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NASA NTRS1986

Implementation of Ada protocols on Mil-STD-1553 B data bus

Standardization activity of data communication in avionic systems started in 1968 for the purpose of total system integration and the elimination of heavy wire bundles carrying signals between various subassemblies. The growing complexity of avionic systems is straining the capabilities of MIL-STD-1553 B (first issued in 1973), but a much greater challenge to it is posed by Ada, the standard language adopted for real-time, computer embedded-systems. Hardware implementation of Ada communication protocols in a contention/token bus or token ring network is proposed. However, during the transition period when the current command/response multiplex data bus is still flourishing and the development environment for distributed multi-computer Ada systems is as yet lacking, a temporary accomodation of the standard language with the standard bus could be very useful and even highly desirable. By concentrating all status informtion and decisions at the bus controller, it was found to be possible to construct an elegant and efficient harware impelementation of the Ada protocols at the bus interface. This solution is discussed.

Ruhman, Smil↗

NASA NTRS2001

Flight Computer Design for the Space Technology 5 (ST-5) Mission

As part of NASA's New Millennium Program, the Space Technology 5 mission will validate a variety of technologies for nano-satellite and constellation mission applications. Included are: a miniaturized and low power X-band transponder, a constellation communication and navigation transceiver, a cold gas micro-thruster, two different variable emittance (thermal) controllers, flex cables for solar array power collection, autonomous groundbased constellation management tools, and a new CMOS ultra low-power, radiation-tolerant, +0.5 volt logic technology. The ST-5 focus is on small and low-power. A single-processor, multi-function flight computer will implement direct digital and analog interfaces to all of the other spacecraft subsystems and components. There will not be a distributed data system that uses a standardized serial bus such as MIL-STD-1553 or MIL-STD-1773. The flight software running on the single processor will be responsible for all real-time processing associated with: guidance, navigation and control, command and data handling (C&DH) including uplink/downlink, power switching and battery charge management, science data analysis and storage, intra-constellation communications, and housekeeping data collection and logging. As a nanosatellite trail-blazer for future constellations of up to 100 separate space vehicles, ST-5 will demonstrate a compact (single board), low power (5.5 watts) solution to the data acquisition, control, communications, processing and storage requirements that have traditionally required an entire network of separate circuit boards and/or avionics boxes. In addition to the New Millennium technologies, other major spacecraft subsystems include the power system electronics, a lithium-ion battery, triple-junction solar cell arrays, a science-grade magnetometer, a miniature spinning sun sensor, and a propulsion system.

Speer, David↗

NASA NTRS2019

Mechanical Design and Configuration of Penetrations for the Europa Clipper Avionics Vault Structure

The main purpose of the Avionics Vault is to shield radiation sensitive electronics for the Europa Clipper Spacecraft. The vault is a box structure made out of aluminum panels. The panels are roughly 10 mm thick in order to shield the electronics from the orbital total ionizing radiation around Jupiter. The vault requires an electromagnetic interference (EMI) shielding effectiveness (SE) of at least 70 dB in order to mitigate EMI with the spacecraft radar receiver. Overall, the vault accommodates four main types of penetrations: receptacle connectors, pass-through cables, fluid lines, and vent holes. More than 150 cables penetrate the vault panels to connect to electronic boxes inside. Fluid pipes enter and exit the vault to transfer heat to the rest of the spacecraft. Vent holes provide a path for air to escape from the vault during launch. Several novel penetrations designs were created to meet EMI and radiation shielding requirements. Receptacle connectors interface to the vault panels using 1.3 mm thick Ta10W plates. Pass-through cables penetrate the vault using aluminum clamshells after being wrapped with Teflon cushion tape, Kapton tape, and copper tape. Vent hole penetrations consist of a copper mesh for EMI shielding and an aluminum radiation shield bracket to direct air out of the vault during launch. Fluid lines terminate at the vault wall using mechanical fittings that resemble a nut and bolt interface. In addition, most mechanical seams and penetrations utilize EMI gaskets to ensure proper EMI shielding. To reduce risk and confirm that the vault penetration designs were appropriate for EMI shielding, an EMI chamber at the Jet Propulsion Laboratory (JPL) was used to test a mock-up vault panel with multiple variations of all four main types of vault penetrations. This EMI SE test also incorporated different methods for bundling pass-through cables, and a comparison of flange mounted connectors versus jam nut connectors. A low noise preamplifier and a Rohde & Schwarz spectrum analyzer measured E-field levels transmitting through the mock-up vault panel. The results showed a shielding effectiveness of 77 dB for the mock-up vault panel, which exceeds the 70 dB target for Europa Clipper. Both the flange mounted connectors and jam nut connectors exhibited similar EMI SE results at the measured frequencies, and all variations of vault penetrations showed favorable EMI SE levels. Since the flight panels will be much larger and include many more penetrations, there will be testing of the flight vault to confirm its EMI SE is compliant with environmental requirements.

