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NASA NTRS2003

Contributions of the NASA Langley Research Center to the DARPA/AFRL/NASA/ Northrop Grumman Smart Wing Program

An overview of the contributions of the NASA Langley Research Center (LaRC) to the DARPA/AFRL/NASA/ Northrop Grumman Corporation (NGC) Smart Wing program is presented. The overall objective of the Smart Wing program was to develop smart** technologies and demonstrate near-flight-scale actuation systems to improve the aerodynamic performance of military aircraft. NASA LaRC s roles were to provide technical guidance, wind-tunnel testing time and support, and Computational Fluid Dynamics (CFD) analyses. The program was divided into two phases, with each phase having two wind-tunnel entries in the Langley Transonic Dynamics Tunnel (TDT). This paper focuses on the fourth and final wind-tunnel test: Phase 2, Test 2. During this test, a model based on the NGC Unmanned Combat Air Vehicle (UCAV) concept was tested at Mach numbers up to 0.8 and dynamic pressures up to 150 psf to determine the aerodynamic performance benefits that could be achieved using hingeless, smoothly-contoured control surfaces actuated with smart materials technologies. The UCAV-based model was a 30% geometric scale, full-span, sting-mounted model with the smart control surfaces on the starboard wing and conventional, hinged control surfaces on the port wing. Two LaRC-developed instrumentation systems were used during the test to externally measure the shapes of the smart control surface and quantify the effects of aerodynamic loading on the deflections: Videogrammetric Model Deformation (VMD) and Projection Moire Interferometry (PMI). VMD is an optical technique that uses single-camera photogrammetric tracking of discrete targets to determine deflections at specific points. PMI provides spatially continuous measurements of model deformation by computationally analyzing images of a grid projected onto the model surface. Both the VMD and PMI measurements served well to validate the use of on-board (internal) rotary potentiometers to measure the smart control surface deflection angles. Prior to the final entry, NASA LaRC also performed three-dimensional unstructured Navier Stokes CFD analyses in an attempt to predict the potential aerodynamic impact of the smart control surface on overall model forces and moments. Eight different control surface shapes were selected for study at Mach = 0.6, Reynolds number = 3.25 x 10(exp 6), and + 2 deg., 3 deg., 8 deg., and 10 deg.model angles-of-attack. For the baseline, undeflected control surface geometry, the CFD predictions and wind-tunnel results matched well. The agreement was not as good for the more complex aero-loaded control surface shapes, though, because of the inability to accurately predict those shapes. Despite these results, the NASA CFD study served as an important step in studying advanced control effectors.

Florance, Jennifer P.↗
NASA NTRS2004

The Electron Spectrum above 20 GeV Measured by ATIC

The Advanced Thin Ionization Calorimeter (ATIC) Balloon Experiment has been flown from McMurdo, Antarctica in 2000-01 (test flight) and 2002-03 (science flight). ATIC is composed of a segmented BGO calorimeter following a carbon target with scintillator tracking layers and a Silicon matrix detector at the entrance. ATIC measures the composition and energy spectra of the nuclei plus electrons. We present the electron spectrum derived from the ATIC flights, from 20 GeV to 3 TeV, and compare it to existing very high energy measurements from emulsion chambers and to the results of galactic propagation calculations. The good energy resolution and high statistics in the ATIC data allow detailed astrophysical interpretation of the results.

Chang, J.↗
NASA NTRS2004

Mobile Aerial Tracking and Imaging System (MATrIS) for Aeronautical Research

A mobile, rapidly deployable ground-based system to track and image targets of aeronautical interest has been developed. Targets include reentering reusable launch vehicles as well as atmospheric and transatmospheric vehicles. The optics were designed to image targets in the visible and infrared wavelengths. To minimize acquisition cost and development time, the system uses commercially available hardware and software where possible. The conception and initial funding of this system originated with a study of ground-based imaging of global aerothermal characteristics of reusable launch vehicle configurations. During that study the National Aeronautics and Space Administration teamed with the Missile Defense Agency/Innovative Science and Technology Experimentation Facility to test techniques and analysis on two Space Shuttle flights.

