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The goals were to establish the Attitude Control System (ACS) requirements, constraints, technology assessment, technology shortfalls, expected in the year 2000. These were based upon all missions, military and civil, for LEO and GEO. The critical ACS technology issues were identified and ACS programs developed to address these critical issues.
Customizable Digital Receivers for Radar Two-Camera Acquisition and Tracking of a Flying Target Visual Data Analysis for Satellites A Data Type for Efficient Representation of Other Data Types Hand-Held Ultrasonic Instrument for Reading Matrix Symbols Broadband Microstrip-to-Coplanar Strip Double-Y Balun A Topographical Lidar System for Terrain-Relative Navigation Programmable Low-Voltage Circuit Breaker and Tester Electronic Switch Arrays for Managing Microbattery Arrays Topics covered include: Lower-Dark-Current, Higher-Blue-Response CMOS Imagers; Fabricating Large-Area Sheets of Single-Layer Graphene by CVD; Support for Diagnosis of Custom Computer Hardware; Providing Goal-Based Autonomy for Commanding a Spacecraft; Dynamic Method for Identifying Collected Sample Mass; Optimal Planning and Problem-Solving; Attitude-Control Algorithm for Minimizing Maneuver Execution Errors; Grants Document-Generation System; Heat-Storage Modules Containing LiNO3 3H2O and Graphite Foam; Precipitation-Strengthened, High-Temperature, High-Force Shape Memory Alloys; Improved Relief Valve Would Be Less Susceptible to Failure; Safety Modification of Cam-and-Groove Hose Coupling; Using Composite Materials in a Cryogenic Pump; Using Electronic Noses to Detect Tumors During Neurosurgery; Producing Newborn Synchronous Mammalian Cells; Smaller, Lower-Power Fast-Neutron Scintillation Detectors; Rotationally Vibrating Electric-Field Mill; Estimating Hardness from the USDC Tool-Bit Temperature Rise; Particle-Charge Spectrometer; Automated Production of Movies on a Cluster of Computers; FIDO-Class Development Rover; and Tone-Based Command of Deep Space Probes Using Ground Antennas.
- Future deep-space exploration drives need for autonomy - Communication time delay between Earth and deep-space system precludes Earth-based remote-control - Autonomy is: - Acting separately from others (Webster’s Dictionary) - Able to independently choose how to act to achieve goals - Autonomy is a relative term: Autonomous from whom? for what purpose? and when? - Autonomous Operations is: - Automatically controlled operation of a system that replaces human effort - Able to perform a pre-specified set of instructions on its own - Automation is a tool that enables and supports autonomy
The overall goal of this research effort has been the development of a software system which automates tasks related to monitoring and controlling electrical power distribution in spacecraft electrical power systems. The resulting software system is called the Intelligent Power Controller (IPC). The specific tasks performed by the IPC include continuous monitoring of the flow of power from a source to a set of loads, fast detection of anomalous behavior indicating a fault to one of the components of the distribution systems, generation of diagnosis (explanation) of anomalous behavior, isolation of faulty object from remainder of system, and maintenance of flow of power to critical loads and systems (e.g. life-support) despite fault conditions being present (recovery). The IPC system has evolved out of KATE (Knowledge-based Autonomous Test Engineer), developed at NASA-KSC. KATE consists of a set of software tools for developing and applying structure and behavior models to monitoring, diagnostic, and control applications.