Giersch, Louis↗

NASA NTRS1983

AFTI/F-16 flight test results and lessons

The advanced fighter technology integration (AFTI) F-16 aircraft is a highly complex digital flight control system integrated with advanced avionics and cockpit. The use of dissimilar backup modes if the primary system fails requires the designer to trade off system simplicity and capability. The tradeoff is evident in the AFTI/F-16 aircraft with its limited stability and fly by wire digital flight control systems when a generic software failure occurs the backup or normal mode must provide equivalent envelop protection during the transition to degraded flight control. The complexity of systems like the AFTI/F-16 system defines a second design issue, which is divided into two segments: (1) the effect on testing, (2) and the pilot's ability to act correctly in the limited time available for cockpit decisions. The large matrix of states possible with the AFTI/F-16 flight control system illustrates the difficulty of both testing the system and choosing real time pilot actions. The third generic issue is the possible reductions in the user's reliability expectations where false single channel information can be displayed at the pilot vehicle interface while the redundant set remains functional.

Ishmael, S. D.↗

NASA NTRS1993

Application of new electro-optic technology to Space Station Freedom data management system

A low risk design methodology to permit the local bus structures to support increased data carrying capacities and to speed messages and data flow between nodes or stations on the Space Station Freedom Data Management System in anticipation of growing requirements was evaluated and recommended. The recommended design employs a collateral fiber optic technique that follows a NATO avionic standard that is developed, tested, and available. Application of this process will permit a potential 25 fold increase in data transfer performance on the local wire bus network with a fiber optic network, maintaining the functionality of the low-speed bus and supporting all of the redundant transmission and fault detection capabilities designed into the existing system. The application of wavelength division multiplexing (WDM) technology to both the local data bus and global data bus segments of the Data Management System to support anticipated additional highspeed data transmission requirements was also examined. Techniques were examined to provide a dual wavelength implementation of the fiber optic collateral networks. This dual wavelength implementation would permit each local bus to support two simultaneous high-speed transfers on the same fiber optic bus structure and operate within the limits of the existing protocol standard. A second WDM study examined the use of spectral sliced technology to provide a fourfold increase in the Fiber Distributed Data Interface (FDDI) global bus networks without requiring modifications to the existing installed cable plant. Computer simulations presented indicated that this data rate improvement can be achieved with commercially available optical components.

Husbands, C. R.↗

NASA NTRS2004

An Introduction to Flight Software Development: FSW Today, FSW 2010

Experience and knowledge gained from ongoing maintenance of Space Shuttle Flight Software and new development projects including Cockpit Avionics Upgrade are applied to projected needs of the National Space Exploration Vision through Spiral 2. Lessons learned from these current activities are applied to create a sustainable, reliable model for development of critical software to support Project Constellation. This presentation introduces the technologies, methodologies, and infrastructure needed to produce and sustain high quality software. It will propose what is needed to support a Vision for Space Exploration that places demands on the innovation and productivity needed to support future space exploration. The technologies in use today within FSW development include tools that provide requirements tracking, integrated change management, modeling and simulation software. Specific challenges that have been met include the introduction and integration of Commercial Off the Shelf (COTS) Real Time Operating System for critical functions. Though technology prediction has proved to be imprecise, Project Constellation requirements will need continued integration of new technology with evolving methodologies and changing project infrastructure. Targets for continued technology investment are integrated health monitoring and management, self healing software, standard payload interfaces, autonomous operation, and improvements in training. Emulation of the target hardware will also allow significant streamlining of development and testing. The methodologies in use today for FSW development are object oriented UML design, iterative development using independent components, as well as rapid prototyping . In addition, Lean Six Sigma and CMMI play a critical role in the quality and efficiency of the workforce processes. Over the next six years, we expect these methodologies to merge with other improvements into a consolidated office culture with all processes being guided by automated office assistants. The infrastructure in use today includes strict software development and configuration management procedures, including strong control of resource management and critical skills coverage. This will evolve to a fully integrated staff organization with efficient and effective communication throughout all levels guided by a Mission-Systems Architecture framework with focus on risk management and attention toward inevitable product obsolescence. This infrastructure of computing equipment, software and processes will itself be subject to technological change and need for management of change and improvement,

