The relay of Omega navigation signals by satellite to a central processing facility
Omega Position Location Equipment /OPLE/ system, testing operational feasibility of centralized global meteorological data collection system
Laughlin, C. R.↗
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Fuzzy logic applications to expert systems and control
A considerable amount of work on the development of fuzzy logic algorithms and application to space related control problems has been done at the Johnson Space Center (JSC) over the past few years. Particularly, guidance control systems for space vehicles during proximity operations, learning systems utilizing neural networks, control of data processing during rendezvous navigation, collision avoidance algorithms, camera tracking controllers, and tether controllers have been developed utilizing fuzzy logic technology. Several other areas in which fuzzy sets and related concepts are being considered at JSC are diagnostic systems, control of robot arms, pattern recognition, and image processing. It has become evident, based on the commercial applications of fuzzy technology in Japan and China during the last few years, that this technology should be exploited by the government as well as private industry for energy savings.
Lea, Robert N.↗
DSN Beowulf Cluster-Based VLBI Correlator
The NASA Deep Space Network (DSN) requires a broadband VLBI (very long baseline interferometry) correlator to process data routinely taken as part of the VLBI source Catalogue Maintenance and Enhancement task (CAT M&E) and the Time and Earth Motion Precision Observations task (TEMPO). The data provided by these measurements are a crucial ingredient in the formation of precision deep-space navigation models. In addition, a VLBI correlator is needed to provide support for other VLBI related activities for both internal and external customers. The JPL VLBI Correlator (JVC) was designed, developed, and delivered to the DSN as a successor to the legacy Block II Correlator. The JVC is a full-capability VLBI correlator that uses software processes running on multiple computers to cross-correlate two-antenna broadband noise data. Components of this new system (see Figure 1) consist of Linux PCs integrated into a Beowulf Cluster, an existing Mark5 data storage system, a RAID array, an existing software correlator package (SoftC) originally developed for Delta DOR Navigation processing, and various custom- developed software processes and scripts. Parallel processing on the JVC is achieved by assigning slave nodes of the Beowulf cluster to process separate scans in parallel until all scans have been processed. Due to the single stream sequential playback of the Mark5 data, some ramp-up time is required before all nodes can have access to required scan data. Core functions of each processing step are accomplished using optimized C programs. The coordination and execution of these programs across the cluster is accomplished using Pearl scripts, PostgreSQL commands, and a handful of miscellaneous system utilities. Mark5 data modules are loaded on Mark5 Data systems playback units, one per station. Data processing is started when the operator scans the Mark5 systems and runs a script that reads various configuration files and then creates an experiment-dependent status database used to delegate parallel tasks between nodes and storage areas (see Figure 2). This script forks into three processes: extract, translate, and correlate. Each of these processes iterates on available scan data and updates the status database as the work for each scan is completed. The extract process coordinates and monitors the transfer of data from each of the Mark5s to the Beowulf RAID storage systems. The translate process monitors and executes the data conversion processes on available scan files, and writes the translated files to the slave nodes. The correlate process monitors the execution of SoftC correlation processes on the slave nodes for scans that have completed translation. A comparison of the JVC and the legacy Block II correlator outputs reveals they are well within a formal error, and that the data are comparable with respect to their use in flight navigation. The processing speed of the JVC is improved over the Block II correlator by a factor of 4, largely due to the elimination of the reel-to-reel tape drives used in the Block II correlator.
Rogstad, Stephen P.↗
Optical Navigation Preparations for New Horizons Pluto Flyby
The New Horizons spacecraft will encounter Pluto and its satellites in July 2015. As was the case for the Voyager encounters with Jupiter, Saturn, Uranus and Neptune, mission success will depend heavily on accurate spacecraft navigation, and accurate navigation will be impossible without the use of pictures of the Pluto system taken by the onboard cameras. We describe the preparations made by the New Horizons optical navigators: picture planning, image processing algorithms, software development and testing, and results from in-flight imaging.
