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NASA NTRS2007

The Disposal of Spacecraft and Launch Vehicle Stages in Low Earth Orbit

Spacecraft and launch vehicle stages abandoned in Earth orbit have historically been a primary source of debris from accidental explosions. In the future, such satellites will become the principal cause of orbital debris via inadvertent collisions. To curtail both the near-term and far-term risks posed by derelict spacecraft and launch vehicle stages to operational space systems, numerous national and international orbital debris mitigation guidelines specifically recommend actions which could prevent or limit such future debris generation. Although considerable progress has been made in implementing these recommendations, some changes to existing vehicle designs can be difficult. Moreover, the nature of some missions also can present technological and budgetary challenges to be compliant with widely accepted orbital debris mitigation measures.

Johnson, Nicholas L.↗

NASA NTRS2010

A Parametric Study on Using Active Debris Removal for LEO Environment Remediation

Recent analyses on the instability of the orbital debris population in the low Earth orbit (LEO) region and the collision between Iridium 33 and Cosmos 2251 have reignited the interest in using active debris removal (ADR) to remediate the environment. There are; however, monumental technical, resource, operational, legal, and political challenges in making economically viable ADR a reality. Before a consensus on the need for ADR can be reached, a careful analysis of its effectiveness must be conducted. The goal is to demonstrate the need and feasibility of using ADR to better preserve the future environment and to guide its implementation to maximize the benefit-to-cost ratio. This paper describes a new sensitivity study on using ADR to stabilize the future LEO debris environment. The NASA long-term orbital debris evolutionary model, LEGEND, is used to quantify the effects of several key parameters, including target selection criteria/constraints and the starting epoch of ADR implementation. Additional analyses on potential ADR targets among the currently existing satellites and the benefits of collision avoidance maneuvers are also included.

Source record↗

NASA NTRS2014

Automatic Aircraft Collision Avoidance System and Method

The invention is a system and method of compressing a DTM to be used in an Auto-GCAS system using a semi-regular geometric compression algorithm. In general, the invention operates by first selecting the boundaries of the three dimensional map to be compressed and dividing the three dimensional map data into regular areas. Next, a type of free-edged, flat geometric surface is selected which will be used to approximate terrain data of the three dimensional map data. The flat geometric surface is used to approximate terrain data for each regular area. The approximations are checked to determine if they fall within selected tolerances. If the approximation for a specific regular area is within specified tolerance, the data is saved for that specific regular area. If the approximation for a specific area falls outside the specified tolerances, the regular area is divided and a flat geometric surface approximation is made for each of the divided areas. This process is recursively repeated until all of the regular areas are approximated by flat geometric surfaces. Finally, the compressed three dimensional map data is provided to the automatic ground collision system for an aircraft.

Skoog, Mark↗

NASA NTRS2018

Comparative Analysis of ACAS-Xu and DAIDALUS Detect-and-Avoid Systems

The Detect and Avoid (DAA) capability of a recent version (Run 3) of the Airborne Collision Avoidance System-Xu (ACAS-Xu) is measured against that of the Detect and AvoID Alerting Logic for Unmanned Systems (DAIDALUS), a reference algorithm for the Phase 1 Minimum Operational Performance Standards (MOPS) for DAA. This comparative analysis of the two systems' alerting and horizontal guidance outcomes is conducted through the lens of the Detect and Avoid mission using flight data of scripted encounters from a recent flight test. Results indicate comparable timelines and outcomes between ACAS-Xu's Remain Well Clear alert and guidance and DAIDALUS's corrective alert and guidance, although ACAS-Xu's guidance appears to be more conservative. ACAS-Xu's Collision Avoidance alert and guidance occurs later than DAIDALUS's warning alert and guidance, and overlaps with DAIDALUS's timeline of maneuver to remain Well Clear. Interesting discrepancies between ACAS-Xu's directive guidance and DAIDALUS's "Regain Well Clear" guidance occur in some scenarios.

