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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS1996

Flight data results of estimate fusion for spacecraft rendezvous navigation from shuttle mission STS-69

A recently developed rendezvous navigation fusion filter that optimally exploits existing distributed filters for rendezvous and GPS navigation to achieve the relative and inertial state accuracies of both in a global solution is utilized here to process actual flight data. Space Shuttle Mission STS-69 was the first mission to date which gathered data from both the rendezvous and Global Positioning System filters allowing, for the first time, a test of the fusion algorithm with real flight data. Furthermore, a precise best estimate of trajectory is available for portions of STS-69, making possible a check on the performance of the fusion filter. In order to successfully carry out this experiment with flight data, two extensions to the existing scheme were necessary: a fusion edit test based on differences between the filter state vectors, and an underweighting scheme to accommodate the suboptimal perfect target assumption made by the Shuttle rendezvous filter. With these innovations, the flight data was successfully fused from playbacks of downlinked and/or recorded measurement data through ground analysis versions of the Shuttle rendezvous filter and a GPS filter developed for another experiment. The fusion results agree with the best estimate of trajectory at approximately the levels of uncertainty expected from the fusion filter's covariance matrix.

Carpenter, J. Russell↗
NASA NTRS2004

Performance of Thermal Mass Flow Meters in a Variable Gravitational Environment

The performance of five thermal mass flow meters, MKS Instruments 179A and 258C, Unit Instruments UFM-8100, Sierra Instruments 830L, and Hastings Instruments HFM-200, were tested on the KC-135 Reduced Gravity Aircraft in orthogonal, coparallel, and counterparallel orientations relative to gravity. Data was taken throughout the parabolic trajectory where the g-level varied from 0.01 to 1.8 times normal gravity. Each meter was calibrated in normal gravity in the orthogonal position prior to flight followed by ground testing at seven different flow conditions to establish a baseline operation. During the tests, the actual flow rate was measured independently using choked-flow orifices. Gravitational acceleration and attitude had a unique effect on the performance of each meter. All meters operated within acceptable limits at all gravity levels in the calibrated orthogonal position. However, when operated in other orientations, the deviations from the reference flow became substantial for several of the flow meters. Data analysis indicated that the greatest source of error was the effect of orientation, followed by the gravity level. This work emphasized that when operating thermal flow meters in a variable gravity environment, it is critical to orient the meter in the same direction relative to gravity in which it was calibrated. Unfortunately, there was no test in normal gravity that could predict the performance of a meter in reduced gravity. When operating in reduced gravity, all meters indicated within 5 percent of the full scale reading at all flow conditions and orientations.

Brooker, John E.↗
NASA NTRS1990

Approximate minimum-time trajectories for two-link flexible manipulators

The method of recursive quadratic programming was used to generate approximate minimum-time tip trajectories for two-link semi-rigid and flexible manipulator movements in the horizontal plane. The manipulator is modeled with an efficient finite-element scheme for an n-link, m-joint system with bending only in the horizontal plane. Constraints on the trajectory include boundary conditions on position and energy for a rest-to-rest maneuver, straight-line tracking between boundary positions, and motor torque limits. Trajectory comparisons utilize a change in the link stiffness to compare a semi-rigid configuration to a flexible one. The level of bending flexibility necessary to excite significant modal behavior is demonstrated. Applied torques for minimum-time maneuvers are shown to be very similar between configurations and retain much of the qualitative character of rigid-body slewing motion.

Eisler, G. R.↗
NASA NTRS1982

Bubble migration in a rotating, liquid-filled sphere

Results and analysis of ground-based experiments performed to aid in designing experiments on the behavior of bubbles in a rotating liquid body on board the Shuttle in free fall are presented. Spherical shells filled with silicone oil containing a small gas bubble were spun and filmed by high speed motion picture photography. The rotation of the shell and the trajectory of the bubble motion were recorded and the film was exposed to a motion analyzer connected to a keypunch. The analyzer measured Cartesian coordinates as well as angle, frame number, and rotation rate. Optical correction equations were employed to determine the apparent bubble trajectory relative to an inertial frame of reference. An analytical model for the bubble motion was defined, yielding predictions of velocity and position at different times. Rotation of the fluid container is concluded to aid in centering the bubbles.

Annamalai, P.↗
NASA NTRS1999

Three-dimensional representation of a spacecraft's trajectory

A method and a computer system with a specialized graphic user interface for processing trajectory data of a spacecraft and planets. The preferred graphic user interface is capable of representing the orbital trajectory of the spacecraft traveling from one planet to another in 3D and providing user interactions to display the orbit information at any time and position.

