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We developed a fast algorithm to detect hazards on a planetary surface using a single image from a descent spacecraft camera. This is used when landing a mission vehicle.
An acoustic detection range prediction model (ADRPM-VII) has been written for IBM PC/AT machines running on the MS-DOS operating system. The software allows the user to predict detection distances of ground combat vehicles and their associated targets when they are involved in quasi-military settings. The program can also calculate individual attenuation losses due to spherical spreading, atmospheric absorption, ground reflection and atmospheric refraction due to temperature and wind gradients while varying parameters effecting the source-receiver problem. The purpose here is to examine the strengths and limitations of ADRPM-VII by modeling the losses due to atmospheric refraction and ground absorption, commonly known as excess attenuation, when applied to the long range detection problem for distances greater than 3 kilometers.
In the area of planetary landing, hazard detection and avoidance is the act of driving a vehicle to a safe landing area using onboard resources. A hazard detection sensor is used to scan the terrain and these measurements are evaluated to determine where the safe landing sites are located. The selected site is generally not the same as the nominal target, so the vehicle must divert to the new site. This activity involves the interaction between several components, including a suite of onboard GNC algorithms that work together to efficiently choose and divert to a new site. This paper presents the Hazard Boresight Relative Navigation concept, which is a method that provides a common interface between the hazard scan, safe-site selection algorithm, size of the target-relative landing ellipse, divert offset distance and guidance targeting algorithm. After the safe-site is selected from the hazard scan, the original inertial target is replaced with a vehicle-relative target, which is initialized by a measurement from the hazard scan. The new target-relative position state is estimated over time in the navigation filter, and is fed to the guidance algorithm to perform the divert maneuver. In addition to detailing the Hazard Boresight Relative Navigation concept, this paper also presents some general landing terms that can be used in the greater discussion, as well as analysis on how to estimate and predict the vehicle footprint dispersion ellipse during flight, which is used in the safe-site selection algorithm.
In the area of planetary landing, hazard detection and avoidance is the act of driving a vehicle to a safe landing area using onboard resources. A hazard detection sensor is used to scan the terrain and these measurements are evaluated to determine where the safe landing sites are located. The selected site is generally not the same as the nominal target, so the vehicle must divert to the new site. This activity involves the interaction between several components, including a suite of onboard GNC algorithms that work together to efficiently choose and divert to a new site. This paper presents the Hazard Boresight Relative Navigation concept, which is a method that provides a common interface between the hazard scan, safe-site selection algorithm, size of the target-relative landing ellipse, divert offset distance and guidance targeting algorithm. After the safe-site is selected from the hazard scan, the original inertial target is replaced with a vehicle-relative target, which is initialized by a measurement from the hazard scan. The new target-relative position state is estimated over time in the navigation filter, and is fed to the guidance algorithm to perform the divert maneuver. In addition to detailing the Hazard Boresight Relative Navigation concept, this paper also presents some general landing terms that can be used in the greater discussion, as well as analysis on how to estimate and predict the vehicle footprint dispersion ellipse during flight, which is used in the safe-site selection algorithm.
The J-2X is an expendable liquid hydrogen (LH2)/liquid oxygen (LOX) gas generator cycle rocket engine that is currently being designed as the primary upper stage propulsion element for the new NASA Ares vehicle family. The J-2X engine will contain abort logic that functions as an integral component of the Ares vehicle abort system. This system is responsible for detecting and responding to conditions indicative of impending Loss of Mission (LOM), Loss of Vehicle (LOV), and/or catastrophic Loss of Crew (LOC) failure events. As an earth orbit ascent phase engine, the J-2X is a high power density propulsion element with non-negligible risk of fast propagation rate failures that can quickly lead to LOM, LOV, and/or LOC events. Aggressive reliability requirements for manned Ares missions and the risk of fast propagating J-2X failures dictate the need for on-engine abort condition monitoring and autonomous response capability as well as traditional abort agents such as the vehicle computer, flight crew, and ground control not located on the engine. This paper describes the baseline J-2X abort subsystem concept of operations, as well as the development process for this subsystem. A strategy that leverages heritage system experience and responds to an evolving engine design as well as J-2X specific test data to support abort system development is described. The utilization of performance and failure simulation models to support abort system sensor selection, failure detectability and discrimination studies, decision threshold definition, and abort system performance verification and validation is outlined. The basis for abort false positive and false negative performance constraints is described. Development challenges associated with information shortfalls in the design cycle, abort condition coverage and response assessment, engine-vehicle interface definition, and abort system performance verification and validation are also discussed.
