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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

BUBBLES: an Automated Decision Support System for Final Approach Controllers

With the assumptions that an explicit schedule exists for landings (and takeoffs) at each runway, that each aircraft has declared an IAS for final approach and will be obligated to fly it as accurately as possible, and that there is a continuous estimate of average windspeed on approach, the objective was to provide automated cues to assist controllers in the spacing of landing aircraft. The cues have two characteristics. First, they are adaptive to estimation errors in position and speed by the radar tracking process and piloting errors in the execution of turns and commanded speed reductions. Second, the cues are responsive to the desires of the human controller. Several diagrams are used to help explain the system.

Chi, Zhizang↗
NASA NTRS1988

A mathematical theory of learning control for linear discrete multivariable systems

When tracking control systems are used in repetitive operations such as robots in various manufacturing processes, the controller will make the same errors repeatedly. Here consideration is given to learning controllers that look at the tracking errors in each repetition of the process and adjust the control to decrease these errors in the next repetition. A general formalism is developed for learning control of discrete-time (time-varying or time-invariant) linear multivariable systems. Methods of specifying a desired trajectory (such that the trajectory can actually be performed by the discrete system) are discussed, and learning controllers are developed. Stability criteria are obtained which are relatively easy to use to insure convergence of the learning process, and proper gain settings are discussed in light of measurement noise and system uncertainties.

Phan, Minh↗
NASA NTRS1983

An improved lambda-scheme for one-dimensional flows

A code for the calculation of one-dimensional flows is presented, which combines a simple and efficient version of the lambda-scheme with tracking of discontinuities. The latter is needed to identify points where minor departures from the basic integration scheme are applied to prevent infiltration of numerical errors. Such a tracking is obtained via a systematic application of Boolean algebra. It is, therefore, very efficient. Fifteen examples are presented and discussed in detail. The results are exceptionally good. All discontinuites are captured within one mesh interval.

Moretti, G.↗
NASA NTRS1993

Use of global positioning system measurements to determine geocentric coordinates and variations in Earth orientation

Geocentric tracking station coordinates and short-period Earth-orientation variations can be measured with Global Positioning System (GPS) measurements. Unless calibrated, geocentric coordinate errors and changes in Earth orientation can lead to significant deep-space tracking errors. Ground-based GPS estimates of daily and subdaily changes in Earth orientation presently show centimeter-level precision. Comparison between GPS-estimated Earth-rotation variations, which are the differences between Universal Time 1 and Universal Coordinated Time (UT1-UTC), and those calculated from ocean tide models suggests that observed subdaily variations in Earth rotation are dominated by oceanic tidal effects. Preliminary GPS estimates for the geocenter location (from a 3-week experiment) agree with independent satellite laser-ranging estimates to better than 10 cm. Covariance analysis predicts that temporal resolution of GPS estimates for Earth orientation and geocenter improves significantly when data collected from low Earth-orbiting satellites as well as from ground sites are combined. The low Earth GPS tracking data enhance the accuracy and resolution for measuring high-frequency global geodynamical signals over time scales of less than 1 day.

R P Malla↗
NASA NTRS1977

Effects of tropospheric and ionospheric refraction errors in the utilization of GEOS-C altimeter data

The effects of tropospheric and ionospheric refraction errors are analyzed for the GEOS-C altimeter project in terms of their resultant effects on C-band orbits and the altimeter measurement itself. Operational procedures using surface meteorological measurements at ground stations and monthly means for ocean surface conditions are assumed, with no corrections made for ionospheric effects. Effects on the orbit height due to tropospheric errors are approximately 15 cm for single pass short arcs (such as for calibration) and 10 cm for global orbits of one revolution. Orbit height errors due to neglect of the ionosphere have an amplitude of approximately 40 cm when the orbits are determined from C-band range data with predominantly daylight tracking. Altimeter measurement errors are approximately 10 cm due to residual tropospheric refraction correction errors. Ionospheric effects on the altimeter range measurement are also on the order of 10 cm during the GEOS-C launch and early operation period.

Goad, C. C.↗
NASA NTRS2013

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↗
NASA NTRS1989

Digital signal processor and processing method for GPS receivers

A digital signal processor and processing method therefor for use in receivers of the NAVSTAR/GLOBAL POSITIONING SYSTEM (GPS) employs a digital carrier down-converter, digital code correlator and digital tracking processor. The digital carrier down-converter and code correlator consists of an all-digital, minimum bit implementation that utilizes digital chip and phase advancers, providing exceptional control and accuracy in feedback phase and in feedback delay. Roundoff and commensurability errors can be reduced to extremely small values (e.g., less than 100 nanochips and 100 nanocycles roundoff errors and 0.1 millichip and 1 millicycle commensurability errors). The digital tracking processor bases the fast feedback for phase and for group delay in the C/A, P.sub.1, and P.sub.2 channels on the L.sub.1 C/A carrier phase thereby maintaining lock at lower signal-to-noise ratios, reducing errors in feedback delays, reducing the frequency of cycle slips and in some cases obviating the need for quadrature processing in the P channels. Simple and reliable methods are employed for data bit synchronization, data bit removal and cycle counting. Improved precision in averaged output delay values is provided by carrier-aided data-compression techniques. The signal processor employs purely digital operations in the sense that exactly the same carrier phase and group delay measurements are obtained, to the last decimal place, every time the same sampled data (i.e., exactly the same bits) are processed.

