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The paper continues the status reporting of the ultralightweight flexible blanket, flatpack, foldout solar array testbed wing that was presented at the previous Meeting. The test bed wing has been built and subjected to a variety of critical functional tests after exposure to simulated launch environments.
The Mars Science Laboratory developed the WorkStation TestSet (WSTS) to support flight software development. The WSTS is the non-real-time flight avionics simulator that is designed to be completely software-based and run on a workstation class Linux PC. This provides flight software developers with their own virtual avionics testbed and allows device-level and functional software testing when hardware testbeds are either not yet available or have limited availability. The WSTS has successfully off-loaded many flight software development activities from the project testbeds. At the writing of this paper, the WSTS has averaged an order of magnitude more usage than the project's hardware testbeds.
While NASA’s Mars rover Perseverance continues to make groundbreaking achievements on the Red Planet, its twin is hard at work here on Earth. The Operational Perseverance Twin for the Integration of Mechanisms and Instruments Sent to Mars, or OPTIMISM, is the Mars 2020 Vehicle System Testbed (VSTB) rover operated by NASA Jet Propulsion Laboratory (JPL) in Pasadena, California. OPTIMISM’s home is the JPL Mars Yard; an outdoor field with red soil that simulates the terrain encountered by Perseverance. The VSTB is a full-scale engineering model of the flight rover, serving a number of functions to ensure mission operations can continue smoothly and on schedule. The VSTB possesses instrumentation, computers, mechanisms, cameras, and a Mobility subsystem that are nearly identical to its extraterrestrial twin. Its high fidelity allows the rover to be a highly effective tool to fully test system functionality and performance prior to commanding the flight rover. The early stages of building OPTIMISM began a few months prior to Perseverance departing JPL for Cape Canaveral, FL in early 2020. Electrical integration of the flight system avionics, and compatibility checkouts of the electrical ground support equipment ensured that the foundation of the electrical system was operational and in place. Next, the internal harnessing was installed and compatibility checks of the rover instrumentation and mechanisms were performed to confirm the system was prepared for full buildup. Finally, mechanical assembly of the rover chassis with its external components completed the integration of the system before it was moved to the Mars Yard for its initial phase of testing to perform verification & validation (V&V) of the Mobility subsystem requirements. By the time Perseverance landed at Jezero Crater in February 2021, the first phase of VSTB operations was underway. Surface guidance, navigation, and control (SGNC) testing for the Mobility subsystem ensured functionality and performance requirements were met for various capabilities such as visual odometry (VO), mapping, and automatic navigation (AutoNav). Subsequent integration of the robotic arm (RA) onto the VSTB enabled the V&V campaign for surface sampling operations (SSO) to commence. As the mission’s engineering operations (EO) have gotten underway, the VSTB has been utilized for an array of purposes including troubleshooting software anomalies, and performing dry-runs for first time activities (FTAs) prior to sending the commands to Perseverance. OPTIMISM will continue to serve mission critical functions as long as Perseverance is roving the Red Planet.
Through a novel laser ablative patterning (LAP) process, the present work reports the increase in wetting contact angle of molybdenum aluminum boride (MoAlB) and the reduction of dust adhesion. The LAP technique employed picosecond laser pulses to form a crosshatch pattern with micropillars on ceramic surfaces. The wetting behavior was successfully transitioned from hydrophilic (θ < 90°) to hydrophobic (θ > 90°), which may be related to Wenzel or Cassie-Baxter mechanisms. Parameters such as laser fluence and number of laser scans were varied to study their effects on ceramic surface characteristics. Dust adhesion experiments were performed on these hydrophobic ceramic surfaces, which showed that the adhesion of lunar soil simulant dust particles was significantly reduced in the patterned MoAlB surface. The patterned MoAlB samples were further examined using the surveying lunar dust influence on device efficacy (SLIDE) testbed to evaluate the wear performance.