Davies, Jason T.↗

NASA NTRS2015

Appendix A: NAS-Wide Encounter Rate Evaluation Using Historical Radar Data and the Airspace Concept Evaluation System (ACES)

Regulations that establish operational and performance requirements for unmanned aircraft systems (UAS) are being developed by a consortium of government, industry and academic institutions. Those requirements will apply to detect-and-avoid (DAA) systems and other equipment necessary to integrate UAS with the National Airspace System (NAS) and are determined according to their contribution to the overall level of safety required to operate in the airspace. Several key gaps must be addressed in order to link equipment requirements to an airspace level of safety. Foremost among these is the calculation of the relative effectiveness of a particular system to mitigate violations of a separation standard with other aircraft, which is known as the systems risk ratio. The risk ratio is calculated as the probability of mid-air collision with a DAA system divided by the probability of mid-air collision without a DAA system. The risk ratio of a DAA system, in combination with the risk ratios of other collision avoidance mitigations, will determine the overall safety of the airspace measured in terms of the number of mid-air collisions per flight hour. Defining the required risk ratio that the DAA system needs to ensure the safety of the airspace requires an evaluation of the current airspace and a simulated evaluation that incorporates UAS aerodynamic performance and the mission characteristics of future UAS operations that are projected to be conducted in areas that interact with current operations. These evaluations will produce the frequency of encounters that currently exist in the airspace and those that could be generated with the introduction of UAS. Together, the frequency of encounters, an evaluation of unmitigated risk of collision, and a desired level of safety of the airspace will yield a required risk ratio of the DAA system. This study will focus on evaluating the encounter rates between aircraft based on historical radar data and encounter rates that could occur based on simulated UAS missions.

Unmanned Aircraft Systems↗

NASA NTRS1977

Mechanical processess affecting differentiation of protolunar material

Mechanisms prior to lunar formation are sought to account for the loss of volatiles, the depletion of iron, and the enrichment of plagioclase. Some of the same mechanisms are necessary to account for achondritic, stony-iron, and iron meteorites. Collisions seem marginally capable of providing the heat to accomplish the differentiation into iron, magnesian silicates, and plagioclase. Once this differentiation is accomplished, the subsequent mechanical history should have been sufficient to sort material according to composition in the protolunar circumterrestrial cloud. Effects operating include the correlation of body size with mechanical strength; the lesser ability of the cloud to trap the larger, denser infalling bodies; the more rapid drawing into the Earth of the larger moonlets; and the higher energy orbits for dominantly plagioclase smaller pieces broken off by collision.

Kaula, W. M.↗

NASA NTRS2016

Global Precipitation Measurement (GPM) and International Space Station (ISS) Coordination for CubeSat Deployments to Minimize Collision Risk

The Global Precipitation Measurement Mission (GPM) is a joint U.S. and Japan mission to observe global precipitation, extending the Tropical Rainfall Measuring Mission (TRMM), which was launched by H-IIA from Tanegashima in Japan on February 28TH, 2014 directly into its 407km operational orbit. The International Space Station (ISS) is an international human research facility operated jointly by Russia and the USA from NASA's Johnson Space Center (JSC) in Houston Texas. Mission priorities lowered the operating altitude of ISS from 415km to 400km in early 2105, effectively placing both vehicles into the same orbital regime. The ISS has begun a program of deployments of cost effective CubeSats from the ISS that allow testing and validation of new technologies. With a major new asset flying at the same effective altitude as the ISS, CubeSat deployments became a serious threat to GPM and therefore a significant indirect threat to the ISS. This paper describes the specific problem of collision threat to GPM and risk to ISS CubeSat deployment and the process that was implemented to keep both missions safe from collision and maximize their project goals.

Pawloski, James H.↗

NASA NTRS2022

Functional Allocation Approach for Separation Assurance for Remotely Piloted Aircraft

A functional analysis framework is employed with the objective of exploring the separation assurance function for the remotely piloted aircraft system. The architecture of the remotely piloted aircraft system—highlighting several of the component systems and the functions resident onboard the remotely piloted aircraft and in the ground control station—is described to provide the context for understanding the complexity of the said system for a detailed functional analysis. The interactions between the agents of the separation assurance function belonging to the air traffic service provider, remotely piloted aircraft system operator and remotely piloted aircraft are described. Separation assurance by air traffic control, remain well clear by the remotely piloted aircraft system and collision avoidance onboard the remotely piloted aircraft are briefly discussed. The functional analysis framework is illustrated by relating the agents to the actions of (a) acquiring the surveillance information, (b) checking for conflicts, (c) creating the solutions for resolving conflicts and (d) implementing the conflict resolution solutions. This example is offered as a template by which a more detailed functional analysis of this and other functions could be developed. The architecture of the remotely piloted aircraft system is described to aid this process.

