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NASA NTRS1974

Alternative Techniques for Testing A Highway Information Systems

The highway transport system as contrasted with other modes of transportation is quite unique in that the users of the system are responsible for the guidance and control functions of the vehicle. Research has shown that improved forms of motorist information, such as highway signs and markings, can enhance the predictability and reliability of the driving task. Test and evaluation of promising new concepts in motorist information must preceed widespread endorsement and implementation on our highway system. This paper reviews the merits and limitations of presently available human factor research techniques--laboratory, instrumented vehicle and traffic performance studies on operational facilities--for evaluating the efficacy of motorist information concepts. Specific examples are given to demonstrate the utility and the interrelationships of the alternative research techniques and there is a discussion of the most pressing immediate and future needs for improved highway signing and road marking research methodology.

Mast, Truman↗

NASA NTRS1998

Development of a Mirror Pointing Mechanism for an Atmospheric Gas Measurement Instrument

Development of the Open Path Tunable Infrared Monitor of the Atmosphere (OPTIMA) instrument involved designing a pair of motion systems that could maintain a precise alignment and spatial distance between two mirrors installed on the NASA DC-8 research laboratory aircraft. This is the first airborne optical instrument that allows direct measurement of the gases in the freestream airflow on the exterior of the aircraft. One mirror is mounted within a specially constructed open port cavity in the cabin of the aircraft and the second is mounted 6 meters away on top of the inboard port side (number 2) engine pylon. Three co-aligned laser beams are reflected between the two mirrors 64 times in a Herriott pattern. The resulting sample path length of 384 meters is used to perform a spectral absorption analysis of the airflow between the mirrors. To compensate for normal wing movement and engine oscillations both mirrors were designed as continuously driven mechanisms to maintain alignment within allowable limits. The motion systems of the two mirror assemblies provide five degrees of freedom and are designed to maintain a pointing accuracy within seven arc-sec with a response frequency in 6xcess of 10 Hz. The pylon motion system incorporates controlled pitch and yaw movement. The fuselage motion system compensates for pitch variation as well as linear translation for focal length and vertical aiming of the laser beam via a controlled beam guidance mechanism.

Graham, Michael↗

NASA NTRS1998

Precise Image-Based Motion Estimation for Autonomous Small Body Exploration

Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories.

Johnson, Andrew E.↗

NASA NTRS2001

Micro Navigator

Miniature high-performance low-mass space avionics systems are desired for planned future outer planetary exploration missions (i.e. Europa Orbiter/Lander, Pluto-Kuiper Express). The spacecraft fuel and mass requirements enabling orbit insertion is the driving requirement. The Micro Navigator is an integrated autonomous Guidance, Navigation & Control (GN&C)micro-system that would provide the critical avionics function for navigation, pointing, and precision landing. The Micro Navigator hardware and software allow fusion of data from multiple sensors to provide a single integrated vehicle state vector necessary for six degrees of freedom GN&C. The benefits of this MicroNavigator include: 1) The Micro Navigator employs MEMS devices that promise orders of magnitude reductions in mass power and volume of inertial sensors (accelerometers and gyroscopes), celestial sensing devices (startracker, sun sensor), and computing element; 2) The highly integrated nature of the unit will reduce the cost of flight missions. a) The advanced miniaturization technologies employed by the Micro Navigator lend themselves to mass production, and therefore will reduce production cost of spacecraft. b) The integral approach simplifies interface issues associated with discrete components and reduces cost associated with integration and test of multiple components; and 3) The integration of sensors and processing elements into a single unit will allow the Micro Navigator to encapsulate attitude information and determination functions into a single object. This is particularly beneficial for object-oriented software architectures that are used in advanced spacecraft. Additional information is contained in the original extended abstract.

Blaes, B. R.↗

NASA NTRS1994

Parallel Processing Systems for Passive Ranging During Helicopter Flight

The complexity of rotorcraft missions involving operations close to the ground result in high pilot workload. In order to allow a pilot time to perform mission-oriented tasks, sensor-aiding and automation of some of the guidance and control functions are highly desirable. Images from an electro-optical sensor provide a covert way of detecting objects in the flight path of a low-flying helicopter. Passive ranging consists of processing a sequence of images using techniques based on optical low computation and recursive estimation. The passive ranging algorithm has to extract obstacle information from imagery at rates varying from five to thirty or more frames per second depending on the helicopter speed. We have implemented and tested the passive ranging algorithm off-line using helicopter-collected images. However, the real-time data and computation requirements of the algorithm are beyond the capability of any off-the-shelf microprocessor or digital signal processor. This paper describes the computational requirements of the algorithm and uses parallel processing technology to meet these requirements. Various issues in the selection of a parallel processing architecture are discussed and four different computer architectures are evaluated regarding their suitability to process the algorithm in real-time. Based on this evaluation, we conclude that real-time passive ranging is a realistic goal and can be achieved with a short time.

