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Viewgraphs on Space Station Freedom attitude determination and control system overview are presented. Topics covered include: highly dynamic plant; SSF flight attitudes; effectors; inertial attitude sensors; control system performance requirements; control system functional requirements; and controller architecture.
The Air Force has several missions which generate unique requirements that are being met through the development of construction robotic technology. One especially important mission will be the conduct of Department of Defense (DOD) space activities. Space operations and other missions place construction/repair equipment operators in dangerous environments and potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible, and more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL, to develop robotic construction/repair equipment. This development effort involves the following technologies: teleoperation, telerobotics, construction operations (excavation, grading, leveling, tool change), robotic vehicle communications, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of a robotic repair capability operating at the level of supervised autonomy. This paper will discuss current and planned efforts in space construction/repair, explosive ordnance disposal, hazardous waste cleanup, and fire fighting.
Electrical testing of a utility transfer assembly (UTA) developmental unit performed from January 22 through February 25, 1992 at the NASA Lewis Research Center using the power management and distribution dc test bed. The dc resistance and steady state temperatures recorded are evidence of the UTA's high electrical transfer efficiency. The impedance test results suggest the total inductance of a UTA crossing pair is substantially higher than originally specified in the Space Station Electrical Power System Architectural Control Document.
The principal advantage of mobile robots is that they are able to go to specific locations to perform useful tasks rather than have the tasks brought to them. It is important therefore that the robot be used to reach desired locations efficiently and reliably. A mobile robot whose environment extends significantly beyond its sensory horizon must maintain a representation of the environment, a map, in order to attain these efficiency and reliability requirements. We believe that qualitative mapping methods provide useful and robust representation schemes and that such maps may be used to direct the actions of a reactively controlled robot. In this paper we describe our experience in employing qualitative maps to direct, through the selection of desired control strategies, a reactive-behavior based robot. This mapping capability represents the development of one aspect of a successful deliberative/reactive hybrid control architecture.
This paper presents the approach, algorithms, and processes we developed for the perception system of a cross-country autonomous robot. After a presentation of the tele-programming context we favor for intervention robots, we introduce an adaptive navigation approach, well suited for the characteristics of complex natural environments. This approach lead us to develop a heterogeneous perception system that manages several different terrain representatives. The perception functionalities required during navigation are listed, along with the corresponding representations we consider. The main perception processes we developed are presented. They are integrated within an on-board control architecture we developed. First results of an ambitious experiment currently underway at LAAS are then presented.
The Air Force has several unique requirements that are being met through the development of construction robotic technology. The missions associated with these requirements place construction/repair equipment operators in potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible and that more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL to develop robotic teleoperation, telerobotics, robotic vehicle communications, automated damage assessment, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of robotic repair capability operating at the level of supervised autonomy. The authors of this paper will discuss current and planned efforts in construction/repair, explosive ordnance disposal, hazardous waste cleanup, fire fighting, and space construction.
This report documents the activities and research results obtained under a grant (NAG3-998) from the NASA Lewis Research Center. The focus of the research was the investigation of dynamic interactions between airframe and engines for advanced ASTOVL aircraft configurations, and the analysis of the implications of these interactions on the stability and performance of the airframe and engine control systems. In addition, the need for integrated flight and propulsion control for such aircraft was addressed. The major contribution of this research was the exposition of the fact that airframe and engine interactions could be present, and their effects could include loss of stability and performance of the control systems. Also, the significance of two directional, as opposed to one-directional, coupling was identified and explained. A multi variable stability and performance analysis methodology was developed, and applied to several candidate aircraft configurations. Also exposed was the fact that with interactions present along with some integrated control approaches, the engine command/limiting logic (which represents an important non-linear component of the engine control system) can impact closed-loop airframe/engine system stability. Finally, a brief investigation of control-law synthesis techniques appropriate for the class of systems was pursued, and it was determined that multi variable techniques, included model-following formulations of LQG and/or H (infinity) methods showed promise. However, for practical reasons, decentralized control architectures are preferred, which is an architecture incompatible with these synthesis methods.
Diagnosis is often thought of as an isolated task in theoretical reasoning (reasoning with the goal of updating our beliefs about the world). We present a decision-theoretic interpretation of diagnosis as a task in practical reasoning (reasoning with the goal of acting in the world), and sketch components of our approach to this task. These components include an abstract problem description, a decision-theoretic model of the basic task, a set of inference methods suitable for evaluating the decision representation in real-time, and a control architecture to provide the needed continuing coordination between the agent and its environment. A principal contribution of this work is the representation and inference methods we have developed, which extend previously available probabilistic inference methods and narrow, somewhat, the gap between probabilistic and logical models of diagnosis.
