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NASA NTRS2010

Reference Avionics Architecture for Lunar Surface Systems

Developing and delivering infrastructure capable of supporting long-term manned operations to the lunar surface has been a primary objective of the Constellation Program in the Exploration Systems Mission Directorate. Several concepts have been developed related to development and deployment lunar exploration vehicles and assets that provide critical functionality such as transportation, habitation, and communication, to name a few. Together, these systems perform complex safety-critical functions, largely dependent on avionics for control and behavior of system functions. These functions are implemented using interchangeable, modular avionics designed for lunar transit and lunar surface deployment. Systems are optimized towards reuse and commonality of form and interface and can be configured via software or component integration for special purpose applications. There are two core concepts in the reference avionics architecture described in this report. The first concept uses distributed, smart systems to manage complexity, simplify integration, and facilitate commonality. The second core concept is to employ extensive commonality between elements and subsystems. These two concepts are used in the context of developing reference designs for many lunar surface exploration vehicles and elements. These concepts are repeated constantly as architectural patterns in a conceptual architectural framework. This report describes the use of these architectural patterns in a reference avionics architecture for Lunar surface systems elements.

Somervill, Kevin M.↗

NASA NTRS2004

Analyzing Spacecraft Telecommunication Systems

Multi-Mission Telecom Analysis Tool (MMTAT) is a C-language computer program for analyzing proposed spacecraft telecommunication systems. MMTAT utilizes parameterized input and computational models that can be run on standard desktop computers to perform fast and accurate analyses of telecommunication links. MMTAT is easy to use and can easily be integrated with other software applications and run as part of almost any computational simulation. It is distributed as either a stand-alone application program with a graphical user interface or a linkable library with a well-defined set of application programming interface (API) calls. As a stand-alone program, MMTAT provides both textual and graphical output. The graphs make it possible to understand, quickly and easily, how telecommunication performance varies with variations in input parameters. A delimited text file that can be read by any spreadsheet program is generated at the end of each run. The API in the linkable-library form of MMTAT enables the user to control simulation software and to change parameters during a simulation run. Results can be retrieved either at the end of a run or by use of a function call at any time step.

Kordon, Mark↗

NASA NTRS2012

Rapid Diagnostics of Onboard Sequences

Keeping track of sequences onboard a spacecraft is challenging. When reviewing Event Verification Records (EVRs) of sequence executions on the Mars Exploration Rover (MER), operators often found themselves wondering which version of a named sequence the EVR corresponded to. The lack of this information drastically impacts the operators diagnostic capabilities as well as their situational awareness with respect to the commands the spacecraft has executed, since the EVRs do not provide argument values or explanatory comments. Having this information immediately available can be instrumental in diagnosing critical events and can significantly enhance the overall safety of the spacecraft. This software provides auditing capability that can eliminate that uncertainty while diagnosing critical conditions. Furthermore, the Restful interface provides a simple way for sequencing tools to automatically retrieve binary compiled sequence SCMFs (Space Command Message Files) on demand. It also enables developers to change the underlying database, while maintaining the same interface to the existing applications. The logging capabilities are also beneficial to operators when they are trying to recall how they solved a similar problem many days ago: this software enables automatic recovery of SCMF and RML (Robot Markup Language) sequence files directly from the command EVRs, eliminating the need for people to find and validate the corresponding sequences. To address the lack of auditing capability for sequences onboard a spacecraft during earlier missions, extensive logging support was added on the Mars Science Laboratory (MSL) sequencing server. This server is responsible for generating all MSL binary SCMFs from RML input sequences. The sequencing server logs every SCMF it generates into a MySQL database, as well as the high-level RML file and dictionary name inputs used to create the SCMF. The SCMF is then indexed by a hash value that is automatically included in all command EVRs by the onboard flight software. Second, both the binary SCMF result and the RML input file can be retrieved simply by specifying the hash to a Restful web interface. This interface enables command line tools as well as large sophisticated programs to download the SCMF and RMLs on-demand from the database, enabling a vast array of tools to be built on top of it. One such command line tool can retrieve and display RML files, or annotate a list of EVRs by interleaving them with the original sequence commands. This software has been integrated with the MSL sequencing pipeline where it will serve sequences useful in diagnostics, debugging, and situational awareness throughout the mission.

