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All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Platform for Testing Robotic Vehicles on Simulated Terrain

The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes. The VTTP consists mostly of a 16-ft-(4.88-m)-square tilt table. The tilt can be adjusted to any angle between 0 (horizontal) and 25 . The test surface of the table can be left bare; can be covered with hard, high-friction material; or can be covered with sand, gravel, and/or other ground-simulating material or combination of materials to a thickness of as much as 6 in. (approx. 15 cm). Models of rocks, trenches, and other obstacles can be placed on the simulated terrain. For example, for one of the Mars- Rover tests, a high-friction mat was attached to the platform, then a 6-in.- ( 15 cm) deep layer of dry, loose beach sand was deposited on the mat. The choice of these two driving surface materials was meant to bound the range of variability of terrain that the rover was expected to encounter on the Martian surface. At each of the different angles at which tests were performed, for some of the tests, rocklike concrete obstacles ranging in height from 10 to 25 cm were placed in the path of the rover (see figure). The development of the VTTP was accompanied by development of a methodology of testing to characterize the performance and modes of failure of a vehicle under test. In addition to variations in slope, ground material, and obstacles, testing typically includes driving up-slope, down-slope, cross-slope, and at intermediate angles relative to slope. Testing includes recording of drive-motor currents, wheel speeds, articulation of suspension mechanisms, and the actual path of the vehicle over the simulated terrain. The collected data can be used to compute curves that summarize torque, speed, power-demand, and slip characteristics of wheels during the traverse.

Lindemann, Randel↗
NASA NTRS2012

Structural Verification of the First Orbital Wonder of the World - The Structural Testing and Analysis of the International Space Station (ISS)

The International Space Station (ISS) can be considered one of the structural engineering wonders of the world. On par with the World Trade Center, the Colossus of Rhodes, the Statue of Liberty, the Great Pyramids, the Petronas towers and the Burj Khalifa skyscraper of Dubai, the ambition and scope of the ISS structural design, verification and assembly effort is a truly global success story. With its on-orbit life projected to be from its beginning in 1998 to the year 2020 (and perhaps beyond), all of those who participated in its development can consider themselves part of an historic engineering achievement representing all of humanity. The structural design and verification of the ISS could be the subject of many scholarly papers. Several papers have been written on the structural dynamic characterization of the ISS once it was assembled on-orbit [1], but the ground-based activities required to assure structural integrity and structural life of the individual elements from delivery to orbit through assembly and planned on-orbit operations have never been totally summarized. This paper is intended to give the reader an overview of some of the key decisions made during the structural verification planning for the elements of the U.S. On-Orbit Segment (USOS) as well as to summarize the many structural tests and structural analyses that were performed on its major elements. An effort is made for this paper to be summarily comprehensive, but as with all knowledge capture efforts of this kind, there are bound to be errors of omission. Should the reader discover any of these, please feel free to contact the principal author. The ISS (Figure 1) is composed of pre-integrated truss segments and pressurized elements supplied by NASA, the Russian Federal Space Agency (RSA), the European Space Agency (ESA) and the Japanese Aerospace Exploration Agency (JAXA). Each of these elements was delivered to orbit by a launch vehicle and connected to one another either robotically or autonomously. The primary structure of each element was assembled and verified by teams of responsible structural engineers within and among their respective agencies and agency contractors.

Zipay, John J.↗
NASA NTRS2012

Integrated Flight/Structural Mode Control for Very Flexible Aircraft Using L1 Adaptive Output Feedback Controller

This paper explores application of adaptive control architecture to a light, high-aspect ratio, flexible aircraft configuration that exhibits strong rigid body/flexible mode coupling. Specifically, an L(sub 1) adaptive output feedback controller is developed for a semi-span wind tunnel model capable of motion. The wind tunnel mount allows the semi-span model to translate vertically and pitch at the wing root, resulting in better simulation of an aircraft s rigid body motion. The control objective is to design a pitch control with altitude hold while suppressing body freedom flutter. The controller is an output feedback nominal controller (LQG) augmented by an L(sub 1) adaptive loop. A modification to the L(sub 1) output feedback is proposed to make it more suitable for flexible structures. The new control law relaxes the required bounds on the unmatched uncertainty and allows dependence on the state as well as time, i.e. a more general unmatched nonlinearity. The paper presents controller development and simulated performance responses. Simulation is conducted by using full state flexible wing models derived from test data at 10 different dynamic pressure conditions. An L(sub 1) adaptive output feedback controller is designed for a single test point and is then applied to all the test cases. The simulation results show that the L(sub 1) augmented controller can stabilize and meet the performance requirements for all 10 test conditions ranging from 30 psf to 130 psf dynamic pressure.

