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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1984

Flight tests of the Digital Integrated Automatic Landing System (DIALS)

The design, development, implementation and flight tests of the Digital Integrated Automatic Landing System (DIALS) are discussed. The system was implemented and flight tested on the Transport Systems Research Vehicle (TSRV), a Boeing 737-100. The design uses modern optimal control methods. The direct digital design obtained uses a 10 Hz rate for the sampling of sensors and the control commands. The basic structure of the control law consists of a steady state Kalman filter followed by a control gain matrix. The sensor information used includes Microwave Landing System (MLS) position, attitude, calibrated airspeed, and body accelerations. The phases of the final approach considered are localized and steep glideslope capture (which may be performed simultaneously or independently), localizer and glideslope track, crab/decrab, and flare to touchdown. The system can capture, track, and flare from conventional, as well as steep, glideslopes ranging from 2.5 deg to 5.5 deg. All of the modes of the control law including the Kalman filters were implemented on the TSRV flight computers which use fixed point arithmetic with 16 bit words. The implementation considerations are described as well as an analysis of the flight test results.

Halyo, N.↗
NASA NTRS1990

OPTIC: Orbiting Plutonian Topographic Image Craft Proposal for an Unmanned Mission to Pluto

The proposal for an unmanned probe to Pluto is presented and described. The Orbiting Plutonian Topographic Image Craft's (OPTIC's) trip will take twenty years and after its arrival, will begin its data collection which includes image and radar mapping, surface spectral analysis, and magnetospheric studies. This probe's design was developed based on the request for proposal of an unmanned probe to Pluto requirements. The distinct problems which an orbiter causes for each subsystem of the craft are discussed. The final design revolved around two important factors: (1) the ability to collect and return the maximum quantity of information on the Plutonian system; and (2) the weight limitations which the choice of an orbiting craft implied. The velocity requirements of this type of mission severely limited the weight available for mission execution-owing to the large portion of overall weight required as fuel to fly the craft with present technology. The topics covered include: (1) scientific instrumentation; (2) mission management; (3) power and propulsion; (4) attitude and articulation control; (5) structural subsystems; and (6) command, control, and communication.

Kelly, Jonathan E.↗
NASA NTRS1994

Controlling multiple security robots in a warehouse environment

The Naval Command Control and Ocean Surveillance Center (NCCOSC) has developed an architecture to provide coordinated control of multiple autonomous vehicles from a single host console. The multiple robot host architecture (MRHA) is a distributed multiprocessing system that can be expanded to accommodate as many as 32 robots. The initial application will employ eight Cybermotion K2A Navmaster robots configured as remote security platforms in support of the Mobile Detection Assessment and Response System (MDARS) Program. This paper discusses developmental testing of the MRHA in an operational warehouse environment, with two actual and four simulated robotic platforms.

Everett, H. R.↗
NASA NTRS2006

Preliminary C3 Loading Analysis for Future High-Altitude Unmanned Aircraft in the NAS

This document provides a preliminary assessment and summary of the command, control, and communications (C(sup 3)) loading requirements of a generic future high-altitude, long-endurance unmanned aircraft (UA) operating at in the National Airspace System. Two principal types of C(sup 3) traffic are considered in our analysis: communications links providing air traffic services (ATS) to the UA and its human pilot, and the command and control data links enabling the pilot to operate the UA remotely. we have quantified the loading requirements of both types of traffic for two different assumed levels of UA autonomy. Our results indicate that the potential use of UA-borne relays for the ATS links, and the degree of autonomy exercised by the UA during the departure and arrival phases of its flight, will be among the key drivers of C(sup 3) loading and bandwidth requirements.

Ho, Yan-Shek↗
NASA NTRS1988

Aeroassisted orbital transfer vehicle control technology

The focus of this control has been to develop the control technology required to identify the sophistication required for the Aeroassisted Orbital Transfer Vehicle (AOTV) control system. An angle of attack, bank angle command control technique has been developed which uses either on-off thruster or proportional thruster. An angle of attack adaptive controller was included to minimize the reactor control system (RCS) usage due to payload center of gravity uncertainties. The guidance and control techniques were verified using a detail six degrees-of-freedom simulation. Mission sensitivity was developed for uncertainties in the entry state, mass properties, atmosphere, aerodynamic, and sensor.