Quan, Alan↗
NASA NTRS2008

Light Echos in Kerr Geometry: A Source of High Frequency QPOs from Random X-ray Bursts

We propose that high frequency quasi-periodic oscillations (HFQPOs) can be produced from randomly-formed X-ray bursts (flashes) by plasma interior to the ergosphere of a rapidly-rotating black hole. We show by direct computation of their orbits that the photons comprising the observed X-ray light curves, if due to a multitude of such flashes, are affected significantly by the black hole's dragging of inertial frames; the photons of each such burst arrive to an observer at infinity in multiple (double or triple), distinct 'bunches' separated by a roughly constant time lag of t/M approximately equal to 14, regardless of the bursts' azimuthal position. We argue that every other such 'bunch' represents photons that follow trajectories with an additional orbit around the black hole at the photon circular orbit radius (a photon 'echo'). The presence of this constant lag in the response function of the system leads to a QPO feature in its power density spectra, even though the corresponding light curve consists of a totally stochastic signal. This effect is by and large due to the black hole spin and is shown to gradually diminish as the spin parameter a decreases or the radial position of the burst moves outside the static limit surface (ergosphere). Our calculations indicate that for a black hole with Kerr parameter of a/M=0.99 and mass of M=10*Msun the QPO is expected at a frequency of approximately 1.3-1.4 kHz. We discuss the plausibility and observational implications of our model/results as well as its limitations.

Fukumura, K.↗
NASA NTRS1981

On-line optimization of aircraft altitude and flight path angle dynamics

The optimization of aircraft altitude and flight path angle dynamics is addressed in a form suitable for on-line computation and control. The approach here is a direct extension of the work reported by Calise (1979), where singular perturbation methods were used to optimize position, energy and heading dynamics; it thus represents an optimal control solution that models all of the primary trajectory related dynamics. It is pointed out that the resulting algorithm can be regarded as a nonlinear feedback control law. The minimum time intercept of a fixed terminal point is used in setting the framework in which the analytical results are developed. The main theoretical result is that the dynamics, while not completely separable, can be approximated by singular perturbation methods when the control model includes relative position dynamics.

Calise, A. J.↗
NASA NTRSDate not supplied

Autonomous Navigation of a Lunar Relay Using GNSS and Other Measurements

Many of the highest priority destinations at the Moon lack a continuous view of Earth, such as the lunar poles or lunar far side. Exploration of these sites will require spacecraft in cislunar space to relay communications and provide position, navigation, and timing (PNT) services. Accurate knowledge of relay position, velocity, and time is essential to these services. This paper describes a concept for a PNT Instrument being developed for the Lunar Communications Relay and Navigation Systems (LCRNS) Project. The instrument is intended as a payload that would enable autonomous, on-board, real-time navigation and timing using Global Navigation Satellite System (GNSS), optical navigation, and one-way measurements from Earth-based ground stations. Hardware-in-the-loop simulations using flight software are used to realistically characterize performance on hardware platforms with a path to flight. These results provide preliminary validation of the proposed PNT Instrument, demonstrate the benefits of augmenting GNSS with other measurements, and serve as an insightful reference for the design of future lunar missions, including those that will operate within the LunaNet framework of standards. This instrument concept relies on several technologies developed at NASA Goddard Space Flight Center (GSFC). For GNSS observables, the instrument relies on the high-altitude NavCube 3 mini (NC3m) GNSS receiver specifically designed for cislunar applications. The autoNGC system, which consists of flight software and a hardware platform, is responsible for fusing the observables using its extended Kalman filter, the Goddard Enhanced Onboard Navigation System (GEONS). Optical navigation observables are processed within autoNGC (“autonomous Navigation, Guidance, and Control”) using the Goddard Image Analysis & Navigation Tool (GIANT) which is also responsible for simulating high-fidelity images for test and analysis. In addition to describing the PNT Instrument and its components, the paper will present predicted performance based on simulation results. As a baseline, it will present GNSS-only hardware-in-the loop results using a NC3m test unit to process Spirent-simulated GPS signals in a potential lunar relay trajectory: a 12-hour elliptical frozen lunar orbit (ELFO). GEONS then processes the GPS pseudorange and time differenced carrier phase measurements to estimate and propagate the relay state (position, velocity, and time). These results extend previously published work that showed preliminary ELFO performance. Previous work has shown the importance of other measurement types, so additional simulations are performed which augment GNSS with ground station observables and several methods of optical navigation, including celestial navigation, limb-finding (e.g., observations of the lunar horizon), and terrain relative navigation (TRN). TRN involves correlating simulated predicted images of the lunar surface with actual imagery; misalignments of landmarks identified in each image are translated into relay state updates. TRN is valuable as a measurement of the relay’s state relative to the Moon, especially during GNSS outages or after maneuvers. One-way Pseudorange and Doppler measurements from Earth-based ground stations are also simulated. The full set of observables is processed using autoNGC. These simulations make use of autoNGC and NC3m test units, a lab atomic clock, and a pulse-per-second (PPS) generation and distribution system. This combination of subsystems, and the hardware platforms used in this analysis, represents a PNT Instrument that could be flown on a lunar relay. Results from the hardware-in-the-loop simulations presented in this paper provide a preliminary assessment of the achievable navigation performance of this instrument concept. PNT Instrument performance is compared to the GPS-only performance, and a discussion is provided on the apparent merits and challenges of each measurement type.

