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NASA NTRSDate not supplied

Design of a Thrust Vector Servoelastic Filter for SLS Block 2 Booster Thrust Vector Control System

This paper presents a method to improve the thrust vector servoelastic (TVSE) response of a launch vehicle. TVSE is the coupling between the Thrust Vector Control (TVC) system nozzle dynamics and the vehicle flexible modes. A poorly phased TVC response, i.e. in phase with the structural velocity, can lead to instability of the flexible modes due to the energy injection from the thrust. For large boosters with heavy nozzles, TVSE is more likely to cause instability. This instability is part of the plant dynamics and may not be readily detected by the flight control system. In this paper, TVSE is treated as a disturbance rejection problem with the inertial force of the flexible motion viewed as an external disturbance to the TVC actuator control system. By effectively rejecting this disturbance, the engine can be decoupled from the flexible dynamics thus improving TVSE stability. The actuator disturbance transfer function is modified by inserting a filter into the servo-loop control system. The filter aims to reduce the magnitude and introduce phase lead of the disturbance transfer function over the TVSE sensitive frequency range while maintaining adequate stability margins of the actuator control system. A prefilter is also designed to improve command tracking performance. The filter and prefilter resulting from this method are usually of low order and can be included to an existing actuator controller if the controller is programmable. This method was demonstrated for a hydraulic Simplex actuator model. Its applications to the Space Launch System (SLS) Block 1 and Block 2 TVC actuator are also described. The Block 2 actuator controller was modified based on the results of this method. The tradeoff between TVSE stability and the servo-loop stability can be balanced by adjusting the amount of phase lead introduced by the TVSE filter. This method provides a useful way to solve the TVSE instability issue without costly and time-consuming hardware solutions. This method is based on the basic control principles of loop shaping and disturbance rejection and has been proven to be effective under proper circumstances.

Thrust vector control↗

NASA NTRS2008

Ultra-Stable Beacon Source for Laboratory Testing of Optical Tracking

The ultra-stable beacon source (USBS) provides a laser-beam output with a very low angular jitter and can be used as an absolute angular reference to simulate a beacon in the laboratory. The laser is mounted on the top of a very short (approximately equal to 1 m) inverted pendulum (IP) with its optical axis parallel to the carbon fiber pendulum leg. The 85-cm, carbon fiber rods making up the leg are very lightweight and rigid, and are supported by a flex-joint at the bottom (see figure). The gimbal-mounted laser is a weight-adjustable load of about 1.5 kg with its center of rotation co-located with the center of percussion of the inverted pendulum. This reduces the coupling of transverse motion at the base of the pendulum to angular motion of the laser at the top. The inverted pendulum is mounted on a gimbal with its center of rotation coinciding with the pivot position of the inverted pendulum flexure joint. This reduces coupling of ground tilt at the inverted pendulum base to motion of the laser mounted at the top. The mass of the top gimbal is adjusted to give the pendulum a very low resonant frequency (approximately equal to 10 mHz) that filters transverse seismic disturbances from the ground where the base is attached. The motion of the IP is monitored by an optical-lever sensor. The laser light is reflected by the mirror on the IP, and then is detected by a quadrant photo-detector (QPD). The position of the beam spot on the QPD corresponds to the tilt of the IP. Damping of this motion is provided by two coil and magnet pairs. The bottom gimbal mount consists of two plates. The IP is mounted on the second plate. The first plate is supported by two posts through needles and can be rotated about the axis connecting the tips of the needles. The second plate hangs from the first plate and can be rotated about the axis perpendicular to the first plate. As a result, the second plate acts as a two-axis rotation stage. Its center of rotation is located at the effective bending point of the flex-joint. The second plate is pressed against two screw actuators by the weight of the IP. The screw actuators are orthogonal to each other and are used to adjust the inclination of the second plate. The actuators are driven by stepper motors. The whole IP system is housed in a box made of Lexan plastic plates to provide isolation from air currents and temperature variations. The signals from the sensors are processed and recorded with a PC using the xPC Target realtime environment of Math- Works. The control algorithms are written using the Simulink package from The MathWorks.

