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At least 613 records · Page 34

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NASA NTRSDate not supplied

Trajectory Planning for Mission Survivability of Autonomous Vehicles in Moderately to Extremely Uncertain Environments

Trajectory planning is a particularly challenging task for autonomous vehicles when the uncertainties in their operating environment cannot be characterized statistically. In this paper, we propose a receding horizon control strategy with novel trajectory planning policies that enable dynamic updating of the planned trajectories of autonomous vehicles operating in environments where potential conflicts are, from a statistical perspective, either partially known or completely unknown. The proposed policies utilize two metrics: (1) the number of feasible trajectories; and (2) the robustness of the feasible trajectories. We measure the effectiveness of the suggested policies in terms of mission survivability, which is defined as the probability that the primary mission is accomplished or, if that is not possible, the vehicle lands safely at an alternative site. We show that a linear combination of both metrics is an effective objective function when there is a mix of partially known and unknown uncertainties. When the operating environment is dominated by unknown disturbances, maximizing the number of feasible trajectories results in the highest mission survivability. These findings have significant implications for achieving safe aviation. autonomy.

Aviation autonomy↗

NASA NTRSDate not supplied

Trajectory Planning for Mission Survivability of Autonomous Vehicles in Moderately to Extremely Uncertain Environments

Trajectory planning is a particularly challenging task for autonomous vehicles when there are moderate to extreme uncertainties in their operating environment, i.e., where the trajectories of hazards are partially known to completely unknown. In this paper, we propose a receding horizon control strategy with novel trajectory planning policies that enable dynamic updating of the planned trajectories of autonomous vehicles. The proposed policies utilize two metrics: (1) the number of feasible trajectories; and (2) the robustness of the feasible trajectories. We measure the effectiveness of the suggested policies in terms of mission survivability, which is defined as the probability that the primary mission is accomplished or, if that is not possible, the vehicle lands safely at an alternative site. We show that a linear combination of both metrics is an effective objective function when there is a mix of partially known and unknown uncertainties. When the operating environment is dominated by unknown disturbances, maximizing the number of feasible trajectories results in the highest mission survivability. These findings have significant implications for achieving safe aviation autonomy.

aviation autonomy↗

NASA NTRSDate not supplied

3D Climate Simulations of Earth-Like Planets with A Range of Atmospheric Composition, Radiative Transfer, Ocean, And Resolution Configurations, Using the New Version of ROCKE-3D

Understanding the climate of terrestrial planetary atmospheres has been increasingly the focus of research worldwide, in light of the increasing amount of rocky planet discoveries orbiting other stars in or near their habitable zone. Here we present simulations with the new version of the 3D climate model ROCKE-3D, whose version 2.0 will soon become publicly available. A wide range of configurations will be supported, compared to a handful ones in its predecessor, version 1.0 (Way et al., 2017). These include two model resolutions (4x5 and 2x2.5), two radiation schemes (GISS and SOCRATES), three atmospheric configurations (Earth-like, Earth-like without O3 and aerosols, and N2-dominated), and three ocean setups (prescribed sea-surface temperatures and ice cover, q-flux, and dynamic). Simulations of all different configuration combinations have been performed and will become available for use by the community. Key results will be presented across those configurations, together of the role of the structural uncertainty in model setup in the resulting climate calculated by the model.

climate simulations of Earth-like planets↗

NASA NTRS1981

Time and duration of lunar highlands crust formation

Due to remaining uncertainties in model parameters and assumptions in the calculation of model ages, it is not yet possible to resolve the precise dating and duration of lunar crust-mantle differentiation phenomena. Norites 78236 and 73255,27,45 were examined utilizing the Sm-Nd radiometric system. The systematics of 78236 show post-crystallization disturbance but indicate a crystallization date 4.34 AE ago. An isochron is defined by the 73255,27,45 data, with a crystallization date of 4.23 AE. The initial Nd isotopic composition of both norites is within uncertainty limits for a 'chondritic' reference reservoir at the time of their respective crystallizations. The implications for lunar crustal formation persisting over a time span of nearly 350 million years are discussed.

Carlson, R. W.↗

NASA NTRS1978

Very Long Baseline Interferometry Applied to Polar Motion, Relativity and Geodesy

The causes and effects of diurnal polar motion are described. An algorithm is developed for modeling the effects on very long baseline interferometry observables. Five years of radio-frequency very long baseline interferometry data from stations in Massachusetts, California, and Sweden are analyzed for diurnal polar motion. It is found that the effect is larger than predicted by McClure. Corrections to the standard nutation series caused by the deformability of the earth have a significant effect on the estimated diurnal polar motion scaling factor and the post-fit residual scatter. Simulations of high precision very long baseline interferometry experiments taking into account both measurement uncertainty and modeled errors are described.

