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An extended-image acquisition and tracking technique developed to enable precision pointing to a moving target through an imaging device is described in this paper.
In connection with the current interest in agile spacecraft maneuvers, it has become necessary to consider the nonlinear coupling effects of multiaxial rotation in the treatment of command generation and tracking problems. Multiaxial maneuvers will be required in military missions involving a fast acquisition of moving targets in space. In addition, such maneuvers are also needed for the efficient operation of robot manipulators. Attention is given to details regarding the direct nonlinear command generation and tracking, an approach which has been successfully applied to the design of control systems for V/STOL aircraft, linearizing transformations for spacecraft controlled with external thrusters, the case of flexible spacecraft dynamics, examples from robot dynamics, and problems of implementation and testing.
Fast, pulsed atomic oxygen sources are a key tool in ground-based investigations of spacecraft contamination and surface erosion effects. These technically challenging ground-based studies provide a before and after picture of materials under low-earth-orbit (LEO) conditions. It would be of great interest to track in real time the pulsed flux from the source to the surface sample target and beyond in order to characterize the population of atoms and molecules that actually impact the surface and those that make it downstream to any coincident detectors. We have performed simulations in order to provide such detailed descriptions of these ground-based measurements and to provide an assessment of their correspondence to the actual LEO environment. Where possible we also make comparisons to measured fluxes and erosion yields. To perform the calculations we use a detailed description of a measurement beam and surface geometry based on the W, pulsed apparatus at Montana State University. In this system, a short pulse (on the order of 10 microseconds) of an O/O2 beam impacts a flat sample about 40 cm downstream and slightly displaced &om the beam s central axis. Past this target, at the end of the beam axis is a quadrupole mass spectrometer that measures the relative in situ flux of 0102 to give an overall normalized erosion yield. In our simulations we use the Direct Simulation Monte Carlo (DSMC) method, and track individual atoms within the atomic oxygen pulse. DSMC techniques are typically used to model rarefied (few collision) gas-flows which occur at altitudes above approximately 110 kilometers. These techniques are well suited for the conditions here, and multi-collision effects that can only be treated by this or a similar technique are included. This simulation includes collisions with the surface and among gas atoms that have scattered from the surface. The simulation also includes descriptions of the velocity spread and spatial profiles of the O/O2 beam obtained from separate measurements. These computations use basic engineering models for the gas-gas and gas-surface scattering and focus on the influence of multi-collision effects. These simulations characterize many important quantities of interest including the actual flux of atoms that reach the surface, the energy distribution of this flux, as well as the direction of the velocity of the flux that strikes the surface. These quantities are important in characterizing the conditions which give rise to measured surface erosion. The calculations also yield time- snapshots of the pulse as it impacts and flows around the surface. These snapshots reveal the local environment of gas near the surface for the duration of the pulse. We are also able to compute the flux of molecules that travel downstream and reach the spectrometer, and we characterize their velocity distribution. The number of atoms that reach the spectrometer can in fact be influenced by the presence of the surface due to gas-gas collisions from atoms scattered h m the surface, and it will generally be less than that with the surface absent. This amounts to an overall normalization factor in computing erosion yields. We discuss these quantities and their relationship to the gas-surf$ce interaction parameters. We have also performed similar calculations corresponding to conditions (number densities, temperatures, and velocities) of low-earth orbit. The steady-state nature and lower overall flux of the actual space environment give rise to differences in the nature of the gas-impacts on the surface from those of the ground-based measurements using a pulsed source.
