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NASA NTRS2016

Making Debris Avoidance Decisions for ESMO's EOS Mission Set

The presentation will cover the aspects of making debris risk decisions from the NASA Mission Director's perspective, specifically for NASA Earth Science Mission Operations (ESMO) Earth Observing System (EOS) mission set. ESMO has been involved in analyzing potential debris risk conjunctions with secondary objects since the inception of this discipline. Through the cumulated years of experience and continued exposure to various debris scenarios, ESMO's understanding of the problem and process to deal with this issue has evolved. The presentation will describe the evolution of the ESMO process, specifically as it relates to the maneuver execution and spacecraft risk management decision process. It will briefly cover the original Drag Make-Up Maneuver, several day, methodical manually intensive, ramp up waive off approach, to the present day more automated, pre-canned onboard command, tools based approach. The presentation will also cover the key information needed to make debris decisions and challenges in doing so while still trying to meet science goals, constellation constraints and manage resources. A slide or two at the end of the presentation, will be devoted to discussing what further improvements could be helpful to improve decision making and future process improvement plans challenges.

debris↗

NASA NTRS2017

Quantifying Pilot Contribution to Flight Safety During Dual Generator Failure

Accident statistics cite flight crew error in over 60% of accidents involving transport category aircraft. Yet, a well-trained and well-qualified pilot is acknowledged as the critical center point of aircraft systems safety and an integral safety component of the entire commercial aviation system. No data currently exists that quantifies the contribution of the flight crew in this role. Neither does data exist for how often the flight crew handles non-normal procedures or system failures on a daily basis in the National Airspace System. A pilot-in-the-loop high fidelity motion simulation study was conducted by the NASA Langley Research Center in partnership with the Federal Aviation Administration (FAA) to evaluate the pilot's contribution to flight safety during normal flight and in response to aircraft system failures. Eighteen crews flew various normal and non-normal procedures over a two-day period and their actions were recorded in response to failures. To quantify the human's contribution, crew complement was used as the experiment independent variable in a between-subjects design. Pilot actions and performance when one of the flight crew was unavailable were also recorded for comparison against the nominal two-crew operations. This paper details diversion decisions, perceived safety of flight, workload, time to complete pertinent checklists, and approach and landing results while dealing with a complete loss of electrical generators. Loss of electrical power requires pilots to complete the flight without automation support of autopilots, flight directors, or auto throttles. For reduced crew complements, the additional workload and perceived safety of flight was considered unacceptable.

Etherington, Timothy J.↗

NASA NTRSDate not supplied

Supervised Autonomous Assembly to Create and Evolve Persistent Assets

Supervised autonomous assembly (SAA) will create a paradigm shift in the planning and design of future persistent assets (PAs), both in near zero-g environments and on planetary surfaces. SAA refers to an autonomy approach that has the benefits of autonomous assembly as well as the benefits provided by a supervisor (operator) who is available to resolve unexpected situations. SAA provides both increased design freedom as well as reduced programmatic risk. SAA enables evolution of future PAs over decades as in-space operations transition from single purpose missions to creation of PAs, such as laboratories and experimental stations which more closely resembling terrestrial laboratories that can easily adapt and evolve to new missions leveraging repeated visits to the PA. The ability to evolve enables PAs to rapidly respond to changing objectives resulting from new questions as our understanding improves. A recently initiated National Aeronautics and Space Administration (NASA) project in the Space Technology Mission Directorate (STMD) Game Changing Development (GCD) Program called the Precision Assembled Space Structure (PASS), leverages the advantages of SAA to develop technologies that enable efficient creation and evolution of hexagonal topologies; both planar (example: fuel depots) and curved (examples: telescopes and shelters). PASS will be used to provide context for the philosophy and concepts discussed as well as the decision and selections made. PASS objectives are: a) Develop confidence in SAA and on-orbit servicing, assembly and manufacturing (OSAM) technologies by executing a test campaign that uses a path-to-flight autonomous precision assembly process directly applicable to future space telescopes. b) Test autonomous technologies including automated path planning and error recovery, to emphasize a robust approach that relies on generic robots and special purpose tools. c) Validate critical component models using a digital twin that includes the assembled primary mirror support structure and assembly process. A digital twin is a high-fidelity simulation of the asset capable of predicting the on-orbit performance. The paper concludes after identifying the critical need for a modest assembly flight experiment to validate and develop confidence in the SAA paradigm, thus accelerating adoption of the benefits described. SAA is a game changing paradigm that enhances the ability of an organization to infuse new technology through rapid evolution of PAs while leveraging OSAM technologies.

