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Satellite tracking by combined optimal estimation and control techniques.

Combined optimal estimation and control techniques are applied for the first time to satellite tracking systems. Both radio antenna and optical tracking systems of NASA are considered. The optimal estimation is accomplished using an extended Kalman filter resulting in an estimated state of the satellite and of the tracking system. This estimated state constitutes an input to the optimal controller. The optimal controller treats a linearized system with a quadratic performance index. The maximum principle is applied and a steady-state approximation to the resulting Riccati equation is obtained. A computer program, RATS, implementing this algorithm is described. A feasibility study of real-time implementation, tracking simulations, and parameter sensitivity studies are also reported.

Dressler, R. M.

A laboratory breadboard system for dual-arm teleoperation

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

Bejczy, A. K.

Fatigue-test acceleration with flight-by-flight loading and heating to simulate supersonic-transport operation

Possibilities for reducing fatigue-test time for supersonic-transport materials and structures were studied in tests with simulated flight-by-flight loading. In order to determine whether short-time tests were feasible, the results of accelerated tests (2 sec per flight) were compared with the results of real-time tests (96 min per flight). The effects of design mean stress, the stress range for ground-air-ground cycles, simulated thermal stress, the number of stress cycles in each flight, and salt corrosion were studied. The flight-by-flight stress sequences were applied to notched sheet specimens of Ti-8Al-1Mo-1V and Ti-6Al-4V titanium alloys. A linear cumulative-damage analysis accounted for large changes in stress range of the simulated flights but did not account for the differences between real-time and accelerated tests. The fatigue lives from accelerated tests were generally within a factor of two of the lives from real-time tests; thus, within the scope of the investigation, accelerated testing seems feasible.

Imig, L. A.

The Simulation of a Jumbo Jet Transport Aircraft. Volume 2: Modeling Data

The manned simulation of a large transport aircraft is described. Aircraft and systems data necessary to implement the mathematical model described in Volume I and a discussion of how these data are used in model are presented. The results of the real-time computations in the NASA Ames Research Center Flight Simulator for Advanced Aircraft are shown and compared to flight test data and to the results obtained in a training simulator known to be satisfactory.

Hanke, C. R.

Results of solar electric thrust vector control system design, development and tests

Efforts to develop and test a thrust vector control system TVCS for a solar-energy-powered ion engine array are described. The results of solar electric propulsion system technology (SEPST) III real-time tests of present versions of TVCS hardware in combination with computer-simulated attitude dynamics of a solar electric multi-mission spacecraft (SEMMS) Phase A-type spacecraft configuration are summarized. Work on an improved solar electric TVCS, based on the use of a state estimator, is described. SEPST III tests of TVCS hardware have generally proved successful and dynamic response of the system is close to predictions. It appears that, if TVCS electronic hardware can be effectively replaced by control computer software, a significant advantage in control capability and flexibility can be gained in future developmental testing, with practical implications for flight systems as well. Finally, it is concluded from computer simulations that TVCS stabilization using rate estimation promises a substantial performance improvement over the present design.

Fleischer, G. E.

An analytical investigation of acquisition techniques and system integration studies for a radar aircraft guidance research facility, phase 2

A review of user requirements and updated instrumentation plans are presented for the aircraft tracking and guidance facility at NASA Wallops Station. User demand has increased as a result of new flight research programs; however, basic requirements remain the same as originally reported. Instrumentation plans remain essentially the same but with plans for up- and down-link telemetry more firm. With slippages in the laser acquisition schedule, added importance is placed on the FPS-16 radar as the primary tracking device until the laser is available. Limited simulation studies of a particular Kalman-type filter are also presented. These studies simulated the use of the filter in a helicopter guidance loop in a real-time mode. Disadvantages and limitations of this mode of operation are pointed out. Laser eyesafety calculations show that laser tracking of aircraft is readily feasible from the eyesafety viewpoint.

Thompson, W. S.

Fatigue of supersonic transport materials using simulated flight-by-flight loading

Methods to reduce the fatigue test time for structural materials which are candidates for supersonic transport airplanes were investigated by conducting real-time and accelerated fatigue tests. The tests employed sequences of stresses and temperatures to simulate the flights of a Mach 3 transport airplane. Some of the simulated flights were altered to determine the effect of the design mean stress and the number of stress cycles per flight on fatigue life. Salt solution was also applied in other tests. Notched Ti-8Al-1Mo-1V and Ti-6Al-4V were used in the investigation.

