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The Ground/Orbiter Lasercomm Demonstration (GOLD) is an optical communications demonstraton between the Japanese Engineering Test Satellite (ETS-VI) and an optical ground transmitting and receiving station at the Table Mountain Facility. GOLD was an experiment that demonstrated real-time international collaboration.
An effort is under way to develop noninvasive neuro-electric interfaces through which human operators could control systems as diverse as simple mechanical devices, computers, aircraft, and even spacecraft. The basic idea is to use electrodes on the surface of the skin to acquire electromyographic (EMG) signals associated with gestures, digitize and process the EMG signals to recognize the gestures, and generate digital commands to perform the actions signified by the gestures. In an experimental prototype of such an interface, the EMG signals associated with hand gestures are acquired by use of several pairs of electrodes mounted in sleeves on a subject s forearm (see figure). The EMG signals are sampled and digitized. The resulting time-series data are fed as input to pattern-recognition software that has been trained to distinguish gestures from a given gesture set. The software implements, among other things, hidden Markov models, which are used to recognize the gestures as they are being performed in real time. Thus far, two experiments have been performed on the prototype interface to demonstrate feasibility: an experiment in synthesizing the output of a joystick and an experiment in synthesizing the output of a computer or typewriter keyboard. In the joystick experiment, the EMG signals were processed into joystick commands for a realistic flight simulator for an airplane. The acting pilot reached out into the air, grabbed an imaginary joystick, and pretended to manipulate the joystick to achieve left and right banks and up and down pitches of the simulated airplane. In the keyboard experiment, the subject pretended to type on a numerical keypad, and the EMG signals were processed into keystrokes. The results of the experiments demonstrate the basic feasibility of this method while indicating the need for further research to reduce the incidence of errors (including confusion among gestures). Topics that must be addressed include the numbers and arrangements of electrodes needed to acquire sufficient data; refinements in the acquisition, filtering, and digitization of EMG signals; and methods of training the pattern- recognition software. The joystick and keyboard simulations were chosen for the initial experiments because they are familiar to many computer users. It is anticipated that, ultimately, interfaces would utilize EMG signals associated with movements more nearly natural than those associated with joysticks or keyboards. Future versions of the pattern-recognition software are planned to be capable of adapting to the preferences and day-today variations in EMG outputs of individual users; this capability for adaptation would also make it possible to select gestures that, to a given user, feel the most nearly natural for generating control signals for a given task (provided that there are enough properly positioned electrodes to acquire the EMG signals from the muscles involved in the gestures).
The paper describes the Generic Resolution Advisor and Conflict Evaluator (GRACE), a novel alerting and guidance algorithm that combines flexibility, robustness, and computational efficiency. GRACE is "generic" in that it makes no assumptions regarding temporal or spatial scales, aircraft performance, or its sensor and communication systems. Accordingly, GRACE is well suited to research applications where alerting and guidance is a central feature and requirements are fluid involving a wide range of aviation technologies. GRACE has been used at NASA in a number of real-time and fast-time experiments supporting evolving requirements of DAA research, including parametric studies, NAS-wide simulations, human-in-the-loop experiments, and live flight tests.
Java Architecture for Detect-And-Avoid (DAA) Extensibility and Modeling (JADEM) was developed at NASA Ames Research Center as a research and modeling tool for Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS). UAS will be required to have DAA systems in order to fulfill the regulatory requirement to remain well clear'' of other traffic. JADEM supports research on technological requirements and Minimum Operational Performance Standards (MOPS) for UAS DAA systems by providing a flexible and extensible software platform that includes models and algorithms for all major DAA functions. This paper describes one of these algorithms, the Generic Resolution Advisor and Conflict Evaluator (GRACE). GRACE supports two core DAA functions: threat evaluation and guidance. GRACE is generic in the sense that it is designed to work with any aircraft or sensor type (both cooperative and non-cooperative), and to be used in various applications and DAA guidance concepts, thus supporting evolving MOPS requirements and research. GRACE combines flexibility, robustness, and computational efficiency. It has modest memory requirements and can handle multiple cooperative and noncooperative intruders. GRACE has been used as a core JADEM component in several real-time and fast-time experiments, including human-in-the-loop simulations and live flight tests.