Banks, Daniel W.↗
NASA NTRS2000

Dynamics of the human linear vestibulo-ocular reflex at medium frequency and modification by short-term training

We study here the effect of a short-term training paradigm on the gain and phase of the human translational VOR (the linear VOR: LVOR). Subjects were exposed to lateral sinusoidal translations on a sled, at 0.5 Hz, 0.3 g peak acceleration. With subjects tracking a remembered target at 1.2 m, the LVOR (slow-phase) under these conditions typically has a phase lead or lag, and a gain that falls short of compensatory. To induce short-term adaptation (training), we presented an earth-fixed visual scene at 1.2 m during sinusoidal translation (x 1 viewing) for 20 minutes, so as to drive the LVOR toward compensatory phase and gain. We examined both the slow-phase and the saccadic responses to these stimuli. Testing after training showed changes in slow-component gain and phase which were mostly but not always in the compensatory direction. These changes were more consistent in naive subjects than in subjects who had previous LVOR experience. Changes in gain were seen with step as well as sinusoidal test stimuli; gain changes were not correlated with vergence changes. There was a strong correlation between gain changes and phase changes across subjects. Fast phases (catch-up saccades) formed a large component of the LVOR under our testing conditions (approximately 30% of the changes in gain but not in phase due to training.

Non-NASA Center↗
NASA NTRS2005

Hubble Space Telescope Star Tracker ad Two-Gyro Control Law Design, Implementation, and On-Orbit Performance

The Hubble Space Telescope (HST) normally requires three gyroscopes for three-axis rate control. The loss of the Space Shuttle Columbia on STS-107 resulted in the cancellation of a shuttle-based HST Servicing Mission 4. Therefore, HST must operate using the on-board hardware until an alternate means of servicing can be accomplished. The probability of gyro failure indicates that fewer than three gyros will be operable before any servicing mission can be performe& To mitigate this, and to extend the HST life expectancy, a rate estimation and control algorithm was developed that requires two gyros to measure rate about two axes, with the remaining axis rate estimated using one of three alternate sensors. Three-axis magnetometers (MSS) are used for coarse rate estimation during large maneuvers and during occultations of other sensors. Fixed-Head Star Trackers (FHSTs) are used for rate estimation during safe mode recovery and during transition to science operations. Fine rate estimation during science operations is performed using the Fine Guidance Sensors (FGSs). The FHST mode (T2G) relies on star vectors as measured by the FHSTs to estimate vehicle rate about the axis not measured by the gyros. Since the FHSTs were not designed to estimate body rate, this method involves a unique set of problems that had to be overcome in the final design, such as the effect of FHST break tracks and moving targets on rate estimation. The solutions to these problems, as well as a detailed description of the design and implementation of the rate estimation are presented Also included are the time domain and frequency domain analysis of the T2G control law. A high fidelity HST simulator (HSTSIM) was used to verify T2G performance prior to on-orbit use. Results of these simulations are also presented. Finally, analysis of actual T2G on-orbit test results is presented for design validation.

