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All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Application of X-Ray Pulsar Navigation: A Characterization of the Earth Orbit Trade Space

The potential for pulsars as a navigation source has been studied since their discovery in 1967. X-ray pulsar navigation (XNAV) is a celestial navigation system that uses the consistent timing nature of x-ray photons from milli-second pulsars (MSP) to perform space navigation. By comparing the detected arrival of x-ray photons to a reference database of expected pulsar lightcurve timing models, one can infer a range and range rate measurement based on light time delay. Much of the challenge of XNAV comes from the faint signal, availability, and distant nature of pulsars. This is a study of potential pulsar XNAV measurements to measure extended Kalman filter (EKF) tracking performance with a wide trade space of bounded Earth orbits, using a simulation of existing x-ray detector space hardware. An example of an x-ray detector for XNAV is the NASA Station Explorer for X-ray Timing and Navigation (SEXTANT) mission, a technology demonstration of XNAV set to perform on the International Space Station (ISS) in late 2016early 2017. XNAV hardware implementation is driven by trajectory and environmental influences which add noise to the x-ray pulse signal. In a closed Earth orbit, the radiation environment can exponentially increase the signal noise from x-ray pulsar sources, decreasing the quality and frequency of measurements. The SEXTANT mission in particular improves on the signal to noise ratio by focusing an array of 56 x-ray silicon drift detectors at one pulsar target at a time. This reduces timing glitches and other timing noise contributions from ambient x-ray sources to within a 100 nanosecond resolution. This study also considers the SEXTANT scheduling challenges inherent in a single target observation. Finally, as the navigation sources are now relatively inertial targets, XNAV measurements are also subject to periods of occultation from various celestial bodies. This study focuses on the characterization of these drivers in closed Earth orbits and is not a tuning analysis of the EKF. The study shows that the closed Earth orbit for XNAV performance is reliant on the orbit semi-major axis and eccentricity as well as orbit inclination. These parameters are the primary drivers of pulsar measurement availability and significantly influence the natural spacecraft orbit dynamics. Sensitivity to initial orbit determination error growth due to the scarcity of XNAV measurements within an orbital period require appropriate timing of initial XNAV measurements. The orbit angles of argument of perigee and right ascension of the ascending node, alongside the other orbit parameters, complete the initial cadence of XNAV measurements. The performance of initial XNAV measurements then propagates throughout the experimental period. The study provides a basis to missions who wish to consider XNAV as a potential navigation source in a closed Earth orbit design. It provides a family of orbit trajectories as well as other modeling considerations needed to effectively evaluate if XNAV is an effective navigation source for a potential mission. As an EKF is sensitive to a linearized estimated state, this study has a direct benefit of providing effective XNAV measurements to maintain spacecraft tracking, independent of other navigation sources. In the particular use case of the SEXTANT mission, it also provides a novel scheduling algorithm which addresses the need to prioritize and manage pulsar observations for effective navigation.

PULSAR↗
NASA NTRS2016

Application of X-Ray Pulsar Navigation: A Characterization of the Earth Orbit Trade Space

