A treatise on the Surveyor lunar landing dynamics and an evaluation of pertinent telemetry data returned by Surveyor I
Dynamic behavior of Surveyor landing system and surface material during lunar landing
LANDING SYSTEM↗
SEARCH · Engineering Papers
Results for “spacecraft behavior”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Secondary emission conductivity of high purity silica fabric
High purity silica fabrics were proposed for use as a material to control the effects of electrostatic charging of satellites at synchronous altitudes. These materials exhibited very quiet behavior when placed in simulated charging environments as opposed to other dielectrics used for passive thermal control which exhibit varying degrees of electrical arcing. Secondary emission conductivity is proposed as a mechanism for this superior behavior. Design of experiments to measure this phenomena and data taken on silica fabrics are discussed as they relate to electrostatic discharge (ESD) control on geosynchronous orbit spacecraft. Studies include the apparent change in resistivity of the material as a function of the electron beam energy, flux intensity, and the effect of varying electric fields impressed across the material under test.
Belanger, V. J.↗
Measurements of particle emission from discharge sites in Teflon irradiated by high energy electron beams
Anomalous behavior of synchronous orbit satellites manifested by overall degradation of system performance and reduced operating life is associated with electrical discharges resulting from differential charging of the spacecraft surface by fluxes of high energy electrons. During a laboratory simulation silver-backed Teflon samples have been irradiated by electron beams having energies in the range 16-26 keV. Charged particles emitted from the resultant electrical discharges have been measured with a biased Faraday cup and retarding potential analyser. Measurements indicate the presence of two distinct fluxes of particles, the first being an early pulse (0-600ns) of high energy (about 7keV) electrons, while the second is a late pulse (1-5 microseconds) of low energy electrons (less than 1eV) and ions (70eV) leaving the discharge site as a quasi plasma. Calculations indicate an electrostatic field as the dominant accelerating mechanism for charged particles.
Hazelton, R. C.↗
Nonlinear modal resonances in low-gravity slosh-spacecraft systems
Nonlinear models of low gravity slosh, when coupled to spacecraft vibrations, predict intense nonlinear eigenfrequency shifts at zero gravity. These nonlinear frequency shifts are due to internal quadratic and cubic resonances between fluid slosh modes and spacecraft vibration modes. Their existence has been verified experimentally, and they cannot be correctly modeled by approximate, uncoupled nonlinear models, such as pendulum mechanical analogs. These predictions mean that linear slosh assumptions for spacecraft vibration models can be invalid, and may lead to degraded control system stability and performance. However, a complete nonlinear modal analysis will predict the correct dynamic behavior. This paper presents the analytical basis for these results, and discusses the effect of internal resonances on the nonlinear coupled response at zero gravity.
Peterson, Lee D.↗
Plasma sheet turbulence observed by Cluster II
Cluster fluxgate magnetometer (FGM) and ion spectrometer (CIS) data are employed to analyze magnetic field fluctuations within the plasma sheet during passages through the magnetotail region in the summers of 2001 and 2002 and, in particular, to look for characteristics of magnetohydrodynamic (MHD) turbulence. Power spectral indices determined from power spectral density functions are on average larger than Kolmogorov's theoretical value for fluid turbulence as well as Kraichnan's theoretical value for MHD plasma turbulence. Probability distribution functions of the magnetic fluctuations show a scaling law over a large range of temporal scales with non-Gaussian distributions at small dissipative scales and inertial scales and more Gaussian distribution at large driving scales. Furthermore, a multifractal analysis of the magnetic field components shows scaling behavior in the inertial range of the fluctuations from about 20 s to 13 min for moments through the fifth order. Both the scaling behavior of the probability distribution functions and the multifractal structure function suggest that intermittent turbulence is present within the plasma sheet. The unique multispacecraft aspect and fortuitous spacecraft spacing allow us to examine the turbulent eddy scale sizes. Dynamic autocorrelation and cross correlation analysis of the magnetic field components allow us to determine that eddy scale sizes fit within the plasma sheet. These results suggest that magnetic field turbulence is occurring within the plasma sheet resulting in turbulent energy dissipation.