Gouvela, John↗

NASA NTRS2006

Modular, Reconfigurable, High-Energy Technology Development

The Modular, Reconfigurable High-Energy (MRHE) Technology Demonstrator project was to have been a series of ground-based demonstrations to mature critical technologies needed for in-space assembly of a highpower high-voltage modular spacecraft in low Earth orbit, enabling the development of future modular solar-powered exploration cargo-transport vehicles and infrastructure. MRHE was a project in the High Energy Space Systems (HESS) Program, within NASA's Exploration Systems Research and Technology (ESR&T) Program. NASA participants included Marshall Space Flight Center (MSFC), the Jet Propulsion Laboratory (JPL), and Glenn Research Center (GRC). Contractor participants were the Boeing Phantom Works in Huntsville, AL, Lockheed Martin Advanced Technology Center in Palo Alto, CA, ENTECH, Inc. in Keller, TX, and the University of AL Huntsville (UAH). MRHE's technical objectives were to mature: (a) lightweight, efficient, high-voltage, radiation-resistant solar power generation (SPG) technologies; (b) innovative, lightweight, efficient thermal management systems; (c) efficient, 100kW-class, high-voltage power delivery systems from an SPG to an electric thruster system; (d) autonomous rendezvous and docking technology for in-space assembly of modular, reconfigurable spacecraft; (e) robotic assembly of modular space systems; and (f) modular, reconfigurable distributed avionics technologies. Maturation of these technologies was to be implemented through a series of increasingly-inclusive laboratory demonstrations that would have integrated and demonstrated two systems-of-systems: (a) the autonomous rendezvous and docking of modular spacecraft with deployable structures, robotic assembly, reconfiguration both during assembly and (b) the development and integration of an advanced thermal heat pipe and a high-voltage power delivery system with a representative lightweight high-voltage SPG array. In addition, an integrated simulation testbed would have been developed containing software models representing the technologies being matured in the laboratory demos. The testbed would have also included models for non-MRHE developed subsystems such as electric propulsion, so that end-to-end performance could have been assessed. This paper presents an overview of the MRHE Phase I activities at MSFC and its contractor partners. One of the major Phase I accomplishments is the assembly demonstration in the Lockheed Martin Advanced Technology Center (LMATC) Robot-Satellite facility, in which three robot-satellites successfully demonstrated rendezvous & docking, self-assembly, reconfiguration, adaptable GN&C, deployment, and interfaces between modules. Phase I technology maturation results from ENTECH include material recommendations for radiation hardened Stretched Lens Array (SLA) concentrator lenses, and a design concept and test results for a hi-voltage PV receiver. UAH's accomplishments include Supertube heatpipe test results, which support estimates of thermal conductivities at 30,000 times that of an equivalent silver rod. MSFC performed systems trades and developed a preliminary concept design for a 100kW-class modular reconfigurable solar electric propulsion transport vehicle, and Boeing Phantom Works in Huntsville performed assembly and rendezvous and docking trades. A concept animation video was produced by SAIC, wllich showed rendezvous and docking and SLA-square-rigger deployment in LEO.

Carrington, Connie↗

NASA NTRS2016

On the Maneuvers Operational Response for NASA’s Soil Moisture Active-Passive (SMAP) Mission