The paper describes the Generic Resolution Advisor and Conflict Evaluator (GRACE), a novel alerting and guidance algorithm that combines flexibility, robustness, and computational efficiency. GRACE is generic since it was designed without any assumptions regarding temporal or spatial scales, aircraft performance, or its sensor and communication systems. Therefore, GRACE was adopted as a core component of the Java Architecture for Detect-And-Avoid (DAA) Extensibility and Modeling, developed by NASA as a research and modeling tool for Unmanned Aerial Systems Integration in the National Airspace System (NAS). GRACE has been used in a number of real-time and fast-time experiments supporting evolving requirements of DAA research, including parametric studies, NAS-wide simulations, human-in-the-loop experiments, and live flight tests.
The microgravity environment of the Space Shuttle Columbia was measured during the STS-78 mission using accelerometers from three different instruments: the Orbital Acceleration Research Experiment, the Space Acceleration Measurement System and the Microgravity Measurement Assembly. The quasi-steady environment was also calculated in near real-time during the mission by the Microgravity Analysis Workstation. The Orbital Acceleration Research Experiment provided investigators with real-time quasi-steady acceleration measurements. The Space Acceleration Measurement System recorded higher frequency data on-board for post-mission analysis. The Microgravity Measurement Assembly provided investigators with real-time quasi-steady and higher frequency acceleration measurements. The Microgravity Analysis Workstation provided calculation of the quasi-steady environment. This calculation was presented to the science teams in real-time during the mission. The microgravity environment related to several different Orbiter, crew and experiment operations is presented and interpreted in this report. A radiator deploy, the Flight Control System checkout, and a vernier reaction control system reboost demonstration had minimal effects on the acceleration environment, with excitation of frequencies in the 0.01 to 10 Hz range. Flash Evaporator System venting had no noticeable effect on the environment while supply and waste water dumps caused excursions of 2 x lO(exp -6) to 4 x 10(exp -6) g in the Y(sub b) and Z(sub b) directions. Crew sleep and ergometer exercise periods can be clearly seen in the acceleration data, as expected. Accelerations related to the two Life Science Laboratory Equipment Refrigerator/Freezers were apparent in the data as are accelerations caused by the Johnson Space Center Projects Centrifuge. As on previous microgravity missions, several signals are present in the acceleration data for which a source has not been identified. The causes of these accelerations are under investigation.
A description is presented of the results of a research program directed at an improved understanding of condensate deposition rate phenomena in combustion systems. The conducted experiments make use of real-time optical laser reflectance-interference-polarization techniques in flame environments. The obtained new data and the results of previous gravimetric experiments are employed as a basis for the development of a comprehensive convective diffusion deposition theory, taking into account the assumption of a multicomponent vapor or multisize class particles 'source-free' boundary layer. The theory makes it possible to provide self-consistent salt/ash/soot deposition rate predictions over a wide variety of environmental conditions.
This paper presents AiResearch experience to date in using the NASA/Boeing Application Generator (AG) to develop real-time control systems for the Carbon Dioxide Removal Assembly (CDRA) in Work Package 01. The AG provides an integrated design and development tool encompassing: system analysis, modeling, control law design, simulation, code generation, real-time hardware-in-the-loop simulation and operation, and documentation. This allows rapid interactive prototyping of real-time control systems in a single, integrated, environment. Advantages and disadvantages of using the AG for real-time control system development will be addressed, with the CDRA specification to delivery cycle serving as a basis for discussion. Suggestions for improving the AG are offered and observations on its potential as a top-level system specification tool are made.
