Operational support plan for the Real-Time Auxiliary Computing Facility - Apollo 5 flight annex. Project Apollo
Real-time auxiliary computing facility for operational support of Apollo 5 flight
Davis, L. B.↗
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Apollo experience report: Mission planning for lunar module descent and ascent
The premission planning, the real-time situation, and the postflight analysis for the Apollo 11 lunar descent and ascent are described. A comparison between premission planning and actual results is included. A navigation correction capability, developed from Apollo 11 postflight analysis was used successfully on Apollo 12 to provide the first pinpoint landing. An experience summary, which illustrates typical problems encountered by the mission planners, is also included.
Bennett, F. V.↗
Preliminary results of the satellite orbit determination of Mariner Mars 1971.
The preflight planning and real-time experience relating to the navigation of the first artificial satellite placed about a distant planet is presented. Results of determining the orbit of Mariner 9 are presented and contrasted against the preflight simulation test results. It is concluded that the position of Mariner 9 was located to 40 km before coefficients of the gravity field of Mars were estimated. The planet Mars has been found to be 3 to 4 times gravitationally rougher than expected, with the dominant features, the 2nd order tesserals C22 and S22, causing the orbital period of Mariner 9 to oscillate with an amplitude of 40 seconds and a wavelength of 19.5 days. The direction of the Mars spin axis has been relocated from the Camichel-Burton value by 1/2 degree.
Jordan, j. F.↗
A laboratory breadboard system for dual-arm teleoperation
The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.
Bejczy, A. K.↗
Integrated sequence display device
Device integrates a planned test sequence with real-time changes indicated on a visual display which includes a record of both planned and unplanned events related to a time base. Motor driven paper chart can be advanced or reversed to display the time span of interest.
Rosine, D. R.↗
Manned Space-Flight Experiments: Gemini V Mission (Interim Report)
This compilation of papers constitutes an interim report on the results of experiments conducted during the Gemini V manned space flight. The results of experiments conducted on Gemini III and IV manned space flights have been published previously in a similar interim report, "Manned Space Flight Experiments Symposium, Gemini Missions III and IV," which is available upon request from MSC Experiments Program Office, Houston, Texas (Code EX, Attention of R. Kinard). The Gemini V mission provided the greatest opportunity to date for conducting experiments; the increased mission duration of eight days provided this added capability. The total mission experiment complement was seventeen. Five experiments were designed to obtain basic scientific knowledge, five were medical, and seven were technological and engineering in nature. Six of the experiments had flown previously on Gemini IV, and eleven were new. The results of the experiments, including real-time modification to preflight plans made necessary by abnormal spacecraft system operation, are presented.
Source record↗
Plume Impingement Software Module for Real-Time Proximity Operations
Successfully executing proximity operations in space, such as docking or in-orbit servicing, requires sophisticated spacecraft design that accounts for induced environments. As a chaser vehicle’s attitude control thrusters fire, they create rarefied plumes that can impact the target vehicle, with the potential to overload components, exceed thermal limits, and spin the target vehicle out of control. High-fidelity simulations of the thruster plume impingement environment require the direct simulation Monte Carlo (DSMC) method, but DSMC is too computationally expensive to simulate proximity operations that involve thousands of thruster firings. For this analysis to be tractable, engineering models of the plume flowfield and impingement events are used to simulate these trajectories [1]. Currently, on-orbit plume impingement environments are modeled through an inefficient open-loop analysis cycle where the vehicle’s flight controller and plume impingement teams iterate on the trajectories until they pass the target vehicle’s plume requirements. As complex on-orbit missions evolve and become more frequent, lengthy design cycles will become operational bottlenecks. To address this gap, this work develops an advanced plume impingement module capable of operating at real-time scale that can be integrated with existing mission planning tools and onboard flight systems. The plume module leverages state-of-the-art plume simulation techniques [2] to deliver fast, physics-based impingement predictions in a software architecture that can be tailored to diverse proximity operations scenarios. A prototype of this plume impingement module is built to demonstrate the feasibility of real-time performance. This prototype completes plume impingement calculations in microseconds per target geometry mesh point. The software serves as a foundational capability for plume-aware trajectory design, operational risk assessment, and future autonomous decision-making systems.
Plume Impingement↗
Scientific data reduction and analysis plan: PI services
This plan comprises two parts. The first concerns the real-time data display to be provided by MSC during the mission. The prime goal is to assess the operation of the UVS and to identify any problem areas that could be corrected during the mission. It is desirable to identify any possible observations of unusual scientific interest in order to repeat these observations at a later point in the mission, or to modify the time line with respect to the operating modes of the UVS. The second part of the plan discusses the more extensive postflight analysis of the data in terms of the scientific objectives of this experiment.
