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This paper presents an algorithm to autonomously determine the orbit of a spacecraft around a small solar system object (such as an asteroid) using a wide field-of-view camera and a precomputed model of the object.
To date, the IMAGE EUV camera has observed several plasmaspheric density trough features inside the plasmapause under a wide range of geomagnetic activity. From the perspective of EUV, a density trough feature appears as a channel of diminished pixel counts which spans a width of L-shell (DELTA L) and magnetic local time (MLT) inside the plasmapause. Plasmaspheric density troughs are found to be morphologically complex possessing considerable spatial and temporal variability. We present an analysis of the evolution of trough DELTA L and MLT extent as functions of associated D (sub ST) and K (sub p) history. Trough features range in size from 0.16 less than or equal to DELTA L less than or equal to 1.2 with azimuthal extent from 1500 less than or equal to MLT less than or equal to 1200. All cases of plasmaspheric density troughs studied to date appear to have evolved as a result of the inner edge of the afternoon/evening plasma drainage plume being wrapped around through the nightside plasmasphere. The structure of plasmaspheric density trough features is further probed by analyzing simulated EUV images produced by forward modeling artificially introduced regions of depleted density into both static and dynamic global core plasmaspheric models. Forward modeling suggests that (1) L-shell refilling of density troughs during storm recovery can be modeled as filling from the ionosphere toward the equator (i.e., bottom-up refilling), and (2) that an erosion process is operating within flux tubes beyond the outer L-shell wall of the observed density troughs.
A wind tunnel test and a computational study were conducted to investigate the complex interactions between a supersonic nozzle plume and shock waves of differing strengths generated from various aft surfaces typical of supersonic aircraft. These analytically-defined aft surfaces were representative of horizontal tails of various sizes, and an aft deck. CFD simulations of many proposed model configurations allowed for assessments of the detailed flow interactions of components in close proximity to the nozzle, as well as assessments of the nozzle jet flow itself. The evaluation of the computational results for many candidate configurations guided the design of model components. The interactions of the waveforms from these surfaces with the jet exhaust plume can have significant adverse effects on the loudness of the sonic boom if the surfaces are not carefully integrated into an aircraft design. The greatest discrepancy in estimating sonic boom loudness for low-boom flight vehicles is currently in predicting the signatures from the aft part of an aircraft, including the interactions with the plume flow. The objectives of this test were to gain a better understanding of these interactions, and to provide a detailed experimental database from multiple sources for use as validation cases for CFD tool development. The subject test was run in the NASA Ames 9- by 7-Ft Supersonic Wind Tunnel in February 2016 at Mach numbers of 1.6 and 2.0, and was funded by the NASA Commercial Supersonics Technology (CST) Project. The nozzle flow was provided by high-pressure air (HPA) pumped through the model, and pressure signature data were acquired with the NASA 14-inch sonic boom pressure rail. The rail measured the locations of the shocks and expansions at various distances and off-track angles from the model. This enabled the impact of the nozzle plume/shock interactions on the near- and mid-field sonic boom pressure waveforms to be quantified. Schlieren images of the flow field around and behind the model were obtained with an RBOS (Retroreflective Background-Oriented Schlieren) technique to determine the origins of the shock and expansion waves, to identify the shape and boundaries of the plume, and to determine the changes in incoming and exiting waveforms within the plume. A total pressure rake was positioned closely behind the model nozzle in order to measure the total pressure profiles of the flow above, within, and below the nozzle exhaust. Model angles and positions in the tunnel were measured by photogrammetry using two cameras since the lack of a model force balance prevented the measurement of model deflections under load.Navier-Stokes computations using two different CFD codes were compared to the experimental sonic boom pressure signature data, and the rake total pressure data in the plume. A computational schlieren technique was used to compare the computed flow field with the RBOS images. The computational results were also used to complement the test data with flow field quantities that could not be measured, such as Mach number and pressure distributions to distinguish shock waves and expansion waves.
A Pointing Covariance Analysis Tool (PCAT) has been developed for evaluating the expected performance of the pointing control system for NASA s Space Interferometry Mission (SIM). The SIM pointing control system is very complex, consisting of multiple feedback and feedforward loops, and operating with multiple latencies and data rates. The SIM pointing problem is particularly challenging due to the effects of thermomechanical drifts in concert with the long camera exposures needed to image dim stars. Other pointing error sources include sensor noises, mechanical vibrations, and errors in the feedforward signals. PCAT models the effects of finite camera exposures and all other error sources using linear system elements. This allows the pointing analysis to be performed using linear covariance analysis. PCAT propagates the error covariance using a Lyapunov equation associated with time-varying discrete and continuous-time system matrices. Unlike Monte Carlo analysis, which could involve thousands of computational runs for a single assessment, the PCAT analysis performs the same assessment in a single run. This capability facilitates the analysis of parametric studies, design trades, and "what-if" scenarios for quickly evaluating and optimizing the control system architecture and design.