In evaluating the performance of the airborne Doppler lidar system, a large number of deficiencies or mistakes were identified in the original system and experiment plans. All of the known problems were addressed and corrected in the planning and engineering for the fall 1984/spring 1985 ADLS flight series. Thus, the most significant result of the data analysis was the input it has provided to the preparations for the new experiment. Attitude measurements are taken together with the streamlined operating procedures, color graphics real time displays of data, and better experiment design, the result is a second-generation system that is considerably better than the one used in 1981.
The paper discusses four reliability data gathering experiments which were conducted using a small sample of programs for two problems having ultrareliability requirements, n-version programming for fault detection, and repetitive run modeling for failure and fault rate estimation. The experimental results agree with those of Nagel and Skrivan in that the program error rates suggest an approximate log-linear pattern and the individual faults occurred with significantly different error rates. Additional analysis of the experimental data raises new questions concerning the phenomenon of interacting faults. This phenomenon may provide one explanation for software reliability decay. The fourth experiment underscored the difficulty in distinguishing between observations of deficiencies in the design of the algorithm and observations of software faults for real-time process control software. These experiments are a part of a program of serial experiments being pursued by the System Validation Methods of NASA-Langley Research Center to find a means of credibly performing reliability evaluations of flight control software.
Complex dynamic tomographic experiments at brilliant X-ray light sources require real-time feedback on the sample changes with respect to environmental conditions, selecting representative regions of interest for high-resolution scanning, and on-demand data saving mechanisms for storing only relevant projections acquired by fast area detectors and reducing data volumes. Here the implementation details of a 3D real-time imaging monitoring instrument, with zooming to a volume of interest with easy-to-use visualization via ImageJ , a tool familiar to most beamline users, is presented. The instrument relies on optimized data flow between the detector and processing machines and is implemented on commodity computers. The instrument has been developed at beamline 2-BM of the Advanced Photon Source, where the automatic lens changing mechanism for zooming is implemented with an Optique Peter microscope. Performance tests demonstrate the ability to process more than 3 GB of projection data per second and generate real-time 3D zooming with different magnification. These new capabilities are essential for new APS Upgrade instruments such as the projection microscope under development at beamline 32-ID. The efficacy of the proposed instrument was demonstrated during an in situ tomographic experiment on ice and gas hydrate formation in porous samples.
The National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) has spent several years developing operational Onboard Navigation Systems (ONS's) to provide real-time autonomous, high-accuracy navigation products for spacecraft using NASA's space and ground communication systems. The highly successful Tracking and Data Relay Satellite System (TDRSS) ONS (TONS) experiment on the Explorer Platform/Extreme Ultraviolet Explorer (EP/EUVE) spacecraft, launched June 7, 1992, flight-demonstrated the ONS for high-accuracy navigation using TDRSS forward- link communications services, In late 1994, the ground station ONS (GONS) experiment, using the same EP/EUVE flight hardware, flight-demonstrated the feasibility of high-accuracy autonomous navigation using ground station forward-link communication services, with an ultrastable oscillator (USO) as the frequency reference (1 part in 10(exp 10) over 24 hours). This paper provides a follow-on analysis of GONS performance to assess the navigation accuracy achievable if GONS uses the significantly less stable (5 parts in 10(exp 8) over 24 hours, compared with a specification of 1 part in 10(exp 6)) Temperature-Compensated Crystal Oscillator (TCXO), which is integral to the transponder, as a frequency reference rather than an external USO. The GONS TCXO experiment results from a 20-day period are used to project the expected performance of an operational system. The GONS processes Doppler data derived from nominally scheduled ground station forward-link communication services using a sequential estimation algorithm enhanced by a sophisticated process noise model to provide onboard orbit and frequency determination. To evaluate the navigation accuracies achievable if a TCXO were used, actual experiment data (which used the USO as the frequency reference) were corrupted with errors from real TDRSS one-way return tracking measurements taken from EP/EUVE's TCXO. Analysis of the GONS TCXO experiment performance indicates that real-time onboard position accuracies of better than 300 meters (1 sigma) are achievable with as few as two tracking contacts per day for the EP/EUVE 525-kilometer altitude, 28.5-degree inclination orbit, provided the TCXO is as stable as that in EP/EUVE's TDRSS transponder. GONS using a TCXO frequency reference provides a viable option for many upcoming spacecraft missions with moderate position accuracy requirements and an interest in reducing their operational costs with autonomous navigation.