The NASA Goddard Space Flight Center is working to develop a revolutionary new system architecture concept in support of fully autonomous missions. As part of GSFC's contribution to the New Millenium Program (NMP) Space Technology 7 Autonomy and on-Board Processing (ST7-A) Concept Definition Study, the system incorporates the latest commercial Internet and software development ideas and extends them into NASA ground and space segment architectures. The unique challenges facing the exploration of remote and inaccessible locales and the need to incorporate corresponding autonomy technologies within reasonable cost necessitate the re-thinking of traditional mission architectures. A measure of the resiliency of this architecture in its application to a broad range of future autonomy missions will depend on its effectiveness in leveraging from commercial tools developed for the personal computer and Internet markets. Specialized test stations and supporting software come to past as spacecraft take advantage of the extensive tools and research investments of billion-dollar commercial ventures. The projected improvements of the Internet and supporting infrastructure go hand-in-hand with market pressures that provide continuity in research. By taking advantage of consumer-oriented methods and processes, space-flight missions will continue to leverage on investments tailored to provide better services at reduced cost. The application of ground and space segment architectures each based on Local Area Networks (LAN), the use of personal computer-based operating systems, and the execution of activities and operations through a Wide Area Network (Internet) enable a revolution in spacecraft mission formulation, implementation, and flight operations. Hardware and software design, development, integration, test, and flight operations are all tied-in closely to a common thread that enables the smooth transitioning between program phases. The application of commercial software development techniques lays the foundation for delivery of product-oriented flight software modules and models. Software can then be readily applied to support the on-board autonomy required for mission self-management. An on-board intelligent system, based on advanced scripting languages, facilitates the mission autonomy required to offload ground system resources, and enables the spacecraft to manage itself safely through an efficient and effective process of reactive planning, science data acquisition, synthesis, and transmission to the ground. Autonomous ground systems in turn coordinate and support schedule contact times with the spacecraft. Specific autonomy software modules on-board include mission and science planners, instrument and subsystem control, and fault tolerance response software, all residing within a distributed computing environment supported through the flight LAN. Autonomy also requires the minimization of human intervention between users on the ground and the spacecraft, and hence calls for the elimination of the traditional operations control center as a funnel for data manipulation. Basic goal-oriented commands are sent directly from the user to the spacecraft through a distributed internet-based payload operations "center". The ensuing architecture calls for the use of spacecraft as point extensions on the Internet. This paper will detail the system architecture implementation chosen to enable cost-effective autonomous missions with applicability to a broad range of conditions. It will define the structure needed for implementation of such missions, including software and hardware infrastructures. The overall architecture is then laid out as a common thread in the mission life cycle from formulation through implementation and flight operations.
The authors consider the modeling and control of a planar, long flexible manipulator that is representative of current space-based robotic arms. The arm is equipped with three actuators: 1) a shoulder motor; 2) a torque wheel at the tip; and 3) a proof-mass actuator at the tip. The goal is to investigate the potential use of inertial devices as control inputs for maneuvering tasks and vibration suppression. The parameters used for the inertial devices at the tip are comparable to those specified for the Mini-Mast facility at the Langley Research Center. A nonlinear distributed parameter model is obtained by the extended Hamilton principle. The associated eigenvalue/eigenfunction problem is solved and a finite-dimensional state space model is assembled. A preliminary design of a linear quadratic regulator is used, and computer simulation results illustrate the benefits of using the proposed actuators.
The primary goal of this program is to produce the motion control tools necessary to enhance and enable a particular NASA mission - space laboratory-based microgravity experiments. To that end, a spectrum of technology is being developed in the disciplines of precision mechanisms and robotics.
Models and modeling environments for human performance are becoming significant contributors to early system design and analysis procedures. Issues of levels of automation, physical environment, informational environment, and manning requirements are being addressed by such man/machine analysis systems. The research reported here investigates the close interaction between models of human cognition and models that described procedural performance. We describe a methodology for the decomposition of aircrew procedures that supports interaction with models of cognition on the basis of procedures observed; that serves to identify cockpit/avionics information sources and crew information requirements; and that provides the structure to support methods for function allocation among crew and aiding systems. Our approach is to develop an object-oriented, modular, executable software representation of the aircrew, the aircraft, and the procedures necessary to satisfy flight-phase goals. We then encode in a time-based language, taxonomies of the conceptual, relational, and procedural constraints among the cockpit avionics and control system and the aircrew. We have designed and implemented a goals/procedures hierarchic representation sufficient to describe procedural flow in the cockpit. We then execute the procedural representation in simulation software and calculate the values of the flight instruments, aircraft state variables and crew resources using the constraints available from the relationship taxonomies. The system provides a flexible, extensible, manipulative and executable representation of aircrew and procedures that is generally applicable to crew/procedure task-analysis. The representation supports developed methods of intent inference, and is extensible to include issues of information requirements and functional allocation. We are attempting to link the procedural representation to models of cognitive functions to establish several intent inference methods including procedural backtracking with concurrent search, temporal reasoning, and constraint checking for partial ordering of procedures. Finally, the representation is being linked to models of human decision making processes that include heuristic, propositional and prescriptive judgement models that are sensitive to the procedural content in which the valuative functions are being performed.