As part of the Airborne Subscale Transport Aircraft Research (AirSTAR) project, NASA Langley Research Center (LaRC) has developed a subscaled flying testbed in order to conduct research experiments in support of the goals of NASA s Aviation Safety Program. This research capability consists of three distinct components. The first of these is the research aircraft, of which there are several in the AirSTAR stable. These aircraft range from a dynamically-scaled, twin turbine vehicle to a propeller driven, off-the-shelf airframe. Each of these airframes carves out its own niche in the research test program. All of the airplanes have sophisticated on-board data acquisition and actuation systems, recording, telemetering, processing, and/or receiving data from research control systems. The second piece of the testbed is the ground facilities, which encompass the hardware and software infrastructure necessary to provide comprehensive support services for conducting flight research using the subscale aircraft, including: subsystem development, integrated testing, remote piloting of the subscale aircraft, telemetry processing, experimental flight control law implementation and evaluation, flight simulation, data recording/archiving, and communications. The ground facilities are comprised of two major components: (1) The Base Research Station (BRS), a LaRC laboratory facility for system development, testing and data analysis, and (2) The Mobile Operations Station (MOS), a self-contained, motorized vehicle serving as a mobile research command/operations center, functionally equivalent to the BRS, capable of deployment to remote sites for supporting flight tests. The third piece of the testbed is the test facility itself. Research flights carried out by the AirSTAR team are conducted at NASA Wallops Flight Facility (WFF) on the Eastern Shore of Virginia. The UAV Island runway is a 50 x 1500 paved runway that lies within restricted airspace at Wallops Flight Facility. The facility provides all the necessary infrastructure to conduct the research flights in a safe and efficient manner. This paper gives a comprehensive overview of the development of the AirSTAR testbed.
Grid operators are increasingly turning to advanced grid-support functions in distributed energy resources (DER) to assist with distribution circuit voltage regulation, bulk system frequency control, and power system protection. The U.S. DER certification standard, Underwriters Laboratories (UL) 1741, was revised in September 2016 to add test procedures for multiple grid-support functions. Sandia National Laboratories, SunSpec Alliance, and growing community of collaborators have undertaken a multiyear effort to create an open-source system validation platform (SVP) that automates DER interconnection and interoperability test procedures by communicating with grid simulators, photovoltaic (PV) simulators, data acquisition systems, and interoperable equipment under test. However, the power hardware required for generating the test conditions may be untenable for many organizations. In this paper, we discuss development of the SVP testing capabilities for UL 1741 tests utilizing a controller hardware-in-the-loop testbed that precludes the need for power hardware using a 34.5 kW Austrian Institute of Technology smart grid controller. Finally, analysis of normal ramp rate, soft start ramp rate, specified power factor, volt-VAr, and frequency-watt advanced grid functions, and the effectiveness of the UL 1741 test protocols are included.
To address major knowledge gaps and barriers to the commercial development of algal biomass for biofuels and co-products, a collaborative consortium, Development of Integrated Screening, Cultivar Optimization, and Verification Research (DISCOVR), was established in 2016. Funded by the U.S. Department of Energy (DOE) Bioenergy Technologies Office (BETO), this consortium constitutes a partnership between four DOE national laboratories - Pacific Northwest National Laboratory (PNNL), Los Alamos National Laboratory (LANL), the National Renewable Energy Laboratory (NREL), and Sandia National Laboratories (SNL) - and the Arizona Center for Algae Technology and Innovation (AzCATI) at Arizona State University. To address the barriers of strain selection for achieving high seasonal productivities with a suitable composition and culture resilience, a tiered strain down-selection pipeline is implemented. At Tier I, the temperature and salinity tolerance of strains is determined in flask cultures; at Tier II, the areal biomass productivity and composition is determined in climate-simulation photobioreactors; at Tier III, the productivity and culture stability are determined in outdoor raceways. The top performing strains move forward to long-term testing at the algae testbed site at AzCATI to generate annual biomass productivity data. Concurrent to the strain down-selection in the DISCOVR pipeline, hypotheses for increasing biomass productivity, shifting biomass composition to enhance intrinsic value, and improving culture stability and resistance to pests are also tested. Techno-economic analyses are carried out to determine whether promising findings from laboratory studies or proposed modifications in outdoor pond cultivation conditions translate into reductions in the minimum biomass selling price (MBSP). Notably, in the three years following the launch of DISCOVR, annual biomass productivity has increased from 11.7 to 17.6 g m -2 day -1 , resulting in an MBSP decrease from 824 to 611 $ ton -1 .