Structural Modeling↗

NASA NTRS1989

Human machine interaction via the transfer of power and information signals

Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area: strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this extending human mechanical power in certain environments. Extenders will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information signals and power with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to feel the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. The experimental results for a prototype extender are discussed.

Kazerooni, H.↗

NASA NTRS2011

Detecting Abnormal Machine Characteristics in Cloud Infrastructures

In the cloud computing environment resources are accessed as services rather than as a product. Monitoring this system for performance is crucial because of typical pay-peruse packages bought by the users for their jobs. With the huge number of machines currently in the cloud system, it is often extremely difficult for system administrators to keep track of all machines using distributed monitoring programs such as Ganglia1 which lacks system health assessment and summarization capabilities. To overcome this problem, we propose a technique for automated anomaly detection using machine performance data in the cloud. Our algorithm is entirely distributed and runs locally on each computing machine on the cloud in order to rank the machines in order of their anomalous behavior for given jobs. There is no need to centralize any of the performance data for the analysis and at the end of the analysis, our algorithm generates error reports, thereby allowing the system administrators to take corrective actions. Experiments performed on real data sets collected for different jobs validate the fact that our algorithm has a low overhead for tracking anomalous machines in a cloud infrastructure.

Bhaduri, Kanishka↗

NASA NTRS2012

Agile Science Operations: A New Approach for Primitive Exploration Bodies

Primitive body exploration missions such as potential Comet Surface Sample Return or Trojan Tour and Rendezvous would challenge traditional operations practices. Earth-based observations would provide only basic understanding before arrival and many science goals would be defined during the initial rendezvous. It could be necessary to revise trajectories and observation plans to quickly characterize the target for safe, effective observations. Detection of outgassing activity and monitoring of comet surface activity are even more time constrained, with events occurring faster than round-trip light time. "Agile science operations" address these challenges with contingency plans that recognize the intrinsic uncertainty in the operating environment and science objectives. Planning for multiple alternatives can significantly improve the time required to repair and validate spacecraft command sequences. When appropriate, time-critical decisions can be automated and shifted to the spacecraft for immediate access to instrument data. Mirrored planning systems on both sides of the light-time gap permit transfer of authority back and forth as needed. We survey relevant science objectives, identifying time bottlenecks and the techniques that could be used to speed missions' reaction to new science data. Finally, we discuss the results of a trade study simulating agile observations during flyby and comet rendezvous scenarios. These experiments quantify instrument coverage of key surface features as a function of planning turnaround time. Careful application of agile operations techniques can play a significant role in realizing the Decadal Survey plan for primitive body exploration

Agile science↗

NASA NTRS2014

State Event Models for the Formal Analysis of Human-Machine Interactions

The work described in this paper was motivated by our experience with applying a framework for formal analysis of human-machine interactions (HMI) to a realistic model of an autopilot. The framework is built around a formally defined conformance relation called "fullcontrol" between an actual system and the mental model according to which the system is operated. Systems are well-designed if they can be described by relatively simple, full-control, mental models for their human operators. For this reason, our framework supports automated generation of minimal full-control mental models for HMI systems, where both the system and the mental models are described as labelled transition systems (LTS). The autopilot that we analysed has been developed in the NASA Ames HMI prototyping tool ADEPT. In this paper, we describe how we extended the models that our HMI analysis framework handles to allow adequate representation of ADEPT models. We then provide a property-preserving reduction from these extended models to LTSs, to enable application of our LTS-based formal analysis algorithms. Finally, we briefly discuss the analyses we were able to perform on the autopilot model with our extended framework.

