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NASA NTRS2009

Aerobot Autonomy Architecture

An architecture for autonomous operation of an aerobot (i.e., a robotic blimp) to be used in scientific exploration of planets and moons in the Solar system with an atmosphere (such as Titan and Venus) is undergoing development. This architecture is also applicable to autonomous airships that could be flown in the terrestrial atmosphere for scientific exploration, military reconnaissance and surveillance, and as radio-communication relay stations in disaster areas. The architecture was conceived to satisfy requirements to perform the following functions: a) Vehicle safing, that is, ensuring the integrity of the aerobot during its entire mission, including during extended communication blackouts. b) Accurate and robust autonomous flight control during operation in diverse modes, including launch, deployment of scientific instruments, long traverses, hovering or station-keeping, and maneuvers for touch-and-go surface sampling. c) Mapping and self-localization in the absence of a global positioning system. d) Advanced recognition of hazards and targets in conjunction with tracking of, and visual servoing toward, targets, all to enable the aerobot to detect and avoid atmospheric and topographic hazards and to identify, home in on, and hover over predefined terrain features or other targets of scientific interest. The architecture is an integrated combination of systems for accurate and robust vehicle and flight trajectory control; estimation of the state of the aerobot; perception-based detection and avoidance of hazards; monitoring of the integrity and functionality ("health") of the aerobot; reflexive safing actions; multi-modal localization and mapping; autonomous planning and execution of scientific observations; and long-range planning and monitoring of the mission of the aerobot. The prototype JPL aerobot (see figure) has been tested extensively in various areas in the California Mojave desert.

Elfes, Alberto↗

NASA NTRS2011

The Atacama Cosmology Telescope: High-Resolution Sunyaev-Zel'dovich Array Observations of ACT SZE-Selected Clusters from the Equatorial Strip

We present follow-up observations with the Sunyaev-Zel'dovich Array (SZA) of optically-confirmed galaxy clusters found in the equatorial survey region of the Atacama Cosmology Telescope (ACT): ACT-CL J0022-0036, ACT-CL J2051+0057, and ACT-CL J2337+0016. ACT-CL J0022-0036 is a newly-discovered, massive (10(exp 15) Msun), high-redshift (z=0.81) cluster revealed by ACT through the Sunyaev-Zel'dovich effect (SZE). Deep, targeted observations with the SZA allow us to probe a broader range of cluster spatial scales, better disentangle cluster decrements from radio point source emission, and derive more robust integrated SZE flux and mass estimates than we can with ACT data alone. For the two clusters we detect with the SZA we compute integrated SZE signal and derive masses from the SZA data only. ACT-CL J2337+0016, also known as Abell 2631, has archival Chandra data that allow an additional X-ray-based mass estimate. Optical richness is also used to estimate cluster masses and shows good agreement with the SZE and X-ray-based estimates. Based on the point sources detected by the SZA in these three cluster fields and an extrapolation to ACT's frequency, we estimate that point sources could be contaminating the SZE decrement at the less than = 20% level for some fraction of clusters.

Reese, Erik D.↗

NASA NTRS2011

The Atacama Cosmology Telescope: High-Resolution Sunyaev-Zeldovich Array Observations of ACT SZE-Selected Clusters from the Equatorial Strip

We present follow-up observations with the Sunyaev-Zel'dovich Array (SZA) of optically-confirmed galaxy clusters found in the equatorial survey region of the Atacama Cosmology Telescope (ACT): ACT-CL J0022-0036, ACT-CL J2051+0057, and ACT-CL J2337+0016. ACT-CL J0022-0036 is a newly-discovered, massive ( approximately equals 10(exp 15) Solar M), high-redshift (z = 0.81) cluster revealed by ACT through the Sunyaev-Zeldovich effect (SZE). Deep, targeted observations with the SZA allow us to probe a broader range of cluster spatial scales, better disentangle cluster decrements from radio point source emission, and derive more robust integrated SZE flux and mass estimates than we can with ACT data alone. For the two clusters we detect with the SZA we compute integrated SZE signal and derive masses from the SZA data only. ACT-CL J2337+0016, also known as Abell 2631, has archival Chandra data that allow an additional X-ray-based mass estimate. Optical richness is also used to estimate cluster masses and shows good agreement with the SZE and X-ray-based estimates. Based on the point sources detected by the SZA in these three cluster fields and an extrapolation to ACT's frequency, we estimate that point sources could be contaminating the SZE decrement at the approx < 20% level for some fraction of clusters.

