Engineering topics
Publications and source records attributed to Swank, Aaron J..
Throughout the world, especially in dense urban environments, the quality of life is being negatively impacted by ever growing commute time. Travel, beyond commuting, is increasingly driven by door-to-door challenges ? not just gate-to-gate considerations. Air Mobility may be an approach to address these challenges, as it can effectively convert our 2D mobility system to a 3D mobility system, vastly increasing mobility options.
Deep-space optical communication will enable increased science return and public engagement for robotic and manned missions. The IROC project is studying a beaconless optical communication system for Mars data downlink. A star tracker provides the optical communications pointing information in place of an uplink targeting beacon. The configuration presented in this paper includes a star tracker that is aligned co-boresighted with the optical communication axis. This co-boresight configuration was not discussed in prior work, as it was assumed that large Sun-Probe-Earth keep-out angle requirements for operation of the star tracker would cause significant communication outages. In this paper it is shown that the use of an optimal mechanical mounting angle combined with an advanced star tracker has the capability to yield up to 92% communication availability for an example five-year Mars mission.
Retro-reflectors consist of three reflective optical surfaces, which are oriented to reflect the input beam by 180 ◦. For retro-reflector components, it is common to specify an angular beam deviation tolerance, or rather the deviation from the exact 180 def return direction. Precision-aligned retro-reflectors provide 180 deg beam deviation with tolerances on the order of an arcsecond. It is well known that the performance of the retro-reflector depends on the ability to precisely orient the reflective surfaces at mutually perpendicular angles. Precision assembly is therefore critical to ensure highly accurate beam deviation. The dihedral angle errors, and hence the reflected beam deviation, can be measured for the retro-reflector after fabrication, typically by using interferometric techniques. Yet, what is not commonly reported for a fabricated retro-reflector is the stability of the angular beam deviation. For instance, thermo-mechanical effects of the components will contribute to variations in the return beam direction. While the actual stability is design-specific one can develop a mathematical representation for the expected change in the reflected beam direction as a function of the variation in the dihedral angle errors. Presented here is a mathematical formulation for a hollow retro-reflector's beam deviation as a function of the dihedral angle error stability.
The development of attitude estimation and pointing-control algorithms is necessary in order to achieve high-fidelity modeling for a Balloon Mission Simulator (BMS). A pointing system simulation toolbox was developed to enable this. The toolbox consists of a star-tracker (ST) and Inertial Measurement Unit (IMU) signal generator, a UDP (User Datagram Protocol) communication le (bridge), and an indirect-multiplicative extended Kalman filter (imEKF). This document describes the Python toolbox developed and the results of its implementation in the imEKF.
Free space optical communication is of interest to NASA as a complement to existing radio frequency communication methods. The potential for an increase in science data return capability over current radio-frequency communications is the primary objective. Deep space optical communication requires laser beam pointing accuracy on the order of a few microradians. The laser beam pointing approach discussed here operates without the aid of a terrestrial uplink beacon. Precision pointing is obtained from an on-board star tracker in combination with inertial rate sensors and an outgoing beam reference vector. The beaconless optical pointing system presented in this work is the current approach for the Integrated Radio and Optical Communication (iROC) project.
A software tool for estimating cross-boresight error of a star tracker combined with an inertial measurement unit (IMU) was developed to support trade studies for the Integrated Radio and Optical Communication project (iROC) at the National Aeronautics and Space Administration Glenn Research Center. Typical laser communication systems, such as the Lunar Laser Communication Demonstration (LLCD) and the Laser Communication Relay Demonstration (LCRD), use a beacon to locate ground stations. iROC is investigating the use of beaconless precision laser pointing to enable laser communication at Mars orbits and beyond. Precision attitude knowledge is essential to the iROC mission to enable high-speed steering of the optical link. The preliminary concept to achieve this precision attitude knowledge is to use star trackers combined with an IMU. The Star Tracker Accuracy (STAcc) software was developed to rapidly assess the capabilities of star tracker and IMU configurations. STAcc determines the overall cross-boresight error of a star tracker with an IMU given the characteristic parameters: quantum efficiency, aperture, apparent star magnitude, exposure time, field of view, photon spread, detector pixels, spacecraft slew rate, maximum stars used for quaternion estimation, and IMU angular random walk. This paper discusses the supporting theory used to construct STAcc, verification of the program and sample results.
This work investigates acoustic impedance matching materials for coupling 200 kHz ultrasonic signals from air to materials with similar acoustic properties to that of water, flesh, rubber and plastics. Porous filter membranes as well as a new class of cross-linked polyimide aerogels are evaluated. The results indicate that a single impedance matching layer consisting of these new aerogel materials will recover nearly half of the loss in the incident-to-transmitted ultrasound intensity associated with an air/water, air/flesh or air/gelatin boundary. Furthermore, the experimental results are obtained where other uncertainties of the "real world" are present such that the observed impedance matching gains are representative of real-world applications. Performance of the matching layer devices is assessed using the idealized 3-layer model of infinite half spaces, yet the experiments conducted use a finite gelatin block as the destination medium.
