitative modeling to space-systems engineering, including the notion of intelligent computer-aided engineering are summarized. Emphasis is given to determining which systems of the proposed Space Station provide the most leverage for study, given the current state of the art. Progress on using qualitative models, including development of the molecular collection ontology for reasoning about fluids, the interaction of qualitative and quantitative knowledge in analyzing thermodynamic cycles, and an experiment on building a natural language interface to qualitative reasoning is reported. Finally, some recommendations are made for future research.
NASA has developed the Terminal Sequencing and Spacing (TSS) system, a suite of advanced arrival management technologies combining timebased scheduling and controller precision spacing tools. TSS is a ground-based controller automation tool that facilitates sequencing and merging arrivals that have both current standard ATC routes and terminal Performance-Based Navigation (PBN) routes, especially during highly congested demand periods. In collaboration with the FAA and MITRE's Center for Advanced Aviation System Development (CAASD), TSS system performance was evaluated in human-in-the-loop (HITL) simulations with currently active controllers as participants. Traffic scenarios had mixed Area Navigation (RNAV) and Required Navigation Performance (RNP) equipage, where the more advanced RNP-equipped aircraft had preferential treatment with a shorter approach option. Simulation results indicate the TSS system achieved benefits by enabling PBN, while maintaining high throughput rates-10% above baseline demand levels. Flight path predictability improved, where path deviation was reduced by 2 NM on average and variance in the downwind leg length was 75% less. Arrivals flew more fuel-efficient descents for longer, spending an average of 39 seconds less in step-down level altitude segments. Self-reported controller workload was reduced, with statistically significant differences at the p less than 0.01 level. The RNP-equipped arrivals were also able to more frequently capitalize on the benefits of being "Best-Equipped, Best- Served" (BEBS), where less vectoring was needed and nearly all RNP approaches were conducted without interruption.