The Deep Space Network (DSN) is NASA’s international array of antennas that support interplanetary spacecraft missions. DSN provides radar and radio astronomy observations that enhance our understanding of the solar system and the larger universe. A track is a block of continuous multi-dimensional time series from the beginning to end of DSN communication with the target spacecraft, containing 129 monitor data items lasting several hours at a frequency of 0.2-1Hz. Monitor data on each track reports on the performance of specific spacecraft operations and the DSN itself. DSN is receiving signals from 32 spacecraft across the solar system. DSN has pressure to reduce costs while maintaining the quality of support for DSN mission users. DSN operators need to simultaneously monitor multiple tracks and identify anomalies in real time. DSN has seen that as the number of missions increases, the data that needs to be processed increases over time. In this project, we look at the last 8 years of data for analysis. Any anomaly in the track indicates a problem with either the spacecraft, DSN equipment, or weather conditions. DSN operators typically write “discrepancy reports” for further analysis. It is recognized that it would be quite helpful to identify 10 similar historical tracks out of the huge database to quickly find/match anomalies. This tool has three functions: (1) identification of the top 10 similar historical tracks, (2) detection of anomalies compared to the reference normal track, and (3) comparison of statistical differences between two given tracks. The requirements for these features were confirmed by survey responses from 21 DSN operators and engineers. The preliminary machine learning model has shown promising performance (AUC=0.92). We plan to increase the number of data sets and perform additional testing to improve performance further before its planned integration into the Track Visualizer to assist DSN field operators and engineers.
With the growth of the National Aeronautics and Space Administration (NASA) National Campaign, it is becoming increasingly important for government and enforcement agencies to be able to monitor and safely track urban air traffic that will take place in the coming years. The performance of the Lightweight Surveillance and Target Acquisition Radar (LSTAR) is investigated and statistically characterized. The compact LSTAR is mounted on a building at NASA Langley Research Center (LaRC) and operated to track a SR-22 aircraft. Performance data of the LSTAR tracking is presented by comparing the LSTAR-tracked flight against the onboard flight records and statistical characteristics are presented. Implications of findings to operations within High Density Vertiplex (HDV) at LaRC are discussed. The LSTAR ultimately proves to be a compact method to safely track and monitor small aircraft and other unmanned aerial vehicles.
Our motivation is to develop more efficient heliostats that can provide commercially viable solar thermal power at temperatures > 800°C. Such high temperatures will enable high-temperature industrial processes, as well as electrical generation after sunset with high efficiency. The importance of this research is that such heliostats have the potential to substantially expand the global use of solar energy, by adding solar thermal power as a major component. Thermal solar currently accounts for only 1% of all solar power (with PV being the rest), with heliostat fields providing just 0.25%. Our goals have been 1) to demonstrate a technical improvement for heliostats that can enable fields of them to more efficiently power receivers and reactors, and 2) to show a path to low-cost mass production. Our solution uses new opto-mechanical technology to correct a fundamental deficiency of present heliostats that limits their concentration, namely that they have fixed shape. Most of today’s heliostat research does not address this, but is directed simply toward cost reduction in an effort to make heliostats commercially viable. We are motivated to explore also improving heliostat efficiency, which can be done by continually changing their shape to maximize the concentration of sunlight throughout the day. This is not a new concept, but it has never been implemented in a practical, cost-effective way that approaches the theoretical limit to concentration while also improving mechanical performance; this is our goal. Our major accomplishments have been: 1) We have realized the planned design, construction, and test of a prototype heliostat that achieves the required shape changes in an 8 m2 single-piece glass mirror. The mirror is attached to a steel support frame that is automatically mechanically twisted by the heliostat drives that orient the mirror to direct sunlight to the tower-mounted receiver. Closed-loop tracking is done using a new beamsplitter camera that exploits the target-oriented mount configuration. Field tests of the heliostat show that the light is reflected through the day to always form a disc image of the sun, as needed to obtain the highest concentration. 2) We have developed the design for a field of 431 heliostats to deliver annual average of 1 MW of thermal power at 3,000 sun concentration, matched to a high-temperature ≥ 1000°C chemical reactor. 3) We have also developed, beyond the original stated goals of the project, a new concept for closed-loop tracking and shape-sensing for all the heliostats in the above field, using just 6 cameras around the concentrated reactor focus. Our research adds to the understanding of solar thermal energy by its demonstration of the technical effectiveness of a higher performing heliostat, and by its concept for a new powerful method for real-time tracking and shape sensing in the field, as described above. We have studied the economic feasibility of fields of our twisting heliostats to provide high- temperature heat at a price competitive with that of burning gas, to satisfy the DOE’s studied zero-emissions scenario, where the gas price has to include the cost of carbon capture. The project has the potential to greatly benefit the public if it helps limit global warming by 1) reducing carbon emission from industrial heating, which is currently a major contributor to the 40-billion-ton annual increase in atmospheric CO 2 . 2) Ultimately, the technology could prove to be the least expensive method to power direct air capture of CO 2 on the very large scale needed to remove the 1 trillion-ton excess of CO 2 already in the atmosphere.