Low-order control of the Hubble Space Telescope (HST) to improve pointing performance in the presence of flexible solar array disturbances is demonstarted in this paper. Our controller is a disturbance accommodating controller (DAC) based on a reduced-order model (ROM) controller with a disturbance estimator and a residual mode filter (RMF). We achieve the performance goals with a very low-order multichannel controller as compared to the various Solar Array Gain Augmentation (SAGA) schemes used at present.
This report describes the Active Noise Cancellation (ANC) System designed by General Electric and tested in the NASA Lewis Research Center's (LERC) 48 inch Active Noise Control Fan (ANCF). The goal of this study is to assess the feasibility of using wall mounted secondary acoustic sources and sensors within the duct of a high bypass turbofan aircraft engine for global active noise cancellation of fan tones. The GE ANC system is based on a modal control approach. A known acoustic mode propagating in the fan duct is canceled using an array of flush-mounted compact sound sources. The canceling modal signal is generated by a modal controller. Inputs to the controller are signals from a shaft encoder and from a microphone array which senses the residual acoustic mode in the duct. The key results are that the (6,0) was completely eliminated at the 920 Hz design frequency and substantially reduced elsewhere. The total tone power was reduced 6.8 dB (out of a possible 9.8 dB). Farfield reductions of 15 dB (SPL) were obtained. The (4,0) and (4,1) modes were reduced simultaneously yielding a 15 dB PWL decrease. The results indicate that global attenuation of PWL at the target frequency was obtained in the aft quadrant using an ANC actuator and sensor system totally contained within the duct. The quality of the results depended on precise mode generation. High spillover into spurious modes generated by the ANC actuator array caused less than optimum levels of PWL reduction. The variation in spillover is believed to be due to calibration procedure, but must be confirmed in subsequent tests.
As humans continue to explore deep into space, microorganisms will travel with them. The primary means to mitigate the risk of infectious disease are a combination of prudent spacecraft design and rigorous operational controls. The effectiveness of these methods are evaluated by microbiological monitoring of spacecraft, food, water, and the crew that is performed preflight, in-flight, and post-flight. Current NASA requirements associated with microbiological monitoring are based on culture-based methodology where microorganisms are grown on a semi-solid growth medium and enumerated. Subsequent identification of the organisms requires specialized labor and large equipment, which historically has been performed on Earth. Requirements that rely strictly on culture-based units limit the use of non-culture based monitoring technology. Specifically, the culture-based "measurement criteria" are Colony Forming Units (CFU, representing the growth of one microorganism at a single location on the agar medium) per a given volume, area, or sample size. As the CFU unit by definition is culture-based, these requirements limit alternative technologies for spaceflight applications. As spaceflight missions such as those to Mars extend further into space, culture-based technology will become difficult to implement due to the (a) limited shelf life of the culture media, (b) mass/volume necessary to carry these consumables, and (c) problems associated with the production of biohazardous material in the habitable volume of the spacecraft. In addition, an extensive amount of new knowledge has been obtained during the Space Shuttle, NASA-Mir, and International Space Station Programs, which gave direction for new or modified microbial control requirements for vehicle design and mission operations. The goal of this task is to develop and recommend a new set of requirements for vehicle design and mission operations, including microbiological monitoring, based upon "lessons learned" and new technology. During 2011, this study focused on evaluating potable water requirements by assembling a forum of internal and external experts from NASA, other federal agencies, and academia. Key findings from this forum included: (1) Preventive design and operational strategies should be stringent and the primary focus of NASA's mitigation efforts, as they are cost effective and can be attained with conventional technology. (2) Microbial monitoring hardware should be simple and must be able to measure the viability of microorganisms in a sample. Multiple monitoring technologies can be utilized as long as at the microorganisms being identified can also be confirmed as viable. (3) Evidence showing alterations in the crew immune function and microbial virulence complicates risk assessments and creates the need for very conservative requirements. (4) One key source of infectious agents will always be the crew, and appropriate preventative measures should be taken preflight. (5) Water systems should be thoroughly disinfected (sterilized if possible) preflight and retain a residual biocide throughout the mission. Future forums will cover requirements for other types of samples, specifically spaceflight food and environmental samples, such as vehicle air and vehicle and cargo surfaces. An interim report on the potable water forum has been delivered to the Human Research Program with a final report on the recommendations for all sample types being delivered in September 2013.