Weygand, James M.↗
Experiences applying Formal Approaches in the Development of Swarm-Based Space Exploration Systems
NASA is researching advanced technologies for future exploration missions using intelligent swarms of robotic vehicles. One of these missions is the Autonomous Nan0 Technology Swarm (ANTS) mission that will explore the asteroid belt using 1,000 cooperative autonomous spacecraft. The emergent properties of intelligent swarms make it a potentially powerful concept, but at the same time more difficult to design and ensure that the proper behaviors will emerge. NASA is investigating formal methods and techniques for verification of such missions. The advantage of using formal methods is the ability to mathematically verify the behavior of a swarm, emergent or otherwise. Using the ANTS mission as a case study, we have evaluated multiple formal methods to determine their effectiveness in modeling and ensuring desired swarm behavior. This paper discusses the results of this evaluation and proposes an integrated formal method for ensuring correct behavior of future NASA intelligent swarms.
Rouff, Christopher A.↗
Analysis of the Lenticular Jointed MARSIS Antenna Deployment
This paper summarizes important milestones in a yearlong comprehensive effort which culminated in successful deployments of the MARSIS antenna booms in May and June of 2005. Experimentally measured straight section and hinge properties are incorporated into specialized modeling techniques that are used to simulate the boom lenticular joints. System level models are exercised to understand the boom deployment dynamics and spacecraft level implications. Discussion includes a comparison of ADAMS simulation results to measured flight data taken during the three boom deployments. Important parameters that govern lenticular joint behavior are outlined and a short summary of lessons learned and recommendations is included to better understand future applications of this technology.
Dynamic↗
Artificial Immune System for Recognizing Patterns
A method of recognizing or classifying patterns is based on an artificial immune system (AIS), which includes an algorithm and a computational model of nonlinear dynamics inspired by the behavior of a biological immune system. The method has been proposed as the theoretical basis of the computational portion of a star-tracking system aboard a spacecraft. In that system, a newly acquired star image would be treated as an antigen that would be matched by an appropriate antibody (an entry in a star catalog). The method would enable rapid convergence, would afford robustness in the face of noise in the star sensors, would enable recognition of star images acquired in any sensor or spacecraft orientation, and would not make an excessive demand on the computational resources of a typical spacecraft. Going beyond the star-tracking application, the AIS-based pattern-recognition method is potentially applicable to pattern- recognition and -classification processes for diverse purposes -- for example, reconnaissance, detecting intruders, and mining data.
Huntsberger, Terrance↗
Tantalum capacitor behavior under fast transient overvoltages
Tantalum capacitors were tested to determine failure time when subjected to short-duration, high-voltage surges caused by lightning strikes. Lightning is of concern to NASA because of possible damage to critical spacecraft circuits. The test was designed to determine the minimum time for tantalum capacitor failure and the amount of overvoltage a capacitor could survive, without permanent damage, in 100 microseconds. All tested exhibited good recovery from the transient one-shot pulses with no failure at any voltage, forward or reverse, in less than 25 microseconds.
Zill, J. A.↗
Dynamics and Control of a Disordered System in Space
In this paper, we present some ideas regarding the modeling, dynamics and control aspects of granular spacecraft. Granular spacecraft are complex multibody systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of N grains in orbit, with N greater than 10(exp 3). These grains can be large (Cubesat-size) or small (mm-size), and can be active, i.e., a fully equipped vehicle capable sensing their own position and attitude, and enabled with propulsion means, or entirely passive. The ultimate objective would be to study the behavior of the single grains and of large ensembles of grains in orbit and to identify ways to guide and control the shape of a cloud composed of these grains so that it can perform a useful function in space, for instance, as an element of an optical imaging system for astrophysical applications. This concept, in which the aperture does not need to be continuous and monolithic, would increase the aperture size several times compared to large NASA observatories such as ATLAST, allowing for a true Terrestrial Planet Imager that would be able to resolve exo-planet details and do meaningful spectroscopy on distant world. In the paper, we address the modeling and autonomous operation of a distributed assembly (the cloud) of large numbers of highly miniaturized space-borne elements (the grains). A multi-scale, multi-physics model is proposed of the dynamics of the cloud in orbit, as well as a control law for cloud shape maintenance, and preliminary simulation studies yield an estimate of the computational effort, indicating a scale factor of approximately N(exp 1.4) as a function of the number of grains. A granular spacecraft can be defined as a collection of a