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NASA NTRSDate not supplied

Real-Time Science Decisioning During High Tempo-High Intensity Mission Operations and the Role of Analogs

Introduction: NASA’s VIPER mission presents a unique operational paradigm within the history of robotic spaceflight. The proximity of the Moon to the Earth and the terrain elements (surface characteristics, light/shadow dynamics, communication links) of the lunar South Polar landing site create unprecedented operational conditions between these two planetary bodies. Apollo era lunar science and exploration included humans in situ to operate instruments and assimilate observational inputs in real-time. Previous lunar orbital missions have worked to operational timescales, e.g., decisional timelines and communication exchanges, that were weeks in length. Mars rover missions have worked to operational timescales, e.g., decisional timelines and communication exchanges between Mars and Earth, that were hours, days, and weeks in length. In the case of the VIPER mission, our operational decisioning for rover driving and instrument commanding will be compressed to minute-scale timeframes. These operational conditions directly impact the manner and speed with which the VIPER Science Team (VST) is required to synthesize and analyze data and produce timely science-driven decisions throughout surface mission operations. The VST shall provide mission enhancing scientific input to guide rover traverse planning and drill site confirmation and selection throughout surface operations. Further, the VST input will be of vital importance to the mission’s ability to maximize science return and to meet broader NASA objectives for future lunar in-situ resource utilization (ISRU)and exploration activities. The VST co-located in the Mission Science Center (MSC) will be responsive to the tactical operational cadence of the Mission Operations Center (MOC) and will provide further strategic and Long-Term Planning (LTP) guidance to the mission. The VIPER Science Operations & Integration(SO&I)team has developed an architecture that is focused on the infusion of science-decisioning into the operational framework and execution cadence of VIPER. NASA analog research has played a significant role in the construction of the VIPER science operations systems. As an example, the SO&I team has led analog missions that have focused on bringing together expertise in the sciences (natural, applied and social) and in operations in service of learning how to build and hold together interdisciplinary work environments and what tools are needed to support high tempo, high intensity integrated decisioning. These experiences have provided an essential foundation of knowledge to the VIPER team. Those analogs that specifically influenced the VIPER science operations construct were identified through a process of comparative analysis to prioritize those that offered relevance in whole or in part, and those that did not. The analog research output that provided extensibility to the VIPER science operations architecture included remote teams of humans and robots in cooperation (synchronous and asynchronous) with simulated earthbound systems, engineering and science teams, and the integrated assembly of tools that supported scientific analysis and data synthesis and provided infrastructure for the remote testing framework. Analogs which included real-time data monitoring, synthesis, visualization and access in a democratized and operationalized manner were of particular interest to the development of the VIPER MSC toolset both in terms of the technology and the processes used to develop the supporting infrastructure. We anticipate that each subsequent mission to the lunar south pole, whether with robots or humans, will be able to optimize science and exploration return by evolving strategies to infuse real-time collaborative science-decisioning. Furthermore, these efforts will result in a foundation for science operations development in support of human-robotic exploration of deep space and Mars. NASA analogs can continue to provide the opportunity to prepare, test and iterate on the operational concepts and tools that will support these ever-expanding space exploration efforts. Our presentation will include an overview of the VIPER Science Operations & Integration development process and specifics on what aspects of analog research have had a significant impact on our work systems.

D S S Lim↗

NASA NTRS2013

Functional Near-Infrared Spectroscopy Signals Measure Neuronal Activity in the Cortex