RTX Technology Research Center (RTRC), together with Collins Aerospace (Collins) and Oak Ridge National Laboratory (ORNL) has developed an Artificial Intelligence (AI) / Machine Learning (ML) guided solution to advance the manufacturing and assembly of high performance and lightweight thermoplastic composite (TPC) aerospace products. The solution aims to lower risk, cost and lead time for induction heating based welding and consolidation processes for TPC structure. The cost and lead time of part and material specific process development for induction welding (IW) and induction consolidation will be reduced by replacing traditional empirical methods with optimization methods that merge AI/ML and physics-based process simulations and process experiments with sensing and controls. TPC-IW process development is empirical in nature, and uncertainties in material & process behavior exist near & far from the induction coil. Physics-based simulations can be leveraged directly for process optimization but can be too computationally expensive to run in high fidelity and real time to do robust process optimization. The key impact of successful TPC induction consolidation and welding is cost & lead time reduction for part & material specific consolidation and welding recipes. This is an enabler for more rapid deployment of TPC structures via joining assembly, which can reduce energy & cost intensive usage of autoclaves & ovens. The solution aimed to advance the U.S. Department of Energy’s interests in using thermoplastics and automation in composite manufacturing for improvement of products for existing markets via increased production speeds, reduced costs, and lowered use of energy. Welded TPC structures can offer significant weight & energy savings for high-value commercial aerospace & industrial applications compared to metal & thermoset composite structures assembled by mechanical fastening and/or adhesive bonding. The project was organized into two Budget Periods. Budget Period 1 (BP1) was 15 months and its goal was to perform ML process optimization framework development & deployment on lab-coupon aerostructure components. A Go/No-Go Review was performed at the end of BP1 to verify fulfilment of key tasks & milestones to justify a Go Decision to move into the next Budget Period. Budget Period 2 (BP2) was 12 months and its goal was the deployment of the ML framework for ML process optimization of pilot industrial scale aerostructure components. The overall project aim was to develop & demonstrate ML-enhanced modeling framework that learns process-property mapping from multiple data sources at different fidelities. During BP1, the team accomplished key tasks & milestones to demonstrate the concept of multi-source ML for TPC aerostructure consolidation and assembly. First, the team completed documentation of induction based TPC heating requirements including baseline metrics to compare measured results against. Next the team completed demonstration of data generation from physics-based simulations for ML surrogate model generation and demonstrated the integration of physics-based simulation data into multi-source AI/ML algorithms. In parallel, the team established the lab-coupon scale induction welding system and completed a process to label and reduce generated data from physics-based simulation and experiments for ML surrogate models to enable multi-source ML model training & testing. To complete BP1, the team integrated physics-based simulation data and experimental data into multi-source ML algorithms. This was based on the team completing ML deployment of the induction welding on a lab system at RTRC and AI/ML deployment on existing induction welding line at Collins. ORNL visited both Collins and RTRC sites to witness the TPC induction welding process. Then, ORNL designed and constructed a new version of their vision-based sensing system better adapted to acquire process signals of the TPC induction welding process for process anomaly and defect detection. In BP2, the team accomplished key tasks & milestones to scale up multi-source ML for TPC aerostructure consolidation and assembly from the lab-coupon scale to the pilot-industrial scale. In BP2, the team demonstrated real time anomaly & defect detection via experiments performed by ORNL & RTRC. The team completed ML-optimization heating trials for TPC induction consolidation at Collins, and the team confirmed pilot industrial scale experimental data from Collins was compatible with the developed ML pipeline from RTRC. The team completed sub-element scale ML process optimization demonstration at RTRC, where the team leveraged RTRC’s robotic TPC welding setup to de-risk the ML process optimization by performing ML analysis of recorded temperatures to account for complex part features. Then, the team applied its ML-derived control strategies and ML process optimization framework at Collins to the pilot-industrial scale on a demo skin-stiffener part representative of a nacelle aerostructure fan cowl section. The key innovation is the AI/ML framework enabling effective process development of high performance, lightweight, energy efficient TPCs for composite aircraft structures.
