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Effectiveness of Warm-Start PPO for Guidance with Highly Constrained Nonlinear Fixed-Wing Dynamics
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Interplanetary guidance system requirements study. Volume 2 - Computer program descriptions. Part 10 - Program description for performance assessment of low thrust space guidance systems, version 1
Computerized simulation of mission profiles for inertial navigation of low thrust spacecraft in both heliocentric transfer and planetocentric spiral
Apollo guidance, navigation and control: Guidance system operations plan for manned CM earth orbital and lunar missions using Program COLOSSUS 3. Section 3: Digital autopilots (revision 14)
Digital autopilots for the manned command module earth orbital and lunar missions using program COLOSSUS 3 are discussed. Subjects presented are: (1) reaction control system digital autopilot, (2) thrust vector control autopilot, (3) entry autopilot and mission control programs, (4) takeover of Saturn steering, and (5) coasting flight attitude maneuver routine.
Guidance on EPAct section 707 Emergency Repair and Restoration Vehicle Exclusions: EPAct State and Alternative Fuel Provider Fleet Program Guidance Document
Section 707 of the Energy Policy Act of 2005 (EPAct 2005) amended section 301(9)(E) of EPAct 1992 by adding to the list of vehicles excluded from the definition of "fleet" a new subcategory of emergency motor vehicles, i.e., "vehicles directly used in the emergency repair of transmission lines and in the restoration of electricity service following power outages, as determined by the Secretary." Like other excluded vehicles, these light-duty vehicles (LDVs) do not count (1) when determining whether a fleet is covered under the U.S. Department of Energy's (DOE) State and Alternative Fuel Provider Fleet Program (Program), and (2) for fleets that are covered under the Program, when calculating annual alternative fuel vehicle (AFV)-acquisition requirements. If AFV models of excluded vehicles are acquired, however, a fleet may count them toward their acquisition requirement by including them in the calculation of the number of AFVs acquired. Exclusion Process.
Pterodactyl: Guidance and Control of a Symmetric Deployable Entry Vehicle using an Aerodynamic Control System
The NASA-funded Pterodactyl project seeks to advance the state-of-the-art for varying entry vehicle types by developing unconventional guidance and control technologies for Deployable Entry Vehicles (DEVs) that can be applied to different entry vehicle configurations. Prior work by the authors [1–5] involved developing both traditional and novel integrated guidance and control solutions for a Pterodactyl Baseline Vehicle (PBV), a variant of an asymmetric DEV called the Lifting Nano ADEPT (LNA) [6]. In the prior studies, two different guidance schemes were designed and implemented for the PBV: (i) traditional bank angle guidance developed using the Fully Numerical Predictor-Corrector Entry Guidance (FNPEG) and (ii) novel angle of attack and sideslip (α - β) guidance developed using FNPEG with Uncoupled Range Control [4]. Using Linear Quadratic Regulator (LQR) optimal control methods with state-feedback integral control designs, these guidance trajectories were designed to be tracked using (i) a conventional propulsive entry vehicle control hardware architecture - reaction control systems (RCS) and (ii) novel non-propulsive entry vehicle control systems - aerodynamic flap control system (FCS) and moving mass control system (MMCS) [1]. The novel FCS and MMCS architectures were designed to track α - β guidance commands while the RCS was designed to track bank angle commands. It was discovered that the asymmetric DEV, the PBV, experienced a non-zero induced roll moment due to sideslip that the FCS and MMCS architectures had limited capability to trim out. These two architectures were designed to provide independent angle of attack and sideslip commands with limited consideration for roll moment generation to trim. As a result, for the PBV, the FCS and MMCS configurations as designed, were limited in providing the control authority needed to track an α - β guidance trajectory [1]. These results form the motivation for the work presented in this paper - utilizing an aerodynamic control system to track α - β guidance commands for a symmetric DEV with the expectation that a symmetric entry vehicle will have zero or significantly reduced roll moment due to sideslip that the FCS can handle when tracking an α - β guidance trajectory. To demonstrate the feasibility of a novel guidance and control architecture on a DEV, we utilize a symmetric DEV, the PBV-II, for (i) the novel α - β guidance development using FNPEG with Uncoupled Range Control and (ii) LQR control design using eight aerodynamic control surfaces. This paper demonstrates that the novel uncoupled α - β guidance tracking can be achieved using aerodynamic control surfaces on a symmetric deployable entry vehicle configuration.