The potential for pulsars as a navigation source has been studied since their discovery in 1967. X-ray pulsar navigation (XNAV) is a celestial navigation system that uses the consistent timing nature of x-ray photons from millisecond pulsars (MSP) to perform space navigation. By comparing the detected arrival of x-ray photons to a reference database of expected pulsar light-curve timing models, one can infer a range and range rate measurement based on light time delay. Much of the challenge of XNAV comes from the faint signal, availability, and distant nature of pulsars. This is a study of potential pulsar XNAV measurements to measure extended Kalman filter (EKF) tracking performance with a wide trade space of bounded Earth orbits, using a simulation of existing x-ray detector space hardware. An example of an x-ray detector for XNAV is the NASA Station Explorer for X-ray Timing and Navigation (SEXTANT) mission, a technology demonstration of XNAV set to perform on the International Space Station (ISS) in late 2016early 2017. XNAV hardware implementation is driven by trajectory and environmental influences which add noise to the x-ray pulse signal. In a closed Earth orbit, the radiation environment can exponentially increase the signal noise from x-ray pulsar sources, decreasing the quality and frequency of measurements. The SEXTANT mission in particular improves on the signal to noise ratio by focusing an array of 56 x-ray silicon drift detectors at one pulsar target at a time. This reduces timing glitches and other timing noise contributions from ambient x-ray sources to within a 100 nanosecond resolution. This study also considers the SEXTANT scheduling challenges inherent in a single target observation. Finally, as the navigation sources are now relatively inertial targets, XNAV measurements are also subject to periods of occultation from various celestial bodies. This study focuses on the characterization of these drivers in closed Earth orbits and is not a tuning analysis of the EKF. The study shows that the closed Earth orbit for XNAV performance is reliant on the orbit semi-major axis and eccentricity as well as orbit inclination. These parameters are the primary drivers of pulsar measurement availability and significantly influence the natural spacecraft orbit dynamics. Sensitivity to initial orbit determination error growth due to the scarcity of XNAV measurements within an orbital period require appropriate timing of initial XNAV measurements. The orbit angles of argument of perigee and right ascension of the ascending node, alongside the other orbit parameters, complete the initial cadence of XNAV measurements. The performance of initial XNAV measurements then propagates throughout the experimental period. The study provides a basis to missions who wish to consider XNAV as a potential navigation source in a closed Earth orbit design. It provides a family of orbit trajectories as well as other modeling considerations needed to effectively evaluate if XNAV is an effective navigation source for a potential mission. As an EKF is sensitive to a linearized estimated state, this study has a direct benefit of providing effective XNAV measurements to maintain spacecraft tracking, independent of other navigation sources. In the particular use case of the SEXTANT mission, it also provides a novel scheduling algorithm which addresses the need to prioritize and manage pulsar observations for effective navigation.

x-ray↗
NASA NTRS2009

Development Status of the Carbon Dioxide and Moisture Removal Amine Swing-Bed System (CAMRAS)

Under a cooperative agreement with NASA, Hamilton Sundstrand has successfully designed, fabricated, tested and delivered three, state-of-the-art, solid amine prototype systems capable of continuous CO2 and humidity removal from a closed, habitable atmosphere. Two prototype systems (CAMRAS #1 and #2) incorporated a linear spool valve design for process flow control through the sorbent beds, with the third system (CAMRAS #3) employing a rotary valve assembly that improves system fluid interfaces and regeneration capabilities. The operational performance of CAMRAS #1 and #2 has been validated in a relevant environment, through both simulated human metabolic loads in a closed chamber and through human subject testing in a closed environment. Performance testing at Hamilton Sundstrand on CAMRAS #3, which incorporates a new valve and modified canister design, showed similar CO2 and humidity removal performance as CAMRAS #1 and #2, demonstrating that the system form can be modified within certain bounds with little to no effect in system function or performance. Demonstration of solid amine based CO2 and humidity control is an important milestone in developing this technology for human spaceflight. The systems have low power requirements; with power for air flow and periodic valve actuation and indication the sole requirements. Each system occupies the same space as roughly four shuttle non-regenerative LiOH canisters, but have essentially indefinite CO2 removal endurance provided a regeneration pathway is available. Using the solid amine based systems to control cabin humidity also eliminates the latent heat burden on cabin thermal control systems and the need for gas/liquid phase separation in a low gravity environment, resulting in additional simplification of vehicle environmental control and life support system process requirements.

Papale, William↗
NASA NTRS1989

Bandwidth efficient coding for fading channels - Code construction and performance analysis

The authors apply a general method of bounding the event error probability of trellis-coded modulation schemes to fading channels and use the effective length and the minimum-squared-product distance to replace the minimum-free-squared-Euclidean distance as code design parameters for Rayleigh and Rician fading channels with a substantial multipath component. They present 8-PSK trellis codes specifically constructed for fading channels that outperform equivalent codes designed for the additive white Gaussian noise channel when v is greater than or equal to 5. For quasiregular trellis codes there exists an efficient algorithm for evaluating event error probability, and numerical results on Pe which demonstrate the importance of the effective length as a code design parameter for fading channels with or without side information have been obtained. This is consistent with the case for binary signaling, where the Hamming distance remains the best code design parameter for fading channels. The authors show that the use of Reed-Solomon block codes with expanded signal sets becomes interesting only for large values of E(s)/N(0), where they begin to outperform trellis codes.