Abstract Real time detection of time evolving growth rates of multiple stable magnetohydrodynamic (MHD) eigenmodes has been achieved in DIII-D tokamak experiments via multi-mode three-dimensional (3D) active MHD spectroscopy. The measured evolution of the multi-modes’ growth rates is in good accordance with the variation of the plasma β N . Using experimental equilibria, resistive MARS-F simulations found the two least stable modes to have comparable growth rates to those experimentally measured. Real time and offline calculations of the modes’ growth rates show comparable results and indicate that cleaner system input and output signals will improve the accuracy of the real time stability detection. Moreover, the shortest real time updating time window of multi-mode eigenvalues can be about 2 ms in DIII-D experiments. This real time monitoring of stable, macroscopic kink and tearing modes thus provides an effective tool for avoidance of the most common causes of tokamak disruption.
This paper reports on ground based work conducted to support the Spaceflight Definition project SHIVA (Spaceflight Holography Investigation in a Virtual Apparatus). SHIVA will advance our understanding of the movement of a particle in a fluid. Gravity usually dominates the equations of motion, but in microgravity as well as on earth other terms can become important. Before two members of our team found an analytical solution of the equations, numerical methods and/or neglecting terms were required. The general solution predicts that the usually neglected history term becomes important when the characteristic viscous time is in the same order as the vibration period and peaks when the two times are equal. In this case three force terms, the Stokes drag, the added mass, and the history drag must all be included in predicting particle movement. We also developed diagnostic recording methods using holography to save all of the particle field data, allowing the experiment to essentially be transferred from space back to earth in what we call the "virtual apparatus". Using state-of-the-art methods in holography we will quantify the three-dimensional motion of sets of particles, allowing us to test and apply the new analytical solutions. The motion of particles up to 4 mm in diameter in a fluid that oscillates at frequencies up to 100 Hz with amplitudes up to 200 microns is being examined. Ground studies to support the flight development program have employed various schemes to simulate microgravity. One of the most reliable and meaningful methods uses spheres tethered to a fine hair suspended in the fluid. We have also investigated particles with nearly neutral buoyancy. Recordings are made at the peak amplitudes of vibration of the cell providing a measure of the ratio of fluid to particle amplitude. The experiment requires precise location of the particle at the time of recording. The hologram of the particle provides microscopic images of the particle that are used for finding the position with an accuracy of a few microns. To make the experiment more versatile, the spaceflight system will record holograms both on film and electronically. The electronic holograms can be downlinked providing real time data. Results of the ground experiments, the flight experiment design, and data analysis procedures are reported.
This paper reports on ground based work conducted to support the Spaceflight Definition project SHIVA (Spaceflight Holography Investigation in a Virtual Apparatus). SHIVA will advance our understanding of the movement of a particle in a fluid. Gravity usually dominates the equations of motion, but in microgravity as well as on earth other terms can become important. Before two members of our team found an analytical solution of the equations, numerical methods and/or neglecting terms were required. The general solution predicts that the usually neglected history term becomes important when the characteristic viscous time is in the same order as the vibration period and peaks when the two times are equal. In this case three force terms, the Stokes drag, the added mass, and the history drag must all be included in predicting particle movement. We also developed diagnostic recording methods using holography to save all of the particle field data, allowing the experiment to essentially be transferred from space back to earth in what we call the "virtual apparatus". Using state-of-the-art methods in holography we will quantify the three-dimensional motion of sets of particles, allowing us to test and apply the new analytical solutions. The motion of particles up to 4 mm in diameter in a fluid that oscillates at frequencies up to 100 Hz with amplitudes up to 200 microns is being examined. Ground studies to support the flight development program have employed various schemes to simulate microgravity. One of the most reliable and meaningful methods uses spheres tethered to a fine hair suspended in the fluid. We have also investigated particles with nearly neutral buoyancy. Recordings are made at the peak amplitudes of vibration of the cell providing a measure of the ratio of fluid to particle amplitude. The experiment requires precise location of the particle at the time of recording. The hologram of the particle provides microscopic images of the particle that are used for finding the position with an accuracy of a few microns. To make the experiment more versatile, the spaceflight system will record holograms both on film and electronically. The electronic holograms can be downlinked providing real time data. Results of the ground experiments, the flight experiment design, and data analysis procedures are reported.
