Topex/Poseidon Autonomous Maneuver Esperiment (TAME)
This paper describes the plans for an experiment undertaken by the TOPEX/POSEIDON (T/P) mission to demonstrate autonomous on-board manuever design and implementation.
OMM↗
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Mechanisms of postspaceflight orthostatic hypotension: low alpha1-adrenergic receptor responses before flight and central autonomic dysregulation postflight
Although all astronauts experience symptoms of orthostatic intolerance after short-duration spaceflight, only approximately 20% actually experience presyncope during upright posture on landing day. The presyncopal group is characterized by low vascular resistance before and after flight and low norepinephrine release during orthostatic stress on landing day. Our purpose was to determine the mechanisms of the differences between presyncopal and nonpresyncopal groups. We studied 23 astronauts 10 days before launch, on landing day, and 3 days after landing. We measured pressor responses to phenylephrine injections; norepinephrine release with tyramine injections; plasma volumes; resting plasma levels of chromogranin A (a marker of sympathetic nerve terminal release), endothelin, dihydroxyphenylglycol (DHPG, an intracellular metabolite of norepinephrine); and lymphocyte beta(2)-adrenergic receptors. We then measured hemodynamic and neurohumoral responses to upright tilt. Astronauts were separated into two groups according to their ability to complete 10 min of upright tilt on landing day. Compared with astronauts who were not presyncopal on landing day, presyncopal astronauts had 1). significantly smaller pressor responses to phenylephrine both before and after flight; 2). significantly smaller baseline norepinephrine, but significantly greater DHPG levels, on landing day; 3). significantly greater norepinephrine release with tyramine on landing day; and 4). significantly smaller norepinephrine release, but significantly greater epinephrine and arginine vasopressin release, with upright tilt on landing day. These data suggest that the etiology of orthostatic hypotension and presyncope after spaceflight includes low alpha(1)-adrenergic receptor responsiveness before flight and a remodeling of the central nervous system during spaceflight such that sympathetic responses to baroreceptor input become impaired.
Clinical Trial↗
Method of recording action currents in automatic nerves under chronic /continuous/ experimental conditions
Recording action currents in autonomic nervous system during long-term experiments in dogs
DOG↗
Work Experience Report
The NASA Platform for Autonomous Systems (NPAS) toolkit is currently being used at the NASA John C. Stennis Space Center (SSC) to develop the INSIGHT program, which will autonomously monitor and control the Nitrogen System of the High Pressure Gas Facility (HPGF) on site. The INSIGHT program is in need of generic timing capabilities in order to perform timing based actions such as pump usage timing and sequence step timing. The purpose of this project was to develop a timing module that could fulfill these requirements and be adaptable for expanded use in the future. The code was written in Gensym G2 software platform, the same as INSIGHT, and was written generically to ensure compatibility with any G2 program. Currently, the module has two timing capabilities, a stopwatch function and a countdown function. Although the module has gone through some functionality testing, actual integration of the module into NPAS and the INSIGHT program is contingent on the module passing later checks.
Guo, Daniel↗
Applications of graphics to support a testbed for autonomous space vehicle operations
Researchers describe their experience using graphics tools and utilities while building an application, AUTOPS, that uses a graphical Machintosh (TM)-like interface for the input and display of data, and animation graphics to enhance the presentation of results of autonomous space vehicle operations simulations. AUTOPS is a test bed for evaluating decisions for intelligent control systems for autonomous vehicles. Decisions made by an intelligent control system, e.g., a revised mission plan, might be displayed to the user in textual format or he can witness the effects of those decisions via out of window graphics animations. Although a textual description conveys essentials, a graphics animation conveys the replanning results in a more convincing way. Similarily, iconic and menu-driven screen interfaces provide the user with more meaningful options and displays. Presented here are experiences with the SunView and TAE Plus graphics tools used for interface design, and the Johnson Space Center Interactive Graphics Laboratory animation graphics tools used for generating out out of the window graphics.
