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All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

Using Board Games as Subject Matter for Developing Expertise in Model-Based Systems Engineering

As more organizations transition from traditional document-centric systems engineering to a model-based approach, many are challenged to train their staff in new languages, tools, and methodologies, while managing the expectations of stakeholders and their expected model outcomes. In particular, challenges associated with learning a new modeling language and developing skills in the 'art' of modeling present organizations with formidable obstacles to realizing this transition. This paper hypothesizes that systems engineers may more readily learn how to correctly model with SysML, and develop intuition about the art of modeling and using patterns, if their learning references a commonly and thoroughly-understood subject, such as a board game. This paper presents a case for the use of board games as subject matter for new modelers. It demonstrates the concept with a sample model of Hasbro's popular board game, Monopoly, and discusses the limitations of this approach and potential adaptations that may broaden the applicability of the learned skills to projects. Finally, results from a small feasibility assessment and concepts for more formal study to evaluate the hypothesis are presented.

Model-Based Systems Engineering↗
NASA NTRS2018

Using Board Games as Subject Matter for Developing Expertise in Model-Based Systems Engineering

As more organizations transition from traditional document-centric systems engineering to a model-based approach, many are challenged to train their staff in new languages, tools, and methodologies, and manage the expectations of stakeholders and their expected model outcomes. In particular, challenges associated with learning a new modeling language and developing skills in the 'art' of modeling present organizations with formidable obstacles to realizing this transition. This paper hypothesizes that systems engineers may more readily learn how to correctly model with SysML, and develop intuition about the art of modeling and using patterns, if their learning references a commonly and thoroughly-understood subject matter, such as a board game. This paper presents a case for the use of board games as subject matter for new modelers, demonstrates the concept with a sample model of Hasbro's popular board game, Monopoly, and discusses the limitations of this approach and potential adaptations that may broaden the applicability of the learned skills to projects.

Systems Engineering↗
NASA NTRS2016

Using SpaceWire Time Codes for Spacecraft Time Synchronization

This paper describes how SpaceWire Time Codes can be used for synchronizing time within various subsystems of a spacecraft as well as, maintaining a common time reference needed for coordinating operations within a spacecraft. The algorithms to account for inaccuracies in the time distribution method were based on the NASA-4009 Space Telecommunication Radio System (STRS) standard [1], which defined an interface for synchronizing clocks running at different tick rates and tick resolutions.

SpaceWire Time Distribution Protocol↗
NASA NTRSDate not supplied

Radiometric Assessment of the First Three Years of the NOAA-20 VIIRS Reflective Solar Bands Calibration

NASA’s Clouds and the Earth’s Radiant Energy System (CERES) SYN1deg Ed4.1 product utilizes geostationary (GEO) satellite measured radiances and retrieved cloud properties to account for the regional diurnal fluctuations in the Earth’s radiant broadband fluxes for times between the CERES measurements gathered from the Aqua (1:30 PM) and Terra (10:30 AM) sun-synchronous satellites. In CERES Edition 4 products, a global uniformity in the cloud properties and computed surface fluxes across the GEO satellite domains is maintained by scaling the radiance observations from more than twenty GEO visible imagers in the CERES record to a common radiometric reference scale, i.e., Aqua-MODIS. With the new-generation GEO (Himawari-8/9 and GOES-16/17) imagers having multiple reflective solar bands (RSB) that are spectrally similar to those of VIIRS, the CERES Imager and Geostationary Calibration Group (IGCG) is preparing to use NOAA-20 VIIRS as the reference imager for maintaining the radiometric uniformity across the GEO imager constellation. Given the recent Aqua satellite anomaly, this transition may happen sooner than the projected date of Aqua’s de-orbit. This paper presents an independent performance evaluation of the first three years of the NOAA-20 VIIRS RSB calibration in the NASA VIIRS Land Science Investigator-led Processing System (Land SIPS) L1b Collection 2 dataset. The temporal radiometric stability is assessed using multiple invariant Earth targets, including tropical deep convective clouds and the Saharan desert. The invariant target anisotropic reflectance at the top of atmosphere was modeled using five years of stable satellite observations acquired from the previous VIIRS instrument onboard the Suomi National Polar-orbiting Partnership (S-NPP) satellite. The anisotropic corrections are essential for detecting temporal trends with a high statistical confidence. In addition, the radiometric consistency between the RSB of the two VIIRS instruments will be evaluated.

