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A Risk-Constrained Multi-Stage Decision Making Approach to the Architectural Analysis of Mars Missions

This paper presents a novel risk-constrained multi-stage decision making approach to the architectural analysis of planetary rover missions. In particular, focusing on a 2018 Mars rover concept, which was considered as part of a potential Mars Sample Return campaign, we model the entry, descent, and landing (EDL) phase and the rover traverse phase as four sequential decision-making stages. The problem is to find a sequence of divert and driving maneuvers so that the rover drive is minimized and the probability of a mission failure (e.g., due to a failed landing) is below a user specified bound. By solving this problem for several different values of the model parameters (e.g., divert authority), this approach enables rigorous, accurate and systematic trade-offs for the EDL system vs. the mobility system, and, more in general, cross-domain trade-offs for the different phases of a space mission. The overall optimization problem can be seen as a chance-constrained dynamic programming problem, with the additional complexity that 1) in some stages the disturbances do not have any probabilistic characterization, and 2) the state space is extremely large (i.e, hundreds of millions of states for trade-offs with high-resolution Martian maps). To this purpose, we solve the problem by performing an unconventional combination of average and minimax cost analysis and by leveraging high efficient computation tools from the image processing community. Preliminary trade-off results are presented.

entry, descent, and landing (EDL)↗

Mars Sample Return Using Commercial Capabilities: Propulsive Entry, Descent, and Landing of a Capsule Form Vehicle

This paper describes a critical portion of the work that has been done at NASA, Ames Research Center regarding the use of the commercially developed Dragon capsule as a delivery vehicle for the elements of a high priority Mars Sample Return mission. The objective of the investigation was to determine entry and landed mass capabilities that cover anticipated mission conditions. The "Red Dragon", Mars configuration, uses supersonic retro-propulsion, with no required parachute system, to perform Entry, Descent, and Landing (EDL) maneuvers. The propulsive system proposed for use is the same system that will perform an abort, if necessary, for a human rated version of the Dragon capsule. Standard trajectory analysis tools are applied to publically available information about Dragon and other legacy capsule forms in order to perform the investigation. Trajectory simulation parameters include entry velocity, flight path angle, lift to drag Ratio (L/D), landing site elevation, atmosphere density, and total entry mass, in addition engineering assumptions for the performance of the propulsion system are stated. Mass estimates for major elements of the overall proposed architecture are coupled to this EDL analysis to close the overall architecture. Three synodic launch opportunities, beginning with the 2022 opportunity, define the arrival conditions. Results state the relations between the analysis parameters as well as sensitivities to those parameters. The EDL performance envelope includes landing altitudes between 0 and -4 km referenced to the Mars Orbiter Laser Altimeter datum as well as minimum and maximum atmosphere density. Total entry masses between 7 and 10 mt are considered with architecture closure occurring between 9.0 and 10 mt. Propellant mass fractions for each major phase of the EDL - Entry, Terminal Descent, and Hazard Avoidance - have been derived. An assessment of the effect of the entry conditions on the Thermal Protection System (TPS) currently in use for Dragon missions shows no significant stressors. A useful payload mass of 2.0 mt is provided and includes mass and grow allowance for a Mars Ascent Vehicle (MAV), Earth Return Vehicle (ERV), and mission unique equipment. The useful payload supports an architecture that receives a sample from another surface asset and sends it directly back to Earth for recovery in a high Earth orbit. The work shows that emerging commercial capabilities as well as previously studied EDL methodologies can be used to efficiently support an important planetary science objective. The work also has applications for human exploration missions that will also use propulsive EDL techniques

EDL↗

SOHO-Ulysses Coordinated Studies During the Two Extended Quadratures and the Alignment of 2007-2008