Schmeckpeper, K. R.↗
Design and Development of a 3 to 10 kW Ammonia Arcjet
An ammonia arcjet capable of throttling between 3 and 10 kW and producing a specific impulse of 600 s is required for the SSTAR flight experiment. Testing was performed to evaluate the performance of two nozzle configurations on ammonia arcjet performance over this power range. One of the objectives of these tests was to quantify the effect small nozzle changes have on performance. The smaller constrictor engine (2.54 mm diameter) produced a specific impulse of about 650 s over the range of 3 to 10 kW at a specific power of 60 kJ/g exceeding the 500-600 s requirement for the SSTAR flight experiment.
Arcjets STAR Space Track and Autonomous Reposition↗
Starling1 - Mission Technologies Overview
The Starling series of demonstration missions will test technologies required to achieve affordable, distributed spacecraft ("swarm") missions that: are scalable to at least 100 spacecraft for applications that include synchronized multipoint measurements; involve closely coordinated ensembles of two or more spacecraft operating as a single unit for interferometric, synthetic aperture, or similar sensor architectures; or use autonomous or semi-autonomous operation of multiple spacecraft functioning as a unit to achieve science or other mission objectives with low-cost small spacecraft.Starling1 will focus on developing technologies that enable scalability and deep space application. The mission goals include the demonstration of a Mobile Ad-hoc NETwork (MANET) through an in-space communication experiment, vision based relative navigation through the Starling Formation-flying Optical eXperiment (StarFOX), and demonstration of autonomous spacecraft reconfiguration using technologies developed by the Distributed System Autonomy (DSA) project.
Cannon, Howard↗
Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments
We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.
Tran, Loc↗
The use of multisensor data for robotic applications
The feasibility of realistic autonomous space manipulation tasks using multisensory information is shown through two experiments involving a fluid interchange system and a module interchange system. In both cases, autonomous location of the mating element, autonomous location of the guiding light target, mating, and demating of the system were performed. Specifically, vision-driven techniques were implemented to determine the arbitrary two-dimensional position and orientation of the mating elements as well as the arbitrary three-dimensional position and orientation of the light targets. The robotic system was also equipped with a force/torque sensor that continuously monitored the six components of force and torque exerted on the end effector. Using vision, force, torque, proximity, and touch sensors, the two experiments were completed successfully and autonomously.
Abidi, M. A.↗
Cryogenic On-Orbit Liquid Depot Storage, Acquisition, and Transfer Satellite (COLD-SAT)
The Cryogenic On-Orbit Liquid Depot Storage, Acquisition, and Transfer Satellite (COLD-SAT) will perform subcritical liquid hydrogen handling experiments under low gravity conditions to provide engineering data for future space transportation missions. Comprising the four Class 1 enabling experiments are tank press control, tank chilldown, tank no-vent fill, and liquid acquisition device fill/refill. The nine Class 2 enhancing experiments are tanker thermal performance, pressurization, low-gravity setting and outflow, liquid acquisition device performance, transfer line chilldown, outflow subcooling, low-gravity vented fill, fluid dumping, and advanced instrumentation. Consisting of an experiment module mated to a spacecraft bus, COLD-SAT will be placed in an initial 1300 km circular orbit by an Atlas commercial launch vehicle, and will perform experiments in a semi-autonomous mode for a period of up to six months. The three-axis controlled spacecraft bus provides electric power, control and data management, communications, and attitude control along with propulsive acceleration levels ranging from 10(exp -6) to 10(exp -4) g. It is desired to understand the effects that low acceleration levels might have on the heat and mass transfer processes involved in some of the experiments. The experiment module contains the three liquid hydrogen tanks, valves, pressurization and pumping equipment, and instrumentation. Within the highly insulated tanks are specialized fluid management equipment that might be used in future space transportation systems. At launch all the liquid hydrogen for the experiments is contained in the largest tank, which has helium-purged insulation to prevent cryo-pumping of air on the launch pad. The tank is loaded by the hydrogen tanking system used for the Centaur upper stage of the Atlas. After reaching orbit the two smaller tanks become receivers for fluid transfers, and when tanked, become the vessels for performing many of the experiments.
