Results for “robust estimation” — Page 43

NASA NTRS2007

Stochastic Effects in Computational Biology of Space Radiation Cancer Risk

Estimating risk from space radiation poses important questions on the radiobiology of protons and heavy ions. We are considering systems biology models to study radiation induced repair foci (RIRF) at low doses, in which less than one-track on average transverses the cell, and the subsequent DNA damage processing and signal transduction events. Computational approaches for describing protein regulatory networks coupled to DNA and oxidative damage sites include systems of differential equations, stochastic equations, and Monte-Carlo simulations. We review recent developments in the mathematical description of protein regulatory networks and possible approaches to radiation effects simulation. These include robustness, which states that regulatory networks maintain their functions against external and internal perturbations due to compensating properties of redundancy and molecular feedback controls, and modularity, which leads to general theorems for considering molecules that interact through a regulatory mechanism without exchange of matter leading to a block diagonal reduction of the connecting pathways. Identifying rate-limiting steps, robustness, and modularity in pathways perturbed by radiation damage are shown to be valid techniques for reducing large molecular systems to realistic computer simulations. Other techniques studied are the use of steady-state analysis, and the introduction of composite molecules or rate-constants to represent small collections of reactants. Applications of these techniques to describe spatial and temporal distributions of RIRF and cell populations following low dose irradiation are described.

Cucinotta, Francis A.↗

NASA NTRS2010

Unveiling the Galaxy Population at 1.3 < z < 4: the HUDF05 NICMOS Parallel Fields

Using the Hubble Ultra Deep Field Near Infrared Camera and Multi-Object Spectrometer (HUDF-NICMOS) UDF05 parallel fields, we cross-matched 301 out of 630 galaxies with the ACS filters V606 and z850, NICMOS filters J110 and H160, and Spitzer IRAC filters at 3.6, 4.5, 5.8 , and 8.0 (mu)m. We modeled the spectral energy distributions (SEDs) to estimate: photometric redshifts, dust extinction, stellar mass, bolometric luminosity, starburst age and metallicity. To validate the photometric redshifts, comparisons with 16 spectroscopic redshifts give 75% within Delta < 0.2, which agrees with the sensitivities expected from the Balmer-break in our dataset. Five parallel fields observed by NICMOS have sensitivities in the H160-band of 80% at mAB = 25.4 and 50% at mAB = 26.7. Because the sample is H160-band selected, it is sensitive to stellar mass rather than UV luminosities. We also use Monte Carlo simulations to determine that the parameters from the best-fit SEDs are robust for the redshift ranges z > or approx. 1.3. Based on the robustness of the photometric redshifts, we analyze a subsample of the 301 galaxies at 1.3 < or = z < or = 2 (35 objects) and 3 < or = z < or = 4 (31 objects) and determine that L(BoI) and the star formation rate increase significantly from z approx. 1.5 to 4. The Balmer decrement is indicative of more evolved galaxies, and at high redshifts, they serve as records of some of the first galaxies. Therefore, the galaxies in this sample are great candidates for future surveys with the James Webb Space Telescope and Atacama Large Millimeter Array.

Petty, Sara M.↗

NASA NTRS2010

Daytime Water Detection Based on Color Variation

Robust water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation. This is particularly true in wide open areas where water can collect in naturally occurring terrain depressions during periods of heavy precipitation and form large water bodies (such as ponds). At far range, reflections of the sky provide a strong cue for water. But at close range, the color coming out of a water body dominates sky reflections and the water cue from sky reflections is of marginal use. We model this behavior by using water body intensity data from multiple frames of RGB imagery to estimate the total reflection coefficient contribution from surface reflections and the combination of all other factors. Then we describe an algorithm that uses one of the color cameras in a forward- looking, UGV-mounted stereo-vision perception system to detect water bodies in wide open areas. This detector exploits the knowledge that the change in saturation-to-brightness ratio across a water body from the leading to trailing edge is uniform and distinct from other terrain types. In test sequences approaching a pond under clear, overcast, and cloudy sky conditions, the true positive and false negative water detection rates were (95.76%, 96.71%, 98.77%) and (0.45%, 0.60%, 0.62%), respectively. This software has been integrated on an experimental unmanned vehicle and field tested at Ft. Indiantown Gap, PA.