During SOHO-Sun-Ulysses quadratures the geometry of the configuration makes it possible to sample "in situ" the plasma parcels that are remotely observed in the corona. Although the quadrature position occurs at a well defined instant in time, we typically take data while Ulysses is within +/- 5 degrees of the limb, with the understanding that plasma sampled by Ulysses over this time interval can all be traced to its source in the corona. The relative positions of SOHO and Ulysses in winter 2007 (19 Dec 2006-28 May 2007) are unusual: the SOHO-Sun-Ulysses included angle is always between 85 and 95 degrees - the quadrature lasts for 5 months! This provides an opportunity for extended observations of specific observing objectives. In addition, in summer 2007, Ulysses (at 1.34 AU) is in near-radial alignment with Earth/ACE/Wind and SOHO, allowing us to analyze radial gradients and propagation in the solar wind and inner heliosphere. Our own quadrature campaigns rely heavily on LASCO and UVCS coronal observations: LASCO giving the overall context above 2 solar radii while the UVCS spectrograph acquired data from - 1.5 to, typically, 4-5 solar radii. In the past, coronal parameters have been derived from data acquired by these two experiments and compared with "in situ" data of Ulysses' SWOOPS and SWICS. Data from other experiments like EIT, CDS, SUMER, Sac Peak Fe XIV maps, magnetic field maps from the Wilcox solar magnetograph, MLSO, from MDI, and from the Ulysses magnetograph experiment have been, and will be, used to complement LASCO/UVCS/SWOOPS and SWICS data. We anticipate that observations by ACE/WIND/STEREO/Hinode and other missions will be relevant as well. During the IHY campaigns, Ulysses will be 52-80 degrees south in winter 2007, near sunspot minimum. Hence, our own scientific objective will be to sample high speed wind or regions of transition between slow and fast wind. This might be a very interesting situation - not met in previous quadratures - allowing us to study the variation of element abundances across streamer borders in the corona and,correspondingly, "in situ". Also, observing plasma over prolonged time intervals and at different latitudes, we may examine the latitude variation of the fractionation effect (e.g. Yon Steiger, 2002) and its dependence on time (e.g. Woo, 2004). For instance, if the FIP bias is dictated by the duration of plasma confinement in solar loops, its value in streamers should depend on the streamer age. Analogous variations should be found in the abundances of "in situ" plasma released by the streamer. All Ulysses and SOHO data is in the public domain and accessible so different objectives could be addressed by others. The winter 2008 quadrature will be well into the next sunspot cycle and there might be significant high mid-latitude activity. Ulysses will be up to 80 degrees in the northern hemisphere at this time and able to detect the resulting ICMEs and ejecta, allowing us to study the physical parameters of the propagating CME bubble/core/front, and/or to study the coronal and "in situ" characteristics of the current sheet associated with the event (e.g. Bemporad et al. 2005), so far still vaguely defined.

Suess, S. T.↗

The effects of correlation on goodness of fit

Autocorrelated normal random variates were generated via computer and the effects of various levels of correlation on goodness of fit problems were studied. The results are useful in determining the distribution or estimating the parameters of populations that correlate observations such as wind speeds and temperature. The model used to generate the autocorrelated data is an autoregressive process of order 1. The Kolmogorov-Smirnov and chi-square statistics are used in the analysis. It was observed in the simulation that high positive correlations tend to shift the sample mean away from the population mean and negative correlations tend to shift the sample mean towards the population mean. In many cases, it was observed that positive and negative correlations tend to decrease the standard deviation. However, since this did not occur in all cases, no definite conclusion can be made regarding the standard deviation. Since the autoregressive process is a linear transformation, it is not surprising that normality was preserved. However, a possible extension of this problem could be to generate non-normal data and observe how the distribution is affected by correlation. Another extension might utilize another model such as autoregressive of order k or a moving average process of order k.

Kitchens, L. J.↗

TAP 2: A finite element program for thermal analysis of convectively cooled structures

A finite element computer program (TAP 2) for steady-state and transient thermal analyses of convectively cooled structures is presented. The program has a finite element library of six elements: two conduction/convection elements to model heat transfer in a solid, two convection elements to model heat transfer in a fluid, and two integrated conduction/convection elements to represent combined heat transfer in tubular and plate/fin fluid passages. Nonlinear thermal analysis due to temperature-dependent thermal parameters is performed using the Newton-Raphson iteration method. Transient analyses are performed using an implicit Crank-Nicolson time integration scheme with consistent or lumped capacitance matrices as an option. Program output includes nodal temperatures and element heat fluxes. Pressure drops in fluid passages may be computed as an option. User instructions and sample problems are presented in appendixes.

Thornton, E. A.↗

Wallops waveform analysis of SEASAT-1 radar altimeter data

Fitting a six parameter model waveform to over ocean experimental data from the waveform samplers in the SEASAT-1 radar altimeter is described. The fitted parameters include a waveform risetime, skewness, and track point; from these can be obtained estimates of the ocean surface significant waveheight, the surface skewness, and a correction to the altimeter's on board altitude measurement, respectively. Among the difficulties encountered are waveform sampler gains differing from calibration mode data, and incorporating the actual SEASAT-1 sampled point target response in the fitted wave form. There are problems in using the spacecraft derived attitude angle estimates, and a different attitude estimator is developed. Points raised in this report have consequences for the SEASAT-1 radar altimeter's ocean surface measurements are for the design and calibration of radar altimeters in future oceanographic satellites.

