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NASA NTRS2015

A Sampling Based Approach to Spacecraft Autonomous Maneuvering with Safety Specifications

This paper presents a methods for safe spacecraft autonomous maneuvering that leverages robotic motion-planning techniques to spacecraft control. Specifically the scenario we consider is an in-plan rendezvous of a chaser spacecraft in proximity to a target spacecraft at the origin of the Clohessy Wiltshire Hill frame. The trajectory for the chaser spacecraft is generated in a receding horizon fashion by executing a sampling based robotic motion planning algorithm name Fast Marching Trees (FMT) which efficiently grows a tree of trajectories over a set of probabillistically drawn samples in the state space. To enforce safety the tree is only grown over actively safe samples for which there exists a one-burn collision avoidance maneuver that circularizes the spacecraft orbit along a collision-free coasting arc and that can be executed under potential thrusters failures. The overall approach establishes a provably correct framework for the systematic encoding of safety specifications into the spacecraft trajectory generations process and appears amenable to real time implementation on orbit. Simulation results are presented for a two-fault tolerant spacecraft during autonomous approach to a single client in Low Earth Orbit.

Spacecraft↗

NASA NTRS1986

A preliminary design for flight testing the FINDS algorithm

This report presents a preliminary design for flight testing the FINDS (Fault Inferring Nonlinear Detection System) algorithm on a target flight computer. The FINDS software was ported onto the target flight computer by reducing the code size by 65%. Several modifications were made to the computational algorithms resulting in a near real-time execution speed. Finally, a new failure detection strategy was developed resulting in a significant improvement in the detection time performance. In particular, low level MLS, IMU and IAS sensor failures are detected instantaneously with the new detection strategy, while accelerometer and the rate gyro failures are detected within the minimum time allowed by the information generated in the sensor residuals based on the point mass equations of motion. All of the results have been demonstrated by using five minutes of sensor flight data for the NASA ATOPS B-737 aircraft in a Microwave Landing System (MLS) environment.

Caglayan, A. K.↗

NASA NTRS2003

Active State Model for Autonomous Systems

The concept of the active state model (ASM) is an architecture for the development of advanced integrated fault-detection-and-isolation (FDI) systems for robotic land vehicles, pilotless aircraft, exploratory spacecraft, or other complex engineering systems that will be capable of autonomous operation. An FDI system based on the ASM concept would not only provide traditional diagnostic capabilities, but also integrate the FDI system under a unified framework and provide mechanism for sharing of information between FDI subsystems to fully assess the overall health of the system. The ASM concept begins with definitions borrowed from psychology, wherein a system is regarded as active when it possesses self-image, self-awareness, and an ability to make decisions itself, such that it is able to perform purposeful motions and other transitions with some degree of autonomy from the environment. For an engineering system, self-image would manifest itself as the ability to determine nominal values of sensor data by use of a mathematical model of itself, and selfawareness would manifest itself as the ability to relate sensor data to their nominal values. The ASM for such a system may start with the closed-loop control dynamics that describe the evolution of state variables. As soon as this model was supplemented with nominal values of sensor data, it would possess self-image. The ability to process the current sensor data and compare them with the nominal values would represent self-awareness. On the basis of self-image and self-awareness, the ASM provides the capability for self-identification, detection of abnormalities, and self-diagnosis.

Park, Han↗

NASA NTRS1989

The interpretation of crustal dynamics data in terms of plate motions and regional deformation near plate boundaries

A particularly detailed set of observations in the vicinity of an intraplate, thrust earthquake (M 7.4) in Argentina, indicate a cyclic pattern of deformation very similar to that reported previously for interplate earthquakes. This deformation cycle, which may be characteristic of many seismically active areas, consists of: (1) steady strain accumulation, possibly punctuated by strain reversals; (2) coseismic strain release; (3) a period of continued strain release due to afterslip (persisting for perhaps a year or so); and (4) rapid postseismic strain accumulation which decreases exponentially and grades into steady strain accumulation. Deformation associated with three earthquakes in the U.S. (1940, M7.1 Imperial Valley California; 1964, M8.4 Alaska; 1959, M7.5 Hebgen Lake, Montana) are interpreted in light of this general earthquake cycle and are used to investigate the mechanics of strain release for these events. These examples indicate that large postseismic movements can occur for strike-slip, thrust, and normal fault events, and both viscoelastic relaxation and postseismic after-slip must be incorporated in models of earthquake related deformation. The mechanics of the strain release process revealed by these examples has implications for estimating earthquake repeat times from geodetic observations near active faults.

