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At least 217 records · Page 12

Compton Gamma Ray Observatory: Lessons Learned in Propulsion

The Compton Gamma Ray Observatory was the second of NASA's Great Observatories. At 17 1/2 tons. it was the heaviest astrophysical payload ever flown at the time of its launch on April 5, 1991 aboard the Space Shuttle. During initial, on-orbit priming of the spacecraft's monopropellant hydrazine propulsion system, a severe waterhammer transient was experienced. At that time, anomalous telemetry readings were received from on-board propulsion system instrumentation. This led to ground analyses and laboratory investigations as to the root cause of the waterhammer, potential damage to system integrity and functionality, and risks for switching from the primary (A-side) propulsion system to the redundant (B-side) system. The switchover to B-side was ultimately performed successfully and the spacecraft completed its basic and extended missions in this configuration. Nine years later, following a critical control gyroscope failure, Compton was safely deorbited and re-entered the Earth's atmosphere on June 4, 2000. Additional risk assessments concerning viability of A- and B-sides were necessary to provide confidence in attitude and delta-V authority and reliability to manage the precisely controlled reentry. This paper summarizes the design and operation of the propulsion system used on the spacecraft and provides "lessons learned" from the system engineering investigations into the propellant loading procedures, the initial priming anomaly, mission operations, and the commanded re-entry following the gyro failure.

Dressler, G. A.↗

Preliminary Design of the Guidance, Navigation, and Control System of the Altair Lunar Lander

Guidance, Navigation, and Control (GN&C) is the measurement and control of spacecraft position, velocity, and attitude in support of mission objectives. This paper provides an overview of a preliminary design of the GN&C system of the Lunar Lander Altair. Key functions performed by the GN&C system in various mission phases will first be described. A set of placeholder GN&C sensors that is needed to support these functions is next described. To meet Crew safety requirements, there must be high degrees of redundancy in the selected sensor configuration. Two sets of thrusters, one on the Ascent Module (AM) and the other on the Descent Module (DM), will be used by the GN&C system. The DM thrusters will be used, among other purposes, to perform course correction burns during the Trans-lunar Coast. The AM thrusters will be used, among other purposes, to perform precise angular and translational controls of the ascent module in order to dock the ascent module with Orion. Navigation is the process of measurement and control of the spacecraft's "state" (both the position and velocity vectors of the spacecraft). Tracking data from the Earth-Based Ground System (tracking antennas) as well as data from onboard optical sensors will be used to estimate the vehicle state. A driving navigation requirement is to land Altair on the Moon with a landing accuracy that is better than 1 km (radial 95%). Preliminary performance of the Altair GN&C design, relative to this and other navigation requirements, will be given. Guidance is the onboard process that uses the estimated state vector, crew inputs, and pre-computed reference trajectories to guide both the rotational and the translational motions of the spacecraft during powered flight phases. Design objectives of reference trajectories for various mission phases vary. For example, the reference trajectory for the descent "approach" phase (the last 3-4 minutes before touchdown) will sacrifice fuel utilization efficiency in order to provide landing site visibility for both the crew and the terrain hazard detection sensor system. One output of Guidance is the steering angle commands sent to the 2 degree-of-freedom (dof) gimbal actuation system of the descent engine. The engine gimbal actuation system is controlled by a Thrust Vector Control algorithm that is designed taking into account the large quantities of sloshing liquids in tanks mounted on Altair. In this early design phase of Altair, the GN&C system is described only briefly in this paper and the emphasis is on the GN&C architecture (that is still evolving). Multiple companion papers will provide details that are related to navigation, optical navigation, guidance, fuel sloshing, rendezvous and docking, machine-pilot interactions, and others. The similarities and differences of GN&C designs for Lunar and Mars landers are briefly compared.