Schlegel, Christian↗
NASA NTRS1990

Bounding the states of systems with unknown-but-bounded disturbances

Control systems with hard constraints on certain variables are characterized, in an analytical review of recent investigations based on an unknown-but-bounded description of magnitude uncertainties. Hard-constraint problems typically arise in the design of controllers for potentially hazardous systems such as nuclear power plants. Consideration is given to norm bounds based on matrix measures, extensions of Schweppe's (1968) ellipsoid bounds, and set-theoretic regulator design. The performance of these approaches is evaluated by means of numerical simulations involving a third-order nonlinear steam-boiler model; the results are presented in graphs, and it is found that ellipsoid bounds are tightest in the general case, but that box bounds are even tighter for linear systems with Metzler system matrices.

Tsai, Wei K.↗
NASA NTRS1981

An efficient technique for the performance evaluation of antenna arrays with noisy carrier reference

An efficient computational technique is developed to evaluate the performance of coherent receivers with noisy carrier reference and multiple antennas. The received signal is assumed to be uncoded residual carrier BPSK (binary phase shift keying), with a PLL (phase locked loop) used for extracting the carrier. Explicit relationships between the error probabilities and the various system parameters are given. Specific results are given for the performance gain of combined carrier referencing over baseband only combining when the channel alignment process is ideal. A simple asymptotic expression for the performance gain is determined when the number of antennas used is increased without bound. An example using a Block 3 Deep Space Network PLL illustrates the performance of each arraying structure. The technique used is applicable to the performance evaluation for other receivers having similar decision statistics.

Yan, T. Y.↗
NASA NTRS2010

Impact of Damping Uncertainty on SEA Model Response Variance

Statistical Energy Analysis (SEA) is commonly used to predict high-frequency vibroacoustic levels. This statistical approach provides the mean response over an ensemble of random subsystems that share the same gross system properties such as density, size, and damping. Recently, techniques have been developed to predict the ensemble variance as well as the mean response. However these techniques do not account for uncertainties in the system properties. In the present paper uncertainty in the damping loss factor is propagated through SEA to obtain more realistic prediction bounds that account for both ensemble and damping variance. The analysis is performed on a floor-equipped cylindrical test article that resembles an aircraft fuselage. Realistic bounds on the damping loss factor are determined from measurements acquired on the sidewall of the test article. The analysis demonstrates that uncertainties in damping have the potential to significantly impact the mean and variance of the predicted response.

Schiller, Noah↗
NASA NTRS1984

Transfer Function Bounds for Partial-unit-memory Convolutional Codes Based on Reduced State Diagram

The performance of a coding system consisting of a convolutional encoder and a Viterbi decoder is analytically found by the well-known transfer function bounding technique. For the partial-unit-memory byte-oriented convolutional encoder with m sub 0 binary memory cells and (k sub 0 m sub 0) inputs, a state diagram of 2(K) (sub 0) was for the transfer function bound. A reduced state diagram of (2 (m sub 0) +1) is used for easy evaluation of transfer function bounds for partial-unit-memory codes.

Lee, P. J.↗
NASA NTRS1999

Development of An Intelligent Flight Propulsion Control System

The initial design and demonstration of an Intelligent Flight Propulsion and Control System (IFPCS) is documented. The design is based on the implementation of a nonlinear adaptive flight control architecture. This initial design of the IFPCS enhances flight safety by using propulsion sources to provide redundancy in flight control. The IFPCS enhances the conventional gain scheduled approach in significant ways: (1) The IFPCS provides a back up flight control system that results in consistent responses over a wide range of unanticipated failures. (2) The IFPCS is applicable to a variety of aircraft models without redesign and,(3) significantly reduces the laborious research and design necessary in a gain scheduled approach. The control augmentation is detailed within an approximate Input-Output Linearization setting. The availability of propulsion only provides two control inputs, symmetric and differential thrust. Earlier Propulsion Control Augmentation (PCA) work performed by NASA provided for a trajectory controller with pilot command input of glidepath and heading. This work is aimed at demonstrating the flexibility of the IFPCS in providing consistency in flying qualities under a variety of failure scenarios. This report documents the initial design phase where propulsion only is used. Results confirm that the engine dynamics and associated hard nonlineaaities result in poor handling qualities at best. However, as demonstrated in simulation, the IFPCS is capable of results similar to the gain scheduled designs of the NASA PCA work. The IFPCS design uses crude estimates of aircraft behaviour. The adaptive control architecture demonstrates robust stability and provides robust performance. In this work, robust stability means that all states, errors, and adaptive parameters remain bounded under a wide class of uncertainties and input and output disturbances. Robust performance is measured in the quality of the tracking. The results demonstrate the flexibility of the IFPCS architecture and the ability to provide robust performance under a broad range of uncertainty. Robust stability is proved using Lyapunov like analysis. Future development of the IFPCS will include integration of conventional control surfaces with the use of propulsion augmentation, and utilization of available lift and drag devices, to demonstrate adaptive control capability under a greater variety of failure scenarios. Further work will specifically address the effects of actuator saturation.