Percutaneous Bone Biopsies: Comparison between Flat-Panel Cone-Beam CT and CT-Scan Guidance
PurposeThis study was designed to compare the accuracy of targeting and the radiation dose of bone biopsies performed either under fluoroscopic guidance using a cone-beam CT with real-time 3D image fusion software (FP-CBCT-guidance) or under conventional computed tomography guidance (CT-guidance).MethodsSixty-eight consecutive patients with a bone lesion were prospectively included. The bone biopsies were scheduled under FP-CBCT-guidance or under CT-guidance according to operating room availability. Thirty-four patients underwent a bone biopsy under FP-CBCT and 34 under CT-guidance. We prospectively compared the two guidance modalities for their technical success, accuracy, puncture time, and pathological success rate. Patient and physician radiation doses also were compared.ResultsAll biopsies were technically successful, with both guidance modalities. Accuracy was significantly better using FP-CBCT-guidance (3 and 5 mm respectively: p = 0.003). There was no significant difference in puncture time (32 and 31 min respectively, p = 0.51) nor in pathological results (88 and 88 % of pathological success respectively, p = 1). Patient radiation doses were significantly lower with FP-CBCT (45 vs. 136 mSv, p < 0.0001). The percentage of operators who received a dose higher than 0.001 mSv (dosimeter detection dose threshold) was lower with FP-CBCT than CT-guidance (27 vs. 59 %, p = 0.01).ConclusionsFP-CBCT-guidance for bone biopsy is accurate and reduces patient and operator radiation doses compared with CT-guidance.
Proposed guidance for preparing and reviewing a molten salt non-power production or utilization facility application
Development of non-power molten salt reactors (MSRs) are under consideration to further establish an MSR experience base, support the requirements of Title 10 of the Code of Federal Regulations (10 CFR) Section 50.43(e), and provide any additional analyses needed for development of a full-scale MSR. Guidance provided in this report is based on MSRs operating with liquid fuel (i.e., fuel dissolved within a molten salt). These reactors, unless owned by the DOE or DOD, will require licensing by the US Nuclear Regulatory Commission (NRC) staff. Standard review plan (SRP) guidance for large light water reactors (LWRs) is available in NUREG-0800, Standard Review Plan for the Review of Safety Analysis Reports for Nuclear Power Plants; Light Water Reactor (LWR) Edition. However, NRC staff observed that NUREG-0800 is very cumbersome to apply to non-power reactors “because of the great differences in complexity and hazards between non-power reactors and nuclear power plants.” Therefore, a program to develop performance-based guidance applicable to non-power reactors was initiated. In 1996, NUREG-1537, Parts 1 and 2, Guidelines for Preparing and Reviewing Applications for the Licensing of Non-Power Reactors, was published. Part 1, the format and content guide, suggests a uniform format for presenting information in non-power reactor applications that is acceptable to the NRC staff, but conformance with the format and content is not required. Part 2, the SRP, ensures the quality and uniformity of the staff review of an application. Unfortunately, the application guidelines and SRP do not provide adequate guidance for all advanced non-LWR technologies and applications. This discrepancy eventually led to the 2012 development of interim staff guidance (ISG) for NUREG-1537, which includes criteria for describing and reviewing aqueous homogeneous reactors (AHRs). Specifically, NUREG-1537 ISG, 2012 expanded the original document to address three areas: 1. updated criteria for heterogeneous non-power reactors, 2. criteria for licensing AHRs, and 3. criteria for licensing a Part 50-licensed isotope production facility. In 2015, the US Department of Energy (DOE) opted to build on the AHR NUREG-1537 ISG experience by performing a gap analysis of the guidance that would be used to license a non-power MSR. MSRs represent one of the advanced non-LWR technologies selected by DOE for development through a multiyear cost share award with Southern Company Services. Under this Advanced Reactor Concepts 2015 (DOE Advanced Reactor Concepts [ARC] 15) award program, the DOE tasked Oak Ridge National Laboratory (ORNL) to evaluate the guidance changes that the NRC may need to consider when licensing an MSR non-power reactor. ORNL staff, with support from Boston Government Services, LLC, focused on five