image processing↗
The Lunar GNSS Receiver Experiment (LuGRE)
The Lunar GNSS Receiver Experiment (LuGRE) is a joint NASA-Italian Space Agency (ASI) payload on the Firefly Blue Ghost Mission 1 (BGM1) with the goal to demonstrate GNSS-based positioning, navigation, and timing at the Moon. LuGRE was chosen by the NASA Commercial Lunar Payload Services (CLPS) program as one of ten payloads on its “19D” task order for delivery to the lunar surface in 2023. The LuGRE payload consists of a weak-signal GNSS receiver, a high-gain L-band patch antenna, a low-noise amplifier, and an RF filter. The receiver will track GPS L1 C/A and L5, and Galileo E1 and E5a signals and will return pseudorange, carrier phase, and Doppler measurements to the ground. It will also calculate least-squares point solutions and Kalman-filter based navigation solutions onboard. In addition, the receiver features the capability to record raw I/Q baseband samples for downlink and ground processing. LuGRE will build on the legacy of prior missions in the Space Service Volume (SSV) including the initial experiments by AMSAT-OSCAR 40 and others, the GOES-R series of geostationary weather satellites, and the NASA Magnetospheric Multiscale (MMS) mission currently operating on GPS-based navigation at nearly 50% of lunar distance. Further, LuGRE will be one of the very first demonstrations of GNSS signal reception and navigation in the lunar environment and on the lunar surface, paving the way for operational use by future lunar missions such as Orion, Gateway, robotic and human landers, and surface rovers. Ultimately, all LuGRE science data will be released to a public data archive for the benefit of the GNSS and space communities. This paper provides a detailed overview of the LuGRE payload, including its design, concept of operations, and its predicted ability to meet its core science objectives. The baseline science investigations and priorities are outlined. Simulated performance results are shown based on the latest calibrated models including signal strength, signal availability, onboard navigation performance and convergence properties, and ground-based post-processed navigation performance.
LuGRE↗
CCD sensors for interplanetary spacecraft navigation and pointing control
The applications of practical optical image sensing CCDs to interplanetary spacecraft precision science payload delivery are discussed. The increasing demand for precision and flexibility in spacecraft for proposed new missions is forcing a transition to autonomous onboard navigation and pointing control. Onboard processing of video data is a crucial element in this transition and is made possible by CCD imagers and microprocessors. The pending Halley's comet close flyby is used as an example to examine details of the sensor design and the data processing which will meet the requirements. Target body centerfinding for optical navigation, target body tracking signal processing, and CCD sensor heads are examined, and flow charts and block diagrams are given for each.
Eisenman, A. R.↗
Optical Navigation Attitude Estimation and Calibration Performance Improvement using Outlier Rejection
Spacecraft optical navigation (OpNav) systems process a sequence of images of celestial bodies against a starfield background to estimate the position and velocity of the vehicle. While attitude is sometimes available from an onboard star tracker, it is often desirable to recognize the background stars in the OpNav images to better align the image. While many image processing algorithms exist for finding stars, efficiency and reliability remain key issues in the presence of extended bodies(e.g. the Moon, Earth), especially when attempting to solve the full lost-in-space problem. Some star outliers(stars identified with high residuals)could appear in the camera field of view, however using them in the attitude estimation or camera calibration would lead to less accurate results. Therefore, we require new and robust approaches to remove these outliers before any further processing. The emphasis of the work is on developing a simple and robust iterative technique to detect and reject the outliers which could be found in any frame during the lost in space attitude determination or during the camera calibration. These outliers are determined based on the residuals of the centroids of the detected stars and the corresponding location using the star catalog. If the residuals exceed a predetermined threshold value, the object will be detected as an outlier and will be removed before another attitude determination and calibration iteration is performed. The performance for both attitude determination and on-orbit camera calibration are improved by an almost two-fold increase in accuracy when applying this outlier rejection technique.