Sridhar, Bavavar↗

NASA NTRS2001

Pathfinder Technologies Specialist, X-37

The X-37 is a technology demonstrator sponsored by NASA. It includes a number of experiments both imbedded (i.e., essential aspects of the vehicle) and separate. The technologies demonstrated will be useful in future operational versions as well as having broad applications to other programs. Mr. James R. French, of JRF Engineering Services and as a consultant to SAIC, has provided technical support to the X-37 NASA Program office since the beginning of the program. In providing this service, Mr. French has maintained close contact with the Boeing Seal Beach and Rocketdyne technical teams via telephone, e-mail, and periodic visits. His interfaces were primarily with the working engineers in order to provide NASA sponsors with a different view than that achieved through management channels. Mr. French's periodic and highly detailed technical reports were submitted to NASA and SAIC (Science Applications International Corporation) on a weekly/monthly basis. These reports addressed a wide spectrum of programmatic and technical interests related to the X-37 Program including vehicle design, flight sciences, propulsion, thermal protection, Guidance Navigation & Control (GN&C), structures, and operations. This deliverable is presented as a consolidation of the twelve monthly reports submitted during the Contract's Option Year,

French, James R.↗

NASA NTRS2002

Biomimetics for NASA Langley Research Center: Year 2000 Report of Findings From a Six-Month Survey

This report represents an attempt to see if some of the techniques biological systems use to maximize their efficiency can be applied to the problems NASA faces in aeronautics and space exploration. It includes an internal survey of resources available at NASA Langley Research Center for biomimetics research efforts, an external survey of state of the art in biomimetics covering the Materials, Structures, Aerodynamics, Guidance and Controls areas. The Biomimetics Planning team also included ideas for potential research areas, as well as recommendations on how to implement this new program. This six-month survey was conducted in the second half of 1999.

Siochi, Emilie J.↗

NASA NTRS1999

Developing a Fundamental Model for an Integrated GPS/INS State Estimation System with Kalman Filtering

This work will demonstrate the integration of sensor and system dynamic data and their appropriate models using an optimal filter to create a robust, adaptable, easily reconfigurable state (motion) estimation system. This state estimation system will clearly show the application of fundamental modeling and filtering techniques. These techniques are presented at a general, first principles level, that can easily be adapted to specific applications. An example of such an application is demonstrated through the development of an integrated GPS/INS navigation system. This system acquires both global position data and inertial body data, to provide optimal estimates of current position and attitude states. The optimal states are estimated using a Kalman filter. The state estimation system will include appropriate error models for the measurement hardware. The results of this work will lead to the development of a "black-box" state estimation system that supplies current motion information (position and attitude states) that can be used to carry out guidance and control strategies. This black-box state estimation system is developed independent of the vehicle dynamics and therefore is directly applicable to a variety of vehicles. Issues in system modeling and application of Kalman filtering techniques are investigated and presented. These issues include linearized models of equations of state, models of the measurement sensors, and appropriate application and parameter setting (tuning) of the Kalman filter. The general model and subsequent algorithm is developed in Matlab for numerical testing. The results of this system are demonstrated through application to data from the X-33 Michael's 9A8 mission and are presented in plots and simple animations.

Canfield, Stephen↗

NASA NTRS2002

Directionally Sensitive Silicon Radiation Sensor (VCELL)

