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NASA NTRS2005

Itegrated Test and Evaluation of a 4-Bed Molecular Sieve (4BMS) Carbon Dioxide Removtal System (CDRA), Mechanical Compressor Engineering Development Unit (EDU), and Sabitier Engineering Development Unit (EDU)

Currently on the International Space Station s (ISS) U.S. Segment, carbon dioxide (CO2) scrubbed from the cabin by a 4-Bed Molecular Sieve (4BMS) Carbon Dioxide Removal Assembly (CDRA) is vented overboard as a waste product. Likewise, the product hydrogen (H2) that will be generated by the Oxygen Generation Assembly (OGA) planned for installation will also be vented. A flight experiment has been proposed that will take the waste CO2 removed from the cabin, and via the catalytic Sabatier process, reduce it with waste H2 to generate water and methane. The water produced may provide cost and logistics savings for ISS by reducing the amount of water periodically re-supplied to orbit. To make this concept viable, a mechanical piston compressor and accumulator were developed for collecting and storing the CO2 from the CDRA. The compressor, accumulator and Sabatier system would be packaged together as one unit and referred to as the Carbon Dioxide Reduction Assembly (CRA). Testing was required to evaluate the performance of a 4BMS CDRA, compressor, accumulator, and Sabatier performance along with their operating rules when integrated together. This had been numerically modeled and simulated; however, testing was necessary to verify the results from the engineering analyses. Testing also allowed a better understanding of the practical inefficiencies and control issues involved in a fully integrated system versus the theoretical ideals in the model. This paper presents and discusses the results of an integrated engineering development unit test.

Knox, James C.↗

NASA NTRS1997

A Comparison of Geoid Undulations for West Central Greenland

The accuracy of a new local gravity field model, GEOID94A, is examined at a site on the western Greenland ice sheet. The model, developed by the Danish National Survey and Cadastre, incorporates several new gravity data sets including an extensive amount of airborne gravity data. Model-derived geoid undulations were compared to independently determined undulations found by differencing the elevations from Global Positioning System controlled airborne laser altimetry and optical leveling surveys. Differences between the two sets of undulations were less than +/- 6 cm RMS. The comparison improved (+/- 5 cm RMS) when GEOID94A undulations were adjusted by local gravity observations also acquired at the site. Our comparisons demonstrate that GEOID94A adequately models the long to intermediate wavelengths of the gravity field. We conclude that GEOID94A constitutes a reliable reference model for studies of Greenland's gravity field.

Roman, Daniel R.↗

NASA NTRS1999

Technology Integration (Task 20) Aeroservoelastic Modeling and Design Studies: Evaluation of Aeroservoelastic Effects on Flutter and Dynamic Gust Response - Part A

The HSCT Flight Controls Group has developed longitudinal control laws, utilizing PTC aeroelastic flexible models to minimize aeroservoelastic interaction effects, for a number of flight conditions. The control law design process resulted in a higher order controller and utilized a large number of sensors distributed along the body for minimizing the flexibility effects. Processes were developed to implement these higher order control laws for performing the dynamic gust loads and flutter analyses. The processes and its validation were documented in Reference 2, for selected flight condition. The analytical results for additional flight conditions are presented in this document for further validation.

Nagaraja, K. S.↗

NASA NTRS2008

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.

autonomuys vehicles↗

NASA NTRS1991

Optical correlators for automated rendezvous and capture

The paper begins with a description of optical correlation. In this process, the propagation physics of coherent light is used to process images and extract information. The processed image is operated on as an area, rather than as a collection of points. An essentially instantaneous convolution is performed on that image to provide the sensory data. In this process, an image is sensed and encoded onto a coherent wavefront, and the propagation is arranged to create a bright spot of the image to match a model of the desired object. The brightness of the spot provides an indication of the degree of resemblance of the viewed image to the mode, and the location of the bright spot provides pointing information. The process can be utilized for AR&C to achieve the capability to identify objects among known reference types, estimate the object's location and orientation, and interact with the control system. System characteristics (speed, robustness, accuracy, small form factors) are adequate to meet most requirements. The correlator exploits the fact that Bosons and Fermions pass through each other. Since the image source is input as an electronic data set, conventional imagers can be used. In systems where the image is input directly, the correlating element must be at the sensing location.

