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NASA NTRS2015

Formation Flying for Satellites and Unmanned Aerial Vehicles

The shrinking size of satellites and unmanned aerial vehicles (UAVs) is enabling lower cost missions. As sensors and electronics continue to downsize, the next step is multiple vehicles providing different perspectives or variations for more precise measurements. While flying a single satellite or UAV autonomously is a challenge, flying multiple vehicles in a precise formation is even more challenging. The goal of this project is to develop a scalable mesh network between vehicles (satellites or UAVs) to share real-time position data and maintain formations autonomously. Newly available low-cost, commercial off-the-shelf credit card size computers will be used as the basis for this network. Mesh networking techniques will be used to provide redundant links and a flexible network. The Small Projects Rapid Integration and Test Environment Lab will be used to simulate formation flying of satellites. UAVs built by the Aero-M team will be used to demonstrate the formation flying in the West Test Area. The ability to test in flight on NASA-owned UAVs allows this technology to achieve a high Technology Readiness Level (TRL) (TRL-4 for satellites and TRL-7 for UAVs). The low cost of small UAVs and the availability of a large test range (West Test Area) dramatically reduces the expense of testing. The end goal is for this technology to be ready to use on any multiple satellite or UAV mission.

Merrill, Garrick↗

NASA NTRS2020

Verification of Prognostic Algorithms to Predict Remaining Flying Time for Electric Unmanned Vehicles

This paper addresses the problem of building trust in the online prediction of a eUAV’s remaining available flying time powered by lithium-ion polymer batteries. A series of ground tests are described that make use of an electric unmanned aerial vehicle (eUAV) to verify the performance of remaining flying time predictions. The algorithm verification procedure described is implemented on a fully functional vehicle that is restrained to a platform for repeated run-to-functional-failure (charge depletion) experiments. The vehicle under test is commanded to follow a predefined propeller RPM profile in order to create battery demand profiles similar to those expected during flight. The eUAV is repeatedly operated until the charge stored in powertrain batteries falls below a specified limit threshold. The time at which the limit threshold on battery charge is crossed is then used to measure the accuracy of the remaining flying time prediction. In our earlier work battery aging was not included. In this work we take into account aging of the batteries where the parameters were updated to make predictions. Accuracy requirements are considered for an alarm that warns operators when remaining flying time is estimated to fall below the specified limit threshold.

Edward F. Hogge↗

NASA NTRSDate not supplied

Astrobee: Improving Capabilities for Free Flying Robotic Technology Demonstrations

The Astrobee Project has completed three years operating inside the ISS. Three Astrobee Free Flyers reached the ISS in April 2019 and are currently hosting a variety of users. During this time, Astrobee has advanced the state of the art in free-flying robots on ISS, operated over 100 sessions, logged over 750 hours of free-flyer operation, and made several capability improvements. Astrobee’s primary objective is to provide a highly flexible and capable free-flying robotic research platform to enable future guest scientist investigations. However, Astrobee is also demonstrating the feasibility of intra-vehicular robots (IVR) for performing key caretaking functions within exploration vehicles as part of NASA’s Moon-to-Mars exploration strategy. IVR capabilities will be especially vital during uncrewed mission phases. For example, current plans call for the lunar Gateway to be uncrewed >85% of the time. Astrobee’s baseline implementation supports free-flying camera and sensor survey use cases. Astrobee guest scientists can deploy software updates and hardware payloads to extend its capabilities. Astrobee is continuously improving its navigation robustness, general flight software maturity, and ISS interior maps, both through the baseline Astrobee operations and with the help of the ISAAC project. Astrobee began with mapping, localization, and operations in the Japanese Experiment Module (JEM), and has expanded to mapping in Node 2 and the US Lab. Astrobee has improved localization and operational robustness through improved mapping processes, algorithm updates (Soussan 2022) that reduce the occurrences of lost localization as well as developed recovery techniques to return to a good localization fix when loss of localization does occur. Future guest science experiments currently in development could demonstrate cargo transfer, fault isolation, free flyer and stationary robot collaboration, microgravity fluid transfer, and new docking mechanisms, among others. This presentation will focus on 1) Astrobee technical capabilities 2) What Astrobee can provide to a guest science experiment 3) Astrobee’s recent improvements 4) Possibilities for using Astrobee for future investigations. Soussan, R., Kumar, V., Coltin, B. and Smith, T. (2022) AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot, Proc. Int. Conf. Rob. Autom. (ICRA) [to appear]

Astrobee↗

NASA NTRS2017

Spacecraft Alignment Determination and Control for Dual Spacecraft Precision Formation Flying