An analytic transfer inverse model for Earth Polychromatic Imaging Camera (EPIC) observations is proposed to retrieve the cloud-top pressure (CTP) with the consideration of in-cloud photon penetration. In this model, an analytic equation was developed to represent the reflection at the top of the atmosphere from above cloud, in cloud, and below cloud. The coefficients of this analytic equation can be derived from a series of EPIC simulations under different atmospheric conditions using a nonlinear regression algorithm. With estimated cloud pressure thickness, the CTP can be retrieved from EPIC observation data by solving the analytic equation. To simulate the EPIC measurements, a program package using the double-k approach was developed. Compared to line-by-line calculation, this approach can calculate high-accuracy results with a 100-fold computation time reduction. During the retrieval processes, two kinds of retrieval results, i.e., baseline CTP and retrieved CTP, are provided. The baseline CTP is derived without considering in-cloud photon penetration, and the retrieved CTP is derived by solving the analytic equation, taking into consideration in-cloud and below-cloud interactions. The retrieved CTPs for the oxygen A and B bands are smaller than their related baseline CTP. At the same time, both baseline CTP and retrieved CTP at the oxygen B band are larger than those at the oxygen A band. Compared to the difference in baseline CTP between the B band and A band, the difference in retrieved CTP between these two bands is generally reduced. Out of around 10 000 cases, in retrieved CTP between the A and B bands we found an average bias of 93 mb with a standard deviation of 81 mb. The cloud layer top pressure from Cloud–Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO) measurements is used for validation. Under single-layer cloud situations, the retrieved CTPs for the oxygen A band agree well with the CTPs from CALIPSO, the mean difference of which within 5 mb in the case study. Under multiple-layer cloud situations, the CTPs derived from EPIC measurements may be larger than the CTPs of high-level thin clouds due to the effect of photon penetration.
The invention is directed toward a method and apparatus for generating an animated sequence through the movement of three-dimensional graphical models. A plurality of pre-defined graphical models are stored and manipulated in response to interactive commands or by means of a pre-defined command file. The models may be combined as part of a hierarchical structure to represent physical systems without need to create a separate model which represents the combined system. System motion is simulated through the introduction of translation, rotation and scaling parameters upon a model within the system. The motion is then transmitted down through the system hierarchy of models in accordance with hierarchical definitions and joint movement limitations. The present invention also calls for a method of editing hierarchical structure in response to interactive commands or a command file such that a model may be included, deleted, copied or moved within multiple system model hierarchies. The present invention also calls for the definition of multiple viewpoints or cameras which may exist as part of a system hierarchy or as an independent camera. The simulated movement of the models and systems is graphically displayed on a monitor and a frame is recorded by means of a video controller. Multiple movement and hierarchy manipulations are then recorded as a sequence of frames which may be played back as an animation sequence on a video cassette recorder.
A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May, 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique isbased on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. Togenerate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available...
A series of wind tunnel tests have been conducted to evaluate a multi-camera videogrammetric system designed to measure model attitude in hypersonic facilities. The technique utilizes processed video data and applies photogrammetric principles for point tracking to compute model position including pitch, roll and yaw variables. A discussion of the constraints encountered during the design, development, and testing process, including lighting, vibration, operational range and optical access is included. Initial measurement results from the NASA Langley Research Center (LaRC) 31-Inch Mach 10 tunnel are presented.
A series of wind tunnel tests have been conducted to evaluate a multi-camera videogrammetric system designed to measure model attitude in hypersonic facilities. The technique utilizes processed video data and applies photogrammetric principles for point tracking to compute model position including pitch, roll and yaw variables. A discussion of the constraints encountered during the design, development, and testing process, including lighting, vibration, operational range and optical access is included. Initial measurement results from the NASA Langley Research Center (LaRC) 31-Inch Mach 10 tunnel are presented.
A series of wind tunnel tests have been conducted to evaluate a multi-camera videogrammetric system designed to measure model attitude in hypersonic facilities. The technique utilizes processed video data and photogrammetric principles for point tracking to compute model position including pitch, roll and yaw. A discussion of the constraints encountered during the design, and a review of the measurement results obtained from the NASA Langley Research Center (LaRC) 31-Inch Mach 10 tunnel are presented.
A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique is based on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. To generate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available. The positioning accuracy achieved by this technique for a zoomed-in camera setting was about +/-5 mm, well within the allowable +/-12 mm error margin at the insertion of a 45 cm long tool in the servicing task.
A survey of systems capable of model deformation measurements was conducted. The survey included stereo-cameras, scanners, and digitizers. Moire, holographic, and heterodyne interferometry techniques were also looked at. Stereo-cameras with passive or active targets are currently being deployed for model deformation measurements at NASA Ames and LaRC, Boeing, and ONERA. Scanners and digitizers are widely used in robotics, motion analysis, medicine, etc., and some of the scanner and digitizers can meet the model deformation requirements. Commercial stereo-cameras, scanners, and digitizers are being improved in accuracy, reliability, and ease of operation. A number of new systems are coming onto the market.
