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Developed AprilNav, an Indoor Navigation and Localization System for Autonomous Testing of Electric Sail Dynamics

An electrostatic sail (E-sail) is a new type of propulsion which harnesses the Sun's solar wind to propel a spacecraft. Voyager I took about 40 years to reach interstellar space using solid rocket propellant, whereas electrostatic sails can travel the same distance in 6-10 years by using small but constant acceleration. As part of Marshall Space Flight Center's (MSFC) Space Systems Dept. and Advanced Concepts Office, we are continuing research for the HERTS (Heliopause Electrostatic Rapid Transit System) E-sail project. Previous researchers developed a Nano Air-bearing Simulator (NAS) prototype for initial testing of E-sails; this prototype was properly documented in CAD (Computer-Aided Drafting) in order to build a second improved NAS. MSFC's Robotic Lab (Flat Floor) allows for 2-dimensional simulations of spacecraft dynamics by attaching air bearings to a system. An indoor navigation system AprilNav, was developed and has been implemented on the ceiling of the flat floor for localization and autonomous testing of the two bearing-equipped NAS. With two NAS, tether dynamics between the two simulators as well as steering control algorithms are being tested on the flat floor using AprilNav.

Schuler, Tristan↗

Interplanetary Radiation and Internal Charging Environment Models for Solar Sails

A Solar Sail Radiation Environment (SSRE) model has been developed for characterizing the radiation dose and internal charging environments in the solar wind. The SSRE model defines the 0.01 keV to 1 MeV charged particle environment for use in testing the radiation dose vulnerability of candidate solar sail materials and for use in evaluating the internal charging effects in the interplanetary environment. Solar wind and energetic particle instruments aboard the Ulysses spacecraft provide the particle data used to derive the environments for the high inclination 0.5 AU Solar Polar Imager mission and the 1.0 AU L1 solar sail missions. Ulysses is the only spacecraft to sample high latitude solar wind environments far from the ecliptic plane and is therefore uniquely capable of providing the information necessary for defining radiation environments for the Solar Polar Imager spacecraft. Cold plasma moments are used to derive differential flux spectra based on Kappa distribution functions. Energetic particle flux measurements are used to constrain the high energy, non-thermal tails of the distribution functions providing a comprehensive electron, proton, and helium spectra from less than 0.01 keV to a few MeV.

Minow, Joseph I.↗

The Physics of Solar Sails

The concept of using photon pressure for propulsion has been considered since Tsiolkovsky in 1921. In fact, Tsiolkovsky and Tsander wrote of 'using tremendous mirrors of very thin sheets' and 'using the pressure of sunlight to attain cosmic velocities' in 1924. The term 'solar sailing' was coined in the late 1950s and was popularized by Arthur C. Clarke in the short story Sunjammer (The Wind From the Sun) in May 1964. The National Aeronautics and Space Administration (NASA) used sailing techniques to extend the operational life of the Mariner 10 spacecraft in 1974-1975. A problem in the control system was causing Mariner 10 to go off course. By controlling the attitude of Mariner 10 and the angle of the solar power panels relative to the Sun, ground controllers were able to correct the problem without using precious fuel. Once thought to be difficult or impossible, solar sailing has come out of science fiction and into the realm of possibility. Any spacecraft using this method would need to deploy a thin sail that could be as large as many kilometers in extent. Candidate sail materials should be: 1) strong, 2) ultra-lightweight (density of a few g/sq m), 3) able to be folded or crushed until deployed, 4) subject to minimal sagging or stretching, and 5) resistant to ionizing radiation, such as galactic and solar particles (electrons and protons), x-rays, ultraviolet light, and magnetically trapped charged particles. Solar sails must be resistant to each of these types of radiation.

