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NASA NTRS2006

Model-Unified Planning and Execution for Distributed Autonomous System Control

The Intelligent Distributed Execution Architecture (IDEA) is a real-time architecture that exploits artificial intelligence planning as the core reasoning engine for interacting autonomous agents. Rather than enforcing separate deliberation and execution layers, IDEA unifies them under a single planning technology. Deliberative and reactive planners reason about and act according to a single representation of the past, present and future domain state. The domain state behaves the rules dictated by a declarative model of the subsystem to be controlled, internal processes of the IDEA controller, and interactions with other agents. We present IDEA concepts - modeling, the IDEA core architecture, the unification of deliberation and reaction under planning - and illustrate its use in a simple example. Finally, we present several real-world applications of IDEA, and compare IDEA to other high-level control approaches.

Aschwanden, Pascal↗

NASA NTRS2004

A Direct Approach for Minimum Fuel Maneuvers of Distributed Spacecraft in Multiple Flight Regimes

In this work we present a method to solve the impulsive minimum fuel maneuver problem for a distributed set of spacecraft. We develop the method assuming a fully non-linear dynamics model and parameterize the problem to allow the method to be applicable to any flight regime. Furthermore, the approach is not limited by the inter-spacecraft separation distances and is applicable to both small formations as well as constellations. We assume that the desired relative motion is driven by mission requirements and has been determined a-priori. The goal of this work is to develop a technique to achieve the desired relative motion in a minimum fuel manner. To permit applicability to multiple flight regimes, we have chosen to parameterize the cost function in terms of the maneuver times expressed in a useful time system and the maneuver locations expressed in their Cartesian vector representations. We also include as an independent variable the initial reference orbit to solve for the optimal injection orbit to minimize and equalize the fuel expenditure of distributed sets of spacecraft with large inter-spacecraft separations. In this work we derive the derivatives of the cost and constraints with respect to all of the independent variables.

Hughes, Steven P↗

NASA NTRS1973

Radar spectral measurements of vegetation

Spectral data of 4-8 GHz radar backscatter were gathered during the 1972 growing season at look angles between 0 and 70 deg and for all four possible polarization linear combinations. The data covers four crop types (corn, milo, alfalfa, and soybeans) and a wide range of soil moisture content. To insure statistical representation of the results, measurements were conducted over 128 fields corresponding to a total of about 40,000 data points. The use of spectral response signatures to separate different crop types and to separate healthy corn from blighted corn was investigated.

Ulaby, F. T.↗

NASA NTRS2002

Overlap Properties of Clouds Generated by a Cloud Resolving Model

In order for General Circulation Models (GCMs), one of our most important tools to predict future climate, to correctly describe the propagation of solar and thermal radiation through the cloudy atmosphere a realistic description of the vertical distribution of cloud amount is needed. Actually, one needs not only the cloud amounts at different levels of the atmosphere, but also how these cloud amounts are related, in other words, how they overlap. Currently GCMs make some idealized assumptions about cloud overlap, for example that contiguous cloud layers overlap maximally and non-contiguous cloud layers overlap in a random fashion. Since there are difficulties in obtaining the vertical profile of cloud amount from observations, the realism of the overlap assumptions made in GCMs has not been yet rigorously investigated. Recently however, cloud observations from a relatively new type of ground radar have been used to examine the vertical distribution of cloudiness. These observations suggest that the GCM overlap assumptions are dubious. Our study uses cloud fields from sophisticated models dedicated to simulate cloud formation, maintenance, and dissipation called Cloud Resolving Models . These models are generally considered capable of producing realistic three-dimensional representation of cloudiness. Using numerous cloud fields produced by such a CRM we show that the degree of overlap between cloud layers is a function of their separation distance, and is in general described by a combination of the maximum and random overlap assumption, with random overlap dominating as separation distances increase. We show that it is possible to parameterize this behavior in a way that can eventually be incorporated in GCMs. Our results seem to have a significant resemblance to the results from the radar observations despite the completely different nature of the datasets. This consistency is encouraging and will promote development of new radiative transfer codes that will estimate the radiation effects of multi-layer cloud fields more accurately.