functional analysis↗

NASA NTRS2022

Functional Allocation Approach for Separation Assurance for Remotely Piloted Aircraft

Functional analysis↗

NASA NTRS2002

Submillimeter Laboratory Investigations: Spectroscopy and Collisions

Currently, millimeter-wave and submillimeter-wave spectroscopy is conducted in our laboratory on several different types of spectrometers. Our standard spectrometer utilizes the output of a phase-locked klystron operating in the 40-60 GHz region, which is sent into a crossed-waveguide harmonic generator, or "multiplier". The high frequency millimeter-and submillimeter-wave radiation is transmitted via quasi-optical techniques through an absorption cell and then onto a detector, which is either an InSb hot electron bolometer cooled to 1.4 K or a Si bolometer cooled to 0.3 K. The detector response is sent to a computer for measurement and analysis. The frequency range produced and detected in this manner goes from 80 GHz to upwards of 1 THz. Spectra are normally taken with source modulation, with line frequencies typically measured to an accuracy of 50-100 kHz. Higher accuracy is available when needed. Recently, we developed a new, broad-band spectrometer in our laboratory based on a free-running backward wave oscillator (BWO) of Russian manufacture as the primary source of radiation. The so-called FASSST (fast-scan submillimeter spectroscopic technique) system uses fast-scan and optical calibration methods rather than the traditional locking techniques. The output power from the BWO is split such that 90% goes into the absorption cell while 10% is coupled to a 40-meter Fabry-Perot cavity, which yields fringe? for frequency measurement. Results from this spectrometer on the spectrum of nitric acid (HNO3) show that 100 GHz of spectral data can be obtained in 5 seconds with a measurement accuracy of 50 kHz. Currently, the frequency range of the FASSST system in our laboratory is roughly 100-700 GHz.

Herbst, Eric↗

NASA NTRS2011

Methodology for Developing a Probabilistic Risk Assessment Model of Spacecraft Rendezvous and Dockings

In 2007 NASA was preparing to send two new visiting vehicles carrying logistics and propellant to the International Space Station (ISS). These new vehicles were the European Space Agency s (ESA) Automated Transfer Vehicle (ATV), the Jules Verne, and the Japanese Aerospace and Explorations Agency s (JAXA) H-II Transfer Vehicle (HTV). The ISS Program wanted to quantify the increased risk to the ISS from these visiting vehicles. At the time, only the Shuttle, the Soyuz, and the Progress vehicles rendezvoused and docked to the ISS. The increased risk to the ISS was from an increase in vehicle traffic, thereby, increasing the potential catastrophic collision during the rendezvous and the docking or berthing of the spacecraft to the ISS. A universal method of evaluating the risk of rendezvous and docking or berthing was created by the ISS s Risk Team to accommodate the increasing number of rendezvous and docking or berthing operations due to the increasing number of different spacecraft, as well as the future arrival of commercial spacecraft. Before the first docking attempt of ESA's ATV and JAXA's HTV to the ISS, a probabilistic risk model was developed to quantitatively calculate the risk of collision of each spacecraft with the ISS. The 5 rendezvous and docking risk models (Soyuz, Progress, Shuttle, ATV, and HTV) have been used to build and refine the modeling methodology for rendezvous and docking of spacecrafts. This risk modeling methodology will be NASA s basis for evaluating the addition of future ISS visiting spacecrafts hazards, including SpaceX s Dragon, Orbital Science s Cygnus, and NASA s own Orion spacecraft. This paper will describe the methodology used for developing a visiting vehicle risk model.

Farnham, Steven J., II↗

NASA NTRSDate not supplied

BioSentinel: To the Moon or Beyond?