The New Millennium Remote Agent (NMRA) will be the first AI system to control an actual spacecraft. The spacecraft domain places a strong premium on autonomy and requires dynamic recoveries and robust concurrent execution, all in the presence of tight real-time deadlines, changing goals, scarce resource constraints, and a wide variety of possible failures. To achieve this level of execution robustness, we have integrated a procedural executive based on generic procedures with a deductive model-based executive. A procedural executive provides sophisticated control constructs such as loops, parallel activity, locks, and synchronization which are used for robust schedule execution, hierarchical task decomposition, and routine configuration management. A deductive executive provides algorithms for sophisticated state inference and optimal failure recover), planning. The integrated executive enables designers to code knowledge via a combination of procedures and declarative models, yielding a rich modeling capability suitable to the challenges of real spacecraft control. The interface between the two executives ensures both that recovery sequences are smoothly merged into high-level schedule execution and that a high degree of reactivity is retained to effectively handle additional failures during recovery.
This paper describes operations and procedures envisioned for NASA s Air Traffic Management (ATM) Technology Demonstration #1 (ATD-1). The ATD-1 Concept of Operations (ConOps) demonstration will integrate three NASA technologies to achieve high throughput, fuel-efficient arrival operations into busy terminal airspace. They are Traffic Management Advisor with Terminal Metering (TMA-TM) for precise time-based schedules to the runway and points within the terminal area, Controller-Managed Spacing (CMS) decision support tools for terminal controllers to better manage aircraft delay using speed control, and Flight deck Interval Management (FIM) avionics and flight crew procedures to conduct airborne spacing operations. The ATD-1 concept provides de-conflicted and efficient operations of multiple arrival streams of aircraft, passing through multiple merge points, from top-of-descent (TOD) to touchdown. It also enables aircraft to conduct Optimized Profile Descents (OPDs) from en route altitude to the runway, using primarily speed control to maintain separation and schedule. The ATD-1 project is currently addressing the challenges of integrating the three technologies, and implantation into an operational environment. Goals of the ATD-1 demonstration include increasing the throughput of high-density airports, reducing controller workload, increasing efficiency of arrival operations and the frequency of trajectory-based operations, and promoting aircraft ADS-B equipage.
Presented is an advanced, fault-tolerant multiprocessor avionics architecture as could be employed in an advanced rotorcraft such as LHX. The processor structure is designed to interface with existing digital avionics systems and concepts including the Army Digital Avionics System (ADAS) cockpit/display system, navaid and communications suites, integrated sensing suite, and the Advanced Digital Optical Control System (ADOCS). The report defines mission, maintenance and safety-of-flight reliability goals as might be expected for an operational LHX aircraft. Based on use of a modular, compact (16-bit) microprocessor card family, results of a preliminary study examining simplex, dual and standby-sparing architectures is presented. Given the stated constraints, it is shown that the dual architecture is best suited to meet reliability goals with minimum hardware and software overhead. The report presents hardware and software design considerations for realizing the architecture including redundancy management requirements and techniques as well as verification and validation needs and methods.