large number of space-borne elements (in the 1000s) designed and controlled such that a desirable collective behavior emerges, either from the interactions among neighboring grains, and/or between the grains and the environment. In this paper, each grain is considered to be a highly miniaturized spacecraft which has limited size and mass, hence it has limited actuation, limited propulsive capability, limited power, limited sensing, limited communication, limited computational resources, limited range of motion, limited lifetime, and may be expendable. The modeling and dynamics of clouds of vehicles is more challenging than with conventional vehicles because we are faced with a probabilistic vehicle composed of a large number of physically disconnected vehicles. First, different scales of motion occur simultaneously in a cloud: translations and rotations of the cloud as a whole (macro-dynamics), relative rotation and translation of one cloud member with respect to another (meso-dynamics), and individual cloud member dynamics (micro-dynamics). Second, the control design needs to be tolerant of the system complexity, of the system architecture (centralized vs. decentralized large scale system control) as well as robust to un-modeled dynamics and noise sources. Figure 1, top left, shows the kinematic parameters of a 1000 element cloud in orbit. The motion of the system is described with respect to a local vertical-local horizontal (LV-LH) orbiting reference frame (x,y,z)=F(sub ORF) of origin O(sub ORF) which rotates with mean motion omega and orbital semi-major axis R(sub 0). The orbital geometry at the initial time is defined in terms of its six orbital elements, and the orbital dynamics equation for point O(sub ORF) is propagated forward in time under the influence of the gravitational field of the primary and other external perturbations, described below. The origin of this frame coincides with the initial position of the center of mass of the system, and the coordinate axes are z along the local vertical, x toward the flight direction, and y in the orbit normal direction. The assumptions we used to model the dynamics are as follows: 1) The inertial frame is fixed at Earth's center. 2) The orbiting Frame ORF follows Keplerian orbit. 3) the cloud system dynamics is referred to ORF. 4) the attitude of each grain uses the principal body frame as body fixed frame. 5) the atmosphere is assumed to be rigidly rotating with the Earth. Regarding the grains forming the cloud: 1) each grain is modeled as a rigid body; 2) a simple attitude estimator provides attitude estimates, 3) a simple guidance logic commands the position and attitude of each grain, 4) a simple local feedback controller based on PD control of local states is used to stabilize the attitude of the vehicle. Regarding the cloud: 1) the cloud as a whole is modeled as an equivalent rigid body in orbit, and 2) an associated graph establishes agent connectivity and enables coupling between modes of motion at the micro and macro scales; 3) a simple guidance and estimation logic is modeled to estimate and command the attitude of this equivalent rigid body; 4) a cloud shape maintenance controller is based on the dynamics of a stable virtual truss in the orbiting frame. Regarding the environmental perturbations acting on the cloud: 1) a non-spherical gravity field including JO (Earth's spherical field) zonal component, J2 (Earth's oblateness) and J3 zonal components is implemented; 2) atmospheric drag is modeled with an exponential model; 3) solar pressure is modeled assuming the Sun is inertially fixed; and 4) the Earth's magnetic field is model using an equivalent dipole model. The equations of motion are written in a referential system with respect to the origin of the orbiting frame and the state is propagated forward in time using an incremental predictor-corrector scheme. A representative cloud with varying number of grains is simulated to identify the limitations in computation time as the number of grains grows. We derive a control law to track a desired surface in the ORF (equivalently to maintain a reference cloud shape) by defining an error from a desired surface shape, and designing a control law that is exponentially stable and reduces the tracking error to zero. Figure 1 (top right) shows a comparison of various requirements for simulation of single spacecraft vs. granular spacecraft, indicating the high degree of complexity that needs to be taken into consideration. The ORF components of control force required by one of the grains is, for this particular case, in the micro-Newton range. However, no attempt has been made yet to reconfigure (or re-orient) the cloud configuration internally, for which forces in the milli-Newton level are expected, depending on the time required to do the reconfiguration. Figure 1, bottom, shows the computation time as a function of the number of grains, indicating an order N(exp 1.43) scaling on a 8 Gb, 1067 MHz RAM MacOSX computer with a 3.06 GHz Intel Core 2 Duo processor. With this metric, the same simulation for a system of N=1000 grains would take 5.4 hours, and 146 hours (i.e., 6 days) for a system with N=10,000 grains. Therefore, efficient ways to simulate this complex system, where not only the time scales of natural system dynamics, but also the sampling times of the Guidance, Navigation, and Control are included, remain to be explored. Additional details on the cloud modeling, dynamics, and control will be described in the paper.