We have succeeded in meeting the goals set out in the proposal. A cadre of detector technologies is available to suit the requirements of the experiment. Resolutions of both real-time and absolute limits to resolution exceed the initial aspirations. Obtaining sufficient contrast is still a significant limitation but can be overcome by Judicious selection of the specimen composition. This can only take time and trial and error for a successful result. The 4th generation furnace provides the capability of real-time in-situ observations of composite alloy development. A low detection sensitivity however, has still made it difficult to observe dendritic growth, although it has been 'seen' in raw video; it was not a recordable signal. We have examined flight ampoules with XTM to observe particle and thermocouple placement, crucible flaws and cracks in collaboration with the Particle Pushing and Engulfment flight experiment (Dr. Stefanescu, UA, P.I.). The value of an in flight XTM to guard against experiment failure and safety assurance is obvious. Although not attributable to equipment limitations, a quest to observe particle pushing was not successful. We tried at length to prepare specimens that would demonstrate particle pushing. Instead, we were successful in imaging the interface deformation due to the thermal field distortion of a ceramic particle or void and to compare to calculated shapes. In theory, we should have been able to make major inroads to this field if the particles could be pushed and the velocities adjusted to make critical measurements. On the other hand, critical issues of sample preparation for the PEP flight experiment were established, particularly the clustering of particles and trapped voids. In this regard, the XTM did prove very useful so that flight specimens would work as expected and to perform post flight analysis. Although not a clear result, particle pushing of precipitates was observed in an Al-Si-Mn alloy. It may be that to be pushed, the particles need to be small and have clean surfaces like one might obtain from in-situ precipitation. The ability to image features in real time skill enable more fundamental and detailed understanding of solidification dynamics in microgravity than had previously been possible, thus, allowing the full benefits of microgravity experiments be applied towards rigorous testing of critical solidification models. The XTM is also a valuable tool for post solidification metallography. The 3-dimensional distribution of solute and solidification features within the specimen volume can be viewed without sectioning or other treatment when the solute has sufficiently higher atomic mass than the solvent. Thus the XTM could provide the first practical method for on orbit microstructural (metallographic) analysis by the astronauts or by telescience.
Experimental results from the Floating Offshore-wind and Controls Advanced Laboratory (FOCAL) experimental program, which tested a performance-matched model of the IEA Wind 15 MW Reference Turbine on a 1:70 scale floating semisubmersible platform, are compared with OpenFAST simulations. Four experimental campaigns were performed, and data from the fourth campaign, which focused on wind and wave testing of the scaled floating wind turbine system, are considered. Simulations of wave-only, wind-only, and wind/wave environments are performed in OpenFAST, and results for key metrics are compared with the experiment. Performance of the real-time Reference OpenSource COntroller (ROSCO) in above-rated wind conditions, including the effects of the floating feedback loop, are investigated. Results show good agreement in mean values for key metrics, and hydrodynamic effects are matched well. Differences in the surge resonant behavior of the platform are identified and discussed. The effect of the controller and floating feedback loop is evident in both the experiment and OpenFAST, showing significant reduction in platform pitch response and tower base bending load near the platform pitch natural frequency.