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Session TP3 includes short reports on: (1) Modification of Goal-Directed Arm Movements During Inflight Adaptation to Microgravity; (2) Quantitative Analysis of Motion control in Long Term Microgravity; (3) Does the Centre of Gravity Remain the Stabilised Reference during Complex Human Postural Equilibrium Tasks in Weightlessness?; and (4) Arm End-Point Trajectories Under Normal and Microgravity Environments.
We can determine distances between objects and points of interest in 3-D space to a useful degree of accuracy from a set of camera images by using multiple camera views and reference targets in the camera s field of view (FOV). The core of the software processing is based on the previously developed foreign-object debris vision trajectory software (see KSC Research and Technology 2004 Annual Report, pp. 2 5). The current version of this photogrammetry software includes the ability to calculate distances between any specified point pairs, the ability to process any number of reference targets and any number of camera images, user-friendly editing features, including zoom in/out, translate, and load/unload, routines to help mark reference points with a Find function, while comparing them with the reference point database file, and a comprehensive output report in HTML format. In this system, scene reference targets are replaced by a photogrammetry cube whose exterior surface contains multiple predetermined precision 2-D targets. Precise measurement of the cube s 2-D targets during the fabrication phase eliminates the need for measuring 3-D coordinates of reference target positions in the camera's FOV, using for example a survey theodolite or a Faroarm. Placing the 2-D targets on the cube s surface required the development of precise machining methods. In response, 2-D targets were embedded into the surface of the cube and then painted black for high contrast. A 12-inch collapsible cube was developed for room-size scenes. A 3-inch, solid, stainless-steel photogrammetry cube was also fabricated for photogrammetry analysis of small objects.
This report discusses the development and underlying mathematics of a rigid-body computer model of a proposed cryogenic on-orbit liquid depot storage, acquisition, and transfer spacecraft (COLD-SAT). This model, referred to in this report as the COLD-SAT dynamic model, consists of both a trajectory model and an attitudinal model. All disturbance forces and torques expected to be significant for the actual COLD-SAT spacecraft are modeled to the required degree of accuracy. Control and experimental thrusters are modeled, as well as fluid slosh. The model also computes microgravity disturbance accelerations at any specified point in the spacecraft. The model was developed by using the Boeing EASY5 dynamic analysis package and will run on Apollo, Cray, and other computing platforms.
A potential flow based three-dimensional panel method was modified to treat time dependent conditions in which several submerged bodies can move within the fluid along different trajectories. This modification was accomplished by formulating the momentary solution in an inertial frame-of-reference, attached to the undisturbed stationary fluid. Consequently, the numerical interpretation of the multiple-body, solid-surface boundary condition and the viscous wake rollup was considerably simplified. The unsteady capability of this code was validated by comparing computed and experimental results for a finite wing undergoing pitch oscillations. In order to demonstrate the multicomponent capability, computations were made for two wings following closely intersecting paths (e.g., to avoid mid air collisions) and for a flow field with relative rotation (e.g., helicopter-rotor/fuselage interaction). Results were compared to experimental data when such data was available.
A Mars landing mission and each phase of the mission are described. The trajectory, mission profile, and sequence of major events are discussed.
The impact of aircraft emissions on reactive nitrogen in the upper troposphere (UT) and lowermost stratosphere (LS) was estimated using the NO(y)-O3 correlation obtained during the SASS Ozone and NO(x) Experiment (SONEX) carried out over the US continent and North Atlantic Flight Corridor (NAFC) region in October and November 1997. To evaluate the large scale impact, we made a reference NO(y)-O3 relationship in air masses, upon which aircraft emissions were considered to have little impact. For this purpose, the integrated input of NO(x) from aircraft into an air mass along a 10-d back trajectory (DELTA-NO(y)) was calculated based on the ANCAT/EC2 emission inventory. The excess NO(y) (dNO(y)) was calculated from the observed NO(y) and the reference NO(y)-O3 relationship. As a result, a weak positive correlation was found between the dNO(y) and DELTA-NO(y), and dNO(y) and NO(x)/NO(y) values, while no positive correlation between the dNO(y) and CO values was found, suggesting that dNO(y) values can be used as a measure of the NO(x) input from aircraft emissions. The excess NO(y) values calculated from another NO(y)-O3 reference relationship made using in-situ CN data also agreed with these dNO(y) values, within the uncertainties. At the NAFC region (45 N - 60 N), the median value of dNO(y) in the troposphere increased with altitude above 9 km and reached 70 pptv (20% of NO(y)) at 11 km. The excess NO(x) was estimated to be about half of the dNO(y) values, corresponding to 30% of the observed NO(x) level. Higher dNO(y) values were generally found in air masses where O3 = 75 - 125 ppbv, suggesting a more pronounced effect around the tropopause. The median value of dNO(y) in the stratosphere at the NAFC region at 8.5 - 11.5 km was about 120 pptv. The higher dNO(y) values in the LS were probably due to the accumulated effect of aircraft emissions, given the long residence time of affected air in the LS. Similar dNO(y) values were also obtained in air masses sampled over the US continent.
