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NASA NTRS2021

Assessment of M2020 Terrain Relative Landing Accuracy: Flight Performance vs Predicts

Terrain Relative Navigation (TRN) was a critical enabling Entry, Descent, and Landing (EDL) technology that enabled Mars 2020 mission Perseverance rover to land at Jezero crater. TRN pro-vides real-time, autonomous, map-relative position determination and generates a landing target based on a priori knowledge of hazards. The required performance for TRN was to land within 60m of the selected target. The required 60m was sub-allocated to various error sources in three major categories: targeting error, knowledge error, and control error. The targeting error is the error in selecting an appropriate landing target and the knowledge of the target on the surface. It includes the Lander Vision System (LVS) position localization with respect the ground, the synchronization between the Lander Vision System measurement and the main Navigation filter, and errors associated with the LVS Reference Map and Safe Target Selec-tion (STS). The knowledge error is the contribution of knowledge growth from the synchronization with LVS to touchdown. The control error encompasses how accurately the system could stay on the desired reference trajectory. The TRN error budget uses a combination of analysis, simulation, and hardware test-ing results to bound the various error contributions obtained during the verification and validation process. This paper first presents a description the TRN system, focusing on the architecture of LVS and STS. The paper then gives detailed overview of the TRN error budget, with a description of the major error contribu-tions in each of the three categories. Next, the paper gives the results for three versions of the error budget, pre-launch, in-flight pre-landing, and post-landing. The paper compares the pre-flight analysis, the pre-landing analysis using in-flight data during cruise, to the post-landing analysis of the TRN performance. Pre-landing analysis best estimate of the landing performance was 33m, compared to the 60m require-ment. Post-landing analysis estimated a landing accuracy of 8.53m or better, much better than the 33m pre-landing estimate. The actual post-landing imagery calculated the distance of the rover to the targeted location to be 5m. The post-landing analysis closely bounds the image-based assessment of landing accu-racy, indicating the success of the error budget architecture in bounding the landing accuracy, as well as the fidelity of the simulations used to model and predict performance.

Chen, Allen↗

NASA NTRS1978

NOVA/IOPS - MDM/SIO - SL/BIU data transfer test software guide

The NOVA/IOPS (Input-Output Processor Simulator) is used to control all interface testing of the MDM (Multiplexer Demultiplexer) Breadboard S10 10M (serial input-output-input module) and the Matra Space Lab Inerface Unit (SL/BIU). The software handles bookkeeping such as word error rates, types of errors, display of error buffers, data display and test identification.

Source record↗

NASA NTRS1993

Learning class descriptions from a data base of spectral reflectance of soil samples

Consideration is given to a program developed to learn class descriptions from positive and negative training examples of spectral reflectance data of bare soils. It is a combination of 'learning by example' and the generate-and-test paradigm and is designed to provide a robust learning environment that can handle error-prone data. The program was tested by having it learn class descriptions of various categories of organic carbon content, iron oxide content, and particle size distribution in soils. These class descriptions were then used to classify an array of targets. The program found the sequence of relationships between bands that contained the most important information to distinguish the classes. Physical explanations for the class descriptions obtained are presented.

Kimes, D. S.↗

NASA NTRS2006

Improved target handoff for single cycle instrument placement

Single Cycle Instrument Placement(SCIP)could dramatically increase the speed of various planetary rover operations. JPL is validating SCIP for use on its upcoming Mars Science Laboratory mission. Two major sources of error in the implementation submitted for validation were imprecision in selecting a distant target and error introduced while handing the target off to the rover's hazard cameras (hazcams). We have added the capability to designate a target using high resolution cameras (pancams) and then hand off to medium resolution cameras (navcams) with little error later in the traverse. We implemented several options for handoff from navcams to hazcams. We evaluated their performance on several test cases. Two methods produced average handoff error of 1 pixel when successful, but these only worked in half of the tests. Two other methods reliably produced about 10 pixels of error. None reliably reach the goal of 1 pixel handoff accuracy.

handoff↗

NASA NTRS2013

Creating and Testing Simulation Software

The goal of this project is to learn about the software development process, specifically the process to test and fix components of the software. The paper will cover the techniques of testing code, and the benefits of using one style of testing over another. It will also discuss the overall software design and development lifecycle, and how code testing plays an integral role in it. Coding is notorious for always needing to be debugged due to coding errors or faulty program design. Writing tests either before or during program creation that cover all aspects of the code provide a relatively easy way to locate and fix errors, which will in turn decrease the necessity to fix a program after it is released for common use. The backdrop for this paper is the Spaceport Command and Control System (SCCS) Simulation Computer Software Configuration Item (CSCI), a project whose goal is to simulate a launch using simulated models of the ground systems and the connections between them and the control room. The simulations will be used for training and to ensure that all possible outcomes and complications are prepared for before the actual launch day. The code being tested is the Programmable Logic Controller Interface (PLCIF) code, the component responsible for transferring the information from the models to the model Programmable Logic Controllers (PLCs), basic computers that are used for very simple tasks.