Oreopoulos, L.↗

NASA NTRS2009

Converting CSV Files to RKSML Files

A computer program converts, into a format suitable for processing on Earth, files of downlinked telemetric data pertaining to the operation of the Instrument Deployment Device (IDD), which is a robot arm on either of the Mars Explorer Rovers (MERs). The raw downlinked data files are in comma-separated- value (CSV) format. The present program converts the files into Rover Kinematics State Markup Language (RKSML), which is an Extensible Markup Language (XML) format that facilitates representation of operations of the IDD and enables analysis of the operations by means of the Rover Sequencing Validation Program (RSVP), which is used to build sequences of commanded operations for the MERs. After conversion by means of the present program, the downlinked data can be processed by RSVP, enabling the MER downlink operations team to play back the actual IDD activity represented by the telemetric data against the planned IDD activity. Thus, the present program enhances the diagnosis of anomalies that manifest themselves as differences between actual and planned IDD activities.

Trebi-Ollennu, Ashitey↗

NASA NTRS1975

Results of aerothermodynamic heating tests on a 0.013-scale model solid rocket booster in the NASA/LaRC unitary plan wind tunnel (SH12F)

A 0.013 scale model of the solid rocket booster (SRB) used to launch the space shuttle was tested at a Mach number of 3.7 and Reynolds numbers of 1,500,000 and 3,500,000 per foot. The objective of the test was to obtain aerodynamic heat transfer data on the surface of scaled models of the SRB at simulated full scale reentry flight conditions. Three separate models were utilized to measure film coefficients over an angle of attack range from 0 deg to 180 deg at 0 deg sideslip. All three models were representations of the MCR0200 baseline configuration and varied only by the way they were mounted in the tunnel. Model A, sting mounted thru the model base, was utilized for testing between 0 deg and 40 deg angle of attack. Model B was blade mounted from the top of the model and was tested between 60 deg and 120 deg angle of attack. Model C was sting mounted thru the model nose and utilized for testing between 140 deg and 180 deg angle of attack.

Brewer, E. B.↗

NASA NTRS1988

Modeling effects on the prediction of aerodynamic performance of a double-delta wing

A numerical investigation is undertaken of an 80/65-deg double-delta flat wing by means of the free vortex sheet method that views the vortex system on the leading edge in three different ways, in order to assess the effect of the model's type on the aerodynamic performance of the wing. The model employing two separate vortex systems, one each on inward and outward leading edges, yields predictions that are in close agreement with experimental data, although the model with single-vortex representation is adequate and requires less computational time.

Reddy, C. S.↗

NASA NTRS1993

Several examples where turbulence models fail in inlet flow field analysis

Computational uncertainties in turbulence modeling for three dimensional inlet flow fields include flows approaching separation, strength of secondary flow field, three dimensional flow predictions of vortex liftoff, and influence of vortex-boundary layer interactions; computational uncertainties in vortex generator modeling include representation of generator vorticity field and the relationship between generator and vorticity field. The objectives of the inlet flow field studies presented in this document are to advance the understanding, prediction, and control of intake distortion and to study the basic interactions that influence this design problem.

Anderson, Bernhard H.↗

NASA NTRS1995

Flight test validation of a frequency-based system identification method on an F-15 aircraft

A frequency-based performance identification approach was evaluated using flight data from the NASA F-15 Highly Integrated Digital Electronic Control aircraft. The approach used frequency separation to identify the effectiveness of multiple controls simultaneously as an alternative to independent control identification methods. Fourier transformations converted measured control and response data into frequency domain representations. Performance gradients were formed using multiterm frequency matching of control and response frequency domain models. An objective function was generated using these performance gradients. This function was formally optimized to produce a coordinated control trim set. This algorithm was applied to longitudinal acceleration and evaluated using two control effectors: nozzle throat area and inlet first ramp. Three criteria were investigated to validate the approach: simultaneous gradient identification, gradient frequency dependency, and repeatability. This report describes the flight test results. These data demonstrate that the approach can accurately identify performance gradients during simultaneous control excitation independent of excitation frequency.

