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NASA NTRS1999

Autonomous Commanding of the WIRE Spacecraft

This paper presents the end-to-end design architecture for an autonomous commanding capability to be used on the Wide Field Infrared Explorer (WIRE) mission for the uplink of command loads during unattended station contacts. The WIRE mission is the fifth and final mission of NASA's Goddard Space Flight Center Small Explorer (SMEX) series to be launched in March of 1999. Its primary mission is the targeting of deep space fields using an ultra-cooled infrared telescope. Due to its mission design WIRE command loads are large (approximately 40 Kbytes per 24 hours) and must be performed daily. To reduce the cost of mission operations support that would be required in order to uplink command loads, the WIRE Flight Operations Team has implemented an autonomous command loading capability. This capability allows completely unattended operations over a typical two- day weekend period. The key factors driving design and implementation of this capability were: 1) Integration with already existing ground system autonomous capabilities and systems, 2) The desire to evolve autonomous operations capabilities based upon previous SMEX operations experience 3) Integration with ground station operations - both autonomous and man-tended, 4) Low cost and quick implementation, and 5) End-to-end system robustness. A trade-off study was performed to examine these factors in light of the low-cost, higher-risk SMEX mission philosophy. The study concluded that a STOL (Spacecraft Test and Operations Language) based script, highly integrated with other scripts used to perform autonomous operations, was best suited given the budget and goals of the mission. Each of these factors is discussed to provide an overview of the autonomous operations capabilities implemented for the mission. The capabilities implemented on the WIRE mission are an example of a low-cost, robust, and efficient method for autonomous command loading when implemented with other autonomous features of the ground system. They can be used as a design and implementation template by other small satellite missions interested in evolving toward autonomous and lower cost operations.

Prior, Mike↗

NASA NTRS1999

Command Preprocessor for Radiotelescopes and Microwave Antennas

The LQG controllers, designed for the NASA Deep Space Network antennas have small tracking errors and are resistant to wind disturbances. However, during antenna slewing, they induce limit cycling caused by the violation of the antenna rate and acceleration limits. This problem can be avoided by introduction of a command that does not exceed the limits. The command preprocessor presented in this paper generates a command that is equal to the original command if the latter does not exceed the limits, and varies with the maximal (or minimal) allowable rate and acceleration if the limits are met or exceeded. It is comparatively simple since it requires only knowledge of the command at the current and the previous time instants, while other known preprocessors require knowledge of the terminal state and the acquisition time. Thus, the presented preprocessor is more suitable for implementation. In this article analysis of the preprocessor is presented. Also the performances of the preprocessor itself, and of the antenna with the preprocessor is illustrated with typical antenna commands.

Gawronski, Wodek↗

NASA NTRS1997

Pilot Non-Conformance to Alerting System Commands During Closely Spaced Parallel Approaches

Cockpit alerting systems monitor potentially hazardous situations, both inside and outside the aircraft. When a hazard is projected to occur, the alerting system displays alerts and/or command decisions to the pilot. However, pilots have been observed to not conform to alerting system commands by delaying their response or by not following the automatic commands exactly. This non-conformance to the automatic alerting system can reduce its benefit. Therefore, a need exists to understand the causes and effects of pilot non-conformance in order to develop automatic alerting systems whose commands the pilots are more likely to follow. These considerations were examined through flight simulator evaluations of the collision avoidance task during closely spaced parallel approaches. This task provided a useful case-study because the effects of non-conformance can be significant, given the time-critical nature of the task. A preliminary evaluation of alerting systems identified non-conformance in over 40% of the cases and a corresponding drop in collision avoidance performance. A follow-on experiment found subjects' alerting and maneuver selection criteria were consistent with different strategies than those used by automatic systems, indicating the pilot may potentially disagree with the alerting system if the pilot attempts to verify automatic alerts and commanded avoidance maneuvers. A final experiment found supporting automatic alerts with the explicit display of its underlying criteria resulted in more consistent subject reactions. In light of these experimental results, a general discussion of pilot non-conformance is provided. Contributing factors in pilot non-conformance include a lack of confidence in the automatic system and mismatches between the alerting system's commands and the pilots' own decisions based on the information available to them. The effects of non-conformance on system performance are discussed. Possible methods of reconciling mismatches are given, and design considerations for alerting systems which alleviate the problem of non-conformance are provided.