Thomas, Jr., Jess B.↗
DOE OSTI2024

High throughput automated characterization of enamel microstructure using synchrotron tomography and optical flow imaging

The remarkable damage-tolerance of enamel has been attributed to its hierarchical microstructure and the organized bands of decussated rods. A thorough characterization of the microscale rod evolution within the enamel is needed to elucidate this complex structure. While prior efforts in this area have made use of single particle tracking to track a single rod evolution to various degrees of success, such a process can be both computationally and labor intensive, limited to the evolution path of a single rod, and is therefore prone to error from potentially tracking outliers. Particle image velocimetry (PIV) is a well-established algorithm to derive field information from image sequences for processes that are time-dependent, such as fluid flows and structural deformation. In this work, we demonstrate the use of PIV in extracting the full-field microstructural distribution of rods within the enamel. Further, enamel samples from a wild African lion were analyzed using high-energy synchrotron X-ray micro-tomography. Results from the PIV analysis provide sufficient full-field information to reconstruct the growth of individual rods that can potentially enable rapid analysis of complex microstructures from high resolution synchrotron datasets. Such information can serve as a template for designing damage-tolerant bioinspired structures for advanced manufacturing.

36 MATERIALS SCIENCE↗
NASA NTRS1981

Estimation of solar gravitational harmonics with Starprobe radiometric tracking data

The potential gravitational science return of a proposed spacecraft mission, called Starprobe, is investigated. The current mission plan is to place a spacecraft in a highly eccentric, highly inclined solar orbit with a perihelion distance of four solar radii. A covariance analysis based on Kalman filtering theory is performed to predict the accuracies with which gravitational parameters associated with the nonsphericity of the sun and relativistic effects can be estimated with radiometric tracking data. The accuracies are computed as functions of the quality and quantity of the radiometric data, the orbital parameters, the magnitude and character of the nongravitational accelerations acting on the spacecraft, and the errors in the tracking station locations and the ephemeris of the earth relative to the sun.

Mease, K. D.↗
DOE OSTI2026

Optimizing injection for the storage ring proton-EDM experiment

The proposed proton electric dipole moment (pEDM) experiment at Brookhaven National Laboratory (BNL), to be built inside the alternating gradient synchrotron (AGS) tunnel, aims to measure the proton’s electric dipole moment with a sensitivity of 10 −29 𝑒 cm. This paper presents the design of the injection line from the AGS booster to the pEDM storage ring, utilizing portions of the existing booster-to-AGS (BtA) transfer line. Building on the symmetric-hybrid lattice design [, Comprehensive symmetric-hybrid ring design for a proton-EDM experiment at below 10 −29 𝑒 cm, Phys. Rev. D 105, 032001 (2022)], our study emphasizes rigorous optics matching, detailed particle and spin tracking, and systematic error mitigation essential for achieving a target sensitivity of 10 −29 𝑒 cm. This design preserves the proton’s vertical spin orientation within ±20 mrad, a critical requirement for the pEDM measurement. Particle and spin tracking simulations using the ray-tracing code Zgoubi [F. Méot, Zgoubi users’ guide, Technical Report, Brookhaven National Laboratory (BNL), Relativistic Heavy Ion Collider (RHIC), Upton, NY, 2012] validate the design’s performance, demonstrating its feasibility for this precision experiment. The simulation results demonstrate that both clockwise (CW) and counterclockwise (CCW) injection lines meet the stringent beam envelope and polarization requirements.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
DOE OSTI2012

Image-Based Dynamic Multileaf Collimator Tracking of Moving Targets During Intensity-Modulated Arc Therapy