Abstract- with the growth of the National Aeronautics and Space Administration (NASA) National Campaign, it is becoming increasingly important for government and enforcement agencies to be able to monitor and safely track urban air traffic that will take place in the coming years. The performance of the Lightweight Surveillance and Target Acquisition Radar (LSTAR) is investigated and statistically characterized. The compact LSTAR is mounted on a building at NASA Langley Research Center (LaRC) and operated to track a SR-22 aircraft. Performance data of of the LSTAR tracking is presented by comparing the LSTAR-tracked flight against the on-board flight records and statistical characteristics are presented. Implications of findings to operations within High Density Vertiplex (HDV) at LaRC are discussed. The LSTAR ultimately proves to be a compact method to safely track and monitor small aircraft and other unmanned aerial vehicles.
The Spallation Neutron Source (SNS) at Oak Ridge National Laboratory accelerates proton beams, which are directed toward a mercury target to generate the world’s most intense neutron beams via spallation. The target system consists of several interconnected subsystems and accounts for a major share of the facility’s overall downtime. Early detection of anomalies in the target system response can thus provide the possibility of taking corrective actions to reduce downtime. Accelerator facilities have largely focused on the beam side for data-driven fault prognostics. On the target side, SNS relies on operational shift technicians (OSTs), who respond to alarms and manually flag anomalies onto the System Tracking and Reliability (STAR) platform. This paper presents one of the first studies of using machine learning (ML) to automate anomaly detection in the target system. The study focused on the mercury process system as the first use case and employed reconstruction-based anomaly detection on minutely sampled time series signals. The pipeline was integrated into the STAR platform to autonomously rank and flag anomalies every week. The STAR platform provides a user interface for the OSTs to evaluate the flagged anomalies, thereby incorporating human feedback.
In high precision flight maneuvres a pilot is a part of a closed loop pilot/aircraft system. The assessment of the flying qualities is highly dependent on the closed loop characteristics related to precision maneuvres like approach, landing, air-to-air tracking, air-to-ground tracking, close formation flying and air-to air refueling of the receiver. The object of a research program at DFVLR is the final flight phase of an air to ground mission. In this flight phase the pilot has to align the aircraft with the target, correct small deviations from the target direction and keep the target in his sights for a specific time period. To investigate the dynamic behavior of the pilot-aircraft system a special ground attack flight test technique with a prolonged tracking maneuvres was developed. By changing the targets during the attack the pilot is forced to react continously on aiming errors in his sights. Thus the closed loop pilot/aircraft system is excited over a wide frequency range of interest, the pilot gets more information about mission oriented aircraft dynamics and suitable flight test data for a pilot/aircraft analysis can be generated.
In the present paper, bistatic radar techniques are discussed which can be used to identify and measure the dimensions of anomalously scattering regions on planetary surfaces. The morphometric potential of the bistatic radar is demonstrated by an example in which spectral features in Apollo 14 echoes are correlated with parts of the lunar crater Lansberg. Crater dimensions, including width of interior walls and extent of the ejecta blanket, are determined from a quantitative analysis. It is shown that the technique can be generalized for scattering areas at arbitrary positions with respect to the ground track, and could easily be inverted for characterization of a 'blind' target, such as Venus.