Che, Jiaxing↗
NASA NTRS2012

A Geometric Analysis to Protect Manned Assets from Newly Launched Objects - COLA Gap Analysis

A safety risk was identified for the International Space Station (ISS) by The Aerospace Corporation following the launch of GPS IIR-20 (March 24, 2009), when the spent upper stage of the launch vehicle unexpectedly crossed inside the ISS notification box shortly after launch. This event highlighted a 56-hour vulnerability period following the end of the launch Collision Avoidance (COLA) process where the ISS would be unable to react to a conjunction with a newly launched object. Current launch COLA processes screen each launched object across the launch window to determine if an object's nominal trajectory is predicted to pass within 200 km of the ISS (or any other manned/mannable object), resulting in a launch time closure. These launch COLA screens are performed from launch through separation plus I 00 minutes. Once the objects are in orbit, they are cataloged and evaluated as part of routine on-orbit conjunction assessment processes. However, as the GPS IIR-20 scenario illustrated, there is a vulnerability period in the time line between the end of launch COLA coverage and the beginning of standard on-orbit COLA assessment activities. The gap between existing launch and on-orbit COLA processes is driven by the time it takes to track and catalog a launched object, identify a conjunction, and plan and execute a collision avoidance maneuver. For the ISS, the total time required to accomplish an of these steps is 56 hours. To protect human lives, NASA/JSC has requested that an US launches take additional steps to protect the ISS during this "COLA gap" period. The uncertainty in the state of a spent upper stage can be quite large after all bums are complete and all remaining propellants are expelled to safe the stage. Simply extending the launch COLA process an additional 56 hours is not a viable option as the 3-sigma position uncertainty will far exceed the 200 km miss-distance criterion. Additionally, performing a probability of collision (Pc) analysis over this period is also not practical due to the limiting effects of these large orbit state uncertainties. An estimated upper bound for Pc for a typical spent upper stage if nominally aligned for a direct broadside collision with the ISS is only on the order of 10-6. For a smaller manned object such as a Soyuz capsule, the risk level decreases to an order of 10'8 . In comparison, the Air Force Range policy (AFI 91-217) for launch COLAs would only eliminate launch opportunities when conjunctions with objects exceed a Pc of 10'5 This paper demonstrates a conservative geometry-based methodology that may be used to determine if launch opportunities pose a threat to the ISS during the COLA gap period. The NASA Launch Services Program at Kennedy Space Center has developed this COLA gap analysis method and employed it fQr three NASA missions to identify potential ISS conjunctions and corresponding launch window closures during the 56-hour at-risk period. In the analysis, for each launch opportunity, the nominal trajectory of the spent upper stage and the orbit state of the ISS are propagated over the 56 hour period. Each time the upper stage crosses the orbit plane of the ISS, the relative radial and argument of latitude separations are calculated. A window cutout is identified if these separation differences fall within a mission-specific violation box, which is determined from the evaluation of a Monte Carlo dispersions analysis that quantifies the potential variation in the upper stage radial and argument of latitude differences. This paper details the results of these analyses and their impacts to each mission.

Hametz, Mark E.↗
NASA NTRS2012

An Efficient Deterministic Approach to Model-based Prediction Uncertainty Estimation

Prognostics deals with the prediction of the end of life (EOL) of a system. EOL is a random variable, due to the presence of process noise and uncertainty in the future inputs to the system. Prognostics algorithm must account for this inherent uncertainty. In addition, these algorithms never know exactly the state of the system at the desired time of prediction, or the exact model describing the future evolution of the system, accumulating additional uncertainty into the predicted EOL. Prediction algorithms that do not account for these sources of uncertainty are misrepresenting the EOL and can lead to poor decisions based on their results. In this paper, we explore the impact of uncertainty in the prediction problem. We develop a general model-based prediction algorithm that incorporates these sources of uncertainty, and propose a novel approach to efficiently handle uncertainty in the future input trajectories of a system by using the unscented transformation. Using this approach, we are not only able to reduce the computational load but also estimate the bounds of uncertainty in a deterministic manner, which can be useful to consider during decision-making. Using a lithium-ion battery as a case study, we perform several simulation-based experiments to explore these issues, and validate the overall approach using experimental data from a battery testbed.