The Soil-Moisture Active-Passive (SMAP) spacecraft requires various kinds of in-orbit maneuvers over the course of its three-year mission. The types of maneuvers include pre-planned commissioning maneuvers to reach its science orbit, regularly executed orbit maintenance maneuvers to overcome drag and other nominally occurring phenomena, as well as (the possibility of) collision avoidance maneuvers. The architecture of the spacecraft – in terms of availability of commanding via ground assets, the inherited avionics' ability to sequence and execute commands, and the capability of available subsystems able to carry out maneuvers – was well defined early in the development of the spacecraft and mission, well before the operational plan for responding to maneuver requests was cemented. The systems engineering challenge became: how to accommodate all three types of maneuvers in the confines of this well-defined architecture. This paper will describe how the operations team on SMAP successfully met this challenge. Specifically, it will dive into the three pronged approach that SMAP developed to handle each type of maneuver described above – to meet the timeliness requirements leveraged on the operations team to execute said maneuvers, while continuing to fit within the allotted staffing profile during nominal operations. Defining this paradigm to fit the mission’s architecture meant re-defining the original paradigm, (planned maneuvers being thought of separately than collision avoidance maneuvers), and re-classifying all responses to maneuver requests as variations and permutations of a singular operational response to a maneuver request. This paper will also describe the tools that were created to simplify the human interface and automate as much of the response as was possible. Finally, this paper will describe, at a very high level, some of the problems encountered and lessons learned by the operations team when this process was executed the first four times during the first ninety days of operations. Though the architecture of the operations team's response to maneuver requests will never be repeated exactly, the flexibility that was inserted via redefining the scope of the problem and by redefining the human interfaces should influence future projects' architectures earlier in their development – in the hopes that said influence will save time and money in the future.

Tirona, Joseph↗

NASA NTRS1998

Aiding Vertical Guidance Understanding

A two-part study was conducted to evaluate modern flight deck automation and interfaces. In the first part, a survey was performed to validate the existence of automation surprises with current pilots. Results indicated that pilots were often surprised by the behavior of the automation. There were several surprises that were reported more frequently than others. An experimental study was then performed to evaluate (1) the reduction of automation surprises through training specifically for the vertical guidance logic, and (2) a new display that describes the flight guidance in terms of aircraft behaviors instead of control modes. The study was performed in a simulator that was used to run a complete flight with actual airline pilots. Three groups were used to evaluate the guidance display and training. In the training, condition, participants went through a training program for vertical guidance before flying the simulation. In the display condition, participants ran through the same training program and then flew the experimental scenario with the new Guidance-Flight Mode Annunciator (G-FMA). Results showed improved pilot performance when given training specifically for the vertical guidance logic and greater improvements when given the training and the new G-FMA. Using actual behavior of the avionics to design pilot training and FMA is feasible, and when the automated vertical guidance mode of the Flight Management System is engaged, the display of the guidance mode and targets yields improved pilot performance.

Feary, Michael↗

NASA NTRS2016

SLS Flight Software Testing: Using a Modified Agile Software Testing Approach

NASA's Space Launch System (SLS) is an advanced launch vehicle for a new era of exploration beyond earth's orbit (BEO). The world's most powerful rocket, SLS, will launch crews of up to four astronauts in the agency's Orion spacecraft on missions to explore multiple deep-space destinations. Boeing is developing the SLS core stage, including the avionics that will control vehicle during flight. The core stage will be built at NASA's Michoud Assembly Facility (MAF) in New Orleans, LA using state-of-the-art manufacturing equipment. At the same time, the rocket's avionics computer software is being developed here at Marshall Space Flight Center in Huntsville, AL. At Marshall, the Flight and Ground Software division provides comprehensive engineering expertise for development of flight and ground software. Within that division, the Software Systems Engineering Branch's test and verification (T&V) team uses an agile test approach in testing and verification of software. The agile software test method opens the door for regular short sprint release cycles. The idea or basic premise behind the concept of agile software development and testing is that it is iterative and developed incrementally. Agile testing has an iterative development methodology where requirements and solutions evolve through collaboration between cross-functional teams. With testing and development done incrementally, this allows for increased features and enhanced value for releases. This value can be seen throughout the T&V team processes that are documented in various work instructions within the branch. The T&V team produces procedural test results at a higher rate, resolves issues found in software with designers at an earlier stage versus at a later release, and team members gain increased knowledge of the system architecture by interfacing with designers. SLS Flight Software teams want to continue uncovering better ways of developing software in an efficient and project beneficial manner. Through agile testing, there has been increased value through individuals and interactions over processes and tools, improved customer collaboration, and improved responsiveness to changes through controlled planning. The presentation will describe agile testing methodology as taken with the SLS FSW Test and Verification team at Marshall Space Flight Center.