Many proposed formation flying missions seek to advance the state of the art in spacecraft science imaging by utilizing precision dual spacecraft formation flying to enable a virtual space telescope. Using precision dual spacecraft alignment, very long focal lengths can be achieved by locating the optics on one spacecraft and the detector on the other. Proposed science missions include astrophysics concepts with spacecraft separations from 1000 km to 25,000 km, such as the Milli-Arc-Second Structure Imager (MASSIM) and the New Worlds Observer, and Heliophysics concepts for solar coronagraphs and X-ray imaging with smaller separations (50m-500m). All of these proposed missions require advances in guidance, navigation, and control (GNC) for precision formation flying. In particular, very precise astrometric alignment control and estimation is required for precise inertial pointing of the virtual space telescope to enable science imaging orders of magnitude better than can be achieved with conventional single spacecraft instruments. This work develops design architectures, algorithms, and performance analysis of proposed GNC systems for precision dual spacecraft astrometric alignment. These systems employ a variety of GNC sensors and actuators, including laser-based alignment and ranging systems, optical imaging sensors (e.g. guide star telescope), inertial measurement units (IMU), as well as microthruster and precision stabilized platforms. A comprehensive GNC performance analysis is given for Heliophysics dual spacecraft PFF imaging mission concept.

Virtual Telescope↗

NASA NTRS2017

Spacecraft Alignment Determination and Control for Dual Spacecraft Precision Formation Flying

Many proposed formation flying missions seek to advance the state of the art in spacecraft science imaging by utilizing precision dual spacecraft formation flying to enable a virtual space telescope. Using precision dual spacecraft alignment, very long focal lengths can be achieved by locating the optics on one spacecraft and the detector on the other. Proposed science missions include astrophysics concepts with spacecraft separations from 1000 km to 25,000 km, such as the Milli-Arc-Second Structure Imager (MASSIM) and the New Worlds Observer, and Heliophysics concepts for solar coronagraphs and X-ray imaging with smaller separations (50m 500m). All of these proposed missions require advances in guidance, navigation, and control (GNC) for precision formation flying. In particular, very precise astrometric alignment control and estimation is required for precise inertial pointing of the virtual space telescope to enable science imaging orders of magnitude better than can be achieved with conventional single spacecraft instruments. This work develops design architectures, algorithms, and performance analysis of proposed GNC systems for precision dual spacecraft astrometric alignment. These systems employ a variety of GNC sensors and actuators, including laser-based alignment and ranging systems, optical imaging sensors (e.g. guide star telescope), inertial measurement units (IMU), as well as micro-thruster and precision stabilized platforms. A comprehensive GNC performance analysis is given for Heliophysics dual spacecraft PFF imaging mission concept.

Formation flying↗

NASA NTRS2018

Spacecraft Alignment Determination and Control for Dual Spacecraft Precision Formation Flying

Many proposed formation flying missions seek to advance the state of the art in spacecraft science imaging by utilizing dual-spacecraft precision formation flying (PFF) to enable a 'virtual' telescope (VT). Using precision dual-spacecraft alignment, very long focal lengths can be achieved by locating the optics on one spacecraft and the detector on the other. Proposed science missions include astrophysics concepts for X-ray imaging and exo-planet observation with large spacecraft separations (1000 km to 80,000 km), and heliophysics concepts for X-ray or extreme ultra-violet (EUV) imaging or solar coronagraphs with smaller separations (50m - 500m). These proposed missions require advances in guidance, navigation, and control (GN&C) for PFF to enable high resolution science imaging. For many applications, the dual-spacecraft dynamics are coupled through the GN&C system when the relative ranging and position alignment sensor components are not co-located with their respective spacecraft mass centers. We develop a model-based PFF system design approach for the VT application, considering the coupling inherent in precision dual-spacecraft inertial alignment. These systems employ a variety of GN&C sensors and actuators, including laser-based alignment and ranging systems, camera-based imaging sensors, inertial measurement units (IMU), as well as microthruster systems and image motion compensation platforms. Results of a GN&C performance assessment reveal how data from relative position sensors can be employed in a Kalman filter framework to significantly improve alignment estimation performance. The assessment provides a comparison of two different GN&C formation flying architectures, illustrating the performance trades inherent in the choice of PFF system architecture in the VT application.