Langehough, M. A.↗
NASA NTRS1986

Investigation of limb-sidestick dynamic interaction with roll control

A fixed-base simulation was performed to identify and quantify interactions between the pilot's hand/arm neuromuscular subsystem and such features of typical modern fighter aircraft roll rate command control system mechanization as: (1) force sensing side-stick type manipulator; (2) vehicle effective roll time constant; and (3) flight control system effective time delay. The simulation results provide insight to high frequency pilot induced oscillations (PIO) (roll ratchet), low frequency PIO, and roll-to-right control and handling problems previously observed in experimental and production fly-by-wire control systems. The simulation configurations encompass and/or duplicate several actual flight situations, reproduce control problems observed in flight, and validate the concept that the high frequency nuisance mode known as roll ratchet derives primarily from the pilot's neuromuscular subsystem. The simulations show that force-sensing side-stick manipulator force/displacement/command gradients, command prefilters, and flight control system time delays need to be carefully adjusted to minimize neuromuscular mode amplitude peaking (roll ratchet tendency) without restricting roll control bandwidth (with resulting sluggish or PIO prone control).

Johnston, D. E.↗
NASA NTRS2014

Virtualization - A Key Cost Saver in NASA Multi-Mission Ground System Architecture

With science team budgets being slashed, and a lack of adequate facilities for science payload teams to operate their instruments, there is a strong need for innovative new ground systems that are able to provide necessary levels of capability processing power, system availability and redundancy while maintaining a small footprint in terms of physical space, power utilization and cooling.The ground system architecture being presented is based off of heritage from several other projects currently in development or operations at Goddard, but was designed and built specifically to meet the needs of the Science and Planetary Operations Control Center (SPOCC) as a low-cost payload command, control, planning and analysis operations center. However, this SPOCC architecture was designed to be generic enough to be re-used partially or in whole by other labs and missions (since its inception that has already happened in several cases!)The SPOCC architecture leverages a highly available VMware-based virtualization cluster with shared SAS Direct-Attached Storage (DAS) to provide an extremely high-performing, low-power-utilization and small-footprint compute environment that provides Virtual Machine resources shared among the various tenant missions in the SPOCC. The storage is also expandable, allowing future missions to chain up to 7 additional 2U chassis of storage at an extremely competitive cost if they require additional archive or virtual machine storage space.The software architecture provides a fully-redundant GMSEC-based message bus architecture based on the ActiveMQ middleware to track all health and safety status within the SPOCC ground system. All virtual machines utilize the GMSEC system agents to report system host health over the GMSEC bus, and spacecraft payload health is monitored using the Hammers Integrated Test and Operations System (ITOS) Galaxy Telemetry and Command (TC) system, which performs near-real-time limit checking and data processing on the downlinked data stream and injects messages into the GMSEC bus that are monitored to automatically page the on-call operator or Systems Administrator (SA) when an off-nominal condition is detected. This architecture, like the LTSP thin clients, are shared across all tenant missions.Other required IT security controls are implemented at the ground system level, including physical access controls, logical system-level authentication authorization management, auditing and reporting, network management and a NIST 800-53 FISMA-Moderate IT Security plan Risk Assessment Contingency Plan, helping multiple missions share the cost of compliance with agency-mandated directives.The SPOCC architecture provides science payload control centers and backup mission operations centers with a cost-effective, standardized approach to virtualizing and monitoring resources that were traditionally multiple racks full of physical machines. The increased agility in deploying new virtual systems and thin client workstations can provide significant savings in personnel costs for maintaining the ground system. The cost savings in procurement, power, rack footprint and cooling as well as the shared multi-mission design greatly reduces upfront cost for missions moving into the facility. Overall, the authors hope that this architecture will become a model for how future NASA operations centers are constructed!

Ground System Architecture↗
NASA NTRS1986

Investigation of interactions between limb-manipulator dynamics and effective vehicle roll control characteristics

A fixed-base simulation was performed to identify and quantify interactions between the pilot's hand/arm neuromuscular subsystem and such features of typical modern fighter aircraft roll rate command control system mechanization as: (1) force sensing side-stick type manipulator; (2) vehicle effective role time constant; and (3) flight control system effective time delay. The simulation results provide insight to high frequency pilot induced oscillations (PIO) (roll ratchet), low frequency PIO, and roll-to-right control and handling problems previously observed in experimental and production fly-by-wire control systems. The simulation configurations encompass and/or duplicate actual flight situations, reproduce control problems observed in flight, and validate the concept that the high frequency nuisance mode known as roll ratchet derives primarily from the pilot's neuromuscular subsystem. The simulations show that force-sensing side-stick manipulator force/displacement/command gradients, command prefilters, and flight control system time delays need to be carefully adjusted to minimize neuromuscular mode amplitude peaking (roll ratchet tendency) without restricting roll control bandwidth (with resulting sluggish or PIO prone control).