Starbird, Thomas W.↗

NASA NTRS2013

Orbital Debris Engineering Model (ORDEM) v.3

A model of the manmade orbital debris environment is required by spacecraft designers, mission planners, and others in order to understand and mitigate the effects of the environment on their spacecraft or systems. A manmade environment is dynamic, and can be altered significantly by intent (e.g., the Chinese anti-satellite weapon test of January 2007) or accident (e.g., the collision of Iridium 33 and Cosmos 2251 spacecraft in February 2009). Engineering models are used to portray the manmade debris environment in Earth orbit. The availability of new sensor and in situ data, the re-analysis of older data, and the development of new analytical and statistical techniques has enabled the construction of this more comprehensive and sophisticated model. The primary output of this model is the flux [#debris/area/time] as a function of debris size and year. ORDEM may be operated in spacecraft mode or telescope mode. In the former case, an analyst defines an orbit for a spacecraft and "flies" the spacecraft through the orbital debris environment. In the latter case, an analyst defines a ground-based sensor (telescope or radar) in terms of latitude, azimuth, and elevation, and the model provides the number of orbital debris traversing the sensor's field of view. An upgraded graphical user interface (GUI) is integrated with the software. This upgraded GUI uses project-oriented organization and provides the user with graphical representations of numerous output data products. These range from the conventional flux as a function of debris size for chosen analysis orbits (or views), for example, to the more complex color-contoured two-dimensional (2D) directional flux diagrams in local spacecraft elevation and azimuth.

Matney, Mark↗

NASA NTRS2012

Holodeck: Telepresence Dome Visualization System Simulations

This paper explores the simulation and consideration of different image-projection strategies for the Holodeck, a dome that will be used for highly immersive telepresence operations in future endeavors of the National Aeronautics and Space Administration (NASA). Its visualization system will include a full 360 degree projection onto the dome's interior walls in order to display video streams from both simulations and recorded video. Because humans innately trust their vision to precisely report their surroundings, the Holodeck's visualization system is crucial to its realism. This system will be rigged with an integrated hardware and software infrastructure-namely, a system of projectors that will relay with a Graphics Processing Unit (GPU) and computer to both project images onto the dome and correct warping in those projections in real-time. Using both Computer-Aided Design (CAD) and ray-tracing software, virtual models of various dome/projector geometries were created and simulated via tracking and analysis of virtual light sources, leading to the selection of two possible configurations for installation. Research into image warping and the generation of dome-ready video content was also conducted, including generation of fisheye images, distortion correction, and the generation of a reliable content-generation pipeline.

Hite, Nicolas↗

NASA NTRS2014

Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

sensory feedback↗

NASA NTRS2014

Is Model-Based Development a Favorable Approach for Complex and Safety-Critical Computer Systems on Commercial Aircraft?

A system is safety-critical if its failure can endanger human life or cause significant damage to property or the environment. State-of-the-art computer systems on commercial aircraft are highly complex, software-intensive, functionally integrated, and network-centric systems of systems. Ensuring that such systems are safe and comply with existing safety regulations is costly and time-consuming as the level of rigor in the development process, especially the validation and verification activities, is determined by considerations of system complexity and safety criticality. A significant degree of care and deep insight into the operational principles of these systems is required to ensure adequate coverage of all design implications relevant to system safety. Model-based development methodologies, methods, tools, and techniques facilitate collaboration and enable the use of common design artifacts among groups dealing with different aspects of the development of a system. This paper examines the application of model-based development to complex and safety-critical aircraft computer systems. Benefits and detriments are identified and an overall assessment of the approach is given.

Torres-Pomales, Wilfredo↗

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 NTRS2016

The NASA/AFRL Meter Class Autonomous Telescope

For the past decade, the NASA Orbital Debris Program Office (ODPO) has relied on using various ground-based telescopes in Chile to acquire statistical survey data as well as photometric and spectroscopic data of orbital debris in geosynchronous Earth orbit (GEO). The statistical survey data have been used to supply the Orbital Debris Engineering Model (ORDEM) v.3.0 with debris detections in GEO to better model the environment at altitudes where radar detections are limited. The data produced for the statistical survey ranged from 30 to 40 nights per year, which only accounted for ~10% of the possible observing time. Data collection was restricted by ODPO resources and weather conditions. In order to improve the statistical sampling in GEO, as well as observe and sample other orbits, NASA's ODPO with support from the Air Force Research Laboratory (AFRL), has constructed a new observatory dedicated to orbital debris - the Meter Class Autonomous Telescope (MCAT) on Ascension Island. This location provides MCAT with the unique ability to access targets orbiting at an altitude of less than 1,000 km and low inclinations (< 20 deg). This orbital regime currently has little to no coverage by the U.S. Space Surveillance Network. Unlike previous ODPO optical assets, the ability to operate autonomously will allow rapid response observations of break-up events, an observing mode that was only available via radar tasking prior to MCAT's deployment. The primary goal of MCAT is to statistically characterize GEO via daily tasking files uploaded from ODPO. These tasking files define which operating mode to follow, providing the field center, rates, and/or targets to observe over the entire observing period. The system is also capable of tracking fast-moving targets in low Earth orbit (LEO), middle Earth orbit (MEO), as well as highly eccentric orbits like geostationary transfer orbits. On 25 August 2015, MCAT successfully acquired scientific first light, imaging the Bug Nebula and tracked objects in LEO, MEO, and GEO. NASA is working towards characterizing the system and thoroughly testing the integrated hardware and software control to achieve fully autonomous operations by late 2016. This paper will review the history and current status of the MCAT project, the details of the telescope system, and its five currently manifested operating modes.