Schuster, John R.↗
Permeable membrane experiment
The purpose of the Permeable Membrane Experiment is to gather flight data on three areas of membrane performance that are influenced by the presence of gravity. These areas are: (1) Liquid/gas phase separation, (2) gas bubble interference with diffusion through porous membranes and (3) wetting characteristics of hydrophilic membrane surfaces. These data are important in understaning the behavior of membrane/liquid/gas interfaces where surface tension forces predominate. The data will be compared with 1-g data already obtained and with predicted micrograviity behavior. The data will be used to develop designs for phase separation and plant nutrient delivery systems and will be available to the life support community for use in developing technologies which employ membranes. A conceptual design has been developed to conduct three membrane experiments, in sequence, aboard a single Complex Autonomous Payload (CAP) carrier to be carried in the Shuttle Orbiter payload bay. One experiment is conducted for each of the three membrane performance areas under study. These experiments are discussed in this paper.
Slavin, Thomas J.↗
Experiment D005: Star occultation navigation
The usefulness of star occultation measurements for space navigation and the determination of a horizon density profile which could be used to update atmospheric models for horizon-based measurement systems were studied. The time of occultation of a known star by a celestial body, as seen by an orbiting observer, determines a cylinder of position, the axis of which is the line through the star and the body center, and the radius of which is equal to the occulting-body radius. The dimming percentage, with respect to the altitude of this grazing ray from the star to the observer, is a percentage altitude for occultation. That is, the star can be assumed to be occulted when it reaches a predetermined percentage of its unattenuated value. The procedure used was to measure this attenuation with respect to time to determine the usefulness of the measurements for autonomous space navigation. In this experiment, the crewmembers had to accomplish star acquisition, identification, calibration, and tracking. Instrumentation was required only for measurement of the relative intensity of the star as it set into the atmosphere.
Silva, R. M.↗
Autonomous Command Operations of the WIRE Spacecraft
This paper presents operational innovations which will be introduced on NASA's Wide Field Infrared Explorer (WIRE) mission. These innovations include an end-to-end design architecture for an autonomous commanding capability for the uplink of command loads during unattended station contacts. The WIRE mission is the fifth and final mission of NASA's Goddard Space Flight Center Small Explorer (SMEX) series to be launched in March of 1999. Its primary mission is the targeting of deep space fields using an ultra-cooled infrared telescope. Due to its mission design WIRE command loads are large (approximately 40 Kbytes per 24 hours) and must be performed daily. To reduce the cost of mission operations support that would be required in order to uplink command loads, the WIRE Flight Operations Team has implemented all autonomous command loading capability. This capability allows completely unattended operations over a typical two-day weekend period. The key factors driving design and implementation of this capability were: 1) integration with already existing ground system autonomous capabilities and systems, 2) the desire to evolve autonomous operations capabilities based upon previous SMEX operations experience - specifically the TRACE mission, 3) integration with ground station operations - both autonomous and man-tended, 4) low cost and quick implementation, and 5) end-to-end system robustness. A trade-off study was performed to examine these factors in light of the low-cost, higher-risk SMEX mission philosophy. The study concluded that a STOL (Spacecraft Test and Operations Language) based script, highly integrated with other scripts used to perform autonomous operations, was best suited given the budget and goals of the mission. Each of these factors is discussed in addition to use of the TRACE mission as a testbed for autonomous commanding prior to implementation on WIRE. The capabilities implemented on the WIRE mission are an example of a low-cost, robust, and efficient method for autonomous command loading when implemented with other autonomous features of the ground system. They call be used as a design and implementation template by other missions interested in evolving toward autonomous and lower cost operations. Additionally, the WIRE spacecraft will be used as an operational testbed upon completion of its nominal mission later in 1999. One idea being studied is advanced on-board modeling. Advanced on-board modeling techniques will be used to more efficiently display the spacecraft state. This health and safety information could be used by engineers on the ground or could be used by tile spacecraft for its own assessments. Additionally, this same state information could also be input into the event-driven scheduling system, as the scheduling system will need to assess the spacecraft state before undertaking a new activity. Advanced modeling techniques are being evaluated for a number of NASA missions including The Next Generation Space Telescope (NGST), which is scheduled to launch in 2007.