Hollerman, William Andrew↗

NASA Solar Sail Propulsion Technology Development

NASA's In-Space Propulsion Technology Program has developed the first generation of solar sail propulsion systems sufficient to accomplish inner solar system science and exploration missions. These first generation solar sails, when operational, will range in size from 40 meters to well over 100 meters in diameter and have an areal density of less than 13 grams per square meter. A rigorous, multi-year technology development effort culminated in 2005 with the testing of two different 20-m solar sail systems under thermal vacuum conditions. The first system, developed by ATK Space Systems of Goleta, California, uses rigid booms to deploy and stabilize the sail. In the second approach, L'Garde, Inc. of Tustin, California uses inflatable booms that rigidize in the coldness of space to accomplish sail deployment. This effort provided a number of significant insights into the optimal design and expected performance of solar sails as well as an understanding of the methods and costs of building and using them. In a separate effort, solar sail orbital analysis tools for mission design were developed and tested. Laboratory simulations of the effects of long-term space radiation exposure were also conducted on two candidate solar sail materials. Detailed radiation and charging environments were defined for mission trajectories outside the protection of the earth's magnetosphere, in the solar wind environment. These were used in other analytical tools to prove the adequacy of sail design features for accommodating the harsh space environment. Preceding and in conjunction with these technology efforts, NASA sponsored several mission application studies for solar sails. Potential missions include those that would be flown in the near term to study the sun and be used in space weather prediction to one that would use an evolved sail capability to support humanity's first mission into nearby interstellar space. This paper will describe the status of solar sail propulsion within NASA, nearterm solar sail mission applications, and near-term plans for further development.

Johnson, Les↗

Status of Solar Sail Propulsion: Moving Toward an Interstellar Probe

NASA's In-Space Propulsion Technology Program has developed the first-generation of solar sail propulsion systems sufficient to accomplish inner solar system science and exploration missions. These first-generation solar sails, when operational, will range in size from 40 meters to well over 100 meters in diameter and have an areal density of less than 13 grams-per-square meter. A rigorous, multiyear technology development effort culminated last year in the testing of two different 20-meter solar sail systems under thermal vacuum conditions. This effort provided a number of significant insights into the optimal design and expected performance of solar sails as well as an understanding of the methods and costs of building and using them. In a separate effort, solar sail orbital analysis tools for mission design were developed and tested. Laboratory simulations of the effects of long-term space radiation exposure were also conducted on two candidate solar sail materials. Detailed radiation and charging environments were defined for mission trajectories outside the protection of the earth's magnetosphere, in the solar wind environment. These were used in other analytical tools to prove the adequacy of sail design features for accommodating the harsh space environment. Preceding, and in conjunction with these technology efforts, NASA sponsored several mission application studies for solar sails, including one that would use an evolved sail capability to support humanity's first mission into nearby interstellar space. The proposed mission is called the Interstellar Probe. The Interstellar Probe might be accomplished in several ways. A 200-meter sail, with an areal density approaching 1 gram-per-square meter, could accelerate a robotic probe to the very edge of the solar system in just under 20 years from launch. A sail using the technology just demonstrated could make the same mission, but take significantly longer. Conventional chemical propulsion systems would require even longer flight times. Spinner sails of the type being explored by the Japanese may also be a good option, but the level of maturity in that technology is not clear. While the technology to support a 200-meter, ultralightweight sail mission is not yet in hand, the recent NASA investments in solar sail technology are an essential first step toward making it a reality. This paper will describe the status of solar sail propulsion within NASA, near-term solar sail mission applications, and the plan to advance the technology to the point where the Interstellar Probe mission can be flown.

Johnson, Les↗

Solar Sail Propulsion Technology at NASA

NASA's In-Space Propulsion Technology Program developed the first generation of solar sail propulsion systems sufficient to accomplish inner solar system science and exploration missions. These first generation solar sails, when operational, will range in size from 40 meters to well over 100 meters in diameter and have an area density of less than 13 grams per square meter. A rigorous, multi-year technology development effort culminated in 2005 with the testing of two different 20-m solar sail systems under thermal vacuum conditions. This effort provided a number of significant insights into the optimal design and expected performance of solar sails as well as an understanding of the methods and costs of building and using them. In addition, solar sail orbital analysis tools for mission design were developed and tested. Laboratory simulations of the effects of long-term space radiation exposure were also conducted on two candidate solar sail materials. Detailed radiation and charging environments were defined for mission trajectories outside the protection of the earth's magnetosphere, in the solar wind environment. These were used in other analytical tools to prove the adequacy of sail design features for accommodating the harsh space environment. The presentation will describe the status of solar sail propulsion within NASA, near-term solar sail mission applications, and near-term plans for further development.