Cowardin, H.↗

NASA NTRS2018

Pterodactyl: Integrated Control Design for Precision Targeting of Deployable Entry Vehicles

Deployable Entry Vehicles (DEVs) enable in-situ scientific exploration at destinations with atmospheres across the solar system. Because they stow in a compact form and deploy only when ready to enter the atmosphere, DEVs relax the volume constraint imposed by rigid aeroshells. This work seeks to do for a DEV what the Wright Brothers did to propel modern day aviation: develop the guidance and control (G&C) methods that will make maneuvering and precision landing of DEV a reality. The Pterodactyl project objective is to deliver an integrated G&C methodology for a DEV, based on a detailed analysis that utilizes a Multi-disciplinary, Design, Analysis and Optimization (MDAO) framework. The current state-of-the-art for blunt body entry, G&C is rooted in the precision landing of vehicles such as Mars Science Laboratory (MSL) and Apollo, which used a propulsive reaction control system (RCS) to steer. Recent research has taken a particular interest in non-propulsive control for DEVs, including direct force control (angle of attack modulation via control surfaces or mass movement) and drag modulation (discrete change in ballistic coefficient). Using the MDAO framework that includes a guidance and control model to explore multiple control concepts for a DEV will shed light on the best design approach for these vehicles. In Pterodactyl, we will complete this study for a novel DEV concept, and then we will fabricate a functional prototype to help validate the design. The project is expected to down-select to a final control architecture by the end of 2018, and complete fabrication of the prototype by the end of 2019.The DEV chosen for detailed study in this project is the Adaptable Deployable Entry and Placement Technology (ADEPT). ADEPT uses a revolutionary 3D-woven carbon fabric that is foldable, can serve as primary structure, and can survive the extreme heating environment of atmospheric entry. The specific configuration of ADEPT under investigation is called Lifting Nano-ADEPT (LNA). LNA is designed for secondary payloads missions that require precision landing either for scientific objectives at a target destination or for payload recovery at Earth.The MDAO framework being created through this research, called COBRA-Pt (Composite Beam Roll-Up Solar Array-Prototype), will combine three critical elements of the system design: a guidance algorithm with Monte Carlo, a parametric control model, and vehicle geometry details. Novel control models being studied are deployable aerodynamic surfaces as well as shape morphing. These concepts will be compared at the system level with a more traditional propulsive RCS by comparing several key performance parameters. Upon completion of the design study, a functional prototype of LNA will be fabricated that will include the integration of guidance software and relevant control actuators. We expect this study will provide critical data that could feed into the development of an Earth-based flight test of LNA. The COBRA-Pt framework will provide a modular system by which to study any DEV concept in any atmosphere.

Smith, Brandon↗

NASA NTRS2017

Design and Control of an Experimental Tilt-Wing Aircraft

In this project, work has been done in the field of conceptual design of experimental tiltrotors. The main tools that have been used are NDARC (NASA Design and Analysis of Rotorcraft) and SIMPLI-FLYD. NDARC is a conceptual design tool for rotorcraft, and it is used to find trim points under various flight conditions. SIMPLI-FLYD is an integrated collection of software tools that enables a flight dynamics and control assessment of the rotorcraft vehicle design generated from NDARC. Two different tiltrotors have been investigated. Initially, work was done with the Bell XV- 15 tiltrotor. NDARCs ability to correctly model the tiltwing transition between airplane mode and hover mode was looked into. In addition, data from old flight tests were compared to the NDARC output, to see how accurately performance could be predicted. After the XV-15 analysis, an NDRARC model of a novel tiltwing concept from Elytron Aircraft was written and analyzed together with SIMPLI-FLYD. Elytron 2S is an experimental tiltwing aircraft, consisting of a joined-wing design with a small central wing for the proprotor. An alternative approach to hover control is used, where the typical rotor hub and swash plate are substituted for linear actuators controlling pitch, yaw and roll. The objective with the analysis of Elytron is to obtain a more complete understanding of the maneuverability and possible performance of this alternative aircraft configuration.