galaxies↗

NASA NTRS2013

Modal Filtering for Control of Flexible Aircraft

Modal regulators and deformation trackers are designed for an open-loop fluttering wing model. The regulators are designed with modal coordinate and accelerometer inputs respectively. The modal coordinates are estimated with simulated fiber optics. The robust stability of the closed-loop systems is compared in a structured singular-value vector analysis. Performance is evaluated and compared in a gust alleviation and flutter suppression simulation. For the same wing and flight condition two wing-shape-tracking control architectures are presented, which achieve deformation control at any point on the wing.

Shape Control↗

NASA NTRS2014

The Study of TeV Variability and the Duty Cycle of Mrk 421 from 3 Yr of Observations with the Milagro Observatory

TeV-flaring activity with timescales as short as tens of minutes and an orphan TeV flare have been observed from the blazar Markarian 421 (Mrk 421). The TeV emission from Mrk 421 is believed to be produced by leptonic synchrotron self-Compton (SSC) emission. In this scenario, correlations between the X-ray and the TeV fluxes are expected, TeV orphan flares are hardly explained, and the activity (measured as duty cycle) of the source at TeV energies is expected to be equal to or less than that observed in X-rays if only SSC is considered. To estimate the TeV duty cycle of Mrk 421 and to establish limits on its variability at different timescales, we continuously observed Mrk 421 with the Milagro observatory. Mrk 421 was detected by Milagro with a statistical significance of 7.1 standard deviations between 2005 September 21 and 2008 March 15. The observed spectrum is consistent with previous observations by VERITAS. We estimate the duty cycle of Mrk 421 for energies above 1 TeV for different hypotheses of the baseline flux and for different flare selections and we compared our results with the X-ray duty cycle estimated by Resconi et al. The robustness of the results is discussed.

observations↗

NASA NTRS2018

PEG Enhancement for EM1 and EM2+ Missions

NASA is currently building the Space Launch System (SLS) Block-1 launch vehicle for the Exploration Mission 1 (EM-1) test flight. The next evolution of SLS, the Block-1B Exploration Mission 2 (EM-2), is currently being designed. The Block-1 and Block-1B vehicles will use the Powered Explicit Guidance (PEG) algorithm. Due to the relatively low thrust-to-weight ratio of the Exploration Upper Stage (EUS), certain enhancements to the Block-1 PEG algorithm are needed to perform Block-1B missions. In order to accommodate mission design for EM-2 and beyond, PEG has been significantly improved since its use on the Space Shuttle program. The current version of PEG has the ability to switch to different targets during Core Stage (CS) or EUS flight, and can automatically reconfigure for a single Engine Out (EO) scenario, loss of communication with the Launch Abort System (LAS), and Inertial Navigation System (INS) failure. The Thrust Factor (TF) algorithm uses measured state information in addition to a priori parameters, providing PEG with an improved estimate of propulsion information. This provides robustness against unknown or undetected engine failures. A loft parameter input allows LAS jettison while maximizing payload mass. The current PEG algorithm is now able to handle various classes of missions with burn arcs much longer than were seen in the shuttle program. These missions include targeting a circular LEO orbit with a low-thrust, long-burn-duration upper stage, targeting a highly eccentric Trans-Lunar Injection (TLI) orbit, targeting a disposal orbit using the low-thrust Reaction Control System (RCS), and targeting a hyperbolic orbit. This paper will describe the design and implementation of the TF algorithm, the strategy to handle EO in various flight regimes, algorithms to cover off-nominal conditions, and other enhancements to the Block-1 PEG algorithm. This paper illustrates challenges posed by the Block-1B vehicle, and results show that the improved PEG algorithm is capable for use on the SLS Block 1-B vehicle as part of the Guidance, Navigation, and Control System.