Solomon, Sean C.↗

NASA NTRS2020

Analysis of Sample Acquisition Dynamics Using Discrete Element Method

The analysis presented in this paper is conducted in the framework of the Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) project, currently under development at NASA Ames Research Center. OceanWATERS aims at designing a simulation environment which allows for testing autonomy of scientific lander missions to the icy moons of our solar system. Mainly focused on reproducing the end effector interaction with the inherent terrain, this paper introduces a novel discrete element method (DEM)-based approach to determine forces and torques acting on the lander’s scoop during the sample acquisition process. An accurate force feedback from the terrain on the scoop is required by fault-detection and autonomous decision-making algorithms to identify when the requested torque on the robotic arm’s joints exceeds the maximum available torque. Knowledge of the terrain force feedback significantly helps evaluating the arm’s links structural properties and properly selecting actuators for the joints. Models available in literature constitute a partial representation of the dynamics of the interaction. As an example, Balovnev derived an analytical expression of the vertical and horizontal force acting on a bucket while collecting a sample as a function of its geometry and velocity, soil parameters and reached depth. Although the model represents an adequate approximation of the two force components, it ignores the direction orthogonal to the scoop motion and neglects the torque. This work relies on DEM analysis to compensate for analytical models’ deficiencies and inaccuracies, i. e. provide force and torque 3D vectors, defined in the moving reference (body) frame attached to the scoop, at each instant of the sample collection process. Results from the first presented analysis relate to the specific OceanWATERS sampling strategy, which consists of collecting the sample through five consecutive passes with increasing depth, each pass following the same circularlinear- circular trajectory. Data is collected given a specific scoop design interacting with two types of bulk materials, which may characterize the surface of icy planetary bodies: snow and ice. Although specifically concerned with the OceanWATERS design, this first analysis provides the expected force trends for similar sampling strategies and allows to deduce phenomenological information about the general scooping process. In order to further instruct the community on the use of DEM tools as a solution to the sampling collection problem, two more analyses have been carried out, mainly focused on reducing the DEM computation time, which increases with a decrease in particle size. After running a set of identical simulations, where the only changing parameter is the size of the spherical particle, it is observed that the resulting force trajectories, starting from a given particle size, converge to the true trend. It is deducible that a further decrease in size yields negligible improvements in the accuracy, while it sensibly increases computation time. A final analysis aims at discussing limitations of approximating bulk material particles having a complex shape, e. g. ice fragments, with spheres, by comparing force trends resulting in the two cases for the same simulation scenario.

Catanoso, Damiana↗

NASA NTRS1993

Plains tectonism on Venus: The deformation belts of Lavinia Planitia

High-resolution radar images from the Magellan spacecraft have revealed the first details of the morphology of the Lavinia Planitia region of Venus. A number of geologic units can be distinguished, including volcanic plains units with a range of ages. Transecting these plains over much of the Lavinia region are two types of generally orthogonal features that we interpret to be compressional wrinkle ridges and extensional grooves. The dominant tectonic features of Lavinia are broad elevated belts of intense deformation that transect the plains with complex geometry. They are many tens to a few hundred kilometers wide, as much as 1000 km long, and elevated hundreds of meters above the surrounding plains. Two classes of deformation belts are seen in the Lavinia region. 'Ridge belts' are composed of parallel ridges, each a few hundred meters in elevation, that we interpret to be folds. Typical fold spacings are 5-10 km. 'Fracture belts' are dominated instead by intense faulting, with faults in some instances paired to form narrow grabens. There is also some evidence for modest amounts of horizontal shear distributed across both ridge and fracture belts. Crosscutting relationships among the belts show there to be a range in belt ages. In western Lavinia, in particular, many ridge and fracture belts appear to bear a relationship to the much smaller wrinkle ridges and grooves on the surrounding plains: ridge morphology tends to dominate belts that lie more nearly parallel to local plains wrinkle ridges, and fracture morphology tends to dominate belts that lie more nearly parallel to local plains grooves. We use simple models to explore the formation of ridge and fracture belts. We show that convective motions in the mantle can couple to the crust to cause horizontal stresses of a magnitude sufficient to induce the formation of deformation belts like those observed in Lavinia. We also use the small-scale wavelengths of deformation observed within individual ridge belts to place an approximate lower limit on the venusian thermal gradient in the Lavinia region at the time of deformation.

