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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

Komendera, Erik E.↗

Joint state and parameter estimation

Recent results are described concerning the problem of state reconstruction for a class of nonlinear distributed systems. The methods are then applied to the problem of joint state and parameter estimation. An example with the wave equation is presented.

Carmichael, N.↗

Vision-based Velocimetry over Unknown Terrain with a Low-Noise IMU

This paper presents a novel approach to terrain-relative navigation with a visual camera and Inertial Measurement Unit (IMU). The proposed algorithm uses an Extended Kalman Filter (EKF) to combine an IMU propagated state estimate with batch correction estimates computed over a sliding window of measurements. The batch correction algorithm follows the Maximum Likelihood Estimation (MLE) approach used in other Bundle Adjustment systems. Unlike other systems, the proposed system parameterizes the state over the entire window in terms of the state at a single epoch. By ignoring IMU error over the window duration, we obtain a state epoch MLE that jointly estimates the epoch state and terrain parameters with drastically reduced computationally cost. This paper presents the general architecture which can be adapted for various state parameterizations and measurement inputs. For space applications with high-accuracy IMUs, the reduction in computational cost comes with only a modest increase in estimation errors. The increase in error is quantified via a linear covariance analysis presented in this paper. Furthermore, we present simulation results which show the applicability of this algorithm to planetary landing problems.

San Martin, A. Miguel↗

Atmosphere-Ocean Coupled Data Assimilation Using NASA GEOS: Estimation of Air-Sea Interface State Variables

Air-sea interface variables, such as the skin Sea Surface Temperature (SST) are essential for atmosphere-ocean coupling. In the NASA GMAO Data Assimilation System (DAS), the skin SST and 3-D atmospheric state are jointly estimated [1]. This presentation is focused on the prior or background error covariance that is used in this analysis. The GEOS DAS uses an ensemble-variational assimilation strategy. In that, specification of a climatological background (CB) error covariance for SST relies on the NOAA's OI SST, with estimates of standard deviation and correlation length scales based on weekly analyses of the bulk SST at 1 degree resolution. However, present analysis system is striving to resolve SST diurnal variability with six hourly analyses and assimilates a vast number of in-situ and satellite observations. The first part of this presentation re-derives the CB error covariance using OSTIA SST analyses and illustrates the impact of this update on assimilating satellite observations. In a hybrid assimilation system the CB error covariances are appended with a flow-dependent background error covariance estimate implied by the underlying ensemble. The second part of this presentation refers to: a. treatment of the skin SST in the ensemble members, b. corresponding ensemble spread, and c. impact of these additions on the data assimilation system. [1] S. Akella, et al. (2017), doi:10.1002/qj.2988

Akella, Santha↗

Multiple Damage Progression Paths in Model-Based Prognostics

Model-based prognostics approaches employ domain knowledge about a system, its components, and how they fail through the use of physics-based models. Component wear is driven by several different degradation phenomena, each resulting in their own damage progression path, overlapping to contribute to the overall degradation of the component. We develop a model-based prognostics methodology using particle filters, in which the problem of characterizing multiple damage progression paths is cast as a joint state-parameter estimation problem. The estimate is represented as a probability distribution, allowing the prediction of end of life and remaining useful life within a probabilistic framework that supports uncertainty management. We also develop a novel variance control mechanism that maintains an uncertainty bound around the hidden parameters to limit the amount of estimation uncertainty and, consequently, reduce prediction uncertainty. We construct a detailed physics-based model of a centrifugal pump, to which we apply our model-based prognostics algorithms. We illustrate the operation of the prognostic solution with a number of simulation-based experiments and demonstrate the performance of the chosen approach when multiple damage mechanisms are active

Daigle, Matthew↗

Prognostics for Ground Support Systems: Case Study on Pneumatic Valves

Prognostics technologies determine the health (or damage) state of a component or sub-system, and make end of life (EOL) and remaining useful life (RUL) predictions. Such information enables system operators to make informed maintenance decisions and streamline operational and mission-level activities. We develop a model-based prognostics methodology for pneumatic valves used in ground support equipment for cryogenic propellant loading operations. These valves are used to control the flow of propellant, so failures may have a significant impact on launch availability. Therefore, correctly predicting when valves will fail enables timely maintenance that avoids launch delays and aborts. The approach utilizes mathematical models describing the underlying physics of valve degradation, and, employing the particle filtering algorithm for joint state-parameter estimation, determines the health state of the valve and the rate of damage progression, from which EOL and RUL predictions are made. We develop a prototype user interface for valve prognostics, and demonstrate the prognostics approach using historical pneumatic valve data from the Space Shuttle refueling system.