VanArsdall, John C.↗
NASA NTRS2005

X-Ray Spectroscopy of Optically Bright Planets using the Chandra Observatory

Since its launch in July 1999, Chandra's Advanced CCD Imaging Spectrometer (ACIS) has observed several planets (Venus, Mars, Jupiter and Saturn) and 6 comets. At 0.5 arc-second spatial resolution, ACIS detects individual x-ray photons with good quantum efficiency (25% at 0.6 KeV) and energy resolution (20% FWHM at 0.6 KeV). However, the ACIS CCDs are also sensitive to optical and near-infrared light, which is absorbed by optical blocking filters (OBFs) that eliminate optical contamination from all but the brightest extended sources, e.g., planets. .Jupiter at opposition subseconds approx.45 arc-seconds (90 CCD pixels.) Since Chandra is incapable of tracking a moving target, the planet takes 10 - 20 kiloseconds to move across the most sensitive ACIS CCD, after which the observatory must be re-pointed. Meanwhile, the OBF covering that CCD adds an opt,ical signal equivalent to approx.110 eV to each pixel that lies within thc outline of the Jovian disk. This has three consequences: (1) the observatory must be pointed away from Jupiter while CCD bias maps are constructed; (2) most x-rays from within the optical image will be misidentified as charged-particle background and ignored; and (3) those x-rays that are reported will bc assigned anomalously high energies. The same also applies to thc other planets, but is less serious since they are either dimmer at optical wavelengths, or they show less apparent motion across the sky, permitting reduced CCD exposure times: the optical contamination from Saturn acids approx.15 eV per pixel, and from Mars and Venus approx.31 eV. After analyzing a series of short .Jupiter observations in December 2000, ACIS parameters were optimized for the February 2003 opposition. CCD bias maps were constructed while Chandra pointed away from Jupiter, and the subsequent observations employed on-board software to ignore any pixel that contained less charge than that expected from optical leakage. In addition, ACIS was commanded to report 5 x 5 arrays of pixel values surrounding each x-ray event, and the outlying values were employed during ground processing to correct for the optical contamination.

Ford, P. G.↗
NASA NTRS2005

The Electron Spectrum above 20 GeV Measured by ATIC-2

The Advanced Thin Ionization Calorimeter (ATIC) Balloon Experiment has been flown from McMurdo, Antarctica in 2000-01 (test flight) and 2002-03 (science flight). ATIC is composed of a segmented BGO calorimeter following a carbon target with scintillator tracking layers and a Silicon matrix detector at the entrance. ATIC measures the composition and energy spectra of the nuclei plus electrons. We present the electron spectrum derived from the ATIC-2 science flight, from 20 GeV to 1.5 TeV, and compare it to existing very high energy measurements from emulsion chambers and to the results of galactic propagation calculations. The good energy resolution and high statistics in the ATIC data allow detailed astrophysical interpretation of the results.

Chang, J.↗
NASA NTRS2011

Recent Developments in the Design, Capabilities and Autonomous Operations of a Lightweight Surface Manipulation System and Test-bed

The first generation of a versatile high performance device for performing payload handling and assembly operations on planetary surfaces, the Lightweight Surface Manipulation System (LSMS), has been designed and built. Over the course of its development, conventional crane type payload handling configurations and operations have been successfully demonstrated and the range of motion, types of operations and the versatility greatly expanded. This enhanced set of 1st generation LSMS hardware is now serving as a laboratory test-bed allowing the continuing development of end effectors, operational techniques and remotely controlled and automated operations. This paper describes the most recent LSMS and test-bed development activities, that have focused on two major efforts. The first effort was to complete a preliminary design of the 2nd generation LSMS that has the capability for limited mobility and can reposition itself between lander decks, mobility chassis, and fixed base locations. A major portion of this effort involved conducting a study to establish the feasibility of, and define, the specifications for a lightweight cable-drive waist joint. The second effort was to continue expanding the versatility and autonomy of large planetary surface manipulators using the 1st generation LSMS as a test-bed. This has been accomplished by increasing manipulator capabilities and efficiencies through both design changes and tool and end effector development. A software development effort has expanded the operational capabilities of the LSMS test-bed to include; autonomous operations based on stored paths, use of a vision system for target acquisition and tracking, and remote command and control over a communications bridge.

