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NASA NTRS2018

Assurance of Model-Based Fault Diagnosis

Autonomy is an increasingly important technology for robotic scientific and commercial spacecraft. An important motivation for developing onboard autonomy is to enable quick response to dynamic environment and situations, including fault conditions that a spacecraft may encounter. The reliability of such autonomous capabilities depends on the quality of their knowledge of a spacecraft’s health state. Model-based approaches to fault management, i.e. model-based fault diagnosis (MBFD), is one approach to continuously verify correct behavior in addition to diagnosing symptoms to estimate the spacecraft’s health state. The proper functioning of MBFD is dependent on 1) the quality of the model that is analyzed and compared to the outputs of onboard sensors to estimate the system’s health state, and 2) the correct functioning of the diagnosis engine that interrogates the model and compares its analysis to observed system behavior. We are currently developing Verification and Validation (V&V) approaches to provide the necessary confidence that MBFD systems are correctly estimating the health of on-board spacecraft components and systems. Our work is intended to narrow the gap between the rapidly maturing field of ModelBased System Engineering (including MBFD) and the less-well understood area of identifying and applying appropriate V&V techniques to MBFD. Our effort is investigating three areas: 1) developing V&V techniques for the diagnostic model, 2) developing V&V techniques for the diagnostic engine in isolation, and 3) developing V&V techniques for the diagnostic engine and model in combination. This paper describes the work we have completed in the first area. We describe our approach to selecting a system to be represented by a model, the approach to modeling the system, the verification approach we developed for the model, and the results of the verification activity. We conclude with a description of the work remaining in the last two areas, which will be addressed over the next two years.

Chung, Seung↗

NASA NTRS1993

Dynamics of Langmuir and ion-sound waves in type III solar radio sources

The study traces the evolution of Langmuir and ion-sound waves in type III sources, incorporating linear growth, linear damping, and nonlinear electrostatic decay. Improved estimates are obtained for the wavenumber range of growing waves and the nonlinear coupling coefficient for the decay process. It is shown that the conditions in the solar wind do not allow a steady state to be attained; instead, bursty linear and nonlinear interactions take place, consistent with the highly inhomogeneous and impulsive waves actually observed. Nonlinear growth is found to be rapid enough to saturate the growth of the parent Langmuir waves in the available interaction time. The competing processes of nonlinear wave collapse and quasi-linear relaxation are discussed, and it is concluded that neither is responsible for the saturation of Langmuir growth.

Robinson, P. A.↗

NASA NTRS1982

A unified method for evaluating real-time computer controllers: A case study

A real time control system consists of a synergistic pair, that is, a controlled process and a controller computer. Performance measures for real time controller computers are defined on the basis of the nature of this synergistic pair. A case study of a typical critical controlled process is presented in the context of new performance measures that express the performance of both controlled processes and real time controllers (taken as a unit) on the basis of a single variable: controller response time. Controller response time is a function of current system state, system failure rate, electrical and/or magnetic interference, etc., and is therefore a random variable. Control overhead is expressed as a monotonically nondecreasing function of the response time and the system suffers catastrophic failure, or dynamic failure, if the response time for a control task exceeds the corresponding system hard deadline, if any. A rigorous probabilistic approach is used to estimate the performance measures. The controlled process chosen for study is an aircraft in the final stages of descent, just prior to landing. First, the performance measures for the controller are presented. Secondly, control algorithms for solving the landing problem are discussed and finally the impact of the performance measures on the problem is analyzed.

Shin, K. G.↗

NASA NTRS1985

A unified method for evaluating real-time computer controllers and its application

Shin, K. G.↗

NASA NTRS1986

Controlling Flexible Manipulators, an Experimental Investigation

Lightweight, slender manipulators offer faster response and/or greater workspace range for the same size actuators than tradional manipulators. Lightweight construction of manipulator links results in increased structural flexibility. The increase flexibility must be considered in the design of control systems to properly account for the dynamic flexible vibrations and static deflections. Real time control of the flexible manipulator vibrations are experimentally investigated. Models intended for real-time control of distributed parameter system such as flexible manipulators rely on model approximation schemes. An linear model based on the application of Lagrangian dynamics to a rigid body mode and a series of separable flexible modes is examined with respect to model order requirements, and modal candidate selection. Balanced realizations are applied to the linear flexible model to obtain an estimate of appropriate order for a selected model. Describing the flexible deflections as a linear combination of modes results in measurements of beam state, which yield information about several modes. To realize the potential of linear systems theory, knowledge of each state must be available. State estimation is also accomplished by implementation of a Kalman Filter. State feedback control laws are implemented based upon linear quadratic regulator design.