BioSentinel, an Artemis-1 secondary spacecraft, will carry a biology experiment into deep space for the first time in 50 years. A 6U CubeSat form factor was utilized for the spacecraft and included technologies newly developed or adapted for operations beyond Earth orbit. This is the maiden deep-space voyage for the radio, propulsion system, electrical power system, and BioSensor payload. The spacecraft carries onboard budding yeast, Saccharomyces cerevisiae, as an analog to human cells to test the biological response to deep space radiation. Flying a secondary payload beyond LEO comes with unique challenges with respect to trajectory uncertainty and mission operations planning. BioSentinel does not carry propulsion for trajectory maneuvers, so plans for Comms and Power need to be developed for all trajectories. The nominal plan is a lunar flyby followed by an insertion into Heliocentric orbit. However, some possible scenarios include lunar eclipses that could severely impact the power budget during that phase of the mission, while others could result in a “Retrograde” hyperbola at swingby resulting in the spacecraft traveling inward toward Earth or even towards a collision with the lunar surface. BioSentinel’s final trajectory will not be known until after launch and deployment so possible scenarios need to be planned for ahead of time. This paper discusses the operational scenarios that were planned for as well as the actual execution of the mission operations including: command pass scheduling with the Deep Space Network, selecting bandwidth limits, medium gain antenna versus low gain antenna usage, and conserving power prior to a lunar eclipse. Note: Artemis-1 is planned to launch in the Spring of 2022

BioSentinel↗

NASA NTRS2018

Global Precipitation Measurement (GPM) Core Satellite & International Space Station (ISS) Coordination for CubeSat Deployments to Minimize Collision Risk

The Global Precipitation Measurement Mission (GPM) is a joint U.S. and Japan mission to observe global precipitation, extending the Tropical Rainfall Measuring Mission (TRMM) data set, which was launched by H-IIA from Tanegashima in Japan on February 28TH, 2014 directly into its 407km operational orbit. The International Space Station (ISS) is an international human research facility operated jointly by Russia and the USA from NASA's Johnson Space Center (JSC) in Houston Texas. Mission priorities lowered the operating altitude of ISS from 415km to 400km in early 2015, effectively placing both vehicles into the same orbital regime. The ISS has begun a program of deployments of cost effective CubeSats from the ISS that allow testing and validation of new technologies. With a major NASA asset flying at the same effective altitude as the ISS, CubeSat deployments became a serious threat to GPM and therefore a significant indirect threat to the ISS. This presentation describes the specific problem of collision threat to GPM and risk to ISS CubeSat deployment, the process that was implemented to keep both missions safe from collision and maximize their project goals, and the history of the process since implementation.

GPM↗

NASA NTRS2002

Regaining Lost Separation in a Piloted Simulation of Autonomous Aircraft Operations

NASA is currently investigating a new concept of operations for the National Airspace System, designed to improve capacity while maintaining or improving current levels of safety. This concept, known as Distributed Air/Ground Traffic Management (DAG-TM), allows appropriately equipped autonomous aircraft to maneuver freely for flight optimization while resolving conflicts with other traffic and staying out of special use airspace and hazardous weather. While Airborne Separation Assurance System (ASAS) tools would normally allow pilots to resolve conflicts before they become hazardous, evaluation of system performance in sudden, near-term conflicts is needed in order to determine concept feasibility. If an acceptable safety level can be demonstrated in these situations, then operations may be conducted with lower separation minimums. An experiment was conducted in NASA Langley s Air Traffic Operations Lab to address issues associated with resolving near-term conflicts and the potential use of lower separation minimums. Sixteen commercial airline pilots flew a total of 32 traffic scenarios that required them to use prototype ASAS tools to resolve close range pop-up conflicts. Required separation standards were set at either 3 or 5 NM lateral spacing, with 1000 ft vertical separation being used for both cases. Reducing the lateral separation from 5 to 3 NM did not appear to increase operational risk, as indicated by the proximity to the intruder aircraft. Pilots performed better when they followed tactical guidance cues provided by ASAS than when they didn't follow the guidance. As air-air separation concepts are evolved, further studies will consider integration issues between ASAS and existing Airborne Collision Avoidance Systems (ACAS).These types of non-normal events will require the ASAS to provide effective alerts and resolutions prior to the time that an Airborne Collision Avoidance System (ACAS) would give a Resolution Advisory (RA). When an RA is issued, a pilot must take immediate action in order to avoid a potential near miss. The Traffic Alert and Collision Avoidance System (TCAS) II currently functions as an ACAS aboard commercial aircraft. Depending on the own aircraft s altitude, TCAS only issues RA s 15-35 seconds prior to the Closest Point of Approach (CPA). Prior to an RA, DAG-TM pilots operating autonomous aircraft must rely solely on ASAS for resolution guidance. An additional area of DAG-TM concept feasibility relates to a potential reduction in separation standards. Lower separation standards are likely needed in order to improve NAS efficiency and capacity. Current separation minimums are based in large part on the capabilities of older radar systems. Safety assessments are needed to determine the feasibility of reduced separation minimums. They will give strong consideration to surveillance system performance, including accuracy, integrity, and availability. Candidate surveillance systems include Automatic Dependent Surveillance-Broadcast (ADS-B) and multi-lateration systems. Considering studies done for Reduced Vertical Separation Minimums (RVSM) operations, it is likely that flight technical errors will also be considered. In addition to a thorough evaluation of surveillance system performance, a potential decision to lower the separation standards should also take operational considerations into account. An ASAS Safety Assessment study identified improper maneuvering in response to a conflict (due to ambiguous or improper resolution commands or a pilot s failure to comply with the resolution) as a potential safety risk. If near-term conflicts with lower separation minimums were determined to be more challenging for pilots, the severity of these risks could be even greater.