reflection coefficient↗

NASA NTRSDate not supplied

Simultaneous Ice Water Content Measurements at Multiple Locations on the NASA DC-8 Aircraft during the 2018 HIWC RADAR Flight Campaign

Ice water content measurements were made simultaneously at three locations on the NASA DC-8 in natural, glaciated conditions during the 2018 High Ice Water Content RADAR flight campaign. The purpose of these measurements was to further evaluate efficiency factors of hot-wire total water content probes in glaciated conditions and investigate the enhancement of ice crystal concentrations near fuselage surfaces due to flow field inertial effects, and ice crystals impacting the nose, breaking up, and flowing downstream. The total water content measurements were made using either Science Engineering Associates Ice Crystal Detectors or Robust Probes. Three common sensors were mounted on an underwing canister considered to be in near free-flow conditions, a standoff from a fuselage window, and the nose of the fuselage near the pitot probes. The Ice Crystal Detector total water content sensor and Robust Probe sensor collection and retention efficiencies were evaluated through comparisons with the underwing Ice Crystal Detector and Robust Probe measurements to the IKP2 isokinetic evaporator probe, which provided the reference ice water content measurement. Local ice water content at the nose position was evaluated by comparing ratios of the nose and underwing ice crystal detectors to the IKP2. Local ice water content at the window-standoff location was also evaluated by comparing total water content sensor measurements from the window ice crystal detector to the measurements made with the underwing and nose Ice Crystal Detectors The key findings were: 1) the Ice Crystal Detector total water content sensor ice water content efficiency factor was similar to previous estimates, but reduced with increased ice crystal median mass diameter; 2) the ice water content at the fuselage nose location near the DC-8 pitot probes was approximately 2.5 times the freestream values – although this estimate is affected by a higher probe efficiency factor due to smaller particles in the debris cloud from impacts upstream of the probe; and 3) the ice water content at the 17” standoff from the port window varied from about 50% to 3 times freestream values in a complicated manner. Similar measurement locations are not uncommon on cloud research aircraft, where ice particle measurements may be subject to similar uncertainties.

Aircraft Icing↗

NASA NTRSDate not supplied

Simultaneous Ice Water Content Measurements at Multiple Locations on the NASA DC-8 Aircraft during the 2018 HIWC RADAR Flight Campaign

Ice water content measurements were made simultaneously at three locations on the NASA DC-8 in natural, glaciated conditions during the 2018 High Ice Water Content RADAR flight campaign. The purpose of these measurements was to further evaluate efficiency factors of hot-wire total water content probes in glaciated conditions and investigate the enhancement of ice crystal concentrations near fuselage surfaces due to flow field inertial effects, and ice crystals impacting the nose, breaking up, and flowing downstream. The total water content measurements were made using either Science Engineering Associates Ice Crystal Detectors or Robust Probes. Three common sensors were mounted on an underwing canister considered to be in near free-flow conditions, a standoff from a fuselage window, and the nose of the fuselage near the pitot probes. The Ice Crystal Detector total water content sensor and Robust Probe sensor collection and retention efficiencies were evaluated through comparisons with the underwing Ice Crystal Detector and Robust Probe measurements to the IKP2 isokinetic evaporator probe, which provided the reference ice water content measurement. Local ice water content at the nose position was evaluated by comparing ratios of the nose and underwing ice crystal detectors to the IKP2. Local ice water content at the window-standoff location was also evaluated by comparing total water content sensor measurements from the window ice crystal detector to the measurements made with the underwing and nose Ice Crystal Detectors The key findings were: 1) the Ice Crystal Detector total water content sensor ice water content efficiency factor was similar to previous estimates, but reduced with increased ice crystal median mass diameter; 2) the ice water content at the fuselage nose location near the DC-8 pitot probes was approximately 2.5 times the freestream values – although this estimate is affected by a higher probe efficiency factor due to smaller particles in the debris cloud from impacts upstream of the probe; and 3) the ice water content at the 17” standoff from the port window varied from about 50% to 3 times freestream values in a complicated manner. Similar measurement locations are not uncommon on cloud research aircraft, where ice particle measurements may be subject to similar uncertainties.

