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Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators

A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.

Sicard, Pierre↗

Decentralized Formation Flying Control in a Multiple-Team Hierarchy

This paper presents the prototype of a system that addresses these objectives-a decentralized guidance and control system that is distributed across spacecraft using a multiple-team framework. The objective is to divide large clusters into teams of manageable size, so that the communication and computational demands driven by N decentralized units are related to the number of satellites in a team rather than the entire cluster. The system is designed to provide a high-level of autonomy, to support clusters with large numbers of satellites, to enable the number of spacecraft in the cluster to change post-launch, and to provide for on-orbit software modification. The distributed guidance and control system will be implemented in an object-oriented style using MANTA (Messaging Architecture for Networking and Threaded Applications). In this architecture, tasks may be remotely added, removed or replaced post-launch to increase mission flexibility and robustness. This built-in adaptability will allow software modifications to be made on-orbit in a robust manner. The prototype system, which is implemented in MATLAB, emulates the object-oriented and message-passing features of the MANTA software. In this paper, the multiple-team organization of the cluster is described, and the modular software architecture is presented. The relative dynamics in eccentric reference orbits is reviewed, and families of periodic, relative trajectories are identified, expressed as sets of static geometric parameters. The guidance law design is presented, and an example reconfiguration scenario is used to illustrate the distributed process of assigning geometric goals to the cluster. Next, a decentralized maneuver planning approach is presented that utilizes linear-programming methods to enact reconfiguration and coarse formation keeping maneuvers. Finally, a method for performing online collision avoidance is discussed, and an example is provided to gauge its performance.

Mueller, Joseph .↗

Cassini In-Flight Navigation Adaptations

In the nearly two decades of Cassini flight, adaptations to navigation processes were applied as characteristics unique to Cassini were identified and spacecraft configuration changes were implemented. Additionally, operational experience was leveraged into more efficient processes, better modeling, and more robust contingency strategies. Trajectory adjustments were implemented to allow further investigation of surprising science discoveries meriting more attention. Unique analyses were performed to determine how to best accomplish atypical science observations while maintaining acceptable risk levels. Descriptions of the most significant adaptations are organized according to the affected navigation subsystems: trajectory design, orbit determination, optical navigation, and maneuver design.

Wagner, Sean↗

Developing a Robust, Interoperable GNSS Space Service Volume (SSV) for the Global Space User Community

For over two decades, researchers, space users, Global Navigation Satellite System (GNSS) service providers, and international policy makers have been working diligently to expand the space-borne use of the Global Positioning System (GPS) and, most recently, to employ the full complement of GNSS constellations to increase spacecraft navigation performance. Space-borne Positioning, Navigation, and Timing (PNT) applications employing GNSS are now ubiquitous in Low Earth Orbit (LEO). GNSS use in space is quickly expanding into the Space Service Volume (SSV), the signal environment in the volume surrounding the Earth that enables real-time PNT measurements from GNSS systems at altitudes of 3000 km and above. To support the current missions and planned future missions within the SSV, initiatives are being conducted in the United States and internationally to ensure that GNSS signals are available, robust, and yield precise navigation performance. These initiatives include the Interagency Forum for Operational Requirements (IFOR) effort in the United States, to support GPS SSV signal robustness through future design changes, and the United Nations-sponsored International Committee on GNSS (ICG), to coordinate SSV development across all international GNSS constellations and regional augmentations. The results of these efforts have already proven fruitful, enabling new missions through radically improved navigation and timing performance, ensuring quick recovery from trajectory maneuvers, improving space vehicle autonomy and making GNSS signals more resilient from potential disruptions. Missions in the SSV are operational now and have demonstrated outstanding PNT performance characteristics; much better than what was envisioned less than a decade ago. The recent launch of the first in a series of US weather satellites will employ the use of GNSS in the SSV to substantially improve weather prediction and public-safety situational awareness of fast moving events, including hurricanes, flash floods, severe storms, tornados and wildfires. Thus, the benefits of the GNSS expansion and use into the SSV are tremendous, resulting in orders of magnitude return in investment to national governments and extraordinary societal benefits, including lives saved and critical infrastructure and property protected. However, this outstanding success is tempered by dual challenges: that for GPS, the current SSV specifications do not adequately protect SSV future use; and that for GNSS, the capabilities that are currently available are not protected in the future by specifications.