Hastings, Gordon Greene↗

NASA NTRS2011

Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles

A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.

autonomous operation↗

NASA NTRS2022

L1 Adaptive Control with Switched Reference Models: Application to Learn-to-Fly

Learn-to-Fly (L2F) is a new framework that aims to replace the traditional iterative development paradigm for aerial vehicles with a combination of real-time aerodynamic modeling, guidance, and learning control. To ensure safe learning of the vehicle dynamics on the fly, this paper presents an L1 adaptive control (L1AC) based scheme, which actively estimates and compensates for the discrepancy between the intermediately learned dynamics and the actual dynamics. First, to incorporate the periodic update of the learned model within the L2F framework, this paper extends the L1AC architecture to handle a switched reference system subject to unknown time-varying parameters and disturbances. The paper also includes analysis of both transient and steady-state performance of the L1AC architecture in the presence of non-zero initialization error for the state predictor. Second, the paper presents how the proposed L1AC scheme is integrated into the L2F framework, including its interaction with the baseline controller and the real-time modeling module. Finally, flight tests on an unmanned aerial vehicle (UAV) validate the efficacy of the proposed control and learning scheme.

Steven Snyder↗

NASA NTRS1995

Determination of Eros Physical Parameters for Near Earth Asteroid Rendezvous Orbit Phase Navigation

Navigation of the orbit phase of the Near Earth steroid Rendezvous (NEAR) mission will re,quire determination of certain physical parameters describing the size, shape, gravity field, attitude and inertial properties of Eros. Prior to launch, little was known about Eros except for its orbit which could be determined with high precision from ground based telescope observations. Radar bounce and light curve data provided a rough estimate of Eros shape and a fairly good estimate of the pole, prime meridian and spin rate. However, the determination of the NEAR spacecraft orbit requires a high precision model of Eros's physical parameters and the ground based data provides only marginal a priori information. Eros is the principal source of perturbations of the spacecraft's trajectory and the principal source of data for determining the orbit. The initial orbit determination strategy is therefore concerned with developing a precise model of Eros. The original plan for Eros orbital operations was to execute a series of rendezvous burns beginning on December 20,1998 and insert into a close Eros orbit in January 1999. As a result of an unplanned termination of the rendezvous burn on December 20, 1998, the NEAR spacecraft continued on its high velocity approach trajectory and passed within 3900 km of Eros on December 23, 1998. The planned rendezvous burn was delayed until January 3, 1999 which resulted in the spacecraft being placed on a trajectory that slowly returns to Eros with a subsequent delay of close Eros orbital operations until February 2001. The flyby of Eros provided a brief glimpse and allowed for a crude estimate of the pole, prime meridian and mass of Eros. More importantly for navigation, orbit determination software was executed in the landmark tracking mode to determine the spacecraft orbit and a preliminary shape and landmark data base has been obtained. The flyby also provided an opportunity to test orbit determination operational procedures that will be used in February of 2001. The initial attitude and spin rate of Eros, as well as estimates of reference landmark locations, are obtained from images of the asteroid. These initial estimates are used as a priori values for a more precise refinement of these parameters by the orbit determination software which combines optical measurements with Doppler tracking data to obtain solutions for the required parameters. As the spacecraft is maneuvered; closer to the asteroid, estimates of spacecraft state, asteroid attitude, solar pressure, landmark locations and Eros physical parameters including mass, moments of inertia and gravity harmonics are determined with increasing precision. The determination of the elements of the inertia tensor of the asteroid is critical to spacecraft orbit determination and prediction of the asteroid attitude. The moments of inertia about the principal axes are also of scientific interest since they provide some insight into the internal mass distribution. Determination of the principal axes moments of inertia will depend on observing free precession in the asteroid's attitude dynamics. Gravity harmonics are in themselves of interest to science. When compared with the asteroid shape, some insight may be obtained into Eros' internal structure. The location of the center of mass derived from the first degree harmonic coefficients give a direct indication of overall mass distribution. The second degree harmonic coefficients relate to the radial distribution of mass. Higher degree harmonics may be compared with surface features to gain additional insight into mass distribution. In this paper, estimates of Eros physical parameters obtained from the December 23,1998 flyby will be presented. This new knowledge will be applied to simplification of Eros orbital operations in February of 2001. The resulting revision to the orbit determination strategy will also be discussed.