Functional near infrared spectroscopy (fNIRS) is an emerging optical neuroimaging technology that indirectly measures neuronal activity in the cortex via neurovascular coupling. It quantifies hemoglobin concentration ([Hb]) and thus measures the same hemodynamic response as functional magnetic resonance imaging (fMRI), but is portable, non-confining, relatively inexpensive, and is appropriate for long-duration monitoring and use at the bedside. Like fMRI, it is noninvasive and safe for repeated measurements. Patterns of [Hb] changes are used to classify cognitive state. Thus, fNIRS technology offers much potential for application in operational contexts. For instance, the use of fNIRS to detect the mental state of commercial aircraft operators in near real time could allow intelligent flight decks of the future to optimally support human performance in the interest of safety by responding to hazardous mental states of the operator. However, many opportunities remain for improving robustness and reliability. It is desirable to reduce the impact of motion and poor optical coupling of probes to the skin. Such artifacts degrade signal quality and thus cognitive state classification accuracy. Field application calls for further development of algorithms and filters for the automation of bad channel detection and dynamic artifact removal. This work introduces a novel adaptive filter method for automated real-time fNIRS signal quality detection and improvement. The output signal (after filtering) will have had contributions from motion and poor coupling reduced or removed, thus leaving a signal more indicative of changes due to hemodynamic brain activations of interest. Cognitive state classifications based on these signals reflect brain activity more reliably. The filter has been tested successfully with both synthetic and real human subject data, and requires no auxiliary measurement. This method could be implemented as a real-time filtering option or bad channel rejection feature of software used with frequency domain fNIRS instruments for signal acquisition and processing. Use of this method could improve the reliability of any operational or real-world application of fNIRS in which motion is an inherent part of the functional task of interest. Other optical diagnostic techniques (e.g., for NIR medical diagnosis) also may benefit from the reduction of probe motion artifact during any use in which motion avoidance would be impractical or limit usability.

Harrivel, Angela↗

NASA NTRS2013

Functional Near-Infrared Spectroscopy Signals Measure Neuronal Activity in the Cortex

Harrivel, Angela↗

NASA NTRS1992

Finite element method for optimal guidance of an advanced launch vehicle

A temporal finite element based on a mixed form of Hamilton's weak principle is summarized for optimal control problems. The resulting weak Hamiltonian finite element method is extended to allow for discontinuities in the states and/or discontinuities in the system equations. An extension of the formulation to allow for control inequality constraints is also presented. The formulation does not require element quadrature, and it produces a sparse system of nonlinear algebraic equations. To evaluate its feasibility for real-time guidance applications, this approach is applied to the trajectory optimization of a four-state, two-stage model with inequality constraints for an advanced launch vehicle. Numerical results for this model are presented and compared to results from a multiple-shooting code. The results show the accuracy and computational efficiency of the finite element method.

Hodges, Dewey H.↗

NASA NTRS1971

Real time control of the observing program of an Orbiting Solar Observatory.

Discussion of some innovations in the ground control optimization of the modes of data acquisition once an instrument is in orbit, as illustrated by the Harvard experiment on OSO 6. A detailed description is given of the instrumentation on board OSO 6 which provided a capability of performing spatial scans of the solar disk and the ability to obtain the spectra of selected features on the solar disk. The method of receiving and displaying the data transmitted by the satellite in real time is described, as well as the procedure followed in developing preflight observing objectives and in evaluating completed observations. A typical process of data acquisition to obtain wavelength scans of selected features on the solar disk is illustrated, and a number of collaborative investigations involving simultaneous coordinated observations from the ground and from space are cited.

Reeves, E. M.↗

NASA NTRS1999

Initial clinical experience of real-time three-dimensional echocardiography in patients with ischemic and idiopathic dilated cardiomyopathy

The geometry of the left ventricle in patients with cardiomyopathy is often sub-optimal for 2-dimensional ultrasound when assessing left ventricular (LV) function and localized abnormalities such as a ventricular aneurysm. The aim of this study was to report the initial experience of real-time 3-D echocardiography for evaluating patients with cardiomyopathy. A total of 34 patients were evaluated with the real-time 3D method in the operating room (n = 15) and in the echocardiographic laboratory (n = 19). Thirteen of 28 patients with cardiomyopathy and 6 other subjects with normal LV function were evaluated by both real-time 3-D echocardiography and magnetic resonance imaging (MRI) for obtaining LV volumes and ejection fractions for comparison. There were close relations and agreements for LV volumes (r = 0.98, p <0.0001, mean difference = -15 +/- 81 ml) and ejection fractions (r = 0.97, p <0.0001, mean difference = 0.001 +/- 0.04) between the real-time 3D method and MRI when 3 cardiomyopathy cases with marked LV dilatation (LV end-diastolic volume >450 ml by MRI) were excluded. In these 3 patients, 3D echocardiography significantly underestimated the LV volumes due to difficulties with imaging the entire LV in a 60 degrees x 60 degrees pyramidal volume. The new real-time 3D echocardiography is feasible in patients with cardiomyopathy and may provide a faster and lower cost alternative to MRI for evaluating cardiac function in patients.