The stable numerical integration of shocks in compressible flow simulations relies on the reduction or elimination of Gibbs phenomena (unstable, spurious oscillations). A popular method to virtually eliminate Gibbs oscillations caused by numerical discretization in under-resolved simulations is to use a flux limiter. A wide range of flux limiters have been studied in the literature, with recent interest in their optimization via machine learning methods trained on high-resolution datasets. The common use of flux limiters in numerical codes as plug-and-play blackbox components makes them key targets for design improvement. Even for deterministic dynamical models, numerical uncertainty is introduced via coarse-graining required by insufficient computational power to solve all scales of motion. Conventional flux limiters are deterministic and lack the capacity to address uncertainties, both aleatoric (inherent randomness) and epistemic (modeling uncertainty due to limited knowledge), which arise in coarse-grained numerical simulations. Here, we introduce a conceptually distinct type of flux limiter that is designed to handle the effects of randomness in the model and uncertainty in model parameters. Unlike traditional single-function flux limiters, these new probabilistic flux limiters incorporate multiple flux limiting functions, each applied with a learned probability drawn from high-resolution data to mitigate the effects of uncertainty in numerical simulations. This approach departs from traditional single-function limiters by explicitly modeling and incorporating uncertainty into the shock capturing process. Using the example of Burgers' equation as a testbed, we show that a machine learned, probabilistic flux limiter may be used in a shock capturing code to more accurately capture shock profiles. In particular, we show that our probabilistic flux limiter outperforms standard limiters and can be successively improved upon (up to a point) by expanding the set of probabilistically chosen flux limiting functions.
Superconducting qubit devices are highly sensitive to cosmic ray induced quasiparticle poisoning—a challenge for quantum computing. At Fermilab, we utilize an underground testbed called QUIET that significantly decreases the rate of such events. We employ an open-source toolchain, including Qiskit Metal and the SQuADDs library, for device design and simulation prior to fabrication. We then test these chips in QUIET, which is capable of housing many chips, enabling tests of scalability. This presentation will cover our qubit design approach, fabrication capabilities, and first measurements from qubits deployed in QUIET, benchmarking the new facility.
This viewgraph presentation presents an algorithm for trajectory control of a spacecraft that minimizes the time to perform slews, including settling, by avoiding reaction wheel torque and momentum limits that would excite flexible structural modes. This algorithm was validated by simulation during the design of the NGST 'Yardstick' (precursor to JWST). Performance verification of a reduced form for single-axis slews was carried out using the MIT Origins Testbed. It is currently baselined for use by TPF-Coronagraph.
An integrated modeling tool has been developed to include multi-body dynamics, orbital dynamics, and touch-and-go dynamics for spacecraft covering three types of end-effectors: a sticky pad, a brush-wheel sampler, and a pellet gun. Several multi-body models of a free-flying spacecraft with a multi-link manipulator driving these end-effectors have been tested with typical contact conditions arising when the manipulator arm is to sample the surface of an asteroidal body. The test data have been infused directly into the dynamics formulation including such information as the mass collected as a function of end-effector longitudinal speed for the brush-wheel and sticky-pad samplers, and the mass collected as a function of projectile speed for the pellet gun sampler. These data represent the realistic behavior of the end effector while in contact with a surface, and represent a low-order model of more complex contact conditions that otherwise would have to be simulated. Numerical results demonstrate the adequacy of these multibody models for spacecraft and manipulator- arm control design. The work contributes to the development of a touch-and-go testbed for small body exploration, denoted as the GREX Testbed (GN&C for Rendezvous-based EXploration). The GREX testbed addresses the key issues involved in landing on an asteroidal body or comet; namely, a complex, low-gravity field; partially known terrain properties; possible comet outgassing; dust ejection; and navigating to a safe and scientifically desirable zone.