Life detection objectives and strategy for spacecraft design for Mars landing mission
In a fault tolerant control (FTC) system, a parameter varying FTC law is reconfigured based on fault parameters estimated by fault detection and isolation (FDI) modules. FDI modules require some time to detect fault occurrences in aero-vehicle dynamics. In this paper, an FTC analysis framework is provided to calculate the upper bound of an induced-L(sub 2) norm of an FTC system with existence of false identification and detection time delay. The upper bound is written as a function of a fault detection time and exponential decay rates and has been used to determine which FTC law produces less performance degradation (tracking error) due to false identification. The analysis framework is applied for an FTC system of a HiMAT (Highly Maneuverable Aircraft Technology) vehicle. Index Terms fault tolerant control system, linear parameter varying system, HiMAT vehicle.
Launch vehicle effluent (LVE) monitoring is part of NASA's overall tropospheric and stratospheric environmental program. Following nine techniques are evaluated and developed in report: bubbler method, pH measurements, indicator tubes, microcoulometers, modified condensation nuclei counter, dual-isotope absorption, gas-filter correlation, chemiluminescent nitric oxide detection, chemiluminescent luminol-oxidation detection.
Investigation of problems related to control of a mobile planetary vehicle according to a systematic plan for the exploration of Mars has been undertaken. Problem areas receiving attention include: (1) overall systems analysis; (2) vehicle configuration and dynamics; (3) toroidal wheel design and evaluation; (4) on-board navigation systems; (5) satellite-vehicle navigation systems; (6) obstacle detection systems; (7) terrain sensing, interpretation and modeling; (8) computer simulation of terrain sensor-path selection systems; and (9) chromatographic systems design concept studies. The specific tasks which have been undertaken are defined and the progress which has been achieved during the period July 1, 1971 to December 31, 1971 is summarized.
Various aspects of radar cross-section (RCS) techniques are summarized, with emphasis placed on fundamental electromagnetic phenomena, such as plane and spherical wave formulations, and the definition of RCS is given in the far-field sense. The basic relationship between electronic countermeasures and a signature level is discussed in terms of the detectability range of a target vehicle. Fundamental radar-signature analysis techniques, such as the physical-optics and geometrical-optics approximations, are presented along with examples in terms of aircraft components. Methods of analysis based on the geometrical theory of diffraction are considered and various wave-propagation phenomena are related to local vehicle geometry. Typical vehicle components are also discussed, together with their contribution to total vehicle RCS and their individual signature sensitivities.
A joint Air Force/NASA comprehensive research and technology program on spacecraft environmental interactions to develop technology to control interactions between large spacecraft systems and the charged-particle environment of space is described. This technology will support NASA/Department of Defense operations of the shuttle/IUS, shuttle/Centaur, and the force application and surveillance and detection missions, planning for transatmospheric vehicles and the NASA space station, and the AFSC military space system technology model. The program consists of combined contractual and in-house efforts aimed at understanding spacecraft environmental interaction phenomena and relating results of ground-based tests to space conditions. A concerted effort is being made to identify project-related environmental interactions of concern. The basic properties of materials are being investigated to develop or modify the materials as needed. A group simulation investigation is evaluating basic plasma interaction phenomena to provide inputs to the analytical modeling investigation. Systems performance is being evaluated by both groundbased tests and analysis.
This program conducts solar system research in support of NASA missions and of general astronomical interest. Investigations of the composition, physical characteristics, and changes in solar system bodies are conducted primarily utilizing facilities of McDonald Observatory, but also utilizing various space vehicles where appropriate. The first detection of 2 micrometer II2 emission from Jupiter's southern auroral zone was made. Previous detection of northern auroral emission from Jupiter's H2 S(1) quadrupole line at 2.12 micrometer was confirmed. Unlike the previously known 8 micrometer aurorae, this phenomenon can not be thermal in origin. Analysis of Raman scattering in the blue and ultraviolet spectrum of Uranus (200 to 500 Angstroms) show that there must be absorbing aerosol particles in the upper 10 mbar region of the atmosphere. Spectra of Pluto-Charon in and out of eclipse in the red and near IR were obtained. These data confirm that CH4 is confined to Pluto and absent on Charon.