Ben Ashman↗
DOE OSTI2024

An Approach to Realize Generalized Optimal Motion Primitives Using Physics Informed Neural Networks

Autonomous manipulation is a challenging problem in field robotics due to uncertainty in object properties, constraints, and coupling phenomenon with robot control systems. Humans learn motion primitives over time to effectively interact with the environment. We postulate that autonomous manipulation can be enabled by basic sets of motion primitives as well, but do not necessitate mimicking human motion primitives. Here, this work presents an approach to generalized optimal motion primitives using physics-informed neural networks. Our simulated and experimental results demonstrate that optimality is notionally maintained where the mean maximum observed final position percent error was 0.564% and the average mean error for all the trajectories was 1.53%. These results indicate that notional generalization is attained using a physics-informed neural network approach that enables near optimal real-time adaptation of primitive motion profiles.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1989

The perception of geometrical structure from congruence

The principle function of vision is to measure the environment. As demonstrated by the coordination of motor actions with the positions and trajectories of moving objects in cluttered environments and by rapid recognition of solid objects in varying contexts from changing perspectives, vision provides real-time information about the geometrical structure and location of environmental objects and events. The geometric information provided by 2-D spatial displays is examined. It is proposed that the geometry of this information is best understood not within the traditional framework of perspective trigonometry, but in terms of the structure of qualitative relations defined by congruences among intrinsic geometric relations in images of surfaces. The basic concepts of this geometrical theory are outlined.

Lappin, Joseph S.↗
NASA NTRS1993

Sensitivity of trajectory calculations to the temporal frequency of wind data

A mesoscale primitive equation model is used to create a 36-h simulation of the three-dimensional wind field of an intense maritime extratropical cyclone. The control experiment uses the simulated wind field every 15 min in a trajectory model to calculate back trajectories from various horizontal and vertical positions of interest relative to synoptic features of the storm. The latter trajectories are compared to trajectories that were calculated with the simulated wind data degraded in time to 30 min, 1 h, 3 h, 6h, and 12 h. Various error statistics reveal significant deterioration in trajectory accuracy between trajectories calculated with 1- and 3-h data frequencies. Trajectories calculated with 15-min, 30-min, and 1-h data frequencies yielded similar results, while trajectories calculated with data time frequencies 3 h and greater yielded results with unacceptably large errors.

Doty, Kevin G.↗
NASA NTRS2012

Patched Conic Trajectory Code

PatCon code was developed to help mission designers run trade studies on launch and arrival times for any given planet. Initially developed in Fortran, the required inputs included launch date, arrival date, and other orbital parameters of the launch planet and arrival planets at the given dates. These parameters include the position of the planets, the eccentricity, semi-major axes, argument of periapsis, ascending node, and inclination of the planets. With these inputs, a patched conic approximation is used to determine the trajectory. The patched conic approximation divides the planetary mission into three parts: (1) the departure phase, in which the two relevant bodies are Earth and the spacecraft, and where the trajectory is a departure hyperbola with Earth at the focus; (2) the cruise phase, in which the two bodies are the Sun and the spacecraft, and where the trajectory is a transfer ellipse with the Sun at the focus; and (3) the arrival phase, in which the two bodies are the target planet and the spacecraft, where the trajectory is an arrival hyperbola with the planet as the focus.

Park, Brooke Anderson↗
NASA NTRS1984

Barriers and dispersal surfaces in minimum-time interception

A method is proposed for mapping the barrier, dispersal, and control-level surfaces for a class of minimum-time interception and pursuit-evasion problems. Minimum-time interception of a target moving in a horizontal plane is formulated in a coordinate system whose origin is at the interceptor's terminal position and whose x-axis is along the terminal line of sight. This approach makes it possible to discuss the nature of the interceptor's extremals, using its extremal trajectory maps (ETMs), independently of target motion. The game surfaces are constructed by drawing sections of the isochrones, or constant minimum-time loci, from the interceptor and target ETMs. In this way, feedback solutions for the optimal controls are obtained. An example involving the interception of a target moving in a straight line at constant speed is presented.