Rajendra Bhatt↗
NASA NTRSDate not supplied

Radiometric Assessment of the First Three Years of the NOAA-20 VIIRS Reflective Solar Bands Calibration

NASA’s Clouds and the Earth’s Radiant Energy System (CERES) SYN1deg Ed4.1 product utilizes geostationary (GEO) satellite measured radiances and retrieved cloud properties to account for the regional diurnal fluctuations in the Earth’s radiant broadband fluxes for times between the CERES measurements gathered from the Aqua (1:30 PM) and Terra (10:30 AM) sun-synchronous satellites. In CERES Edition 4 products, a global uniformity in the cloud properties and computed surface fluxes across the GEO satellite domains is maintained by scaling the radiance observations from more than twenty GEO visible imagers in the CERES record to a common radiometric reference scale, i.e., Aqua-MODIS. With the new-generation GEO (Himawari-8/9 and GOES-16/17) imagers having multiple reflective solar bands (RSB) that are spectrally similar to those of VIIRS, the CERES Imager and Geostationary Calibration Group (IGCG) is preparing to use NOAA-20 VIIRS as the reference imager for maintaining the radiometric uniformity across the GEO imager constellation. Given the recent Aqua satellite anomaly, this transition may happen sooner than the projected date of Aqua’s de-orbit. This paper presents an independent performance evaluation of the first three years of the NOAA-20 VIIRS RSB calibration in the NASA VIIRS Land Science Investigator-led Processing System (Land SIPS) L1b Collection 2 dataset. The temporal radiometric stability is assessed using multiple invariant Earth targets, including tropical deep convective clouds and the Saharan desert. The invariant target anisotropic reflectance at the top of the atmosphere was modeled using five years of stable satellite observations acquired from the previous VIIRS instrument onboard the Suomi National Polar-orbiting Partnership (S-NPP) satellite. The anisotropic corrections are essential for detecting temporal trends with high statistical confidence. In addition, the radiometric consistency between the RSB of the two VIIRS instruments will be evaluated.

Rajendra Bhatt↗
NASA NTRSDate not supplied

Artemis Navigation Architecture: Early Capabilities and Long Term Evolvability and Evolution

With the awarding of multiple contracts within the Artemis program and building on the success of Artemis I, NASA is investing in and demonstrating the vehicle capabilities necessary for a return to human crewed Lunar Missions. To support activities on the lunar surface, NASA is also assessing architecture options and approaches to enable high precision in-situ navigation within the lunar sphere of influence. These capabilities build on decades of research and advancements within the field, building and evolving the techniques used during Apollo. To support inter-operability and broad application within its elements, NASA conducted a trade on Orbital and Surface Lunar Architecture for PNT. Time-defined mission requirements were captured across elements to inform a phased approach and deployment of needed capability. The architecture must also address unique aspects of the South Pole lunar environments, specifically in terms of harsh lighting and hazardous terrain. To inform the study, documentation of primary users, operational concepts of operations, driving scenarios, and mission needs were used to define performance constraints and phasing. Multiple technologies were assessed in terms of maturity, applicability, and performance to meet the primary user needs forecast. The results of this study support the utilization of in-situ orbital infrastructure to provide a back-bone for navigation and emphasize the need for a common Lunar Reference System and Lunar Time Reference. This deployment can ensure compatibility and enable a high-accuracy in-situ capability. This provides further justification for the capabilities being invested in and deployed by NASA and other international agencies. In addition to including advancements in terrestrial surface navigation, NASA is also applying lessons learned and innovation in the contractual approach to the individual elements by means of a services-based contract mechanism. This impacts the navigation architecture heavily in terms of government and provider roles, in terms of levels of implementation, interoperability, and verification. These distinctions in roles provide constraints to the architecture approach in terms of implementation and integration and will be discussed. The development, use, and mandate of interoperability standards are being deployed to support cross-element compatibility. This paper will provide a summary of the NASA Lunar Navigation needs across its various elements and the proposed deployment of an integrated navigation architecture to support early mission needs with inherent extensibility towards the future.

Evan Anzalone↗
NASA NTRSDate not supplied

Using Pulsars For Clock Steering and Time Transfer

As we prepare for extended missions on the Moon and in cislunar space, precise time synchronization between lunar and terrestrial clocks becomes increasingly critical for navigation, communication, and science measurements. One promising technique is the use of millisecond pulsars, which are highly magnetized, rapidly rotating neutron stars emitting beams of electromagnetic radiation. These celestial clocks offer extraordinary stability and precision, with rotational periods ranging from about 1 to 10 milliseconds and timing stability comparable to laboratory atomic clocks on Earth. Pulsars can provide a common time reference for clock comparisons, allowing time transfer independent of a communications link.