An avionics architecture for the advanced launch system (ALS) that uses validated hardware and software building blocks developed under the advanced information processing system program is presented. The AIPS for ALS architecture defined is preliminary, and reliability requirements can be met by the AIPS hardware and software building blocks that are built using the state-of-the-art technology available in the 1992-93 time frame. The level of detail in the architecture definition reflects the level of detail available in the ALS requirements. As the avionics requirements are refined, the architecture can also be refined and defined in greater detail with the help of analysis and simulation tools. A useful methodology is demonstrated for investigating the impact of the avionics suite to the recurring cost of the ALS. It is shown that allowing the vehicle to launch with selected detected failures can potentially reduce the recurring launch costs. A comparative analysis shows that validated fault-tolerant avionics built out of Class B parts can result in lower life-cycle-cost in comparison to simplex avionics built out of Class S parts or other redundant architectures.
Manned transportation mission and programmatic requirements and how they affect spacecraft size, mass and complexity are presented. Some of these requirements include fundamental issues such as the degree of separation of cargo and people, abort requirements and the issue of man rating. Attention is given to design considerations, crew size and mission requirements, payloads, crew physiologic considerations, and a vehicle health monitoring and emergency detection system.
KATE (Knowledge-based Autonomous Test Engineer) is a model-based software system developed in the Artificial Intelligence Laboratory at the Kennedy Space Center for monitoring, fault detection, and control of launch vehicles and ground support systems. In order to bring KATE to the level of performance, functionality, and integratability needed for firing room applications, efforts are underway to implement KATE in the C++ programming language using an X-windows interface. Two programs which were designed and added to the collection of tools which comprise the KATE toolbox are described. The first tool, called the schematic viewer, gives the KATE user the capability to view digitized schematic drawings in the KATE environment. The second tool, called the model editor, gives the KATE model builder a tool for creating and editing knowledge base files. Design and implementation issues having to do with these two tools are discussed. It will be useful to anyone maintaining or extending either the schematic viewer or the model editor.
KATE (Knowledge-based Autonomous Test Engineer) is a model-based software system developed in the Artificial Intelligence Laboratory at the Kennedy Space Center for monitoring, fault detection, and control of launch vehicles and ground support systems. This report describes two software efforts which enhance the functionality and usability of KATE. The first addition, a flow solver, adds to KATE a tool for modeling the flow of liquid in a pipe system. The second addition adds support for editing KATE knowledge base files to the Emacs editor. The body of this report discusses design and implementation issues having to do with these two tools. It will be useful to anyone maintaining or extending either the flow solver or the editor enhancements.
During pre-servicing of a space shuttle (orbiter vehicle, OV-102), helium leak detection of an avionics cold plate identified a leak located in the face sheet oriented towards the support shelf. Subsequent destructive examination of the leaking cold plate revealed that intergranular corrosion had penetrated the 0.017-inch thick aluminum (AA6061) face sheet. The intergranular attack (IGA) was likely caused by an aggressive crevice environment created by condensation of water vapor between the cold plate and support shelf. Face sheet susceptibility to IGA is a result of the brazing process used in the fabrication of the cold plates. Cold plate components were brazed at 1000 F followed by a slow cooling process to avoid distortion of the bonded cold plate. The slow cool process caused excessive grain boundary precipitation resulting in a material that is susceptible to IGA. The objectives of this work are as follows: (1) Develop first-of-a-kind nondestructive evaluation (NDE) standards that contain IGA identical to that found in the orbiter cold plates; and (2) Assess advanced NDE techniques for corrosion detection and recommend methods for cold plate examination. This report documents the results of work performed at Langley Research Center to fulfill these objectives.
Detecting water hazards is a significant challenge to unmanned ground vehicle autonomous off-road navigation. This paper focuses on detecting the presence of water during the daytime using color cameras. A multi-cue approach is taken. Evidence of the presence of water is generated from color, texture, and the detection of reflections in stereo range data. A rule base for fusing water cues was developed by evaluating detection results from an extensive archive of data collection imagery containing water. This software has been implemented into a run-time passive perception subsystem and tested thus far under Linux on a Pentium based processor.