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NASA NTRS2007

Anti-Collision Function Design and Performances of the CNES Formation Flying Experiment on the PRISMA Mission

Within the framework of a partnership agreement, EADS ASTRIUM has worked since June 2006 for the CNES formation flying experiment on the PRISMA mission. EADS ASTRIUM is responsible for the anti-collision function. This responsibility covers the design and the development of the function as a Matlab/Simulink library, as well as its functional validation and performance assessment. PRISMA is a technology in-orbit testbed mission from the Swedish National Space Board, mainly devoted to formation flying demonstration. PRISMA is made of two micro-satellites that will be launched in 2009 on a quasi-circular SSO at about 700 km of altitude. The CNES FFIORD experiment embedded on PRISMA aims at flight validating an FFRF sensor designed for formation control, and assessing its performances, in preparation to future formation flying missions such as Simbol X; FFIORD aims as well at validating various typical autonomous rendezvous and formation guidance and control algorithms. This paper presents the principles of the collision avoidance function developed by EADS ASTRIUM for FFIORD; three kinds of maneuvers were implemented and are presented in this paper with their performances.

Cayeux, P.↗

NASA NTRS2014

Design and Analysis of Morpheus Lander Flight Control System

The Morpheus Lander is a vertical takeoff and landing test bed vehicle developed to demonstrate the system performance of the Guidance, Navigation and Control (GN&C) system capability for the integrated autonomous landing and hazard avoidance system hardware and software. The Morpheus flight control system design must be robust to various mission profiles. This paper presents a design methodology for employing numerical optimization to develop the Morpheus flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics and propellant slosh. Under the assumption that the Morpheus time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time control systems in the presence of parametric uncertainty. Both control gains in the inner attitude control loop and guidance gains in the outer position control loop are designed to maximize the vehicle performance while ensuring robustness. The flight control system designs provided herein have been demonstrated to provide stable control systems in both Draper Ares Stability Analysis Tool (ASAT) and the NASA/JSC Trick-based Morpheus time domain simulation.

Jang, Jiann-Woei↗

NASA NTRS1982

Development of an autonomous video rendezous and docking system

Video control systems using three flashing lights and two other types of docking aids were evaluated through computer simulation and other approaches. The three light system performed much better than the others. Its accuracy is affected little by tumbling of the target spacecraft, and in the simulations it was able to cope with attitude rates up to 20,000 degrees per hour about the docking axis. Its performance with rotation about other axes is determined primarily by the state estimation and goal setting portions of the control system, not by measurement accuracy. A suitable control system, and a computer program that can serve as the basis for the physical simulation are discussed.

Tietz, J. C.↗

NASA NTRS2010

Multi-agent autonomous system and method

A method of controlling a plurality of crafts in an operational area includes providing a command system, a first craft in the operational area coupled to the command system, and a second craft in the operational area coupled to the command system. The method further includes determining a first desired destination and a first trajectory to the first desired destination, sending a first command from the command system to the first craft to move a first distance along the first trajectory, and moving the first craft according to the first command. A second desired destination and a second trajectory to the second desired destination are determined and a second command is sent from the command system to the second craft to move a second distance along the second trajectory.

Fink, Wolfgang↗

NASA NTRS2006

Simulation to Flight Test for a UAV Controls Testbed

The NASA Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis, Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights, including a fully autonomous demonstration at the Association of Unmanned Vehicle Systems International (AUVSI) UAV Demo 2005. Simulations based on wind tunnel data are being used to further develop advanced controllers for implementation and flight test.

