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NASA NTRS2010

Project Management Using Modern Guidance, Navigation and Control Theory

The idea of control theory and its application to project management is not new, however literature on the topic and real-world applications is not as readily available and comprehensive in how all the principals of Guidance, Navigation and Control (GN&C) apply. This paper will address how the fundamental principals of modern GN&C Theory have been applied to NASA's Constellation Space Suit project and the results in the ability to manage the project within cost, schedule and budget. A s with physical systems, projects can be modeled and managed with the same guiding principles of GN&C as if it were a complex vehicle, system or software with time-varying processes, at times non-linear responses, multiple data inputs of varying accuracy and a range of operating points. With such systems the classic approach could be applied to small and well-defined projects; however with larger, multi-year projects involving multiple organizational structures, external influences and a multitude of diverse resources, then modern control theory is required to model and control the project. The fundamental principals of G N&C stated that a system is comprised of these basic core concepts: State, Behavior, Control system, Navigation system, Guidance and Planning Logic, Feedback systems. The state of a system is a definition of the aspects of the dynamics of the system that can change, such as position, velocity, acceleration, coordinate-based attitude, temperature, etc. The behavior of the system is more of what changes are possible rather than what can change, which is captured in the state of the system. The behavior of a system is captured in the system modeling and if properly done, will aid in accurate system performance prediction in the future. The Control system understands the state and behavior of the system and feedback systems to adjust the control inputs into the system. The Navigation system takes the multiple data inputs and based upon a priori knowledge of the input, will develop a statistical-based weighting of the input to determine where the system currently is located. Guidance and Planning logic of the system with the understanding of where it is (provided by the navigation system) will in turn determine where it needs to be and how to get there. Lastly, the system Feedback system is the right arm of the control system to allow it to affect change in the overall system and therefore it is critical to not only correctly identify the system feedback inputs but also the system response to the feedback inputs. And with any systems project it is critical that the objective of the system be clearly defined for not only planning but to be used to measure performance and to aid in the guidance of the system or project.

Hill, Terry↗

NASA NTRS1973

An improved method for design of expansion-chamber mufflers with application to an operational helicopter

An improved method for the design of expansion-chamber mufflers is described and applied to the task of reducing exhaust noise generated by a helicopter. The method is an improvement of standard transmission-line theory in that it accounts for the effect of the mean exhaust-gas flow on the acoustic-transmission properties of a muffler system, including the termination boundary condition. The method has been computerized, and the computer program includes an optimization procedure that adjusts muffler component lengths to achieve a minimum specified desired transmission loss over a specified frequency range. A printout of the program is included together with a user-oriented description.

Parrott, T. L.↗

NASA NTRS1975

An application of modern control theory to jet propulsion systems

The control of an airbreathing turbojet engine by an onboard digital computer is studied. The approach taken is to model the turbojet engine as a linear, multivariable system whose parameters vary with engine operating environment. From this model adaptive closed-loop or feedback control laws are designed and applied to the acceleration of the turbojet engine.

Merrill, W. C.↗

NASA NTRS1991

Aeroacoustics of Flight Vehicles: Theory and Practice. Volume 2: Noise Control

Flight vehicles and the underlying concepts of noise generation, noise propagation, noise prediction, and noise control are studied. This volume includes those chapters that relate to flight vehicle noise control and operations: human response to aircraft noise; atmospheric propagation; theoretical models for duct acoustic propagation and radiation; design and performance of duct acoustic treatment; jet noise suppression; interior noise; flyover noise measurement and prediction; and quiet aircraft design and operational characteristics.

Hubbard, Harvey H.↗

NASA NTRS1993

Solar-Stellar Irradiance Comparison Experiment 1. I - Instrument design and operation

The main objective for the Solar-Stellar Irradiance Comparison Experiment (SOLSTICE) is to accurately measure the full disk solar spectral irradiance in the ultraviolet (UV) spectral region over a long time period. To meet this objective, SOLSTICE has the unique capability of making routine observations of the UV radiation from a set of early-type stars, using the identical optical elements and detectors employed for the solar observations. The stars selected for this calibration are assumed, on the basis of stellar evolution theory, to be extremely stable in the UV spectral region. Moreover, it is the average flux from a number of stars, perhaps from as many as 25, that is assumed to be stable. The SOLSTICE 1 is on the Upper Atmosphere Research Satellite (UARS), and the overall design and operation of the instrument are discussed. The quality of the solar and stellar data is extremely high and preliminary results indicate that the technique is working well.

Rottman, Gary J.↗

NASA NTRS1973

Performance of an ion-cyclotron-wave plasma apparatus operated in the radiofrequency sustained mode

An experimental study has been made of an ion-cyclotron-wave apparatus operated in the RF-sustained mode, that is, a mode in which the Stix RF coil both propagates the waves and maintains the plasma. Problems associated with this method of operation are presented. Some factors that are important to the coupling of RF power are noted. In general, the wave propagation and wave damping data agree with theory. Some irregularities in wave fields are observed. Maximum ion temperature is 870 eV at a density of five times 10 to the 12th power cu cm and RF power of 90 kW. Coupling efficiency is 70 percent.