Lee, Allan Y.↗

NASA Conjunction Assessment Risk Analysis (CARA) Ground Systems, Software and Operations Infrastructure Cloud Implementation

The growing number of large-scale constellations and the improvements made in the tracking and detection of resident space objects have contributed to the increase of satellite conjunction events. As a result of the increase of objects in Earth orbit, the timeline for risk analysis computations for satellite collision avoidance is more urgent when conjunctions occur. It is imperative NASA maintains a space environment safety functionality for the agency that allows CARA remote access to the ground system while maintaining redundancy. CARA’s On-premises (On-prem) ground system would no longer be able to meet these access and redundancy requirements, hence the investigation and eventual implementation of a Cloud-based ground station infrastructure as a viable solution. This paper will provide an overview of the principal parts of the Conjunction Assessment (CA) risk analysis process used at CARA, summarize the key drivers towards the Cloud solution, and share key lessons learned that are significant for any operational entity considering a cloud solution for real-time satellite operations to ensure a sustainable space traffic environment for all.

Sustainability↗

Lunar orbital photogaphic planning charts for candidate Apollo J-missions

A technique is presented for minimizing Mapping Camera film usage by reducing redundant coverage while meeting the desired sidelap of greater than or equal to 55%. The technique uses the normal groundtrack separation determined as a function of the number of revolutions between the respective tracks, of the initial and final nodal azimuths (or orbital inclination), and of the lunar latitude. The technique is also applicable for planning Panoramic Camera photography such that photographic contiguity is attained but redundant coverage is minimized. Graphs are included for planning mapping camera (MC) and panoramic camera (PC) photographic passes for a specific mission (i.e., specific groundtracks) to Descartes (Apollo 16), for specific missions to potential Apollo 17 sites such as Alphonsus, Proclus, Gassendi, Davy, and Tycho, and for a potential Apollo orbit-only mission with a nodal azimuth of 85 deg. Graphs are also included for determining the maximum number of revolutions which can elapse between successive MC and PC passes, for greater than or equal 55% sidelap and rectified contiguity respectively, for nodal azimuths between 5 deg and 85 deg.

Hickson, P. J.↗

Redundant manipulators for momentum compensation in a micro-gravity environment

This paper is concerned with the implementation and assessment of joint motion management strategies for kinematically redundant robotic manipulators operating in the micro-gravity environment of Space Station. These robots must be capable of conducting experiments and manufacturing processes without disturbing the micro-gravity environment through base reactions/motions. The redundant degrees of freedom of the manipulator permit the inverse kinematic problem to be solved simultaneously with the minimization of a cost function. The cost function in this case is the weighted sum of the squares of the base forces and moments and is minimized over discrete time segments. The Generalized Inverse Method and Rayleigh Ritz technique are used to solve the combined optimization/inverse kinematics problem. Numerical examples include various robotic configurations and degrees of manipulator redundancy.

Quinn, R. D.↗

Configuration control of redundant manipulators - Theory and implementation

A simple approach for controlling the manipulator configuration over the entire motion is presented, based on augmentation of the manipulator forward kinematics. User-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to control the configuration variables and achieve tracking of the desired reference trajectories. This achieves the desired end-effector motion while utilizing redundancy to achieve any additional task. Simulation results for a direct-drive two-link arm are given to illustrate the proposed control scheme. The scheme has also been implemented for real-time control of three links of a PUMA 560 industrial robot. The simulation and experimental results validate the configuration control scheme and demonstrate its capabilities for performing various realistic tasks.

Seraji, Homayoun↗

Redundant data management system

Redundant data management system solves problem of operating redundant equipment in real time environment where failures are detected, isolated, and switched in simple manner. System consists of quadruply-redundant computer, input/output control units, and data buses. System inherently contains failure detection, isolation, and switching function.

Hall, J. R.↗

Space shuttle low cost/risk avionics study

All work breakdown structure elements containing any avionics related effort were examined for pricing the life cycle costs. The analytical, testing, and integration efforts are included for the basic onboard avionics and electrical power systems. The design and procurement of special test equipment and maintenance and repair equipment are considered. Program management associated with these efforts is described. Flight test spares and labor and materials associated with the operations and maintenance of the avionics systems throughout the horizontal flight test are examined. It was determined that cost savings can be achieved by using existing hardware, maximizing orbiter-booster commonality, specifying new equipments to MIL quality standards, basing redundancy on cost effective analysis, minimizing software complexity and reducing cross strapping and computer-managed functions, utilizing compilers and floating point computers, and evolving the design as dictated by the horizontal flight test schedules.