A solar dynamic (SD) space power system has been under test at the NASA Lewis Research Center since 1994. The SD Ground Test Demonstration (GTD) system includes a solar concentrator, heat receiver with thermal energy storage, Brayton power conversion unit, and radiator installed in a thermal-vacuum chamber with a solar simulator. The Brayton unit has been operated with two different turboalternator compressor (TAC) assemblies, one which included a Rice Lundell alternator and another which incorporated a permanent magnet (PM) alternator. The Rice alternator was part of the mini-Brayton rotating unit, designed and built during the 1970's and refurbished for the GTD. The PM TAC was a development unit from the Joint US/Russian SD Flight Project. This paper highlights the operational differences (and similarities) between the Rice and PM TAC configurations including a comparative evaluation of startup characteristics and operating performance. The two alternator configurations were tested under similar thermal conditions, as an interchangeable component within the SD system. The electrical characteristics of the two units, however, dictated the use of significantly different power conditioning and control strategies. The electrical control architectures are described and compared. Test data are presented on TAC startup and system operating performance for both configurations.
Various issues associated with interoperability for space mission monitor and control are presented in viewgraph form. Specific topics include: 1) Space Project Mission Operations Control Architecture (SuperMOCA) goals and methods for achieving them; 2) Specifics on the architecture: open standards ad layering, enhancing interoperability, and promoting commercialization; 3) An advertisement; 4) Status of the task - government/industry cooperation and architecture and technology demonstrations; and 5) Key features of messaging services and virtual devices.
A parallelization study designed for ADI-type algorithms is presented using the OpenMP specification for shared-memory multiprocessor programming. Details of optimizations specifically addressed to cache-based computer architectures are described and performance measurements for the single and multiprocessor implementation are summarized. The paper demonstrates that optimization of memory access on a cache-based computer architecture controls the performance of the computational algorithm. A hybrid MPI/OpenMP approach is proposed for clusters of shared memory machines to further enhance the parallel performance. The method is applied to develop a new LES/DNS code, named LESTool. A preliminary DNS calculation of a fully developed channel flow at a Reynolds number of 180, Re(sub tau) = 180, has shown good agreement with existing data.
In May 1999, as part of a unique technology validation experiment onboard the Deep Space One spacecraft, the Remote Agent became the first complete autonomous spacecraft control architecture to run as flight software onboard an active spacecraft. As one of the three components of the architecture, the Remote Agent Planner had the task of laying out the course of action to be taken, which included activities such as turning, thrusting, data gathering, and communicating. Building on the successful approach developed for the Remote Agent Planner, the Next Generation Remote Agent Planner is a completely redesigned and reimplemented version of the planner. The new system provides all the key capabilities of the original planner, while adding functionality, improving performance and providing a modular and extendible implementation. The goal of this ongoing project is to develop a system that provides both a basis for future applications and a framework for further research in the area of autonomous planning for spacecraft. In this article, we present an introductory overview of the Next Generation Remote Agent Planner. We present a new and simplified definition of the planning problem, describe the basics of the planning process, lay out the new system design and examine the functionality of the core reasoning module.
Low Earth Orbit (LEO) missions provide a unique means of gathering information about many of Earth s aspects such as climate, atmosphere, and gravitational field. Among the greatest challenges of LEO missions are designing, predicting, and maintaining the spacecraft orbit. The predominant perturbative forces acting on a spacecraft in LEO are J2 and higher order gravitational components, the effects of which are fairly easy to predict, and atmospheric drag, which causes the greatest uncertainty in predicting spacecraft ephemeris. The continuously varying atmospheric drag requires increased spacecraft tracking in order to accurately predict spacecraft location. In addition, periodic propulsive maneuvers typically must be planned and performed to counteract the effects of drag on the spacecraft orbit. If the effects of drag could be continuously and autonomously counteracted, the uncertainty in ephemeris due to atmospheric drag would essentially be eliminated from the spacecraft dynamics. One method of autonomous drag compensation that has been implemented on some missions is drag-free control. Drag-free control of a spacecraft was initially proposed in the 1960's and is discussed extensively by Lange. His drag-free control architecture consists of a free-floating proof mass enclosed within a spacecraft, isolating it from external disturbance forces such as atmospheric drag and solar radiation pressure. Under ideal conditions, internal disturbance forces can be ignored or mitigated, and the orbit of the proof mass depends only on gravitational forces. A sensor associated with the proof mass senses the movement of the spacecraft relative to the proof mass. Using the sensor measurements, the spacecraft is forced to follow the orbit of the proof mass by using low thrust propulsion, thus counteracting any non-gravitational disturbance forces. If the non-gravitational disturbance forces are successfully removed, the spacecraft s orbit will be affected only by well-known gravitational forces and will thus be easier to predict.
A dynamic model for a free-piston Stirling convertor is being developed at the NASA Glenn Research Center. The model is an end-to-end system model that includes the cycle thermodynamics, the dynamics, and electrical aspects of the system. The subsystems of interest are the heat source, the springs, the moving masses, the linear alternator, the controller, and the end-user load. The envisioned use of the model will be in evaluating how changes in a subsystem could affect the operation of the convertor. The model under development will speed the evaluation of improvements to a subsystem and aid in determining areas in which most significant improvements may be found. One of the first uses of the end-toend model will be in the development of controller architectures. Another related area is in evaluating changes to details in the linear alternator.