OpNav↗
Multivariate Bayesian Optimization of CoO Nanoparticles for CO 2 Hydrogenation Catalysis
The hydrogenation of CO 2 holds promise for transforming the production of renewable fuels and chemicals. However, the challenge lies in developing robust and selective catalysts for this process. Transition metal oxide catalysts, particularly cobalt oxide, have shown potential for CO 2 hydrogenation, with performance heavily reliant on crystal phase and morphology. Achieving precise control over these catalyst attributes through colloidal nanoparticle synthesis could pave the way for catalyst and process advancement. Yet, navigating the complexities of colloidal nanoparticle syntheses, governed by numerous input variables, poses a significant challenge in systematically controlling resultant catalyst features. We present a multivariate Bayesian optimization, coupled with a data-driven classifier, to map the synthetic design space for colloidal CoO nanoparticles and simultaneously optimize them for multiple catalytically relevant features within a target crystalline phase. The optimized experimental conditions yielded small, phase-pure rock salt CoO nanoparticles of uniform size and shape. These optimized nanoparticles were then supported on SiO 2 and assessed for thermocatalytic CO 2 hydrogenation against larger, polydisperse CoO nanoparticles on SiO 2 and a conventionally prepared catalyst. The optimized CoO/SiO 2 catalyst consistently exhibited higher activity and CH 4 selectivity (ca. 98%) across various pretreatment reduction temperatures as compared to the other catalysts. This remarkable performance was attributed to particle stability and consistent H* surface coverage, even after undergoing the highest temperature reduction, achieving a more stable catalytic species that resists sintering and carbon occlusion.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
Accelerating catalytic advancements through the precision of high-throughput experiments & calculations
The growing demand for energy-efficient processes to support a sustainable future drives the need for research to rapidly explore chemical and material space through accelerated catalyst discovery initiatives. Recent breakthroughs in high-throughput experimental and computational methods are transforming the catalysis field, surpassing traditional approaches to manipulating variables in catalytic processes. Key advancements in innovation include the integration of machine learning for efficient catalyst screening, high-throughput experimentation, data-driven methodologies employing comprehensive databases, and in situ and in operando techniques for realistic observations. This progress has undoubtedly been intertwined with a collaborative framework across disciplines, reshaping catalyst discovery methods in both industry and academia. This Opinion article presents a multifaceted perspective from coauthors with expertise spanning various stages of the Technology Readiness Level spectrum, highlighting both opportunities and persistent challenges in integrating computational and experimental approaches in catalysis. These challenges span from obtaining high-quality experimental data, scaling simulations to industrially relevant materials and process conditions to navigating the complexity and predictive accuracy of computational models.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
Space Trajectories Error Analysis (STEAP) Programs. Volume 1: Analytic manual, update
Manual revisions are presented for the modified and expanded STEAP series. The STEAP 2 is composed of three independent but related programs: NOMAL for the generation of n-body nominal trajectories performing a number of deterministic guidance events; ERRAN for the linear error analysis and generalized covariance analysis along specific targeted trajectories; and SIMUL for testing the mathematical models used in the navigation and guidance process. The analytic manual provides general problem description, formulation, and solution and the detailed analysis of subroutines. The programmers' manual gives descriptions of the overall structure of the programs as well as the computational flow and analysis of the individual subroutines. The user's manual provides information on the input and output quantities of the programs. These are updates to N69-36472 and N69-36473.
Source record↗
Artic and subarctic environmental analyses utilizing ERTS-1 imagery. Cold regions environmental analysis based on ERTS-1 imagery (preprint)
There are no author-identified significant results in this report. An overriding problem in arctic and subarctic environmental research has been the absence of long-term observational data and the sparseness of geographical coverage of existing data. A first look report is presented on the use of ERTS-1 imagery as a major tool in two large area environmental studies: (1) investigation of sedimentation and other nearshore marine processes in Cook Inlet, Alaska; and (2) a regional study of permafrost regimes in the discontinuous permafrost zone of Alaska. These studies incorporate ground truth acquisition techniques that are probably similar to most ERTS investigations. Studies of oceanographic processes in Cook Inlet will be focused on seasonal changes in nearshore bathymetry, tidal and major current circulation patterns, and coastal sedimentation processes, applicable to navigation, construction, and maintenance of harbors. Analyses will be made of the regional permafrost distribution and regimes in the Upper Koyukuk-Kobuk River area located in NW Alaska.
Anderson, D. M.↗
The deep space network, volume 15
The DSN progress is reported in flight project support, TDA research and technology, network engineering, hardware and software implementation, and operations. Topics discussed include: DSN functions and facilities, planetary flight projects, tracking and ground-based navigation, communications, data processing, network control system, and deep space stations.
Source record↗
Rotorcraft deceleration to hover using image-based guidance
Rotorcraft operating in hostile environment fly at low altitudes to minimize exposure to the defensive weapons arrayed against them. The development of intelligent guidance commands at low altitudes requires the integration of conventional guidance with the information provided by the sensor on relative position between the vehicle and local terrain or obstacles. Deceleration to hover (DTH) is one of the common maneuvers executed by a rotorcraft. The authors describe the integration of DTH guidance logic with an image-based scheme to estimate the hover point. The performance of such a system is affected by parameters of the guidance and by navigation and image processing algorithms. Results are presented on the effect of the parameters on system performance.