Aso, Yoichi↗

NASA NTRS1984

Separation of large-scale photospheric Doppler patterns

Mount Wilson solar Doppler data covering the period from January 1967 to March 1984 are refit using polynomials appropriate to the rotation, limbshift, and meridional flow motion fields identified by LaBonte and Howard (1982). No 'ear' terms are included, and additional degrees of freedom are allowed in the limbshift and meridional flow fluctions. An examination of the residuals shows this fit to be a slight improvement over that of the above workers, and the new residuals are used to tighten the limits on photospheric giant signatures to about 1 m/s per wavenumber. The focus of the paper is on polynomial functions and their fit-determined coefficients, with particular emphasis on the problem of crosstalk as the coefficients are tracked over time.

Snodgrass, H. B.↗

NASA NTRS1988

Helicopter roll control effectiveness criteria program summary

A study of helicopter roll control effectiveness is summarized for the purpose of defining military helicopter handling qualities requirements. The study is based on an analysis of pilot-in-the-loop task performance of several basic maneuvers. This is extended by a series of piloted simulations using the NASA Ames Vertical Motion Simulator and selected flight data. The main results cover roll control power and short-term response characteristics. In general the handling qualities requirements recommended are set in conjunction with desired levels of flight task and maneuver response which can be directly observed in actual flight. An important aspect of this, however, is that vehicle handling qualities need to be set with regard to some quantitative aspect of mission performance. Specific examples of how this can be accomplished include a lateral unmask/remask maneuver in the presence of a threat and an air tracking maneuver which recognizes the kill probability enhancement connected with decreasing the range to the target. Conclusions and recommendations address not only the handling qualities recommendations, but also the general use of flight simulators and the dependence of mission performance on handling qualities.

Heffley, Robert K.↗

NASA NTRS1999

Asteroids and Comets Outreach Compilation

Contents include various different animations in the area of Asteroids and Comets. Titles of the short animated clips are: STARDUST Mission; Asteroid Castallia Impact Simulation; Castallia, Toutatis and the Earth; Simulation Asteroid Encounter with Earth; Nanorover Technology Task; Near Earth Asteroid Tracking; Champollian Anchor Tests; Early Views of Comets; Exploration of Small Bodies; Ulysses Resource Material from ESA; Ulysses Cometary Plasma Tail Animation; and various discussions on the Hale-Bopp Comet. Animation of the following are seen: the Stardust aerogel collector grid collecting cometary dust particles, comet and interstellar dust analyzer, Wiper-shield and dust flux monitor, a navigation camera, and the return of the sample to Earth; a comparison of the rotation of the Earth to the Castallia and Tautatis Asteroids; an animated land on Tautatis and the view of the motion of the sky from its surface; an Asteroid collision with the Earth; the USAF Station in Hawaii; close-up views of asteroids; automatic drilling of the Moon; exploding Cosmic Particles; and the dropping off of the plasma tail of a comet as it travels near the sun.

Source record↗

NASA NTRS1999

Interferometric Propagation Delay

Radar interferometry based on (near) exact repeat passes has lately been used by many groups of scientists, worldwide, to achieve state of the art measurements of topography, glacier and ice stream motion, earthquake displacements, oil field subsidence, lava flows, crop-induced surface decorrelation, and other effects. Variations of tropospheric and ionospheric propagation delays limit the accuracy of all such measurements. We are investigating the extent of this limitation, using data from the Shuttle radar flight, SIR-C, which is sensitive to the troposphere, and the Earth Resources Satellites, ERS-1/2, which are sensitive to both the troposphere and the ionosphere. We are presently gathering statistics of the delay variations over selected, diverse areas to determine the best accuracy possible for repeat track interferometry. The phases of an interferogram depend on both the topography of the scene and variations in propagation delay. The delay variations can be caused by movement of elements in the scene, by changes in tropospheric water vapor and by changes of the charge concentrations in the ionosphere. We plan to separate these causes by using the data from a third satellite visit (three-pass interferometry). The figure gives the geometry of the three-pass observations. The page of the figure is taken to be perpendicular to the spacecraft orbits. The three observational locations are marked on the figure, giving baselines B-12 and B-13, separated by the angle alpha. These parameters are almost constant over the whole scene. However, each pixel has an individual look angle, theta, which is related to the topography, rho is the slant range. A possible spurious time delay is shown. Additional information is contained in the original.