system-related chapters in NUREG-1537 that were considered most relevant to inform the effort that would be required for a non-power MSR applicant. ORNL documented this review in a technical report, ORNL/TM-2018/834, Proposed Guidance for Preparing and Reviewing Molten Salt Non-Power Reactor License Applications (NUREG-1537). The report was subsequently shared with industry and the NRC. The 2018 review was limited in scope, focusing on key system chapters based on the expected significance of each chapter relative to expected differences in addressing advanced non-LWR technologies, specifically non-power MSRs, compared with heterogeneously fueled non-power reactors. In the ORNL report, proposed generic adaptations were suggested for the following NUREG-1537 chapters: Chapter 4, “Reactor Description”; Chapter 5, “Reactor Coolant Systems”; Chapter 6, “Engineered Safety Features”; Chapter 9, “Auxiliary Systems”; Chapter 11, “Radiation Protection Program and Waste Management” The inclusion of Chapter 11 in the previous review effort was intended to provide guidance for categorizing the waste-handling process for an MSR operating with homogenous fuel. The introductions from Parts 1 and 2 of the 2012 NUREG-1537 ISG provide guidance for the application and review of production facilities. After a period of operation, non-power MSRs with homogenous fuel will include gaseous and soluble fission products. The gaseous fission products will be collected and held for decay in an off-gas system. There might also be an initiative to polish or filter the soluble fission products in the fuel salt by some mechanical or chemical means. The treatment and handling of fission products in the non-power MSR fuel salt and the description of this process in the safety analysis report (SAR) must be very precise to avoid the waste treatment facility being construed as a co-located special nuclear material (SNM) fuel cycle facility (see Section 2.3 of this report). Subsequent to the release of ORNL/TM-2018/834, NRC staff expressed a desire to continue the regulatory gap analysis that was begun in that report. This would provide additional clarity and information addressed in certain sections of the original report, while also providing new guidance on certain topics not addressed in the original report. This revision would benefit the NRC staff reviewing applications involving non-power MSR designs and would help developers understand how the NRC staff might approach the review of such applications. The focus of this report is to provide infrastructure support to the NRC staff for the regulatory review of non-power MSRs.
SU-F-J-209: Quantification of Image-Guidance Benefit in Image-Guided Radiotherapy of Cancers
Purpose: Image-guidance has been widely used in radiation oncology for accurate radiotherapy. The goal of this study is to quantify the benefit of image-guidance in image-guided radiotherapy (IGRT) of cancers. Methods: In this study, a new index termed image-guidance benefit (IGB), was proposed to quantify the benefit of image-guidance in cancer radiotherapy. It is calculated as a ratio of the square sum of dose differences between planning dose matrix and actual delivery dose matrix post image-guidance to the square sum of dose summation between the two matrixes, summing over all dose scoring voxels. Ranging from 0 to 1, larger IGB values indicate larger benefit out of image-guidance. With IRB approval, the DICOM RT files and 3D couch shifts applied during IGRT of 2219 patients were collected, based on which patient-specific IGB values were calculated with an in-house MATLAB code. Results: In this study, the mean IGB value was found to be 0.0398 (0.000583–0.999) with a positive correlation between IGB value and 3D couch shift vector at 0.0435 per cm (P<0.0001). With 2 mm shift as a threshold above which an image-guidance is deemed clinically necessary, the corresponding mean IGB value was 0.00457, much less than 0.0398 (P<0.001). However, the IGB values of 56 cases based on couch shifts were less than those based on 2 mm shift. Conclusion: The IGB values were patient-specific and site-dependent. Using 2 mm shifts as criterion for applying image-guidance, the applied image-guidance procedures were found clinically necessary and highly beneficial in 97.5% of cancer patients. However, image-guidance procedures were found over-used in about 2.5% of cancer patients in our current practices of IGRT, which should be avoided as they added no benefit in improving delivery accuracy while increasing cancer risk.