Miller, J. K.↗

NASA NTRS2001

Carotid baroreflex regulation of sympathetic nerve activity during dynamic exercise in humans

We sought to determine whether carotid baroreflex (CBR) control of muscle sympathetic nerve activity (MSNA) was altered during dynamic exercise. In five men and three women, 23.8 +/- 0.7 (SE) yr of age, CBR function was evaluated at rest and during 20 min of arm cycling at 50% peak O(2) uptake using 5-s periods of neck pressure and neck suction. From rest to steady-state arm cycling, mean arterial pressure (MAP) was significantly increased from 90.0 +/- 2.7 to 118.7 +/- 3.6 mmHg and MSNA burst frequency (microneurography at the peroneal nerve) was elevated by 51 +/- 14% (P < 0.01). However, despite the marked increases in MAP and MSNA during exercise, CBR-Delta%MSNA responses elicited by the application of various levels of neck pressure and neck suction ranging from +45 to -80 Torr were not significantly different from those at rest. Furthermore, estimated baroreflex sensitivity for the control of MSNA at rest was the same as during exercise (P = 0.74) across the range of neck chamber pressures. Thus CBR control of sympathetic nerve activity appears to be preserved during moderate-intensity dynamic exercise.

Non-NASA Center↗

NASA NTRS1979

Development of a digital guidance and control law for steep approach automatic landings using modern control techniques

The development of a digital automatic control law for a small jet transport to perform a steep final approach in automatic landings is reported along with the development of a steady-state Kalman filter used to provide smooth estimates to the control law. The control law performs the functions of localizer and glides capture, localizer and glideslope track, decrab, and place. The control law uses the microwave landing system position data, and aircraft body-mounted accelerators, attitude and attitude rate information. The results obtained from a digital simulation of the aircraft dynamics, wind conditions, and sensor noises using the control law and filter developed are described.

Halyo, N.↗

NASA NTRS1984

Approximation methods for inverse problems involving the vibration of beams with tip bodies

Two cubic spline based approximation schemes for the estimation of structural parameters associated with the transverse vibration of flexible beams with tip appendages are outlined. The identification problem is formulated as a least squares fit to data subject to the system dynamics which are given by a hybrid system of coupled ordinary and partial differential equations. The first approximation scheme is based upon an abstract semigroup formulation of the state equation while a weak/variational form is the basis for the second. Cubic spline based subspaces together with a Rayleigh-Ritz-Galerkin approach were used to construct sequences of easily solved finite dimensional approximating identification problems. Convergence results are briefly discussed and a numerical example demonstrating the feasibility of the schemes and exhibiting their relative performance for purposes of comparison is provided.

Rosen, I. G.↗

NASA NTRS1990

True covariance simulation of the EUVE (extreme ultra violet explorer) update filter

This paper presents a covariance analysis of the performance and sensitivity of the attitude determination Extended Kalman Filter (EKF) used by the onboard computer (OBC) of the Extreme Ultra Violet Explorer (EUVE) spacecraft. The linearized dynamics and measurement equations of the error states are used in formulating the 'truth model' describing the order of the systems involved. The 'design model' used by the OBC EKF is then obtained by reducing the order of the truth model. The covariance matrix of the EKF which uses the reduced order model is not the correct covariance of the EKF estimation error. A 'true covariance analysis' has to be carried out in order to evaluate the correct accuracy of the OBC generated estimates. The results of such analysis are presented which indicate both the performance and the sensitivity of the OBC EKF.