Swett, C. C.↗

NASA NTRS1976

Rationale for structural inspections

The methods developed to predict the reliability of aircraft structures depend upon inspection effectiveness which, in turn, depends upon structural complexity, quality, and the percentage of the structure inspected. Reliability can be enhanced by choosing materials properly, designing damage-tolerant structures, and increasing inspection frequency. And, for fleet operations, costs can be minimized through proper inspection schedules, and enhanced reliability can be compatible with minimum cost. The methods are derived from a combination of probability theory and engineering equations. A discussion of these methods is presented.

Davidson, J. R.↗

NASA NTRS1979

Robust stability of linear systems: Some computational considerations

The cases of both additive and multiplicative perturbations were discussed and a number of relationships between the two cases were given. A number of computational aspects of the theory were also discussed, including a proposed new method for evaluating general transfer or frequency response matrices. The new method is numerically stable and efficient, requiring only operations to update for new values of the frequency parameter.

Laub, A. J.↗

NASA NTRS1984

Electromagnetic bias of 10-GHz radar altimeter measurements of MSL

Electromagnetic bias, the small difference that exists between the radar measured mean sea level and the geometric mean sea level is an important issue in high precision satellite altimetry. Present day satellite altimetry has achieved, with SEASAT-1, a precision of 5 cm rms in the range measurement. Future altimeter designs are expected to improve the range measurement precision to cm rms. In order to exploit the capability of these precise radar altimeters are marine geodesy and oceanography, it is necessary to understand and account for all of the known biases in the range measurement. The electromagnetic bias or the EM bias, which has been attributed to the observed fact that ocean wave troughs tend to be better reflectors of nadir viewing microwave radar energy than ocean wave crests, can be observed with high resolution airborne radar. This report presents the results of the EM bias measurements made by NRL using an airborne radar altimeter operating at 10 GHz with a 1 ns range resolution. Data were taken for various sea states and wind conditions. The experimental results are compared with current theories.

Choy, L. W.↗

NASA NTRS1988

Comparisons of predicted and measured rotor performance in hover using a new free wake analysis

A new free-wake analysis has been developed to predict the performance of rotors in hover and axial flight. The analysis finds the rotor wake geometry using a novel influence coefficient/relaxation scheme. In this paper, the features of the analysis are reviewed, and the accuracy of the analysis is assessed for a wide range of rotor configurations in hover and vertical climb. The effects of variations in the analysis parameters are addressed, and recommendations for future development are presented. Generally good results were obtained for the predicted performance of a wide range of rotor geometries and operating conditions without any special 'tuning' of the analysis. The analysis also provides predictions of rotor performance in vertical climb that are substantially more accurate than momentum theory.

Felker, Fort F.↗

NASA NTRS1993

Agent oriented programming: An overview of the framework and summary of recent research

This is a short overview of the agent-oriented programming (AOP) framework. AOP can be viewed as an specialization of object-oriented programming. The state of an agent consists of components called beliefs, choices, capabilities, commitments, and possibly others; for this reason the state of an agent is called its mental state. The mental state of agents is captured formally in an extension of standard epistemic logics: beside temporalizing the knowledge and belief operators, AOP introduces operators for commitment, choice and capability. Agents are controlled by agent programs, which include primitives for communicating with other agents. In the spirit of speech-act theory, each communication primitive is of a certain type: informing, requesting, offering, etc. This document describes these features in more detail and summarizes recent results and ongoing AOP-related work.

Shoham, Yoav↗

NASA NTRS1947

Results of Flight Test of an Automatically Stabilized Model C (Swept Back) Four-Wing Tiamat

The results of the first flight test of a swept-back four-wing version of Tiamat (MX-570 model C) which was launched at the NACA Pilotless Aircraft Research Station at W4110PB Island, Va. are presented. In general, the flight behavior was close to that predicted by calculations based an stability theory and oscillating table tests of the autopilot. The flight test thus indicates that the techniques employed to predict automatic stability are valid and practical from an operational viewpoint. The limitations of the method used to predict flight behavior arise from the fact that the calculations assume no coupling among roll, pitch, and yaw, while in actual flight some such coupling does exist.

Seacord, Charles L., Jr.↗

NASA NTRS2001

Influence of 3D Radiative Effects on Satellite Retrievals of Cloud Properties

When cloud properties are retrieved from satellite observations, the calculations apply 1D theory to the 3D world: they only consider vertical structures and ignore horizontal cloud variability. This presentation discusses how big the resulting errors can be in the operational retrievals of cloud optical thickness. A new technique was developed to estimate the magnitude of potential errors by analyzing the spatial patterns of visible and infrared images. The proposed technique was used to set error bars for optical depths retrieved from new MODIS measurements. Initial results indicate that the 1 km resolution retrievals are subject to abundant uncertainties. Averaging over 50 by 50 km areas reduces the errors, but does not remove them completely; even in the relatively simple case of high sun (30 degree zenith angle), about a fifth of the examined areas had biases larger than ten percent. As expected, errors increase substantially for more oblique illumination.