State-event Models↗

NASA NTRS1981

Studies of planning behavior of aircraft pilots in normal, abnormal, and emergency situations

A methodology for the study of human planning behavior in complex dynamic systems is presented and applied to the study of aircraft pilot behavior in normal, abnormal and emergency situations. The method measures the depth of planning, that is the level of detail employed with respect to a specific task, according to responses to a verbal questionnaire, and compares planning depth with variables relating to time, task criticality and the probability of increased task difficulty. In two series of experiments, depth of planning was measured on a five- or ten-point scale during various phases of flight in a HFB-320 simulator under normal flight conditions, abnormal scenarios involving temporary runway closure due to snow removal or temporary CAT-III conditions due to a dense fog, and emergency scenarios involving engine shut-down or hydraulic pressure loss. Results reveal a dichotomy between event-driven and time-driven planning, different effects of automation in abnormal and emergency scenarios and a low correlation between depth of planning and workload or flight performance.

Johannsen, G.↗

NASA NTRS1986

Doppler lidar studies of atmospheric wind field dynamics

For the past 5 years the Wave Propagation Lab. has operated a pulsed CO2 Doppler lidar system to evaluate coherent laser radar technology and to investigate applications of the technique in atmospheric research. The capability of the system to provide measurements of atmospheric winds, backscatter, and water vapor has been extensively studied over this period. Because Doppler lidar can measure atmospheric wind structure in the clear air without degradation by terrain features, it offers a unique capability as a research tool for studies of many transient or local scale atmospheric events. This capability was demonstrated in recent field experiments near Boulder, Colo. and Midland, Tex., in which the lidar clearly depicted the wind field structure associated with several types of phenomena, including thunderstorm microbursts, valley drainage flow, and passage of a dryline front. To improve sensitivity during the periods of low aerosol backscatter, the system has recently been upgraded with new transmitter/receiver hardware. The upgraded system, which transmit 2 J per pulse of output energy at a rate of 50 Hz and incorporates computer control for automated operation, underwent calibration testing during the spring of 1986.

Hardesty, R. M.↗

NASA NTRS1991

Optical studies in the holographic ground station

The Holographic Group System (HGS) Facility in rooms 22 & 123, Building 4708 has been developed to provide for ground based research in determining pre-flight parameters and analyzing the results from space experiments. The University of Alabama, Huntsville (UAH) has researched the analysis aspects of the HGS and reports their findings here. Some of the results presented here also occur in the Facility Operating Procedure (FOP), which contains instructions for power up, operation, and powerdown of the Fluid Experiment System (FES) Holographic Ground System (HGS) Test Facility for the purpose of optically recording fluid and/or crystal behavior in a test article during ground based testing through the construction of holograms and recording of videotape. The alignment of the optical bench components, holographic reconstruction and and microscopy alignment sections were also included in the document for continuity even though they are not used until after optical recording of the test article) setup of support subsystems and the Automated Holography System (AHS) computer. The HGS provides optical recording and monitoring during GCEL runs or development testing of potential FES flight hardware or software. This recording/monitoring can be via 70mm holographic film, standard videotape, or digitized images on computer disk. All optical bench functions necessary to construct holograms will be under the control of the AHS personal computer (PC). These include type of exposure, time intervals between exposures, exposure length, film frame identification, film advancement, film platen evacuation and repressurization, light source diffuser introduction, and control of realtime video monitoring. The completed sequence of hologram types (single exposure, diffuse double exposure, etc.) and their time of occurrence can be displayed, printed, or stored on floppy disk posttest for the user.