Goldstein, Richard↗

NASA NTRS2017

3D-Sonification for Obstacle Avoidance in Brownout Conditions

Helicopter brownout is a phenomenon that occurs when making landing approaches in dusty environments, whereby sand or dust particles become swept up in the rotor outwash. Brownout is characterized by partial or total obscuration of the terrain, which degrades visual cues necessary for hovering and safe landing. Furthermore, the motion of the dust cloud produced during brownout can lead to the pilot experiencing motion cue anomalies such as vection illusions. In this context, the stability and guidance control functions can be intermittently or continuously degraded, potentially leading to undetected surface hazards and obstacles as well as unnoticed drift. Safe and controlled landing in brownout can be achieved using an integrated presentation of LADAR and RADAR imagery and aircraft state symbology. However, though detected by the LADAR and displayed on the sensor image, small obstacles can be difficult to discern from the background so that changes in obstacle elevation may go unnoticed. Moreover, pilot workload associated with tracking the displayed symbology is often so high that the pilot cannot give sufficient attention to the LADAR/RADAR image. This paper documents a simulation evaluating the use of 3D auditory cueing for obstacle avoidance in brownout as a replacement for or compliment to LADAR/RADAR imagery.

3D audio↗

NASA NTRS2019

The ILRS: Approaching 20 Years and Planning for the Future

The International Laser Ranging Service (ILRS) was established by the International Association of Geodesy (IAG) in 1998 to support programs in geodesy, geophysics, fundamental constants and lunar research, and to provide the International Earth Rotation Service with data products that are essential to the maintenance and improvement in the International Terrestrial Reference Frame (ITRF), the basis for metric measurements of changes in the Earth and Earth–Moon system. Other scientific products derived from laser ranging include precise geocentric positions and motions of ground stations, satellite orbits, components of Earth’s gravity field and their temporal variations, Earth Orientation Parameters, precise lunar ephemerides and information about the internal structure of the Moon. Laser ranging systems are already measuring the one-way distance to remote optical receivers in space and are performing very accurate time transfer between remote sites in the Earth and in Space. The ILRS works closely with the IAG’s Global Geodetic Observing System. The ILRS develops (1) the standards and specifications necessary for product consistency, and (2) the priorities and tracking strategies required to maximize network efficiency. The service collects, merges, analyzes, archives and distributes satellite and lunar laser ranging data to satisfy a variety of scientific, engineering, and operational needs and encourages the application of new technologies to enhance the quality, quantity, and cost effectiveness of its data products. The ILRS works with (1) new satellite missions in the design and building of retroreflector targets to maximize data quality and quantity, and (2) science programs to optimize scientific data yield. Since its inception, the ILRS has grown to include forty laser ranging stations distributed around the world. The ILRS stations track more than ninety satellites from low Earth orbit (LEO) to the geosynchronous orbit altitude as well as retroreflector arrays on the surface of the Moon. Applications have been expanded to include time transfer, asynchronous ranging for targets at extended ranges, free space quantum telecommunications, and the tracking of space debris. Laser ranging technology is moving to lower energy, higher repetition rates (kHz), single-photon-sensitive detectors, shorter pulse widths, shorter normal point intervals for faster data acquisition, and increased pass interleaving, automated to autonomous operation with remote access, and embedded software for real-time updates and decision making. An example of pass interleaving is presented for the Yarragadee station (see Fig. 4); tracking of LEO satellites is often accommodated during break in LEO and GNSS passes. New satellites arrays provide more compact targets and work continues on the development of lighter less expensive arrays for satellites and the moon. The service now provides operational ITRF products including daily/ weekly station positions and daily resolution Earth orientation products; the flow of weekly combination of satellite orbit files for LAGEOS/Etalon-1 and -2 has recently been established. New products are under testing through a pilot project on systematic error monitoring currently underway. The article will give an overview of activities underway within the service, paths forward presently envisioned, and current issues and challenges.