Schkolnik, Gerard S.↗

NASA NTRS1997

Attributes of GRB Pulses: Analysis of BATSE TTE Data

Our extensive program of modeling GRB profiles is aimed at elucidating the physical processes responsible for the burst itself, as well as possible extrinsic phenomena (e.g. time dilation) as discussed in another paper in this Symposium (Norris et al., "GRB PROFILES AS COSMIC PROBES"). We have developed special methods to extract the wealth of short time-scale information contained in the BATSE time-tag event (TTE) data. Our algorithm yields a piecewise-constant representation of the light curve -- using only the raw photon arrival times, and based on Bayesian change-point methods. This representation in effect lets the data determine the bin size and location, and avoids unwanted effects due to arbitrary choices of the bin parameters. We have determined widths, separations, and amplitudes of pulses contained in the bursts, without invoking a specific pulse model. The effect of cosmic time dilation can be easily seen in a direct plot of amplitude vs. time scale for individual pulses, without the need to lump the data into a small number of brightness classes. We are also performing noise equalization on these data (to reduce a well-known bias of pulse width as a function of signal-to-noise ratio), as well as fits of parametric pulse-shape models -- including explicit energy dependence of the pulse parameters. Such refinements are expected to improve the quality and physical significance of these results.

Norris, J. P.↗

NASA NTRS2000

Plant chlorophyll content meter

A plant chlorophyll content meter is described which collects light reflected from a target plant and separates the collected light into two different wavelength bands. These wavelength bands, or channels, are described as having center wavelengths of 700 nm and 840 nm. The light collected in these two channels are processed using photo detectors and amplifiers. An analog to digital converter is described which provides a digital representation of the level of light collected by the lens and falling within the two channels. A controller provided in the meter device compares the level of light reflected from a target plant with a level of light detected from a light source, such as light reflected by a target having 100% reflectance, or transmitted through a diffusion receptor. The percent of reflection in the two separate wavelength bands from a target plant are compared to provide a ratio which indicates a relative level of plant physiological stress. A method of compensating for electronic drift is described where a sample is taken when a collection lens is covered to prevent light from entering the device. This compensation method allows for a more accurate reading by reducing error contributions due to electronic drift from environmental conditions at the location where a hand-held unit is used.

Spiering, Bruce A.↗

NASA NTRS1995

Harmonic oscillator representation in the theory of scattering and nuclear reactions

The following questions, concerning the application of the harmonic oscillator representation (HOR) in the theory of scattering and reactions, are discussed: the formulation of the scattering theory in HOR; exact solutions of the free motion Schroedinger equation in HOR; separable expansion of the short range potentials and the calculation of the phase shifts; 'isolated states' as generalization of the Wigner-von Neumann bound states embedded in continuum; a nuclear coupled channel problem in HOR; and the description of true three body scattering in HOR. As an illustration the soft dipole mode in the (11)Li nucleus is considered in a frame of the (9)Li+n+n cluster model taking into account of three body continuum effects.

Smirnov, Yuri F.↗

NASA NTRS1991

Decentralized hierarchical partitioning of centralized integrated controllers

A framework for a decentralized hierarchical controller partitioning structure is developed. This structure allows for the design of separate airframe and propulsion controllers which, when assembled, will meet the overall design criterion for the integrated airframe/propulsion system. An algorithm based on parameter optimization of the state-space representation for the subsystem controllers is described. The algorithm is currently being applied to an integrated flight propulsion control design example.