A full scale model of an aircraft engine inlet was tested at NASA Lewis Research Center's Icing Research Tunnel. Simulated natural ice sheds from the engine inlet lip were studied using high speed digital image acquisition and image analysis. Strategic camera placement integrated at the model design phase allowed the study of ice accretion on the inlet lip and the resulting shed ice particles at the aerodynamic interface plane at the rear of the inlet prior to engine ingestion. The resulting digital images were analyzed using commercial and proprietary software to determine the size of the ice particles that could potentially be ingested by the engine during a natural shedding event. A methodology was developed to calibrate the imaging system and insure consistent and accurate measurements of the ice particles for a wide range of icing conditions.
As part of its research, NASA investigates concepts, aircraft, and operations related to Advanced Air Mobility (AAM). One of the most challenging scenarios for AAM will be enabling safe routine access near densely populated urban centers. AAM flight operations over a regional area require a moderately high-fidelity simulation capability to develop and evaluate autonomy technologies in the urban environment. This paper aims to describe a system to simulate flight operations around regions such as the San Francisco-Oakland Bay area at a moderately-high scale (tens to hundreds of flights) that incorporates detailed vehicle models and control necessary to support research in airborne autonomy. The flight vehicle utilizes NASA AAM concept vehicle dynamics integrated with a custom flight management system and flight control system to simulate all flight phases accurately. The simulation incorporates a detailed simulated urban environment and includes glass cockpit displays to monitor aircraft operations. Simulation models integrate to simulate air and ground-based sensors, such as Radar and LiDAR. As a commercially available rendering engine, X-Plane 11 is used as the renderer to simulate vision-based sensors (such as onboard and ground-based cameras) with a detailed graphical model of a city at different times of the day and weather conditions. This paper presents the simulation and software architecture used for simulating AAM traffic over this urban region. This system enables the evaluation of NASA research concepts in autonomy for urban AAM operations on the path toward flight test evaluation.
As part of its research, NASA investigates concepts, aircraft, and operations related to Advanced Air Mobility (AAM). One of the most challenging scenarios for AAM will be enabling safe routine access near densely populated urban centers. AAM flight operations over a regional area require a moderately high-fidelity simulation capability to develop and evaluate autonomy technologies in the urban environment. This paper aims to describe a system to simulate flight operations around regions such as the San Francisco-Oakland Bay area at a moderately-high scale (tens to hundreds of flights) that incorporates detailed vehicle models and control necessary to support research in airborne autonomy. The flight vehicle utilizes NASA AAM concept vehicle dynamics integrated with a custom flight management system and flight control system to simulate all flight phases accurately. The simulation incorporates a detailed simulated urban environment and includes glass cockpit displays to monitor aircraft operations. Simulation models integrate to simulate air and ground-based sensors, such as Radar and LiDAR. As a commercially available rendering engine, X-Plane 11 is used as the renderer to simulate vision-based sensors (such as onboard and ground-based cameras) with a detailed graphical model of a city at different times of the day and weather conditions. This paper presents the simulation and software architecture used for simulating AAM traffic over this urban region. This system enables the evaluation of NASA research concepts in autonomy for urban AAM operations on the path toward flight test evaluation.
A model of the change in shape of a raindrop is presented. Raindrops measured by two orthogonal cameras were classified by shape and orientation to determine the nature of the oscillation. A physical model based on potential energy was then developed to study the amplitude variation of oscillating drops. The model results show that oscillations occur about the equilibrium axis ratio, but the time average axis ratio if significantly more spherical for large amplitudes because of asymmetry in the surface potential energy. A generalization of the model to oscillations produced by turbulence yields average axis ratios that are consistent with the camera measurements. The model results for average axis ratios were applied to rainfall studies with a dual polarized radar.
An interactive graphics system using closed circuit television (CCTV) cameras for remote verification and maintenance of a geometric world model database has been demonstrated in GE's telerobotics testbed. The database provides geometric models and locations of objects viewed by CCTV cameras and manipulated by telerobots. To update the database, an operator uses the interactive graphics system to superimpose a wireframe line drawing of an object with known dimensions on a live video scene containing that object. The methodology used is multipoint positioning to easily superimpose a wireframe graphic on the CCTV image of an object in the work scene. An enhanced version of GE's interactive graphics system will provide the object designation function for the operator control station of the Jet Propulsion Laboratory's telerobot demonstration system.
Plume-surface interactions between a rocket plume and the lunar surface will be studied in-situ during two of NASA’s upcoming Commercial Lunar Payload Services Program missions. The payload, Stereo Cameras for Lunar Plume-Surface Studies (SCALPSS), will employ a multiple-camera photogrammetry system to obtain stereo images of the lunar regolith before, during, and after significant erosion and subsequent crater formation. The evaluation of measurement system capabilities and design process of the payload is informed by computational fluid dynamics predictions, accuracy modeling based on experimental data, camera simulation, and lander design, all of which are combined in the Virtual Diagnostic Interface. The second SCALPSS mission, traveling to the moon on Firefly Aerospace’s Blue Ghost lander in early 2023, aims to build on the design and complexity of the first payload, which is launching in early 2022 on Intuitive Machines’ Nova-C lander. The Blue Ghost SCALPSS mission will include two additional cameras and a total of three different lens focal lengths which will target specific points in the vehicle’s descent to obtain quantitative and accurate 3D reconstruction of the lunar surface both prior to and after crater formation.