Squyres, Steven W.↗

NASA NTRSDate not supplied

Active Swarm Resiliency in the HelioSwarm Mission

Designed to observe plasma turbulence dynamics in solar wind over a distributed volume of space, the HelioSwarm mission comprises a primary chief spacecraft and eight smaller deputy satellites in uniquely assigned “loops” of periodic relative motion in a P/2 lunar resonant orbit. If one or more deputies fail, this multi-satellite architecture facilitates resiliency for science goals through repositioning of satellites to contingency loops. This strategy of Active Swarm Resiliency mitigates risk by modeling quantitative results ahead of time for mission operators to make informed decisions. Responsive actions meet minimum science objectives based on past and predicted system performance, an approach with applications to future missions with similar architecture and requirements.

Fault Management↗

NASA NTRSDate not supplied

Active Swarm Resiliency in the HelioSwarm Mission

Fault Management↗

NASA NTRS1987

An astrometric facility for planetary detection on the space station

An Astrometric Telescope Facility (ATF) for planetary detection is being studied as a potential space station initial operating capability payload. The primary science objective of this mission is the detection and study of planetary systems around other stars. In addition, the facility will be capable of other astrometric measurements such as stellar motions of other galaxies and highly precise direct measurement of stellar distance within the Milky Way Galaxy. The results of a recently completed ATF preliminary systems definition study are summarized. Results of this study indicate that the preliminary concept for the facility is fully capable of meeting the science objective without the development of any new technologies. A simple straightforward operations approach was developed for the ATF. A real-time facility control is not normally required, but does maintain a near real-time ground monitoring capability for the facility and science data stream on a full-time basis. Facility observational sequences are normally loaded once a week. In addition, the preliminary system is designed to be fail-safe and single-fault tolerant. Routine interactions by the space station crew with the ATF will not be necessary, but onboard controls are provided for crew override as required for emergencies and maintenance.

Nishioka, Kenji↗

NASA NTRS2005

Development of a Real-Time GPS/Seismic Displacement Meter: Applications to Civilian Infrastructure in Orange and Western Riverside Counties, California

We propose a three-year applications project that will develop an Integrated Real-Time GPS/Seismic System and deploy it in Orange and Western Riverside Counties, spanning three major strike-slip faults in southern California (San Andreas, San Jacinto, and Elsinore) and significant populations and civilian infrastructure. The system relying on existing GPS and seismic networks will collect and analyze GPS and seismic data for the purpose of estimating and disseminating real-time positions and total ground displacements (dynamic, as well as static) during all phases of the seismic cycle, from fractions of seconds to years. Besides its intrinsic scientific use as a real-time displacement meter (transducer), the GPS/Seismic System will be a powerful tool for local and state decision makers for risk mitigation, disaster management, and structural monitoring (dams, bridges, and buildings). Furthermore, the GPS/Seismic System will become an integral part of California's spatial referencing and positioning infrastructure, which is complicated by tectonic motion, seismic displacements, and land subsidence. Finally, the GPS/Seismic system will also be applicable to navigation in any environment (land, sea, or air) by combining precise real-time instantaneous GPS positioning with inertial navigation systems. This development will take place under the umbrella of the California Spatial Reference Center, in partnership with local (Counties, Riverside County Flood and Water Conservation District, Metropolitan Water District), state (Caltrans), and Federal agencies (NGS, NASA, USGS), the geophysics community (SCIGN/SCEC2), and the private sector (RBF Consulting). The project will leverage considerable funding, resources, and R&D from SCIGN, CSRC and two NSF-funded IT projects at UCSD and SDSU: RoadNet (Real-Time Observatories, Applications and Data Management Network) and the High Performance Wireless Research and Education Network (HPWREN). These two projects are funded to develop both the wireless networks and the integrated, seamless, and transparent information management system that will deliver seismic, geodetic, oceanographic, hydrological, ecological, and physical data to a variety of end users in real-time in the San Diego region. CSRC is interested in providing users access to real-time, accurate GPS data for a wide variety of applications including RTK surveying/GIS and positioning of moving platforms such as aircraft and emergency vehicles. SCIGN is interested in upgrading sites to high-frequency real-time operations for rapid earthquake response and GPS seismology. The successful outcome of the project will allow the implementation of similar systems elsewhere, particularly in plate boundary zones with significant populations and civilian infrastructure. CSRC would like to deploy the GPS/Seismic System in other parts of California, in particular San Diego, Los Angeles County and the San Francisco Bay Area.