Dorsey, John T.↗
NASA NTRS2014

NASA's Newest Orbital Debris Ground-based Telescope Assets: MCAT and UKIRT

NASA's Orbital Debris Program Office (ODPO) will break ground on Ascension Island in 2014 to build the newest optical (0.30 - 1.06 micrometers) ground-based telescope asset dedicated to the study of orbital debris. The Meter Class Autonomous Telescope (MCAT) is a 1.3m optical telescope designed to track objects in orbits ranging from Low Earth Orbit (LEO) to Geosynchronous Earth Orbit (GEO). Ascension Island is located in the South Atlantic Ocean, offering longitudinal sky coverage not afforded by the Ground-based Electro-Optical Deep Space Surveillance (GEODSS) network. With a fast-tracking dome, a suite of visible wide-band filters, and a time-delay integration (TDI) capable camera, MCAT is capable of multiple observing modes ranging from tracking cataloged debris targets to surveying the overall debris environment. Access to the United Kingdom Infrared Telescope (UKIRT) will extend our spectral coverage into the near- (0.8-5 micrometers) and mid- to far-infrared (8-25 micrometers) regime. UKIRT is a 3.8m telescope located on Mauna Kea on the Big Island of Hawaii. At nearly 14,000-feet and above the atmospheric inversion layer, this is one of the premier astronomical sites in the world and is an ideal setting for an infrared telescope. An unprecedented one-third of this telescope's time has been allocated to collect orbital debris data for NASA's ODPO over a 2-year period. UKIRT has several instruments available to obtain low-resolution spectroscopy in both the near-IR and the mid/far-IR. Infrared spectroscopy is ideal for constraining the material types, albedos and sizes of debris targets, and potentially gaining insight into reddening effects caused by space weathering. In addition, UKIRT will be used to acquire broadband photometric imaging at GEO with the Wide Field Camera (WFCAM) for studying known objects of interest as well as collecting data in survey-mode to discover new targets. Results from the first stage of the debris campaign will be presented. The combination of these ground-based telescope assets will yield spectral coverage ranging from 0.3 - 25 micrmeters, allowing orbital debris to be studied in depth across a wider wavelength range in the visible and IR than ever previously studied by ODPO. Located on opposite sides of the world and in opposite hemispheres, they offer access to nearly the entire GEO belt on any given night, allowing immediate coverage of nearly any time-critical break-up event. By expanding the methods for surveying, detecting, and characterizing orbital debris, we can better model the debris environment and ultimately gain insight into how to mitigate potential collisions for future missions.

Lederer, S. M.↗
NASA NTRS2001

Conditions for Interference Versus Facilitation During Sequential Sensorimotor Adaptation

We investigated how sensorimotor adaptation acquired during one experimental session influenced the adaptation in a subsequent session. The subjects' task was to track a visual target using a joystick-controlled cursor, while the relationship between joystick and cursor position was manipulated to introduce a sensorimotor discordance. Each subject participated in two sessions, separated by a pause of 2 min to 1 month duration. We found that adaptation was achieved within minutes, and persisted in the memory for at least a month, with only a small decay (experiment A). When the discordances administered in the two sessions were in mutual conflict, we found evidence for task interference (experiment B). However, when the discordances were independent, we found facilitation rather than interference (experiment C); the latter finding could not be explained by the use of an "easier" discordance in the second session (experiment D). We conclude that interference is due to an incompatibility between task requirements, and not to a competition of tasks for short-term memory. We further conclude that the ability to adapt to a sensorimotor discordance.

Bock, Otmar↗
NASA NTRS2022

Robust Vision-based Multi-spacecraft Guidance Navigation and Control using CNN-based Pose Estimation

In this paper, we present an end-to-end simulation framework for tracking an uncooperative Target spacecraft in Low Earth Orbit using a CubeSat-class Ego spacecraft outfitted with a camera. Currently, capturing high-fidelity realistic images in space for this scenario is difficult and exorbitantly expensive. Therefore, we developed a framework to simulate the spacecraft orbits in Basilisk software and generate high-fidelity realistic images of spacecraft in Unreal Engine, including the effects from Sun, Earth, Moon and stars. The Ego spacecraft uses cameras to capture images of the uncooperative Target and estimates its position and attitude using a CNN based 6DOF pose estimation pipeline, eliminating need for large SWAP-C(Size, Weight, Power and Cost) sensors like LIDAR or reliance on inter-spacecraft communication, This CNN, which is motivated by ESA’s Pose Estimation challenge of 2019, is trained using simulated data from our end-to-end simulation framework. We compare the performance of two distinct CNNbased algorithms for pose estimation along a nominal trajectory. In presence of non-Gaussian modeling uncertainties, the statedependent estimation error is characterized with a quadratic upper-bound. The quadratically-bounded error can be used by a robust controller to maneuver