Bauer, Frank H.↗

Developing a Robust, Interoperable GNSS Space Service Volume (SSV) for the Global Space User Community

For over two decades, researchers, space users, Global Navigation Satellite System (GNSS) service providers, and international policy makers have been working diligently to expand the space-borne use of the Global Positioning System (GPS) and, most recently, to employ the full complement of GNSS constellations to increase spacecraft navigation performance. Space-borne Positioning, Navigation, and Timing (PNT) applications employing GNSS are now ubiquitous in Low Earth Orbit (LEO). GNSS use in space is quickly expanding into the Space Service Volume (SSV), the signal environment in the volume surrounding the Earth that enables real-time PNT measurements from GNSS systems at altitudes of 3000 km and above. To support the current missions and planned future missions within the SSV, initiatives are being conducted in the United States and internationally to ensure that GNSS signals are available, robust, and yield precise navigation performance. These initiatives include the Interagency Forum for Operational Requirements (IFOR) effort in the United States, to support GPS SSV signal robustness through future design changes, and the United Nations-sponsored International Committee on GNSS (ICG), to coordinate SSV development across all international GNSS constellations and regional augmentations. The results of these efforts have already proven fruitful, enabling new missions through radically improved navigation and timing performance, ensuring quick recovery from trajectory maneuvers, improving space vehicle autonomy and making GNSS signals more resilient from potential disruptions. Missions in the SSV are operational now and have demonstrated outstanding PNT performance characteristics; much better than what was envisioned less than a decade ago. The recent launch of the first in a series of US weather satellites will employ the use of GNSS in the SSV to substantially improve weather prediction and public-safety situational awareness of fast moving events, including hurricanes, flash floods, severe storms, tornados and wildfires. Thus, the benefits of the GNSS expansion and use into the SSV are tremendous, resulting in orders of magnitude return in investment to national governments and extraordinary societal benefits, including lives saved and critical infrastructure and property protected. However, this outstanding success is tempered by dual challenges: that for GPS, the current SSV specifications do not adequately protect SSV future use; and that for GNSS, the capabilities that are currently available are not protected in the future by specifications.

Bauer, Frank H.↗

Base Flow Investigation of the Apollo AS-202 Command Module

In recent years, both Europe and the US are developing hypersonic research and operational vehicles. These include (re)entry capsules (both ballistic and lifting) and lifting bodies such as ExoMars, EXPERT, ARV, CEV and IXV. The research programs are meant to enable technology and engineering capabilities to support during the next decade the development of affordable (possibly reusable) space transportation systems as well as hypersonic weapons systems for time critical targets. These programs have a broad range of goals, ranging from the qualification of thermal protection systems, the assessment of RCS performances, the development of GNC algorithms, to the full demonstration of the performance and operability of the integrated vehicles. Since the aerothermodynamic characteristics influence nearly all elements of the vehicle design, the accurate prediction of the aerothermal environment is a prerequisite for the design of efficient hypersonic systems. Significant uncertainties in the prediction of the hypersonic aerodynamic and the aerothermal loads can lead to conservative margins in the design of the vehicle including its Outer Mould Line (OML), thermal protection system, structure, and required control system robustness. The current level of aerothermal prediction uncertainties results therefore in reduced vehicle performances (e.g., sub-optimal payload to mass ratio, increased operational constraints). On the other hand, present computational capabilities enable the simulation of three dimensional flow fields with complex thermo-chemical models over complete trajectories and ease the validation of these tools by, e.g., reconstruction of detailed wind tunnel tests performed under identified and controlled conditions (flow properties and vehicle attitude in particular). These controlled conditions are typically difficult to achieve when performing in flight measurements which in turn results in large associated measurement uncertainties. Similar problems arise when attempting to rebuild measurements performed in "hot" ground facilities, where the difficulty level is increased by the addition of the free-flow characterization itself. The implementation of ever more sophisticated thermochemical models is no obvious cure to the aforementioned problems since their effect is often overwhelmed by the large measurement uncertainties incurred in both flight and ground high enthalpy facilities. Concurrent to the previous considerations, a major contributor to the overall vehicle mass of re-entry vehicles is the afterbody thermal protection system. This is due to the large acreage (equal or bigger than that of the forebody) to be protected. The present predictive capabilities for base flows are comparatively lower than those for windward flowfields and offer therefore a substantial potential for improving the design of future re-entry vehicles. To that end, it is essential to address the accuracy of high fidelity CFD tools exercised in the US and EU, which motivates a thorough investigation of the present status of hypersonic flight afterbody heating. This paper addresses the predictive capabilities of after body flow fields of re-entry vehicles investigated in the frame of the NATO/RTO - RTG-043 Task Group and is structured as follows: First, the verification of base flow topologies on the basis of available wind-tunnel results performed under controlled supersonic conditions (i.e., cold flows devoid of reactive effects) is performed. Such tests address the detailed characterization of the base flow with particular emphasis on separation/reattachment and their relation to Mach number effects. The tests have been performed on an Apollo-like re-entry capsule configuration. Second, the tools validated in the frame of the previous effort are exercised and appraised against flight-test data collected during the Apollo AS-202 re-entry.