Johnson, Charles Les↗

Historical development of the windmill

Throughout history, windmill technology represented the highest levels of development in those technical fields now referred to as mechanical engineering, civil engineering, and aerodynamics. Key stages are described in the technical development of windmills as prime movers; from antiquity to construction of the well known Smith-Putnam wind turbine generator of the 1940's, which laid the foundation for modern wind turbines. Subjects covered are windmills in ancient times; the vertical axis Persian windmill; the horizontal axis European windmill (including both post mills and tower mills); technology improvements in sails, controls, and analysis; the American farm windmill; the transition from windmills to wind turbines for generating electricity at the end of the 19th century; and wind turbine development in the first half of the 20th century.

Shepherd, Dennis G.↗

The Heliopause Electrostatic Rapid Transit System (HERTS) - Design, Trades, and Analyses Performed in a Two Year NASA Investigation of Electric Sail Propulsion Systems

Personnel from NASA's MSFC have been investigating the feasibility of an advanced propulsion system known as the Electric Sail (E-Sail) for future scientific exploration missions. This team initially won a NASA Space Technology Mission Directorate (STMD) Phase I NASA Innovative Advanced Concept (NIAC) award and then a two-year follow-on Phase II NIAC award in October 2015. This paper documents the findings from this three-year investigation. An Electric sail, a propellant-less propulsion system, uses solar wind ions to rapidly travel either to deep space or the inner solar system. Scientific spacecraft could reach Pluto in ~5 years, or the boundary of the solar system in ten to twelve years compared to the thirty-five plus years the Voyager spacecraft took. The team's recent focuses have been: 1) Developing a Particle in Cell (PIC) numeric engineering model from MSFC's experimental data on the interaction between simulated solar wind and a charged bare wire that can be applied to a variety of missions, 2) Determining what missions could benefit from this revolutionary propulsion system, 3) Conceptualizing spacecraft designs for various tasks: to reach the solar system's edge, to orbit the sun as Heliophysics sentinels, or to examine a multitude of asteroids.

Wiegmann, Bruce M.↗

Findings from NASA's 2015-2017 Electric Sail Investigations

Personnel from NASA's MSFC have been investigating the feasibility of an advanced propulsion system known as the Electric Sail (E-Sail) for future scientific exploration missions. This team initially won a NASA Space Technology Mission Directorate (STMD) Phase I NASA Innovative Advanced Concept (NIAC) award and then a two-year follow-on Phase II NIAC award in October 2015. This paper documents the findings from this three-year investigation. An Electric sail, a propellant-less propulsion system, uses solar wind ions to rapidly travel either to deep space or the inner solar system. Scientific spacecraft could reach Pluto in approx. 5 years, or the boundary of the solar system in ten to twelve years compared to the thirty-five plus years the Voyager spacecraft took. The team's recent focuses have been: 1) Developing a Particle in Cell (PIC) numeric engineering model from MSFC's experimental data on the interaction between simulated solar wind and a charged bare wire that can be applied to a variety of missions, 2) Determining what missions could benefit from this revolutionary propulsion system, 3) Conceptualizing spacecraft designs for various tasks: to reach the solar system's edge, to orbit the sun as Heliophysics sentinels, or to examine a multitude of asteroids.

Wiegmann, Bruce M.↗

ACS3: Flight Dynamics

The NASA's Advanced Composite Solar Sail System (ACS3) mission consist of a spacecraft that will deploy an 80 m2 solar sail in Low Earth Orbit (LEO). The main objective of the mission is to demonstrate that the solar wind can impulse the spacecraft to change the semimajor-axis and obtain a different orbit altitude. The sail will be composed of a combination of composite materials with distinct properties, and it will be deployed with lightweight booms from a 12U CubeSat bus, developed by Nanoavionics. The spacecraft will be launched aboard an Electron launch vehicle from Rocket LAB Launch Complex in New Zealand. This paper covers the orbital mechanics and navigation developments to support the mission, from the solar sail trajectory model to the actual flight dynamics system to provide the orbit determination analysis prior to flight. First, we introduce a description of our high-fidelity propagation that accounts for the solar radiation pressure to produce predictive ephemeris of the solar sail performance with several spacecraft attitude modes. As part of our results, we present plots of the expected altitudes achieved by the spacecraft once the solar sail is deployed under various assumptions of the solar weather. In addition to that, we present a full description of our orbit determination process which relies in GPS state vectors to accurately estimate the position and velocity uncertainties at a frequent cadence during the mission. The outcome of this process will be critical to achieving the objective of determining effective altitude change produced by the solar sail.