Sensors are a mission critical element in many NASA programs and require some very unique properties such as small size, low power, high reliability, low weight. Low cost sensors offer the possibility of technology transfer to the public domain for commercial applications. One sensor application that is important to many NASA programs is the ability to point at a radiation source, such as the sun. Such sensors may be an integral part of the guidance and control systems in space platforms and in remote exploratory vehicles. Sun/solar pointing is also important for ground-based systems such as solar arrays. These systems are not required to be small and lightweight. However, if a sensor with a sun pointing capability was developed that is very small, rugged, lightweight and at the same time low cost, it certainly could be used in existing and perhaps many new ground based applications. The objective of the VCELL (Directionally Sensitive Silicon Radiation Sensor) research is to develop a new and very unique silicon based directionally sensitive radiation sensor which can be fabricated using conventional monolithic IC technologies and which will meet the above requirements. The proposed sensor is a novel silicon chip that is directionally sensitive to incident radiation, providing azimuth and elevation information on the incident radiation. The resulting sensor chip will be appropriate for integration into a silicon IC or useful in a hybrid structure to be interfaced with a standard IEEE 1451 bus interface IC to create an Intelligent Sensor. It is presently estimated that it will require about three man-years of effort to complete the VCELL research and development. This includes the optical, electrical, mechanical and silicon fabrication and testing as well as computer simulations and theoretical analysis and modeling including testing in simulated space environments. This report summarizes the sensor research completed this summer as part of the Summer Faculty Fellowship Program. The primary effort was focused on activity necessary to fabricate prototype sensor.

Koy B. Cook↗

NASA NTRS2002

Comparison of Relative Navigation Solutions Applied Between Two Aircraft

Use of global positioning systems (GPS) for guidance and control functions is of increasing interest to the aviation industry. Many levels of solutions exist, from the relatively simple to highly complex integrated systems. This presentation examines three different GPS approaches to determining the relative separation between two aircraft. It presents flight test data showing the errors in each of the three approaches, tradeoffs in selecting from these three approaches, and the simplifying assumptions made for implementing applications that may reduce the requirements and therefore the cost of using them.

Global positioning system↗

NASA NTRS1976

Highway Profiling

Ride quality on highways and railways improved by Marshall Space Flight Center's stabilized spacecraft guidance and control systems. Instruments for profiling roadways are enhanced by addition of stable three-axis platform-type inertial reference. System can measure banks, bumps, curves, grades, elevations, speeds, and roadway undulations. Appropriate computer programs can be written to answer future questions concerning roadbed.

Source record↗

NASA NTRS2003

Fuzzy Logic Trajectory Design and Guidance for Terminal Area Energy Management

The second generation reusable launch vehicle will leverage many new technologies to make flight to low earth orbit safer and more cost effective. One important capability will be completely autonomous flight during reentry and landing, thus making it unnecessary to man the vehicle for cargo missions with stringent weight constraints. Implementation of sophisticated new guidance and control methods will enable the vehicle to return to earth under less than favorable conditions. The return to earth consists of three phases--Entry, Terminal Area Energy Management (TAEM), and Approach and Landing. The Space Shuttle is programmed to fly all three phases of flight automatically, and under normal circumstances the astronaut-pilot takes manual control only during the Approach and Landing phase. The automatic control algorithms used in the Shuttle for TAEM and Approach and Landing have been developed over the past 30 years. They are computationally efficient, and based on careful study of the spacecraft's flight dynamics, and heuristic reasoning. The gliding return trajectory is planned prior to the mission, and only minor adjustments are made during flight for perturbations in the vehicle energy state. With the advent of the X-33 and X-34 technology demonstration vehicles, several authors investigated implementing advanced control methods to provide autonomous real-time design of gliding return trajectories thus enhancing the ability of the vehicle to adjust to unusual energy states. The bulk of work published to date deals primarily with the approach and landing phase of flight where changes in heading angle are small, and range to the runway is monotonically decreasing. These benign flight conditions allow for model simplification and fairly straightforward optimization. This project focuses on the TAEM phase of flight where mathematically precise methods have produced limited results. Fuzzy Logic methods are used to make onboard autonomous gliding return trajectory design robust to a wider energy envelope, and the possibility of control surface failures, thus increasing the flexibility of unmanned gliding recovery and landing.

Burchett, Bradley↗

NASA NTRS2003

Connecting Atmospheric Science and Atmospheric Models for Aerocaptured Missions to Titan and the Outer Planets