Sridhar, Banavar↗
Simple autonomous Mars walker
Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.
Larimer, Stanley J.↗
Radio-planetary from tie from Phobos-2 VLBI data
In an ongoing effort to improve the knowledge of the relative orientation (the 'frame tie') of the planetary ephemeris reference frame used in deep navigation and a second reference frame that is defined by the coordinates of a set of extragalactic radio sources, VLBI observations of the Soviet Phobos-2 spacecraft and nearby (in angle) radio sources were obtained at two epochs in 1989, shortly after the spacecraft entered orbit about Mars. The frame tie is an important systematic error source affecting both interplanetary navigation and the process of improving the theory of the Earth's orientation. The data from a single Phobos-2 VLBI session measure one component of the direction vector from Earth to Mars in the frame of the extragalactic radio sources (the 'radio frame'). The radio frame has been shown to be stable and internally consistent with an accuracy of 5 nrad. The planetary ephemeris reference frame has an internal consistency of approximately 15 nrad. The planetary and radio source reference frames were aligned prior to 1989 and measurements of occulations of the radio source 3C273 by the Moon. The Phobos-2 VLBI measurements provide improvement in the accuracy of two of the three angles describing a general rotation between the planetary and radio reference frames. A complete set of measurements is not available because data acquisition was terminated prematurely by loss of spacecraft. The analysis of the two Phobos-2 VLBI data sets indicates that, in the directions of the two rotation components determined by these data, the JPL planetary ephemeris DE200 is aligned with the radio frame as adopted by the International Earth Rotation Service within an accuracy of 20-40 nrad, depending on direction. The limiting errors in the solutions for these offsets are spacecraft trajectory (20 nrad), instrumental biases (19 nrad), and dependence of quasar coordinates on observing frequency (24 nrad).
Hildebrand, C. E.↗
Development of Airport Surface Required Navigation Performance (RNP)
The U.S. and international aviation communities have adopted the Required Navigation Performance (RNP) process for defining aircraft performance when operating the en-route, approach and landing phases of flight. RNP consists primarily of the following key parameters - accuracy, integrity, continuity, and availability. The processes and analytical techniques employed to define en-route, approach and landing RNP have been applied in the development of RNP for the airport surface. To validate the proposed RNP requirements several methods were used. Operational and flight demonstration data were analyzed for conformance with proposed requirements, as were several aircraft flight simulation studies. The pilot failure risk component was analyzed through several hypothetical scenarios. Additional simulator studies are recommended to better quantify crew reactions to failures as well as additional simulator and field testing to validate achieved accuracy performance, This research was performed in support of the NASA Low Visibility Landing and Surface Operations Programs.
Cassell, Rick↗
Integration of Atmospheric, Laboratory, and Satellite Data to Estimate Biospheric Sources of Oxygenated Organic Compounds
For this study, we intend to use a long time series of coarse resolution (8 km and quarter degree) vegetation leaf area index (LAI) and fraction of absorbed PAR (FAPAR) derived from AVHRR data for the time period July 1981 through Dec 2001. The Global Inventory Monitoring and Modeling Studies (GIMMS) data set of AVHRR channel reflectances currently was developed by Dr. Tucker at NASA Goddard. The spatial resolution of the data is 8 km, and a 15-day maximum Normalized Difference Vegetation Index (NDVI) composite time series for the period July 1981 through December 1999 has been produced. The data processing included improved navigation, calibration for intra- and inter-sensor variations, partial atmospheric correction for gaseous absorption and scattering. Stratospheric aerosol effects associated with volcanic eruptions were corrected using a combination of the methods for the data from the period April 1982 - December 1984 (El Chichon) and June 1991 - December 1993 (Mt. Pinatubo).
Myneni, Ranga B.↗
Modification of a Limbed Robot to Favor Climbing
The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs. This change has also reduced both complexity and mass. Notwithstanding the decrease in the number of DOFs, the three remaining DOFs are configured to provide greater dexterity for motion along a surface. To extend reach, the limbs of the LEMUR IIb are 25 percent longer than those of the LEMUR II. Additional benefits stemming from the modifications are that the robot body supported by the limbs is now less massive and its center of gravity is now closer to the surface along which the robot is to move. These benefits have been obtained without sacrificing load-carrying capacity. Hence, overall, the LEMUR IIb is a more adept climber.
Okon, Avi↗