The UV-Vis spectroscopic system for plume diagnostics monitors rocket engine health by using several analytical tools developed at Stennis Space Center (SSC), including the rocket plume spectroscopy simulation code (RPSSC), to identify and quantify the alloys from the metallic elements observed in engine plumes. Because the hydrocarbon-fueled rocket engine is likely to contain C2, CO, CH, CN, and NO in addition to OH and H2O, the relevant electronic bands of these molecules in the spectral range of 300 to 850 nm in the RPSSC have been included. SSC incorporated several enhancements and modifications to the original line-by-line spectral simulation computer program implemented for plume spectral data analysis and quantification in 1994. These changes made the program applicable to the Space Shuttle Main Engine (SSME) and the Diagnostic Testbed Facility Thruster (DTFT) exhaust plume spectral data. Modifications included updating the molecular and spectral parameters for OH, adding spectral parameter input files optimized for the 10 elements of interest in the spectral range from 320 to 430 nm and linking the output to graphing and analysis packages. Additionally, the ability to handle the non-uniform wavelength interval at which the spectral computations are made was added. This allowed a precise superposition of wavelengths at which the spectral measurements have been made with the wavelengths at which the spectral computations are done by using the line-by-line (LBL) code. To account for hydrocarbon combustion products in the plume, which might interfere with detection and quantification of metallic elements in the spectral region of 300 to 850 nm, the spectroscopic code has been enhanced to include the carbon-based combustion species of C2, CO, and CH. In addition, CN and NO have spectral bands in 300 to 850 nm and, while these molecules are not direct products of hydrocarbon-oxygen combustion systems, they can show up if nitrogen or a nitrogen compound is present as an impurity in the propellants and/or these can form in the boundary layer as a result of interaction of the hot plume with the atmosphere during the ground testing of engines. Ten additional electronic band systems of these five molecules have been included into the code. A comprehensive literature search was conducted to obtain the most accurate values for the molecular and the spectral parameters, including Franck-Cordon factors and electronic transition moments for all ten band systems. For each elemental transition in the RPSSC, six spectral parameters - Doppler broadened line width at half-height, pressure-broadened line width at half-height, electronic multiplicity of the upper state, electronic term energy of the upper state, Einstein transition probability coefficient, and the atomic line center - are required. Input files have been created for ten elements of Ni, Fe, Cr, Co, Cu, Ca, Mn, Al, Ag, and Pd, which retain only relatively moderate to strong transitions in 300 to 430 nm spectral range for each element. The number of transitions in the input files is 68 for Ni; 148 for Fe; 6 for Cr; 87 for Co; 1 for Ca; 3 for Mn; 2 each for Cu, Al, and Ag; and 11 for Pd.
Recent developments for laser communication on CubeSats across interplanetary distances will be presented. A binary polarization-shift-keyed modulation scheme using dual gain-switched diode lasers is developed and demonstrated within an end-to-end link testbed to achieve signal acquisition under extremely poor signal-to-noise conditions (-43.5 dB average signal-to-noise power ratio at a 1-MHz symbol rate) to simulate direct-to-Earth links, while simultaneously targeting a limited SWaP footprint (1.5U envelope). Additional system design and constraints for the compact laser transmitter will be discussed.
A two-step automated Multi-Aircraft Control System traffic scenario generation process for Human-in-the-Loop evaluations of air traffic management concepts is described. The first step of the two-step process employs the scenario generation capability currently available in NASA's Air Traffic Management Testbed. The second step refines the scenario by filtering flights from the traffic scenario based on route length, cruise speed, cruise altitude, entry time and the desired ratio of internal to external flights. A solution for achieving the desired ratio of internal to external flights, where internal flights are shorter flights and external flights are longer flights based on a distance threshold, is described. Finally, schedulers are described for shaping the hourly arrival traffic count as a function of time in response to airport capacity constraint or for increasing the traffic demand with respect to the available arrival capacity. Results generated for arrival traffic to the four major airports in the New York Metroplex on a busy day using the two-step procedure are discussed. These results show that traffic scenarios for Multi-Aircraft Control System that meet the Human-in-the-Loop and fast-time simulation requirements can be created automatically following the procedures described in the paper. The automated process will improve the accuracy and efficiency by eliminating the tedious manual process for scenario generation.
A two-step automated Multi-Aircraft Control System traffic scenario generation process for Human-in-the-Loop evaluations of air traffic management concepts is described. The first step of the two-step process employs the scenario generation capability currently available in NASA's Air Traffic Management Testbed. The second step refines the scenario by filtering flights from the traffic scenario based on route length, cruise speed, cruise altitude, entry time and the desired ratio of internal to external flights. A solution for achieving the desired ratio of internal to external flights, where internal flights are shorter flights and external flights are longer flights based on a distance threshold, is described. Finally, schedulers are described for shaping the hourly arrival traffic count as a function of time in response to airport capacity constraint or for increasing the traffic demand with respect to the available arrival capacity. Results generated for arrival traffic to the four major airports in the New York Metroplex on a busy day using the two-step procedure are discussed. These results show that traffic scenarios for Multi-Aircraft Control System that meet the Human-in-the-Loop and fast-time simulation requirements can be created automatically following the procedures described in the paper. The automated process will improve the accuracy and efficiency by eliminating the tedious manual process for scenario generation.