Von der Porten, Paul↗

NASA NTRS2019

Microphysical Retrievals from Simultaneous Measurements by Airborne and Ground Radars during OLYMPEX

The OLYMPEX field campaign took place over the Olympic Peninsula of Washington during winter 2015-2016. During the intensive observing period, several aircraft flights obtained multi-frequency airborne radar measurements at X-, Ku-, Ka, and W-band from radars aboard the ER-2 and DC-8 aircraft. In addition, ground radars at S- and X-band performed RHI scans under the aircraft ground tracks. These coincident datasets provide a wealth of complementary information about the hydrometeor particle sizes, shapes, and orientations.In order to synthesize these measurements and test the robustness of scattering models, an optimal estimation retrieval based upon a Hitschfeld-Bordan profiling algorithm has been developed. This algorithm retrieves profiles of the particle size distribution parameters Nw and Dm, and, in the ice phase, relative proportions of aggregate, pristine, and rimed particles, using scattering models with different size-density and size-aspect ratio relationships. Under this formulation, only the pristine particles are horizontally aligned and capable of producing non-zero ZDR and KDP.From the nadir-looking airborne multifrequency radars, we find that aggregates may be readily distinguished from rimed and pristine particles owing to their uniqueness in triple-frequency space. However, rimed and pristine particles occupy a similar region in this space and thus polarimetric measurements greatly enhance their identification in our retrieval framework. With these capabilities we will present analyses of three-dimensional hydrometeor mapping obtained during various OLYMPEX cases. Some features retrieved in these cases include a layer of enhanced aggregation about 2km above the melting layer, hypothesized to be maintained by orographic uplift. This layer is often situated above a layer of denser, aligned particles. Regions of riming and supercooled liquid water beneath generating cells are also identified by our retrieval algorithm. Comparisons to in-situ observations and evaluation of scattering models will be presented.

Munchak, S. Joseph↗

NASA NTRS1986

Control design for robust stability in linear regulators: Application to aerospace flight control

Time domain stability robustness analysis and design for linear multivariable uncertain systems with bounded uncertainties is the central theme of the research. After reviewing the recently developed upper bounds on the linear elemental (structured), time varying perturbation of an asymptotically stable linear time invariant regulator, it is shown that it is possible to further improve these bounds by employing state transformations. Then introducing a quantitative measure called the stability robustness index, a state feedback conrol design algorithm is presented for a general linear regulator problem and then specialized to the case of modal systems as well as matched systems. The extension of the algorithm to stochastic systems with Kalman filter as the state estimator is presented. Finally an algorithm for robust dynamic compensator design is presented using Parameter Optimization (PO) procedure. Applications in a aircraft control and flexible structure control are presented along with a comparison with other existing methods.

Yedavalli, R. K.↗

NASA NTRS1998

Galaxy Cluster Masses at Moderate Redshifts

The masses of galaxy clusters are dominated by dark matter, and a robust determination of their masses has the potential of indicating how much dark matter exists on large scales in the universe, and the cosmological parameter Omega. X-ray observations of galaxy clusters provide a direct measure of both the gas mass in the intra-cluster medium, and also the total gravitating mass of the cluster. We used new and archival ROSAT observations to measure these quantities for a sample of intermediate redshift clusters which have also been subject to intensive dynamical studies, in order to compare the mass estimates from different methods. We used data from 14 of the CNOC cluster sample at 0.18 less than z less than 0.55 for this study. A direct comparison of dynamical mass estimates from Carlberg, Yee & Ellingson (1997) yielded surprisingly good results. The X-ray/dynamical mass ratios have a mean of 0.96+/- 0.10, indicating that for this sample, both methods are probably yielding very robust mass estimates. Comparison with mass estimates from gravitational lensing studies from the literature showed a small systematic with weak lensing estimates, and large discrepancies with strong lensing estimates. This latter is not surprising, given that these measurement are made close to the central core, where optical and X-ray estimates are less certain, and where substructure and the effects of individual galaxies will be more pronounced. These results are presented in Lewis, Ellingson, Morris/Carlberg, 1998, submitted to the Astrophysical Journal. (Note that Lewis is Ellingson's Ph.D. thesis, who received direct support from this grant and is using this investigation as part of his thesis.) Three additional papers are in preparation. The first provides a comparison of the mass profiles as measured in X- rays and in galaxy dynamics. These profiles are difficult to determine for individual clusters, and are subject to asphericity and other individual quirks of each cluster. However, a composite profile for each method will allow us to test our assumptions of hydrostatic/dynamical equilibrium in the sample as a whole. A second paper provides a more detailed look at the cluster MS0906+11, which is a merging system. A third paper authord with J. Mohr at U. Chicago will invetigate the size-temoerature relationship for intermediate redshift clusters and its impications on cluster formation and cosmology. Future work on these data will include comparisons of the cluster galaxy populations and the extent of the intra-cluster medium, and a more homogeneous analysis of gravitational lensing.