Walpot, Louis M. G.↗

MarCO: CubeSats to Mars in 2016

In March of 2016, the InSight lander will launch from Vandenberg Air Force Base to begin a 6.5 month cruise to Mars. Soon after InSight separates from the upper stage of the launch vehicle, the two MarCO CubeSats will deploy and independently fly to Mars to support telecommunications relay for InSight’s entry, descent, and landing sequence. These craft will have onboard capability for deep space trajectory correction maneuvers; high-speed direct-to-Earth & DSN-compatible communications; an advanced navigation transponder; a large deployable reflectarray high gain antenna; and a robust software suite. This paper will present preliminary information on the MarCO project, including a concept of operations and details of the CubeSats and subsystem design. MarCO will open the door for NanoSpacecraft to serve in support roles for much larger primary missions – in this case, providing a real-time relay of for the InSight project. It will also be the first CubeSats to reach deep space, building upon the lessons learned from the INSPIRE project. At only a 6U in size, these craft well illustrate the tremendous capability available in a small package.

Krajewski, Joel↗

Analysis of System Margins on Missions Utilizing Solar Electric Propulsion

NASA's Jet Propulsion Laboratory has conducted a study focused on the analysis of appropriate margins for deep space missions using solar electric propulsion (SEP). The purpose of this study is to understand the links between disparate system margins (power, mass, thermal, etc.) and their impact on overall mission performance and robustness. It is determined that the various sources of uncertainty and risk associated with electric propulsion mission design can be summarized into three relatively independent parameters 1) EP Power Margin, 2) Propellant Margin and 3) Duty Cycle Margin. The overall relationship between these parameters and other major sources of uncertainty is presented. A detailed trajectory analysis is conducted to examine the impact that various assumptions related to power, duty cycle, destination, and thruster performance including missed thrust periods have on overall performance. Recommendations are presented for system margins for deep space missions utilizing solar electric propulsion.

Systems Engineering↗

NASA Tech Briefs, July 2012

Topics covered include: Instrument Suite for Vertical Characterization of the Ionosphere-Thermosphere System; Terahertz Radiation Heterodyne Detector Using Two-Dimensional Electron Gas in a GaN Heterostructure; Pattern Recognition Algorithm for High-Sensitivity Odorant Detection in Unknown Environments; Determining Performance Acceptability of Electrochemical Oxygen Sensors; Versatile Controller for Infrared Lamp and Heater Arrays; High-Speed Scanning Interferometer Using CMOS Image Sensor and FPGA Based on Multifrequency Phase-Tracking Detection; Ultra-Low-Power MEMS Selective Gas Sensors; Compact Receiver Front Ends for Submillimeter-Wave Applications; Dynamically Reconfigurable Systolic Array Accelerator; Blocking Losses With a Photon Counter; Motion-Capture-Enabled Software for Gestural Control of 3D Mod; Orbit Software Suite; CoNNeCT Baseband Processor Module Boot Code SoftWare (BCSW); Trajectory Software With Upper Atmosphere Model; ALSSAT Version 6.0; Employing a Grinding Technology to Assess the Microbial Density for Encapsulated Organisms; Demonstration of Minimally Machined Honeycomb Silicon Carbide Mirrors; Polyimide Aerogel Thin Films; Nanoengineered Thermal Materials Based on Carbon Nanotube Array Composites; Composite Laminate With Coefficient of Thermal Expansion Matching D263 Glass; Robust Tensioned Kevlar Suspension Design; Focal Plane Alignment Utilizing Optical CMM; Purifying, Separating, and Concentrating Cells From a Sample Low in Biomass; Virtual Ultrasound Guidance for Inexperienced Operators; Beat-to-Beat Blood Pressure Monitor; Non-Contact Conductivity Measurement for Automated Sample Processing Systems; An MSK Radar Waveform; Telescope Alignment From Sparsely Sampled Wavefront Measurements Over Pupil Subapertures; Method to Remove Particulate Matter from Dusty Gases at Low Pressures; Terahertz Quantum Cascade Laser With Efficient Coupling and Beam Profile; Measurement Via Optical Near-Nulling and Subaperture Stitching; 885-nm Pumped Ceramic Nd:YAG Master Oscillator Power Amplifier Laser System; Airborne Hyperspectral Imaging System; Heat Shield Employing Cured Thermal Protection Material Blocks Bonded in a Large-Cell Honeycomb Matrix; and Asymmetric Supercapacitor for Long-Duration Power Storage.