This paper describes one of the entry guidance concepts that is currently being tested as part of Marshall Space Flight Center's Advance Guidance and Control Project. The algorithm is of the reference profile tracking type. The reference profile consists of the reference states, range-to-go, altitude, and flight path angle, and reference controls, bank angle and angle of attack, versus energy. A linear control law using state feedback is used with energy-scheduled gains. The gains are obtained offline using Matlab's steady state linear quadratic regulator function. Lateral trajectory control is effected by performing periodic bank sign reversals based on a heading error corridor. A description and results of the AG&C test cases on which it has been tested are given. Although it is not anticipated that the algorithm will be quite as robust as algorithms with onboard trajectory re-generation capability, the results nevertheless show it to be very robust with respect to varying initial conditions and works satisfactorily even for entries from widely different orbits than that of the reference profile. Moreover, the commanded bank and angle of attack histories are very smooth, making it easier for the attitude control system to implement the guidance commands. Finally, results indicate that the guidance gains are more or less trajectory-independent which is a potentially useful property.
Asteroid 2008 TC3 was the rst asteroid ever discovered before reaching Earth. By using the almost 900 astrometric observations acquired prior to impact we estimate the trajectory of 2008 TC3 and the ground-track of the impact location as a function of altitude. For a reference altitude of 100 km the impact location 3- formal uncertainty is a 1.4 km 0.15 km ellipse with a semimajor axis azimuth of 105. We analyze the contribution of modeling errors and nd that the second-order zonal harmonics of the Earth gravity eld moves the ground-track by more than 1 km and the location along the ground-track by more than 2 km. Non-zonal and higher order harmonics only change the impact prediction by less than 20 m. The contribution of the atmospheric drag to the trajectory of 2008 TC3 is at the numerical integration error level, a few meters, down to an altitude of 50 km. Integrating forward to lower altitudes and ignoring the break-up of 2008 TC3, the atmospheric drag causes an along-track error that can be as large as a few kilometers at sea level. The locations of the recovered meteorites is consistent with the computed ground-track.
The adiabatic theorem in quantum mechanics implies that if a system is in a discrete eigenstate of a Hamiltonian and the Hamiltonian evolves in time arbitrarily slowly, the system will remain in the corresponding eigenstate of the evolved Hamiltonian. Understanding corrections to the adiabatic result that arise when the evolution of the Hamiltonian is slow—but not arbitrarily slow—has become increasingly important, especially since adiabatic evolution has been proposed as a method of state preparation in quantum computing. Here, this paper identifies two regimes, an adiabatic regime in which corrections are generically small and can depend on details of the evolution throughout the path, and a hyperadiabatic regime in which the error is given by a form similar to an asymptotic expansion in the inverse of the evolution time with the coefficients depending principally on the behavior at the endpoints. However, the error in this hyperadiabatic regime is neither given by a true asymptotic series nor solely dependent on the endpoints: the coefficients combine the contributions from both endpoints, with relative phase factors that depend on the average spectral gaps along the trajectory, multiplied by the evolution time. The central result of this paper is to identify a quantity, referred to as the typical error, which is obtained by appropriately averaging the error over evolution times that are small compared to the evolution time itself. This typical error is characterized by an asymptotic series and depends solely on the endpoints of the evolution, remaining independent of the details of the intermediate evolution.