Hayne, G. S.↗

Modular instrumentation system for real-time measurements and control on reciprocating engines

An instrumentation system was developed for reciprocating engines. Among the parameters measured are the indicated mean effective pressure, or theoretical work per cycle, and the mass fraction burn rate, a measure of the combustion rate in the cylinder. These computations are performed from measured cylinder pressure and crankshaft angle and are available in real time for the experimenter. A 100 or 200 consecutive-cycle sample is analyzed to reduce the effect of cyclic variations in the engine. Data are displayed in bargraph form, and the mean and standard deviation are computed. Other instruments are also described.

Rice, W. J.↗

BASIC Programming In Water And Wastewater Analysis

Collection of computer programs assembled for use in water-analysis laboratories. First program calculates quality-control parameters used in routine water analysis. Second calculates line of best fit for standard concentrations and absorbances entered. Third calculates specific conductance from conductivity measurement and temperature at which measurement taken. Fourth calculates any one of four types of residue measured in water. Fifth, sixth, and seventh calculate results of titrations commonly performed on water samples. Eighth converts measurements, to actual dissolved-oxygen concentration using oxygen-saturation values for fresh and salt water. Ninth and tenth perform calculations of two other common titrimetric analyses. Eleventh calculates oil and grease residue from water sample. Last two use spectro-photometric measurements of absorbance at different wavelengths and residue measurements. Programs included in collection written for Hewlett-Packard 2647F in H-P BASIC.

Dreschel, Thomas↗

4 meter FTS observations of photospheric magnetic fields on M dwarfs

Much of the observed activity on M dwarfs (e.g., spots, flares, chromospheric and coronal emission) has been attributed to the interaction of magnetic fields with the stellar atmosphere. Since data on the magnetic field parameters of M dwarfs can potentially reveal much about the physical mechanisms behind these phenomena and, additionally, about stellar dynamos and the evolution of stellar angular momentum, a program has been started to measure the mean magnetic field strength (B) in stellar active regions, and the surface filling factor (f) of these regions for a sample of M dwarfs. In this paper some preliminary results of this survey are discussed.

Saar, Steven H.↗

Direct adaptive control of a PUMA 560 industrial robot

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

Seraji, Homayoun↗

Structured background grids for generation of unstructured grids by advancing front method

A new method of background grid construction is introduced for generation of unstructured tetrahedral grids using the advancing-front technique. Unlike the conventional triangular/tetrahedral background grids which are difficult to construct and usually inadequate in performance, the new method exploits the simplicity of uniform Cartesian meshes and provides grids of better quality. The approach is analogous to solving a steady-state heat conduction problem with discrete heat sources. The spacing parameters of grid points are distributed over the nodes of a Cartesian background grid by interpolating from a few prescribed sources and solving a Poisson equation. To increase the control over the grid point distribution, a directional clustering approach is used. The new method is convenient to use and provides better grid quality and flexibility. Sample results are presented to demonstrate the power of the method.

Pirzadeh, Shahyar↗

Cloud-to-ground lightning and rainfall volumes in mesoscale convective systems

The relationship between cloud-to-ground lightning and surface rainfall estimates for the southern Great Plains during the spring 1985 PRE-STORM project is examined to determine if consistent relationships between these two parameters exist in this area. Understanding the relationships will permit the development of lightning-rainfall algorithms applicable to this region and other climatic areas. The radar data collected during this project provided good temporal and spatial coverage of several mesoscale convective systems from their incipient through mature stages and on to decay with temporal sampling at 10 to 12 minute intervals.

Nielsen, Kurt E.↗

An improved Venus gravity field from Doppler tracking of the Pioneer Venus Orbiter and Magellan spacecraft

A total of 365,000 Pioneer Venus Orbiter (PVO) S-band Doppler data points were fit in arcs ranging from one to four revolutions in length by estimating the spacecraft position and velocity, atmospheric density, and a solar pressure parameter at each arc epoch. The resultant converged PVO orbits were used to produce 194 information arrays for the Venus spherical harmonic coefficients complete to degree and order 21. A similar procedure was used to produce a second set of 72 information arrays for a 21 x 21 gravitational field from a limited, but global, sampling of Magellan S- and X-band data from cycles 1 and 2. The PVO and Magellan information arrays were combined and solved to obtain the 21 x 21 spherical harmonic expansion designated JPL-Venus Gravity Model 6A (VGM6A). The VGM6A harmonic field field produced significant improvements in the Doppler residual statistics obtained from field validation fits to both PVO and Magellan tracking data in comparison with alternative representations of Venus gravity.