Launch flexibility using NLP guidance and remote wind sensing
This paper examines the use of lidar wind measurements in the implementation of a guidance strategy for a nonlinear programming (NLP) launch guidance algorithm. The NLP algorithm uses B-spline command function representation for flexibility in the design of the guidance steering commands. Using this algorithm, the guidance system solves a two-point boundary value problem at each guidance update. The specification of different boundary value problems at each guidance update provides flexibility that can be used in the design of the guidance strategy. The algorithm can use lidar wind measurements for on pad guidance retargeting and for load limiting guidance steering commands. Examples presented in the paper use simulated wind updates to correct wind induced final orbit errors and to adjust the guidance steering commands to limit the product of the dynamic pressure and angle-of-attack for launch vehicle load alleviation.
Entry Guidance for the Reusable Launch Vehicle
The X-33 Advanced Technology Demonstrator is a half-scale prototype developed to test the key technologies needed for a full-scale single-stage reusable launch vehicle (RLV). The X-33 is a suborbital vehicle that will be launched vertically, and land horizontally. The goals of this research were to develop an alternate entry guidance scheme for the X-33 in parallel to the actual X-33 entry guidance algorithms, provide comparative and complementary study, and identify potential new ways to improve entry guidance performance. Toward these goals, the nominal entry trajectory is defined by a piecewise linear drag-acceleration-versus-energy profile, which is in turn obtained by the solution of a semi-analytical parameter optimization problem. The closed-loop guidance is accomplished by tracking the nominal drag profile with primarily bank-angle modulation on-board. The bank-angle is commanded by a single full-envelope nonlinear trajectory control law. Near the end of the entry flight, the guidance logic is switched to heading control in order to meet strict conditions at the terminal area energy management interface. Two methods, one on ground-track control and the other on heading control, were proposed and examined for this phase of entry guidance where lateral control is emphasized. Trajectory dispersion studies were performed to evaluate the effectiveness of the entry guidance algorithms against a number of uncertainties including those in propulsion system, atmospheric properties, winds, aerodynamics, and propellant loading. Finally, a new trajectory-regulation method is introduced at the end as a promising precision entry guidance method. The guidance principle is very different and preliminary application in X-33 entry guidance simulation showed high precision that is difficult to achieve by existing methods.
Video-Guidance Design for the DART Rendezvous Mission
NASA's Demonstration of Autonomous Rendezvous Technology (DART) mission will validate a number of different guidance technologies, including state-differenced GPS transfers and close-approach video guidance. The video guidance for DART will employ NASA/Marshall s Advanced Video Guidance Sensor (AVGS). This paper focuses on the terminal phase of the DART mission that includes close-approach maneuvers under AVGS guidance. The closed-loop video guidance design for DART is driven by a number of competing requirements, including a need for maximizing tracking bandwidths while coping with measurement noise and the need to minimize RCS firings. A range of different strategies for attitude control and docking guidance have been considered for the DART mission, and design decisions are driven by a goal of minimizing both the design complexity and the effects of video guidance lags. The DART design employs an indirect docking approach, in which the guidance position targets are defined using relative attitude information. Flight simulation results have proven the effectiveness of the video guidance design.
Design and Testing of a Low Noise Flight Guidance Concept
A flight guidance concept was developed to assist in flying continuous descent approach (CDA) procedures designed to lower the noise under the flight path of jet transport aircraft during arrival operations at an airport. The guidance consists of a trajectory prediction algorithm that was tuned to produce a high-efficiency, low noise flight profile with accompanying autopilot and flight display elements needed by the flight control system and pilot to fly the approach. A key component of the flight guidance was a real-time display of energy error relative to the predicted flight path. The guidance was integrated with the conventional Flight Management System (FMS) guidance of a modern jet transport airplane and tested in a high fidelity flight simulation. A charted arrival procedure, which allowed flying conventional arrivals, CDA arrivals with standard guidance, and CDA arrivals with the new low noise guidance, was developed to assist in the testing and evaluation of the low noise guidance concept. Results of the simulation testing showed the low noise guidance was easy to use by airline pilot test subjects and effective in achieving the desired noise reduction. Noise under the flight path was reduced by at least 2 decibels in Sound Exposure Level (SEL) at distances from about 3 nautical miles out to about 17.5 nautical miles from the runway, with a peak reduction of 8.5 decibels at about 10.5 nautical miles. Fuel consumption was also reduced by about 17% for the LNG conditions compared to baseline runs for the same flight distance. Pilot acceptance and understanding of the guidance was quite high with favorable comments and ratings received from all test subjects.