Laser ranging to lunar surface retroreflectors has provided a valuable source of data for the investigation of the lunar orbit, the earth's orientation in space, general relativity, and many other aspects of solar system dynamics. Due to the moon's relatively large distance, and the requirement to keep the beam from the relatively low-power laser very narrow, acquiring this data type requires very accurate telescope pointing and tracking capabilities. The nominal requirement is to keep the telescope on target within approximately 1 arcsec of its predicted location for at least several minutes. An expansion of this requirement and the methods used to accomplish this high precision pointing are presented. Difficulties encountered and a few future goals of automating the McDonald station are also discussed.
For rendezvous and docking, assessing and tracking relative orientation is necessary within a minimum approach distance. Special target light patterns have previously been considered for use with video sensors for ease of determining relative orientation. A generalization of those approaches is addressed. At certain ranges, the entire structure of the target vehicle constitutes an acceptable target; at closer ranges, substructures will suffice. Acting on the same principle as the human intelligence, these structures can be compared with a memory model to assess the relative orientation and range. Models for comparison are constructed from a CAD facet model and current imagery. This approach requires fast image handling, projection, and comparison techniques which rely on rapidly developing parallel processing technology. Relative orientation and range assessment consists of successful comparison of the perceived target aspect with a known aspect. Generating a known projection from a model within required times, say subsecond times, is only now approaching feasibility. With this capability, rates of comparison used by the human brain can be approached and arbitrary known structures can be compared in reasonable times. Future space programs will have access to powerful computation devices which far exceed even this capability. For example, the possibility will exist to assess unknown structures and then control rendezvous and docking, all at very fast rates. The first step which has the current utility, namely applying this to known structures, is taken.
TerraSAR-X is an advanced synthetic aperture radar satellite system for scientific and commercial applications that is realized in a public-private partnership between the German Aerospace Center (DLR) and the Astrium GmbH. TerraSAR-X was launched at June 15, 2007 on top of a Russian DNEPR-1 rocket into a 514 km sun-synchronous dusk-dawn orbit with an 11-day repeat cycle and will be operated for a period of at least 5 years during which it will provide high resolution SAR-data in the X-band. Due to the objectives of the interferometric campaigns the satellite has to comply to tight orbit control requirements, which are formulated in the form of a 250 m toroidal tube around a pre-flight determined reference trajectory (see [1] for details). The acquisition of the reference orbit was one of the main and key activities during the Launch and Early Orbit Phase (LEOP) and had to compensate for both injection errors and spacecraft safe mode attitude control thruster activities. The paper summarizes the activities of GSOC flight dynamics team during both LEOP and early Commissioning Phase, where the main tasks have been 1) the first-acquisition support via angle-tracking and GPS-based orbit determination, 2) maneuver planning for target orbit acquisition and maintenance, and 3) precise orbit and attitude determination for SAR processing support. Furthermore, a presentation on the achieved results and encountered problems will be addressed.
The device and associated analysis methodology summarized in this report were developed for the purpose of estimating the size of discontinuities in the surface of the foam that covers the Space Shuttle External Tank. These surface offsets are thought to be due to subsurface cracks in the foam insulation. The mathematical analysis and procedure described here provide a method to quantity the dimensions of the crack offset in a direction perpendicular to the surface, making use of the projected laser target device (PLTD) tool and a laser line projector. The keys to the construction and use of the PLTD are the following geometrical design requirements: Laser dots are on a square grid: length on a side. Laser beams are perpendicular to projected surface. Beams are parallel out to the distance being projected. The PLTD can be used to (1) calibrate fixed cameras of unknown magnification and orientation (far-field solution); (2) provide equivalent calibration to multiple cameras, previously achieved only by the use of known target points, for example, in 3.D foreign-object debris tracking on a fixed launch platform; (3) compute scaling for conventional 2.D images, and depth of field for 3.D images (near-field solution); and (4) in conjunction with a laser line projector, achieve accurate measurements of surface discontinuity (cracks) in a direction perpendicular to the surface.
Monte-Carlo track structure simulations can accurately simulate experimental data: a) Frequency of target hits. b) Dose per event. c) Dose per ion. d) Radial dose. The dose is uniform in micrometers sized voxels; at the nanometer scale, the difference in energy deposition between high and low-LET radiations appears. The calculated 3D distribution of dose voxels, combined with chromosomes simulated by random walk is very similar to the distribution of DSB observed with gamma-H2AX experiments. This is further evidenced by applying a visualization threshold on dose.