Daigle, Matthew↗

A Comparison of Filter-based Approaches for Model-based Prognostics

Model-based prognostics approaches use domain knowledge about a system and its failure modes through the use of physics-based models. Model-based prognosis is generally divided into two sequential problems: a joint state-parameter estimation problem, in which, using the model, the health of a system or component is determined based on the observations; and a prediction problem, in which, using the model, the stateparameter distribution is simulated forward in time to compute end of life and remaining useful life. The first problem is typically solved through the use of a state observer, or filter. The choice of filter depends on the assumptions that may be made about the system, and on the desired algorithm performance. In this paper, we review three separate filters for the solution to the first problem: the Daum filter, an exact nonlinear filter; the unscented Kalman filter, which approximates nonlinearities through the use of a deterministic sampling method known as the unscented transform; and the particle filter, which approximates the state distribution using a finite set of discrete, weighted samples, called particles. Using a centrifugal pump as a case study, we conduct a number of simulation-based experiments investigating the performance of the different algorithms as applied to prognostics.

prognostics↗

Coupled Data Assimilation for Integrated Earth System Analysis and Prediction: Goals, Challenges, and Recommendations

The purpose of this report is to identify fundamental issues for coupled data assimilation (CDA), such as gaps in science and limitations in forecasting systems, in order to provide guidance to the World Meteorological Organization (WMO) on how to facilitate more rapid progress internationally. Coupled Earth system modeling provides the opportunity to extend skillful atmospheric forecasts beyond the traditional two-week barrier by extracting skill from low-frequency state components such as the land, ocean, and sea ice. More generally, coupled models are needed to support seamless prediction systems that span timescales from weather, subseasonal to seasonal (S2S), multiyear, and decadal. Therefore, initialization methods are needed for coupled Earth system models, either applied to each individual component (called Weakly Coupled Data Assimilation - WCDA) or applied the coupled Earth system model as a whole (called Strongly Coupled Data Assimilation - SCDA). Using CDA, in which model forecasts and potentially the state estimation are performed jointly, each model domain benefits from observations in other domains either directly using error covariance information known at the time of the analysis (SCDA), or indirectly through flux interactions at the model boundaries (WCDA). Because the non-atmospheric domains are generally under-observed compared to the atmosphere, CDA provides a significant advantage over single-domain analyses. Next, we provide a synopsis of goals, challenges, and recommendations to advance CDA: Goals: (a) Extend predictive skill beyond the current capability of NWP (e.g. as demonstrated by improving forecast skill scores), (b) produce physically consistent initial conditions for coupled numerical prediction systems and reanalyses (including consistent fluxes at the domain interfaces), (c) make best use of existing observations by allowing observations from each domain to influence and improve the full earth system analysis, (d) develop a robust observation-based identification and understanding of mechanisms that determine the variability of weather and climate, (e) identify critical weaknesses in coupled models and the earth observing system, (f) generate full-field estimates of unobserved or sparsely observed variables, (g) improve the estimation of the external forcings causing changes to climate, (h) transition successes from idealized CDA experiments to real-world applications. Challenges: (a) Modeling at the interfaces between interacting components of coupled Earth system models may be inadequate for estimating uncertainty or error covariances between domains, (b) current data assimilation methods may be insufficient to simultaneously analyze domains containing multiple spatiotemporal scales of interest, (c) there is no standardization of observation data or their delivery systems across domains, (d) the size and complexity of many large-scale coupled Earth system models makes it is difficult to accurately represent uncertainty due to model parameters and coupling parameters, (e) model errors lead to local biases that can transfer between the different Earth system components and lead to coupled model biases and long-term model drift, (e) information propagation across model components with different spatiotemporal scales is extremely complicated, and must be improved in current coupled modeling frameworks, (h) there is insufficient knowledge on how to represent evolving errors in non-atmospheric model components (e.g. as sea ice, land and ocean) on the timescales of NWP.