Motter, Mark A.↗

NASA NTRS2005

Trusted Autonomy for Space Flight Systems

NASA has long supported research on intelligent control technologies that could allow space systems to operate autonomously or with reduced human supervision. Proposed uses range from automated control of entire space vehicles to mobile robots that assist or substitute for astronauts to vehicle systems such as life support that interact with other systems in complex ways and require constant vigilance. The potential for pervasive use of such technology to extend the kinds of missions that are possible in practice is well understood, as is its potential to radically improve the robustness, safety and productivity of diverse mission systems. Despite its acknowledged potential, intelligent control capabilities are rarely used in space flight systems. Perhaps the most famous example of intelligent control on a spacecraft is the Remote Agent system flown on the Deep Space One mission (1998 - 2001). However, even in this case, the role of the intelligent control element, originally intended to have full control of the spacecraft for the duration of the mission, was reduced to having partial control for a two-week non-critical period. Even this level of mission acceptance was exceptional. In most cases, mission managers consider intelligent control systems an unacceptable source of risk and elect not to fly them. Overall, the technology is not trusted. From the standpoint of those who need to decide whether to incorporate this technology, lack of trust is easy to understand. Intelligent high-level control means allowing software io make decisions that are too complex for conventional software. The decision-making behavior of these systems is often hard to understand and inspect, and thus hard to evaluate. Moreover, such software is typically designed and implemented either as a research product or custom-built for a particular mission. In the former case, software quality is unlikely to be adequate for flight qualification and the functionality provided by the system is likely driven largely by the need to publish innovative work. In the latter case, the mission represents the first use of the system, a risky proposition even for relatively simple software.

Freed, Michael↗

NASA NTRS2017

Monitoring of the Atmosphere on the International Space Station with the Air Quality Monitor

During the early years of human spaceflight, short duration missions allowed for monitoring of the spacecraft environment to be performed via archival sampling, in which samples were returned to Earth for analysis. With the construction of the International Space Station (ISS) and the accompanying extended mission durations, the need for enhanced, real-time monitors became apparent. The Volatile Organic Analyzer (VOA) operated on ISS for 7 years, where it assessed trace volatile organic compounds in the cabin air. The large and fixed-position VOA was eventually replaced with the smaller Air Quality Monitor (AQM). Since March 2013, the atmosphere of the U.S. Operating Segment (USOS) has been monitored in near real-time by a pair of AQMs. These devices consist of a gas chromatograph (GC) coupled with a differential mobility spectrometer (DMS) and currently target detection list of 22 compounds. These targets are of importance to both crew health and the Environmental Control and Life Support Systems (ECLSS) on ISS. Data is collected autonomously every 73 hours, though the units can be controlled remotely from mission control to collect data more frequently during contingency or troubleshooting operations. Due to a nominal three-year lifetime on-orbit, the initial units were replaced in February 2016. This paper will focus on the preparation and use of the AQMs over the past several years. A description of the technical aspects of the AQM will be followed by lessons learned from the deployment and operation of the first set of AQMs. These lessons were used to improve the already-excellent performance of the instruments prior to deployment of the replacement units. Data trending over the past several years of operation on ISS will also be discussed, including data obtained during a survey of the USOS modules. Finally, a description of AQM use for contingency and investigative studies will be presented.

Wallace William T.↗

NASA NTRS2007

NASA Dryden Status

A viewgraph presentation on the satus of NASA Dryden's aircraft guidance and control is shown. The topics include: 1) Autonomous Airborne Refueling Demonstration (AARD); 2) Ikhana Project Update; 3) Quiet Spike; 4) F-15 Intelligent Flight Control System; 5) C-20A Precision Autopilot Development; and 6) X-48 Blended Wing Body.

Bosworth, John↗

NASA NTRS2017

Open-Loop Flight Testing of COBALT GN&C Technologies for Precise Soft Landing

A terrestrial, open-loop (OL) flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed, with support through the NASA Advanced Exploration Systems (AES), Game Changing Development (GCD), and Flight Opportunities (FO) Programs. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuzes the NDL and LVS data in real time to produce a precise navigation solution that is independent of the Global Positioning System (GPS) and suitable for future, autonomous planetary landing systems. The OL campaign tested COBALT as a passive payload, with COBALT data collection and filter execution, but with the Xodiac vehicle Guidance and Control (G&C) loops closed on a Masten GPS-based navigation solution. The OL test was performed as a risk reduction activity in preparation for an upcoming 2017 closed-loop (CL) flight campaign in which Xodiac G&C will act on the COBALT navigation solution and the GPS-based navigation will serve only as a backup monitor.