Pritchett, Amy Ruth↗

NASA NTRS2005

Command Generation and Control of Momentum Exchange Electrodynamic Reboost Tethered Satellite

The research completed for this NASA Graduate Student Research Program Fellowship sought to enhance the current state-of-the-art dynamic models and control laws for Momentum Exchange Electrodynamic Reboost satellite systems by utilizing command generation, specifically Input Shaping. The precise control of tethered spacecraft with flexible appendages is extremely difficult. The complexity is magnified many times when the satellite must interact with other satellites as in a momentum exchange via a tether. The Momentum Exchange Electronic Reboost Tether (MXER) concept encapsulates all of these challenging tasks [l]. Input Shaping is a command generation technique that allows flexible spacecraft to move without inducing residual vibration [2], limit transient deflection [3] and utilize fuel-efficient actuation [4]. Input shaping is implemented by convolving a sequence of impulses, known as the input shaper, with a desired system command to produce a shaped input that is then used to drive the system. This process is demonstrated in Figure 1. The shaped command is then use to drive the system without residual vibration while meeting many other performance specifications. The completed work developed tether control algorithms for retrieval. A simple model of the tether response has been developed and command shaping was implemented to minimize unwanted dynamics. A model of a flexible electrodynamic tether has been developed to investigate the tether s response during reboost. Command shaping techniques have been developed to eliminate the tether oscillations and reduce the tether s deflection to pre-specified levels during reboost. Additionally, a model for the spin-up of a tethered system was developed. This model was used in determining the parameters for optimization the resulting angular velocity.

Robertson, Michael J.↗

NASA NTRS2013

Managing the Risk of Command File Errors

Command File Error (CFE), as defined by the Jet Propulsion Laboratory's (JPL) Mission Operations Assurance (MOA) is, regardless of the consequence on the spacecraft, either: an error in a command file sent to the spacecraft, an error in the process for developing and delivering a command file to the spacecraft, or the omission of a command file that should have been sent to the spacecraft. The risk consequence of a CFE can be mission ending and thus a concern to space exploration projects during their mission operations. A CFE during space mission operations is often the symptom of some kind of imbalance or inadequacy within the system that comprises the hardware & software used for command generation and the human experts involved in this endeavour. As we move into an era of enhanced collaboration with other NASA centers and commercial partners, these systems become more and more complex and hence it is all the more important to formally model and analyze CFEs in order to manage the risk of CFEs. Here we will provide a summary of the ongoing efforts at JPL in this area and also explain some more recent developments in the area of developing quantitative models for the purpose of managing CFE's.

Bayesian Belief Networks↗

NASA NTRS1973

NASIS data base management system: IBM 360 TSS implementation. Volume 5: Retrieval command system reference manual

The retrieval command subsystem reference manual for the NASA Aerospace Safety Information System (NASIS) is presented. The command subsystem may be operated conversationally or in the batch mode. Retrieval commands are categorized into search-oriented and output-oriented commands. The characteristics of ancillary commands and their application are reported.

Source record↗

NASA NTRS1978

DSN command system Mark III-78

The Deep Space Network command Mark III-78 data processing system includes a capability for a store-and-forward handling method. The functions of (1) storing the command files at a Deep Space station; (2) attaching the files to a queue; and (3) radiating the commands to the spacecraft are straightforward. However, the total data processing capability is a result of assuming worst case, failure-recovery, or nonnominal operating conditions. Optional data processing functions include: file erase, clearing the queue, suspend radiation, command abort, resume command radiation, and close window time override.

Stinnett, W. G.↗

NASA NTRS1982

Command system

The Multimission Command (MMC) System is described. The major components within the MMC System are discussed, with the emphasis on the telecommunication-related implementations. Two versions of the spacecraft command detection system (the Viking heritage command detector and the NASA standard command detector) are discussed in detail. The former prevails in the existing flight projects and the latter will likely be adopted by the missions of the near future. The preparation of design control tables for the control of command link performance between deep space stations and the spacecraft is also discussed.

Burow, N. A.↗

NASA NTRS1984

Considerations on command and response language features for a network of heterogeneous autonomous computers

The design of a uniform command language to be used in a local area network of heterogeneous, autonomous nodes is considered. After examining the major characteristics of such a network, and after considering the profile of a scientist using the computers on the net as an investigative aid, a set of reasonable requirements for the command language are derived. Taking into account the possible inefficiencies in implementing a guest-layered network operating system and command language on a heterogeneous net, the authors examine command language naming, process/procedure invocation, parameter acquisition, help and response facilities, and other features found in single-node command languages, and conclude that some features may extend simply to the network case, others extend after some restrictions are imposed, and still others require modifications. In addition, it is noted that some requirements considered reasonable (user accounting reports, for example) demand further study before they can be efficiently implemented on a network of the sort described.