A dispersion analysis considering 3 sigma uncertainties (or perturbations) in platform, vehicle, and environmental parameters was performed for the baseline reference mission (BRM) 1 of the space shuttle orbiter. The dispersion analysis is based on the nominal trajectory for the BRM 1. State vector and performance dispersions (or variations) which result from the indicated 3 sigma uncertainties were studied. The dispersions were determined at major mission events and fixed times from lift-off (time slices) and the results will be used to evaluate the capability of the vehicle to perform the mission within a 3 sigma level of confidence and to determine flight performance reserves. A computer program is given that was used for dynamic flight simulations of the space shuttle orbiter.
The data from the MAPS radiometer launched on board the first shuttle flight was analyzed. The meteorological data relevant to the MAPS measurements was also analyzed so that the in situ calibration measurements and any anomalous features within the data set can be evaluated in the context of the atmospheric circulation during the period of observation. The three dimensioned isentropic analysis scheme was used as the main analytical tool. A graphical output of the N and delta channel signals, black body reference temperatures, reduced CO concentrations and ground tracks for orbits 15 and 16 were provided. The insentropic trajectory methods was emphasized because it is a basic requirement that the analysis be extended to incorporate daily data within the tropics.
A systems analysis has been conducted for a Neptune-Triton Exploration Mission in which aerocapture is used to capture a spacecraft at Neptune. Aerocapture uses aerodynamic drag instead of propulsion to decelerate from the interplanetary approach trajectory to a captured orbit during a single pass through the atmosphere. After capture, propulsion is used to move the spacecraft from the initial captured orbit to the desired science orbit. A preliminary assessment identified that a spacecraft with a lift to drag ratio of 0.8 was required for aerocapture. Performance analyses of the 0.8 L/D vehicle were performed using a high fidelity flight simulation within a Monte Carlo executive to determine mission success statistics. The simulation was the Program to Optimize Simulated Trajectories (POST) modified to include Neptune specific atmospheric and planet models, spacecraft aerodynamic characteristics, and interplanetary trajectory models. To these were added autonomous guidance and pseudo flight controller models. The Monte Carlo analyses incorporated approach trajectory delivery errors, aerodynamic characteristics uncertainties, and atmospheric density variations. Monte Carlo analyses were performed for a reference set of uncertainties and sets of uncertainties modified to produce increased and reduced atmospheric variability. For the reference uncertainties, the 0.8 L/D flatbottom ellipsled vehicle achieves 100% successful capture and has a 99.87 probability of attaining the science orbit with a 360 m/s V budget for apoapsis and periapsis adjustment. Monte Carlo analyses were also performed for a guidance system that modulates both bank angle and angle of attack with the reference set of uncertainties. An alpha and bank modulation guidance system reduces the 99.87 percentile DELTA V 173 m/s (48%) to 187 m/s for the reference set of uncertainties.
The Deep Atmosphere Venus Investigation of Noble gases, Chemistry, and Imaging(DAVINCI) mission aims to answer long-standing questions regarding Venus’ origin using Zephyr, an atmospheric descent probe. Zephyr will be the first probe to take high-resolution aerial photographs of a mountainous tesserae surface as it descends over the Alpha Regio highlands region, which has the oldest surfaces of Venus. The Zephyr’s descent trajectory that determines the touchdown in the Alpha Regio, which is crucial for the DAVINCI mission, depends on Venus’ atmospheric properties and winds. Unfortunately, the atmospheric data for Venus from previous missions is sparse. Therefore, it is essential to consider various atmospheric models and scenarios from past flight data to predict Zephyr’s flight performance, specifically landing ellipse. To this end, this work compares three atmospheric models: the Venus Global Reference Atmospheric Model (Venus-GRAM), the Venus Climate Database(VCD), and an empirical wind model developed by Ralph Lorenz for the DAVINCI trajectory simulation and modeling. This paper compares the mean and variations of different atmospheric properties and winds from these atmospheric models. In addition, this work combines the atmospheric properties and the wind variability from the Venus-GRAM with the winds from the Lorenz-based model to have more stressing Venus wind dispersions that allow for more conservative trajectory analysis. Furthermore, this work relies on the DAVINCI landing ellipse size as a metric to measure how robust the trajectory analysis will be to the change in the atmospheric properties and winds of the Venus atmosphere.