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NASA Tech Briefs, January 2014

Topics include: Multi-Source Autonomous Response for Targeting and Monitoring of Volcanic Activity; Software Suite to Support In-Flight Characterization of Remote Sensing Systems; Visual Image Sensor Organ Replacement; Ultra-Wideband, Dual-Polarized, Beam-Steering P-Band Array Antenna; Centering a DDR Strobe in the Middle of a Data Packet; Using a Commercial Ethernet PHY Device in a Radiation Environment; Submerged AUV Charging Station; Habitat Demonstration Unit (HDU) Vertical Cylinder Habitat; Origami-Inspired Folding of Thick, Rigid Panels; A Novel Protocol for Decoating and Permeabilizing Bacterial Spores for Epifluorescent Microscopy; Method and Apparatus for Automated Isolation of Nucleic Acids from Small Cell Samples; Enabling Microliquid Chromatography by Microbead Packing of Microchannels; On-Command Force and Torque Impeding Devices (OC-FTID) Using ERF; Deployable Fresnel Rings; Transition-Edge Hot-Electron Microbolometers for Millimeter and Submillimeter Astrophysics; Spacecraft Trajectory Analysis and Mission Planning Simulation (STAMPS) Software; Cross Support Transfer Service (CSTS) Framework Library; Arbitrary Shape Deformation in CFD Design; Range Safety Flight Elevation Limit Calculation Software; Frequency-Modulated, Continuous-Wave Laser Ranging Using Photon-Counting Detectors; Calculation of Operations Efficiency Factors for Mars Surface Missions; GPU Lossless Hyperspectral Data Compression System; Robust, Optimal Subsonic Airfoil Shapes; Protograph-Based Raptor-Like Codes; Fuzzy Neuron: Method and Hardware Realization; Kalman Filter Input Processor for Boresight Calibration; Organizing Compression of Hyperspectral Imagery to Allow Efficient Parallel Decompression; and Temperature Dependences of Mechanisms Responsible for the Water-Vapor Continuum Absorption.

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CNES-NASA Studies of the Mars Sample Return Orbiter Aerocapture Phase

A Mars Sample Return (MSR) mission has been proposed as a joint CNES (Centre National d'Etudes Spatiales) and NASA effort in the ongoing Mars Exploration Program. The MSR mission is designed to return the first samples of Martian soil to Earth. The primary elements of the mission are a lander, rover, ascent vehicle, orbiter, and an Earth entry vehicle. The Orbiter has been allocated only 2700 kg on the launch phase to perform its part of the mission. This mass restriction has led to the decision to use an aerocapture maneuver at Mars for the orbiter. Aerocapture replaces the initial propulsive capture maneuver with a single atmospheric pass. This atmospheric pass will result in the proper apoapsis, but a periapsis raise maneuver is required at the first apoapsis. The use of aerocapture reduces the total mass requirement by approx. 45% for the same payload. This mission will be the first to use the aerocapture technique. Because the spacecraft is flying through the atmosphere, guidance algorithms must be developed that will autonomously provide the proper commands to reach the desired orbit while not violating any of the design parameters (e.g. maximum deceleration, maximum heating rate, etc.). The guidance algorithm must be robust enough to account for uncertainties in delivery states, atmospheric conditions, mass properties, control system performance, and aerodynamics. To study this very critical phase of the mission, a joint CNES-NASA technical working group has been formed. This group is composed of atmospheric trajectory specialists from CNES, NASA Langley Research Center and NASA Johnson Space Center. This working group is tasked with developing and testing guidance algorithms, as well as cross-validating CNES and NASA flight simulators for the Mars atmospheric entry phase of this mission. The final result will be a recommendation to CNES on the algorithm to use, and an evaluation of the flight risks associated with the algorithm. This paper will describe the aerocapture phase of the MSR mission, the main principles of the guidance algorithms that are under development, the atmospheric entry simulators developed for the evaluations, the process for the evaluations, and preliminary results from the evaluations.