o Aircraft Icing↗

NASA NTRSDate not supplied

All-sky Retrieval of Atmospheric Temperature, Water Vapor, Clouds, Trace Gases, and Surface Properties from Operational Hyperspectral IR Sounders

Operational IR sounders such AIRS, CrIS, and IASI provide high quality hyperspectral measurements for weather and climate applications. We will describe a new all-sky Single Field-of-view Sounder Atmospheric Product (SiFSAP). The uniqueness of this product is that it uses all available channels from hyperspectral sounders and the optimal estimation retrieval is done at a single FOV spatial resolution. The SiFSAP includes atmospheric temperature, water vapor, clouds, trace gases, surface skin, and surface emissivity and will be produced operationally at NASA GES DISC. We will describe the core component of the SiFSAP algorithm, which is the Principal Component-based Radiative Transfer Model (PCRTM), and will show example applications of the SiFSAP product for various atmospheric weather and dynamics studies. We also describe a new Climate Fingerprinting Sounder Product (ClimFiSP), which is derived from spatiotemporally averaged level-1 hyperspectral radiances directly. The ClimFiSP algorithm uses consistent radiative kernels and a robust spectral fingerprinting method. It provides fast and accurate data fusion products from multiple satellite sensors. We have applied this method to both AIRS and CrIS (on SNPP and on NOAA 20) data and generated two decades climate data records for atmospheric temperature, water vapor, cloud, trace gases, and surface skin temperature. The ClimFiSP are being transitioned to NASA data centers for routine generations level-3 products.

pcrtm↗

NASA NTRS1991

The L sub 1 finite element method for pure convection problems

The least squares (L sub 2) finite element method is introduced for 2-D steady state pure convection problems with smooth solutions. It is proven that the L sub 2 method has the same stability estimate as the original equation, i.e., the L sub 2 method has better control of the streamline derivative. Numerical convergence rates are given to show that the L sub 2 method is almost optimal. This L sub 2 method was then used as a framework to develop an iteratively reweighted L sub 2 finite element method to obtain a least absolute residual (L sub 1) solution for problems with discontinuous solutions. This L sub 1 finite element method produces a nonoscillatory, nondiffusive and highly accurate numerical solution that has a sharp discontinuity in one element on both coarse and fine meshes. A robust reweighting strategy was also devised to obtain the L sub 1 solution in a few iterations. A number of examples solved by using triangle and bilinear elements are presented.

Jiang, Bo-Nan↗

NASA NTRS1991

Transonic adaptive flutter suppression using approximate unsteady time domain aerodynamics

A digital adaptive controller is applied to the active flutter suppression problem of a wing under time varying flight conditions in subsonic and transonic flow. Linear quadratic controller gain at each time step is obtained using an iterative Riccati solver. The digital adaptive optimal controller is robust with respect to the unknown external loads. Flutter and divergence instabilities are simultaneously suppressed using a trailing-edge control surface and displacement sensing. A new transonic unsteady aerodynamic approximation methodology is developed which enables one to carry out the rapid calculation required for transonic aeroservoelastic applications. This approximation is based on a combination of unsteady subsonic aerodynamics combined with a transonic correction procedure. Aeroservoelastic transient time response is obtained using Roger's approximation, state transition matrices and an iterative time marching algorithm. The aeroservoelastic system in the time domain is modeled using a deterministic ARMA model together with a parameter estimator. Transonic flutter boundaries of a wing structure are computed, in the time domain, using an estimated aeroelastic system matrix and are in good agreement with experimental data for the low transonic Mach number range.