Ma, C.↗

NASA NTRS2007

A Risk-Based Approach for Aerothermal/TPS Analysis and Testing

The current status of aerothermal and thermal protection system modeling for civilian entry missions is reviewed. For most such missions, the accuracy of our simulations is limited not by the tools and processes currently employed, but rather by reducible deficiencies in the underlying physical models. Improving the accuracy of and reducing the uncertainties in these models will enable a greater understanding of the system level impacts of a particular thermal protection system and of the system operation and risk over the operational life of the system. A strategic plan will be laid out by which key modeling deficiencies can be identified via mission-specific gap analysis. Once these gaps have been identified, the driving component uncertainties are determined via sensitivity analyses. A Monte-Carlo based methodology is presented for physics-based probabilistic uncertainty analysis of aerothermodynamics and thermal protection system material response modeling. These data are then used to advocate for and plan focused testing aimed at reducing key uncertainties. The results of these tests are used to validate or modify existing physical models. Concurrently, a testing methodology is outlined for thermal protection materials. The proposed approach is based on using the results of uncertainty/sensitivity analyses discussed above to tailor ground testing so as to best identify and quantify system performance and risk drivers. A key component of this testing is understanding the relationship between the test and flight environments. No existing ground test facility can simultaneously replicate all aspects of the flight environment, and therefore good models for traceability to flight are critical to ensure a low risk, high reliability thermal protection system design. Finally, the role of flight testing in the overall thermal protection system development strategy is discussed.

Wright, Michael J.↗

NASA NTRS2021

Safe Tracking Control of an Uncertain Euler-Lagrange System with Full-State Constraints using Barrier Functions

This paper presents a novel, safe tracking control design method that learns the parameters of an uncertain Euler-Lagrange (EL) system online using adaptive learning laws. A barrier function (BF) is first used to transform the full-state constrained EL-dynamics into an equivalent unconstrained dynamics. An adaptive tracking controller is then developed along with the parameter update law in the transformed state space such that the states remain bounded for all time within a prescribed bound. A stability analysis is developed that considers the EL-dynamics’ uncertainty, yielding a semi-globally uniformly ultimately bounded (SGUUB) tracking error and the parameter estimation error. The controller design is validated in simulations using a two-link planar manipulator. The results show the proposed method’s ability to track the reference trajectory while remaining inside each of the predefined state bounds.

Robots↗

NASA NTRS2022

Simultaneous Retrieval of Selected Optical Water Quality Indicators From Landsat-8, Sentinel-2, and Sentinel-3

Constructing multi-source satellite-derived water quality (WQ) products in inland and nearshore coastal waters from the past, present, and future missions is a long-standing challenge. Despite inherent differences in sensors’ spectral capability, spatial sampling, and radiometric performance, research efforts focused on formulating, implementing, and validating universal WQ algorithms continue to evolve. This research extends a recently developed machine-learning (ML) model, i.e., Mixture Density Networks (MDNs) (Pahlevan et al., 2020; Smith et al., 2021), to the inverse problem of simultaneously retrieving WQ indicators, including chlorophyll-a (Chla), Total Suspended Solids (TSS), and the absorption by Colored Dissolved Organic Matter at 440 nm (a cdom (440)), across a wide array of aquatic ecosystems. We use a database of in situ measurements to train and optimize MDN models developed for the relevant spectral measurements (400–800 nm) of the Operational Land Imager (OLI), MultiSpectral Instrument (MSI), and Ocean and Land Color Instrument (OLCI) aboard the Landsat-8, Sentinel-2, and Sentinel-3 missions, respectively. Our two performance assessment approaches, namely hold-out and leave-one-out, suggest significant, albeit varying degrees of improvements with respect to second-best algorithms, depending on the sensor and WQ indicator (e.g., 68%, 75%, 117% improvements based on the hold-out method for Chla, TSS, and a cdom (440), respectively from MSI-like spectra). Using these two assessment methods, we provide theoretical upper and lower bounds on model performance when evaluating similar and/or out-of-sample datasets. To evaluate multi-mission product consistency across broad spatial scales, map products are demonstrated for three near-concurrent OLI, MSI, and OLCI acquisitions. Overall, estimated TSS and a cdom (440) from these three missions are consistent within the uncertainty of the model, but Chla maps from MSI and OLCI achieve greater accuracy than those from OLI. By applying two different atmospheric correction processors to OLI and MSI images, we also conduct matchup analyses to quantify the sensitivity of the MDN model and best-practice algorithms to uncertainties in reflectance products. Our model is less or equally sensitive to these uncertainties compared to other algorithms. Recognizing their uncertainties, MDN models can be applied as a global algorithm to enable harmonized retrievals of Chla, TSS, and a cdom (440) in various aquatic ecosystems from multi-source satellite imagery. Local and/or regional ML models tuned with an apt data distribution (e.g., a subset of our dataset) should nevertheless be expected to outperform our global model.