Fraysse, H.↗

A Robust Uniform Control Approach for VTOL Aircraft

We present a uniform control approach for transitioning vertical take-off and landing aircraft. The approach combines several well-understood linear techniques, including robust servomechanism linear quadratic regulation, control allocation, and gain scheduling, to provide a practical control framework that can be used to unify the control design process in all flight regimes. The choice of command variables provides a pilot/operator with a uniform set of intuitive control inputs through all phases of flight while also being easily integrated into autonomous trajectory tracking operations. The control method is applied to the NASA LA-8 aircraft, a tandem tiltwing distributed electric propulsion research vehicle designed at NASA Langley Research Center. The trim envelope of the aircraft is explored and the aircraft control authority analyzed throughout the transition corridor. The uniform control approach is then used to develop reference command tracking controllers for both the longitudinal and lateral-directional dynamics. An example trajectory is simulated to demonstrate how the controller effectively transitions the aircraft from hover to forward flight and vice versa while tracking a desired trajectory.

VTOL↗

Cartesian path control of a two-degree-of-freedom robot manipulator

The problem of cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator with possible space station applications is considered. The study was performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. Excellent tracking quality and small overshoots are also evident.

Nguyen, Charles C.↗

An unmanned probe to Pluto

Now that Voyager II has completed its grand tour of the solar system, all the planets in the solar system, with the exception of Pluto, have been studied. Even now, missions to return to Mercury, Venus, Mars Jupiter, and Saturn are currently flying or are planned. However, a mission to explore Pluto is not, at the present time, being considered seriously. The design problem presented to the students was very general, i.e., design an unmanned mission to Pluto with a launch window constraint of the years 2000 to 2010. All other characteristics of the mission, such as mission type (flyby, orbiter, lander, penetrator), scientific objectives and payload, and the propulsion system were to be determined by the design teams. The design studies exposed several general problems to be solved. Due to the extreme distance to Pluto (and a corresponding travel time in the range of 10 to 25 years), the spacecraft had to be lighter and more robust than current spacecraft designs. In addition, advanced propulsion concepts had to be considered. These included the new generation of launch vehicles and upper stages and nuclear electric propulsion. The probe design offered an abundance of synthesis and analysis problems. These included sizing trade studies, selection of subsystem components, analysis of spacecraft dynamics, stability and control, structural design and material selection, trajectory design, and selection of scientific equipment. Since the characteristics of the mission, excluding the launch window, were to be determined by the design teams, the solutions varied widely.

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Improvements to Thermal Protection System Design of Aerocapture Systems for Uranus Orbiters