A method for measuring the moment of inertia of an object using a five-wire torsion pendulum design is described here. Typical moment of inertia measurement devices are capable of 1 part in 10(exp 3) accuracy and current state of the art techniques have capabilities of about one part in 10(exp 4). The five-wire apparatus design shows the prospect of improving on current state of the art. Current measurements using a laboratory prototype indicate a moment of inertia measurement precision better than a part in 10(exp 4). In addition, the apparatus is shown to be capable of measuring the mass center offset from the geometric center. Typical mass center measurement devices exhibit a measurement precision up to approximately 1 micrometer. Although the five-wire pendulum was not originally designed for mass center measurements, preliminary results indicate an apparatus with a similar design may have the potential of achieving state of the art precision.
Stereo imaging is a technique commonly employed for vision-based navigation. For such applications, two images are acquired from different vantage points and then compared using transformations to extract depth information. The technique is commonly used in robotics for obstacle avoidance or for Simultaneous Localization And Mapping, (SLAM). Yet, the process requires a number of image processing steps and therefore tends to be CPU-intensive, which limits the real-time data rate and use in power-limited applications. Evaluated here is a technique where a monocular camera is used for vision-based odometry. In this work, an optical flow technique with feature recognition is performed to generate odometry measurements. The visual odometry sensor measurements are intended to be used as control inputs or measurements in a sensor fusion algorithm using low-cost MEMS based inertial sensors to provide improved localization information. Presented here are visual odometry results which demonstrate the challenges associated with using ground-pointing cameras for visual odometry. The focus is for rover-based robotic applications for localization within GPS-denied environments.
In the Fall of 2011, National Aeronautics and Space Administration (NASA) Glenn Research Center (GRC) participated in the Desert Research and Technology Studies (DRATS) field experiments held near Flagstaff, Arizona. The objective of the DRATS outing is to provide analog mission testing of candidate technologies for space exploration, especially those technologies applicable to human exploration of extra- terrestrial rocky bodies. These activities are performed at locations with similarities to extra-terrestrial conditions. This report describes the Extravehicular Activity (EVA) Dual-Band Radio Communication System which was demonstrated during the 2011 outing. The EVA radio system is designed to transport both voice and telemetry data through a mobile ad hoc wireless network and employs a dual-band radio configuration. Some key characteristics of this system include: 1. Dual-band radio configuration. 2. Intelligent switching between two different capability wireless networks. 3. Self-healing network. 4. Simultaneous data and voice communication.
Cost Optimized Test of Spacecraft Avionics and Technologies (COTSAT-1) is an ongoing spacecraft research and development project at NASA Ames Research Center (ARC). The space industry was a hot bed of innovation and development at its birth. Many new technologies were developed for and first demonstrated in space. In the recent past this trend has reversed with most of the new technology funding and research being driven by the private industry. Most of the recent advances in spaceflight hardware have come from the cell phone industry with a lag of about 10 to 15 years from lab demonstration to in space usage. NASA has started a project designed to address this problem. The prototype spacecraft known as Cost Optimized Test of Spacecraft Avionics and Technologies (COTSAT-1) and CheapSat work to reduce these issues. This paper highlights the approach taken by NASA Ames Research center to achieve significant subsystem cost reductions. The COSTAT-1 research system design incorporates use of COTS (Commercial Off The Shelf), MOTS (Modified Off The Shelf), and GOTS (Government Off The Shelf) hardware for a remote sensing spacecraft. The COTSAT-1 team demonstrated building a fully functional spacecraft for $500K parts and $2.0M labor. The COTSAT-1 system, including a selected science payload, is described within this paper. Many of the advancements identified in the process of cost reduction can be attributed to the use of a one-atmosphere pressurized structure to house the spacecraft components. By using COTS hardware, the spacecraft program can utilize investments already made by commercial vendors. This ambitious project development philosophy/cycle has yielded the COTSAT-1 flight hardware. This paper highlights the advancements of the COTSAT-1 spacecraft leading to the delivery of the current flight hardware that is now located at NASA Ames Research Center. This paper also addresses the plans for COTSAT-2.
Cost Optimized Test of Spacecraft Avionics and Technologies (COTSAT-1) is an ongoing spacecraft research and development project at NASA Ames Research Center (ARC). The prototype spacecraft, also known as CheapSat, is the first of what could potentially be a series of rapidly produced low-cost spacecraft. The COTSAT-1 team is committed to realizing the challenging goal of building a fully functional spacecraft for $500K parts and $2.0M labor. The project's efforts have resulted in significant accomplishments within the scope of a limited budget and schedule. Completion and delivery of the flight hardware to the Engineering Directorate at NASA Ames occurred in February 2009 and a cost effective qualification program is currently under study. The COTSAT-1 spacecraft is now located at NASA Ames Research Center and is awaiting a cost effective launch opportunity. This paper highlights the advancements of the COTSAT-1 spacecraft cost reduction techniques.