simulation↗
Integrated Modeling of Spacecraft Touch-and-Go Sampling
An integrated modeling tool has been developed to include multi-body dynamics, orbital dynamics, and touch-and-go dynamics for spacecraft covering three types of end-effectors: a sticky pad, a brush-wheel sampler, and a pellet gun. Several multi-body models of a free-flying spacecraft with a multi-link manipulator driving these end-effectors have been tested with typical contact conditions arising when the manipulator arm is to sample the surface of an asteroidal body. The test data have been infused directly into the dynamics formulation including such information as the mass collected as a function of end-effector longitudinal speed for the brush-wheel and sticky-pad samplers, and the mass collected as a function of projectile speed for the pellet gun sampler. These data represent the realistic behavior of the end effector while in contact with a surface, and represent a low-order model of more complex contact conditions that otherwise would have to be simulated. Numerical results demonstrate the adequacy of these multibody models for spacecraft and manipulator- arm control design. The work contributes to the development of a touch-and-go testbed for small body exploration, denoted as the GREX Testbed (GN&C for Rendezvous-based EXploration). The GREX testbed addresses the key issues involved in landing on an asteroidal body or comet; namely, a complex, low-gravity field; partially known terrain properties; possible comet outgassing; dust ejection; and navigating to a safe and scientifically desirable zone.
Quadrelli, Marco↗
Comustion of HAN-Based Monopropellant Droplets in Reduced Gravity
Hydroxylammonium nitrate (HAN) is a major constituent in a class of liquid monopropellants that have many attractive characteristics and which display phenomena that differ significantly from other liquid monopropellants. They are composed primarily of HAN, H2O and a fuel species, often triethanolammonium nitrate (TEAN). HAN-based propellants have attracted attention as liquid gun propellants, and are attractive for NASA spacecraft propulsion applications. A representative propellant is XM46. This mixture is 60.8% HAN, 19.2% TEAN and 20% H2O by weight. Other HAN-based propellant mixtures are also of interest. For example, methanol and glycine have been investigated as potential fuel species for HAN-based monopropellants for thruster applications. In the present research, experimental and theoretical studies are performed on combustion of HAN-based monopropellant droplets. The fuel species considered are TEAN, methanol and glycine. Droplets initially in the mm size range are studied at pressures up to 30 atm. These pressures are applicable to spacecraft thruster applications. The droplets are placed in environments with various amounts of Ar, N2, O2, NO2 and N2O. Reduced gravity is employed to enable observations of burning rates and flame structures to be made without the complicating effects of buoyant and forced convection. Normal gravity experiments are also performed in this research program. The experiment goals are to provide accurate fundamental data on deflagration rates, gasphase temperature profiles, transient gas-phase flame behaviors, the onset of bubbling in droplets at lower pressures, and the low-pressure deflagration limit. Theoretical studies are performed to provide rational models of deflagration mechanisms of HAN-based liquid propellants. Besides advancing fundamental knowledge, this research should aid in applications (e.g., spacecraft thrusters and liquid propellant guns) of this unique class of monopropellants.
Shaw, B. D.↗
After the Mars Polar Lander: Where to Next?
The recent loss of the Mars Polar Lander (MPL) mission represents a serious setback to Mars science and exploration. Targeted to land on the Martian south polar layered deposits at 76 degrees south latitude and 195 degrees west longitude, it would have been the first mission to study the geology, atmospheric environment, and volatiles at a high-latitude landing site. Since the conception of the MPL mission, a Mars exploration strategy has emerged which focuses on Climate, Resources and Life, with the behavior and history of water as the unifying theme. A successful MPL mission would have made significant contributions towards these goals, particularly in understanding the distribution and behavior of near-surface water, and the nature and climate history of the south polar layered deposits. Unfortunately, due to concerns regarding the design of the MPL spacecraft, the rarity of direct trajectories that enable high-latitude landings, and funding, an exact reflight of MPL is not feasible within the present planning horizon. However, there remains significant interest in recapturing the scientific goals of the MPL mission. The following is a discussion of scientific and strategic issues relevant to planning the next polar lander mission, and beyond.
Paige, D. A.↗
IDEA: Planning at the Core of Autonomous Reactive Agents
Several successful autonomous systems are separated into technologically diverse functional layers operating at different levels of abstraction. This diversity makes them difficult to implement and validate. In this paper, we present IDEA (Intelligent Distributed Execution Architecture), a unified planning and execution framework. In IDEA a layered system can be implemented as separate agents, one per layer, each representing its interactions with the world in a model. At all levels, the model representation primitives and their semantics is the same. Moreover, each agent relies on a single model, plan database, plan runner and on a variety of planners, both reactive and deliberative. The framework allows the specification of agents that operate, within a guaranteed reaction time and supports flexible specification of reactive vs. deliberative agent behavior. Within the IDEA framework we are working to fully duplicate the functionalities of the DS1 Remote Agent and extend it to domains of higher complexity than autonomous spacecraft control.