Spacecraft Communications, Command and Tracking↗
NASA NTRS2014

Radiometric Calibration Techniques for Signal-of-Opportunity Reflectometers

Bi-static reflection measurements utilizing global navigation satellite service (GNSS) or other signals of opportunity (SoOp) can be used to sense ocean and terrestrial surface properties. End-to-end calibration of GNSS-R has been performed using well-characterized reflection surface (e.g., water), direct path antenna, and receiver gain characterization. We propose an augmented approach using on-board receiver electronics for radiometric calibration of SoOp reflectometers utilizing direct and reflected signal receiving antennas. The method calibrates receiver and correlator gains and offsets utilizing a reference switch and common noise source. On-board electronic calibration sources, such as reference switches, noise diodes and loop-back circuits, have shown great utility in stabilizing total power and correlation microwave radiometer and scatterometer receiver electronics in L-band spaceborne instruments. Application to SoOp instruments is likely to bring several benefits. For example, application to provide short and long time scale calibration stability of the direct path channel, especially in low signal-to-noise ratio configurations, is directly analogous to the microwave radiometer problem. The direct path channel is analogous to the loopback path in a scatterometer to provide a reference of the transmitted power, although the receiver is independent from the reflected path channel. Thus, a common noise source can be used to measure the gain ratio of the two paths. Using these techniques long-term (days to weeks) calibration stability of spaceborne L-band scatterometer and radiometer has been achieved better than 0.1. Similar long-term stability would likely be needed for a spaceborne reflectometer mission to measure terrestrial properties such as soil moisture.

calibrating↗
NASA NTRS2011

Design and Development of an Equipotential Voltage Reference (Grounding) System for a Low-Cost Rapid-Development Modular Spacecraft Architecture

This work describes the design and development effort to adapt rapid-development space hardware by creating a ground system using solutions of low complexity, mass, & cost. The Lunar Atmosphere and Dust Environment Explorer (LADEE) spacecraft is based on the modular common spacecraft bus architecture developed at NASA Ames Research Center. The challenge was building upon the existing modular common bus design and development work and improving the LADEE spacecraft design by adding an Equipotential Voltage Reference (EVeR) system, commonly referred to as a ground system. This would aid LADEE in meeting Electromagnetic Environmental Effects (E3) requirements, thereby making the spacecraft more compatible with itself and its space environment. The methods used to adapt existing hardware are presented, including provisions which may be used on future spacecraft.

Lukash, James A.↗
NASA NTRS1989

Use of 3D vision for fine robot motion

An integration of 3-D vision systems with robot manipulators will allow robots to operate in a poorly structured environment by visually locating targets and obstacles. However, by using computer vision for objects acquisition makes the problem of overall system calibration even more difficult. Indeed, in a CAD based manipulation a control architecture has to find an accurate mapping between the 3-D Euclidean work space and a robot configuration space (joint angles). If a stereo vision is involved, then one needs to map a pair of 2-D video images directly into the robot configuration space. Neural Network approach aside, a common solution to this problem is to calibrate vision and manipulator independently, and then tie them via common mapping into the task space. In other words, both vision and robot refer to some common Absolute Euclidean Coordinate Frame via their individual mappings. This approach has two major difficulties. First a vision system has to be calibrated over the total work space. And second, the absolute frame, which is usually quite arbitrary, has to be the same with a high degree of precision for both robot and vision subsystem calibrations. The use of computer vision to allow robust fine motion manipulation in a poorly structured world which is currently in progress is described along with the preliminary results and encountered problems.

Lokshin, Anatole↗
NASA NTRS2010

How and Why to Do VLBI on GPS

In order to establish the position of the center of mass of the Earth in the International Celestial Reference Frame, observations of the Global Positioning Satellite (GPS) constellation using the IVS network are important. With a good frame-tie between the coordinates of the IVS telescopes and nearby GPS receivers, plus a common local oscillator reference signal, it should be possible to observe and record simultaneously signals from the astrometric calibration sources and the GPS satellites. The standard IVS solution would give the atmospheric delay and clock offsets to use in analysis of the GPS data. Correlation of the GPS signals would then give accurate orbital parameters of the satellites in the ICRF reference frame, i.e., relative to the positions of the astrometric sources. This is particularly needed to determine motion of the center of mass of the earth along the rotation axis.

Dickey, J. M.↗
NASA NTRS1987

Adaptive control of dual-arm robots

Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.