Walyus, Keith↗
Airborne Conflict Management within Confined Airspace in a Piloted Simulation of DAG-TM Autonomous Aircraft Operations
A human-in-the-loop experiment was performed at the NASA Langley Research Center to study the feasibility of Distributed Air/Ground Traffic Management (DAG-TM) autonomous aircraft operations in highly constrained airspace. The airspace was constrained by a pair of special use airspace (SUA) regions on either side of the pilot s planned route. The available airspace was further varied by changing the separation standard for lateral separation between 3 nm and 5 nm. The pilot had to maneuver through the corridor between the SUA s, avoid other traffic and meet flow management constraints. Traffic flow management (TFM) constraints were imposed as a required time of arrival and crossing altitude at an en route fix. This is a follow-up study to work presented at the 4th USA/Europe Air Traffic Management R&D Seminar in December 2001. Nearly all of the pilots were able to meet their TFM constraints while maintaining adequate separation from other traffic. In only 3 out of 59 runs were the pilots unable to meet their required time of arrival. Two loss of separation cases are studied and it is found that the pilots need conflict prevention information presented in a clearer manner. No degradation of performance or safety was seen between the wide and narrow corridors. Although this was not a thorough study of the consequences of reducing the en route lateral separation, nothing was found that would refute the feasibility of reducing the separation requirement from 5 nm to 3 nm. The creation of additional, second-generation conflicts is also investigated. Two resolution methods were offered to the pilots: strategic and tactical. The strategic method is a closed-loop alteration to the Flight Management System (FMS) active route that considers other traffic as well as TFM constraints. The tactical resolutions are short-term resolutions that leave avoiding other traffic conflicts and meeting the TFM constraints to the pilot. Those that made use of the strategic tools avoided additional conflicts, whereas, those making tactical maneuvers often caused additional conflicts. Many of these second-generation conflicts could be avoided by improved conflict prevention tools that clearly present to the pilot which maneuver choices will result in a conflict-free path. These results, together with previously reported studies, continue to support the feasibility of autonomous aircraft operations.
Barmore, Bryan↗
Design, Preparation, and Execution of the 100-AV Field Test for the CIRCLES Consortium: Methodology and Implementation of the Largest Mobile Traffic Control Experiment to Date
This article presents the comprehensive design, setup, execution, and evaluation of the MegaVanderTest (MVT) experiment conducted by the Congestion Impacts Reduction via CAV-in-the-Loop Lagrangian Energy Smoothing (CIRCLES) Consortium, which aimed to mitigate traffic congestion using partially autonomous vehicles (AVs) (see “Summary”). The experiment involved 100 vehicles on Nashville’s Interstate 24 (I-24) highway, utilizing various control algorithms to smooth stop-and-go traffic waves. The execution of the MVT experiment required a coordinated effort from multiple teams. This article details the meticulous planning process, the coordinated efforts of multiple teams, and the innovative use of a dynamic agent-based simulation framework for traffic evaluation. Here, the contributions of this work include demonstrating and providing a detailed roadmap for large-scale live traffic experiments, illustrating the lessons learned from the MVT experiment, and introducing the other articles in this issue and their complementary relationship in the MVT experiment.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
NASA Small Spacecraft Technology (SST) Program - Recent and Upcoming Technology Demonstrations and Development Efforts
The Small Spacecraft Technology (SST) program within NASA’s Space Technology Mission Directorate, expands the ability to execute unique missions through rapid development and demonstration of capabilities for small spacecraft applicable to exploration, science and the commercial space sector. Through targeted development and frequent in space testing, the program: • Enables execution of missions at much lower cost than previously possible • Substantially reduces the time required for development of spacecraft • Enables new mission architectures through the use of small spacecraft • Expands the reach of small spacecraft to new destinations and challenging new environments • Enables the augmentation of existing assets and future missions with supporting small spacecraft. The program achieves its objectives through: • Identification and investment in the development of new subsystem technologies to enhance or expand the capabilities of small spacecraft • Sponsorship of flight demonstrations of new technologies, capabilities and applications for small spacecraft • Promotion of the use of small spacecraft as platforms for testing and demonstrating technologies and capabilities that might have more general applications in larger-scale spacecraft and systems Technologies funded by the program that are key to advancing the utility and capability of small spacecraft were demonstrated in 2022 and 2023. Notable on-orbit demonstrations include the following. • The Cislunar Autonomous Positioning System Technology Operations and Navigation Experiment’s (CAPSTONE) navigation technology that was demonstrated for the first time in 2023 could provide autonomous onboard navigation information for future lunar missions, minimizing or eliminating human-in-the-loop mission operations. • The optical communications technology also demonstrated in 2023 by the TeraByte InfraRed Delivery (TBIRD) payload that launched on Pathfinder Technology Demonstrator-3, achieved 200 gigabit per second (Gbps) throughput on a space-to-ground optical link between a satellite in orbit and Earth, the highest data rate ever achieved by optical communications technology. • The precision laser pointing performance of NASA’s CubeSat Infrared CrossLink A (CLICK) spacecraft’s fine steering mirror control system was successfully demonstrated. This element of the laser communications system will be used to demonstrate two-way crosslink communication in low-Earth orbit by CLICK B/C anticipated to launch in late 2024. Investments in subsystem technology development through funding to university, industry, and other government partners in a number of areas will be discussed. Among others, topic areas include propulsion, autonomous swarm technology, edge computing, and thermal control. Additionally, the status of the CubeSat-alternative platform, DiskSat, strategies for accelerating the demonstration of technology payloads via the Realizing Rapid, Reduced-cost high-Risk Research (R5) project, and the status of recently completed and upcoming on-orbit demonstrations will also be presented.