Bolton, Albanie T.↗

NASA NTRS2020

Evolution of the Preliminary Fault Management Architecture and Design for the Psyche Mission

The Psyche Mission presents the first opportunity toexplore the largest metal asteroid in the solar system, (16)Psyche, which is believed to be the exposed core of a largerplanetesimal that was stripped of its rocky mantle throughmultiple collisions during early solar system formation. Themission was selected in January 2017 for a 2022 launch as partof NASA’s Discovery Program and is uniquely enabled by theintegration of a Solar Electric Propulsion (SEP) Chassisdelivered by Maxar Space Solutions with JPL’s core deepspace avionics, flight software, and fault managementarchitectures. One of the key design tasks is the development ofa fault management system capable of being responsive to theunique elements of the combined JPL and Maxar spacecraftarchitecture. This new design leverages the strengths of eachorganization, with Maxar delivering its well-proven highvoltage power bus and low-thrust electric propulsionsubsystem from its GEO communications satellite product line,and JPL delivering its deep space mission expertise and thehardware and software most critical to deep space missiondesign. The development of a robust low-thrust mission andthe integration of design philosophies and hardware from twoorganizations is not without its challenges though.A key challenge in the development of the Psyche faultmanagement architecture and design is in the integration ofdesign philosophies and hardware from JPL and Maxar. Atthe architecture level, Maxar GEO communications satellitesare developed under the premise of highly responsive groundin the loop for the resolution of anomalies, and theimplementation takes a fail-operational approach to minimizedown time for its customers. In contrast, a deep space missionmust be able to maintain safety with long periods of groundcommunication outage. Additionally, with no time-criticalevents after launch, the Psyche spacecraft will generally failsafe in the presence of anomalous conditions; specialconsideration is being given to this approach, however, tominimize the loss of electric propulsion thrust time, which iscritical to low-thrust missions. At the hardware level, thedetailed definition of interfaces between JPL and Maxarhardware presents a unique challenge in the development andflowdown of fault management requirements, the developmentand implementation of fault monitors and responses, and thedevelopment and verification of fault containment boundaries.This paper describes the evolution of the Psyche faultmanagement architecture and design from the concept studyinto the preliminary design phase, with a focus on the uniquechallenges associated with flying GEO communicationssatellite hardware in deep space, implementing a robust lowthrust mission, and the integration of design philosophies andhardware from JPL and Maxar. Details regarding how thesechallenges are addressed in the fault management design inorder to maximize heritage, leverage the strengths of eachorganization, and minimize risk across the design are alsodiscussed.

Marsh, Danielle↗

NASA NTRS2001

Flight Computer Processing Avionics for Space Station Microgravity Experiments: A Risk Assessment of Commercial Off-the-Shelf Utilization

NASA/Marshall Space Flight Center (MSFC) is continually looking for ways to reduce the costs and schedule and minimize the technical risks during the development of microgravity programs. One of the more prominent ways to minimize the cost and schedule is to use off-the-shelf hardware (OTS). However, the use of OTS often increases the risk. This paper addresses relevant factors considered during the selection and utilization of commercial off-the-shelf (COTS) flight computer processing equipment for the control of space station microgravity experiments. The paper will also discuss how to minimize the technical risks when using COTS processing hardware. Two microgravity experiments for which the COTS processing equipment is being evaluated for are the Equiaxed Dendritic Solidification Experiment (EDSE) and the Self-diffusion in Liquid Elements (SDLE) experiment. Since MSFC is the lead center for Microgravity research, EDSE and SDLE processor selection will be closely watched by other experiments that are being designed to meet payload carrier requirements. This includes the payload carriers planned for the International Space Station (ISS). The purpose of EDSE is to continue to investigate microstructural evolution of, and thermal interactions between multiple dendrites growing under diffusion controlled conditions. The purpose of SDLE is to determine accurate self-diffusivity data as a function of temperature for liquid elements selected as representative of class-like structures. In 1999 MSFC initiated a Center Director's Discretionary Fund (CDDF) effort to investigate and determine the optimal commercial data bus architecture that could lead to faster, better, and lower cost data acquisition systems for the control of microgravity experiments. As part of this effort various commercial data acquisition systems were acquired and evaluated. This included equipment with various form factors, (3U, 6U, others) and equipment that utilized various bus structures, (VME, PC104, STD bus). This evaluation of hardware was performed in conjunction with a trade study that considered over twenty (20) different factors relevant to the selection of an optimum design approach. These factors included; safety, sizing and timing, radiation hardness and single event upset, power consumption, heat dissipation, size and volume, expected service life, maintainability, heritage, operating systems, requirements for software reuse, availability of compatible interface boards, relative cost, schedule, reliability, EMI/EMC factors, "hot swap" capability, standards for conduction cooling, I/O capabilities, unique carrier requirements and operating system considerations. The approach to evaluate Safety as part of this study included a review of the Preliminary Hazard Analysis (PHA) for each of the experiment designs and a determination of how each hazard could be addressed and eliminated when different processors were selected. This included evaluating various design approaches and trade-offs between fault tolerant designs and fail-safe designs in accordance with NSTS 1700.7B. This will include the results of radiation testing where available. Various operating systems, such as VxWorks, Linux, QNX, and Embedded NT are evaluated and the advantages and disadvantages of their utilization are also addressed. Design implementation strategies for the various operating systems are considered and discussed. This paper presents the results and recommendations from this trade study. Preliminary conclusions from this study are that safety concerns from lack or radiation testing on COTS equipment can be addressed by additional testing and design considerations, the PC104 bus provided adequate I/O for the SDLE and EDSE microgravity experiments, and PC104 bus components offered significant advantages over VME and cPCI for weight and space reductions.