Barhydt, Richard↗

NASA NTRS1992

Robot path planning for space-truss assembly

Construction, repair, and maintenance of space-based structures will require extensive planning of operations in order to effectively carry out these tasks. The path planning algorithm described here is a general approach to generating paths that guarantee collision avoidance for a single chain nonredundant or redundant robot. The algorithm uses a graph search of feasible points in position space, followed by a local potential field method that guarantees collision avoidance among objects, structures, and the robot arm as well as conformance to joint limit constraints. This algorithm is novel in its computation of goal attractive potential fields in Cartesian space, and computation of obstacle repulsive fields in robot joint space. These effects are combined to generate robot motion. Computation is efficiently implemented through the computation of the robot arm Jacobian and not the full inverse arm kinematics. These planning algorithms have been implemented and evaluated using existing space-truss designs, and are being integrated into the RPI-CIRSSE Testbed environment.

Muenger, Rolf↗

NASA NTRS2014

Wald Sequential Probability Ratio Test for Space Object Conjunction Assessment

This paper shows how satellite owner/operators may use sequential estimates of collision probability, along with a prior assessment of the base risk of collision, in a compound hypothesis ratio test to inform decisions concerning collision risk mitigation maneuvers. The compound hypothesis test reduces to a simple probability ratio test, which appears to be a novel result. The test satisfies tolerances related to targeted false alarm and missed detection rates. This result is independent of the method one uses to compute the probability density that one integrates to compute collision probability. A well-established test case from the literature shows that this test yields acceptable results within the constraints of a typical operational conjunction assessment decision timeline. Another example illustrates the use of the test in a practical conjunction assessment scenario based on operations of the International Space Station.

Navigation↗

NASA NTRS2023

Orbital Debris Remediation: Should We Move, Remove, or Reuse Debris?

One way of reducing the risks orbital debris poses to spacecraft operators is to remediate or “clean up” debris. A piece of debris can be remediated by removing it from space, moving it to avoid collision, or finding a way to recycle it. It is unclear which is the best option, so this panel will explore the trade-offs and move toward developing the best possible portfolio to clean up the orbital environment.

Thomas Colvin↗

NASA NTRS2018

Application of a First-Principles Anomalous Transport Model for Electrons to Multiple Hall Thrusters and Operating Conditions

We have developed a physics-based model based on a pseudo-particle description of the electron cyclotron drift instability. A key improvement of the model with respect to previous work is that linear theory is not applied in the event of wave saturation and deviations of electrons or ions from a Maxwellian distribution function. In the acceleration region, the anomalous collision frequency is computed as the minimum value necessary to prevent the electron drift velocity from exceeding the thermal velocity. A functional based on the electron equilibration time is defined to control the transition from high to low resistivity regions. The model was previously applied to a single Hall thruster at its nominal operating condition, showing promising results that captured accurately the location of the thruster’s acceleration region. In this paper, we extend the use of this firstprinciples models to two additional thrusters, also considering multiple operating conditions for each of them. Numerical results are compared to experimental measurements obtained with non-invasive laser induced fluorescence. In general, the agreement between experiments and simulations is good. The model is able to predict the location of the acceleration region for all cases. We observe however that fine details, such as changes in the plasma potential gradient within the acceleration regions, are not captured. The model is also insensitive to changes in the magnetic field strength while experiments show that small shifts in location (of less than 5% of the acceleration channel length) occur. We plan to address the weaknesses of our method with the help of physical insight gained from kinetic simulations of the acceleration region.

Chaplin, Vernon H.↗