NASA Discipline Cardiopulmonary↗

NASA NTRS1991

Method for providing real-time control of a gaseous propellant rocket propulsion system

The new and improved methods and apparatus disclosed provide effective real-time management of a spacecraft rocket engine powered by gaseous propellants. Real-time measurements representative of the engine performance are compared with predetermined standards to selectively control the supply of propellants to the engine for optimizing its performance as well as efficiently managing the consumption of propellants. A priority system is provided for achieving effective real-time management of the propulsion system by first regulating the propellants to keep the engine operating at an efficient level and thereafter regulating the consumption ratio of the propellants. A lower priority level is provided to balance the consumption of the propellants so significant quantities of unexpended propellants will not be left over at the end of the scheduled mission of the engine.

Morris, Brian G.↗

NASA NTRS2000

Passivity-based Robust Control of Aerospace Systems

This report provides a brief summary of the research work performed over the duration of the cooperative research agreement between NASA Langley Research Center and Kansas State University. The cooperative agreement which was originally for the duration the three years was extended by another year through no-cost extension in order to accomplish the goals of the project. The main objective of the research was to develop passivity-based robust control methodology for passive and non-passive aerospace systems. The focus of the first-year's research was limited to the investigation of passivity-based methods for the robust control of Linear Time-Invariant (LTI) single-input single-output (SISO), open-loop stable, minimum-phase non-passive systems. The second year's focus was mainly on extending the passivity-based methodology to a larger class of non-passive LTI systems which includes unstable and nonminimum phase SISO systems. For LTI non-passive systems, five different passification. methods were developed. The primary effort during the years three and four was on the development of passification methodology for MIMO systems, development of methods for checking robustness of passification, and developing synthesis techniques for passifying compensators. For passive LTI systems optimal synthesis procedure was also developed for the design of constant-gain positive real controllers. For nonlinear passive systems, numerical optimization-based technique was developed for the synthesis of constant as well as time-varying gain positive-real controllers. The passivity-based control design methodology developed during the duration of this project was demonstrated by its application to various benchmark examples. These example systems included longitudinal model of an F-18 High Alpha Research Vehicle (HARV) for pitch axis control, NASA's supersonic transport wind tunnel model, ACC benchmark model, 1-D acoustic duct model, piezo-actuated flexible link model, and NASA's Benchmark Active Controls Technology (BACT) Wing model. Some of the stability results for linear passive systems were also extended to nonlinear passive systems. Several publications and conference presentations resulted from this research.

Kelkar, Atul G.↗

NASA NTRSDate not supplied

Method for Extracting Aerodynamic Coefficients and Winds On-the-Fly Using Real-Time GPS Data

The landing accuracy of an autonomous guided parafoil is influenced by its ability to predict the trajectory, which is shaped by the parafoil’s aerodynamic characteristics and atmospheric winds. The parafoil is subjective to imperfections from manufacturing, damage during deployment, lateral asymmetry, and so forth, leading to discrepancies between the actual aerodynamic properties and the onboard aerodynamic model. Thus, by acquiring an accurate knowledge of the aerodynamic properties and real-time winds, the onboard simulation can reduce the undertainties in the dynamics modeling for trajectory propagation to improve the landing accuracy. For that purpose, a non-linear least-squares method is developed to calculate differential corrections for optimizing and extracting the parafoil aerodynamic coefficients and winds on-the-fly using real-time data from the Global Positioning System (GPS). Post-flight analyses from two test flights have shown that the method provides improved simulations that closely match the GPS trajectories.

Lisa Ling↗

NASA NTRS1989

Airborne reconnaissance XIII; Proceedings of the Meeting, San Diego, CA, Aug. 7-9, 1989

The present conference on airborne reconnaissance discusses topics in imagery exploitation, reconsystem modeling and analysis, and reconnaissance optics and electronics configurations. Attention is given to airborne minefield detection, the optimization of an IR linescanner for RPV operations, real-time display of IR linescanner data for RPVs, three-dimensional model-guided site recognition, the AMIDARS high-performance real-time display, and MMW sensor image analysis. Also discussed are reconnaissance concepts for the 3-5 micron spectral window, sensor concept development for hazard detection, a stabilization system for a large aperture camera, three-axis image stabilization with a two-axis mirror, the results of performance tests on the TOW target collimator design, and the replacement of film by electrooptic media in advanced tactical airborne reconnaissance.