Carson, John M., III↗

NASA NTRS1974

An elementary magnetic attitude control system

A three-axis closed-loop attitude-control system for earth-observatory momentum-bias spacecraft is proposed. A horizon scanner and magnetometer are employed to measure attitude errors; no yaw sensor is required. Appropriate control signals are generated and used to command variable-strength electromagnets, which interact with the geomagnetic field to reduce observed errors. This system provides for initial acquisition, precession control, nutation damping, and pitch-axis momentum control. All functions are performed autonomously - no ground-station interaction is required. Analytical expressions predicting system response are compared with numerical solutions of the governing equations, and with the results of the application of Floquet Theory.-

Stickler, A. C.↗

NASA NTRS1978

Controlled cellular energy conversion in brown adipose tissue thermogenesis

Brown adipose tissue serves as a model system for nonshivering thermogenesis (NST) since a) it has as a primary physiological function the conversion of chemical energy to heat; and b) preliminary data from other tissues involved in NST (e.g., muscle) indicate that parallel mechanisms may be involved. Now that biochemical pathways have been proposed for brown fat thermogenesis, cellular models consistent with a thermodynamic representation can be formulated. Stated concisely, the thermogenic mechanism in a brown fat cell can be considered as an energy converter involving a sequence of cellular events controlled by signals over the autonomic nervous system. A thermodynamic description for NST is developed in terms of a nonisothermal system under steady-state conditions using network thermodynamics. Pathways simulated include mitochondrial ATP synthesis, a Na+/K+ membrane pump, and ionic diffusion through the adipocyte membrane.

Horowitz, J. M.↗

NASA NTRS1979

A new approach to data management and its impact on frequency control requirements

A new approach to data management consisting of spacecraft and data/information autonomy and its impact on frequency control requirements is presented. An autonomous spacecraft is capable of functioning without external intervention for up to 72 hr by enabling the sensors to make observations, maintaining its health and safety, and by using logical safety modes when anomalies occur. Data/information are made autonomous by associating all relevant ancillary data such as time, position, attitude, and sensor identification with the data/information record of an event onboard the spacecraft. This record is so constructed that the record of the event can be physically identified in a complete and self-contained record that is independent of all other data. All data within a packet will be time tagged to the needed accuracy, and the time markings from packet to packet will be coherent to a UTC time scale.

Blanchard, D. L.↗

NASA NTRS1987

Laboratory testing of candidate robotic applications for space

Robots have potential for increasing the value of man's presence in space. Some categories with potential benefit are: (1) performing extravehicular tasks like satellite and station servicing, (2) supporting the science mission of the station by manipulating experiment tasks, and (3) performing intravehicular activities which would be boring, tedious, exacting, or otherwise unpleasant for astronauts. An important issue in space robotics is selection of an appropriate level of autonomy. In broad terms three levels of autonomy can be defined: (1) teleoperated - an operator explicitly controls robot movement; (2) telerobotic - an operator controls the robot directly, but by high-level commands, without, for example, detailed control of trajectories; and (3) autonomous - an operator supplies a single high-level command, the robot does all necessary task sequencing and planning to satisfy the command. Researchers chose three projects for their exploration of technology and implementation issues in space robots, one each of the three application areas, each with a different level of autonomy. The projects were: (1) satellite servicing - teleoperated; (2) laboratory assistant - telerobotic; and (3) on-orbit inventory manager - autonomous. These projects are described and some results of testing are summarized.

Purves, R. B.↗

NASA NTRS1988

Automated low-thrust guidance for the orbital maneuvering vehicle

This paper describes the highly autonomous OMV Guidance Navigation and Control system. Emphasis is placed on a key feature of the design, the low thrust guidance algorithm. The two guidance modes, orbit change guidance and rendezvous guidance, are discussed in detail. It is shown how OMV will automatically transfer from its initial orbit to an arbitrary target orbit and reach a specified rendezvous position relative to the target vehicle.