Ellingson, E.↗

NASA NTRS1998

X-ray Spectra of Distant Clusters

The masses of galaxy clusters are dominated by dark matter, and a robust determination of their temperatures and masses has the potential of indicating how much dark matter exists on large scales in the universe, and the cosmological parameter Omega. X-ray observations of galaxy clusters provide a direct measure of both the gas mass in the intra-cluster medium, and also the total gravitating mass of the cluster. We used new and archival ASCA and ROSAT observations to measure these quantities for a sample of intermediate redshift clusters which have also been subject to intensive dynamical studies, in order to compare the mass estimates from different methods. We used data from 12 of the CNOC cluster sample at 0.18 less than z less than 0.55 for this study. A direct comparison of dynamical mass estimates from Carlberg, Yee & Ellingson (1997) yielded surprisingly good results. The X-ray/dynamical mass ratios have a mean of 0.96+/- 0.10, indicating that for this sample, both methods are probably yielding very robust mass estimates. Comparison with mass estimates from gravitational lensing studies from the literature showed a small systematic with weak lensing estimates, and large discrepancies with strong lensing estimates. This latter is not surprising, given that these measurements are made close to the central core, where optical and Xray estimates are less certain, and where substructure and the effects of individual galaxies will be more pronounced. These results are presented in Lewis, Ellingson, Morris \& Carlberg, 1998, submitted to the Astrophysical Journal.

Ellingson, E.↗

NASA NTRS2021

Modelled land use and land cover change emissions – a spatio-temporal comparison of different approaches

Quantifying the net carbon flux from land use and land cover changes (fLULCC) is critical for understanding the global carbon cycle and, hence, to support climate change mitigation. However, large-scale fLULCC is not directly measurable and has to be inferred from models instead, such as semi-empirical bookkeeping models and process-based dynamic global vegetation models (DGVMs). By definition, fLULCC estimates are not directly comparable between these two different model types. As an important example, DGVM-based fLULCC in the annual global carbon budgets is estimated under transient environmental forcing and includes the so-called loss of additional sink capacity (LASC). The LASC results from the impact of environmental changes on land carbon storage potential of managed land compared to potential vegetation and accumulates over time, which is not captured in bookkeeping models. The fLULCC from transient DGVM simulations, thus, strongly depends on the timing of land use and land cover changes mainly because LASC accumulation is cut off at the end of the simulated period. To estimate the LASC, the fLULCC from pre-industrial DGVM simulations, which is independent of changing environmental conditions, can be used. Additionally, DGVMs using constant present-day environmental forcing enable an approximation of bookkeeping estimates. Here, we analyse these three DGVM-derived fLULCC estimations (under transient, pre-industrial, and present-day forcing) for 12 models within 18 regions and quantify their differences as well as climate- and CO2-induced components and compare them to bookkeeping estimates. Averaged across the models, we find a global fLULCC (under transient conditions) of 2.0±0.6 PgC/yr for 2009–2018, of which ∼40 % are attributable to the LASC (0.8±0.3 PgC/yr). From 1850 onward, the fLULCC accumulated to 189±56 PgC with 40±15 PgC from the LASC. Around 1960, the accumulating nature of the LASC causes global transient fLULCC estimates to exceed estimates under present-day conditions, despite generally increased carbon stocks in the latter. Regional hotspots of high cumulative and annual LASC values are found in the USA, China, Brazil, equatorial Africa, and Southeast Asia, mainly due to deforestation for cropland. Distinct negative LASC estimates in Europe (early reforestation) and from 2000 onward in the Ukraine (recultivation of post-Soviet abandoned agricultural land), indicate that fLULCC estimates in these regions are lower in transient DGVM compared to bookkeeping approaches. Our study unravels the strong dependence of fLULCC estimates on the time a certain land use and land cover change event happened to occur and on the chosen time period for the forcing of environmental conditions in the underlying simulations. We argue for an approach that provides an accounting of the fLULCC that is more robust against these choices, for example by estimating a mean DGVM ensemble fLULCC and LASC for a defined reference period and homogeneous environmental changes (CO2 only).