Juday, Richard D.↗

NASA NTRS1988

On the inclusion principle and spillover effect in the identification of distributed structures

Distributed structures are Distributed-Parameter Systems (DPS) and must be modeled by large-dimensional systems. Practical limitations require that only a subset of the modes be actively controlled. Control of the residual (uncontrolled) modes is known as control spillover, and it can degrade the system performance. The contamination of the sensor signals by the residual modes is known as observation spillover and it can destabilize the system. An analogous effect exists in the identification problem. Distributed structures must be represented by discretized (finite-dimensional) models or lumped-parameter systems. The contamination of the measurements by the residual (unmodeled) modes is referred to as identification spillover, and it is the object of this study. To study the effects of identification spillover, we use a variational formulation to obtain the natural frequencies and mode shapes. This formulation has direct application to DPS. The identification technique consists of finding the stationary values of a pseudo-Rayleigh quotient.

Norris, Mark. A.↗

NASA NTRS1933

Wind-tunnel research comparing lateral control devices, particularly at high angles of attack III : ordinary ailerons rigged up 10 degrees when neutral

This report presents the results of wind-tunnel tests made on three model wings having different sizes of ordinary ailerons rigged up 10 degrees when neutral, the same models having previously been tested with the ailerons rigged even with the wings in the usual manner. One of the wings had ailerons of medium size, 25 per cent of the wing chord by 40 per cent of the semispan, one had long, narrow ailerons, and one had short, wide ones. These tests are part of a general investigation on lateral control devices, with particular reference to the control at high angles of attack, in which all the devices are being subjected to the same series of tests in the 7 by 10 foot wind tunnel of the National Advisory Committee for Aeronautics. Force tests of the usual type, free-autorotation tests, and forced-rotation tests were made showing the effect of the ailerons on the general performance of the wing, on the lateral controllability, and on the lateral stability.

Weick, Fred E↗

NASA NTRS2011

Investigation of the Impact of User Gaming in the Next Generation National Airspace System

Over the past three decades, growth in the demand for air transportation has exceeded the growth in the national airspace system (NAS) capacity. Systems operating near capacity inevitably have delays and NAS d elays have increased in recent years. The desire to minimize delay costs has placed attention on the NAS air traffic management (ATM) syste m.One initiative that has helped to provide user representation in the ATM solution is the collaborative decision making (CDM) process. CDM addresses this issue by bringing users (referred to here as airline operation centers [AOCs]) and ATM providers together for information e xchange and cooperative planning. Such cooperative planning has been instituted, for instance, for the purpose of planning airport slot control strategies and rerouting strategies. While the CDM initiatives ha ve met with much success, they have also introduced the potential for AOCs to manipulate the system in unforeseen, unintended, and perhaps undesirable ways, from a system-wide, synoptic perspective. This type of manipulation is sometimes referred to as "gaming" the system. This study uses a high-fidelity simulation tool to investigate several models of user decision making behavior which could be considered to be gaming behavior and the emergent system dynamics and interactions between AOCs and traffic management.

Hunter, George C.↗

NASA NTRS1998

Evaluation of Aeroservoelastic Effects on Flutter

This report presents work performed by The Boeing Company to satisfy the deliverable "Evaluation of aeroservoelastic Effects on Symmetric Flutter" for Subtask 7 of Reference 1. The objective of this report is to incorporate the improved methods for studying the effects of a closed-loop control system on the aeroservoelastic behavior of the airplane planned under NASA HSR technical Integration Task 20 work. Also, a preliminary evaluation of the existing pitch control laws on symmetric flutter of the TCA configuration was addressed."The goal is to develop an improved modeling methodology and perform design studies that account for the aero-structures-systems interaction effects.

Nagaraja, K. S.↗

NASA NTRS2015

Construction of Polarimetric Radar-Based Reference Rain Maps for the Iowa Flood Studies Campaign