Rahmani, Amir↗
NASA NTRSDate not supplied

Development and Airborne Demonstration of the Concurrent Artificially-Intelligent Spectrometry and Adaptive Lidar System: Advancing Lidar Capabilities for the STV Observing System

We report on the design, build and planned airborne demonstration of a spaceflight-prototype Concurrent Artificially-intelligent Spectrometry and Adaptive Lidar System (CASALS). The CASALS lidar is an Adaptive Wavelength Scanning Lidar (AWSL) operating in push broom mode. The demonstration has three major goals: advance the Technical Readiness Level of the AWSL hardware, validate its measurement performance and mature algorithms and methods needed for the Surface Topography and Vegetation (STV) observing system. AWSL acquires parallel tracks of surface heights by rapidly steering a laser beam across a swath. A 1040nm-centered laser is tuned across 30nm and carved into 2-ns pulses, the pulse energy is fiber amplified and the pulses are dispersed cross-track using a non-mechanical wavelength-to-angle grating. For the spaceflight system the beam will be pointable to 1200 10m footprints across a 7km swath. For the airborne demonstration there will be 256 0.7m footprints across a 110m swath. In both cases the footprints overlap across- and along-track for uniform target illumination. For the airborne demonstration a steering mirror will increase the accessible swath width to 4km. At the receiver, solar radiation is filtered with a narrow-slit grating-spectrometer and the footprints are imaged onto a linear-mode, photon-sensitive HgCdTe APD-array. The received pulses are time-division-multiplexed to a few high-speed analog-to-digital converters to record waveforms. Spaceflight and airborne CASALS are designed to nominally detect 20 photons per pulse and, by averaging 27 overlapping footprints, achieve 2cm flat target range precision and high-quality vegetation structure waveforms The AWSL will be flown in the summer of 2024, along with a Headwall VNIR-SWIR hyperspectral sensor imaging a 4km wide swath, at NEON eddy covariance flux towers in the U.S. mid-Atlantic where high resolution hyperspectral and lidar data, acquired annually, are available for validation.

Guangning Yang↗
NASA NTRS1973

Launch window definition for sky target experiments.

This paper is a brief report on the computer program developed for the Extraterrestrial Physics Barium Ion Cloud (BIC) Project. The mathematical analysis developed for the program along with its programing characteristics are pointed out to show that this program is adaptable to similar sky target projects. Definite viewing constraints are specified so that the chosen ground tracking stations can photograph the behavior of the sky target after its release. Viewing factors include the illumination of the target by the sun, the relative elevation look angle to the target from each tracking station, the solar and lunar depression angles at each tracking station, and the total sky background brightness of the target relative to each tracking station. Numeric values are assigned to each factor through program input. The program output is flexible so that the results of the window calculations can be studied to the depth required.

Michaud, N. H.↗
NASA NTRS1994

Tracking strategies for laser ranging to multiple satellite targets

By the middle of the decade, several new Laser Geodynamic Satellites will be launched to join the current constellation comprised of the laser geodynamic satellite (LAGEOS) (US), Starlette (France), Ajisai (Japan), and Etalon I and II (USSR). The satellites to be launched, LAGEOS II and III (US & Italy), and Stella (France), will be injected into orbits that differ from the existing constellation so that geodetic and gravimetric quantities are sampled to enhance their resolution and accuracy. An examination of various possible tracking strategies adopted by the network of laser tracking stations has revealed that the recovery of precise geodetic parameters can be obtained over shorter intervals than is currently obtainable with the present constellation of satellites. This is particularly important in the planning of mobile laser tracking operations, given a network of permanently operating tracking sites. Through simulations, it is shown that laser tracking of certain satellite passes, pre-selected to provide optimal sky-coverage, provides the means to acquire a sufficient amount of data to allow the recovery of 1 cm station positions.