Pak, Chan-Gi↗

NASA NTRS1991

The L sub 1 finite element method for pure convection problems

The least squares (L sub 2) finite element method is introduced for 2-D steady state pure convection problems with smooth solutions. It is proven that the L sub 2 method has the same stability estimate as the original equation, i.e., the L sub 2 method has better control of the streamline derivative. Numerical convergence rates are given to show that the L sub 2 method is almost optimal. This L sub 2 method was then used as a framework to develop an iteratively reweighted L sub 2 finite element method to obtain a least absolute residual (L sub 1) solution for problems with discontinuous solutions. This L sub 1 finite element method produces a nonoscillatory, nondiffusive and highly accurate numerical solution that has a sharp discontinuity in one element on both coarse and fine meshes. A robust reweighting strategy was also devised to obtain the L sub 1 solution in a few iterations. A number of examples solved by using triangle and bilinear elements are presented.

Jiang, Bo-Nan↗

NASA NTRS2011

Initiation of Long-Wave Instability of Vortex Pairs at Cruise Altitudes

Previous studies have usually attributed the initiation of the long-wave instability of a vortex pair to turbulence in the atmosphere or in the wake of the aircraft. The purpose here is to show by use of observations and photographs of condensation trails shed by aircraft at cruise altitudes that another initiating mechanism is not only possible but is usually the mechanism that initiates the long-wave instability at cruise altitudes. The alternate initiating mechanism comes about when engine thrust is robust enough to form an array of circumferential vortices around each jet-engine-exhaust stream. In those cases, initiation begins when the vortex sheet shed by the wing has rolled up into a vortex pair and descended to the vicinity of the inside bottom of the combined shear-layer vortex arrays. It is the in-and-out (up and down) velocity field between sequential circumferential vortices near the bottom of the array that then impresses disturbance waves on the lift-generated vortex pair that initiate the long-wave instability. A time adjustment to the Crow and Bate estimate for vortex linking is then derived for cases when thrust-based linking occurs.

Rossow, Vernon J.↗

NASA NTRS2018

A Prognostics Framework Development for Swarm Satellite Formations

Prognostics is the science of predicting the failure(s) of a component or a system and understanding how the performance will change in the event of a failure or degradation mechanism. With accurate predictions of possible failures, autonomous mitigative actions can be taken to correct/repair any issues or alert human operators of a failure threshold exceedance requiring condition-based maintenance. Although there is extensive research on failure predictions for a component or a system, there are significantly more opportunities to foray into failure predictions and prognostics for a system of systems such as an airspace consisting of multiple aircraft, a fleet of unmanned aerial vehicles, and a swarm of intelligent satellite systems. Failure prediction and mitigation are particularly important in autonomous systems such as satellite swarm systems that need effective resource management and minimal human interactions. Based on NASA's decadal survey, there is a clear need to prioritize the development of satellite swarm technology for studies of space physics and Earth science. The science community will propose future missions that return in-situ measurements from a 3-D (three-dimensional) volume of space, with relative spacecraft motion and inter-satellite baselines controlled according to the mission objectives. For such multi-spacecraft missions, it is required that ground operations resources do not scale with the number of satellites, thus compromising the swarm or leading to inefficiencies in resource allocation. Swarms of tens or hundreds of small satellites will require autonomy in attitude control, navigation and failure. Although significant research has been conducted in the areas of autonomous formation flying algorithms, less attention has been given to the development of resilient systems robust to failures.The focus of this research paper is the integration of model-based prognostics into the swarm dynamics control and decision-making algorithms. We simulate swarm management strategies for a subsystem failure to demonstrate the importance of failure predictions by comparing two cases: (i) no health information is provided to the system and utilized in the decision-making process and (2) system health information is obtained using prognostics and employed by the control system. One example scenario presented is for the GPS (Global Positioning System) system of an individual satellite to perform off-nominally due to increasing estimated error. In this scenario, the keep-out zone for that satellite would become more conservative, thereby decreasing the risk of collision. This is achieved via tuning the individual artificial repulsive functions assigned to each satellite.This paper is structured as follows. First we provide an overview of current swarm technology development, where we specifically use the term swarm to define multiple satellites flying in formation in similar orbits, with cross-link communication and station-keeping capabilities. Second, we give an introduction to the Swarm Orbital Dynamics Advisor (SODA), a tool that accepts high-level configuration commands and provides the orbital maneuvers required to achieve the prescribed formation configuration. Third, we provide the details of the model-based prognostics algorithm implementation in SODA. Finally, we present different case studies for potential component/subsystem failures and the swarm responses based with and without failure prediction information.