Varnai, Tamas↗

NASA NTRS2004

Recent Progress in Understanding the Sun's Magnetic Dynamo

100 years ago we thought that the Sun and stars shone as a result of slow gravitational contraction over a few tens of millions of years - putting astronomers at odds with geologists who claimed that the Earth was much, much older. That mystery was solved in the 1920s and 30s with the discovery of nuclear energy (proving that the geologists had it right all along). Other scientific mysteries concerning the Sun have come and gone but three major mysteries remain: 1) How does the Sun produce sunspots with an 11-year cycle? 2) What produces the huge explosions that result in solar flares, prominence eruptions, and coronal mass ejections? and 3) Why is the Sun's outer atmosphere, the corona, so darned hot? Recent progress in solar astronomy reveals a single key to understanding all three of these mysteries.The 11-year time scale for the sunspot cycle indicates the presence of a magnetic dynamo within the Sun. For decades this dynamo was though to operate within the Sun's convection zone - the outmost 30% of the Sun where convective currents transport heat and advect magnetic lines of force. The two leading theories for the dynamo had very different models for the dynamics of the convection zone. Actual measurements of the dynamics using the techniques of helioseismology showed that both of these models had to be wrong some 20 years ago. A thin layer of strongly sheared flow at the base of the convection zone (now called the tachocline) was then taken to be the seat of the dynamo. Over the last 10 years it has become apparent that a weak meridional circulation within the convection zone also plays a key role in the dynamo. This meridional circulation has plasma rising up from the tachocline in the equatorial regions, spreading out toward the poles at a top speed of about 10-20 m/s at the surface, sinking back down to the tachocline in the polar regions, and then flowing back toward the equator at a top speed of about 1-2 m/s in the tachocline itself. Recent dynamo models that include this meridional flow now appear to have some power for predicting the size of future sunspot cycles.

Hathaway, David. H.↗

NASA NTRS2004

Hierarchical Discrete Event Supervisory Control of Aircraft Propulsion Systems

This paper presents a hierarchical application of Discrete Event Supervisory (DES) control theory for intelligent decision and control of a twin-engine aircraft propulsion system. A dual layer hierarchical DES controller is designed to supervise and coordinate the operation of two engines of the propulsion system. The two engines are individually controlled to achieve enhanced performance and reliability, necessary for fulfilling the mission objectives. Each engine is operated under a continuously varying control system that maintains the specified performance and a local discrete-event supervisor for condition monitoring and life extending control. A global upper level DES controller is designed for load balancing and overall health management of the propulsion system.

Yasar, Murat↗

NASA NTRS2004

adwTools Developed: New Bulk Alloy and Surface Analysis Software for the Alloy Design Workbench

A suite of atomistic modeling software, called the Alloy Design Workbench, has been developed by the Computational Materials Group at the NASA Glenn Research Center and the Ohio Aerospace Institute (OAI). The main goal of this software is to guide and augment experimental materials research and development efforts by creating powerful, yet intuitive, software that combines a graphical user interface with an operating code suitable for real-time atomistic simulations of multicomponent alloy systems. Targeted for experimentalists, the interface is straightforward and requires minimum knowledge of the underlying theory, allowing researchers to focus on the scientific aspects of the work. The centerpiece of the Alloy Design Workbench suite is the adwTools module, which concentrates on the atomistic analysis of surfaces and bulk alloys containing an arbitrary number of elements. An additional module, adwParams, handles ab initio input for the parameterization used in adwTools. Future modules planned for the suite include adwSeg, which will provide numerical predictions for segregation profiles to alloy surfaces and interfaces, and adwReport, which will serve as a window into the database, providing public access to the parameterization data and a repository where users can submit their own findings from the rest of the suite. The entire suite is designed to run on desktop-scale computers. The adwTools module incorporates a custom OAI/Glenn-developed Fortran code based on the BFS (Bozzolo- Ferrante-Smith) method for alloys, ref. 1). The heart of the suite, this code is used to calculate the energetics of different compositions and configurations of atoms.

Bozzolo, Guillermo↗

NASA NTRS2008

Control Architecture for Robotic Agent Command and Sensing

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Huntsberger, Terrance↗

NASA NTRS1982

A model for mercury orificed hollow cathodes - Theory and experiment

A phenomenological model is developed which provides a qualitative description of the basic physical processes taking place within a mercury orifice hollow cathode. This model can be used to predict, to first order, the important cathode operating parameters such as emission length and insert temperature. By assuming an idealized ion production region within which most of the plasma processes are concentrated, the model can be expressed analytically as a simple set of equations which relate cathode dimensions and specifiable operating conditions, such as mass flow rate and discharge current, to such important parameters as insert temperature and plasma properties. A comparison of theoretical and experimental results shows that, if the excited state energy flux is neglected, the model provides relatively accurate predictions of emission length, emission surface temperature, plasma density, and fraction of discharge current due to volume ionization

Siegfried, D. E.↗