Purpose: Intensity-modulated arc therapy (IMAT) enables efficient and highly conformal dose delivery. However, intrafraction motion may compromise the delivered target dose distribution. Dynamic multileaf collimator (DMLC) tracking can potentially mitigate the impact of target motion on the dose. The purpose of this study was to use a single kV imager for DMLC tracking during IMAT and to investigate the ability of this tracking to maintain the dose distribution. Methods: A motion phantom carrying a two-dimensional (2D) ion chamber array and buildup material with an embedded gold marker reproduced eight representative tumor trajectories (four lung tumors, four prostate). For each trajectory, a low and high IMAT plan were delivered with and without DMLC tracking. The three-dimensional (3D) real-time target position signal for tracking was provided by fluoroscopic kV images acquired immediately before and during treatment. For each image, the 3D position of the embedded marker was estimated from the imaged 2D position by a probability-based method. The MLC leaves were continuously refitted to the estimated 3D position. For lung, prediction was used to compensate for the tracking latency. The delivered 2D dose distributions were measured with the ion chamber array and compared with a reference dose distribution delivered without target motion using a 3%/3 mm {gamma}-test. Results: For lung tumor motion, tracking reduced the mean {gamma}-failure rate from 38% to 0.7% for low-modulation IMAT plans and from 44% to 2.8% for high-modulation plans. For prostate, the {gamma}-failure rate reduction was from 19% to 0% (low modulation) and from 20% to 2.7% (high modulation). The dominant contributor to the residual {gamma}-failures during tracking was target localization errors for most lung cases and leaf fitting errors for most prostate cases. Conclusion: Image-based tracking for IMAT was demonstrated for the first time. The tracking greatly improved the dose distributions to moving targets.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
DOE OSTI2014

The potential of positron emission tomography for intratreatment dynamic lung tumor tracking: A phantom study

Purpose: This study aims to evaluate the potential and feasibility of positron emission tomography for dynamic lung tumor tracking during radiation treatment. The authors propose a center of mass (CoM) tumor tracking algorithm using gated-PET images combined with a respiratory monitor and investigate the geometric accuracy of the proposed algorithm. Methods: The proposed PET dynamic lung tumor tracking algorithm estimated the target position information through the CoM of the segmented target volume on gated PET images reconstructed from accumulated coincidence events. The information was continuously updated throughout a scan based on the assumption that real-time processing was supported (actual processing time at each frame ≈10 s). External respiratory motion and list-mode PET data were acquired from a phantom programmed to move with measured respiratory traces (external respiratory motion and internal target motion) from human subjects, for which the ground truth target position was known as a function of time. The phantom was cylindrical with six hollow sphere targets (10, 13, 17, 22, 28, and 37 mm in diameter). The measured respiratory traces consisted of two sets: (1) 1D-measured motion from ten healthy volunteers and (2) 3D-measured motion from four lung cancer patients. The authors evaluated the geometric accuracy of the proposed algorithm by quantifying estimation errors (Euclidean distance) between the actual motion of targets (1D-motion and 3D-motion traces) and CoM trajectories estimated by the proposed algorithm as a function of time. Results: The time-averaged error of 1D-motion traces over all trajectories of all targets was 1.6 mm. The error trajectories decreased with time as coincidence events were accumulated. The overall error trajectory of 1D-motion traces converged to within 2 mm in approximately 90 s. As expected, more accurate results were obtained for larger targets. For example, for the 37 mm target, the average error over all 1D-motion traces was 1.1 mm; and for the 10 mm target, the average error over all 1D-motion traces was 2.8 mm. The overall time-averaged error of 3D-motion traces was 1.6 mm, which was comparable to that of the 1D-motion traces. There were small variations in the errors between the 3D-motion traces, although the motion trajectories were very different. The accuracy of the estimates was consistent for all targets except for the smallest. Conclusions: The authors developed an algorithm for dynamic lung tumor tracking using list-mode PET data and a respiratory motion signal, and demonstrated proof-of-principle for PET-guided lung tumor tracking. The overall tracking error in phantom studies is less than 2 mm.