The Global Precipitation Measurement (GPM) Mission Iowa Flood Studies (IFloodS) campaign was conducted in central and northeastern Iowa during the months of April-June, 2013. Specific science objectives for IFloodS included quantification of uncertainties in satellite and ground-based estimates of precipitation, 4-D characterization of precipitation physical processes and associated parameters (e.g., size distributions, water contents, types, structure etc.), assessment of the impact of precipitation estimation uncertainty and physical processes on hydrologic predictive skill, and refinement of field observations and data analysis approaches as they pertain to future GPM integrated hydrologic validation and related field studies. In addition to field campaign archival of raw and processed satellite data (including precipitation products), key ground-based platforms such as the NASA NPOL S-band and D3R Ka/Ku-band dual-polarimetric radars, University of Iowa X-band dual-polarimetric radars, a large network of paired rain gauge platforms, and a large network of 2D Video and Parsivel disdrometers were deployed. In something of a canonical approach, the radar (NPOL in particular), gauge and disdrometer observational assets were deployed to create a consistent high-quality distributed (time and space sampling) radar-based ground "reference" rainfall dataset, with known uncertainties, that could be used for assessing the satellite-based precipitation products at a range of space/time scales. Subsequently, the impact of uncertainties in the satellite products could be evaluated relative to the ground-benchmark in coupled weather, land-surface and distributed hydrologic modeling frameworks as related to flood prediction. Relative to establishing the ground-based "benchmark", numerous avenues were pursued in the making and verification of IFloodS "reference" dual-polarimetric radar-based rain maps, and this study documents the process and results as they pertain specifically to efforts using the NPOL radar dataset. The initial portions of the "process" involved dual-polarimetric quality control procedures which employed standard phase and correlation-based approaches to removal of clutter and non-meteorological echo. Calculation of a scale-adaptive KDP was accomplished using the method of Wang and Chandrasekar (2009; J. Atmos. Oceanic Tech.). A dual-polarimetric blockage algorithm based on Lang et al. (2009; J. Atmos. Oceanic Tech.) was then implemented to correct radar reflectivity and differential reflectivity at low elevation angles. Next, hydrometeor identification algorithms were run to identify liquid and ice hydrometeors. After the quality control and data preparation steps were completed several different dual-polarimetric rain estimation algorithms were employed to estimate rainfall rates using rainfall scans collected approximately every two to three minutes throughout the campaign. These algorithms included a polarimetrically-tuned Z-R algorithm that adjusts for drop oscillations (via Bringi et al., 2004, J. Atmos. Oceanic Tech.), and several different hybrid polarimetric variable approaches, including one that made use of parameters tuned to IFloodS 2D Video Disdrometer measurements. Finally, a hybrid scan algorithm was designed to merge the rain rate estimates from multiple low level elevation angle scans (where blockages could not be appropriately corrected) in order to create individual low-level rain maps. Individual rain maps at each time step were subsequently accumulated over multiple time scales for comparison to gauge network data. The comparison results and overall error character depended strongly on rain event type, polarimetric estimator applied, and range from the radar. We will present the outcome of these comparisons and their impact on constructing composited "reference" rainfall maps at select time and space scales.

Radar↗

NASA NTRS2009

A Reference Model for Software and System Inspections. White Paper

Software Quality Assurance (SQA) is an important component of the software development process. SQA processes provide assurance that the software products and processes in the project life cycle conform to their specified requirements by planning, enacting, and performing a set of activities to provide adequate confidence that quality is being built into the software. Typical techniques include: (1) Testing (2) Simulation (3) Model checking (4) Symbolic execution (5) Management reviews (6) Technical reviews (7) Inspections (8) Walk-throughs (9) Audits (10) Analysis (complexity analysis, control flow analysis, algorithmic analysis) (11) Formal method Our work over the last few years has resulted in substantial knowledge about SQA techniques, especially the areas of technical reviews and inspections. But can we apply the same QA techniques to the system development process? If yes, what kind of tailoring do we need before applying them in the system engineering context? If not, what types of QA techniques are actually used at system level? And, is there any room for improvement.) After a brief examination of the system engineering literature (especially focused on NASA and DoD guidance) we found that: (1) System and software development process interact with each other at different phases through development life cycle (2) Reviews are emphasized in both system and software development. (Figl.3). For some reviews (e.g. SRR, PDR, CDR), there are both system versions and software versions. (3) Analysis techniques are emphasized (e.g. Fault Tree Analysis, Preliminary Hazard Analysis) and some details are given about how to apply them. (4) Reviews are expected to use the outputs of the analysis techniques. In other words, these particular analyses are usually conducted in preparation for (before) reviews. The goal of our work is to explore the interaction between the Quality Assurance (QA) techniques at the system level and the software level.

He, Lulu↗

NASA NTRS1985

The Venus ionosphere

Physical properties of the Venus ionosphere obtained by experiments on the US Pioneer Venus and the Soviet Venera missions are presented in the form of models suitable for inclusion in the Venus International Reference Atmosphere. The models comprise electron density (from 120 km), electron and ion temperatures, and relative ion abundance in the altitude range from 150 km to 1000 km for solar zenith angles from 0 to 180 deg. In addition, information on ion transport velocities, ionopause altitudes, and magnetic field characteristics of the Venus ionosphere, are presented in tabular or graphical form. Also discussed is the solar control of the physical properties of the Venus ionosphere.

Bauer, S. J.↗

NASA NTRS1987

Adaptive control strategies for cooperative dual-arm manipulators

Three strategies for adaptive control of cooperative dual-arm robots are discussed. Implementation of these adaptive controllers does not require the use of complex mathematical models of the arm dynamics or knowledge of the arm dynamic parameters or load parameters. These strategies have simple structures, and are computationally fast for on-line implementation with high sampling rates. In all three cases, the coupling effects between the arms through the load are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. Simulation results demonstrate the usefulness of the controllers.