Engelberg, N.↗

NASA NTRS1993

A packet-based concept for spacecraft command planning

The current generation of spacecraft being developed and operated by the Applied Physics Laboratory provides users with access to a broad spectrum of scientific instruments on maneuverable platforms that can be oriented for observation of both moving and stationary targets of interest. The capability of these increasingly complex spacecraft to perform data collection operations is approaching one observation per orbit. To enable both rapid configuration and generation of complex spacecraft command sequences, as well as reusability of command sequences among data collection operations, a packet-based concept for spacecraft command planning has been developed. The configuration of the spacecraft for any operation is designed using 'packets' where a packet represents a set of commands that is reusable. The packets can be combined in varying levels of functionality, and in varying time relationships, to create an observation timeline. At the lowest packet level are primitives. Primitives relate the details of command generation for a particular spacecraft to a 'message template.' Thus the packet concept itself is reusable from one spacecraft to the next.

Barnes, Valerie B.↗

NASA NTRS1994

High angle of attack flying qualities criteria for longitudinal rate command systems

This study was designed to investigate flying qualities requirements of alternate pitch command systems for fighter aircraft at high angle of attack. Flying qualities design guidelines have already been developed for angle of attack command systems at 30, 45, and 60 degrees angle of attack, so this research fills a similar need for rate command systems. Flying qualities tasks that require post-stall maneuvering were tested during piloted simulations in the McDonnell Douglas Aerospace Manned Air Combat Simulation facility. A generic fighter aircraft model was used to test angle of attack rate and pitch rate command systems for longitudinal gross acquisition and tracking tasks at high angle of attack. A wide range of longitudinal dynamic variations were tested at 30, 45, and 60 degrees angle of attack. Pilot comments, Cooper-Harper ratings, and pilot induced oscillation ratings were taken from five pilots from NASA, USN, CAF, and McDonnell Douglas Aerospace. This data was used to form longitudinal design guidelines for rate command systems at high angle of attack. These criteria provide control law design guidance for fighter aircraft at high angle of attack, low speed flight conditions. Additional time history analyses were conducted using the longitudinal gross acquisition data to look at potential agility measures of merit and correlate agility usage to flying qualities boundaries. This paper presents an overview of this research.

Wilson, David J.↗

NASA NTRS1994

Increases in efficiency and enhancements to the Mars Observer non-stored commanding process

The Mars Observer team was, until the untimely loss of the spacecraft on August 21, 1993, performing flight operations with greater efficiency and speed than any previous JPL mission of its size. This level of through-put was made possible by a mission operations system which was composed of skilled personnel using sophisticated sequencing and commanding tools. During cruise flight operations, however, it was realized by the project that this commanding level was not going to be sufficient to support the activities planned for mapping operations. The project had committed to providing the science instrument principle investigators with a much higher level of commanding during mapping. Thus, the project began taking steps to enhance the capabilities of the flight team. One mechanism used by project management was a tool available from total quality management (TQM). This tool is known as a process action team (PAT). The Mars Observer PAT was tasked to increase the capacity of the flight team's nonstored commanding process by fifty percent with no increase in staffing and a minimal increase in risk. The outcome of this effort was, in fact, to increase the capacity by a factor of 2.5 rather than the desired fifty percent and actually reduce risk. The majority of these improvements came from the automation of the existing command process. These results required very few changes to the existing mission operations system. Rather, the PAT was able to take advantage of automation capabilities inherent in the existing system and make changes to the existing flight team procedures.