Robbins, J. W.↗
NASA NTRS2016

The NASA/AFRL Meter Class Autonomous Telescope

For the past decade, the NASA Orbital Debris Program Office (ODPO) has relied on using various ground-based telescopes in Chile to acquire statistical survey data as well as photometric and spectroscopic data of orbital debris in geosynchronous Earth orbit (GEO). The statistical survey data have been used to supply the Orbital Debris Engineering Model (ORDEM) v.3.0 with debris detections in GEO to better model the environment at altitudes where radar detections are limited. The data produced for the statistical survey ranged from 30 to 40 nights per year, which only accounted for ~10% of the possible observing time. Data collection was restricted by ODPO resources and weather conditions. In order to improve the statistical sampling in GEO, as well as observe and sample other orbits, NASA's ODPO with support from the Air Force Research Laboratory (AFRL), has constructed a new observatory dedicated to orbital debris - the Meter Class Autonomous Telescope (MCAT) on Ascension Island. This location provides MCAT with the unique ability to access targets orbiting at an altitude of less than 1,000 km and low inclinations (< 20 deg). This orbital regime currently has little to no coverage by the U.S. Space Surveillance Network. Unlike previous ODPO optical assets, the ability to operate autonomously will allow rapid response observations of break-up events, an observing mode that was only available via radar tasking prior to MCAT's deployment. The primary goal of MCAT is to statistically characterize GEO via daily tasking files uploaded from ODPO. These tasking files define which operating mode to follow, providing the field center, rates, and/or targets to observe over the entire observing period. The system is also capable of tracking fast-moving targets in low Earth orbit (LEO), middle Earth orbit (MEO), as well as highly eccentric orbits like geostationary transfer orbits. On 25 August 2015, MCAT successfully acquired scientific first light, imaging the Bug Nebula and tracked objects in LEO, MEO, and GEO. NASA is working towards characterizing the system and thoroughly testing the integrated hardware and software control to achieve fully autonomous operations by late 2016. This paper will review the history and current status of the MCAT project, the details of the telescope system, and its five currently manifested operating modes.

Cowardin, H.↗
NASA NTRS2000

The Extended-Image Tracking Technique Based on the Maximum Likelihood Estimation

This paper describes an extended-image tracking technique based on the maximum likelihood estimation. The target image is assume to have a known profile covering more than one element of a focal plane detector array. It is assumed that the relative position between the imager and the target is changing with time and the received target image has each of its pixels disturbed by an independent additive white Gaussian noise. When a rotation-invariant movement between imager and target is considered, the maximum likelihood based image tracking technique described in this paper is a closed-loop structure capable of providing iterative update of the movement estimate by calculating the loop feedback signals from a weighted correlation between the currently received target image and the previously estimated reference image in the transform domain. The movement estimate is then used to direct the imager to closely follow the moving target. This image tracking technique has many potential applications, including free-space optical communications and astronomy where accurate and stabilized optical pointing is essential.

Tsou, Haiping↗
NASA NTRS1983

A system study for the application of microcomputers to research flight test techniques

The onboard simulator is a three degree of freedom aircraft behavior simulator which provides parameters used by the interception procedure. These parameters can be used for verifying closed loop performance before flight. The air to air intercept mode is a software package integrated in the simulation process that generates a target motion and performs a tracking procedure that predicts the most likely next target position, for a defined time step. This procedure also updates relative position parameters and gives adequate fire commands. A microcomputer based on an aircraft spin warning system periodically samples the assymetric thrust and yaw rate of an airplane and then issues voice synthesized warnings and /or suggests to the ilot how to respond to the situation.

Smyth, R. K.↗