Schmidt, Phillip↗

NASA NTRS2021

Dual Quaternion Visual Servo Control

This paper focuses on a dual quaternion-based estimation and control approach for position-based visual servoing (PBVS). The pose estimation of the camera is achieved using a dual quaternion-based Extended Kalman Filter (EKF), which estimates the position and orientation of the camera based on feature points acquired through a sequence of camera images. Based on the estimation, a dual quaternion control law is developed to regulate the camera to the desired pose. Leveraging the local exponential stability of the EKF and the global exponential stability of the designed controller, a nonlinear separation principle is used to prove the stability of the joint estimation and control for PBVS. The method is distinguished from other PBVS methods in the sense that a compact representation of dual quaternion is used to represent the pose, and a joint stability of estimator and controller for PBVS in dual quaternion space is presented. The proposed dual quaternion PBVS method is validated using a simulation.

Quaternions↗

NASA NTRS2005

Probabilistic Analysis of Impact of Wake Vortices on Closely-Spaced Parallel Approaches

One of the primary constraints on the capacity of the nation's air transportation system is the landing capacity of its largest airports. Many airports with closely spaced parallel runways suffer a severe runway acceptance rate when the weather conditions do not allow full utilization of these parallel runways. The present requirement for simultaneous independent landings in Instrument Meteorological Conditions, IMC, is at least 4300 feet of lateral runway spacing (as close as 3000 feet for runways with a Precision Runway Monitor). Operations in Visual Meteorological Conditions, VMC, to Closely Spaced Parallel Approaches only require a lateral runway spacing greater than 750 feet. A study by Hardy and Lewis integrated and extended earlier studies and concepts in lateral traffic separation, longitudinal station keeping, wake prediction, wake display, and the concepts of R N P into a preliminary system concept for Closely Spaced Parallel Approaches in IMC. This system allows IMC airport acceptance rates to approach those for VMC. The system concept that was developed, presented traffic and wake information on the NAVigation Display, NAV, and developed operational procedures for a mix of conventional and Runway Independent Aircraft with different approach speeds to Closely Spaced Parallel Runways. This paper first describes some improvements made on the technology needed to better predict and formulate a probabilistic representation for the time-dependent motion and spreading of the hazardous region associated with the lift-generated vortex wakes of preceding aircraft. In this way, the time at which the vortex wakes of leading aircraft intrude into the airspace of adjacent flight-corridor/runway combinations can be more reliably predicted. Such a prediction is needed because it determines restraints to be placed on in-trail separation distances; or, the allowable time intervals between aircraft executing nearly simultaneous landings or takeoffs on very closely-spaced runways. Improved estimates of wake spreading are achieved by inclusion of representations in the equations for wake spreading due to ambient turbulence and due to the long-wave instability of a vortex pair. Wake motion and spreading due to the time-averaged wind and its variations with time, are retained. The more detailed representation of wake spreading presented here permits the development of probabilistically-based uncertainty estimates for wake spreading. Measurements needed within actual aircraft wake vortices to validate and support this analysis are also described. The second part of the paper uses the improvements in the accuracy of the location of wake vortices to extend the preliminary system concept for Closely Spaced Parallel Approaches described earlier with more robust operational procedures. Additionally, improvements in longitudinal station keeping, wake display, and risk assessment methodologies are incorporated and described.

Hardy, Gordon H.↗

NASA NTRS1978

Synthetic atmospheric transmittance spectra near 15 and 4.3 microns

Synthetic monochromatic atmospheric transmittance spectra are presented for infrared intervals in the vicinity of the 15 and 4.3 microns CO2 bands. The intervals are nominally 20 kaysers in width, and the spectra partition the intervals 560, 780 kayser and 2180, 2400 kayser, respectively. The spectra are for a vertical atmospheric path. A given spectrum is presented at that pressure for which the mean weighting function is a maximum. In order to indicate the molecular origin of the features in a given spectrum, separate spectra are also presented for those species which make center line contributions to the absorption over the interval. The transmittance model for the calculations is described. In addition to the representation of spectral features for intervals which comprise these two CO2 bands, the spectra afford a utility in the design of high precision satellite temperature radiometers.