Bock, Yehuda↗

DOE OSTI2021

Optical vortex manipulation for topological quantum computation

Topological quantum computation based on Majorana bound states may enable new paths to fault-tolerant quantum computing. Several recent experiments have suggested that the vortex cores of topological superconductors, such as iron-based superconductors, may host Majorana bound states at zero energy. However, quantum computation with these zero-energy vortex bound states requires precise and fast manipulation of individual vortices, which is difficult to do in a scalable manner. To address this issue, in this study we propose a control scheme based on local heating via, for example, scanning optical microscopy to braid vortex-bound Majorana zero modes in a two-dimensional topological superconductor. First, we derive the conditions required for transporting a single vortex between two defects in the superconducting material by trapping it with a hot spot generated by local optical heating. Equipped with critical conditions for the vortex motion, we then establish the ideal material properties for vortex braiding and describe how transition errors resulting from finite speed and/or temperature can be minimized. Our work paves the way toward optical or microscopic control of zero-energy vortex bound states in two-dimensional topological superconductors.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

NASA NTRS1993

Earthquake slip vectors and estimates of present-day plate motions

Two alternative models for present-day global plate motions are derived from subsets of the NUVEL-1 data in order to investigate the degree to which earthquake slip vectors affect the NUVEL-1 model and to provide estimates of present-day plate velocities that are independent of earthquake slip vectors. The data set used to derive the first model excludes subduction zone slip vectors. The primary purpose of this model is to demonstrate that the 240 subduction zone slip vectors in the NUVEL-1 data set do not greatly affect the plate velocities predicted by NUVEL-1. A data set that excludes all of the 724 earthquake slip vectors used to derive NUVEL-1 is used to derive the second model. This model is suitable as a reference model for kinematic studies that require plate velocity estimates unaffected by earthquake slip vectors. The slip-dependent slip vector bias along transform faults is investigated using the second model, and evidence is sought for biases in slip directions along spreading centers.

Demets, Charles↗

NASA NTRS2022

Actuator and Motor Control End-to-End V&V on the Mars 2020 Rover

The Mars 2020 Perseverance rover is the most advanced robotic exploration system ever sent to another planet. To support the complex scientific and mobility needs of the mission, the rover utilizes 33 actuators, three multi-degree-of-freedom force-torque sensors, fifteen single or dual-speed resolvers, two solenoid valves, and twelve contact switches. The control for these actuators and sensors is achieved by several levels of flight software, coordinated between two computers with varying bandwidth control loops. Furthermore, the actuators and sensors were integrated into multiple larger robotic mechanisms that were delivered by different organizations at various points in the Integration and Test (I&T) timeline. All of this created a very complex Verification and Validation (V&V) scenario involving multiple subsystems and teams, several hardware and software testbeds with varying levels of fidelity, and significant systems engineering to ensure the overall I&T schedule could be maintained while ensuring system hardware safety.This paper details the integrated V&V effort across multiple teams and venues to provide full coverage of all necessary functionality, performance, and fault protection. First, it provides an overview of how the V&V campaign was subdivided among teams and venues and provides descriptions of the various hardware configurations used to support the testing. The Mars 2020 implementation of the plan incorporates many of the lessons learned from Mars Science Laboratory’s test campaign, and these value-added modifications are discussed here. Also included in this section is the system-level environmental testing approach used for mechanisms. Second, the paper describes the phased approach used by the teams to support new hardware and software deliveries to testbed and Systems I&T. In this approach the test campaign was built upon higher-level mechanism needs for performance, functionality, and safety at specific times in the campaign. Finally, the paper discusses lessons learned from the V&V campaign that should be applied to future large-scale motion control testing efforts.