Rose, Richard E.↗

NASA NTRS1989

Experiences with the JPL telerobot testbed: Issues and insights

The Jet Propulsion Laboratory's (JPL) Telerobot Testbed is an integrated robotic testbed used to develop, implement, and evaluate the performance of advanced concepts in autonomous, tele-autonomous, and tele-operated control of robotic manipulators. Using the Telerobot Testbed, researchers demonstrated several of the capabilities and technological advances in the control and integration of robotic systems which have been under development at JPL for several years. In particular, the Telerobot Testbed was recently employed to perform a near completely automated, end-to-end, satellite grapple and repair sequence. The task of integrating existing as well as new concepts in robot control into the Telerobot Testbed has been a very difficult and timely one. Now that researchers have completed the first major milestone (i.e., the end-to-end demonstration) it is important to reflect back upon experiences and to collect the knowledge that has been gained so that improvements can be made to the existing system. It is also believed that the experiences are of value to the others in the robotics community. Therefore, the primary objective here will be to use the Telerobot Testbed as a case study to identify real problems and technological gaps which exist in the areas of robotics and in particular systems integration. Such problems have surely hindered the development of what could be reasonably called an intelligent robot. In addition to identifying such problems, researchers briefly discuss what approaches have been taken to resolve them or, in several cases, to circumvent them until better approaches can be developed.

Stone, Henry W.↗

NASA NTRS1990

Research and technology

As the NASA center responsible for assembly, checkout, servicing, launch, recovery, and operational support of Space Transportation System elements and payloads, Kennedy Space Center (KSC) is placing increasing emphasis on KSC's research and technology program. In addition to strengthening those areas of engineering and operations technology that contribute to safer, more efficient, and more economical execution of the current mission, the technological tools needed to execute KSC's mission relative to future programs are being developed. The Engineering Development Directorate encompasses most of the laboratories and other KSC resources that are key elements of research and technology program implementation and is responsible for implementation of the majority of the projects in this KSC 1990 annual report. Projects under the following topics are covered: (1) materials science; (2) hazardous emissions and contamination monitoring; (3) biosciences; (4) autonomous systems; (5) communications and control; (6) meteorology; (7) technology utilization; and (8) mechanics, structures, and cryogenics.

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NASA NTRS1991

Parallel processing and expert systems

Whether it be monitoring the thermal subsystem of Space Station Freedom, or controlling the navigation of the autonomous rover on Mars, NASA missions in the 90's cannot enjoy an increased level of autonomy without the efficient use of expert systems. Merely increasing the computational speed of uniprocessors may not be able to guarantee that real time demands are met for large expert systems. Speed-up via parallel processing must be pursued alongside the optimization of sequential implementations. Prototypes of parallel expert systems have been built at universities and industrial labs in the U.S. and Japan. The state-of-the-art research in progress related to parallel execution of expert systems was surveyed. The survey is divided into three major sections: (1) multiprocessors for parallel expert systems; (2) parallel languages for symbolic computations; and (3) measurements of parallelism of expert system. Results to date indicate that the parallelism achieved for these systems is small. In order to obtain greater speed-ups, data parallelism and application parallelism must be exploited.

Yan, Jerry C.↗

NASA NTRS1991

Parallel processing and expert systems

Whether it be monitoring the thermal subsystem of Space Station Freedom, or controlling the navigation of the autonomous rover on Mars, NASA missions in the 1990s cannot enjoy an increased level of autonomy without the efficient implementation of expert systems. Merely increasing the computational speed of uniprocessors may not be able to guarantee that real-time demands are met for larger systems. Speedup via parallel processing must be pursued alongside the optimization of sequential implementations. Prototypes of parallel expert systems have been built at universities and industrial laboratories in the U.S. and Japan. The state-of-the-art research in progress related to parallel execution of expert systems is surveyed. The survey discusses multiprocessors for expert systems, parallel languages for symbolic computations, and mapping expert systems to multiprocessors. Results to date indicate that the parallelism achieved for these systems is small. The main reasons are (1) the body of knowledge applicable in any given situation and the amount of computation executed by each rule firing are small, (2) dividing the problem solving process into relatively independent partitions is difficult, and (3) implementation decisions that enable expert systems to be incrementally refined hamper compile-time optimization. In order to obtain greater speedups, data parallelism and application parallelism must be exploited.

Lau, Sonie↗