Henkel, Paul A.↗

NASA NTRS1992

Robust intelligent flight control for hypersonic vehicles

Intelligent optimization methods are applied to the problem of real-time flight control for a class of airbreathing hypersonic vehicles (AHSV). The extreme flight conditions that will be encountered by single-stage-to-orbit vehicles, such as the National Aerospace Plane, present a tremendous challenge to the entire spectrum of aerospace technologies. Flight control for these vehicles is particularly difficult due to the combination of nonlinear dynamics, complex constraints, and parametric uncertainty. An approach that utilizes all available a priori and in-flight information to perform robust, real time, short-term trajectory planning is presented.

Chamitoff, Gregory Errol↗

NASA NTRS1999

Developing an Advanced Environment for Collaborative Computing

Knowledge management in general tries to organize and make available important know-how, whenever and where ever is needed. Today, organizations rely on decision-makers to produce "mission critical" decisions that am based on inputs from multiple domains. The ideal decision-maker has a profound understanding of specific domains that influence the decision-making process coupled with the experience that allows them to act quickly and decisively on the information. In addition, learning companies benefit by not repeating costly mistakes, and by reducing time-to-market in Research & Development projects. Group-decision making tools can help companies make better decisions by capturing the knowledge from groups of experts. Furthermore, companies that capture their customers preferences can improve their customer service, which translates to larger profits. Therefore collaborative computing provides a common communication space, improves sharing of knowledge, provides a mechanism for real-time feedback on the tasks being performed, helps to optimize processes, and results in a centralized knowledge warehouse. This paper presents the research directions. of a project which seeks to augment an advanced collaborative web-based environment called Postdoc, with workflow capabilities. Postdoc is a "government-off-the-shelf" document management software developed at NASA-Ames Research Center (ARC).

Becerra-Fernandez, Irma↗

NASA NTRS2002

Forcing a Global, Offline Land Surface Modeling System with Observation-Based Fields

The Global Land Data Assimilation System (GLDAS) drives multiple uncoupled land surface models in order to produce optimal output fields of surface states in near-real time, globally, at 1/4 degree spatial resolution. These fields are then made available for coupled atmospheric model initialization and further research. One of the unique aspects of GLDAS is its ability to ingest both modeled and observation-derived forcing for running global scale land surface models. This paper compares results of runs forced by modeled and observed precipitation and shortwave radiation fields. Differences are examined and the impact of the observations on model skill is assessed.

Rodell, Matthew↗

NASA NTRS2003

Prediction of muscle performance during dynamic repetitive movement

BACKGROUND: During long-duration spaceflight, astronauts experience progressive muscle atrophy and often perform strenuous extravehicular activities. Post-flight, there is a lengthy recovery period with an increased risk for injury. Currently, there is a critical need for an enabling tool to optimize muscle performance and to minimize the risk of injury to astronauts while on-orbit and during post-flight recovery. Consequently, these studies were performed to develop a method to address this need. METHODS: Eight test subjects performed a repetitive dynamic exercise to failure at 65% of their upper torso weight using a Lordex spinal machine. Surface electromyography (SEMG) data was collected from the erector spinae back muscle. The SEMG data was evaluated using a 5th order autoregressive (AR) model and linear regression analysis. RESULTS: The best predictor found was an AR parameter, the mean average magnitude of AR poles, with r = 0.75 and p = 0.03. This parameter can predict performance to failure as early as the second repetition of the exercise. CONCLUSION: A method for predicting human muscle performance early during dynamic repetitive exercise was developed. The capability to predict performance to failure has many potential applications to the space program including evaluating countermeasure effectiveness on-orbit, optimizing post-flight recovery, and potential future real-time monitoring capability during extravehicular activity.

Physical Endurance/physiology↗

NASA NTRS2004

Gas-phase production of single-walled carbon nanotubes from carbon monoxide: a review of the hipco process

The latest process for producing large quantities of single-walled carbon nanotubes (SWNTs) to emerge from the Rice University, dubbed HiPco, is living up to its promise. The current production rates approach 450 mg/h (or 10 g/day), and nanotubes typically have no more than 7 mol % of iron impurities. Second-generation HiPco apparatus can run continuously for 7-10 days at a time. In the HiPco process nanotubes grow in high-pressure, high-temperature flowing CO on catalytic clusters of iron. Catalyst is formed in situ by thermal decomposition of iron pentacarbonyl, which is delivered intact within a cold CO flow and then rapidly mixed with hot CO in the reaction zone. Upon heating, the Fe(CO)5 decomposes into atoms that condense into larger clusters. SWNTs nucleate and grow on these particles in the gas phase via CO disproportionation: CO + CO --> CO2 + C (SWNT), catalyzed by the Fe surface. The concentration of CO2 produced in this reaction is equal to that of carbon and can therefore serve as a useful real-time feedback parameter. It was used to study and optimize SWNT production as a function of temperature, pressure, and Fe(CO)5 concentration. The results of the parametric study are in agreement with current understanding of the nanotube formation mechanism.