land use and land cover change↗

NASA NTRS1983

Discrimination Relative to Measures of Non-Normality

The robustness of discriminant functions to nonnormality is investigated. The performance of procedures relative to measures of the difference between the actual distribution of the observations and the usual assumption of normal densities is assessed. For example, the two population, mixed distributions problem with equal costs of misclassification are considered. The parameters are estimated by maximum likelihood and recently proposed robust methods.

Smith, W. B.↗

NASA NTRS2010

National Aeronautics and Space Administration Budget Estimates, Fiscal Year 2011

The Budget includes three new robust exploration programs: (1) Technology demonstration program, $7.8 five years. Funds the development and demonstration of technologies that reduce the cost and expand the capabilities of future exploration activities, including in-orbit refueling and storage. (2) Heavy-Lift and Propulsion R&D, $3.1 billion over five years. Funds R&D for new launch systems, propellants, materials, and combustion processes. (3) Robotic precursor missions, $3.0 billion over five years. Funds cost-effective means to scout exploration targets and identify hazards and resources for human visitation and habitation. In addition, the Budget enhances the current Human Research Program by 42%; and supports the Participatory Exploration Program at 5 million per year for activities across many NASA programs.

Civil space programs↗

NASA NTRS2018

Quantifying Boreal Forest Structure and Composition Using UAV Structure from Motion

The vast extent and inaccessibility of boreal forest ecosystems are barriers to routine monitoring of forest structure and composition. In this research, we bridge the scale gap between intensive but sparse plot measurements and extensive remote sensing studies by collecting forest inventory variables at the plot scale using an unmanned aerial vehicle (UAV) and a structure from motion (SfM) approach. At 20 Forest Inventory and Analysis (FIA) subplots in interior Alaska, we acquired overlapping imagery and generated dense, 3D, RGB (red, green, blue) point clouds. We used these data to model forest type at the individual crown scale as well as subplot-scale tree density (TD), basal area (BA), and aboveground biomass (AGB). We achieved 85% cross-validation accuracy for five species at the crown level. Classification accuracy was maximized using three variables representing crown height, form, and color. Consistent with previous UAV-based studies, SfM point cloud data generated robust models of TD (r(sup 2) = 0.91), BA (r(sup 2) = 0.79), and AGB (r(sup 2) = 0.92), using a mix of plot- and crown-scale information. Precise estimation of TD required either segment counts or species information to differentiate black spruce from mixed white spruce plots. The accuracy of species-specific estimates of TD, BA, and AGB at the plot scale was somewhat variable, ranging from accurate estimates of black spruce TD (+/−1%) and aspen BA (−2%) to misallocation of aspen AGB (+118%) and white spruce AGB (−50%). These results convey the potential utility of SfM data for forest type discrimination in FIA plots and the remaining challenges to develop classification approaches for species-specific estimates at the plot scale that are more robust to segmentation error.

aboveground biomass↗

NASA NTRS1992

A real-time recursive filter for the attitude determination of the Spacelab instrument pointing subsystem