Estes, Howard↗

NASA NTRS2020

NASA SpaceCube Intelligent Multi-Purpose System for Enabling Remote Sensing, Communication, and Navigation in Mission Architectures

New, innovative CubeSat mission concepts demand modern capabilities such as artificial intelligence and autonomy, constellation coordination, fault mitigation, and robotic servicing –all of which require vastly more processing resources than legacy systems are capable of providing. Enabling these domains within a scalable, configurable processing architecture is advantageous because it also allows for the flexibility to address varying mission roles, such as a command and data-handling system, a high-performance application processor extension, a guidance and navigation solution, or an instrument/sensor interface. This paper describes the NASA SpaceCube Intelligent Multi-Purpose System (IMPS), which allows mission developers to mix-and-match 1U (10 cm × 10 cm) CubeSat payloads configured for mission-specific needs. The central enabling component of the system architecture to address these concerns is the SpaceCube v3.0 Mini Processor. This single-board computer features the 20nm Xilinx Kintex UltraScale FPGA combined with a radiation-hardened FPGA monitor, and extensive IO to integrate and interconnect varying cards within the system. To unify the re-usable designs within this architecture, the CubeSat Card Standard was developed to guide design of 1U cards. This standard define spinout configurations, mechanical, and electrical specifications for 1U CubeSat cards, allowing the backplane and mechanical enclosure to be easily extended. NASA has developed several cards adhering to the standard (System-on-Chip, power card, etc.), which allows the flexibility to configure a payload from a common catalog of cards.

Advanced Avionics, Hybrid Processing, Data Process↗

NASA NTRS1991

Implementation issues for a compact 6 degree of freedom force reflecting handcontroller with cueing of modes

Teleoperated control requires a master human interface device that can provide haptic input and output which reflect the responses of a slave robotic system. The effort reported in this paper addresses the design and prototyping of a six degree-of-freedom (DOF) Cartesian coordinate hand controller for this purpose. The device design recommended is an XYZ stage attached to a three-roll wrist which positions a flight-type handgrip. Six degrees of freedom are transduced and control brushless DC motor servo electronics similar in design to those used in computer controlled robotic manipulators. This general approach supports scaled force, velocity, and position feedback to aid an operator in achieving telepresence. The generality of the device and control system characteristics allow the use of inverse dynamics robotic control methodology to project slave robot system forces and inertias to the operator (in scaled form) and at the same time to reduce the apparent inertia of the robotic handcontroller itself. The current control design, which is not multiple fault tolerant, can be extended to make flight control or space use possible. The proposed handcontroller will have advantages in space-based applications where an operator must control several robot arms in a simultaneous and coordinated fashion. It will also have applications in intravehicular activities (within the Space Station) such as microgravity experiments in metallurgy and biological experiments that require isolation from the astronauts' environment. For ground applications, the handcontroller will be useful in underwater activities where the generality of the proposed handcontroller becomes an asset for operation of many different manipulator types. Also applications will emerge in the Military, Construction, and Maintenance/Manufacturing areas including ordnance handling, mine removal, NBC (Nuclear, Chemical, Biological) operations, control of vehicles, and operating strength and agility enhanced machines. Future avionics applications including advanced helicopter and aircraft control may also become important.