Borne, Davis↗

DOE OSTI2026

Direct estimation of the density of states for fermionic systems

Simulating time evolution is one of the most natural applications of quantum computers and is thus one of the most promising prospects for achieving practical quantum advantage. Here, we develop quantum algorithms to extract thermodynamic properties by estimating the density of states (DOS), which is a central object in quantum statistical mechanics. We introduce several key innovations that significantly improve the practicality and extend the generality of previous techniques. First, our approach allows one to estimate the DOS only for a specific subspace of the full Hilbert space. This is crucial for fermionic systems, since both canonical and grand canonical ensemble thermal equilibrium properties depend on subspaces of fixed number. Second, in our approach, by time evolving very simple, random initial states, such as randomly chosen computational basis states, we can exactly recover the DOS on average. Third, due to circuit-depth limitations, we only reconstruct the DOS up to a convolution with a Gaussian window—thus all imperfections that shift the energy levels by less than the width of the convolution window will not significantly affect the estimated DOS. For these reasons, we find the approach is a promising candidate for early quantum advantage as even short-time, noisy dynamics can yield a semiquantitative reconstruction of the DOS (convolution with a broad Gaussian window), while early fault-tolerant devices will likely enable higher-resolution DOS reconstruction through longer time evolutions. We demonstrate the practicality of our approach in representative Fermi-Hubbard and spin models and indeed find that our approach is highly robust against algorithmic errors in the time evolution and against gate noise. We further demonstrate that our approach is compatible with noisy intermediate-scale quantum (NISQ) computing NISQ-friendly variational techniques, introducing and leveraging a technique for variational time evolution.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS2018

6DOF Testing of the SLS Inertial Navigation Unit

The Navigation System on the NASA Space Launch System (SLS) Block 1 vehicle performs initial alignment of the Inertial Navigation System (INS) navigation frame through gyrocompass alignment (GCA). Because the navigation architecture for the SLS Block 1 vehicle is a purely inertial system, the accuracy of the achieved orbit relative to mission requirements is very sensitive to initial alignment accuracy. The assessment of this sensitivity and many others via simulation is a part of the SLS Model-Based Design and Model-Based Requirements approach. As a part of the aforementioned, 6DOF Monte Carlo simulation is used in large part to develop and demonstrate verification of program requirements. To facilitate this and the GN&C flight software design process, an SLS-Program-controlled Design Math Model (DMM) of the SLS INS was developed by the SLS Navigation Team. The SLS INS model implements all of the key functions of the hardware-namely, GCA, inertial navigation, and FDIR (Fault Detection, Isolation, and Recovery)-in support of SLS GN&C design requirements verification. Despite the strong sensitivity to initial alignment, GCA accuracy requirements were not verified by test due to program cost and schedule constraints. Instead, the system relies upon assessments performed using the SLS INS model. In order to verify SLS program requirements by analysis, the SLS INS model is verified and validated against flight hardware. In lieu of direct testing of GCA accuracy in support of requirement verification, the SLS Navigation Team proposed and conducted an engineering test to, among other things, validate the GCA performance and overall behavior of the SLS INS model through comparison with test data. This paper will detail dynamic hardware testing of the SLS INS, conducted by the SLS Navigation Team at Marshall Space Flight Center's 6DOF Table Facility, in support of GCA performance characterization and INS model validation. A 6-DOF motion platform was used to produce 6DOF pad twist and sway dynamics while a simulated SLS flight computer communicated with the INS. Tests conducted include an evaluation of GCA algorithm robustness to increasingly dynamic pad environments, an examination of GCA algorithm stability and accuracy over long durations, and a long-duration static test to gather enough data for Allan Variance analysis. Test setup, execution, and data analysis will be discussed, including analysis performed in support of SLS INS model validation.