Rajan, N.↗
NASA NTRS1973

An analytical procedure for evaluating shuttle abort staging aerodynamic characteristics

An engineering analysis and computer code (AERSEP) for predicting Space Shuttle Orbiter - HO Tank longitudinal aerodynamic characteristics during abort separation has been developed. Computed results are applicable at Mach numbers above 2 for angle-of-attack between plus or minus 10 degrees. No practical restrictions on orbiter-tank relative positioning are indicated for tank-under-orbiter configurations. Input data requirements and computer running times are minimal facilitating program use for parametric studies, test planning, and trajectory analysis. In a majority of cases AERSEP Orbiter-Tank interference predictions are as accurate as state-of-the-art estimates for interference-free or isolated-vehicle configurations. AERSEP isolated-orbiter predictions also show excellent correlation with data.

Meyer, R.↗
NASA NTRS1977

Interplanetary baseline observations of type III solar radio bursts

Simultaneous observations of type III radio bursts from spacecraft separated by 0.43 AU have been made using the solar orbiters Helios-A and Helios-B. The burst beginning at 19:22 UT on March 28, 1976, has been located from the intersection of the source directions measured at each spacecraft and from burst arrival-time differences. The source positions range from 0.03 AU from the sun at 3000 kHz to 0.08 AU at 585 kHz. The electron density along the burst trajectory and the exciter velocity (0.13c) were determined directly without the need to assume a density model, as has been done with single-spacecraft observations. The separation of Helios-A and -B has also provided measurements of burst directivity at low frequencies. For the March 28 burst the intensity observed from near the source longitude (Helios-B) was 3-10dB greater than that from 60 deg west of the source (Helios-A)

Weber, R. R.↗
NASA NTRS1987

Adaptive force-position control for teleoperated manipulators

An adaptive controller with self-tuning can be designed for teleoperated robotic manipulators by determining a time-series model for the function of the teleoperator. Specifically, the position and force exerted by the operator are modelled for determining the derived values for the trajectory of the end-effector of the manipulator. Thus, the adaptive controller can be designed by following the steps which have previously been presented for the controller design of the gross motion.

Koivo, A. J.↗
NASA NTRS1991

The RAPT control method for nonlinear systems

The Rapid Advancement Preview Tracking (RAPT) control method uses both a nonlinear system model and a linearized system model to provide a form of feedback/preview control for nonlinear systems. It uses measurements of the states to calculate the current preview control signal from a local linearization of the state equations, and then iteratively calculates a perturbation correction for that control using the nonlinear equations. The corrected control signal is then applied to the system, driving the end-effector to the next position along a specified trajectory. Computer simulations of tracking control for two-link planar manipulators indicate that this algorithm may be fast enough for real-time control.

Long, T. W.↗
NASA NTRS1997

Using Laser Altimetry to Detect Topographic Change in Long Valley Caldera, California

Long Valley caldera California, is a site of extensive volcanism, persistent seismicity, and uplift of a resurgent dome, currently at a rate of about 3 cm/year. Airborne laser altimetry was used to determine the surface topography of the region in 1993. A repeat mission occurred in 1995. Three different laser altimeters were flown, dubbed ATLAS, SLICER and RASCAL. Data processing consists of the combination of the aircraft trajectory and attitude data with the laser range, the determination of an atmospheric delay, laser pulse timing errors, laser system biases, and data geolocation to obtain the position of the laser spot on the ground. Results showed that using the ATLAS and SLICER instruments, the elevation of an overflown lake is determined to precisions of 3.3 cm and 2.9 cm from altitudes of 500 m and 3 km above the ground, and about 10 cm using the RASCAL instrument from 500 m above ground. Comparison with tide gauge data showed the laser measurements are able to resolve centimeter-level changes in the lake elevation over time. Repeat pass analysis of tracks over flat surfaces indicate no systematic biases affect the measurement procedure of the ATLAS and SLICER instruments. Comparison of GPS and laser-derived elevations of easily-identifiable features in the caldera confirm the horizontal accuracy of the measurement is within the diameter of the laser footprint, and vertical accuracy is within the error inherent in the measurement. Crossover analysis shows that the standard error of the means at track intersection points within the caldera, and dome (i.e., where zero and close to the maximum amount of uplift is expected) are about I cm, indicating elevation change at the 3 cm/year level should be detectable. We demonstrate one of the powerful advantages of scanning laser altimetry over other remote sensing techniques; the straightforward creation of precise digital elevation maps of overflown terrain. Initial comparison of the 1993-1995 data indicates uplift occurred, but filtering is required to remove vegetation effects. Although research continues to utilize the full potential of laser altimetry data, the results constitute a successful demonstration that the technique may be used to perform geodetic monitoring of surface topographic change.

Hofton, M. A.↗