CDA↗

LUVOIR Primary Mirror Segment Alignment Control With Joint Laser Metrology and Segment Edge Sensing

An approach is developed for the alignment and stability maintenance of the LUVOIR segmented primary mirror using a segment state estimation and wavefront control method based on a hybrid segment motion sensing architecture of laser truss metrology and segment edge sensors. Our current computer model was generated for LUVOIR Architecture Option A with a 15-meter aperture, 120segment primary mirror. The methodology and simulation results will be presented and analyzed. JPL has a long history of technology development in laser metrology and edge sensors, including work in SIM [7], Keck and TMT [8], CCAT [3] and LUVOIR [1]. We will discuss our current efforts of LUVOIR laser metrology and edge-sensor models development, showing sensitivities of sensor measurements to various mirror eigenmodes, removing global modes and strengthening weak modes by performing joint (hybrid) laser-metrology and edge sensing. We will define and derive an important performance metric called wavefront error multiplier (WEM), and show that WEM provides a simple link between sensor errors and the closed-loop (controlled) system wavefront error. We will show WEM values for several hybrid sensor configuration options studied. We will discuss an algorithm for mirror shape control and maintenance through segment state and wavefront estimations using joint edge-metrology sensing. We will compare simulated performance of mirror state estimation, wavefront estimation and wavefront control based on joint edge-metrology sensing among several sensor configurations, and show the impact of sensor error distributions on the segmented mirror alignment performance. Mirror shape control performance will be also be evaluated in terms of imaging contrast between inner working angles (IWA) and outer working angles (OWA) of a LUVOIR coronagraph. The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. LUVOIR is a mission concept under study for the next astronomy Decadal Survey—the information presented in this paper is pre-decisional and is provided for planning and discussion purposes only.

Shelton, Chris↗

PMSM Parameter Estimation using a Linear Unknown Input Interval Observer

In this paper, the problem of permanent magnet synchronous motor (PMSM) speed and unknown load torque estimation is addressed. For this purpose, a interval unknown input observer (UIO) for linear time-invariant (LTI) systems is used. First, the PMSM model is linearized in order to make it in a suitable form for the linear interval UIO. Then, the interval UIO is applied to allow the joint estimation of the motor speed and the unknown load torque disturbance. The main advantages of this approach is that it not only allows the joint state and unknown input estimation, but also to take the different uncertainty sources into account. Indeed, taking model and measurement uncertainty into account is crucial. Assuming that the measurement noise and disturbances are bounded, lower and upper bounds are first computed for the unmeasured state (motor speed) and then for the unknown input (load torque). The proposed approach and its limitations are demonstrated with the nonlinear PMSM model derived from its equivalent electrical circuit.

Elinirina I Robinson↗

Collaborative Pose Estimation of An Unknown Target Using Multiple Spacecraft

A reliable method for pose estimation of an unknown and uncooperative space target using monocular vision remains an open problem. Vision-based pose determination can be challenging in case of unfavorable illumination, time-varying conditions due to rotational motion and relative orbit, and scale ambiguity resolution. To address these challenges, we propose a novel collaborative pose determination algorithm called Multi- Spacecraft Simultaneous Estimation of Pose and Shape algorithm or M-SEPS.Within M-SEPS, a team of chaser spacecraft, each equipped with a monocular camera, exchange information over a local network to jointly estimate the relative kinematic state of the target and its sparse shape landmarks. In this approach, each spacecraft processes its own images and observes particular target landmarks in parallel and in a distributed fashion. Then, the local network is exploited by the spacecraft to share their consensus proposals and aggregate them to achieve the joint estimate. We validate our algorithm using simulations of relative orbits and observations, captured by each chaser spacecraft. To the best of the authors’ knowledge, this is the first cooperative, vision-based algorithm for estimating the pose and shape of a space object for an arbitrary number of spacecraft.

Chung, Soon-Jo↗

Joint map data/phase sequence estimation for trellis phase codes

A unified estimation procedure is formulated for the coherent detection of trellis phase codes, including partial response FM codes and multi-h codes. The unknown carrier phase is imbedded in the system state vector, and by simple augmentation of the decoder's state space, joint data and carrier estimation may be accomplished. The procedure is general to all trellis phase codes analyzed thus far. The effect of a static phase error on detection performance is also treated.

Wilson, S. G.↗

Peak Pc Prediction in Conjunction Analysis: Conjunction Assessment Risk Analysis

Satellite conjunction risk typically evaluated through the probability of collision (Pc). Considers both conjunction geometry and uncertainties in both state estimates. Conjunction events initially discovered through Joint Space Operations Center (JSpOC) screenings, usually seven days before Time of Closest Approach (TCA). However, JSpOC continues to track objects and issue conjunction updates. Changes in state estimate and reduced propagation time cause Pc to change as event develops. These changes a combination of potentially predictable development and unpredictable changes in state estimate covariance. Operationally useful datum: the peak Pc. If it can reasonably be inferred that the peak Pc value has passed, then risk assessment can be conducted against this peak value. If this value is below remediation level, then event intensity can be relaxed. Can the peak Pc location be reasonably predicted?