Workman, Gary L.↗

NASA NTRS2006

AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles

The NASA Johnson Space Center has developed a nanosatellite-class Free Flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam Free Flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35-pound, 14-inch diameter AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, power, propulsion, and imaging subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations, including automatic stationkeeping, point-to-point maneuvering, and waypoint tracking. The Mini AERCam Free Flyer is accompanied by a sophisticated control station for command and control, as well as a docking system for automated deployment, docking, and recharge at a parent spacecraft. Free Flyer functional testing has been conducted successfully on both an airbearing table and in a six-degree-of-freedom closed-loop orbital simulation with avionics hardware in the loop. Mini AERCam aims to provide beneficial on-orbit views that cannot be obtained from fixed cameras, cameras on robotic manipulators, or cameras carried by crewmembers during extravehicular activities (EVA s). On Shuttle or International Space Station (ISS), for example, Mini AERCam could support external robotic operations by supplying orthogonal views to the intravehicular activity (IVA) robotic operator, supply views of EVA operations to IVA and/or ground crews monitoring the EVA, and carry out independent visual inspections of areas of interest around the spacecraft. To enable these future benefits with minimal impact on IVA operators and ground controllers, the Mini AERCam system architecture incorporates intelligent systems attributes that support various autonomous capabilities. 1) A robust command sequencer enables task-level command scripting. Command scripting is employed for operations such as automatic inspection scans over a region of interest, and operator-hands-off automated docking. 2) A system manager built on the same expert-system software as the command sequencer provides detection and smart-response capability for potential system-level anomalies, like loss of communications between the Free Flyer and control station. 3) An AERCam dynamics manager provides nominal and off-nominal management of guidance, navigation, and control (GN&C) functions. It is employed for safe trajectory monitoring, contingency maneuvering, and related roles. This paper will describe these architectural components of Mini AERCam autonomy, as well as the interaction of these elements with a human operator during supervised autonomous control.

Fredrickson, Steven E.↗

NASA NTRS2014

Test Driven Development of Scientific Models

Test-Driven Development (TDD), a software development process that promises many advantages for developer productivity and software reliability, has become widely accepted among professional software engineers. As the name suggests, TDD practitioners alternate between writing short automated tests and producing code that passes those tests. Although this overly simplified description will undoubtedly sound prohibitively burdensome to many uninitiated developers, the advent of powerful unit-testing frameworks greatly reduces the effort required to produce and routinely execute suites of tests. By testimony, many developers find TDD to be addicting after only a few days of exposure, and find it unthinkable to return to previous practices.After a brief overview of the TDD process and my experience in applying the methodology for development activities at Goddard, I will delve more deeply into some of the challenges that are posed by numerical and scientific software as well as tools and implementation approaches that should address those challenges.

Overview of TDD Process↗

NASA NTRSDate not supplied

Metadata Entry Optimization for NASA's Biological Institutional Scientific Collection (NBISC)