Machine learning↗

NASA NTRS1989

A design procedure for the handling qualities optimization of the X-29A aircraft

A design technique for handling qualities improvement was developed for the X-29A aircraft. As with any new aircraft, the X-29A control law designers were presented with a relatively high degree of uncertainty in their mathematical models. The presence of uncertainties, and the high level of static instability of the X-29A caused the control law designers to stress stability and robustness over handling qualities. During flight test, the mathematical models of the vehicle were validated or corrected to match the vehicle dynamic behavior. The updated models were then used to fine tune the control system to provide fighter-like handling characteristics. A design methodology was developed which works within the existing control system architecture to provide improved handling qualities and acceptable stability with a minimum of cost in both implementation as well as software verification and validation.

Bosworth, John T.↗

NASA NTRSDate not supplied

Consequences of Asteroid Characterization on the State of Knowledge about Inferred Physical Properties and Impact Risk

Physical characteristics of Near-Earth Objects (NEOs) are essential inputs to planetary defense assessments. The size, density, and strength of an NEO are critical inputs to modeling behavior during atmospheric entry as well as assessing the risk of impact. Similarly, knowledge of the physical characteristics of an object are necessary to evaluate the probable result of a mitigation mission. Usually, these attributes cannot be directly measured, but increasingly sophisticated methods have been developed to infer physical properties from related measurements of asteroids, meteors, and/or meteorites. Fortuitously, some of these measurements have been obtained for enough NEOs to elucidate the distribution of values across the sampled population. However, the situation becomes more challenging when considering a specific asteroid, since it is unlikely that all the relevant measurements have been made for any given object. We have developed a Bayesian network that can combine available information about a particular NEO with knowledge of the larger population to infer probabilistic values and uncertainties for physical characteristics of interest. Distributions of asteroid population albedos, taxonomic classes, and macroporosities, along with meteorite density distributions and associations between taxonomic classes and meteorite classes, provide the default distributions for the network’s parameter nodes. The inference network links parameters for each virtual asteroid either deterministically or probabilistically as appropriate, and eliminates any unphysical combinations of parameters. Within the context of planetary defense, our Bayesian network can be used to constrain the ranges of likely impactor properties, which can subsequently reduce the uncertainty in modelling of atmospheric entry, mitigation efficacy, and impact risk assessment. When additional measurements become available for a specific object, the network incorporates those measurements to generate virtual asteroids with property distributions that are consistent with the measurements. We will use the 2023 PDC scenario to demonstrate how the inference network can be combined with plausible characterization measurements to refine the state of knowledge about likely combinations of physical parameters and the resulting impact risk.

risk assessment↗

NASA NTRSDate not supplied

Consequences of Asteroid Characterization on the State of Knowledge about Inferred Physical Properties and Impact Risk

risk assessment↗

NASA NTRS1995

EWB: The Environment WorkBench Version 4.0

The Environment WorkBench EWB is a desktop integrated analysis tool for studying a spacecraft's interactions with its environment. Over 100 environment and analysis models are integrated into the menu-based tool. EWB, which was developed for and under the guidance of the NASA Lewis Research Center, is built atop the Module Integrator and Rule-based Intelligent Analytic Database (MIRIAD) architecture. This allows every module in EWB to communicate information to other modules in a transparent manner from the user's point of view. It removes the tedious and error-prone steps of entering data by hand from one model to another. EWB runs under UNIX operating systems (SGI and SUN workstations) and under MS Windows (3.x, 95, and NT) operating systems. MIRIAD, the unique software that makes up the core of EWB, provides the flexibility to easily modify old models and incorporate new ones as user needs change. The MIRIAD approach separates the computer assisted engineering (CAE) tool into three distinct units: 1) A modern graphical user interface to present information; 2) A data dictionary interpreter to coordinate analysis; and 3) A database for storing system designs and analysis results. The user interface is externally programmable through ASCII data files, which contain the location and type of information to be displayed on the screen. This approach provides great flexibility in tailoring the look and feel of the code to individual user needs. MIRIADbased applications, such as EWB, have utilities for viewing tabulated parametric study data, XY line plots, contour plots, and three-dimensional plots of contour data and system geometries. In addition, a Monte Carlo facility is provided to allow statistical assessments (including uncertainties) in models or data.