Heinich, Christina M.↗

NASA NTRS1975

Flight experience with time-of-arrival control for STOL aircraft in the terminal area

A research program on STOL operating systems is underway at the Ames Research Center. One investigation is concerned with design, analysis, and flight test of promising four-dimensional RNAV systems. One promising system generates a capture flight path from the present aircraft position to a waypoint on a selected fixed STOL approach route. It predicts arrival time at the runway and controls time and position along the path. The system was flight tested using a digital avionics system on a Convair 340 and on an experimental powered-lift STOL airplane. Flight tests in the flight director mode show that the pilot can choose and change the desired time of arrival, and meet this time within a few seconds, in spite of navigation errors and varying winds. Initial tests of the automatic mode using a flight simulator and the NASA Augmentor Wing Jet STOL Research Aircraft (AWJSRA) show that good time control was achieved at the cost of excess throttle activity. This fault was later corrected.

Neuman, F.↗

NASA NTRS1982

Honeycomb mirrors of borosilicate glass

The fabrication of different types of honeycomb mirrors with various kinds of borosilicate glass is discussed. Borosilicate glass is much less expensive to make than zero expansion glass, and can be used for ground-based applications. A mirror 60 cm in diameter made with a slotted strut or egg-crate honeycomb of 6 mm polished Pyrex plate is shown. The faceplates are 12 mm thick, laminated from the same 6 mm sheet. The result of an interferometric test is shown, with residual errors of about wavelength/8 RMS. An alternative fabrication technique for very large mirrors which require high quality bonds between separate sheets of thick Pyrex is described. The result of a recent test casting of a 60 cm honeycomb structure made in a mold with towers 14 cm square and 6 mm gaps between is shown, and methods to cast an entire mirror in one operation are discussed.

Angel, J. R. P.↗

NASA NTRS1996

An Acoustic Emission and Acousto-Ultrasonic Analysis of Impact Damaged Composite Pressure Vessels

The research presented herein summarizes the development of acoustic emission (AE) and acousto-ultrasonic (AU) techniques for the nondestructive evaluation of filament wound composite pressure vessels. Vessels fabricated from both graphite and kevlar fibers with an epoxy matrix were examined prior to hydroburst using AU and during hydroburst using AE. A dead weight drop apparatus featuring both blunt and sharp impactor tips was utilized to produce a single known energy 'damage' level in each of the vessels so that the degree to which the effects of impact damage could be measured. The damage levels ranged from barely visible to obvious fiber breakage and delamination. Independent neural network burst pressure prediction models were developed from a sample of each fiber/resin material system. Here, the cumulative AE amplitude distribution data collected from low level proof test (25% of the expected burst for undamaged vessels) were used to measure the effects of the impact on the residual burst pressure of the vessels. The results of the AE/neural network model for the inert propellant filled graphite/epoxy vessels 'IM7/3501-6, IM7/977-2 and IM7/8553-45' demonstrated that burst pressures can be predicted from low level AE proof test data, yielding an average error of 5.0%. The trained network for the IM7/977-2 class vessels was also able to predict the expected burst pressure of taller vessels (three times longer hoop region length) constructed of the same material and using the same manufacturing technique, with an average error of 4.9%. To a lesser extent, the burst pressure prediction models could also measure the effects of impact damage to the kevlar/epoxy 'Kevlar 49/ DPL862' vessels. Here though, due to the higher attenuation of the material, an insufficient amount of AE amplitude information was collected to generate robust network models. Although, the worst case trial errors were less than 6%, when additional blind predictions were attempted, errors as high as 50% were produced. An acousto-ultrasonic robotic evaluation system (AURES) was developed for mapping the effects of damage on filament wound pressure vessels prior to hydroproof testing. The AURES injects a single broadband ultrasonic pulse into each vessel at preprogrammed positions and records the effects of the interaction of that pulse on the material volume with a broadband receiver. A stress wave factor in the form of the energy associated with the 750 to 1000 kHz and 1000 to 1250 kHz frequency bands were used to map the potential failure sites for each vessel. The energy map associated with the graphite/epoxy vessels was found to decrease in the region of the impact damage. The kevlar vessels showed the opposite trend, with the energy values increasing around the damage/failure sites.