Formation Flying↗

DOE OSTI2025

Extraction and Separation of Rare-Earth Elements from Coal Fly Ash and Leachate using a Recyclable Ionic Liquid

Coal fly ash (CFA) can be a promising source for recovering rare-earth elements (REEs), as it contains a broad range of REEs with average concentrations frequently exceeding those in traditional rare earth mines. Recent research from our group has demonstrated that REEs can be preferentially extracted from CFA solids using a recyclable ionic liquid (IL), betainium bis-(trifluoromethylsulfonyl)imide ([Hbet][Tf2N]). When CFA was heated with the mixture of IL and an aqueous solution above 65°C, most leached REEs partitioned into the IL phase and were separated from the bulk elements. Subsequent acid stripping of the REE-loaded IL removed the REEs and regenerated the IL for reuse in multiple extraction cycles. This IL-based REE-CFA recovery method has been applied to ten CFA samples derived from different coal sources, including ash recovered from disposal ponds. Analysis of 34 elements confirmed the process consistently achieved high REE recovery efficiency, with strong selectivity over bulk and trace elements across diverse CFA types. In addition to the IL-solid extraction, the performance of [Hbet][Tf2N] in extracting REEs from fly-ash leachates have been evaluated by four commonly used leaching reagents, including HCl, HNO3, H2SO4, and citrate. During the IL-leachate extraction, [Hbet][Tf2N] was mixed and heated with a Class C fly ash leachate generated from each leaching reagent, followed by an acid stripping. It was observed that the partitioning and recovery of REEs increased as the leachate pH increased from 3 to 11. Among the investigated leachates, HCl and citrate proved to be the most compatible with IL extraction, exhibiting a slightly higher REE recovery and a lower non-REE co-extraction compared to the IL-solid extraction. Sc, Y, Nd, Sm, Gd, Dy, and Yb consistently showed a high recovery rate from both CFA solids and leachates. Notably, Pr, Tb, and Ho, which were not previously leached from the CFA solids, were partially recovered from the leachates. Overall, our studies revealed the strong potential of [Hbet][Tf2N] for effectively recovering REEs from leachates, highlighting its applicability as a sustainable strategy for other aqueous REE feedstocks. Furthermore, a techno-economic analysis will be performed to quantify the economic viability of the IL-based REE recovery method and guide future process improvement.

42 ENGINEERING↗

DOE OSTI2025

Enhanced quantum radiation with flying-focus laser pulses

The emission of a photon by an electron in an intense laser field is one of the most fundamental processes in electrodynamics and underlies the many applications that utilize high-energy photon beams. This process is typically studied for electrons colliding head-on with a stationary-focus laser pulse. Here, we show that the energy lost by electrons in the quantum regime and the yield of emitted photons can be substantially increased by replacing a stationary-focus pulse with an equal-energy flying-focus pulse whose focus co-propagates with the electrons. Furthermore, these advantages of the flying focus result from the energy loss and the photon yield scaling more favorably with the interaction time than the laser intensity in the quantum regime, with the latter also holding in the classical regime. Monte Carlo simulations of electrons colliding with equal-energy stationary and flying-focus laser pulses demonstrate these advantages.

Compton scattering↗

DOE OSTI2026

Rapidly tunable ultrabroadband flying focus using adaptive optics and an axiparabola

A programmable ultrabroadband flying focus was produced using adaptive optics and an axiparabola with a continuous wave superluminescent diode. A deformable mirror and spatial light modulator were used to add a programmable amount of radial group delay, and an axiparabola was used to create an extended focus by imparting spherical aberration. Three different flying focus trajectories were measured using spectral interferometry, two with uniform velocity and one with an accelerating velocity. Here, the temporal response function width of the flying focus optics alone was calculated to be 52 ± 6 fs, and the focal spot size was measured to be (1.2 ± 0.1) × larger than the diffraction-limited spot size through the extended focus.

Markland, H. S. [University of Rochester, NY (Unit↗

DOE OSTI2025

Estimating the Total Value Proposition of Coal Fly Ash and Produced Water

Here we describe the total potential "sale" value of produced water and coal fly ash due to the mineral content they contain. Produced water is water that is co-produced during oil and gas operations. Coal fly ash is the solid powder that remains after coal is burned. Both coal fly ash and produced water matter partly because of they contain critical minerals that have economic value and could be extracted. Here we calculate the total potential value of all the mineral products, critical minerals and other products such as salts, so that we can gain a more complete economic outlook on both feedstocks. Poster presented at the American Geophysical Union (AGU) Annual Meeting held in New Orleans, Louisiana, December 15 to 19, 2025.

critical minerals, lithium, rare earth elements↗

NASA NTRS1975

Description and Flight Test Results of the NASA F-8 Digital Fly-by-Wire Control System

A NASA program to develop digital fly-by-wire (DFBW) technology for aircraft applications is discussed. Phase I of the program demonstrated the feasibility of using a digital fly-by-wire system for aircraft control through developing and flight testing a single channel system, which used Apollo hardware, in an F-8C airplane. The objective of Phase II of the program is to establish a technology base for designing practical DFBW systems. It will involve developing and flight testing a triplex digital fly-by-wire system using state-of-the-art airborne computers, system hardware, software, and redundancy concepts. The papers included in this report describe the Phase I system and its development and present results from the flight program. Man-rated flight software and the effects of lightning on digital flight control systems are also discussed.