Solar sail↗

Flight Demonstration of Novel Atmospheric Satellite Concept

The major focus of the Phase II effort described herein is to develop and demonstrate an aircraft capable of autonomously sailing (i.e., to cruise without propulsion or external assistance), and thereby prove that the dual-aircraft platform (DAP) atmospheric satellite concept is potentially viable. This sailing mode of flight was identified as the number-1 enabling technology required for the stratospheric DAP concept (also known as Stratosat) in the NIAC (NASA Innovative Advanced Concept) Phase I effort. No scientific demonstration of this technology has ever been done or documented to our knowledge. This report describes efforts to take a major step towards the sailing mode of flight capability using a single aircraft connected by cable to a moving ground vehicle which uses sufficient crosswind to cruise without propulsion while "pulling" the ground vehicle forward (i.e., without external assistance). The development of a prototype aircraft is described in terms of novel and key hardware and software elements. A specialized prototype aircraft is described, including a novel cable release mechanism, novel "lateron" control surfaces, and a highly-accurate onboard wind measurement system. Additionally, a novel means to safely connect the aircraft to the moving ground vehicle is described involving a fishing rod/reel and integrated load cell. All of these devices were designed and developed in-house and validated in flight testing. Software is developed to provide look-up tables that give the flight condition targets (i.e., 3-D position relative to ground vehicle, forward speed, aircraft orientation, etc.), based on current wind speed and direction. These tables are successfully validated in flight simulation and used onboard the aircraft. High fidelity analysis of the aircraft aerodynamics are described - required to produce accurate target sailing flight conditions. A novel wind tunnel measurement technique is developed to accurately assess the aerodynamics of the ultra-thin cable. A new specialized flight simulator is described which is utilized to develop and verify the flight software required onboard the aircraft, and to support training of pilots for flying the aircraft while tethered to a ground vehicle. The DAP flight simulator was developed within the Matlab-Simulink framework and included detailed treatment of aircraft/cable aerodynamics, cable dynamics, experimentally-derived propeller-motor thrust curves, actuator responsiveness, and realistic air turbulence. The specialized formation flight controller algorithm, developed using this flight simulator, and onboard the aircraft is described. Finally, a novel auto-tuning software is described and verified within the flight simulator that is shown to refine the sailing flight condition targets during flight using an optimization technique involving doublet maneuvers. Virtual flights using the auto-tuning software indicate that the prototype aircraft should be able to reach and hold sailing conditions despite moderate levels of turbulence provided there is sufficient mean wind available. An overview of the flight testing program is provided. Hundreds of short flights were conducted, primarily using a “dead” short runway at Deland Municipal Airport which permitted use of a moving ground vehicle. Additional flight tests at Space Florida’s Shuttle Landing Facility are also described. First year results from these tests in which the aircraft is controlled manually, demonstrated that excessive flight testing would be required for a pilot to learn to sail with visual cues. However, second year results from autonomous flight these tests included successful demonstration of the closed-loop autonomous formation flight capability (i.e., autonomously determine, reach, and hold the required 3-D location relative to the ground vehicle required for sailing). The next step of using the auto-tune software to autonomously refine the aircraft orientation targets to finally achieve sailing remains the primary goal of future work.

Flight↗

ACS3 - Flight Dynamics for A Solar Sail Technology Demonstration Mission

The NASA's Advanced Composite Solar Sail System (ACS3) mission consist of a spacecraft that will deploy an 80 m 2 solar sail in a 1000 km sun-synchronous orbit. The main objective of the mission is to demonstrate that the solar wind can impulse the spacecraft to change the semimajor-axis and obtain a different orbit altitude. The sail will be composed of a combination of composite materials with distinct properties, and it will be deployed with lightweight booms from a 12U CubeSat bus, developed by Nanoavionics. The spacecraft will be launched aboard an Electron launch vehicle from Rocket LAB Launch Complex in New Zealand no earlier than July 2023. This paper covers the orbital mechanics and navigation developments to support the mission, from the solar sail trajectory model to the actual flight dynamics system to provide the orbit determination analysis prior to flight. First, we introduce a description of our high-fidelity propagation that accounts for the solar radiation pressure to produce predictive ephemeris of the solar sail performance with several spacecraft attitude modes. As part of our results, we present plots of the expected altitudes achieved by the spacecraft once the solar sail is deployed under various assumptions of the solar weather. In addition to that, we present a full description of our orbit determination process which relies in GPS state vectors to accurately estimate the position and velocity uncertainties at a frequent cadence during the mission. The outcome of this process will be critical to achieving the objective of determining effective altitude change produced by the solar sail.