Seraji, H.↗
NASA NTRS2010

Using MERRA Gridded Innovations for Quantifying Uncertainties in Analysis Fields and Diagnosing Observing System Inhomogeneities

MERRA is a NASA reanalysis for the satellite era using a major new version of the Goddard Earth Observing System Data Assimilation System Version 5 (GEOS-5). The project focuses on historical analyses of the hydrological cycle on a broad range of weather and climate time scales and places the NASA EOS suite of observations in a climate context. The characterization of uncertainty in reanalysis fields is a commonly requested feature by users of such data. While intercomparison with reference data sets is common practice for ascertaining the realism of the datasets, such studies typically are restricted to long term climatological statistics and seldom provide state dependent measures of the uncertainties involved. In principle, variational data assimilation algorithms have the ability of producing error estimates for the analysis variables (typically surface pressure, winds, temperature, moisture and ozone) consistent with the assumed background and observation error statistics. However, these "perceived error estimates" are expensive to obtain and are limited by the somewhat simplistic errors assumed in the algorithm. The observation minus forecast residuals (innovations) by-product of any assimilation system constitutes a powerful tool for estimating the systematic and random errors in the analysis fields. Unfortunately, such data is usually not readily available with reanalysis products, often requiring the tedious decoding of large datasets and not so-user friendly file formats. With MERRA we have introduced a gridded version of the observations/innovations used in the assimilation process, using the same grid and data formats as the regular datasets. Such dataset empowers the user with the ability of conveniently performing observing system related analysis and error estimates. The scope of this dataset will be briefly described. We will present a systematic analysis of MERRA innovation time series for the conventional observing system, including maximum-likelihood estimates of background and observation errors, as well as global bias estimates. Starting with the joint PDF of innovations and analysis increments at observation locations we propose a technique for diagnosing bias among the observing systems, and document how these contextual biases have evolved during the satellite era covered by MERRA.

da Silva, Arlindo↗
NASA NTRS1970

Technique for analyzing human respiratory process

Electronic system /MIRACLE 2/ places frequency and gas flow rate of the respiratory process within a common frame of reference to render them comparable and compatible with ''real clock time.'' Numerous measurements are accomplished accurately on a strict one-minute half-minute, breath-by-breath, or other period basis.

Liu, F. F.↗
NASA NTRS1985

Comments on the intercalibration of multisensor, multitemporal, multichannel digital radiance data

When comparing the recorded radiance data obtained on a given date by means of different sensors or on different dates using the same sensor, the values in question must be referred to some common datum. It is presently noted that more data are required for remote sensing instruments, and that these should consist of gain, offset, spectral response and point spread function for each bandpass. Such information will be the bases for studies of sensor intercalibration procedure.

Duggin, M. J.↗
NASA NTRS1987

Adaptive control strategies for cooperative dual-arm manipulators

Three strategies for adaptive control of cooperative dual-arm robots are discussed. Implementation of these adaptive controllers does not require the use of complex mathematical models of the arm dynamics or knowledge of the arm dynamic parameters or load parameters. These strategies have simple structures, and are computationally fast for on-line implementation with high sampling rates. In all three cases, the coupling effects between the arms through the load are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. Simulation results demonstrate the usefulness of the controllers.

Seraji, H.↗
NASA NTRS1988

Turbulent transport of He II in active and passive phase separators using slit devices and porous media

The turbulent transport mode of vapor liquid phase separators (VLPS) for He II has been investigated comparing passive porous plug separators with active phase separators (APS) using slits of variable flow paths within a common frame of reference. It is concluded that the basic transport regimes in both devices are identical. An integrated Gorter-Mellink (1949) equation, found previously to predict VLPS results of porous plugs, is employed to analyze APS data published in the literature. It is found that the Gorter-Mellink flow rate parameter for 9-micron and 14-micron APS slit widths are relatively independent of the slit width, having a rate constant of about 9 + or - 10 percent. This agrees with the early heat flow results for He II entropy transport at zero net mass flow in wide capillaries and slits.

Yuan, S. W. K.↗
NASA NTRS1990

Superfluid transport and its applications in space

Various transport modes in superfluid helium are discussed. They include zero net mass flow and finite mass flow for pure superfluid and normal fluid flow. An attempt is made to characterize these transport modes in a common frame of reference. Two dimensionless numbers are used, namely, the dimensionless heat flux number and the dimensionless driving force number. The equations are generalized by the use of a characteristic length so that they can be applied to the transport of HE II in any geometry. The theories are then extended to applications in space. In particular, fountain effect pumps and superfluid management at zero g by vapor-liquid phase separators are discussed in detail.

Yuan, S. W. K.↗