Calise, A. J.↗
NASA NTRS1971

Delta Modulation

An optimum adaptive delta modulator-demodulator configuration is derived. This device utilizes two past samples to obtain a step size which minimizes the mean square error for a Markov Gaussian source. The optimum system is compared using computer simulations with the linear delta modulator and an enhanced Abate delta modulator. In addition the performance is compared to the rate distortion bound for a Markov source. It is shown that the optimum delta modulator is neither quantization nor slope-overload limited. The results show that the output signal-to-noise ratio is independent of the input signal power and is subject only to the limitations of the hardware employed. In addition, voice was recorded using these systems. The demodulated voice indicates negligible degradation is caused by the optimum system and by the enhanced Abate system while the linear delta modulator suffers significant degradation at a sampling frequency of 56 kilobits/sec.

Schilling, D. L.↗
NASA NTRS1971

A variable-step-size robust delta modulator.

Description of an analytically obtained optimum adaptive delta modulator-demodulator configuration. The device utilizes two past samples to obtain a step size which minimizes the mean square error for a Markov-Gaussian source. The optimum system is compared, using computer simulations, with a linear delta modulator and an enhanced Abate delta modulator. In addition, the performance is compared to the rate distortion bound for a Markov source. It is shown that the optimum delta modulator is neither quantization nor slope-overload limited. The highly nonlinear equations obtained for the optimum transmitter and receiver are approximated by piecewise-linear equations in order to obtain system equations which can be transformed into hardware. The derivation of the experimental system is presented.

Song, C. L.↗
NASA NTRS1984

New Short Constraint Length, Rate 1/N Convolutional Codes which Minimize Required E Sub B/n Sub o for Given Bit Error Rate

Instead of using the criterion of maximum free distance, (df) or the maximum (df) with minimizing a few first distance profiles, short constraint length rate 1/N convolution codes were searched using a criterion of minimizing required bit energy-to-noise density ratio, E(b)/N(o), for a given value of desired bit error rate (BER), for the goodness of a code. The considered channel was binary antipodal signaling over additive white Gaussian noise and no quantization at the channel output. For the BER calculations, the transfer function bounding technique was used. Partial searches were performed using some known facts and a very useful idea that "good codes generate good codes.'' That is, for a given constraint length K, good rate 1/(N + 1) codes can be found by extending the code generator matrices of good rate 1/N codes. The code search results are tabulated for 3 or = K or = 7 and 2 or = N or = 8. For many pairs of K and N, the new codes are shown to save 0.1 to 0.4 dB in the required E(b)/N(o) compared to previously reported codes. Additionally, the benefits of coding bandwidth expansion are confirmed with the new codes.

Lee, P. J.↗
NASA NTRS1985

Optical receivers using rough reflectors

This report examines the possible use of rough, or nondiffraction-limited, reflectors for collecting optical signals. It is shown that in the absence of background radiation, the reflector's surface quality has little effect on the performance of a properly designed receiver, but that the presence of even small amounts of background radiation can lead to severe performance degradation. Techniques are suggested for improving receiver performance in high-background environments, and bounds and approximations to the exact error-probability expressions are derived.