A real-time estimation filter which reduces sensitivity to system variations and reduces the amount of preflight computation is developed for the instrument pointing subsystem (IPS). The IPS is a three-axis stabilized platform developed to point various astronomical observation instruments aboard the shuttle. Currently, the IPS utilizes a linearized Kalman filter (LKF), with premission defined gains, to compensate for system drifts and accumulated attitude errors. Since the a priori gains are generated for an expected system, variations result in a suboptimal estimation process. This report compares the performance of three real-time estimation filters with the current LKF implementation. An extended Kalman filter and a second-order Kalman filter are developed to account for the system nonlinearities, while a linear Kalman filter implementation assumes that the nonlinearities are negligible. The performance of each of the four estimation filters are compared with respect to accuracy, stability, settling time, robustness, and computational requirements. It is shown, that for the current IPS pointing requirements, the linear Kalman filter provides improved robustness over the LKF with less computational requirements than the two real-time nonlinear estimation filters.

West, M. E.↗

NASA NTRS1991

Correlation techniques to determine model form in robust nonlinear system realization/identification

The fundamental challenge in identification of nonlinear dynamic systems is determining the appropriate form of the model. A robust technique is presented which essentially eliminates this problem for many applications. The technique is based on the Minimum Model Error (MME) optimal estimation approach. A detailed literature review is included in which fundamental differences between the current approach and previous work is described. The most significant feature is the ability to identify nonlinear dynamic systems without prior assumption regarding the form of the nonlinearities, in contrast to existing nonlinear identification approaches which usually require detailed assumptions of the nonlinearities. Model form is determined via statistical correlation of the MME optimal state estimates with the MME optimal model error estimates. The example illustrations indicate that the method is robust with respect to prior ignorance of the model, and with respect to measurement noise, measurement frequency, and measurement record length.

Stry, Greselda I.↗

NASA NTRS2008

Observability and Estimation of Distributed Space Systems via Local Information-Exchange Networks

In this work, we develop an approach to formation estimation by explicitly characterizing formation's system-theoretic attributes in terms of the underlying inter-spacecraft information-exchange network. In particular, we approach the formation observer/estimator design by relaxing the accessibility to the global state information by a centralized observer/estimator- and in turn- providing an analysis and synthesis framework for formation observers/estimators that rely on local measurements. The noveltyof our approach hinges upon the explicit examination of the underlying distributed spacecraft network in the realm of guidance, navigation, and control algorithmic analysis and design. The overarching goal of our general research program, some of whose results are reported in this paper, is the development of distributed spacecraft estimation algorithms that are scalable, modular, and robust to variations inthe topology and link characteristics of the formation information exchange network. In this work, we consider the observability of a spacecraft formation from a single observation node and utilize the agreement protocol as a mechanism for observing formation states from local measurements. Specifically, we show how the symmetry structure of the network, characterized in terms of its automorphism group, directly relates to the observability of the corresponding multi-agent system The ramification of this notion of observability over networks is then explored in the context of distributed formation estimation.

observability↗

NASA NTRS1982

Lateral control system design for VTOL landing on a DD963 in high sea states

The problem of designing lateral control systems for the safe landing of VTOL aircraft on small ships is addressed. A ship model is derived. The issues of estimation and prediction of ship motions are discussed, using optimal linear linear estimation techniques. The roll motion is the most important of the lateral motions, and it is found that it can be predicted for up to 10 seconds in perfect conditions. The automatic landing of the VTOL aircraft is considered, and a lateral controller, defined as a ship motion tracker, is designed, using optimal control techniqes. The tradeoffs between the tracking errors and the control authority are obtained. The important couplings between the lateral motions and controls are demonstrated, and it is shown that the adverse couplings between the sway and the roll motion at the landing pad are significant constraints in the tracking of the lateral ship motions. The robustness of the control system, including the optimal estimator, is studied, using the singular values analysis. Through a robustification procedure, a robust control system is obtained, and the usefulness of the singular values to define stability margins that take into account general types of unstructured modelling errors is demonstrated. The minimal destabilizing perturbations indicated by the singular values analysis are interpreted and related to the multivariable Nyquist diagrams.

Bodson, M.↗