Geohagan, Kevin↗

DOE OSTI2021

Source Physics Experiment: Rock Valley Interferometric Synthetic Aperture RADAR Earthquake Detection Study

Seismic signals from 1993 show a series of magnitude (Mw) 3.7 or less seismic events in Rock Valley on the Nevada National Security Site (NNSS). Historic synthetic aperture radar images of that location were found that could provide interferometric synthetic aperture radar (InSAR) measures of the ground height during 1993. Given this historic SAR imagery, we explore answering the question if ground movement from the 1993 Rock Valley earthquake activity could be sensed by remote sensing means. Finding earthquake surface movement would assist in locating the Rock Valley fault and the 1993 earthquake hypocenter where the Source Physics Experiment Phase III series of experiments will be conducted. In this report, we show that InSAR can sense very small height differences, and for the European Radar Satellite-1 InSAR collections during 1992 and 1993 over Rock Valley earth surface movements were measured with 8 mm uplift and 12.5 mm subsidence over isolated areas. One of these earth movement areas coincides with an InSAR image pair coherence drop between March 5, 1993 and June 18, 1993. The coherence drop is over an approximately 13 square km area south southeast of Skull Mountain centered at 36° 43' 30" N latitude and 116° 05' 00" W longitude. Measured small surface movement and a loss of InSAR coherence may be caused by the series of earthquakes. The location of these InSAR detections may also coincide with water drainage or erosion displacement. There are no records to disambiguate the earthquake and erosion earth surface motion possibilities. Therefore, the InSAR findings of earth surface movement by InSAR are inconclusive.

58 GEOSCIENCES↗

NASA NTRS2006

Ice Mass Fluctuations and Earthquake Hazard

In south central Alaska, tectonic strain rates are high in a region that includes large glaciers undergoing ice wastage over the last 100-150 years [Sauber et al., 2000; Sauber and Molnia, 2004]. In this study we focus on the region referred to as the Yakataga segment of the Pacific-North American plate boundary zone in Alaska. In this region, the Bering and Malaspina glacier ablation zones have average ice elevation decreases from 1-3 meters/year (see summary and references in Molnia, 2005). The elastic response of the solid Earth to this ice mass decrease alone would cause several mm/yr of horizontal motion and uplift rates of up to 10-12 mm/yr. In this same region observed horizontal rates of tectonic deformation range from 10 to 40 mm/yr to the north-northwest and the predicted tectonic uplift rates range from -2 mm/year near the Gulf of Alaska coast to 12mm/year further inland [Savage and Lisowski, 1988; Ma et al, 1990; Sauber et al., 1997, 2000, 2004; Elliot et al., 2005]. The large ice mass changes associated with glacial wastage and surges perturb the tectonic rate of deformation at a variety of temporal and spatial scales. The associated incremental stress change may enhance or inhibit earthquake occurrence. We report recent (seasonal to decadal) ice elevation changes derived from data from NASA's ICESat satellite laser altimeter combined with earlier DEM's as a reference surface to illustrate the characteristics of short-term ice elevation changes [Sauber et al., 2005, Muskett et al., 2005]. Since we are interested in evaluating the effect of ice changes on faulting potential, we calculated the predicted surface displacement changes and incremental stresses over a specified time interval and calculated the change in the fault stability margin using the approach given by Wu and Hasegawa [1996]. Additionally, we explored the possibility that these ice mass fluctuations altered the seismic rate of background seismicity. Although we primarily focus on evaluating the influence of ice mass changes since the end of the little Ice Age, the study is partially motivated by paleoseismic evidence from Yakataga and Kodiak regions which suggests that earlier glacier retreat may be associated with large earthquakes [Sauber et al., 2000; Carver et al., 2003].

Sauber, J.↗

DOE OSTI2022

Degradation of Phonons in Disordered Moiré Superlattices

The elastic collective modes of a moiré superlattice arise not from vibrations of a rigid crystal but from the relative displacement between the constituent layers. Despite their similarity to acoustic phonons, these modes, called phasons, are not protected by any conservation law. Furthermore, we show that disorder in the relative orientation between the layers and thermal fluctuations associated with their sliding motion degrade the propagation of sound in the moiré superlattice. Specifically, the phason modes become overdamped at low energies and acquire a finite gap, which displays a universal dependence on the twist-angle variance. Thus, twist-angle inhomogeneity is manifested not only in the non-interacting electronic structure of moiré systems, but also in their phonon-like modes. More broadly, our results have important implications for the electronic properties of twisted moiré systems that are sensitive to the electron-phonon coupling.

2-dimensional systems↗