Extending Explicit Guidance Methods to Higher Dimensions, Additional Conditions, and Higher Order Integration
Guidance functions play critical roles in autonomy to steer vehicles and aircraft to the intended target or destination. Explicit guidance (E Guidance) solves the two-point boundary value problem with initial and final conditions for position and velocity. The original formulation of E Guidance involves translational acceleration commands with a direct relationship to time, and it is possible to modify E Guidance for rotational acceleration. Other extensions for E Guidance include higher dimensions, additional conditions, and higher-order integration of the linearly independent E Guidance functions. The most promising extension involves higher-order integration of the E Guidance functions, but it may be physically impractical by initially moving away from the target. This paper provides a brief overview of some methods that extend E Guidance to higher dimensions, utilize additional conditions, or perform higher-order integration, and if they satisfy the two-point boundary value problem.
Extending Explicit Guidance Methods to Higher Dimensions, Additional Conditions, and Higher Order Integration
Guidance functions play critical roles in autonomy to steer vehicles and aircraft to the intended target or destination. Explicit guidance (E Guidance) solves the two-point boundary value problem with initial and final conditions for position and velocity. The original formulation of explicit guidance involves translational acceleration commands with a direct relationship to time, and it is possible to modify E Guidance for rotational acceleration. Other extensions for E Guidance include higher dimensions, additional conditions, and higher-order integration of the linearly independent E Guidance functions. The most promising extension involves higher-order integration of the E Guidance functions, but it may be physically impractical by initially moving away from the target. This paper provides a brief overview of some methods that extend E Guidance to higher dimensions, utilize additional conditions, or perform higher-order integration, and if they satisfy the two-point boundary value problem.
Current and future federal and state sampling guidance for per- and polyfluoroalkyl substances in environmental matrices
Per- and polyfluoroalkyl substances (PFAS) are a class of emerging contaminants composed of an estimated 5000 to 10,000 human-made, fluorinated, organic chemicals. Due to the complexity of PFAS, the need for multiple environmental matrix considerations and the absence of a promulgated federal standard for environmental sampling and analysis, U.S. states have begun developing health-based regulatory and/or guidance values for a limited number of PFAS in environmental matrices. As there is a growing body of science to inform PFAS sampling guidance standard development, it is important to understand which U.S. states are implementing sampling guidelines and how they plan to handle emerging PFAS. This critical review discusses the current and impending federal and state sampling guidelines for PFAS in environmental matrices, the data gaps surrounding PFAS sampling guidance in U.S. states, and the future impacts of impending guidance documents and regulations. Ten federal guidance documents are available for PFAS sampling guidance and analysis. The maximum number of PFAS covered in these guidance documents is 25 analytes spanning across 8 unique media. While the EPA has developed several different sampling and analytical guidelines for PFAS, there is no formal regulation of PFAS or requirements of states to enforce these guidelines. Consequently, only 31 states have informally adopted sampling guidelines, while the other 19 states have no guidance documentation in place for PFAS. The introduction of new PFAS sampling guidelines by the EPA, as well as updated analytical guidelines that target more PFAS or total organofluoride, is expected to continuously shift the landscape of federal and state guidance for PFAS sampling moving forward.
Acceleration, gamma, and theta guidance for abort landing in a windshear
This paper is concerned with the guidance of abort landing trajectories in a windshear. First, optimal trajectories are determined by minimizing the peak value of the altitude drop. Then, two guidance schemes, approximating the optimal trajectors, are developed: acceleration guidance (based on the relative acceleration) and gamma guidance (based on the absolute path inclination). From numerical experiments, it appears that both the acceleration guidance and the gamma guidance yield trajectories that are close to the optimal trajectory. In addition, a theta guidance scheme (modified constant pitch guidance) is developed that is superior to the constant pitch guidance in terms of the altitude loss and the survival capability in severe windshears.