Solar Sail↗

Pressure Sensitive Paint Applied to Flexible Models Project

One gap in current pressure-measurement technology is a high-spatial-resolution method for accurately measuring pressures on spatially and temporally varying wind-tunnel models such as Inflatable Aerodynamic Decelerators (IADs), parachutes, and sails. Conventional pressure taps only provide sparse measurements at discrete points and are difficult to integrate with the model structure without altering structural properties. Pressure Sensitive Paint (PSP) provides pressure measurements with high spatial resolution, but its use has been limited to rigid or semi-rigid models. Extending the use of PSP from rigid surfaces to flexible surfaces would allow direct, high-spatial-resolution measurements of the unsteady surface pressure distribution. Once developed, this new capability will be combined with existing stereo photogrammetry methods to simultaneously measure the shape of a dynamically deforming model in a wind tunnel. Presented here are the results and methodology for using PSP on flexible surfaces.

model deformation↗

Aerodynamic Characterization of New Parachute Configurations for Low-Density Deceleration

The Low Density Supersonic Decelerator project performed a wind tunnel experiment on the structural design and geometric porosity of various sub-scale parachutes in order to inform the design of the 110ft nominal diameter flight test canopy. Thirteen different parachute configurations, including disk-gap-band, ring sail, disk sail, and star sail canopies, were tested at the National Full-scale Aerodynamics Complex 80- by 120-foot Wind Tunnel at NASA Ames Research Center. Canopy drag load, dynamic pressure, and canopy position data were recorded in order to quantify there lative drag performance and stability of the various canopies. Desirable designs would yield increased drag above the disk-gap-band with similar, or improved, stability characteristics. Ring sail parachutes were tested at geometric porosities ranging from 10% to 22% with most of the porosity taken from the shoulder region near the canopy skirt. The disk sail canopy replaced the rings lot portion of the ring sail canopy with a flat circular disk and wastested at geometric porosities ranging from 9% to 19%. The star sail canopy replaced several ringsail gores with solid gores and was tested at 13% geometric porosity. Two disk sail configurations exhibited desirable properties such as an increase of 6-14% in the tangential force coefficient above the DGB with essentially equivalent stability. However, these data are presented with caveats including the inherent differences between wind tunnel and flight behavior and qualitative uncertainty in the aerodynamic coefficients.

parachute↗

System and Method for Modeling the Flow Performance Features of an Object

The method and apparatus includes a neural network for generating a model of an object in a wind tunnel from performance data on the object. The network is trained from test input signals (e.g., leading edge flap position, trailing edge flap position, angle of attack, and other geometric configurations, and power settings) and test output signals (e.g., lift, drag, pitching moment, or other performance features). In one embodiment, the neural network training method employs a modified Levenberg-Marquardt optimization technique. The model can be generated 'real time' as wind tunnel testing proceeds. Once trained, the model is used to estimate performance features associated with the aircraft given geometric configuration and/or power setting input. The invention can also be applied in other similar static flow modeling applications in aerodynamics, hydrodynamics, fluid dynamics, and other such disciplines. For example, the static testing of cars, sails, and foils, propellers, keels, rudders, turbines, fins, and the like, in a wind tunnel, water trough, or other flowing medium.