Operations↗

Spatially recursive filtering and smoothing for multibody dynamics

Methods developed recently by the author to solve the problem of forward dynamics for nonlinear joint-connected multibody systems are summarized. Solution of this problem is of interest in such application areas as robotics, deploying structures, ground vehicles, and pointing of antennas and instrumented platforms. The problem is solved by the recursive filtering and smoothing techniques of state estimation theory. The filtering stage takes the applied joint moments as inputs to produce a sequence of spatial constraint forces acting at the joints of the system. The smoothing stage takes the innovations process resulting from the filter as an input and produces a set of spatial accelerations and a corresponding set of joint-angle accelerations.

Rodriguez, G.↗

Radio Science from an Optical Communications Signal

NASA is currently developing the capability to deploy deep space optical communications links. This creates the opportunity to utilize the optical link to obtain range, doppler, and signal intensity estimates. These may, in turn, be used to complement or extend the capabilities of current radio science. In this paper we illustrate the achievable precision in estimating range, doppler, and received signal intensity of an non-coherent optical link (the current state-of-the-art for a deep-space link). We provide a joint estimation algorithm with performance close to the bound. We draw comparisons to estimates based on a coherent radio frequency signal, illustrating that large gains in either precision or observation time are possible with an optical link.

Moision, Bruce↗

Identification of phenological stages and vegetative types for land use classification

The author has identified the following significant results. Classification of digital data for mapping Alaskan vegetation has been compared to ground truth data and found to have accuracies as high as 90%. These classifications are broad scale types as are currently being used on the Major Ecosystems of Alaska map prepared by the Joint Federal-State Land Use Planning Commission for Alaska. Cost estimates for several options using the ERTS-1 digital data to map the Alaskan land mass at the 1:250,000 scale ranged between $2.17 to $1.49 per square mile.

Mckendrick, J. D.↗

Kalman filtering, smoothing, and recursive robot arm forward and inverse dynamics

The recursive difference equations of Kalman filtering and Bryson-Frazier fixed time-interval smoothing, arising in the state estimation theory for linear state space systems, are used here to solve problems of serial manipulator inverse and forward dynamics. The configuration analyzed is that of a joint connected N-link serial manipulator attached to an immobile base. The equivalence between the filtering and smoothing techniques from state estimation theory and recursive robot dynamics methods is demonstrated. Several areas for future research are suggested.

Rodriguez, Guillermo↗

Preliminary assessment of the accuracy and precision of TOPEX/POSEIDON altimeter data with respect to the large-scale ocean circulation

TOPEX/POSEIDON sea surface height measurements are examined for quantitative consistency with known elements of the oceanic general circulation and its variability. Project-provided corrections were accepted but are at tested as part of the overall results. The ocean was treated as static over each 10-day repeat cycle and maps constructed of the absolute sea surface topography from simple averages in 2 deg x 2 deg bins. A hybrid geoid model formed from a combination of the recent Joint Gravity Model-2 and the project-provided Ohio State University geoid was used to estimate the absolute topography in each 10-day period. Results are examined in terms of the annual average, seasonal average, seasonal variations, and variations near the repeat period. Conclusion are as follows: the orbit error is now difficult to observe, having been reduced to a level at or below the level of other error sources; the geoid dominates the error budget of the estimates of the absolute topography; the estimated seasonal cycle is consistent with prior estimates; shorter-period variability is dominated on the largest scales by an oscillation near 50 days in spherical harmonics Y(sup m)(sub 1)(theta, lambda) with an amplitude near 10 cm, close to the simplest alias of the M(sub 2) tide. This spectral peak and others visible in the periodograms support the hypothesis that the largest remaining time-dependent errors lie in the tidal models. Though discrepancies attribute to the geoid are within the formal uncertainties of the good estimates, removal of them is urgent for circulation studies. Current gross accuracy of the TOPEX/POSEIDON mission is in the range of 5-10 cm, distributed overbroad band of frequencies and wavenumbers. In finite bands, accuracies approach the 1-cm level, and expected improvements arising from extended mission duration should reduce these numbers by nearly an order of magnitude.

Wunsch, Carl↗