The NASA Biological Institutional Sample Collection (NBISC) at NASA’s Ames Research Center is a critical resource housing non-human samples collected from spaceflight missions and ground analog studies, primarily consisting of specimens from rats, mice, and select microbes. The primary objective of NBISC is to systematically receive, document, preserve, and facilitate access to these samples for the global scientific community. NBISC promotes international collaboration and maximizes the return on investment for precious tissues from spaceflight and analog experiments. Researchers can request physical samples through an online request form and subsequent written proposal review process. This study addresses two core research objectives: streamlining the NBISC sample lifecycle processes and strategizing for managing an influx of 50,000 tissue samples from a series of cosmic radiation analog experiments carried out at the NASA Space Radiation Laboratory (NSRL) by Drs. Eleanor Chang (Lawrence Berkeley Laboratory) and Polly Blakely (SRI). The Chang/Blakely studies investigated Harderian gland (HG) tumorigenesis in mice exposed to low dose and LET radiation comprising 8 different exposure protocols in over 4000 mice. NBISC sample metadata is stored in a Laboratory Information Management System (SLIMS). To streamline sample data entry, we customize python scripts using information extracted from the individual experimental protocols. The scripts automate entry into multiple SLIMS data fields including protocol name, unique sample barcode, tissue and sub-tissue information, freezer location, sample preservation method, etc. The semi-automated procedure significantly decreases the time spent on data entry by several orders of magnitude. Automation and data organization are essential, as they free up time for curation and promotion of the collection which, in turn, increase the accessibility of samples to the broader research community. NBISC benefits from streamlined data ingestion, and the methodologies developed here are applicable to other projects which use SLIMS including the NASA Biospecimen Sharing Program and GeneLab. As of Fall 2023, plans include transferring sample data from SLIMS to public facing repositories (OSDR and NLSP), expanding the reach of the Chang/Blakely sample collection. The Human Research Program Space Radiation Element plans to transfer non-human tissues from many more investigations to NBISC in the coming year.

Sample Repository↗

NASA NTRSDate not supplied

Metadata Entry Optimization For NASA's Biological Institutional Scientific Collection (NBISC)

Biospecimen↗

NASA NTRSDate not supplied

Characterizing Electrical Arc Behavior in Ion Engines

Gridded ion engines represent a class of electric thrusters characterized by high propulsive efficiency and high total impulse capabilities. These engines operate by applying high voltage to multi-aperture electrodes, thereby electrostatically accelerating plasma to generate thrust. Within the course of normal operations, periodic occurrences of high voltage breakdowns manifest within the thruster. These breakdowns constitute an inherent aspect of operation, with observations indicating a diminishing frequency and total count over the thruster's operational lifespan. To safeguard the propulsion system during such occurrences, the power processing unit (PPU) employs an automated arc extinction sequence, termed "recycle," which is triggered upon detection of an over-current condition. The initial phase of this sequence involves momentarily deactivating the high voltage and reducing the discharge current to a predetermined level, minimizing plasma impingement as the ion beam is defocused. The high voltage is subsequently reapplied, and the discharge current is returned to its nominal value. The entire sequence typically spans approximately 800 milliseconds. Throughout a recycle event, the propulsion system experiences various current and voltage transients as the arc current traverses the system and different power supplies are toggled on and off.

electric propulsion↗

NASA NTRS2017

GEER Status Update

History: The Glenn Extreme Environments Rig (GEER) first became operational in the early part of 2015. Since that time GEER has completed a number of scientific tests and has undergone improvements in the chemical delivery system and analytics following a year of operations experience. Recent Updates: In June 2016, the GEER process system was rebuilt to provide a more robust system, higher accuracy and new capabilities. New insulation was installed on the exterior of the pressure vessel and gas lines. The newly revamped GEER plumbing system can provide extremely precise custom gas mixtures using any gas desired by the investigator in any combination. GEER can heat the resulting mixture up to 500 deg C and 1500 psia. The 304 stainless steel vessel walls were polished to reduce corrosion rate and reduce unwanted chemical reactions. The process lines were replaced with high purity Sulfinert coated tubing. The GEER team added the ability to individually boost specialty gases to GEER thus allowing operators to make very precise changes to the gas chemistry inside of GEER during a test while at high temperature and pressure. High accuracy mass flow meters were added to further improve gas mixing accuracy and precision. An in-line, integrated Inficon MicroGC Fusion was added for real time gas analysis along with a high purity gas sampling system, providing fully automated, real time analysis of the gas chemistry inside of GEER in minutes. This complements a co-located mass spectrometer and both are used for regular monitoring of the vessel chemistry. All internal vessel components were replaced with polished 304SS equivalents. Hot vent down capability was increased. Finally, an automated liquid injection system was added and is rated for max vessel operating conditions of (1500 psia, 500 C). Recent Results and Publications: In May 2016, GEER completed a test that exposed high temperature electronics to Venus surface conditions for 21.5 days. This demonstrated the potential for operating robotic spacecraft in the Venus environment without the need for thermal or environmental protection. Results from this test were published in December 2016 and received national media attention. In April 2017 GEER implemented an 80 day test at Venus surface conditions to simulate chemical weathering of expected Venus minerals. This test supported a ROSES award to a team led by Prof. Ralph Harvey of Case Western Reserve University. The test concluded in July 2017 and nearly doubled previous operation record of 42 days at Venus surface conditions. Preliminary results of these and previous experiments were presented at the recent Venus Modeling Workshop. In June 2017, NASA TM2017-219437 "Chemical and Microstructural Changes in Metallic and Ceramic Materials Exposed to Venusian Surface Conditions" was published. This report provides an extensive and valuable resource detailing the behavior of a variety of engineering materials at Venus surface conditions. Community Involvement: An external science advisory panel has been formed.