Among the many possible norm-based optimization methods, the concept of H-infinity optimal control has gained enormous attention in the past few years. Here the H-infinity framework, based on the Small Gain Theorem and the Youla Parameterization, effectively treats system uncertainties in the control law synthesis. A design approach involving a mixed H(sub 2)/H-infinity norm strives to combine the advantages of both methods. This advantage motivates researchers toward finding solutions to the mixed H(sub 2)/H-infinity control problem. The approach developed in this research is based on a finite time cost functional that depicts an H-infinity bound control problem in a H(sub 2)-optimization setting. The goal is to define a time-domain cost function that optimizes the H(sub 2)-norm of a system with an H-infinity-constraint function.
Among the many possible norm-based optimization methods, the concept of H-infinity optimal control has gained enormous attention in the past few years. Here the H-infinity framework, based on the Small Gain Theorem and the Youla Parameterization, effectively treats system uncertainties in the control law synthesis. A design approach involving a mixed H(sub 2)/H-infinity norm strives to combine the advantages of both methods. This advantage motivates researchers toward finding solutions to the mixed H(sub 2)/H-infinity control problem. The approach developed in this research is based on a finite time cost functional that depicts an H-infinity bound control problem in a H(sub 2)-optimization setting. The goal is to define a time-domain cost function that optimizes the H(sub 2)-norm of a system with an H-infinity-constraint function.
A method for active fluid flow control based on control theory is discussed. Dynamic programming and fixed point successive approximations are used to accommodate the nonlinear control problem. The long-term goal of this project is to establish an effective method applicable to complex flows such as turbulence and jets. However, in this report, the method is applied to stochastic Burgers equation as an intermediate step towards this goal. Numerical results are compared with those obtained by gradient search methods.
Astronauts experience sensorimotor changes during adaption to G-transitions that occur when entering and exiting microgravity. Post space flight, these sensorimotor disturbances can include postural and gait instability, visual performance changes, manual control disruptions, spatial disorientation, and motion sickness, all of which can hinder the operational capabilities of the astronauts. Crewmember safety would be significantly increased if sensorimotor changes brought on by gravitational changes could be mitigated and adaptation could be facilitated. The goal of this research is to investigate and develop the use of electrical stochastic vestibular stimulation (SVS) as a countermeasure to augment sensorimotor function and facilitate adaptation. For this project, SVS will be applied via electrodes on the mastoid processes at imperceptible amplitude levels. We hypothesize that SVS will improve sensorimotor performance through the phenomena of stochastic resonance, which occurs when the response of a nonlinear system to a weak input signal is optimized by the application of a particular nonzero level of noise. In line with the theory of stochastic resonance, a specific optimal level of SVS will be found and tested for each subject [1]. Three experiments are planned to investigate the use of SVS in sensory-dependent tasks and performance. The first experiment will aim to demonstrate stochastic resonance in the vestibular system through perception based motion recognition thresholds obtained using a 6-degree of freedom Stewart platform in the Jenks Vestibular Laboratory at Massachusetts Eye and Ear Infirmary. A range of SVS amplitudes will be applied to each subject and the subjectspecific optimal SVS level will be identified as that which results in the lowest motion recognition threshold, through previously established, well developed methods [2,3,4]. The second experiment will investigate the use of optimal SVS in facilitating sensorimotor adaptation to system disturbances. Subjects will adapt to wearing minifying glasses, resulting in decreased vestibular ocular reflex (VOR) gain. The VOR gain will then be intermittently measured while the subject readapts to normal vision, with and without optimal SVS. We expect that optimal SVS will cause a steepening of the adaptation curve. The third experiment will test the use of optimal SVS in an operationally relevant aerospace task, using the tilt translation sled at NASA Johnson Space Center, a test platform capable of recreating the tilt-gain and tilt-translation illusions associated with landing of a spacecraft post-space flight. In this experiment, a perception based manual control measure will be used to compare performance with and without optimal SVS. We expect performance to improve in this task when optimal SVS is applied. The ultimate goal of this work is to systematically investigate and further understand the potential benefits of stochastic vestibular stimulation in the context of human space flight so that it may be used in the future as a component of a comprehensive countermeasure plan for adaptation to G-transitions.