Bar-Itzhack, I. Y.↗

NASA NTRS1993

Computer program for analysis of high speed, single row, angular contact, spherical roller bearing, SASHBEAN. Volume 1: User's guide

The computer program SASHBEAN (Sikorsky Aircraft Spherical Roller High Speed Bearing Analysis) analyzes and predicts the operating characteristics of a Single Row, Angular Contact, Spherical Roller Bearing (SRACSRB). The program runs on an IBM or IBM compatible personal computer, and for a given set of input data analyzes the bearing design for it's ring deflections (axial and radial), roller deflections, contact areas and stresses, induced axial thrust, rolling element and cage rotation speeds, lubrication parameters, fatigue lives, and amount of heat generated in the bearing. The dynamic loading of rollers due to centrifugal forces and gyroscopic moments, which becomes quite significant at high speeds, is fully considered in this analysis. For a known application and it's parameters, the program is also capable of performing steady-state and time-transient thermal analyses of the bearing system. The steady-state analysis capability allows the user to estimate the expected steady-state temperature map in and around the bearing under normal operating conditions. On the other hand, the transient analysis feature provides the user a means to simulate the 'lost lubricant' condition and predict a time-temperature history of various critical points in the system. The bearing's 'time-to-failure' estimate may also be made from this (transient) analysis by considering the bearing as failed when a certain temperature limit is reached in the bearing components. The program is fully interactive and allows the user to get started and access most of its features with a minimal of training. For the most part, the program is menu driven, and adequate help messages were provided to guide a new user through various menu options and data input screens. All input data, both for mechanical and thermal analyses, are read through graphical input screens, thereby eliminating any need of a separate text editor/word processor to edit/create data files. Provision is also available to select and view the contents of output files on the monitor screen if no paper printouts are required. A separate volume (Volume-2) of this documentation describes, in detail, the underlying mathematical formulations, assumptions, and solution algorithms of this program.

Aggarwal, Arun K.↗

NASA NTRS2006

MXER Simulation Study (Appendix B)

The task of prediction of the motion of a momentum exchange system with a 9-digit accuracy is extremely challenging, and it is relentlessly testing our ability to gain fundamental insights into the nature of the tether dynamics in this system. It has been show that the modal decomposition approach developed in the first part of this study is a very powerful and precise tool for the simulation of the dynamics of momentum exchange tethers. However, to get a prediction with required accuracy using this tool, one must have precise inputs, including the initial state, system parameters, and the environmental models. In simulations, the tether tip positioning has been observed to be quite sensitive to even small variations of the parameters involved in the calculations. It is therefore imperative that precise estimation and control algorithms be developed to compensate for the inevitable uncertainties and support high precision rendezvous.

Levin, E. M.↗

NASA NTRS2005

Enabling Autonomous Rover Science through Dynamic Planning and Scheduling

This paper describes how dynamic planning and scheduling techniques can be used onboard a rover to autonomously adjust rover activities in support of science goals. These goals could be identified by scientists on the ground or could be identified by onboard data-analysis software. Several different types of dynamic decisions are described, including the handling of opportunistic science goals identified during rover traverses, preserving high priority science targets when resources, such as power, are unexpectedly over-subscribed, and dynamically adding additional, ground-specified science targets when rover actions are executed more quickly than expected. After describing our specific system approach, we discuss some of the particular challenges we have examined to support autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations.

planning↗

NASA NTRS2009

Magnetospheric Multiscale (MMS) Mission Commissioning Phase Orbit Determination Error Analysis

The Magnetospheric MultiScale (MMS) mission commissioning phase starts in a 185 km altitude x 12 Earth radii (RE) injection orbit and lasts until the Phase 1 mission orbits and orientation to the Earth-Sun li ne are achieved. During a limited time period in the early part of co mmissioning, five maneuvers are performed to raise the perigee radius to 1.2 R E, with a maneuver every other apogee. The current baseline is for the Goddard Space Flight Center Flight Dynamics Facility to p rovide MMS orbit determination support during the early commissioning phase using all available two-way range and Doppler tracking from bo th the Deep Space Network and Space Network. This paper summarizes th e results from a linear covariance analysis to determine the type and amount of tracking data required to accurately estimate the spacecraf t state, plan each perigee raising maneuver, and support thruster cal ibration during this phase. The primary focus of this study is the na vigation accuracy required to plan the first and the final perigee ra ising maneuvers. Absolute and relative position and velocity error hi stories are generated for all cases and summarized in terms of the ma ximum root-sum-square consider and measurement noise error contributi ons over the definitive and predictive arcs and at discrete times inc luding the maneuver planning and execution times. Details of the meth odology, orbital characteristics, maneuver timeline, error models, and error sensitivities are provided.