Conceptual Design↗

NASA NTRS2019

Artificial Intelligence: Powering Human Exploration of the Moon and Mars

Artificial Intelligence (AI) is a growing field of computa- tional science techniques designed to mimic functions per- formed by people. Advancements in autonomy will depend on a portfolio of AI technologies. Automated planning and scheduling is a venerable field of study in AI, and is needed for a variety of mission planning functions. Plan execution technology is less well studied, but important for auton- omy and robotics. Specialized forms of automated reason- ing and machine learning are key technologies to enable fault management. Over the past decade, the NASA Au- tonomous Systems and Operations (ASO) project has devel- oped and demonstrated numerous autonomy enabling tech- nologies employing AI techniques. Our work has employed AI in three distinct ways to enable autonomous mission op- erations capabilities. Crew Autonomy gives astronauts tools to assist in the performance of each of these mission oper-ations functions. Vehicle System Management uses AI tech- niques to turn the astronaut's spacecraft into a robot, allow- ing it to operate when astronauts are not present, or to reduce astronaut workload. AI technology also enables Autonomous Robots as crew assistants or proxies when the crew are not present. When these capabilities are used to enable astro- nauts to operate autonomously, they must be integrated with user interfaces, introducing numerous human factors con- siderations; when these capabilities are used to enable vehi- cle system management, they must be integrated with flight software, and run on embedded processors under the control of real-time operating systems.We first describe human spaceflight mission operations capabilities. The remainder of the paper will describe the ASO project, and the development and demonstration per- formed by ASO since 2011. We will describe the AI tech- niques behind each of these demonstrations, which include a variety of symbolic automated reasoning and machine learn- ing based approaches. Finally, we conclude with an assess- ment of future development needs for AI to enable NASA's future Exploration missions.

Mission Operations↗

NASA NTRS2018

Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services

This paper presents the development of ICAROUS-2 (Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services), the second generation of a software architecture that integrates several algorithms as distributed onboard services to enable robust autonomous UAS applications. In particular, the ICAROUS architecture defines a framework to perform detect and avoid, geofencing, path monitoring, path planning, and autonomous decision making to ensure safety and mission progress. Most of the core algorithms implemented in ICAROUS are formally verified using an interactive theorem prover. These algorithms are composed together using a plan execution engine, whose operational semantics is formally specified. A description of the integrated architecture, services currently available, and flight test results highlighting the capability of ICAROUS are presented.

Balachandran, Swee↗

NASA NTRS2018

Independent Configurable Architecture for Reliable Operation of Unmanned Systems with Distributed Onboard Services

Balachandran, Swee↗

NASA NTRSDate not supplied

Usability Evaluation of Fleet Management Interface for High Density Vertiplex Environments

To meet the rising demand for an Advanced Air Mobility (i.e. urban and rural unmanned aircraft systems) ecosystem, NASA Aeronautics Research Mission Directorate (ARMD) is hosting a series of simulations and flight tests under the High Density Vertiplex sub-project (HDV). HDV aims to develop an integrated automation architecture to support terminal area flight operations. The HDV simulations and flight tests address safety, integration, and operational challenges, while integrated systems and software demonstrate design readiness, robustness, and interoperability. During the initial HDV simulation in 2021, a prototype traffic management tool developed by NASA called Fleet Management Interface (FMI) was tested. FMI was designed to introduce an advanced level of human-automation interaction to aid both Ground Control Station Operators (GCSOs) and Fleet Managers (FMs) in remotely managing flights under their ownership. In a human-in-the-loop simulation, a usability study was conducted with FMI to identify optimal approaches for displaying information for human operators using subjective measures of usability, workload, situation awareness, risk, and trust, along with qualitative feedback. This study consisted of task analysis in which GCSO and FM subjects used an Urban Air Mobility (UAM) environment to develop and execute a plan for two different traffic scenarios of remotely controlled vehicles. In each scenario, a controlled vehicle completed a takeoff, active flight, and landing sequence while automated traffic flew in the background at a rate of 20 operations per hour. In the first scenario, the controlled vehicle flew a nominal route with takeoff and landing at the same vertiport. In the second scenario, the controlled vehicle started on the nominal route, then diverted to an unplanned location mid-flight. Results showed that self-reported performance, usability, trust, and situation awareness ratings of FMI were moderately to strongly high. There were small differences between scenarios, with Scenario 2 being perceived as more unstable, complex, variable, risky, and potentially harmful than Scenario 1. Furthermore, participants described improvements that could be made to create a better user experience. For example, users would like greater configurability of the interface based on their personal information requirements, and they would like the opportunity to review routes before assigning them. The results from this study will inform future development of the FMI with the end goal of creating a reference automation tool for airspace management procedures in AAM. The FMI could be introduced as a potential way to reduce dependency on traditional air navigation services through increased automation in high density vertiplex environments.