Review↗

NASA NTRS2005

Aerial Vehicle Surveys of other Planetary Atmospheres and Surfaces: Imaging, Remote-sensing, and Autonomy Technology Requirements

The objective of this paper is to review the anticipated imaging and remote-sensing technology requirements for aerial vehicle survey missions to other planetary bodies in our Solar system that can support in-atmosphere flight. In the not too distant future such planetary aerial vehicle (a.k.a. aerial explorers) exploration missions will become feasible. Imaging and remote-sensing observations will be a key objective for these missions. Accordingly, it is imperative that optimal solutions in terms of imaging acquisition and real-time autonomous analysis of image data sets be developed for such vehicles.

Young, Larry A.↗

NASA NTRS2015

Cubesat Constellation Design for Air Traffic Monitoring

Suitably equipped global and local air traffic can be tracked. The tracking information may then be used for control from ground-based stations by receiving the Automatic Dependent Surveillance-Broadcast (ADS-B) signal. The ADS-B signal, emitted from the aircraft's Mode-S transponder, is currently tracked by terrestrial based receivers but not over remote oceans or sparsely populated regions such as Alaska or the Pacific Ocean. Lack of real-time aircraft time/location information in remote areas significantly hinders optimal planning and control because bigger "safety bubbles" (lateral and vertical separation) are required around the aircraft until they reach radar-controlled airspace. Moreover, it presents a search-and-rescue bottleneck. Aircraft in distress, e.g. Air France AF449 that crashed in 2009, take days to be located or cannot be located at all, e.g. Malaysia Airlines MH370 in 2014. In this paper, we describe a tool for designing a constellation of small satellites which demonstrates, through high-fidelity modeling based on simulated air traffic data, the value of space-based ADS-B monitoring and provides recommendations for cost-efficient deployment of a constellation of small satellites to increase safety and situational awareness in the currently poorly-served surveillance area of Alaska. Air traffic data has been obtained from the Future ATM Concepts Evaluation Tool (FACET), developed at NASA Ames Research Center, simulated over the Alaskan airspace over a period of one day. The simulation is driven by MATLAB with satellites propagated and coverage calculated using AGI's Satellite ToolKit(STK10).

cubesats↗

NASA NTRS1998

Signal Analysis of Helicopter Blade-Vortex-Interaction Acoustic Noise Data

Blade-Vortex-Interaction (BVI) produces annoying high-intensity impulsive noise. NASA Ames collected several sets of BVI noise data during in-flight and wind tunnel tests. The goal of this work is to extract the essential features of the BVI signals from the in-flight data and examine the feasibility of extracting those features from BVI noise recorded inside a large wind tunnel. BVI noise generating mechanisms and BVI radiation patterns an are considered and a simple mathematical-physical model is presented. It allows the construction of simple synthetic BVI events that are comparable to free flight data. The boundary effects of the wind tunnel floor and ceiling are identified and more complex synthetic BVI events are constructed to account for features observed in the wind tunnel data. It is demonstrated that improved recording of BVI events can be attained by changing the geometry of the rotor hub, floor, ceiling and microphone. The Euclidean distance measure is used to align BVI events from each blade and improved BVI signals are obtained by time-domain averaging the aligned data. The differences between BVI events for individual blades are then apparent. Removal of wind tunnel background noise by optimal Wiener-filtering is shown to be effective provided representative noise-only data have been recorded. Elimination of wind tunnel reflections by cepstral and optimal filtering deconvolution is examined. It is seen that the cepstral method is not applicable but that a pragmatic optimal filtering approach gives encouraging results. Recommendations for further work include: altering measurement geometry, real-time data observation and evaluation, examining reflection signals (particularly those from the ceiling) and performing further analysis of expected BVI signals for flight conditions of interest so that microphone placement can be optimized for each condition.

Rogers, James C.↗