Chung, Lauren R.↗

NASA NTRS2017

Stroboscopic Goggles as a Countermeasure for Dynamic Visual Acuity and Landing Sickness in Crewmembers Returning from Long-Duration Spaceflight

Long-term exposure to microgravity causes sensorimotor adaptations that result in functional deficits upon returning to a gravitational environment. At landing, the vestibular system and the central nervous system, responsible for coordinating head and eye movements via the vestibulo-occular reflex (VOR), are adapted to microgravity and must re-adapt to the Earth's gravitational environment. This re-adaptation causes decrements in gaze control and dynamic visual acuity, with astronauts reporting oscillopsia and blurred vision. These effects are caused by retinal slip, or the inability to keep an image focused on their retina, which is thought to drive motion sickness symptoms experienced upon landing. Retinal slip can be estimated by dynamic visual acuity (DVA); visual acuity while in motion. Peters et al. (2011) find that DVA is worsened in astronauts by an average of 0.75 eye-chart lines one day after landing. Previously, the use of stroboscopic goggles has shown to be effective in minimizing motion sickness symptoms due to retinal slip (Reschke et al. 2007). In this study, we simulated the decrement in DVA caused by sensorimotor re-adaptation by using minifying lenses and then testing the efficacy of stroboscopic goggles in preventing retinal slip and improving DVA. Dynamic visual acuity is assessed using an oscillating chair developed in the Neuroscience Laboratory at JSC. This chair is motor-driven and oscillates vertically at 2 Hz with a vertical displacement of +/- 2 cm to simulate the vertical translations that occur while walking. As the subject is being oscillated, they are asked to discern the direction of Landolt-C optotypes of varying sizes and record their direction using a gamepad. The visual acuity thresholds are determined using an algorithm that alters the size of the optotype based on the previous responses of the subject using a forced-choice best parameter estimation that is able to rapidly converge on the threshold value. Visual acuity thresholds were determined both for static (seated) and dynamic (oscillating) conditions. Dynamic visual acuity is defined as the difference between the dynamic and static conditions. We found that healthy subjects (n=20) have a significantly impaired DVA while wearing the minifying lenses, demonstrating that the VOR is in an adaptive state and retinal slip is occurring. When subjects' acuity was tested wearing the stroboscopic goggles with the minifying lenses, there was no significant difference in their DVA compared to their baseline DVA. This suggests that stroboscopic goggles are preventing retinal slip and would function as an efficient countermeasure for VOR adaptations and thus help mitigate landing sickness symptoms experienced by long-duration crewmembers. These goggles might also be used to counter blurred vision (caused by retinal slip) experienced by crewmembers during launch where the vehicle vibrations are greatest. The stroboscopic effect could be built into a section of their head mounted displays on the visor of their helmets to be used in these high vibration situation if a mission critical task is necessary.

Rosenberg, M. J. F.↗

NASA NTRSDate not supplied

Estimation With Range Depended Sensor Model

This paper focuses on the improvement of object detection accuracy taking into account the sensor’s reading degradation as the relative range increases. The approach is based on the assumption that range measurement error depends on the actual range. Specifically, we model the measurement error as a proportional to the actual range term plus a zero-mean, Gaussian distributed, and uncorrelated process. The tracking problem is considered in a mixed continuous-discrete time domain, where the target dynamics is in continuous-time and the measurements are in discrete-time, which is an optimal choice in many tracking and navigation applications. We adopt a commonly used continuous time coordinate-uncoupled white-noise acceleration model for a point object to describe the target motion, and use Extended Kalman Filter (EKF) framework to estimate the target's state and the unknown proportionality coefficient.

Vahram Stepanyan↗