Walker, James L.↗

NASA NTRS1974

A new criterion for modeling systems

The criterion that is proposed is an expected value of the mean square response error as an alternative to testing a model against new data. Modeling with respect to this new criterion does not change the estimate for a given model format from a maximum likelihood estimate or mean square response error estimate. The new criterion does, however, provide a means of comparing models with different formats and varying complexity. A numerical example is used to illustrate the application of the proposed criteria and the problem of searching for the best model. For all but the most trivial system identification problems, it is shown that a prohibitive number of combinations of terms of the model must be investigated to ensure the final model is best.

Taylor, L. W., Jr.↗

NASA NTRS1982

Applications of parameter estimation in the study of spinning airplanes

Spinning airplanes offer challenges to estimating dynamic parameters because of the nonlinear nature of the dynamics. In this paper, parameter estimation techniques are applied to spin flight test data for estimating the error in measuring post-stall angles of attack, deriving Euler angles from angular velocity data, and estimating nonlinear aerodynamic characteristics. The value of the scale factor for post-stall angles of attack agrees closely with that obtained from special wind-tunnel tests. The independently derived Euler angles are seen to be valid in spite of steep pitch angles. Estimates of flight derived nonlinear aerodynamic parameters are evaluated in terms of the expected fit error.

W Taylor, L., Jr.↗

NASA NTRS1988

Automatically generated acceptance test: A software reliability experiment

This study presents results of a software reliability experiment investigating the feasibility of a new error detection method. The method can be used as an acceptance test and is solely based on empirical data about the behavior of internal states of a program. The experimental design uses the existing environment of a multi-version experiment previously conducted at the NASA Langley Research Center, in which the launch interceptor problem is used as a model. This allows the controlled experimental investigation of versions with well-known single and multiple faults, and the availability of an oracle permits the determination of the error detection performance of the test. Fault interaction phenomena are observed that have an amplifying effect on the number of error occurrences. Preliminary results indicate that all faults examined so far are detected by the acceptance test. This shows promise for further investigations, and for the employment of this test method on other applications.

Protzel, Peter W.↗

NASA NTRS1975

Automatic documentation system extension to multi-manufacturers' computers and to measure, improve, and predict software reliability

The DOMONIC system has been modified to run on the Univac 1108 and the CDC 6600 as well as the IBM 370 computer system. The DOMONIC monitor system has been implemented to gather data which can be used to optimize the DOMONIC system and to predict the reliability of software developed using DOMONIC. The areas of quality metrics, error characterization, program complexity, program testing, validation and verification are analyzed. A software reliability model for estimating program completion levels and one on which to base system acceptance have been developed. The DAVE system which performs flow analysis and error detection has been converted from the University of Colorado CDC 6400/6600 computer to the IBM 360/370 computer system for use with the DOMONIC system.

Simmons, D. B.↗

NASA NTRS2018

A Risk Analysis Tool for Estimating the Risk of Electrical Failures Due to Human Induced Defects

Aerospace electrical systems are required to withstand and adequately operate in extremely harsh environments that include, for example, high radiation exposure, temperature extremes, intense vibrational stress and drastic temperature cycling. The nature of aerospace electronics also demands high reliability since, with very few exceptions, there is no chance for hardware servicing or repairs. Common risk mitigation techniques for this type of situation are to perform a Reliability Analysis of the system throughout the development cycle, and to use electrical components that are regarded as “high reliability” because of additional controls and requirements applied in their design, manufacturing and testing. Unfortunately, studies have shown that even though these techniques are used, many systems fail to meet mission requirements well before the predicted lifetimes. This paper presents the analysis of failures of electrical parts, experienced during various stages of system development, at NASA Goddard Space Flight Center, Greenbelt MD, between the years 2001 and 2013. These components were subjected to qualification, screening and testing in which the goal was to ensure that the components would survive the stresses of the mission. The analysis categorizes failures by part type and failure mechanisms. One of the results of the analysis was the realization that a surprising proportion of failures experienced during system integration and testing were caused by human error (i.e. human induced defect). Further analysis included the determination of root failure mechanisms and any influencing factors contributing to these failures. The major causes of these defects were attributed to electrostatic damage (ESD), electrical overstress (EOS), mechanical overstress (MOS), and thermal overstress (TOS). Finally, the study proposes a risk analysis tool which incorporates these major causes for the failures, termed error-producing conditions (EPCs), and a proportionality factor representing the number of each type of failure that has occurred at the facility under study. These factors are quantified and used to communicate the risk of human induced defects for the assembly, integration and testing of space hardware based on the system’s electrical parts list. The new risk identification can trigger risk-mitigating actions more effectively, based on the presence of component categories or other hazardous conditions that have a history of failure due to human error.