Vilnrotter, V. A.↗
NASA NTRS1991

Reliable fusion of control and sensing in intelligent machines

Although robotics research has produced a wealth of sophisticated control and sensing algorithms, very little research has been aimed at reliably combining these control and sensing strategies so that a specific task can be executed. To improve the reliability of robotic systems, analytic techniques are developed for calculating the probability that a particular combination of control and sensing algorithms will satisfy the required specifications. The probability can then be used to assess the reliability of the design. An entropy formulation is first used to quickly eliminate designs not capable of meeting the specifications. Next, a framework for analyzing reliability based on the first order second moment methods of structural engineering is proposed. To ensure performance over an interval of time, lower bounds on the reliability of meeting a set of quadratic specifications with a Gaussian discrete time invariant control system are derived. A case study analyzing visual positioning in robotic system is considered. The reliability of meeting timing and positioning specifications in the presence of camera pixel truncation, forward and inverse kinematic errors, and Gaussian joint measurement noise is determined. This information is used to select a visual sensing strategy, a kinematic algorithm, and a discrete compensator capable of accomplishing the desired task. Simulation results using PUMA 560 kinematic and dynamic characteristics are presented.

Mcinroy, John E.↗
NASA NTRS2015

Fracture of Carbon Nanotube - Amorphous Carbon Composites: Molecular Modeling

Carbon nanotubes (CNTs) are promising candidates for use as reinforcements in next generation structural composite materials because of their extremely high specific stiffness and strength. They cannot, however, be viewed as simple replacements for carbon fibers because there are key differences between these materials in areas such as handling, processing, and matrix design. It is impossible to know for certain that CNT composites will represent a significant advance over carbon fiber composites before these various factors have been optimized, which is an extremely costly and time intensive process. This work attempts to place an upper bound on CNT composite mechanical properties by performing molecular dynamics simulations on idealized model systems with a reactive forcefield that permits modeling of both elastic deformations and fracture. Amorphous carbon (AC) was chosen for the matrix material in this work because of its structural simplicity and physical compatibility with the CNT fillers. It is also much stiffer and stronger than typical engineering polymer matrices. Three different arrangements of CNTs in the simulation cell have been investigated: a single-wall nanotube (SWNT) array, a multi-wall nanotube (MWNT) array, and a SWNT bundle system. The SWNT and MWNT array systems are clearly idealizations, but the SWNT bundle system is a step closer to real systems in which individual tubes aggregate into large assemblies. The effect of chemical crosslinking on composite properties is modeled by adding bonds between the CNTs and AC. The balance between weakening the CNTs and improving fiber-matrix load transfer is explored by systematically varying the extent of crosslinking. It is, of course, impossible to capture the full range of deformation and fracture processes that occur in real materials with even the largest atomistic molecular dynamics simulations. With this limitation in mind, the simulation results reported here provide a plausible upper limit on achievable CNT composite properties and yield some insight on the influence of processing conditions on the mechanical properties of CNT composites.

Jensen, Benjamin D.↗
NASA NTRS2016

Molecular Dynamics Modeling of Carbon Nanotube Composite Fracture Using ReaxFF

Carbon nanotube (CNT) fiber reinforced composites with specific tensile strengths and moduli approaching those of aerospace grade carbon fiber composites have recently been reported. This achievement was enabled by the emerging availability of high N/tex yarns in kilometer-scale quantities. While the production of this yarn is an impressive advance, its strength is still much lower than that of the individual CNTs comprising the yarn. Closing this gap requires understanding load transfer between CNTs at the nanometer dimensional scale. This work uses reactive molecular dynamics simulations to gain an understanding at the nanometer scale of the key factors that determine CNT nanocomposite mechanical performance, and to place more realistic upper bounds on the target properties. While molecular dynamics simulations using conventional force fields can predict elastic properties, the ReaxFF reactive forcefield can also model fracture behavior because of its ability to accurately describe bond breaking and formation during a simulation. The upper and lower bounds of CNT composite properties are investigated by comparing systems composed of CNTs continuously connected across the periodic boundary with systems composed of finite length CNTs. These lengths, effectively infinite for the continuous tubes and an aspect ratio of 13 for the finite length case, result from practical limitations on the number of atoms that can be included in a simulation. Experimentally measured aspect ratios are typically on the order of 100,000, so the calculated results should represent upper and lower limits on experimental mechanical properties. Finally, the effect of various degrees of covalent crosslinking between the CNTs and amorphous carbon matrix is considered to identify the amount of CNT-matrix covalent bonding that maximizes overall composite properties.

Jensen, Benjamin D.↗