Brooks, Robert N., Jr.↗

NASA NTRS1994

Automatic commanding of the Mars Observer Camera

Mars Observer, launched in September 1992, was intended to be a 'survey-type' mission that acquired global coverage of Mars from a low, circular, near-polar orbit during an entire Martian year. As such, most of its instruments had fixed data rates, wide fields of view, and relatively low resolution, with fairly limited requirements for commanding. An exception is the Mars Observer Camera, or MOC. The MOC consists of a two-color Wide Angle (WA) system that can acquire both global images at low resolution (7.5 km/pixel) and regional images at commandable resolutions up to 250 m/pixel. Complementing the WA is the Narrow Angle (NA) system, that can acquire images at 8 resolutions from 12 m/pixel to 1.5 m/pixel, with a maximum crosstrack dimension of 3 km. The MOC also provides various forms of data compression (both lossless and lossy), and is designed to work at data rates from 700 bits per second (bps) to over 80k bps. Because of this flexibility, developing MOC command sequences is much more difficult than the routine mode-changing that characterizes other instrument operations. Although the MOC cannot be pointed (the spacecraft is fixed nadir-pointing and has no scan platform), the timing, downlink stream allocation, compression type and parameters, and image dimensions of each image must be commanded from the ground, subject to the constraints inherent in the MOC and the spacecraft. To minimize the need for a large operations staff, the entire command generation process has been automated within the MOC Ground Data System. Following the loss of the Mars Observer spacecraft in August 1993, NASA intends to launch a new spacecraft, Mars Global Surveyor (MGS), in late 1996. This spacecraft will carry the MOC flight spare (MOC 2). The MOC 2 operations plan will be largely identical to that developed for MOC, and all of the algorithms described here are applicable to it.

Caplinger, Michael↗

NASA NTRS1996

The Mars surveyor operations project command generation process

The methods employed by the Mars surveyor operations project (MSOP) flight team to accelerate the command generation process are described. The approach adopted was to develop a ground system which could simultaneously support as many as three spacecraft in various phases of flight and two in development. The uplink element of the MSOP is discussed, including the control of the science instruments and the spacecraft bus using real-time commands as well as time-tagged stored sequences. The non-interactive payload command process, the express command process, the coordinated command process and the stored sequence process are described. The automation of these processes resulted in flight operations cost savings while maintaining a minimum of risk.

Brooks, Robert N., Jr.↗

NASA NTRS1998

Real-Time Reconfigurable Adaptive Speech Recognition Command and Control Apparatus and Method

An adaptive speech recognition and control system and method for controlling various mechanisms and systems in response to spoken instructions and in which spoken commands are effective to direct the system into appropriate memory nodes, and to respective appropriate memory templates corresponding to the voiced command is discussed. Spoken commands from any of a group of operators for which the system is trained may be identified, and voice templates are updated as required in response to changes in pronunciation and voice characteristics over time of any of the operators for which the system is trained. Provisions are made for both near-real-time retraining of the system with respect to individual terms which are determined not be positively identified, and for an overall system training and updating process in which recognition of each command and vocabulary term is checked, and in which the memory templates are retrained if necessary for respective commands or vocabulary terms with respect to an operator currently using the system. In one embodiment, the system includes input circuitry connected to a microphone and including signal processing and control sections for sensing the level of vocabulary recognition over a given period and, if recognition performance falls below a given level, processing audio-derived signals for enhancing recognition performance of the system.

Salazar, George A.↗

NASA NTRS1999

Autonomous Command Operation of the WIRE Spacecraft

Prior, Mike↗

NASA NTRS1967

Low Speed Dynamic Model Investigation of Apollo Command Module Configuration in the Langley Spin Tunnel

An investigation has been conducted in the Langley spin tunnel to determine the dynamic stability of the Apollo command module at low subsonic speeds, both with and without drogue parachutes. The investigation consisted of tests to determine (1) the dynamic stability of the command module alone, (2) the motion of the command module during the deployment of a drogue parachute, (3) the effect of various drogue-parachute configurations on the stability of the command module, and (4) the effect of modifications to the command module to prevent an apex-forward trim condition.

TESTS↗

NASA NTRS2004

Method and apparatus for creating time-optimal commands for linear systems

A system for and method of determining an input command profile for substantially any dynamic system that can be modeled as a linear system, the input command profile for transitioning an output of the dynamic system from one state to another state. The present invention involves identifying characteristics of the dynamic system, selecting a command profile which defines an input to the dynamic system based on the identified characteristics, wherein the command profile comprises one or more pulses which rise and fall at switch times, imposing a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times, and determining the switch times for the input to the dynamic system based on the command profile and the plurality of constraints. The characteristics may be related to poles and zeros of the dynamic system, and the plurality of constraints may include a dynamics cancellation constraint which specifies that the input moves the dynamic system from a first state to a second state such that the dynamic system remains substantially at the second state.

Tuttle, Timothy D.↗