In this paper we describe current research in tethered formations for interferometry, and a roadmap to demonstrating the required key technologies via on-ground and in-orbit testing. We propose an integrated kilometer-size tethered spacecraft formation flying concept which enables Far IR and Sub-mm astronomy observations from space. A rather general model is used to predict the dynamics, control, and estimation performance of formations of spacecraft connected by tethers in LEO and deep space. These models include the orbital and tethered formation dynamics, environmental models, and models of the formation estimator/controller/commander. Both centralized and decentralized control/sensing/estimation schemes are possible, and dynamic ranges of interest for sensing/control are described. Key component/subsystem technologies are described which need both ground-based and in-orbit demonstration prior to their utilization in precision space interferometry missions using tethered formations. Defining an orbiting formation as an ensemble of orbiting spacecraft performing a cooperative task, recent work has demonstrated the validity of the tethering the spacecraft to provide both the required formation rigidity and satisfy the formation reconfiguration needs such as interferometer baseline control. In our concept, several vehicles are connected and move along the tether, so that to reposition them the connecting tether links must vary in length. This feature enables variable and precise baseline control while the system spins around the boresight. The control architecture features an interferometer configuration composed of one central combiner spacecraft and two aligned collector spacecraft. The combiner spacecraft acts as the formation leader and is also where the centralized sensing and estimation functions reside. Some of the issues analyzed with the model are: dynamic modes of deformation of the distributed structure, architecture of the formation sensor, and sources of dynamical perturbation that need to be mitigated for precision operation in space. Examples from numerical simulation of an envisioned scenario in heliocentric orbit demonstrate the potential of the concept for space interferometry.
The Laser Interferometer Space Antenna mission is a planned gravitational wave detector consisting of three spacecraft in heliocentric orbit. Laser interferometry is used to measure distance fluctuations between test masses aboard each spacecraft to the picometer level over a 5 million kilometer separation. The Disturbance Reduction System comprises the pointing and positioning control of the spacecraft, electrostatic suspension control of the test masses, and point-ahead and acquisition control. This paper presents a control architecture and design for the Disturbance Reduction System to meet the stringent pointing and positioning requirements. Simulations are performed to demonstrate the feasibility of the proposed architecture.
Facility capabilities have been expanded at Test Cell 23, Research Combustor Lab (RCL23) at the NASA Glenn Research Center, with a new gaseous hydrogen fuel system. The purpose of this facility is to test a variety of fuel nozzle and flameholder hardware configurations for use in aircraft combustors. Previously, this facility only had jet fuel available to perform these various combustor flametube tests. The new hydrogen fuel system will support the testing and development of aircraft combustors with zero carbon dioxide (CO2) emissions. Research information generated from this test rig includes combustor emissions and performance data via gas sampling probes and emissions measuring equipment. The new gaseous hydrogen system is being supplied from a 70 000-standard-ft3 tube trailer at flow rates up to 0.05 lb/s (maximum). The hydrogen supply pressure is regulated, and the flow is controlled with a -in. remotely operated globe valve. Both a calibrated subsonic venturi and a coriolis mass flowmeter are used to measure flow. Safety concerns required the placement of all hydrogen connections within purge boxes, each of which contains a small nitrogen flow that is vented past a hydrogen detector. If any hydrogen leaks occur, the hydrogen detectors alert the operators and automatically safe the facility. Facility upgrades and modifications were also performed on other fluids systems, including the nitrogen gas, cooling water, and air systems. RCL23 can provide nonvitiated heated air to the research combustor, up to 350 psig at 1200 F and 3.0 lb/s. Significant modernization of the facility control systems and the data acquisition systems was completed. A flexible control architecture was installed that allows quick changes of research configurations. The labor-intensive hardware interface has been removed and changed to a software-based system. In addition, the operation of this facility has been greatly enhanced with new software programming and graphic operator interface stations. Glenn s RCL23 facility systems were successfully checked out in the spring of 2002, and hydrogen combustor research testing began in the summer of 2002.
The Spherical Primary Optical Telescope (SPOT) is an ongoing research effort at Goddard Space Flight Center developing wavefront sensing and control architectures for future space telescopes. The 03.5 m SPOT telescope primary mirror is comprised20f 6, 0.86 m hexagonal mirror segments arranged in a single ring, with the central segment missing . The mirror segments are designed for laboratory use and are not light-weighted to reduce cost. Each primary mirror segment is actuated and has tip, tilt, and piston rigid body motions. Additionally, the radius of curvature of each mirror segment may be varied mechanically3. To provide these degrees of freedom, the SPOT mirror segment assembly requires linear actuators capable of 10 nm resolution over a total stroke of 5 mm. These actuators must withstand high static loads as they must support the mirror segment, which has a mass of approx.100 kg. A stepper motor driving a differential satellite roller screw was designed to meet these demanding requirements. Initial testing showed that the actuator is capable of sub-micron repeatability over the entire 6mm range, and was limited by 100-200 nm measurement noise levels present in the facility. Further testing must be accomplished in an isolated facility with a measurement noise floor of < 5 nm. Such a facility should be ready for use at GSFC in the early summer of 2006, and will be used to better characterize this actuator.