The National Academies Planetary Science and Astrobiology Decadal Survey identified Uranus and Neptune - called Ice Giants - as the priority destinations for science. The survey assessed both a mission to Uranus through the Uranus Orbiter and Probe (UOP) concept, and Neptune through the Neptune-Triton Odyssey concept and determined that Uranus is the highest priority for a Flagship class mission. The UOP mission concept planned to deliver an in situ probe and conduct a multi-year orbital tour of the system to meet the science objectives. While the Uranus mission is currently viable with launch windows starting in 2031 using existing launch vehicles, the mission has a cruise phase of at least 12 years and would require more than half of its weight in fuel propellant to achieve the change in velocity necessary for orbital insertion. Aerocapture uses aerodynamic forces generated on a vehicle by the planet's atmosphere to modulate a spacecraft's trajectory, decreasing spacecraft velocity, and allowing mission designers to target the final orbital state. Aerocapture reduces the time-of-flight from Earth to Uranus over a fully propulsive solution, opening up more launch opportunities to arrive in the 2040's to the mission's science objectives. Aerocapture also allows a payload mass increase by mitigating the need for fuel to retropropulsively insert the payload into orbit, thereby increase the science that can be performed. For an aerocapture mission structure using a traditional aeroshell to deliver the UOP scientific payload to Uranus, Conformal Phenolic Impregnated Carbon Ablator (C-PICA) was determined to be the best-performing forebody thermal protection system (TPS) and other candidate aftbody TPS options were presented as feasible. This paper focuses on A) evaluating C-PICA as a forebody TPS using stressing entry conditions associated with a large range of potential Uranus flagship launch vehicles and interplanetary trajectories, B) widening the aftbody TPS candidates for new mass-efficient and cost-efficient solutions, and C) a summary list of actions remaining to provide a technically feasible and supply-robust set of TPS for an aerocapture vehicle to the Ice Giants is presented.

C-PICA↗

Improvements to Thermal Protection System Design of Aerocapture Systems for Uranus Orbiters

The National Academies Planetary Science and Astrobiology Decadal Survey identified Uranus and Neptune - called Ice Giants - as the priority destinations for science. The survey assessed both a mission to Uranus through the Uranus Orbiter and Probe (UOP) concept, and Neptune through the Neptune-Triton Odyssey concept and determined that Uranus is the highest priority for a Flagship class mission. The UOP mission concept planned to deliver an in situ probe and conduct a multi-year orbital tour of the system to meet the science objectives. While the Uranus mission is currently viable with launch windows starting in 2031 using existing launch vehicles, the mission has a cruise phase of at least 12 years and would require more than half of its weight in fuel propellant to achieve the change in velocity necessary for orbital insertion. Aerocapture uses aerodynamic forces generated on a vehicle by the planet's atmosphere to modulate a spacecraft's trajectory, decreasing spacecraft velocity, and allowing mission designers to target the final orbital state. Aerocapture reduces the time-of-flight from Earth to Uranus over a fully propulsive solution, opening up more launch opportunities to arrive in the 2040's to the mission's science objectives. Aerocapture also allows a payload mass increase by mitigating the need for fuel to retropropulsively insert the payload into orbit, thereby increase the science that can be performed. For an aerocapture mission structure using a traditional aeroshell to deliver the UOP scientific payload to Uranus, Conformal Phenolic Impregnated Carbon Ablator (C-PICA) was determined to be the best-performing forebody thermal protection system (TPS) and other candidate aftbody TPS options were presented as feasible. This paper focuses on A) evaluating C-PICA as a forebody TPS using stressing entry conditions associated with a large range of potential Uranus flagship launch vehicles and interplanetary trajectories, B) widening the aftbody TPS candidates for new mass-efficient and cost-efficient solutions, and C) a summary list of actions remaining to provide a technically feasible and supply-robust set of TPS for an aerocapture vehicle to the Ice Giants is presented.

C-PICA↗

Thermal Protection System to Enable Ice Giant Aerocapture Mission for Delivering Both an Orbiter and an In Situ Probe