Imig, L. A.

Nonlinear and adaptive estimation in reentry.

The problem of real-time estimation of a lifting reentry vehicle trajectory of the shuttle orbiter type is considered. Simulations feature large position and velocity uncertainties at radar acquisition and realistic model errors in lift, drag and other model parameters. Radar tracking and accelerometer data are simulated. Significant nonlinearities are found to exist on spacecraft acquisition. An iterated nonlinear filter is shown to perform optimally during the radar acquisition phase. An adaptive filter is shown to track time-varying model errors, such as errors in the lift and drag coefficients, down to the noise level. Such real-time model tracking (identification) is frequently required for guidance and control implementation.

Jazwinski, A. H.

Spaceborne computer executive routine functional design specification. Volume 2: Computer executive design for space station/base

The computer executive functional system design concepts derived from study of the Space Station/Base are presented. Information Management System hardware configuration as directly influencing the executive design is reviewed. The hardware configuration and generic executive design requirements are considered in detail in a previous report (System Configuration and Executive Requirements Specifications for Reusable Shuttle and Space Station/Base, 9/25/70). This report defines basic system primitives and delineates processes and process control. Supervisor states are considered for describing basic multiprogramming and multiprocessing systems. A high-level computer executive including control of scheduling, allocation of resources, system interactions, and real-time supervisory functions is defined. The description is oriented to provide a baseline for a functional simulation of the computer executive system.

Kennedy, J. R.

Plume Impingement Software Module for Real-Time Proximity Operations

Successfully executing proximity operations in space, such as docking or in-orbit servicing, requires sophisticated spacecraft design that accounts for induced environments. As a chaser vehicle’s attitude control thrusters fire, they create rarefied plumes that can impact the target vehicle, with the potential to overload components, exceed thermal limits, and spin the target vehicle out of control. High-fidelity simulations of the thruster plume impingement environment require the direct simulation Monte Carlo (DSMC) method, but DSMC is too computationally expensive to simulate proximity operations that involve thousands of thruster firings. For this analysis to be tractable, engineering models of the plume flowfield and impingement events are used to simulate these trajectories [1]. Currently, on-orbit plume impingement environments are modeled through an inefficient open-loop analysis cycle where the vehicle’s flight controller and plume impingement teams iterate on the trajectories until they pass the target vehicle’s plume requirements. As complex on-orbit missions evolve and become more frequent, lengthy design cycles will become operational bottlenecks. To address this gap, this work develops an advanced plume impingement module capable of operating at real-time scale that can be integrated with existing mission planning tools and onboard flight systems. The plume module leverages state-of-the-art plume simulation techniques [2] to deliver fast, physics-based impingement predictions in a software architecture that can be tailored to diverse proximity operations scenarios. A prototype of this plume impingement module is built to demonstrate the feasibility of real-time performance. This prototype completes plume impingement calculations in microseconds per target geometry mesh point. The software serves as a foundational capability for plume-aware trajectory design, operational risk assessment, and future autonomous decision-making systems.

Plume Impingement

Engineering experimental program on the effects of near-space radiation on lithium doped solar cells

The results of an experimental evaluation of the real-time degradation characteristics of lithium-diffused silicon solar cells are reported. A strontium-90 radioisotope was used for simulation of a typical earth-orbital electron environment. The experiment was performed in an ion pump vacuum chamber with samples maintained at -50, +20, +50, and +80 C. Samples were illuminated during the 6-month exposure run with solar cell 1-5 characteristics measured periodically in situ. This 6-month exposure corresponded to a 1 MeV equivalent fluence of approximately 10 to the 14th power electrons/sq cm. Several types of lithium cells were irradiatied and compared directly with conventional N/P cells. The best lithium cells compared favorably with N/P cells, particularly at the higher test temperatures. With a slight improvement of initial performance characteristics, lithium cells appear feasible for 5 to 10 year missions at synchronous altitude. Based on the reported results and those of other irradiation experiments, lithium cells would appear to be superior to N/P cells in proton-dominated earth-orbital environments. Another important conclusion of the effort was that illuminated/loaded cells degrade more rapidly than do dark/unloaded cells. The irradiation experiment provided data of high quality with a high degree of confidence because of the experimental and statistical analysis techniques utilized.