Kremic, Tibor↗

NASA NTRSDate not supplied

Automated Tracking of Shallow Cu Growth Rates on Geostationary Imagery and Linkages to Cloud Organization

Shallow moist convection is ubiquitous throughout the tropics and represents a key player in boundary layer processes. Common tropical cloud features, such as convective rolls and cold pool fronts, form and persist for different periods within environments that support such development. Determining differences in lifecycle amongst these features in varying environments requires viewing their evolution from initiation to decay. Geostationary satellites provide a means to follow the clouds with enhanced spatiotemporal sampling from space. We apply a cloud-tracking tool to study lifecycle properties of shallow cumulus sampled during the NASA Cloud, Aerosol, and Monsoon Processes Philippines Experiment (CAMP2Ex) field campaign of 2019. The mission conducted airborne and shipborne operations over the West Pacific Ocean, in tandem with Rapid Scan imagery from the Advanced Himawari Imager (AHI) on the Japan Meteorological Agency’s (JMA) Himawari-8 satellite. Shallow cumulus was segmented on AHI 0.5-km visible reflectance and tracked during the daylit hours of several research flights that exhibited ideal atmospheric conditions for tracking. The resulting cloud tracks were collected according to regions containing airborne sampling of individual clouds at various stages of their lifecycles, yielding ensembles of tracks in separate environments. We present an analysis on lifecycle properties extracted from the cloud-track ensembles and their potential connections to cloud organizations observed throughout CAMP2Ex. Each ensemble is evaluated by calculating cloud-layer growth rates and comparing to spatial parameters, including track-achieved area and cloud-top height. The apparent clustering of growth rates for specific ensembles is then compared against overall cloud organizations, such as isolated congestus and cold pool fronts, that are observed with the airborne data. Finally, we consider how such differences in cloud growth appear in the airborne radar observations of intercepted cloud tracks.

Cloud Tracking↗

NASA NTRS1994

Formalizing procedures for operations automation, operator training and spacecraft autonomy

The generation and validation of operations procedures is a key task of mission preparation that is quite complex and costly. This has motivated the development of software applications providing support for procedures preparation. Several applications have been developed at MATRA MARCONI SPACE (MMS) over the last five years. They are presented in the first section of this paper. The main idea is that if procedures are represented in a formal language, they can be managed more easily with a computer tool and some automatic verifications can be performed. One difficulty is to define a formal language that is easy to use for operators and operations engineers. From the experience of the various procedures management tools developed in the last five years (including the POM, EOA, and CSS projects), MMS has derived OPSMAKER, a generic tool for procedure elaboration and validation. It has been applied to quite different types of missions, ranging from crew procedures (PREVISE system), ground control centers management procedures (PROCSU system), and - most relevant to the present paper - satellite operation procedures (PROCSAT developed for CNES, to support the preparation and verification of SPOT 4 operation procedures, and OPSAT for MMS telecom satellites operation procedures).

Lecouat, Francois↗