Susskind, J.↗

NASA NTRS2014

Time and Frequency-Domain Cross-Verification of SLS 6DOF Trajectory Simulations

The SLS GNC team and its partners have developed several time- and frequency-based simulations for development and analysis of the proposed SLS launch vehicle. The simulations differ in fidelity and some have unique functionality that allows them to perform specific analyses. Some examples of the purposes of the various models are: trajectory simulation, multi-body separation, Monte Carlo, hardware in the loop, loads, and frequency domain stability analyses. While no two simulations are identical, many of the models are essentially six degree-of-freedom (6DOF) representations of the SLS plant dynamics, hardware implementation, and flight software. Thus at a high level all of those models should be in agreement. Comparison of outputs from several SLS trajectory and stability analysis tools are ongoing as part of the program's current verification effort. The purpose of these comparisons is to highlight modeling and analysis differences, verify simulation data sources, identify inconsistencies and minor errors, and ultimately to verify output data as being a good representation of the vehicle and subsystem dynamics. This paper will show selected verification work in both the time and frequency domain from the current design analysis cycle of the SLS for several of the design and analysis simulations. In the time domain, the tools that will be compared are MAVERIC, CLVTOPS, SAVANT, STARS, ARTEMIS, and POST 2. For the frequency domain analysis, the tools to be compared are FRACTAL, SAVANT, and STARS. The paper will include discussion of these tools including their capabilities, configurations, and the uses to which they are put in the SLS program. Determination of the criteria by which the simulations are compared (matching criteria) requires thoughtful consideration, and there are several pitfalls that may occur that can severely punish a simulation if not considered carefully. The paper will discuss these considerations and will present a framework for responding to these issues when they arise. For example, small event timing differences can lead to large differences in mass properties if the criteria are to measure those properties at the same time, or large differences in altitude if the criteria are to measure those properties when the simulation experiences a staging event. Similarly, a tiny difference in phase can lead to large gain margin differences for frequency-domain comparisons of gain margins.

VanZwieten, Tannen↗

NASA NTRS2017

Time and Frequency-Domain Cross-Verification of SLS 6DOF Trajectory Simulations

The Space Launch System (SLS) Guidance, Navigation, and Control (GNC) team and its partners have developed several time- and frequency-based simulations for development and analysis of the proposed SLS launch vehicle. The simulations differ in fidelity and some have unique functionality that allows them to perform specific analyses. Some examples of the purposes of the various models are: trajectory simulation, multi-body separation, Monte Carlo, hardware in the loop, loads, and frequency domain stability analyses. While no two simulations are identical, many of the models are essentially six degree-of-freedom (6DOF) representations of the SLS plant dynamics, hardware implementation, and flight software. Thus at a high level all of those models should be in agreement. Comparison of outputs from several SLS trajectory and stability analysis tools are ongoing as part of the program's current verification effort. The purpose of these comparisons is to highlight modeling and analysis differences, verify simulation data sources, identify inconsistencies and minor errors, and ultimately to verify output data as being a good representation of the vehicle and subsystem dynamics. This paper will show selected verification work in both the time and frequency domain from the current design analysis cycle of the SLS for several of the design and analysis simulations. In the time domain, the tools that will be compared are MAVERIC, CLVTOPS, SAVANT, STARS, ARTEMIS, and POST 2. For the frequency domain analysis, the tools to be compared are FRACTAL, SAVANT, and STARS. The paper will include discussion of these tools including their capabilities, configurations, and the uses to which they are put in the SLS program. Determination of the criteria by which the simulations are compared (matching criteria) requires thoughtful consideration, and there are several pitfalls that may occur that can severely punish a simulation if not considered carefully. The paper will discuss these considerations and will present a framework for responding to these issues when they arise. For example, small event timing differences can lead to large differences in mass properties if the criteria are to measure those properties at the same time, or large differences in altitude if the criteria are to measure those properties when the simulation experiences a staging event. Similarly, a tiny difference in phase can lead to large gain margin differences for frequency-domain comparisons of gain margins.

Johnson, Matthew↗