What would happen if, hypothetically, the highly successful Cassini mission were to end prematurely due to lack of propellant or sudden subsystem failure? A solid plan to quickly produce a solution for any given scenario, regardless of where the spacecraft is along its reference path, must be in place to safely dispose of the spacecraft and meet all planetary protection requirements. As a contingency plan for this hypothetical situation, a method to design viable high-fidelity terminating trajectories based on a hybrid approach that exploits two-body and three-body flyby transfers combined with a numerical optimization scheme is detailed in this paper.
This paper presents a dynamic analysis and validation framework to assess a fully constrained six-anchor Cable-Driven Parallel Robot (CDPR) for automated installation of prefabricated facade components. Compared with conventional eight-anchor systems, the six-anchor configuration simplifies setup and reduces cost, but it also reduces control authority, shrinks the wrench-feasible workspace, and tightens orientation limits. Consequently, it is unclear a priori whether dynamically feasible trajectories exist to move the end effector from pickup to the facade. A constrained trajectory optimization is formulated to enforce the system dynamics, cable-tension bounds, and pose/velocity limits, and the framework is evaluated in simulation at three levels: (i) an idealized reference model, (ii) a lab-scale prototype model incorporating measured anchor misalignments and identified damping, and (iii) a full-scale three-story building model with load decomposition for structural feasibility checks. Across these scenarios, the analysis shows that optimal, constraint-satisfying trajectories exist that move the end effector from pickup to installation while maintaining a near-plumb, level orientation at the final pose. Collectively, this multi-scale dynamic analysis and validation framework supports the deployment readiness of the six-anchor CDPR and provides a prototype-based sensitivity case study of how measured anchor placement deviations affect feasibility.
Gaseous material expanding from the nucleus of Comet Halley into space forms the neutral coma around the comet. Ionization in the solar UV radiation removes particles from the coma and injects them into the solar wind plasma. These freshly created ions are accelerated by the interplanetary electric field on cycloidal trajectories with gyrocenters moving with the speed of the magnetic field lines. In the solar wind frame of reference these particles move along the magnetic field lines with a fixed pitch angle. Pitch-angle scattering and energy diffusion reduce quickly the initial energy anisotropy which is associated with the narrow pick-up structures. First observations of heavy cometary pick-up ions (water group ions) at the bow shock are presented. The evolution of the distribution function in the vicinity of the shock and radial density profiles are discussed.
In quasi-inertial reference frame, geodetic precession is gravitomagnetic phenomenon. Report presents theoretical analysis of gravitomagnetism as perceived by observer in quasi-inertial reference frame near spinning body. Study addresses manifestations of gravitomagnetism in this reference frame, with emphasis on two measurable phenomena: precession of gyroscope in orbit about Earth, and perturbation of trajectory of satellite in orbit around Earth.
TOPEX/Poseidon (T/P) is a joint mission between NASA and the Centre National d'Etudes Spatiales (CNES), the French Space Agency. The TOPEX/Poseidon Precision Orbit Determination Production System (PODPS) was developed at Goddard Space Flight Center (NASA/GSFC) to produce the absolute orbital reference required to support the fundamental ocean science goals of this satellite altimeter mission within NASA. The orbital trajectory for T/P is required to have a RMS accuracy of 13 centimeters in its radial component. This requirement is based on the effective use of the satellite altimetry for the isolation of absolute long-wavelength ocean topography important for monitoring global changes in the ocean circulation system. This orbit modeling requirement is at an unprecedented accuracy level for this type of satellite. In order to routinely produce and evaluate these orbits, GSFC has developed a production and supporting expert system. The PODPS is a menu driven system allowing routine importation and processing of tracking data for orbit determination, and an evaluation of the quality of the orbit so produced through a progressive series of tests. Phase 1 of the expert system grades the orbit and displays test results. Later phases undergoing implementation, will prescribe corrective actions when unsatisfactory results are seen. This paper describes the design and implementation of this orbit determination production system and the basis for its orbit accuracy assessment within the expert system.