Source record↗

NASA NTRS2019

Global Crop Production: Adaptation to Temperature Increase Is Possible by Maintaining the Current Growing Periods

Increasing temperature trends are expected to impact yields of major field crops by affecting various plant processes, such as phenology and growth. However, future projections, especially at the global scale, do not consider any agronomic adaptation in farming practices. We use an ensemble of seven Global Gridded Crop Models (GGCMs) contributing to the AgMIP-Gridded project to quantify the impacts and adaptation potential of field crops under increasing temperature. We study how uniform warming scenarios up to 6 K affect the productivity and growing period duration of five major crops. The design of the experiment aims at understanding adaptation measures targeted to temperature-driven impacts and therefore leaves out changes in any other climate variable. We find that, without adaptation the dominant effect of temperature increase is to shorten the growing period and to reduce yields and production, consistently across crops and regions. We then test the potential of two agronomic measures to contrast warming-induced yield reduction, assuming that (i) cultivars with adjusted phenology would be used to regain the reference growing period duration; (ii) rainfed systems would be converted to irrigated. Despite substantial uncertainties in model parametrization and little agreement in spatial patterns, at the global aggregation, model results are robust. We find that up to 3 K of temperature increase, production losses could be fully compensated by maintaining the original crop growing period. Irrigation would also compensate production losses, but would not reduce the temperature impacts. Across regions, the model ensemble estimates larger adaptation potentials from unchanged growing periods in continental and temperate regions, than in tropical and arid regions, where also irrigation has respectively little effects and availability.

Irrigation↗

NASA NTRS2020

Radiative Heating Rate Profiles over the Southeast Atlantic Ocean during the 2016 and 2017 Biomass Burning Seasons

Marine boundary layer clouds, including the transition from stratocumulus to cumulus, are poorly represented in numerical weather prediction and general circulation models. Further uncertainties in the cloud structure arise in the presence of biomass burning carbonaceous aerosol, as is the case over the southeast Atlantic Ocean where biomass burning aerosol is transported from the African continent. As the aerosol plume progresses across the southeast Atlantic Ocean, radiative heating within the aerosol layer has the potential to alter the thermodynamic environment and therefore the cloud structure; however, limited work has been done to quantify this along the trajectory of the aerosol plume in the region. The deployment of the First Atmospheric Radiation Measurement Mobile Facility in support of the Layered Atlantic Smoke Interactions with Clouds field campaign provided a unique opportunity to collect observations of cloud and aerosol properties during two consecutive biomass burning seasons during July through October of 2016 and 2017 over Ascension Island (7.96 °S, 14.35 °W). Using observed profiles of temperature, humidity, and clouds from the field campaign, alongside aerosol optical properties from MERRA-2 as input for the Rapid Radiation Transfer Model, profiles of the radiative heating rate due to aerosols and clouds were computed. Radiative heating is also assessed across the southeast Atlantic Ocean using an ensemble of back trajectories from the Hybrid Single Particle Lagrangian Integrated Trajectory Model. Idealized experiments using the Rapid Radiation Transfer Model with and without aerosols and a range of values for the single scattering albedo demonstrate that shortwave heating within the aerosol layer above Ascension Island can locally range between 2 and 8 K per day depending on the aerosol optical properties, though impacts of the aerosol can be felt elsewhere in the atmospheric column. When considered under clear conditions, the aerosol has a cooling effect at the TOA and based on the observed cloud properties at Ascension Island, the cloud albedo is not large enough to overcome this. Shortwave radiative heating due to biomass burning aerosol is not balanced by additional longwave cooling, and the net radiative impact results in a stabilization of the lower troposphere. However, these results are extremely sensitive to the single scattering albedo assumptions in models.