Daigle, Matthew J.↗
NASA NTRS2015

Hyperbolic Rendezvous at Mars: Risk Assessments and Mitigation Strategies

Given the current interest in the use of flyby trajectories for human Mars exploration, a key requirement is the capability to execute hyperbolic rendezvous. Hyperbolic rendezvous is used to transport crew from a Mars centered orbit, to a transiting Earth bound habitat that does a flyby. Representative cases are taken from future potential missions of this type, and a thorough sensitivity analysis of the hyperbolic rendezvous phase is performed. This includes early engine cutoff, missed burn times, and burn misalignment. A finite burn engine model is applied that assumes the hyperbolic rendezvous phase is done with at least two burns.

Jedrey, Ricky↗
NASA NTRS2017

First Order Temporal Logic Monitoring with BDDs

Runtime verification is aimed at analyzing execution traces stemming from a running program or system. The traditional purpose is to detect the lack of conformance with respect to a formal specification. Numerous efforts in the field have focused on monitoring so-called parametric specifications, where events carry data, and formulas can refer to such. Since a monitor for such specifications has to store observed data, the challenge is to have an efficient representation and manipulation of Boolean operators, quantification, and lookup of data. The fundamental problem is that the actual values of the data are not necessarily bounded or provided in advance. In this work we explore the use of Binary Decision Diagrams (BDDs) for representing observed data. Our experiments show a substantial improvement in performance compared to related work.

Ulus, Dogan↗
NASA NTRSDate not supplied

Moon to Mars (M2M): Exploration Atmosphere

As humans leave the bounds of Earth to explore the lunar surface and beyond, crew will don extravehicular activity (EVA) suits to learn more about these extraterrestrial environments, establish sustained presence, and perform needed upgrades and maintenance to their space vehicle and habitation systems. Spacefaring vehicle and habitation design will need to support these EVA excursions while ensuring crew health and safety. A crucial technological design advancement towards this goal is the use of a lower pressure exploration atmosphere (EA) that enables high efficiency EVA, rather than the sea level atmosphere of 14.7 psia, 21% oxygen (O 2 ) found on the International Space Station, Shuttle, and most other Russian and Chinese space vehicles and stations. Early space vehicles (Mercury through Apollo Programs) used a 5 psia, 100% O 2 environment, which eliminated the need for pre-EVA denitrogenation protocols, simplified the life support system to a single gas, and saved structural mass. For longer duration missions (Skylab), a diluent gas was added, changing the atmosphere to 5 psia, 70-74% O 2 to prevent atelectasis while remaining normoxic. As in-flight science became a top priority, Shuttle and ISS atmospheres were chosen to operate at sea level allowing for simpler ground-based study control conditions. Consequently this led to long pre-EVA denitrogenation protocols involving up to 4 hours of O 2 prebreathe because the EVA suit still operated at a low pressure of 4.3 psid. To increase operational efficiency, the Shuttle was retroactively certified to operate using 10.2 psia, 26.5% O 2 , reducing O 2 prebreathe time to 40-75 min. Current plans for M2M habitats on the Lunar surface require EVA, thus EA recommendation became 8 psia and 32% O 2 but was revised to 8.2 psia and 34% O 2 to decrease hypoxia exposure. Unfortunately, the benefits of EA in support of safe and efficient EVAs comes with the challenge of fire management in a higher-than-normal O 2 % environment. Although known for decades, the recommended forward work to address fire management has only recently begun. Current flammability tests include examining material propagation and ignition sources as well as fire mitigation processes to better understand these properties for proposed new EA environments. Fire safety, DCS risk, and mission design all contribute to the multifaceted parameters of EA. Thus while it is clear that EA is required to achieve the goals of future exploratory space missions, final specifications are still being evaluated for optimizing crew health and safety.