Johnston, D. E.↗
NASA NTRS2002

Direct Fault Tolerant RLV Altitude Control: A Singular Perturbation Approach

In this paper, we present a direct fault tolerant control (DFTC) technique, where by "direct" we mean that no explicit fault identification is used. The technique will be presented for the attitude controller (autopilot) for a reusable launch vehicle (RLV), although in principle it can be applied to many other applications. Any partial or complete failure of control actuators and effectors will be inferred from saturation of one or more commanded control signals generated by the controller. The saturation causes a reduction in the effective gain, or bandwidth of the feedback loop, which can be modeled as an increase in singular perturbation in the loop. In order to maintain stability, the bandwidth of the nominal (reduced-order) system will be reduced proportionally according to the singular perturbation theory. The presented DFTC technique automatically handles momentary saturations and integrator windup caused by excessive disturbances, guidance command or dispersions under normal vehicle conditions. For multi-input, multi-output (MIMO) systems with redundant control effectors, such as the RLV attitude control system, an algorithm is presented for determining the direction of bandwidth cutback using the method of minimum-time optimal control with constrained control in order to maintain the best performance that is possible with the reduced control authority. Other bandwidth cutback logic, such as one that preserves the commanded direction of the bandwidth or favors a preferred direction when the commanded direction cannot be achieved, is also discussed. In this extended abstract, a simplistic example is proved to demonstrate the idea. In the final paper, test results on the high fidelity 6-DOF X-33 model with severe dispersions will be presented.

Zhu, J. J.↗
NASA NTRS1992

Radiometric infrared focal plane array imaging system for thermographic applications

This document describes research performed under the Radiometric Infrared Focal Plane Array Imaging System for Thermographic Applications contract. This research investigated the feasibility of using platinum silicide (PtSi) Schottky-barrier infrared focal plane arrays (IR FPAs) for NASA Langley's specific radiometric thermal imaging requirements. The initial goal of this design was to develop a high spatial resolution radiometer with an NETD of 1 percent of the temperature reading over the range of 0 to 250 C. The proposed camera design developed during this study and described in this report provides: (1) high spatial resolution (full-TV resolution); (2) high thermal dynamic range (0 to 250 C); (3) the ability to image rapid, large thermal transients utilizing electronic exposure control (commandable dynamic range of 2,500,000:1 with exposure control latency of 33 ms); (4) high uniformity (0.5 percent nonuniformity after correction); and (5) high thermal resolution (0.1 C at 25 C background and 0.5 C at 250 C background).

Esposito, B. J.↗
NASA NTRS1992

Teleoperation to robotics at Langley Research Center

Experience of NASA Langley Research Center in teleoperation, telerobotics, and robotics in applications related to possible space tasks is reviewed. Shared control based on manual and sensor blending in a rate command control system made it possible to simultaneously control two or more manipulators executing a telerobotic task from a single hand controller. It is concluded that telerobotics combines the best features of teleoperation and robotics and is sufficiently mature for simple space tasks. Robotics is considered to be feasible but less mature and must be highly reliable.

Pennington, Jack E.↗
NASA NTRS2005

Solar Sail Attitude Control Performance Comparison

Performance of two solar sail attitude control implementations is evaluated. One implementation employs four articulated reflective vanes located at the periphery of the sail assembly to generate control torque about all three axes. A second attitude control configuration uses mass on a gimbaled boom to alter the center-of-mass location relative to the center-of-pressure producing roll and pitch torque along with a pair of articulated control vanes for yaw control. Command generation algorithms employ linearized dynamics with a feedback inversion loop to map desired vehicle attitude control torque into vane and/or gimbal articulation angle commands. We investigate the impact on actuator deflection angle behavior due to variations in how the Jacobian matrix is incorporated into the feedback inversion loop. Additionally, we compare how well each implementation tracks a commanded thrust profile, which has been generated to follow an orbit trajectory from the sun-earth L1 point to a sub-L1 station.