Many atmospheric measurement systems, such as the sounding instruments on Voyager, gather atmospheric information in the form of temperature versus pressure level. In these terms, there is considerable consistency among the mean atmospheric profiles of the outer planets Jupiter through Neptune, including Titan. On a given planet or on Titan, the range of variability of temperature versus pressure level due to seasonal, latitudinal, and diurnal variations is also not large. However, many engineering needs for atmospheric models relate not to temperature versus pressure level but atmospheric density versus geometric altitude. This need is especially true for design and analysis of aerocapture systems. Aerocapture drag force available for aerocapture is directly proportional to atmospheric density. Available aerocapture "corridor width" (allowable range of atmospheric entry angle) also depends on height rate of change of atmospheric density, as characterized by density scale height. Characteristics of hydrostatics and the gas law equation mean that relatively small systematic differences in temperature-versus-pressure profiles can integrate at high altitudes to very large differences in density-versus-altitude profiles. Thus a given periapsis density required to accomplish successful aerocapture can occur at substantially different altitudes (approx. 150 - 300 km) on the various outer planets, and significantly different density scale heights (approx. 20 - 50 km) can occur at these periapsis altitudes. This paper will illustrate these effects and discuss implications for improvements in atmospheric measurements to yield significant impact on design of aerocapture systems for future missions to Titan and the outer planets. Relatively small- scale atmospheric perturbations, such as gravity waves, tides, and other atmospheric variations can also have significant effect on design details for aerocapture guidance and control systems. This paper will also discuss benefits that would result from improved understanding of Titan and outer planetary atmospheric perturbation characteristics. Details of recent engineering-level atmospheric models for Titan and Neptune will be presented, and effects of present and future levels of atmospheric uncertainty and variability characteristics will be examined.

Justus, C. G.↗

NASA NTRS2004

Access from Space: A New Perspective on NASA's Space Transportation Technology Requirements and Opportunities

The need for robust and reliable access from space is clearly demonstrated by the recent loss of the Space Shuttle Columbia; as well as the NASA s goals to get the Shuttle re-flying and extend its life, build new vehicles for space access, produce successful robotic landers and s a q k ret~rr? ~llisrions, and maximize the science content of ambitious outer planets missions that contain nuclear reactors which must be safe for re-entry after possible launch aborts. The technology lynch pin of access from space is hypersonic entry systems such the thermal protection system, along with navigation, guidance and control (NG&C). But it also extends to descent and landing systems such as parachutes, airbags and their control systems. Current space access technology maturation programs such as NASA s Next Generation Launch Technology (NGLT) program or the In-Space Propulsion (ISP) program focus on maturing laboratory demonstrated technologies for potential adoption by specific mission applications. A key requirement for these programs success is a suitable queue of innovative technologies and advanced concepts to mature, including mission concepts enabled by innovative, cross cutting technology advancements. When considering space access, propulsion often dominates the capability requirements, as well as the attention and resources. From the perspective of access from space some new cross cutting technology drivers come into view, along with some new capability opportunities. These include new miniature vehicles (micro, nano, and picosats), advanced automated systems (providing autonomous on-orbit inspection or landing site selection), and transformable aeroshells (to maximize capabilities and minimize weight). This paper provides an assessment of the technology drivers needed to meet future access from space mission requirements, along with the mission capabilities that can be envisioned from innovative, cross cutting access from space technology developments.

Rasky, Daniel J.↗

NASA NTRS1997

Comparison of A-SMGCS Requirements with Observed Performance of an Integrated Airport CNS System

The International Civil Aviation Organization (ICAO) has recently drafted a reference document describing the operational requirements for Advanced Surface Movement Guidance and Control Systems (A-SMGCS). During the summer of 1997, NASA, the FAA, industry, and academia partners demonstrated a holistic system approach that has the potential to meet many of the proposed A-SMGCS requirements. An assessment of the field tested system and data resulting from the field testing is presented to determine its compliance with A-SMGCS requirements. In those areas where compliance was not demonstrated, a recommendation is presented suggesting further research or a modification of the system architecture.

Young, Steven D.↗

NASA NTRS1993

A Numerical Simulation Study to Develop an Acceptable Wake Encounter Boundary for a B737-100 Airplane

The National Aeronautics and Space Administration (NASA) is conducting research with the goal of enabling safe improvements in the capacity of the nation's air transportation system. The wake-vortex upset hazard is an important factor in establishing the minimum safe spacing between aircraft during landing and take-off operations, thus impacting airport capacity. A batch simulation study was conducted to assess the sensitivity of various safe landing criteria in the development of an acceptable wake encounter boundary. A baseline six-degree-of-freedom simulation of a B737-100 airplane was modified to include a wake model and the vortex-induced forces and moments. The guidance and control input for the airplane was provided by an auto-land system. The wake strength and encounter geometry were varied. A sensitivity study was also conducted to assess the effects of encounter modeling methods and accuracy.