vertiplex↗

NASA NTRSDate not supplied

Usability Evaluation of Fleet Management Interface for High Density Vertiplex Environments

To meet the rising demand for an Advanced Air Mobility (AAM) (i.e. urban and rural unmanned aircraft systems) ecosystem, the NASA Aeronautics Research Mission Directorate (ARMD) is hosting a series of simulations and flight tests under the High Density Vertiplex sub-project (HDV) to prototype and study the effectiveness AAM capabilities under various operational contexts. HDV aims to develop an integrated automation architecture to support terminal area flight operations. The HDV simulations and flight tests address safety, integration, and operational challenges, while integrated systems and software demonstrate design readiness, robustness, and interoperability. During the initial HDV simulation in 2021, a prototype traffic management tool developed by NASA called the Fleet Management Interface (FMI) was tested. FMI was designed to introduce an advanced level of human-automation interaction to aid both Ground Control Station Operators (GCSOs) and Fleet Managers (FMs) in remotely managing flights under their ownership. In a human-in-the-loop simulation, a usability study was conducted with the FMI to identify optimal approaches for displaying information to human operators using subjective measures of usability, workload, situation awareness, risk, and trust, along with qualitative feedback. This study consisted of task analysis in which GCSO and FM subjects used an Urban Air Mobility (UAM) environment to develop and execute a plan for two different traffic scenarios of remotely controlled vehicles. In each scenario, a remotely controlled vehicle completed a takeoff, active flight, and landing sequence while simulated traffic flew in the background at a rate of 20 operations per hour. In the first scenario, the controlled vehicle flew a nominal route with takeoff and landing at the same vertiport. In the second scenario, the controlled vehicle started on the nominal route, then diverted to an unplanned location mid-flight. Results showed that self- reported performance, usability, trust, and situation awareness ratings of FMI were moderately to strongly high. There were small differences between scenarios, with Scenario 2 being perceived as more unstable, complex, variable, risky, and potentially harmful than Scenario 1. Furthermore, participants described improvements that could be made to create a better user experience. For example, users suggested customizable interfaces to accommodate information display preferences, and the ability to review routes before assigning them. The results from this study will inform future development of the FMI with the end goal of creating a reference automation tool for airspace management procedures in AAM. The FMI could serve to reduce dependency on traditional air navigation services through increased automation in high density vertiplex environments.

Fleet manager↗

NASA NTRSDate not supplied

Artemis Internal Science Team Update: Data and Software Development

Artemis will reestablish human presence on the Moon and lead to a new era of scientific discovery and exploration. Led by the National Aeronautics and Space Administration (NASA), Artemis includes a collaboration of space agencies and companies from around the world. In support of Artemis, a cross-disciplinary effort of science, engineering, mission operations, and human factors personnel is developing the best methods, facilities, and field locations to test hardware, train astronauts, and evaluate modern concepts of operations. This abstract, as part of the Artemis Internal Science Team (AIST), provides an update to the science-relevant data and software developments and integrated testing efforts that have occurred in 2022.

M. J. Miller↗

NASA NTRSDate not supplied

Energy of Fluid (EOF) Simulation of Large-Scale Densification and Solidification of Hydrogen

The current research develops a finite volume-based Computation Fluid Dynamic (CFD) model utilizing an Energy of Fluid (EOF) approach to generate a simulation of the densification of liquid hydrogen (LH2) in the Integrated Refrigeration and Storage (IRAS) experimental tank for the Ground Operations Demonstration Unit for Liquid Hydrogen Project (GODU-LH2) at the Kennedy Space Center (KSC). The computational code will integrate a commercial software pressure-based model with User Defined Functions (UDF) generated and added to the model. The modified model will solve the energy equation in terms of internal energy and provide temperature and pressure calculations for a given tank geometry. This method will decrease computational time when compared to the built-in commercially available Enthalpy solvers. Currently the research focused on utilizing User Defined Scalars (UDS) compared to the enthalpy model and a lumped node analysis to show the written UDS is as accurate as the built-in solvers, and the models will be verified using known solutions for solidification and validated with the experimental results from the Cryogenics Test Laboratory (CTL) at KSC for the IRAS densification process.

C. Mahony↗