Jacobus, Heidi↗

NASA NTRS2009

Detection, Identification, Location, and Remote Sensing Using SAW RFID Sensor Tags

The Electromagnetic Systems Branch (EV4) of the Avionic Systems Division at NASA Johnson Space Center in Houston, TX is studying the utility of surface acoustic wave (SAW) radiofrequency identification (RFID) tags for multiple wireless applications including detection, identification, tracking, and remote sensing of objects on the lunar surface, monitoring of environmental test facilities, structural shape and health monitoring, and nondestructive test and evaluation of assets. For all of these applications, it is anticipated that the system utilized to interrogate the SAW RFID tags may need to operate at fairly long range and in the presence of considerable multipath and multiple-access interference. Towards that end, EV4 is developing a prototype SAW RFID wireless interrogation system for use in such environments called the Passive Adaptive RFID Sensor Equipment (PARSED) system. The system utilizes a digitally beam-formed planar receiving antenna array to extend range and provide direction-of-arrival information coupled with an approximate maximum-likelihood signal processing algorithm to provide near-optimal estimation of both range and temperature. The system is capable of forming a large number of beams within the field of view and resolving the information from several tags within each beam. The combination of both spatial and waveform discrimination provides the capability to track and monitor telemetry from a large number of objects appearing simultaneously within the field of view of the receiving array. In this paper, we will consider the application of the PARSEQ system to the problem of simultaneous detection, identification, localization, and temperature estimation for multiple objects. We will summarize the overall design of the PARSEQ system and present a detailed description of the design and performance of the signal detection and estimation algorithms incorporated in the system. The system is currently configured only to measure temperature (jointly with range and tag ID), but future versions will be revised to measure parameters other than temperature as SAW tags capable of interfacing with external sensors become available. It is anticipated that the estimation of arbitrary parameters measured using SAW-based sensors will be based on techniques very similar to the joint range and temperature estimation techniques described in this paper.

Barton, Richard J.↗

NASA NTRS2016

Intern Abstract for Spring 2016

The Human Interface Branch - EV3 - is evaluating Organic lighting-emitting diodes (OLEDs) as an upgrade for current displays on future spacecraft. OLEDs have many advantages over current displays. Conventional displays require constant backlighting which draws a lot of power, but with OLEDs they generate light themselves. OLEDs are lighter, and weight is always a concern with space launches. OLEDs also grant greater viewing angles. OLEDs have been in the commercial market for almost ten years now. What is not known is how they will perform in a space-like environment; specifically deep space far away from the Earth's magnetosphere. In this environment, the OLEDs can be expected to experience vacuum and galactic radiation. The intern's responsibility has been to prepare the OLED for a battery of tests. Unfortunately, it will not be ready for testing at the end of the internship. That being said much progress has been made: a) Developed procedures to safely disassemble the tablet. b) Inventoried and identified critical electronic components. c) 3D printed a testing apparatus. d) Wrote software in Python that will test the OLED screen while being radiated. e) Built circuits to restart the tablet and the test pattern, and ensure it doesn't fall asleep during radiation testing. f) Built enclosure that will house all of the electronics Also, the intern has been working on a way to take messages from a simulated Caution and Warnings system, process said messages into packets, send audio packets to a multicast address that audio boxes are listening to, and output spoken audio. Currently, Cautions and Warnings use a tone to alert crew members of a situation, and then crew members have to read through their checklists to determine what the tone means. In urgent situations, EV3 wants to deliver concise and specific alerts to the crew to facilitate any mitigation efforts on their part. Significant progress was made on this project: a) Open channel with the simulated Caution and Warning system to acquire messages. b) Configure audio boxes. c) Grab pre-recorded audio files. d) Packetize the audio stream. A third project that was assigned to implement LED indicator modules for an Omnibus project. The Omnibus project is investigating better ways designing lighting for the interior of spacecraft-both spacecraft lighting and avionics box status lighting indication. The current scheme contains too much of the blue light spectrum that disrupts the sleep cycle. The LED indicator modules are to simulate the indicators running on a spacecraft. Lighting data will be gathered by human factors personal and use in a model underdevelopment to model spacecraft lighting. Significant progress was made on this project: Designed circuit layout a) Tested LEDs at LETF. b) Created GUI for the indicators. c) Created code for the Arduino to run that will illuminate the indicator modules.