Source record↗

The 747 primary flight control systems reliability and maintenance study

The major operational characteristics of the 747 Primary Flight Control Systems (PFCS) are described. Results of reliability analysis for separate control functions are presented. The analysis makes use of a NASA computer program which calculates reliability of redundant systems. Costs for maintaining the 747 PFCS in airline service are assessed. The reliabilities and cost will provide a baseline for use in trade studies of future flight control system design.

Source record↗

Accurate upwind methods for the Euler equations

A new class of piecewise linear methods for the numerical solution of the one-dimensional Euler equations of gas dynamics is presented. These methods are uniformly second-order accurate, and can be considered as extensions of Godunov's scheme. With an appropriate definition of monotonicity preservation for the case of linear convection, it can be shown that they preserve monotonicity. Similar to Van Leer's MUSCL scheme, they consist of two key steps: a reconstruction step followed by an upwind step. For the reconstruction step, a monotonicity constraint that preserves uniform second-order accuracy is introduced. Computational efficiency is enhanced by devising a criterion that detects the 'smooth' part of the data where the constraint is redundant. The concept and coding of the constraint are simplified by the use of the median function. A slope steepening technique, which has no effect at smooth regions and can resolve a contact discontinuity in four cells, is described. As for the upwind step, existing and new methods are applied in a manner slightly different from those in the literature. These methods are derived by approximating the Euler equations via linearization and diagonalization. At a 'smooth' interface, Harten, Lax, and Van Leer's one intermediate state model is employed. A modification for this model that can resolve contact discontinuities is presented. Near a discontinuity, either this modified model or a more accurate one, namely, Roe's flux-difference splitting. is used. The current presentation of Roe's method, via the conceptually simple flux-vector splitting, not only establishes a connection between the two splittings, but also leads to an admissibility correction with no conditional statement, and an efficient approximation to Osher's approximate Riemann solver. These reconstruction and upwind steps result in schemes that are uniformly second-order accurate and economical at smooth regions, and yield high resolution at discontinuities.

Huynh, Hung T.↗

Efficient and Singularity-Aware Inverse Kinematics for 6-DOF and 7-DOF Revolute Manipulators

Inverse kinematics (IK) for 6-DOF and 7-DOF revolute robot manipulators may be decomposed into canonical subproblems which find the angles on circles where they intersect with other geometric objects. We present new algebraic solutions and geometric interpretations for six subproblems. We demonstrate significant performance improvements over existing IK methods. 7-DOF manipulators have one redundant DOF to parameterize, so we introduce the general SEW angle, which generalizes the conventional SEW angle but with an arbitrary reference direction function. One special choice, the stereographic SEW angle, has a singularity when the wrist is on a half-line instead of a full line.

Computational Geometry↗

The Shuttle inertial system

The Space Shuttle inertial system is built around a sensor assembly called the inertial measurement unit (IMU). The system includes a redundant set of three structurally integrated IMU's that operate in conjunction with parallel strung data system computers to provide precise attitude and velocity information to user system functions. The inertial system is actually a separate subsystem function integrated into the overall avionics system. Software resident in the system computers is the final link in the inertial system. The inertial software is comprised of two major sets, including a subsystem operating program (SOP) called the IMU SOP and redundancy management. Attention is given to system applications, systems performance, attitude sensitivities, the IMU platform, IMU thermal management, aspects of IMU calibration, and Shuttle program experience.

Swingle, W. L.↗

Sensitivity analysis of limit state functions for probability-based plastic design

The evaluation of the total probability of a plastic collapse failure P sub f for a highly redundant structure of random interdependent plastic moments acted on by random interdepedent loads is a difficult and computationally very costly process. The evaluation of reasonable bounds to this probability requires the use of second moment algebra which involves man statistical parameters. A computer program which selects the best strategy for minimizing the interval between upper and lower bounds of P sub f is now in its final stage of development. The relative importance of various uncertainties involved in the computational process on the resulting bounds of P sub f, sensitivity is analyzed. Response sensitivities for both mode and system reliability of an ideal plastic portal frame are shown.