Allison B. Marquardt Collow↗

NASA NTRS2003

Aeroservoelastic Model Validation and Test Data Analysis of the F/A-18 Active Aeroelastic Wing

Model validation and flight test data analysis require careful consideration of the effects of uncertainty, noise, and nonlinearity. Uncertainty prevails in the data analysis techniques and results in a composite model uncertainty from unmodeled dynamics, assumptions and mechanics of the estimation procedures, noise, and nonlinearity. A fundamental requirement for reliable and robust model development is an attempt to account for each of these sources of error, in particular, for model validation, robust stability prediction, and flight control system development. This paper is concerned with data processing procedures for uncertainty reduction in model validation for stability estimation and nonlinear identification. F/A-18 Active Aeroelastic Wing (AAW) aircraft data is used to demonstrate signal representation effects on uncertain model development, stability estimation, and nonlinear identification. Data is decomposed using adaptive orthonormal best-basis and wavelet-basis signal decompositions for signal denoising into linear and nonlinear identification algorithms. Nonlinear identification from a wavelet-based Volterra kernel procedure is used to extract nonlinear dynamics from aeroelastic responses, and to assist model development and uncertainty reduction for model validation and stability prediction by removing a class of nonlinearity from the uncertainty.

Brenner, Martin J.↗

NASA NTRS2012

Upper-Ocean Heat Balance Processes and the Walker Circulation in CMIP5 Model Projections

Considerable uncertainty remains as to the importance of mechanisms governing decadal and longer variability of the Walker Circulation, its connection to the tropical climate system, and prospects for tropical climate change in the face of anthropogenic forcing. Most contemporary climate models suggest that in response to elevated CO2 and a warmer but more stratified atmosphere, the required upward mass flux in tropical convection will diminish along with the Walker component of the tropical mean circulation as well. Alternatively, there is also evidence to suggest that the shoaling and increased vertical stratification of the thermocline in the eastern Pacific will enable a muted SST increase there-- preserving or even enhancing some of the dynamical forcing for the Walker cell flow. Over the past decade there have been observational indications of an acceleration in near-surface easterlies, a strengthened Pacific zonal SST gradient, and globally-teleconnected dislocations in precipitation. But is this evidence in support of an ocean dynamical thermostat process posited to accompany anthropogenic forcing, or just residual decadal fluctuations associated with variations in warm and cold ENSO events and other stochastic forcing? From a modeling perspective we try to make headway on this question by examining zonal variations in surface energy fluxes and dynamics governing tropical upper ocean heat content evolution in the WCRP CMIP5 model projections. There is some diversity among model simulations; for example, the CCSM4 indicates net ocean warming over the IndoPacific region while the CSIRO model concentrates separate warming responses over the central Pacific and Indian Ocean regions. The models, as with observations, demonstrate strong local coupling between variations in column water vapor, downward surface longwave radiation and SST; but the spatial patterns of changes in the sign of this relationship differ among models and, for models as a whole, with observations. Our analysis focuses initially on probing the inter-model differences in energy fluxes / transports and Walker Circulation response to forcing. We then attempt to identify statistically the El Nino- / La Nina-related ocean heat content variability unique to each model and regress out the associated energy flux, ocean heat transport and Walker response on these shorter time scales for comparison to that of the anthropogenic signals.

Robertson, F. R.↗

NASA NTRS2020

Using Flexible Execution, Replanning, and Model Parameter Updates to Address Environmental Uncertainty for a Planetary Lander

Planning in an unknown environment presents a number of challenges: incorrect world models, unpredictable variation in execution, and fixed depletable resources. Productivity in the face of these challenges requires an integrated approach to planning and execution that is capable of accomplishing goals, reacting to variation, and maximizing overall utility. We examine this problem in the context of a Europa Lander concept mission. We model the problem as a hierarchical task network, framing it as a utility maximization problem with a depletable energy resource. Then, we propose a planning and execution framework that responds to feedback using three techniques: flexible execution, periodic replanning, and online parameter estimation and re-goaling. We demonstrate the efficacy of each of these techniques through simulation of a Europa Lander mission, showing higher utility achievement compared to simpler approaches, when presented with variation in energy consumption. We demonstrate that an approach to scheduling and execution that is grounded in decision theory and integrated planning and execution will be an enabling technology for future tightly-constrained planetary surface missions.

Chien, Steve↗

NASA NTRS1972

Incomplete state feedback for systems with parameter uncertainty and random disturbances

A unified design philosophy is presented for limited state feedback control problems with parameter uncertainty for both deterministic and stochastic problems. Two approaches are considered: linear compensator for the deterministic problem with parameter uncertainty, and for the single input-single output system with parameter uncertainty, a model on order equal to that of the system less the number of zeroes. The limitations of these approaches are discussed along with suggestions for further research.

Basuthakur, S.↗