prognostics↗

NASA NTRS1987

Simple robust control laws for robot manipulators. Part 2: Adaptive case

A new class of asymptotically stable adaptive control laws is introduced for application to the robotic manipulator. Unlike most applications of adaptive control theory to robotic manipulators, this analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and utilizes a parameterization based on physical (time-invariant) quantities. This approach is made possible by using energy-like Lyapunov functions which retain the nonlinear character and structure of the dynamics, rather than simple quadratic forms which are ubiquitous to the adaptive control literature, and which have bound the theory tightly to linear systems with unknown parameters. It is a unique feature of these results that the adaptive forms arise by straightforward certainty equivalence adaptation of their nonadaptive counterparts found in the companion to this paper (i.e., by replacing unknown quantities by their estimates) and that this simple approach leads to asymptotically stable closed-loop adaptive systems. Furthermore, it is emphasized that this approach does not require convergence of the parameter estimates (i.e., via persistent excitation), invertibility of the mass matrix estimate, or measurement of the joint accelerations.

Bayard, D. S.↗

NASA NTRS2003

Motion-Based System Identification and Fault Detection and Isolation Technologies for Thruster Controlled Spacecraft

By analyzing the motions of a thruster-controlled spacecraft, it is possible to provide on-line (1) thruster fault detection and isolation (FDI), and (2) vehicle mass- and thruster-property identification (ID). Technologies developed recently at NASA Ames have significantly improved the speed and accuracy of these ID and FDI capabilities, making them feasible for application to a broad class of spacecraft. Since these technologies use existing sensors, the improved system robustness and performance that comes with the thruster fault tolerance and system ID can be achieved through a software-only implementation. This contrasts with the added cost, mass, and hardware complexity commonly required by FDI. Originally developed in partnership with NASA - Johnson Space Center to provide thruster FDI capability for the X-38 during re-entry, these technologies are most recently being applied to the MIT SPHERES experimental spacecraft to fly on the International Space Station in 2004. The model-based FDI uses a maximum-likelihood calculation at its core, while the ID is based upon recursive least squares estimation. Flight test results from the SPHERES implementation, as flown aboard the NASA KC-1 35A 0-g simulator aircraft in November 2003 are presented.

Wilson, Edward↗

NASA NTRS2011

Machine Vision for Relative Spacecraft Navigation During Approach to Docking

This paper describes a machine vision system for relative spacecraft navigation during the terminal phase of approach to docking that: 1) matches high contrast image features of the target vehicle, as seen by a camera that is bore-sighted to the docking adapter on the chase vehicle, to the corresponding features in a 3d model of the docking adapter on the target vehicle and 2) is robust to on-orbit lighting. An implementation is provided for the case of the Space Shuttle Orbiter docking to the International Space Station (ISS) with quantitative test results using a full scale, medium fidelity mock-up of the ISS docking adapter mounted on a 6-DOF motion platform at the NASA Marshall Spaceflight Center Flight Robotics Laboratory and qualitative test results using recorded video from the Orbiter Docking System Camera (ODSC) during multiple orbiter to ISS docking missions. The Natural Feature Image Registration (NFIR) system consists of two modules: 1) Tracking which tracks the target object from image to image and estimates the position and orientation (pose) of the docking camera relative to the target object and 2) Acquisition which recognizes the target object if it is in the docking camera Field-of-View and provides an approximate pose that is used to initialize tracking. Detected image edges are matched to the 3d model edges whose predicted location, based on the pose estimate and its first time derivative from the previous frame, is closest to the detected edge1 . Mismatches are eliminated using a rigid motion constraint. The remaining 2d image to 3d model matches are used to make a least squares estimate of the change in relative pose from the previous image to the current image. The changes in position and in attitude are used as data for two Kalman filters whose outputs are smoothed estimate of position and velocity plus attitude and attitude rate that are then used to predict the location of the 3d model features in the next image.