Majewicz, Peter J.↗

NASA NTRS1985

A methodology for testing fault-tolerant software

A methodology for testing fault tolerant software is presented. There are problems associated with testing fault tolerant software because many errors are masked or corrected by voters, limiter, or automatic channel synchronization. This methodology illustrates how the same strategies used for testing fault tolerant hardware can be applied to testing fault tolerant software. For example, one strategy used in testing fault tolerant hardware is to disable the redundancy during testing. A similar testing strategy is proposed for software, namely, to move the major emphasis on testing earlier in the development cycle (before the redundancy is in place) thus reducing the possibility that undetected errors will be masked when limiters and voters are added.

Andrews, D. M.↗

NASA NTRS1982

Ranging/tracking system for proximity operations

The hardware development and testing phase of a hand held radar for the ranging and tracking for Shuttle proximity operations are considered. The radar is to measure range to a 3 sigma accuracy of 1 m (3.28 ft) to a maximum range of 1850 m (6000 ft) and velocity to a 3 sigma accuracy of 0.03 m/s (0.1 ft/s). Size and weight are similar to hand held radars, frequently seen in use by motorcycle police officers. Meeting these goals for a target in free space was very difficult to obtain in the testing program; however, at a range of approximately 700 m, the 3 sigma range error was found to be 0.96 m. It is felt that much of this error is due to clutter in the test environment. As an example of the velocity accuracy, at a range of 450 m, a 3 sigma velocity error of 0.02 m/s was measured. The principles of the radar and recommended changes to its design are given. Analyses performed in support of the design process, the actual circuit diagrams, and the software listing are included.

Nilsen, P.↗

NASA NTRS1961

THE INDUCED DRAG OF A DECELERATING AIRFOIL

In a recent paper in Soaring, C.A. Moeller proposed a method for determining the performance of a sailplane by recording the deceleration history of the craft following a steep dive. The advantage claimed for this method was that it would allow performance testing to be done in relatively quiescent air near the ground. It would thus be possible to eliminate the errors and uncertainties associated with conventional testing procedures, by avoiding the effects of the extraneous air currents which exist at altitude. Unfortunately, however, deceleration evaluation technique necessarily involves unsteady aerodynamics, and is thus itself subject to certain inherent error source of unknown magnitude.

DRAG↗

NASA NTRS2014

Using a Support Vector Machine and a Land Surface Model to Estimate Large-Scale Passive Microwave Temperatures over Snow-Covered Land in North America

A support vector machine (SVM), a machine learning technique developed from statistical learning theory, is employed for the purpose of estimating passive microwave (PMW) brightness temperatures over snow-covered land in North America as observed by the Advanced Microwave Scanning Radiometer (AMSR-E) satellite sensor. The capability of the trained SVM is compared relative to the artificial neural network (ANN) estimates originally presented in [14]. The results suggest the SVM outperforms the ANN at 10.65 GHz, 18.7 GHz, and 36.5 GHz for both vertically and horizontally-polarized PMW radiation. When compared against daily AMSR-E measurements not used during the training procedure and subsequently averaged across the North American domain over the 9-year study period, the root mean squared error in the SVM output is 8 K or less while the anomaly correlation coefficient is 0.7 or greater. When compared relative to the results from the ANN at any of the six frequency and polarization combinations tested, the root mean squared error was reduced by more than 18 percent while the anomaly correlation coefficient was increased by more than 52 percent. Further, the temporal and spatial variability in the modeled brightness temperatures via the SVM more closely agrees with that found in the original AMSR-E measurements. These findings suggest the SVM is a superior alternative to the ANN for eventual use as a measurement operator within a data assimilation framework.

Modeling↗

NASA NTRS2017

Lost in Translation: the Case for Integrated Testing

The building of a spacecraft is complex and often involves multiple suppliers and companies that have their own designs and processes. Standards have been developed across the industries to reduce the chances for critical flight errors at the system level, but the spacecraft is still vulnerable to the introduction of critical errors during integration of these systems. Critical errors can occur at any time during the process and in many cases, human reliability analysis (HRA) identifies human error as a risk driver. Most programs have a test plan in place that is intended to catch these errors, but it is not uncommon for schedule and cost stress to result in less testing than initially planned. Therefore, integrated testing, or "testing as you fly," is essential as a final check on the design and assembly to catch any errors prior to the mission. This presentation will outline the unique benefits of integrated testing by catching critical flight errors that can otherwise go undetected, discuss HRA methods that are used to identify opportunities for human error, lessons learned and challenges over ownership of testing will be discussed.

Young, Aaron↗