The Ice Giants have been identified as high priority science destinations in the last Decadal Survey [1] and could benefit from aerocapture as the primary method for orbit insertion [2]. A mass-efficient aerocapture system will enable the delivery of an orbiter along with an atmospheric probe (for in situ measurements to anchor global data collected by the orbiter) and possibly a lander at Triton [3]. Aerocapture could be executed either using low L/D rigid aeroshell with lift modulation (LMA) [4] or using deployable aeroshell using drag modulation (DMA) [3]. Nearly two decades ago, a NASA-funded team performed Neptune-Triton aerocapture studies with a mid-L/D lifting configuration [5] for achieving orbit using LMA. This study showed aerocapture challenges. Due to very high peak entry conditions combined with very high heat-load, a suite of TPS materials was required and this suite was deemed problematic from a qualification perspective, due test facility limitations. In the past 20 years, progress made in GN&C for lift-guided entry missions such as MSL, Orion EFT1, Mars 2020 and the upcoming Artemis missions, and the expertise in blunt body aerodynamics at large scale (~ 5m) has led the EDL community to conclude that aerocapture is a “go do” engineering activity and most technologies are in hand to propose missions with aerocapture [6] [7]. Aerocapture using DMA, currently in development, is an option for Ice Giant Missions. While DMA is simpler in some sense, due to ballistic entry and no need for lift-guided maneuvering, it has challenges and it’s maturity is lower. LMA and DMA both require one or more ablative Thermal Protection System (TPS) materials for the rigid aeroshell element. The ablative TPS needs to be robust and mass efficient due to the high heat loads and size of the rigid aeroshell. Currently, there are capable ablative thermal protection materials, e.g., Heatshield for Extreme Entry Environments Technology (HEEET), 3-D woven Mid-Density Carbon- Phenolic (3MDCP), and PICA (Phenolic-Impregnated Carbon Ablator) that are mature, i.e., at TRL 6 or higher. NASA also invested in Conformal PICA that was matured to TRL 5. Our goal is to evaluate the applicability of high TRL TPS and consider other design options. We first establish bounding aerocapture trajectories for a wide range of arrival conditions and the associated aerothermal environment. Based on the environments, we then determine the predicted TPS mass for the aeroshell [4]. In this presentation, we will outline the process by which we establish bounding aerocapture trajectories for hyperbolic excess velocities ranging from 27 km/s to 35 km/s, which are shown to be a range of velocities that can reduce the trip time from ~14 years to 8 years. The above velocity range translates to ~12 km/s to ~24 km/s arrival velocities at the planetary entry interface [2]. The velocity reduction required to achieve orbit ranges between ~2.5 km/s to 9.5 km/s for both Neptune and Triton. Propulsive insertion alone, due to the amount of fuel required to achieve the required velocity reduction, limits the science returned [2]. We establish the bounding aerocapture trajectories for a low L/D (~ 0.4) configuration for three different ballistic coefficients. The ballistic coefficient range is determined from three different aeroshell diameters of 3m, 4m and 5m and with an entry system mass of 2200 kg. With the above range of design parameters, we then determine conservative/bounding estimates of aerothermal environments by using a combination of CFD simulations and stagnation point heating estimates [7]. This engineering approach allows us to first assess the TPS need vs. TPS capability and determine the applicability of existing TPS. Once an applicable suite of TPS is determined, the TPS thickness and mass are computed. We show that the TPS mass fraction can be as low as 5% to as high as 20%, depending on total trip time reduction and other design parameters for a range of TPS. This is a large range for TPS mass fraction. We show PICA and HEEET can indeed enable aerocapture missions, but the missions incur a mass penalty. TPS mass savings, can be further reduced with the use of conformal PICA. Advancing the development of Conformal PICA to make it robust across the entire aerothermal environment (peak heat-flux, pressure and shear) range will result in TPS mass fractions of < 10% for Ice Giant aerocapture missions such as the Neptune-Triton mission. Aerocapture allows for not only shortening the trip time but enables larger mass to be placed in orbit. Furthermore, probes deployed from orbit will benefit in reduced entry environments allowing for a lower risk TPS implementation as compared to mission designs where the probe is released prior to orbit insertion. One of the challenges for the Ice Giant community is to ensure mission designs that maximize science and allow flexibility in the placement of the entry probe. The traditional approach to release the probe ahead of the orbiter may not optimize returned science. In this presentation, we will make the case for mature TPS such as HEEET and PICA. While these materials can enable aerocapture missions, completing the development of conformal PICA and extending Conformal PICA to be more robust, will have significant impact to TPS mass efficiency and significantly enhance science return for future Gas- and Ice-Giant missions.

E Venkatapathy↗

Guidance and Control Architecture Design and Demonstration for Low Ballistic Coefficient Atmospheric Entry

We propose to develop a robust guidance and control system for the ADEPT (Adaptable Deployable Entry and Placement Technology) entry vehicle. A control-centric model of ADEPT will be developed to quantify the performance of candidate guidance and control architectures for both aerocapture and precision landing missions. The evaluation will be based on recent breakthroughs in constrained controllability/reachability analysis of control systems and constrained-based energy-minimum trajectory optimization for guidance development operating in complex environments.

Entry↗