Bladt, Jeff J.↗
NASA NTRS1990

Walking robot: A design project for undergraduate students

The design and construction of the University of Maryland walking machine was completed during the 1989 to 1990 academic year. It was required that the machine be capable of completing a number of tasks including walking a straight line, turning to change direction, and manuevering over an obstacle such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear box and crank arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating this machine about this support. The machine can be controlled by using either a user-operated remote tether or the onboard computer for the execution of control commands. Absolute encoders are attached to all motors to provide the control computer with information regarding the status of the motors. Long and short range infrared sensors provide the computer with feedback information regarding the machine's position relative to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

Source record↗
NASA NTRS2000

A Signal Transmission Technique for Stability Analysis of Multivariable Non-Linear Control Systems

Among the difficulties associated with multivariable, non-linear control systems is the problem of assessing closed-loop stability. Of particular interest is the class of non-linear systems controlled with on/off actuators, such as spacecraft thrusters or electrical relays. With such systems, standard describing function techniques are typically too conservative, and time-domain simulation analysis is prohibitively extensive, This paper presents an open-loop analysis technique for this class of non-linear systems. The technique is centered around an innovative use of multivariable signal transmission theory to quantify the plant response to worst case control commands. The technique has been applied to assess stability of thruster controlled flexible space structures. Examples are provided for Space Shuttle attitude control with attached flexible payloads.

Jackson, Mark↗
NASA NTRS2002

Reusable Autonomy

Currently, spacecraft ground systems have a well defined and somewhat standard architecture and operations concept. Based on domain analysis studies of various control centers conducted over the years it is clear that ground systems have core capabilities and functionality that are common across all ground systems. This observation alone supports the realization of reuse. Additionally, spacecraft ground systems are increasing in their ability to do things autonomously. They are being engineered using advanced expert systems technology to provide automated support for operators. A clearer understanding of the possible roles of agent technology is advancing the prospects of greater autonomy for these systems. Many of their functional and management tasks are or could be supported by applied agent technology, the dynamics of the ground system's infrastructure could be monitored by agents, there are intelligent agent-based approaches to user-interfaces, etc. The premise of this paper is that the concepts associated with software reuse, applicable in consideration of classically-engineered ground systems, can be updated to address their application in highly agent-based realizations of future ground systems. As a somewhat simplified example consider the following situation, involving human agents in a ground system context. Let Group A of controllers be working on Mission X. They are responsible for the command, control and health and safety of the Mission X spacecraft. Let us suppose that mission X successfully completes it mission and is turned off. Group A could be dispersed or perhaps move to another Mission Y. In this case there would be reuse of the human agents from Mission X to Mission Y. The Group A agents perform their well-understood functions in a somewhat but related context. There will be a learning or familiarization process that the group A agents go through to make the new context, determined by the new Mission Y, understood. This simplified scenario highlights some of the major issues that need to be addressed when considering the situation where Group A is composed of software-based agents (not their human counterparts) and they migrate from one mission support system to another. This paper will address: - definition of an agent architecture appropriate to support reuse; - identification of non-mission-specific agent capabilities required; - appropriate knowledge representation schemes for mission-specific knowledge; - agent interface with mission-specific knowledge (a type of Learning); development of a fully-operational group of cooperative software agents for ground system support; architecture and operation of a repository of reusable agents that could be the source of intelligent components for realizing an autonomous (or nearly autonomous) agent-based ground system, and an agent-based approach to repository management and operation (an intelligent interface for human use of the repository in a ground-system development activity).

Truszkowski, Walt↗
NASA NTRS1983

Evaluation of control and display configurations for helicopter shipboard operations

A simulation evaluation of several approach and landing flight-control configurations and of two out-of-the-cockpit display devices (a head-up display and a helmet-mounted display) was performed for the task of landing a helicopter on a destroyer in adverse weather. The results indicated that the ship airwake turbulence was the most significant environmental variable affecting hover performance. In addition, to achieve adequate landing performance, attitude-command control compensation was required for the pilot regardless of the display used. For improved performance with reduced pilot effort, a velocity-command, position-hold control system was desired.

Paulk, C. H., Jr.↗
NASA NTRS1984

Flying qualities and control system characteristics for superaugmented aircraft

Aircraft-alone dynamics and superaugmented control system fundamental regulatory properties including stability and regulatory responses of the basic closed-loop systems; fundamental high and low frequency margins and governing factors; and sensitivity to aircraft and controller parameters are addressed. Alternative FCS mechanizations, and mechanizational side effects are also discussed. An overview of flying qualities considerations encompasses general pilot operations as a controller in unattended, intermittent and trim, and full-attention regulatory or command control; effective vehicle primary and secondary response properties to pilot inputs and disturbances; pilot control architectural possibilities; and comparison of superaugmented and conventional aircraft path responses for different forms of pilot control. Results of a simple experimental investigation into pilot dynamic behavior in attitude control of superaugmented aircraft configurations with high frequency time laps and time delays are presented.

Myers, T. T.↗