The Space Shuttle Ascent Flight Design team is responsible for defining a launch to orbit trajectory profile that satisfies all programmatic mission objectives and defines the ground and onboard reconfiguration requirements for this high-speed and demanding flight phase. This design, verification and reconfiguration process ensures that all applicable mission scenarios are enveloped within integrated vehicle and spacecraft certification constraints and criteria, and includes the design of the nominal ascent profile and trajectory profiles for both uphill and ground-to-ground aborts. The team also develops a wide array of associated training, avionics flight software verification, onboard crew and operations facility products. These key ground and onboard products provide the ultimate users and operators the necessary insight and situational awareness for trajectory dynamics, performance and event sequences, abort mode boundaries and moding, flight performance and impact predictions for launch vehicle stages for use in range safety, and flight software performance. These products also provide the necessary insight to or reconfiguration of communications and tracking systems, launch collision avoidance requirements, and day of launch crew targeting and onboard guidance, navigation and flight control updates that incorporate the final vehicle configuration and environment conditions for the mission. Over the course of the Space Shuttle Program, ascent trajectory design and mission planning has evolved in order to improve program flexibility and reduce cost, while maintaining outstanding data quality. Along the way, the team has implemented innovative solutions and technologies in order to overcome significant challenges. A number of these solutions may have applicability to future human spaceflight programs.
A piloted simulation was conducted to study handling qualities for capsule spacecraft entering the Earth s atmosphere. Eight evaluation pilots, including six pilot astronauts, provided Cooper-Harper ratings, workload ratings, and qualitative comments. The simulation began after descending through the atmospheric entry interface point and continued until the drogue parachutes deployed. There were two categories of piloting tasks, both of which required bank angle control. In one task category, the pilot followed a closed-loop bank angle command computed by the backup guidance system to manage g-loads during entry. In the other task category, the pilot used intuitive rules to determine the desired bank angle independently, based on an open-loop schedule of vertical speed, Mach, and total energy specified at several range-to-target gates along the entry trajectory. Pilots were able to accurately track the bank angle guidance commands and steered the capsule toward the recovery site with essentially the same range error as the benchmark autopilot trajectory albeit with substantially higher propellant usage, and the handling qualities for this task were satisfactory. Another key result was that the complex piloting task of atmospheric entry could be performed satisfactorily, even in the presence of large dispersions, by controlling bank angle to follow a simple open-loop schedule.
Sub-scale water tests were undertaken to assess the viability of utilizing high resolution, high frame-rate digital video recordings of a liquid rocket engine turbopump axial inducer to characterize cavitation instabilities. These high speed video (HSV) images of various cavitation phenomena, including higher order cavitation, rotating cavitation, alternating blade cavitation, and asymmetric cavitation, as well as non-cavitating flows for comparison, were recorded from various orientations through an acrylic tunnel using one and two cameras at digital recording rates ranging from 6,000 to 15,700 frames per second. The physical characteristics of these cavitation forms, including the mechanisms that define the cavitation frequency, were identified. Additionally, these images showed how the cavitation forms changed and transitioned from one type (tip vortex) to another (sheet cavitation) as the inducer boundary conditions (inlet pressures) were changed. Image processing techniques were developed which tracked the formation and collapse of cavitating fluid in a specified target area, both in the temporal and frequency domains, in order to characterize the cavitation instability frequency. The accuracy of the analysis techniques was found to be very dependent on target size for higher order cavitation, but much less so for the other phenomena. Tunnel-mounted piezoelectric, dynamic pressure transducers were present throughout these tests and were used as references in correlating the results obtained by image processing. Results showed good agreement between image processing and dynamic pressure spectral data. The test set-up, test program, and test results including H-Q and suction performance, dynamic environment and cavitation characterization, and image processing techniques and results will be discussed.