Vicroy, Dan D.↗

NASA NTRS2004

A Summer Research Program of NASA/Faculty Fellowships at the Jet Propulsion Laboratory

The NASA Faculty Fellowship Program (NFFP) is designed to give college and university faculty members a rewarding personal as well as enriching professional experience. Fellowships are awarded to engineering and science faculty for work on collaborative research projects of mutual interest to the fellow and his or her JPL host colleague. The Jet Propulsion Laboratory (JPL) and the California Institute of Technology (Caltech) have participated in the NASA Faculty Fellowship Program for more than 25 years. Administrative offices are maintained both at the Caltech Campus and at JPL; however, most of the activity takes place at JPL. The Campus handles all fiscal matters. The duration of the program is ten continuous weeks. Fellows are required to conduct their research on-site. To be eligible to participate in the program, fellows must be a U.S. citizen and hold a teaching or research appointment at a U.S. university or college. The American Society of Engineering Education (ASEE) contracts with NASA and manages program recruitment. Over the past several years, we have made attempts to increase the diversity of the participants in the NFFP Program. A great deal of attention has been given to candidates from minority-serving institutions. There were approximately 100 applicants for the 34 positions in 2002. JPL was the first-choice location for more than half of them. Faculty from 16 minority-serving institutions participated as well as four women. The summer began with an orientation meeting that included introduction of key program personnel, and introduction of the fellows to each other. During this welcome, the fellows were briefed on their obligations to the program and to their JPL colleagues. They were also given a short historical perspective on JPL and its relationship to Caltech and NASA. All fellows received a package, which included information on administrative procedures, roster of fellows, seminar program, housing questionnaire, directions to JPL, maps of the local area, and a copy of the JPL Universe (a JPL newsletter). A calendar of events for the 2002 NFFP Program was designed to expose the fellows to the full range of JPL activities, seminars, tours, and trips to NASA Dryden, Goldstone, and Palomar Observatory. Weekly brown-bag lunches were also scheduled. The lunches provided a time for airing problems that may have arisen during the previous week, soliciting suggestions for program enhancement, announcements, and general socializing. Professor and Mrs. Albee also hosted the annual Summer Faculty Welcome Party at their home. During their ten-week tenure at JPL, the visiting faculty carried out projects in a wide variety of JPL's science, engineering, and technology disciplines, including communication, planetary science, materials research, reliability and quality assurance, astronomy, guidance and control, and micro-sensors. At the end of the NFFP Program, all fellows were required to complete a one-page summary of their summer s work. This was in addition to any documentation required by their host organization. Distribution of the final paycheck was dependent upon submission of this one-page summary and completion of NASA's NFFP evaluation in the EdCATS system. Fellows were also asked to complete a questionnaire for JPL, which enables the program administrators to make any appropriate changes to make the program more beneficial and effective for all involved. The 2002 NFFP Program at JPUCaltech was considered unanimously highly successful by both fellows and JPL colleagues. It provided a significant experience to most faculty members and fresh ideas to JPL researchers. Each year, suggestions for improvement include expansion of the program, longer terms, larger stipends, funds to support graduate students, and funds to continue collaborative research. The NASA Faculty Fellowship Program continues to occupy a significant place in JPL programs and serves to strengthen the ties between NASA, JPL, Caltech, and t academic community. This program is an important part of NASA's commitment to education. No inventions or patents were created during this program.

Albee, Arden↗

NASA NTRS2005

Atmospheric Models for Mars Aerocapture

level Mars atmospheric model. Applications include systems design, performance analysis, and operations planning for aerobraking, entry descent and landing, and aerocapture. Typical Mars aerocapture periapsis altitudes (for systems with rigid- aeroshell heat shields) are about 50 km. This altitude is above the 0-40 km height range covered by Mars Global Surveyor Thermal Emission Spectrometer (TES) nadir observations. Recently, TES limb sounding data have been made available, spanning more than two Mars years (more than 200,000 data profiles) with altitude coverage up to about 60 km, well within the height range of interest for aerocapture. Results are presented comparing Mars-GRAM atmospheric density with densities from TES nadir and limb sounding observations. A new Mars-GRAM feature is described which allows individual TES nadir or limb profiles to be extracted from the large TES databases, and to be used as an optional replacement for standard Mars-GRAM background (climatology) conditions. For Monte-Carlo applications such as aerocapture guidance and control studies, Mars-GRAM perturbations are available using these TES profile background conditions.

Justus, C. G.↗