Seraji, H.↗

NASA NTRS1990

Dynamic characteristics of a Space Station Freedom Mars evolution reference configuration

One concept for a manned mission to Mars uses as a transportation mode an evolutionary version of Space Station Freedom (SSF), termed the Mars Evolution Reference Configuration (MERC). The MERC is configured by adding to SSF dual keels, an upper and lower boom, additional laboratory and habitation modules, increased power, and an assembly platform. A finite-element model of the MERC was formulated to investigate the expected low frequency modes, and its variations with the addition of large payload. A basic reboost procedure using near-continuous firing of reaction control system jets is described with the closed-loop attitude control system. The elastic dynamic behavior at critical points during a reboost of the MERC, both with and without the Mars piloted vehicle installed, is examined.

Ayers, J. Kirk↗

NASA NTRS1991

Beam power options for the moon

A study to determine the feasibility of providing long-term electrical power to the moon's surface by beaming power from satellites is reported. The model used to develop the reference designs are described, and the major system tradeoffs and reference design characteristics are discussed. The beam power masses and the lunar surface power system masses are compared. In some cases, the beam power system have a quarter of the mass of surface power systems, but the beam power satellites have large space structures that may present complex transportation, deployment, pointing, and control problems.

Fay, E. H.↗

NASA NTRS1992

Recent developments at the Goddard Engineering Test Bed

Work on the Flight Telerobotic Service (FTS) since that reported in Leake (1991) is examined, and initial work on a Hubble servicing mission is outlined. A state-of-the-art force reflecting teleoperation system that uses torque control at the joints of the slave manipulator has been implemented. The master rate/slave damper mode proposed by Langley has proved to be a very efficient operational mode, allowing force reflection ratios up to one to one. A software architecture for real-time Ada robotics systems has been proposed, and implementation has been launched. This architecture builds on the lessons learned from NASA Standard Reference Model Architecture and the prototype FTS effort. The Capaciflector sensor has been integrated into the system, and it has been used to perform a basic berthing task autonomously.

Leake, Stephen↗

NASA NTRS2021

Segregation Evolution and Diffusion of Titanium in Directed Energy Deposited NASA HR-1

Titanium segregation in single-pass directed energy deposited (DED) NASA HR-1 is very difficult to control because grain size varies considerably and many large grains (>100 μm) are present. Therefore, homogenization kinetic analysis was performed to see how the homogenization process should be adjusted to mitigate titanium segregation. A basic model for titanium diffusion in NASA HR-1 was developed to project titanium segregation as a function of homogenization temperature, time, and grain size. The homogenization kinetic analysis provides a valuable reference on how the homogenization treatment should be adjusted to reduce titanium segregation to a very low level for DED NASA HR-1.

liquid rocket engine↗

NASA NTRS1982

Frequency and Time Domain Modeling of Acoustic Liner Boundary Conditions

As part of a research program directed at the acoustics of advanced subsonic propulsion systems undertaken at NASA Langley, Duke University was funded to develop a boundary condition model for bulk-reacting nacelle liners. The overall objective of the Langley program was to understand and predict noise from advanced subsonic transport engines and to develop related noise control technology. The overall technical areas included: fan and propeller source noise, acoustics of ducts and duct liners, interior noise, subjective acoustics, and systems noise prediction. The Duke effort was directed toward duct liner acoustics for the development of analytical methods to characterize liner behavior in both frequency domain and time domain. A review of duct acoustics and liner technology can be found in Reference [1]. At that time, NASA Langley was investigating the propulsion concept of an advanced ducted fan, with a large diameter housed inside a relatively short duct. Fan diameters in excess of ten feet were proposed. The lengths of both the inlet and exhaust portions of the duct were to be short, probably less than half the fan diameter. The nacelle itself would be relatively thin-walled for reasons of aerodynamic efficiency. The blade-passage frequency was expected to be less than I kHz, and very likely in the 200 to 300 Hz range. Because of the design constraints of a short duct, a thin nacelle, and long acoustic wavelengths, the application of effective liner technology would be especially challenging. One of the needs of the NASA Langley program was the capability to accurately and efficiently predict the behavior of the acoustic liner. The traditional point impedance method was not an adequate model for proposed liner designs. The method was too restrictive to represent bulk reacting liners and to allow for the characterization of many possible innovative liner concepts. In the research effort at Duke, an alternative method, initially developed to handle bulk reacting layers as described in Reference [2], was extended to apply to a broad range of liner types. This method included the effect of local gradients along the liner surface, and was particularly appropriate for situations with flow over the liner and grazing incidence acoustic fields. In order to utilize time domain computational methods to solve for the propfan acoustic field, corresponding liner boundary conditions were developed for time domain solutions rather than frequency domain solutions.

Bliss, Donald B.↗