Feldman, P. D.↗
Optical data processing and projected applications of the ERTS-1 imagery covering the 1973 Mississippi River Valley floods
Flooding along the Mississippi River and some of its tributaries was imaged by the multispectral scanner (MSS) on the Earth Resources Technology Satellite (ERTS-1) on at least three orbits during the spring of 1973. The ERTS data provided the first opportunity for mapping the regional extent of flooding at the time the imagery was acquired. Special optical data processing techniques were used to produce a variety of multispectral color composites which enhanced floodplain details. One of these, a two-color composite of near infrared bands 6 and 7, was enlarged and registered to 1:250,0OO-scale topographic maps and used as the basis for preparation of flood image maps. Two specially filtered three-color composites of MSS bands 5, 6, and 7 and 4, 5, and 7 were prepared to aid in the interpretation of the data. The extent of the flooding was vividly depicted on a single image by two-color temporal composites produced on the additive-color viewer using band 7 flood data superimposed on pre-flood band 7 images. On May 24, when the floodwaters at St. Louis receded to bankfull stage, imagery was again obtained by ERTS. Analysis of temporal data composites of the pre-flood and post-flood band 7 images indicate that changes in surface reflectance characteristics caused by the flooding can be delineated, thus making it possible to map the overall area flooded without the necessity of a real-time system to track and image the peak flood waves. Regional planning and disaster relief agencies such as the Corps of Engineers, Office of Emergency Preparedness, Soil Conservation Service, interstate river basin commissions and state agencies, as well as private lending and insurance institutions, have indicated strong potential applications for ERTS image-maps of flood-prone areas.
Morris Deutsch↗
Mercury Operational Experience
A number of papers have been given previously, both to the IAS and other scientific organizations, which deal with the operational planning for Project Mercury. This paper deals with the operational experience gained from the development of facilities to perform real-time flight control and the experience gained from using these facilities. The discussion of this experience is primarily limited to the Mercury-Atlas orbital flights leading up to and including the flight of Astronaut John H. Glenn, Jr. In addition, the over-all recovery operation is discussed.
Manned spacecraft↗
Operating executive for the DSIF tracking subsystem software
The advanced engineering model of the DSIF tracking subsystem (DTS) is being developed by the Deep Space Instrumentation Facility. The DTS will provide effective and reliable tracking and data acquisition support for the complex planetary and interplanetary space flight missions planned for the 1970's. The nucleus of the subsystem is a Honeywell H832 digital computer. The design and capabilities of the real-time operating executive software are described.
Poulson, P. L.↗
The real-time control of planetary rovers through behavior modification
It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed.
Miller, David P.↗
The Apollo launch data telemetry system.
The development of the Apollo Launch Data Telemetry System, the real-time interface between the Merritt Island Launch Area (MILA) and the Mission Control Center-Houston (MCC-H), is reviewed from its beginning through the system planning stages, and then into the final hardware implementation.
REAL TIME↗
Mariner 9 - Image processing and products.
The purpose of this paper is to describe the system for the display, processing, and production of image data products created to support the Mariner 9 Television Experiment. Of necessity, the system was large in order to respond to the needs of a large team of scientists with a broad scope of experimental objectives. The desire to generate processed data products as rapidly as possible to take advantage of adaptive planning during the mission, coupled with the complexities introduced by the nature of the vidicon camera, greatly increased the scale of the ground image processing effort. This paper describes the systems that carried out the processes and delivered the products necessary for real-time and near-real-time analyses. References are made to the computer algorithms used for the different levels of decalibration and analysis.
Levinthal, E. C.↗
NASA earth resources satellite research and development program.
The NASA Earth Resources Survey (ERS) Program is discussed as an effort to augment the presently used ground techniques and limited aerial photography for obtaining larger survey data. The topics include the scientific and technological aspects of remote earth resources sensing, the past and present activities in this field, the immediate plans for the implementation of the program, and a summary of current and future international participation in it. The effective target areas of space observations under the program are listed as synoptic surveys, agriculture and forestry, geography, geology and mineral resources, hydrology and water resources, and marine resources. Acquisition of near real-time information, reduced data acquisition time, repeated coverage, measurement uniformity, global surveys without large on-site support requirements are indicated as the advantages of space observations.
Jaffe, L.↗
Operations and maintenance manual for a scale-model lunar roving vehicle
A one-sixth scale model of the lunar roving vehicle used in the Apollo 15 mission was built and instrumented to conduct model studies of vehicle mobility. The model was free running under radio control and was equipped with a lightweight telemetry transmitter that allowed 16 channels of data to be gathered simultaneously. String payout and fifth-wheel devices were developed to measure vehicle velocity. Other real-time measurements included wheel torque, wheel speed, center-of-gravity accelerations, and steering forces. Calibration, operations, and maintenance procedures were worked out. Details of the development of the instrumentation, its maintenance, and some of the problems encountered, are recorded serve as a preliminary operations and maintenance manual for this specific model. In addition, information regarding soil processing and testing that may be useful to NASA personnel planning mobility research with the model in soil is furnished.
Lessem, A. S.↗
Real-time meteorological support for Apollo 9 scientific photography
Apollo 9 scientific multispectral photography mission, discussing meteorological support aspect of real time planning
Browne, I. D.↗
GRAN experiment
A global system for search and rescue was studied to reduce the time lost between a mishap and rescue efforts. The sequence of the GRAN concept proceeds as follows: (1) A distress call is initiated by a survivor and consists of the retransmission of Omega tones and a unique identifying code. (2) Signals are frequency translated through the satellite from UHF to SHF. (3) The received signals are processed in real-time using improved skywave correction and lane ambiguity techniques. The results are processed in geographical coordinates, time of day, and unique ID. This information is then relayed to the closest rescue agent. The Omega system is described, and the satellite/GRAN compatibility is discussed. The program plan and schedule are included.
Morakis, J. C.↗