Gibson, William↗

NASA NTRSDate not supplied

Firmware Architecture of the ARMADAS Bolting Robot

The Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) project, under development at NASA Ames Research Center, has demonstrated on-ground autonomous robotic assembly of extensive digital structures, and it is now moving forward towards in-space demonstration. The ARMADAS system comprises of the operation software, the operation user interface (opsUI), and a swarm of robots. The robotic system consists of a multitude of collaborative agents specifically designed to transport, place and bolt the building blocks, called voxels (volumetric pixels). This paper focuses on the bolting robot, referred to as Mobile Metamaterial Internal Co-Integrator (MMIC-I). MMIC-I is a battery-powered crawling robot. It navigates the structure through extension, contraction and gripping. Two distinct controller boards operate the robot's two symmetric modules, referred to as module A and B. Board A is the master board: it coordinates motion planning and motion primitives execution, hosts the WiFi client, performs periodic self-assessment and system idle check and triggers faults if anomalies are detected. Board B periodically sends a heartbeat to board A, through a wired communication channel that uses the Serial protocol. Additionally, board A's WiFi client receives heartbeat packet requests or motion/bolting commands from a dedicated server board, and acknowledges reception sending back a response heartbeat packet containing information about the overall robot status, e. g. electrical current and voltage values, target and actual angles, operating mode, fault status. Whenever a motion command is sent, the motion planning section of the firmware determines the current robot configuration, using Inertial Measurement Unit readings and the motors Pulse Width Modulation values. Afterwards, it calculates the list of primitives needed to reach the target state, and controls their execution in the proper order. MMIC-I can receive and execute motion and bolting commands only when it is in operational mode. MMIC-I has three operating modes: standby, operational and safed. Standby mode is automatically entered upon startup. While in standby mode, all motors are powered off, and the only accepted commands are the ones relative to a change of mode and heartbeat packet request. Fault detection causes the robot to automatically enter safed or standby mode. Whenever the detected fault occurs within a motion and requires immediate intervention, e. g. an over-current situation, the robot enters safed mode. Safed mode powers off all motors except for the locomotion module, thus preventing the robot from collapsing. Conversely, when the detected fault doesn't require immediate intervention (low battery warning, for instance), the robot enters standby mode after completing the ongoing motion. This paper provides a detailed discussion of MMIC-I's firmware architecture. It accurately describes the implementation approach for each module: sensor data reading, motor control and actuation, WiFi server-client communication, intra-boards Serial communication, operating modes and autonomous fault detection, motion planning, coordination and execution, etc. Moreover, in support of the software description, this paper includes a thorough characterization of MMIC-I's hardware and avionics.

In-space assembly↗

NASA NTRS2005

Introduction to Flight Test Engineering [Introduction Aux Techniques Des Essais En Vol]

Flight test is at the core of what organizations must do in order to validate the operation and systems on an aircraft. While the AGARDograph series 300 and 160 series deal with aspects of this testing, this volume pulls it all together as an introduction to the process required to do effective flight test engineering. This volume was originally published in 1995. Its utility has been proven in that many flight test organizations and universities have requested copies for their engineers and students. It was felt that re-issuing it in a new format designed for electronic publication would be valuable to the community. This second printing changes none of the text, but rather reformats it. All the original references to AGARD (instead of RTO) are left in place so that none of the flavor of the original publication is lost. This is the Introductory Volume to the Flight Test Techniques Series. It is a general introduction to the various activities and aspects of Flight Test Engineering that must be considered when planning, conducting, and reporting a flight test program. Its main intent is to provide a broad overview to the novice engineer or to other people who have a need to interface with specialists within the flight test community. The first two Sections provide some insight into the question of why flight test and give a short history of flight test engineering. Sections 3 through 10 deal with the preparation for flight testing. They provide guidance on the preliminary factors that must be considered; the composition of the test team; the logistic support requirements; the instrumentation and data processing requirements; the flight test plan; the associated preliminary ground tests; and last, but by no means least, discuss safety aspects. Sections 11 through 27 describe the various types of flight tests that are usually conducted during the development and certification of a new or modified aircraft type. Each Section offers a brief introduction to the topic under consideration, and the nature and the objectives of the tests to be conducted. It lists the test instrumentation (and, where appropriate, other test equipment and facilities) required, describes the test maneuvers to be executed, and indicates the way in which the test data is selected, analyzed, and presented. The various activities that should take place between test flights are presented next. Items that are covered are: who to debrief; what type of reports to send where: types of data analysis required for next flight; review of test data to make a comparison to predicted data and some courses of action if there is not good agreement; and comments on selecting the next test flight. The activities that must take place upon completion of the test program are presented. The types of reports and briefings that should take place and a discussion of some of the uses of the flight test data are covered. A brief forecast is presented of where present trends may be leading.

Test facilities↗