Recently, there has been considerable research interest in the potential for DC distribution systems in buildings instead of the traditional AC distribution systems. Due to the need for performing power conversions between DC and AC electricity, DC distribution may provide electrical efficiency advantages in some systems. To support comparative evaluations of AC-only, DC-only, and hybrid AC/DC distribution systems in buildings, a new modeling toolkit called the Building Electrical Efficiency Analysis Model (BEEAM) was developed and is described in this paper. To account for harmonics in currents or voltages arising from nonlinear devices, the toolkit implements harmonic power flow, along with nonlinear device behavioral descriptions derived from empirical measurements. This paper describes the framework, network equations, device representations, and an implementation of the toolkit in an open source software package, including a component library and graphical interface for creating circuits. Simulations of electrical behavior and device and system efficiencies using the toolkit are compared with experimental measurements of a small office environment in a variety of operating and load configurations. A detailed analysis of uncertainty estimation is also provided. Key findings were that a comparison of predicted versus measured efficiencies and power losses in the validation testbed using the initial toolkit implementation predicted device- and system-level efficiencies with reasonably good accuracy under both balanced and unbalanced AC scenarios. An uncertainty analysis also revealed that the maximum estimated error for system efficiency across all scenarios was 3%, and measured and modeled system efficiency agreed within the experimental uncertainty in approximately half of the scenarios. Based on the correspondence between simulation and measurement, the toolkit is proposed by the authors as a potentially useful tool for comparing efficiency in AC, DC, and hybrid AC/DC distribution systems in buildings.
This paper presents an end-point control concept designed to enable precision telerobotic control of manipulator-coupled spacecraft. The concept employs a hardware unit (end-point control unit EPCU) that is positioned between the end-effector of the Space Shuttle Remote Manipulator System and the payload. Features of the unit are active compliance (control of the displacement between the end-effector and the payload), to allow precision control of payload motions, and inertial load relief, to prevent the transmission of loads between the end-effector and the payload. This paper presents the concept and studies the active compliance feature using a simulation and hardware. Results of the simulation show the effectiveness of the EPCU in smoothing the motion of the payload. Results are presented from initial, limited tests of a laboratory hardware unit on a robotic arm testbed at the l Space Flight Center. Tracking performance of the arm in a constant speed automated retraction and extension maneuver of a heavy payload with and without the unit active is compared for the design speed and higher speeds. Simultaneous load reduction and tracking performance are demonstrated using the EPCU.
In September 2007, a team of scientists and engineers from several NASA centers participated in a field exercise at Meteor Crater, Arizona. The tests in this field exercise utilized recently developed robots of varying scales and capabilities and humans in pressurized space suits. Two examples of operations performed in the field are presented: a surface operations scenario involving suited crew supported by a number of mobile robots and setup operations for accessing a crater. The surface operations scenario simulated the end of a crew sortie and involved the following agents: 1) Suit subjects from Johnson Space Center s (JSC) advanced spacesuit laboratory 2) JSC's unpressurized crewed rover testbed, SCOUT 3) The Jet Propulsion Laboratory s (JPL) rough terrain, payload carrying robot, ATHLETE 4) JSC's Astronaut assist robot, Robonaut 5) Ames Research Center's (ARC) inspection robot, K-10. Operations began with ATHLETE positioning a pressurized rover compartment (PRC) as two crew members drove the SCOUT unpressurized rover from the field. The crew dismounted SCOUT, walked to the PRC for recharging. Robonaut then removed a sample box from the SCOUT equipment tray. K-10 then performed a drive around inspection of SCOUT, assembling a mosaic image. Lastly, the SCOUT vehicle was remotely driven to the next site. The setup operations for crater access scenario involved ATHLETE and Robonaut. This scenario began with Robonaut approaching ATHLETE and extracting a tether line. ATHLETE then extracted a drill and drilled an anchor into the surface. Robonaut then reconnected the tether to the anchor and backed away. ATHLETE is then ready to descend into the crater. This descending into the crater step is currently in the planning phase.