Source record

Real-time minimal bit error probability decoding of convolutional codes

A recursive procedure is derived for decoding of rate R=1/n binary convolutional codes which minimizes the probability of the individual decoding decisions for each information bit subject to the constraint that the decoding delay be limited to Delta branches. This new decoding algorithm is similar to, but somewhat more complex than, the Viterbi decoding algorithm. A real-time, i.e. fixed decoding delay, version of the Viterbi algorithm is also developed and used for comparison to the new algorithm on simulated channels. It is shown that the new algorithm offers advantages over Viterbi decoding in soft-decision applications such as in the inner coding system for concatenated coding.

Lee, L. N.

Real-time minimal-bit-error probability decoding of convolutional codes

A recursive procedure is derived for decoding of rate R = 1/n binary convolutional codes which minimizes the probability of the individual decoding decisions for each information bit, subject to the constraint that the decoding delay be limited to Delta branches. This new decoding algorithm is similar to, but somewhat more complex than, the Viterbi decoding algorithm. A real-time, i.e., fixed decoding delay, version of the Viterbi algorithm is also developed and used for comparison to the new algorithm on simulated channels. It is shown that the new algorithm offers advantages over Viterbi decoding in soft-decision applications, such as in the inner coding system for concatenated coding.

Lee, L.-N.

Improved technique for digital simulation of bending and slosh phenomena

Mathematical model representation of bending and slosh phenomena in the Saturn vehicle results in linear second order differential equations. Improved technique was developed to provide a real-time digital solution of the equations. The technique may also be applied to nonreal time digital simultations, resulting in savings of digital computer time.

Stauffer, N. E.

Preliminary results of the satellite orbit determination of Mariner Mars 1971.

The preflight planning and real-time experience relating to the navigation of the first artificial satellite placed about a distant planet is presented. Results of determining the orbit of Mariner 9 are presented and contrasted against the preflight simulation test results. It is concluded that the position of Mariner 9 was located to 40 km before coefficients of the gravity field of Mars were estimated. The planet Mars has been found to be 3 to 4 times gravitationally rougher than expected, with the dominant features, the 2nd order tesserals C22 and S22, causing the orbital period of Mariner 9 to oscillate with an amplitude of 40 seconds and a wavelength of 19.5 days. The direction of the Mars spin axis has been relocated from the Camichel-Burton value by 1/2 degree.

Jordan, j. F.

Procedure for estimating stability and control parameters from flight test data by using maximum likelihood methods employing a real-time digital system

A maximum likelihood parameter estimation procedure and program were developed for the extraction of the stability and control derivatives of aircraft from flight test data. Nonlinear six-degree-of-freedom equations describing aircraft dynamics were used to derive sensitivity equations for quasilinearization. The maximum likelihood function with quasilinearization was used to derive the parameter change equations, the covariance matrices for the parameters and measurement noise, and the performance index function. The maximum likelihood estimator was mechanized into an iterative estimation procedure utilizing a real time digital computer and graphic display system. This program was developed for 8 measured state variables and 40 parameters. Test cases were conducted with simulated data for validation of the estimation procedure and program. The program was applied to a V/STOL tilt wing aircraft, a military fighter airplane, and a light single engine airplane. The particular nonlinear equations of motion, derivation of the sensitivity equations, addition of accelerations into the algorithm, operational features of the real time digital system, and test cases are described.

Grove, R. D.

Apollo experience report: Real-time auxiliary computing facility development

The Apollo real time auxiliary computing function and facility were an extension of the facility used during the Gemini Program. The facility was expanded to include support of all areas of flight control, and computer programs were developed for mission and mission-simulation support. The scope of the function was expanded to include prime mission support functions in addition to engineering evaluations, and the facility became a mandatory mission support facility. The facility functioned as a full scale mission support activity until after the first manned lunar landing mission. After the Apollo 11 mission, the function and facility gradually reverted to a nonmandatory, offline, on-call operation because the real time program flexibility was increased and verified sufficiently to eliminate the need for redundant computations. The evaluation of the facility and function and recommendations for future programs are discussed in this report.

Allday, C. E.