Jorgensen, Charles↗

Electric Sail Design Sensitivities

Electric Sails (E-Sails) are a promising propulsion technology that seek to enable high characteristic propellentless acceleration for spacecraft to reach distant and/or difficult to reach orbits such as rapid transit to heliopause. The E-Sail system exchanges momentum by using positively charged electrostatic tethers to repel solar wind photons to push it through space. This concept was first theorized by Pekka Janhunen in 2004 with further developments occurring including a NASA Innovative Advanced Concepts Phase 1 and Phase 2 hosted out of NASA’s Marshall Space Flight Center (MSFC). These developments led to further maturation of the overall system, and this paper is designed to help identify different design sensitivities of an integrated Electric Sail system. To approach this, a small team at MSFC took an in-house developed three degrees of freedom (3DoF) simulation tool and a trajectory modelling tool to look at different design parameters and to determine a potential ideal E-Sail configuration. An E-Sail system has different design architectures including a barbell design, hub and spoke design, and a potential hybrid solution. The barbell design features two equally massed satellites that spin around a central point in the tether system. The hub and spoke design features a large central spacecraft with small end spacecraft to aid in formation control of the overall E-Sail system. Leveraging elements from both the hub and spoke, and barbell design, a hybrid option exists where one could have a larger central mass and one or two tethers extended to a smaller end mass [2]. In summary, the hub and spoke design is the ideal configuration for E-Sail with tethers spanning kilometers to achieve the designed design characteristic acceleration of at least one mm/s2 with this architecture being the focus of this study. Different key design parameters were varied as part of this study. These parameters include the total number of tethers, the length of the tethers, spin rate, relative spacecraft mass, tether voltage, inertia per tether, and impact of slew rate changes. These results started from an internal MSFC technology demonstration mission design and then the parameters were varied with engineering judgement to ensure that the results were consistent with expected results. These were varied in the MSFC 3DoF tool and compared to baseline results to generate a candidate ideal E-Sail design system. These results were then used to help inform the mission analysis design for the system. The 3DoF trajectory optimization was performed in the Astrodynamics and Space Science Enabling Toolbox (ASSET) and utilized collocation optimization of control vector pointing with the objective function being transfer duration. A representative model of the E-Sail force was derived as a function of the Sun-pointing vector direction. This model was initialized with a zero Sun Incidence Angle (SIA) trajectory for the initial guess generation, then with a portion of the mission optimized SIA time history for fast outbound transfers. After the trajectory is hyperbolic relative to a heliocentric frame, the SIA is maintained at 0 degrees except for any needed trajectory correction maneuvers. This trajectory optimization looked at different characteristic acceleration values to analyze the impact it had on mission performance. As a result of this study, the team can best inform mission designers and technology development efforts to mature the E-Sail system. This study will allow mission designers to have defined rules-of-thumb to design an E-Sail system to meet desired mission needs as well as providing several sample mission profiles. These design drivers will inform maturation efforts on which design requirements to consider for an integrated E-Sail design.

E-Sail↗

Design of a recovery system for a reentry vehicle

Engineers are often required to design decelerator systems which are deployed in cross-wind orientations. If the system is not designed to minimize 'line sail', damage to the parachutes could result. A Reentry Vehicle Analysis Code (RVAC) and an accompanying graphics animation software program (DISPLAY) are presented in this paper. These computer codes allow the user to quickly apply the Purvis line sail modeling technique to any vehicle and then observe the relative motion of the vehicle, nose cap, suspension lines, pilot and drogue bags and canopies on a computer screen. Data files are created which allow plots of velocities, spacial positions, and dynamic pressures versus time to be generated. The code is an important tool for the design engineer because it integrates two degrees of freedom (DOF) line sail equations with a three DOF model of the reentry body and jettisoned nose cap to provide an animated output.

Von Eckroth, Wulf↗

Ion Flux Environments for Exposed Spacecraft Surfaces in Interplanetary Space

Spacecraft surfaces in interplanetary space are exposed to solar wind ions. The bulk of the ions exhibit energies of a few kilovolts and are important only to surface interactions while a fraction of the solar wind extends to greater energies and may penetrate below the material surface. The importance of including solar wind ions in analysis of space environment effects on spacecraft is becoming more important as new spacecraft designs are considered which include systems such as sunshades, solar sail propulsion systems, and other mission critical features based on very thin materials. This paper provides a status report on development of solar wind ion environments to support engineering analysis of materials exposed to the space environment including techniques for reconstructing ion environments from solar wind plasma moments and energetic flux measurements and comparison of statistical flux environments to integrated mission fluence.

Minow, Joseph I.↗