Roger C Hunter↗
Bursting into space: alterations of sympathetic control by space travel
AIM: Astronauts return to Earth with reduced red cell masses and hypovolaemia. Not surprisingly, when they stand, their heart rates may speed inordinately, their blood pressures may fall, and some may experience frank syncope. We studied autonomic function in six male astronauts (average +/- SEM age: 40 +/- 2 years) before, during, and after the 16-day Neurolab space shuttle mission. METHOD: We recorded electrocardiograms, finger photoplethysmographic arterial pressures, respiration, peroneal nerve muscle sympathetic activity, plasma noradrenaline and noradrenaline kinetics, and cardiac output, and we calculated stroke volume and total peripheral resistance. We perturbed autonomic function before and during spaceflight with graded Valsalva manoeuvres and lower body suction, and before and after the mission with passive upright tilt. RESULTS: In-flight baseline sympathetic nerve activity was increased above pre-flight levels (by 10-33%) in three subjects, in whom noradrenaline spillover and clearance also were increased. Valsalva straining provoked greater reductions of arterial pressure, and proportionally greater sympathetic responses in space than on Earth. Lower body suction elicited greater increases of sympathetic nerve activity, plasma noradrenaline, and noradrenaline spillover in space than on Earth. After the Neurolab mission, left ventricular stroke volume was lower and heart rate was higher during tilt, than before spaceflight. No astronaut experienced orthostatic hypotension or pre-syncope during 10 min of post-flight tilting. CONCLUSION: We conclude that baseline sympathetic outflow, however measured, is higher in space than on earth, and that augmented sympathetic nerve responses to Valsalva straining, lower body suction, and post-flight upright tilt represent normal adjustments to greater haemodynamic stresses associated with hypovolaemia.
NASA Program Biomedical Research and Countermeasur↗
Autonomous Aircraft Operations using RTCA Guidelines for Airborne Conflict Management
A human-in-the-loop experiment was performed at the NASA Langley Research Center to study the feasibility of DAG-TM autonomous aircraft operations in highly constrained airspace. The airspace was constrained by a pair of special-use airspace (SUA) regions on either side of the pilot's planned route. Traffic flow management (TFM) constraints were imposed as a required time of arrival and crossing altitude at an en route fix. Key guidelines from the RTCA Airborne Conflict Management (ACM) concept were applied to autonomous aircraft operations for this experiment. These concepts included the RTCA ACM definitions of distinct conflict detection and collision avoidance zones, and the use of a graded system of conflict alerts for the flight crew. Three studies were conducted in the course of the experiment. The first study investigated the effect of hazard proximity upon pilot ability to meet constraints and solve conflict situations. The second study investigated pilot use of the airborne tools when faced with an unexpected loss of separation (LOS). The third study explored pilot interactions in an over-constrained conflict situation, with and without priority rules dictating who should move first. Detailed results from these studies were presented at the 5th USA/Europe Air Traffic Management R&D Seminar (ATM2003). This overview paper focuses on the integration of the RTCA ACM concept into autonomous aircraft operations in highly constrained situations, and provides an overview of the results presented at the ATM2003 seminar. These results, together with previously reported studies, continue to support the feasibility of autonomous aircraft operations.
Krishnamurthy, Karthik↗