Frangopol, D. M.↗

Sensory redundancy management: The development of a design methodology for determining threshold values through a statistical analysis of sensor output data

Sensor redundancy management (SRM) requires a system which will detect failures and reconstruct avionics accordingly. A probability density function to determine false alarm rates, using an algorithmic approach was generated. Microcomputer software was developed which will print out tables of values for the cummulative probability of being in the domain of failure; system reliability; and false alarm probability, given a signal is in the domain of failure. The microcomputer software was applied to the sensor output data for various AFT1 F-16 flights and sensor parameters. Practical recommendations for further research were made.

Scalzo, F.↗

Spacecraft Attitude Representations

The direction cosine matrix or attitude matrix is the most fundamental representation of the attitude, but it is very inefficient: It has six redundant parameters, it is difficult to enforce the six (orthogonality) constraints. the four-component quaternion representation is very convenient: it has only one redundant parameter, it is easy to enforce the normalization constraint, the attitude matrix is a homogeneous quadratic function of q, quaternion kinematics are bilinear in q and m. Euler angles are extensively used: they often have a physical interpretation, they provide a natural description of some spacecraft motions (COBE, MAP), but kinematics and attitude matrix involve trigonometric functions, "gimbal lock" for certain values of the angles. Other minimum (three-parameter) representations: Gibbs vector is infinite for 180 deg rotations, but useful for analysis, Modified Rodrigues Parameters are nonsingular, no trig functions, Rotation vector phi is nonsingular, but requires trig functions.

Markley, F. Landis↗

Numerical classification of coding sequences

DNA sequences coding for protein may be represented by counts of nucleotides or codons. A complete reading frame may be abbreviated by its base count, e.g. A76C158G121T74, or with the corresponding codon table, e.g. (AAA)0(AAC)1(AAG)9 ... (TTT)0. We propose that these numerical designations be used to augment current methods of sequence annotation. Because base counts and codon tables do not require revision as knowledge of function evolves, they are well-suited to act as cross-references, for example to identify redundant GenBank entries. These descriptors may be compared, in place of DNA sequences, to extract homologous genes from large databases. This approach permits rapid searching with good selectivity.

Non-NASA Center↗

Utilizing a Common Model Architecture for the Simulation of On-Orbit Human Spaceflight Operations

Advances in computing and simulation technology during the 1980 s promoted the development of multiple simulations for on-orbit human spaceflight operations at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC). By the late 1980 s, it became increasingly clear that redundancy risked leading to inefficiencies in dissemination and incorporation of models across simulations, institutional organizations, and spaceflight programs. Software development tools, such as the Trick Simulation Environment, began to emerge providing a generalized framework for the development, integration, and operation of simulations. Throughout the 1990s, engineering, operations, and training simulations began to migrate to Trick in order to take advantage of a common simulation environment. Due to forecasted reductions in funding to the Shuttle and International Space Station (ISS) programs in the early 2000s, the common framework that arose from this simulation migration was formalized as the Common Model Architecture (CMA). The CMA was established in order to further reduce redundancy, while promoting model sharing and enhancing model integrity. A minimal set of standards for data flows, functional interactions, and model organization based on Trick were defined for those features found to be most important in facilitating model interaction. Model-providing organizations within NASA JSC took ownership of models for their specific areas of expertise, and agreements were reached on common model sharing and usage. This paper describes the evolution of commonality enabled by the Trick Simulation Environment at JSC leading to the CMA, the standards defined by the CMA, a recent CMA simulation example, and potential application of the CMA to NASA s new Exploration program.

Leslie J Quiocho↗

Specific failure identification algorithms for the F-8

Analytical redundancy is applied to the pitch axis of an aircraft to enhance sensor fault detection. Three different designs based on monitoring Kalman filter residuals or likelihood functions were developed. Sensor failures were simulated to evaluate the performance of the algorithms on a nonlinear simulation of an F-8C aircraft. Based on requirements for sensor fault detection and preliminary simulator performance it is concluded that these algorithms have the potential for reducing the level of sensor redundancy in a digital flight control system without compromising performance.

Hartmann, G. L.↗