Laser retroreflectors↗

NASA NTRS2008

Using LDPC Code Constraints to Aid Recovery of Symbol Timing

A method of utilizing information available in the constraints imposed by a low-density parity-check (LDPC) code has been proposed as a means of aiding the recovery of symbol timing in the reception of a binary-phase-shift-keying (BPSK) signal representing such a code in the presence of noise, timing error, and/or Doppler shift between the transmitter and the receiver. This method and the receiver architecture in which it would be implemented belong to a class of timing-recovery methods and corresponding receiver architectures characterized as pilotless in that they do not require transmission and reception of pilot signals. Acquisition and tracking of a signal of the type described above have traditionally been performed upstream of, and independently of, decoding and have typically involved utilization of a phase-locked loop (PLL). However, the LDPC decoding process, which is iterative, provides information that can be fed back to the timing-recovery receiver circuits to improve performance significantly over that attainable in the absence of such feedback. Prior methods of coupling LDPC decoding with timing recovery had focused on the use of output code words produced as the iterations progress. In contrast, in the present method, one exploits the information available from the metrics computed for the constraint nodes of an LDPC code during the decoding process. In addition, the method involves the use of a waveform model that captures, better than do the waveform models of the prior methods, distortions introduced by receiver timing errors and transmitter/ receiver motions. An LDPC code is commonly represented by use of a bipartite graph containing two sets of nodes. In the graph corresponding to an (n,k) code, the n variable nodes correspond to the code word symbols and the n-k constraint nodes represent the constraints that the code places on the variable nodes in order for them to form a valid code word. The decoding procedure involves iterative computation of values associated with these nodes. A constraint node represents a parity-check equation using a set of variable nodes as inputs. A valid decoded code word is obtained if all parity-check equations are satisfied. After each iteration, the metrics associated with each constraint node can be evaluated to determine the status of the associated parity check. Heretofore, normally, these metrics would be utilized only within the LDPC decoding process to assess whether or not variable nodes had converged to a codeword. In the present method, it is recognized that these metrics can be used to determine accuracy of the timing estimates used in acquiring the sampled data that constitute the input to the LDPC decoder. In fact, the number of constraints that are satisfied exhibits a peak near the optimal timing estimate. Coarse timing estimation (or first-stage estimation as described below) is found via a parametric search for this peak. The present method calls for a two-stage receiver architecture illustrated in the figure. The first stage would correct large time delays and frequency offsets; the second stage would track random walks and correct residual time and frequency offsets. In the first stage, constraint-node feedback from the LDPC decoder would be employed in a search algorithm in which the searches would be performed in successively narrower windows to find the correct time delay and/or frequency offset. The second stage would include a conventional first-order PLL with a decision-aided timing-error detector that would utilize, as its decision aid, decoded symbols from the LDPC decoder. The method has been tested by means of computational simulations in cases involving various timing and frequency errors. The results of the simulations ined in the ideal case of perfect timing in the receiver.

Jones, Christopher↗

NASA NTRS1976

Development and application of an atmospheric turbulence model for use in flight simulators in flight simulators

The influence of simulated turbulence on aircraft handling qualities was investigated. Pilot opinion of the handling qualities of a light general aviation aircraft were evaluated in a motion-base simulator using a simulated turbulence environment. A realistic representation of turbulence disturbances is described in terms of rms intensity and scale length and their random variations with time. The time histories generated by the proposed turbulence models showed characteristics which appear to be more similar to real turbulence than the frequently-used Gaussian turbulence model. In addition, the proposed turbulence models can flexibly accommodate changes in atmospheric conditions and be easily implemented in flight simulator studies. Six turbulence time histories, including the conventional Gaussian model, were used in an IFR-tracking task. The realism of each of the turbulence models and the handling qualities of the simulated airplane were evaluated. Analysis of pilot opinions shows that at approximately the same rms intensities of turbulence, the handling quality ratings transit from the satisfactory level, for the simple Gaussian model, to an unacceptable level for more realistic and compositely structured turbulence models.

Jacobson, I. D.↗

NASA NTRS1987

The visual control of simulated altitude

The ability of a subject flying an experimental flight to use the different sources of visual information by looking at the vertical tracking error was investigated using a 3 (altitude) x 3 (texture) x 2 (replication) factorial design. Each subject flew these 18 flights in the same partially counterbalanced order, constructed such that there was one flight at each of the three altitudes, and over each of the three surface textures within each successive set of three flights. The three ground-surface textures used consisted of meridian, latitudinal, and square textures described by Wolpert et al. (1983). The results showed that, in displays where only splay information was available, the subjects tended to confuse lateral motion with vertical.