Chien, Chiun-Hong↗

NASA NTRS1989

Simple autonomous Mars walker

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

Larimer, Stanley J.↗

NASA NTRS1998

Accelerated Strength Testing of Thermoplastic Composites

Constant ramp strength tests on unidirectional thermoplastic composite specimens oriented in the 90 deg. direction were conducted at constant temperatures ranging from 149 C to 232 C. Ramp rates spanning 5 orders of magnitude were tested so that failures occurred in the range from 0.5 sec. to 24 hrs. (0.5 to 100,000 MPa/sec). Below 204 C, time-temperature superposition held allowing strength at longer times to be estimated from strength tests at shorter times but higher temperatures. The data indicated that a 50% drop in strength might be expected for this material when the test time is increased by 9 orders of magnitude. The shift factors derived from compliance data applied well to the strength results. To explain the link between compliance and strength, a viscoelastic fracture model was investigated. The model, which used compliance as input, was found to fit the strength data only if the critical fracture energy was allowed to vary with temperature reduced stress rate. This variation in the critical parameter severely limits its use in developing a robust time-dependent strength model. The significance of this research is therefore seen as providing both the indication that a more versatile acceleration method for strength can be developed and the evidence that such a method is needed.

Reeder, J. R.↗

NASA NTRS2018

Simultaneous Two-Way Doppler and Ranging for Multiple Spacecraft at Mars: Flight Radio Tracking System Design and Performance Simulations

Mars exploration requires multiple orbiters and surface infrastructures on Mars. Location determination is essential to support various human and robotic activities on the Mars surface and in orbits. Robust communication coverage is required for data transmission between assets on Mars surface and orbiters in addition to the communication between orbiters and Earth. We proposed a notional Mars Regional Navigation Satellite System (MRNSS) that provides continuous or near-continuous in-situ navigation and timing services for the robotic and human missions in the vicinity of a Mars landing site. For such a system, the Earth’s deep space stations have to perform orbit determination (OD) for the Mars orbiters so that their locations are known to a reasonable degree of accuracy. This provides the surface and orbiting user vehicles the ability to estimate their locations using the orbiter-vehicle range measurements. Two important inputs for accurate OD are 2-way Doppler and ranging measurements derived from the transmitted and received radio signals. We also introduced a new flight-ground collaborative architecture that provides simultaneous Doppler and ranging measurements for multiple spacecraft in the Mars vicinity, using an example of the Mars landing site Utopia Planitia and four Mars orbiters, all communicating with Earth via twoway communications in the X-band frequency range. One key component of this architecture is that each spacecraft uses a smart frequency sweeping algorithm that acquires and tracks the uplink signals with high Doppler and Doppler rate residuals. In this paper, we simulate the Doppler and Doppler rate profiles of the Mars orbiters of the MRNSS and assessed the acquisition and tracking performances.

Divsalar, Dariush↗

NASA NTRS1988

A demonstration of sub-meter GPS orbit determination and high precision user positioning

It was demonstrated that the submeter GPS (Global Positioning System) orbits can be determined using multiday arc solutions with the current GPS constellation subset visible for about 8 h each day from North America. Submeter orbit accuracy was shown through orbit repeatability and orbit prediction. North American baselines of 1000-2000 km length can be estimated simultaneously with the GPS orbits to an accuracy of better than 1.5 parts in 108 (3 cm over 2000 km distance) with a daily precision of two parts in 108 or better. The most reliable baseline solutions are obtained using the same type of receivers and antennas at each end of the baseline. Baselines greater than 1000 km distance from Florida to sites in the Caribbean region have also been determined with daily precision of 1-4 parts in 108. The Caribbean sites are located well outside the fiducial tracking network and the region of optimal GPS common visibility. Thus, these results further demonstrate the robustness of the multiday arc GPS orbit solutions.

Bertiger, Willy I.↗