Source record↗

NASA NTRS1975

F-8 digital fly-by-wire flight test results viewed from an active controls perspective

The results of the NASA F-8 digital fly-by-wire flight test program are presented, along with the implications for active controls applications. The closed loop performance of the digital control system agreed well with the sampled-data system design predictions. The digital fly-by-wire mechanization also met pilot flying qualities requirements. The advantages of mechanizing the control laws in software became apparent during the flight program and were realized without sacrificing overall system reliability. This required strict software management. The F-8 flight test results are shown to be encouraging in light of the requirements that must be met by control systems for flight-critical active controls applications.

Zalai, K. J.↗

NASA NTRS1976

Advanced control technology and airworthiness flying qualities requirements

Flying quality requirements are specified in terms of the complete pilot-airframe-systems loop, the task, and the environment. Results from a study of flying qualities are reported. A review of the treatment of failure cases in various flying quality requirements is presented along with a description of the methods used and relevant lessons learned from recent Autoland certification programs.

Snyder, C. T.↗

NASA NTRS1979

Theory of the fly-through mode for neutral mass spectrometers

The Atmosphere Explorer satellites carry a quasi-open source neutral mass spectrometer which has the capability to operate in a nonstagnating or 'fly-through' mode. Technical information on the operating characteristics of fly-through along with considerable scientific data have been acquired in this mode. When the vehicle is spun, the fly-through signal contains information on the kinetic temperature as well as the neutral density. Both quantities can be extracted from the data once the theory of operation is formulated in terms of the ambient gas velocity distribution and the angular response of the instrument.

Kayser, D. C.↗

NASA NTRS1980

A pilot's assessment of helicopter handling-quality factors common to both agility and instrument flying tasks

A series of simulation and flight investigations were undertaken to evaluate helicopter flying qualities and the effects of control system augmentation for nap-of-the-Earth (NOE) agility and instrument flying tasks. Handling quality factors common to both tasks were identified. Precise attitude control was determined to be a key requirement for successful accomplishment of both tasks. Factors that degraded attitude controllability were improper levels of control sensitivity and damping, and rotor system cross coupling due to helicopter angular rate and collective pitch input. Application of rate command, attitude command, and control input decouple augmentation schemes enhanced attitude control and significantly improved handling qualities for both tasks. The NOE agility and instrument flying handling quality considerations, pilot rating philosophy, and supplemental flight evaluations are also discussed.

Gerdes, R. M.↗

NASA NTRS1980

Landing flying qualities evaluation criteria for augmented aircraft

The criteria evaluated were: Calspan Neal-Smith; Onstott (Northrop Time Domain); McDonnell-Douglas Equivalent System Approach; R. H. Smith Criterion. Each criterion was applied to the same set of longitudinal approach and landing flying qualities data. A revised version of the Neal-Smith criterion which is applicable to the landing task was developed and tested against other landing flying qualities data. Results indicated that both the revised Neal-Smith criterion and the Equivalent System Approach are good discriminators of pitch landing flying qualities; Neal-Smith has particular merit as a design guide, while the Equivalent System Approach is well suited for development of appropriate military specification requirements applicable to highly augmented aircraft.

Radford, R. C.↗

NASA NTRS1980

A pilot's assessment of helicopter handling-quality factors common to both agility and instrument flying tasks

Results from a series of simulation and flight investigations undertaken to evaluate helicopter flying qualities and the effects of control system augmentation for nap-of-the-earth (NOE) agility and instrument flying tasks were analyzed to assess handling-quality factors common to both tasks. Precise attitude control was determined to be a key requirement for successful accomplishment of both tasks. Factors that degraded attitude controllability were improper levels of control sensitivity and damping and rotor-system cross-coupling due to helicopter angular rate and collective pitch input. Application of rate-command, attitude-command, and control-input decouple augmentation schemes enhanced attitude control and significantly improved handling qualities for both tasks. NOE agility and instrument flying handling-quality considerations, pilot rating philosophy, and supplemental flight evaluations are also discussed.

Gerdes, R. M.↗

NASA NTRS1982

Space Shuttle flying qualities and flight control system assessment study

The suitability of existing and proposed flying quality and flight control system criteria for application to the space shuttle orbiter during atmospheric flight phases was assessed. An orbiter experiment for flying qualities and flight control system design criteria is discussed. Orbiter longitudinal and lateral-directional flying characteristics, flight control system lag and time delay considerations, and flight control manipulator characteristics are included. Data obtained from conventional aircraft may be inappropriate for application to the shuttle orbiter.

Myers, T. T.↗