62 RADIOLOGY AND NUCLEAR MEDICINE↗
NASA NTRS2013

Cursor Control Device Test Battery

The test battery was developed to provide a standard procedure for cursor control device evaluation. The software was built in Visual Basic and consists of nine tasks and a main menu that integrates the set-up of the tasks. The tasks can be used individually, or in a series defined in the main menu. Task 1, the Unidirectional Pointing Task, tests the speed and accuracy of clicking on targets. Two rectangles with an adjustable width and adjustable center- to-center distance are presented. The task is to click back and forth between the two rectangles. Clicks outside of the rectangles are recorded as errors. Task 2, Multidirectional Pointing Task, measures speed and accuracy of clicking on targets approached from different angles. Twenty-five numbered squares of adjustable width are arranged around an adjustable diameter circle. The task is to point and click on the numbered squares (placed on opposite sides of the circle) in consecutive order. Clicks outside of the squares are recorded as errors. Task 3, Unidirectional (horizontal) Dragging Task, is similar to dragging a file into a folder on a computer desktop. Task 3 requires dragging a square of adjustable width from one rectangle and dropping it into another. The width of each rectangle is adjustable, as well as the distance between the two rectangles. Dropping the square outside of the rectangles is recorded as an error. Task 4, Unidirectional Path Following, is similar to Task 3. The task is to drag a square through a tunnel consisting of two lines. The size of the square and the width of the tunnel are adjustable. If the square touches any of the lines, it is counted as an error and the task is restarted. Task 5, Text Selection, involves clicking on a Start button, and then moving directly to the underlined portion of the displayed text and highlighting it. The pointing distance to the text is adjustable, as well as the to-be-selected font size and the underlined character length. If the selection does not include all of the underlined characters, or includes non-underlined characters, it is recorded as an error. Task 6, Multi-size and Multi-distance Pointing, presents the participant with 24 consecutively numbered buttons of different sizes (63 to 163 pixels), and at different distances (60 to 80 pixels) from the Start button. The task is to click on the Start button, and then move directly to, and click on, each numbered target button in consecutive order. Clicks outside of the target area are errors. Task 7, Standard Interface Elements Task, involves interacting with standard interface elements as instructed in written procedures, including: drop-down menus, sliders, text boxes, radio buttons, and check boxes. Task completion time is recorded. In Task 8, a circular track is presented with a disc in it at the top. Track width and disc size are adjustable. The task is to move the disc with circular motion within the path without touching the boundaries of the track. Time and errors are recorded. Task 9 is a discrete task that allows evaluation of discrete cursor control devices that tab from target to target, such as a castle switch. The task is to follow a predefined path and to click on the yellow targets along the path.

Kritina Holden↗
DOE OSTI2017

Correlation and 3D-tracking of objects by pointing sensors

A method and system for tracking at least one object using a plurality of pointing sensors and a tracking system are disclosed herein. In a general embodiment, the tracking system is configured to receive a series of observation data relative to the at least one object over a time base for each of the plurality of pointing sensors. The observation data may include sensor position data, pointing vector data and observation error data. The tracking system may further determine a triangulation point using a magnitude of a shortest line connecting a line of sight value from each of the series of observation data from each of the plurality of sensors to the at least one object, and perform correlation processing on the observation data and triangulation point to determine if at least two of the plurality of sensors are tracking the same object. Observation data may also be branched, associated and pruned using new incoming observation data.

47 OTHER INSTRUMENTATION↗
DOE OSTI2022

Coincidence Anticipation Timing Responses with Head Tracking and Eye Tracking

Head tracking movements are common in interceptive tasks. The benefits of these movements are unclear. The purpose of this study was to compare coincidence anticipation timing (CAT) responses for a simulated approaching object when the eyes were used in tracking the object and when the head was used in tracking the object.A total of 29 subjects participated. A Bassin Anticipation Timer consisting of a track of sequentially illuminated lights was used to simulate an approaching object at velocities of 223 cm · s -1 to 894 cm · s -1 . Each velocity was used 10 times under 2 conditions. In one condition, subjects were told to turn the eyes with the stimulus. In the other condition, subjects viewed the stimulus through apertures and were told to turn the head with the stimulus. Subjects pushed a button to coincide with illumination of the final light on the track. Signed CAT errors, unsigned CAT errors, and variable CAT errors were compared between the head movement (HM) and eye movement (EM) conditions. No significant differences were noted for the signed errors (mean signed error at 894 cm · s -1 ; 10.3 ± 75.4 ms (HM), -16.1 ± 51.0 ms (EM). However, the unsigned and variable errors were significantly larger at some stimulus velocities in the head movement condition [mean unsigned error at 894 cm · s -1 : 82.6.0 ± 45.9 ms (HM), 59.0 ± 22.4 ms (EM); mean variable error at 894 cm · s -1 ; 78.0 ± 37.8 ms (HM), 49.2 ± 17.1ms (EM)]. DISCUSSION: Head movement did not result in improved CAT performance compared to eye movements. Further work will be required to determine whether these results are generalizable to situations where head tracking is required but apertures are not worn.

Biophysics↗
NASA NTRS1981

Algorithms for onboard orbit estimation with Tracking and Data Relay Satellite System data

An investigation is carried out to determine an appropriate estimation technique for onboard orbit determination using simulated Tracking and Data Relay Satellite System (TDRSS) data. Results are presented from studies done using three estimation techniques: an extended Kalman filter, a consider filter, and a sliding batch differential corrector. These estimators are evaluated when used with both baseline and worst-case TDRSS measurement errors and with tracking configurations for two types of orbits: a high-inclination, near-circular orbit with an altitude of 700 km and a moderately inclined, lower altitude orbit. Each estimation result is evaluated by comparing the true with the estimated ephemeris.

Dunham, J. B.↗