Mcnamee, J. B.↗

Omega from the anisotropy of the redshift correlation function

Peculiar velocities distort the correlation function of galaxies observed in redshift space. In the large scale, linear regime, the distortion takes a characteristic quadrupole plus hexadecapole form, with the amplitude of the distortion depending on the cosmological density parameter omega. Preliminary measurements are reported here of the harmonics of the correlation function in the CfA, SSRS, and IRAS 2 Jansky redshift surveys. The observed behavior of the harmonics agrees qualitatively with the predictions of linear theory on large scales in every survey. However, real anisotropy in the galaxy distribution induces large fluctuations in samples which do not yet probe a sufficiently fair volume of the Universe. In the CfA 14.5 sample in particular, the Great Wall induces a large negative quadrupole, which taken at face value implies an unrealistically large omega 20. The IRAS 2 Jy survey, which covers a substantially larger volume than the optical surveys and is less affected by fingers-of-god, yields a more reliable and believable value, omega = 0.5 sup +.5 sub -.25.

Hamilton, A. J. S.↗

The morphology of and locations of star formation in impact induced ring galaxies

Observed ring galaxies appear to fall into two major types. The first tends to consist of isolated galaxies which display a smooth, apparently circular ring and a central nucleus. These have been variously classified as R(S) by de Vaucouleurs (1959) and as type O by Few and Madore (1986). The second class of ring galaxy nearly always has a close companion of comparable size (no less than about one tenth that of the ring galaxy). In these objects the ring is knotty in appearance, is usually elliptical, even when deprojected on the sky, and is often open on one side, having a 'horse shoe' or 'banana' shape. The nucleus does not usually appear at the center of the ring and is sometimes apparently absent, giving rise to an 'empty ring' galaxy. deVaucouleurs et al. (1976) designated this second type as RING, while Few and Madore (1986) have classified similar galaxies as P type. These galaxies have elevated far IR emission, bright HII regions, and blue spectral colors. The different environments of the two types or ring galaxy, together with their overall morphological and spectral differences suggest that the R(S)/O type are most probably the result of an instability that occurs in isolated galaxies, whereas the RING/P type appears to be the result of a recent collision between two roughly equal mass objects, at least one of which is a disk galaxy. Theys and Spiegel (1976) studied a sample of this latter type and identified three subclasses: RE: galaxies with crisp, empty rings; RN: galaxies like those of RE but with off-center nuclei; RK: galaxies having single dominant knots or condensations in the rings. A presentation of a preliminary understanding of the connections between these different observed forms in terms of parameters which are intrinsic to the galaxy system, such as time since collision and impact parameter, and in terms of our line of sight view is the purpose of this paper. Here we report results we have obtained from three dimensional computer simulations of collisions between equal mass galaxies, one of which is a rotating, disk galaxy containing both gas and stars and the other is an elliptical containing stars only. We have used a combined n-body/SPH program (see Balsara, 1990) to model fully self consistent models in which the halo mass is 2.5 times that of the disk and gas comprises ten percent of the disk mass.

Lamb, Susan A.↗

Energy loss partitioning during ballistic impact of polymer composites

The objective of this study is to determine the energy dissipation processes in polymer-matrix composites during impact of ballistic projectiles. These processes include heat, fiber deformation and breakage, matrix deformation and fracture, and interfacial delamination. In this study, experimental measurements were made, using specialized specimen designs and test methods, to isolate the energy consumed by each of these processes during impact in the ballistic range. Using these experiments, relationships between material parameters and energy dissipation were examined. Composites with the same matrix but reinforced with Kevlar, PE, and graphite fabric were included in this study. These fibers were selected based on the differences in their intrinsic properties. Matrix cracking was found to be one of the most important energy absorption mechanisms during impact, especially in ductile samples such as Spectra-900 PE and Kevlar-49 reinforced polymer. On the contrary, delamination dominated the energy dissipation in brittle composites such as graphite reinforced materials. The contribution from frictional forces was also investigated and the energy partitioning among the different processes evaluated.

Zee, Ralph H.↗

A database for propagation models

A database of various propagation phenomena models that can be used by telecommunications systems engineers to obtain parameter values for systems design is presented. This is an easy-to-use tool and is currently available for either a PC using Excel software under Windows environment or a Macintosh using Excel software for Macintosh. All the steps necessary to use the software are easy and many times self-explanatory; however, a sample run of the CCIR rain attenuation model is presented.

Kantak, Anil V.↗

Design and performance of very long-wavelength GaAs/Al(x)Ga(1-x)As quantum-well infrared photodetectors

We present an extensive and detailed study of very long wavelength quantum well infrared photodetectors covering the spectral region between 14 and 20 micrometers. Measurements were made on seven different molecular beam epitaxy grown samples having different well widths and barrier heights. In this study we combine experimental results with theoretical analysis and focus on the relationship between the quantum well structure and detector performance, i.e., responsivity, dark current, dynamic resistance, noise current, optical-gain, and detectivity. These results provide the basis for further optimization, and the detector parameters needed for the design of the readout circuit for focal plane arrays.

Sarusi, G.↗

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