Muscettola, Nicola↗
Wind Observations of Anomalous Cosmic Rays from Solar Minimum to Maximum
We report the first observation near Earth of the time behavior of anomalous cosmic-ray N, O, and Ne ions through the period surrounding the maximum of the solar cycle. These observations were made by the Wind spacecraft during the 1995-2002 period spanning times from solar minimum through solar maximum. Comparison of anomalous and galactic cosmic rays provides a powerful tool for the study of the physics of solar modulation throughout the solar cycle.
Reames, D. V.↗
Integrated Systems Health Management for Space Exploration
Integrated Systems Health Management (ISHM) is a system engineering discipline that addresses the design, development, operation, and lifecycle management of components, subsystems, vehicles, and other operational systems with the purpose of maintaining nominal system behavior and function and assuring mission safety and effectiveness under off-nominal conditions. NASA missions are often conducted in extreme, unfamiliar environments of space, using unique experimental spacecraft. In these environments, off-nominal conditions can develop with the potential to rapidly escalate into mission- or life-threatening situations. Further, the high visibility of NASA missions means they are always characterized by extraordinary attention to safety. ISHM is a critical element of risk mitigation, mission safety, and mission assurance for exploration. ISHM enables: In-space maintenance and repair; a) Autonomous (and automated) launch abort and crew escape capability; b) Efficient testing and checkout of ground and flight systems; c) Monitoring and trending of ground and flight system operations and performance; d) Enhanced situational awareness and control for ground personnel and crew; e) Vehicle autonomy (self-sufficiency) in responding to off-nominal conditions during long-duration and distant exploration missions; f) In-space maintenance and repair; and g) Efficient ground processing of reusable systems. ISHM concepts and technologies may be applied to any complex engineered system such as transportation systems, orbital or planetary habitats, observatories, command and control systems, life support systems, safety-critical software, and even the health of flight crews. As an overarching design and operational principle implemented at the system-of-systems level, ISHM holds substantial promise in terms of affordability, safety, reliability, and effectiveness of space exploration missions.
Uckun, Serdar↗
Aeroheating Thermal Model Correlation for Mars Global Surveyor (MGS) Solar Array
The Mars Global Surveyor (MGS) Spacecraft made use of aerobraking to gradually reduce its orbit period from a highly elliptical insertion orbit to its final science orbit. Aerobraking produces a high heat load on the solar arrays, which have a large surface area exposed to the airflow and relatively low mass. To accurately model the complex behavior during aerobraking, the thermal analysis needed to be tightly coupled to the spatially varying, time dependent aerodynamic heating. Also, the thermal model itself needed to accurately capture the behavior of the solar array and its response to changing heat load conditions. The correlation of the thermal model to flight data allowed a validation of the modeling process, as well as information on what processes dominate the thermal behavior. Correlation in this case primarily involved detailing the thermal sensor nodes, using as-built mass to modify material property estimates, refining solar cell assembly properties, and adding detail to radiation and heat flux boundary conditions. This paper describes the methods used to develop finite element thermal models of the MGS solar array and the correlation of the thermal model to flight data from the spacecraft drag passes. Correlation was made to data from four flight thermal sensors over three of the early drag passes. Good correlation of the model was achieved, with a maximum difference between the predicted model maximum and the observed flight maximum temperature of less than 5%. Lessons learned in the correlation of this model assisted in validating a similar model and method used for the Mars Odyssey solar array aeroheating analysis, which were used during onorbit operations.
Amundsen, Ruth M.↗
Mid-Latitude Ionospheric Disturbances Due to Geomagnetic Storms at ISS Altitudes
Spacecraft charging of the International Space Station (ISS) is dominated by the interaction of the high voltage US solar arrays with the F2-region ionospheric plasma environment. We are working to fully understand the charging behavior of the ISS solar arrays and determine how well future charging behavior can be predicted from in-situ measurements of plasma density and temperature. One aspect of this work is a need to characterize the magnitude of electron density and temperature variations that may be encountered at ISS orbital altitudes (approximately 400 km), the latitudes over which they occur, and the time periods for which the disturbances persist. We will present preliminary results from a study of ionospheric disturbances in the "mid-latitude" region defined as the approximately 30 - 60 degree extra-equatorial magnetic latitudes sampled by ISS. The study is focused on geomagnetic storm periods because they are well known drivers for disturbances in the high-latitude and mid-latitude ionospheric plasma. Changes in the F2 peak electron density obtained from ground based ionosonde records are compared to in-situ electron density and temperature measurements from the CHAMP and ISS spacecraft at altitudes near, or above, the F2 peak. Results from a number of geomagnetic storms will be presented and their potential impact on ISS charging will be discussed.
Minow, Joseph I.↗