space atmosphere↗
NASA NTRS2004

Aquarius Instrument Science Calibration During the Risk Reduction Phase

This final report presents the results of work performed under NASA Grant NAG512726 during the period 15 January 2003 through 30 June 2004. An analysis was performed of a possible vicarious calibration method for use by Aquarius to monitor and stabilize the absolute and relative calibration of its microwave radiometer. Stationary statistical properties of the brightness temperature (T(sub B)) measured by a low Earth orbiting radiometer operating at 1.4135 GHz are considered as a means of validating its absolute calibration. The global minimum, maximum, and average T(sub B) are considered, together with a vicarious cold reference method that detects the presence of a sharp lower bound on naturally occurring values for T(sub B). Of particular interest is the reliability with which these statistics can be extracted from a realistic distribution of T(sub B) measurements that would be observed by a typical sensor. Simulations of measurements are performed that include the effects of instrument noise and variable environmental factors such as the global water vapor and ocean surface temperature, salinity and wind distributions. Global minima can vary widely due to instrument noise and are not a reliable calibration reference. Global maxima are strongly influenced by several environmental factors as well as instrument noise and are even less stationary. Global averages are largely insensitive to instrument noise and, in most cases, to environmental conditions as well. The global average T(sub B) varies at only the 0.1 K RMS level except in cases of anomalously high winds, when it can increase considerably more. The vicarious cold reference is similarly insensitive to instrument effects and most environmental factors. It is not significantly affected by high wind conditions. The stability of the vicarious reference is, however, found to be somewhat sensitive (at the several tenths of Kelvins level) to variations in the background cold space brightness, T(sub c). The global average is much less sensitive to this parameter and so using two approaches together can be mutually beneficial.

Ruf, Christopher S.↗
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 NTRS1976

Review study and evaluation of possible flight experiments relating to cloud physics experiments in space

The general objectives of the Zero-Gravity Atmospheric Cloud Physics Laboratory Program are to improve the level of knowledge in atmospheric cloud research by placing at the disposal of the terrestrial-bound atmospheric cloud physicist a laboratory that can be operated in the environment of zero-gravity or near zero-gravity. This laboratory will allow studies to be performed without mechanical, aerodynamic, electrical, or other techniques to support the object under study. The inhouse analysis of the Skylab 3 and 4 experiments in dynamics of oscillations, rotations, collisions and coalescence of water droplets under low gravity-environment is presented.

Hunt, R. J.↗
NASA NTRS1981

Low NOx heavy fuel combustor concept program. Phase 1: Combustion technology generation

The viability of low emission nitrogen oxide (NOx) gas turbine combustors for industrial and utility application. Thirteen different concepts were evolved and most were tested. Acceptable performance was demonstrated for four of the combustors using ERBS fuel and ultralow NOx emissions were obtained for lean catalytic combustion. Residual oil and coal derived liquids containing fuel bound nitrogen (FBN) were also used at test fuels, and it was shown that staged rich/lean combustion was effective in minimizing the conversion of FBN to NOx. The rich/lean concept was tested with both modular and integral combustors. While the ceramic lined modular configuration produced the best results, the advantages of the all metal integral burners make them candidates for future development. An example of scaling the laboratory sized combustor to a 100 MW size engine is included in the report as are recommendations for future work.

Lew, H. G.↗
NASA NTRS1989

On the design of nonlinear controllers for flight control systems

A method of approximate input-output linearization by dynamic state feedback is presented, with the flight control of VTOL aircraft used as an example. It is shown that the closed loop system has a graceful degradation of performance as the moment-to-force coupling is increased. It is also demonstrated that the approach proposed here leads to an asymptotically stable closed loop system with guaranteed bounds on the tracking error caused by the nonminumum phase character of the system.

Hauser, John↗
NASA NTRS1993

Direct simulation of isothermal-wall supersonic channel flow

The motivation for this work is the fact that in turbulent flows where compressibility effects are important, they are often poorly understood. A few examples of such flows are those associated with astrophysical phenomena and those found in combustion chambers, supersonic diffusers and nozzles, and over high-speed airfoils. For this project, we are primarily interested in compressibility effects near solid surfaces. Our main objective is an improved understanding of the fundamentals of compressible wall-bounded turbulence, which can in turn be used to cast light upon modeling concepts such as the Morkovin hypothesis and the Van Driest transformation. To this end, we have performed a direct numerical simulation (DNS) study of supersonic turbulent flow in a plane channel with constant-temperature walls. All of the relevant spatial and temporal scales are resolved so that no sub grid scale or turbulence model is necessary. The channel geometry was chosen so that finite Mach number effects can be isolated by comparing the present results to well established incompressible channel data. Here the fluid is assumed to be an ideal gas with constant specific heats, constant Prandtl number, and power-law temperature-dependent viscosity. Isothermal-wall boundary conditions are imposed so that a statistically stationary state may be obtained. The flow is driven by a uniform (in space) body force (rather than a mean pressure gradient) to preserve stream wise homogeneity, with the body force defined so that the total mass flux is constant.