Johnson, Walter W.↗

NASA NTRS1993

Evaluation of two cockpit display concepts for civil tiltrotor instrument operations on steep approaches

A piloted simulation experiment was conducted using the NASA Ames Research Center Vertical Motion Simulator to evaluate two cockpit display formats designed for manual control on steep instrument approaches for a civil transport tiltrotor aircraft. The first display included a four-cue (pitch, roll, power lever position, and nacelle angle movement prompt) flight director. The second display format provided instantaneous flight path angle information together with other symbols for terminal area guidance. Pilots evaluated these display formats for an instrument approach task which required a level flight conversion from airplane-mode flight to helicopter-mode flight while decelerating to the nominal approach airspeed. Pilots tracked glide slopes of 6, 9, 15 and 25 degrees, terminating in a hover for a vertical landing on a 150 feet square vertipad. Approaches were conducted with low visibility and ceilings and with crosswinds and turbulence, with all aircraft systems functioning normally and were carried through to a landing. Desired approach and tracking performance was achieved with generally satisfactory handling qualities using either display format on glide slopes up through 15 degrees. Evaluations with both display formats for a 25 degree glide slope revealed serious problems with glide slope tracking at low airspeeds in crosswinds and the loss of the intended landing spot from the cockpit field of view.

Decker, William A.↗

NASA NTRS2004

Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

moving object detection↗

NASA NTRS1986

Comparison of medium frequency pulsed radar interferometer and correlation analysis winds, part 2

In order to test whether the chosen Doppler peaks represent localized scatters in motion, as opposed to some sort of integrated composite, an attempt was made to determine the change in position of single scatterers over a series of sequential records. A four-antenna system was employed which had 1 degree of freedom in phase. Due to limitations N-S linear transmission and E-W linear reception were used. The Doppler frequency peak selection criteria were that at least two of the four power spectra should have a local peak, and that normalized phase discrepancy, should be less than 0.3. The lack of success in tracking individual scatters seems to suggest a short lifetime. If this is the case, then the present experiment is not able to resolve the difference found between the correlation analysis true velocity and the interferometer value. On the other hand, it appears that the interferometer may be of some use in tracking waves.

Meek, C. E.↗

NASA NTRS2003

Atmospheric-Fade-Tolerant Tracking and Pointing in Wireless Optical Communication

An acquisition, tracking, and pointing (ATP) system, under development at the time of reporting the information for this article, is intended to enable a terminal in a free-space optical communication system to continue to aim its transmitting laser beam toward a receiver at a remote terminal when the laser beacon signal from the remote terminal temporarily fades or drops out of sight altogether. Such fades and dropouts can be caused by adverse atmospheric conditions (e.g., rain or clouds). They can also occur when intervening objects block the line of sight between terminals as a result of motions of those objects or of either or both terminals

Ortiz, Gerardo↗

NASA NTRS2018

In-Situ Diagnostic for Assessing Hall Thruster Wear

The design of a new diagnostic to measure the net erosion of Hall thruster surfaces is presented. This diagnostic consists of a pair of optical non-contact profilometer pens mounted to a set of motion stages, which can interrogate the surface features of multiple components of interest including the hollow cathode assembly, magnet front pole covers, and discharge channel. By comparing scans of these surfaces to reference features, estimates of the component erosion rates can be acquired throughout long-duration lifetime tests without venting and removing the thruster from the vacuum facility for external profilometry. This work presents a detailed overview of the diagnostic design including the precision positioning system. In addition, preliminary data are shown which verify diagnostic operation and establish a baseline that will be used to track the erosion of the Hall Effect Rocket with Magnetic Shielding (HERMeS) Technology Demonstration Unit 3 (TDU-3) during an ongoing long-duration wear test.

Ahern, Drew M.↗

NASA NTRS2018

In-situ Diagnostic for Assessing Hall Thruster Wear

The design of a new diagnostic to measure the net erosion of Hall thruster surfaces is presented. This diagnostic consists of a pair of optical noncontact profilometer pens mounted to a set of motion stages, which can interrogate the surface features of multiple components of interest including the hollow cathode assembly, magnet front pole covers, and discharge channel. By comparing scans of these surfaces to reference features, estimates of the component erosion rates can be acquired throughout long-duration lifetime tests without venting and removing the thruster from the vacuum facility for external profilometry. This work presents a detailed overview of the diagnostic design including the precision positioning system. In addition, preliminary data are shown which verify diagnostic operation and establish a baseline that will be used to track the erosion of the Hall Effect Rocket with Magnetic Shielding (HERMeS) Technology Demonstration Unit 3 (TDU-3) during an ongoing long-duration wear test.

Ahern, Drew M.↗

NASA NTRS2018

In-Situ Diagnostic for Assessing Hall Thruster Wear

Ahern, Drew M.↗