Coleman, Gary N.↗
NASA NTRS1998

Pulsing Inertial Oscillation, Supercell Storms, and Surface Mesonetwork Data

The pulsing inertial oscillation (PIO) model is a nonlinear, time-dependent, translating vortex solution of the inviscid, compressible fluid dynamic equations in the middle troposphere. The translation of this vortex during a pulse is strikingly similar to that of a supercell storm -- a rotating thunderstorm that can generate tornadoes and hail. Two studies were performed to test the hypothesis that some supercell storms are manifestations of a PIO pulse. The first study applied the model to an intense interior draft whose buoyancy was bounded by a temperature excess of +/- 12 K. The peak updraft speed achieved was 41.5 m/ s and the peak Rossby number was 92.9. The study also pointed to an advanced concept for attaining higher values. The second study applied the PIO model to a supercell storm as a whole and succeeded in replicating its bulk properties, such as mesocyclonic circulation, net mass and moisture influxes, and time track. This study also identified a critical feature of the PIO model that could be tested against storm data: The average vertical draft is downward before the turn in the storm track and upward afterwards. In the conventional theory, the average vertical draft is upward from storm inception until dissipation. These differing draft predictions were compared with the best available data, which are surface mesonetwork data. These data were found to support the PIO model. However, surface data alone are not conclusive, and further measurements are warranted.

Costen, R. C.↗
NASA NTRS2009

Humidity Testing for Human Rated Spacecraft

Determination that equipment can operate in and survive exposure to the humidity environments unique to human rated spacecraft presents widely varying challenges. Equipment may need to operate in habitable volumes where the atmosphere contains perspiration, exhalation, and residual moisture. Equipment located outside the pressurized volumes may be exposed to repetitive diurnal cycles that may result in moisture absorption and/or condensation. Equipment may be thermally affected by conduction to coldplate or structure, by forced or ambient air convection (hot/cold or wet/dry), or by radiation to space through windows or hatches. The equipment s on/off state also contributes to the equipment s susceptibility to humidity. Like-equipment is sometimes used in more than one location and under varying operational modes. Due to these challenges, developing a test scenario that bounds all physical, environmental and operational modes for both pressurized and unpressurized volumes requires an integrated assessment to determine the "worst-case combined conditions." Such an assessment was performed for the Constellation program, considering all of the aforementioned variables; and a test profile was developed based on approximately 300 variable combinations. The test profile has been vetted by several subject matter experts and partially validated by testing. Final testing to determine the efficacy of the test profile on actual space hardware is in the planning stages. When validation is completed, the test profile will be formally incorporated into NASA document CxP 30036, "Constellation Environmental Qualification and Acceptance Testing Requirements (CEQATR)."

Johnson, Gary B.↗
NASA NTRS1974

Tree encoding of Gaussian sources

Tree codes are known to be capable of performing arbitrarily close to the rate-distortion function for any memoryless source and single-letter fidelity criterion. Tree coding and tree search strategies are investigated for the discrete-time memoryless Gaussian source encoded for a signal-power-to-mean-squared-error ratio of about 30 dB (about 5 binary digits per source output). Also, a theoretical lower bound on average search effort is derived. Two code search strategies (the Viterbi algorithm and the stack algorithm) were simulated in assembly language on a large digital computer. After suitable modifications, both strategies yielded encoding with a signal-to-distortion ratio about 1 dB below the limit set by the rate-distortion function. Although this performance is better than that of any previously known instrumentable scheme, it unfortunately requires search computation of the order of 100,000 machine cycles per source output encoded.

Dick, R. J.↗
NASA NTRS1988

Reliable use of determinants to solve nonlinear structural eigenvalue problems efficiently

The analytical derivation, numerical implementation, and performance of a multiple-determinant parabolic interpolation method (MDPIM) for use in solving transcendental eigenvalue (critical buckling or undamped free vibration) problems in structural mechanics are presented. The overall bounding, eigenvalue-separation, qualified parabolic interpolation, accuracy-confirmation, and convergence-recovery stages of the MDPIM are described in detail, and the numbers of iterations required to solve sample plane-frame problems using the MDPIM are compared with those for a conventional bisection method and for the Newtonian method of Simpson (1984) in extensive tables. The MDPIM is shown to use 31 percent less computation time than bisection when accuracy of 0.0001 is required, but 62 percent less when accuracy of 10 to the -8th is required; the time savings over the Newtonian method are about 10 percent.

Williams, F. W.↗