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NASA NTRS2011

Enhanced Fuel-Optimal Trajectory-Generation Algorithm for Planetary Pinpoint Landing

An enhanced algorithm is developed that builds on a previous innovation of fuel-optimal powered-descent guidance (PDG) for planetary pinpoint landing. The PDG problem is to compute constrained, fuel-optimal trajectories to land a craft at a prescribed target on a planetary surface, starting from a parachute cut-off point and using a throttleable descent engine. The previous innovation showed the minimal-fuel PDG problem can be posed as a convex optimization problem, in particular, as a Second-Order Cone Program, which can be solved to global optimality with deterministic convergence properties, and hence is a candidate for onboard implementation. To increase the speed and robustness of this convex PDG algorithm for possible onboard implementation, the following enhancements are incorporated: 1) Fast detection of infeasibility (i.e., control authority is not sufficient for soft-landing) for subsequent fault response. 2) The use of a piecewise-linear control parameterization, providing smooth solution trajectories and increasing computational efficiency. 3) An enhanced line-search algorithm for optimal time-of-flight, providing quicker convergence and bounding the number of path-planning iterations needed. 4) An additional constraint that analytically guarantees inter-sample satisfaction of glide-slope and non-sub-surface flight constraints, allowing larger discretizations and, hence, faster optimization. 5) Explicit incorporation of Mars rotation rate into the trajectory computation for improved targeting accuracy. These enhancements allow faster convergence to the fuel-optimal solution and, more importantly, remove the need for a "human-in-the-loop," as constraints will be satisfied over the entire path-planning interval independent of step-size (as opposed to just at the discrete time points) and infeasible initial conditions are immediately detected. Finally, while the PDG stage is typically only a few minutes, ignoring the rotation rate of Mars can introduce 10s of meters of error. By incorporating it, the enhanced PDG algorithm becomes capable of pinpoint targeting.

Acikmese, Behcet↗

NASA NTRS1966

Calculations enable optimum design of magnetic brake

Mathematical analysis and computations determine optimum magnetic coil configurations for a magnetic brake which controllably decelerates a free falling load to a soft stop. Calculations on unconventionally wound coils determine the required parameters for the desired deceleration with minimum electrical energy supplied to the stationary coil.

Kosmahl, H. G.↗

NASA NTRS1973

VLF-HISS from electrons in the earth's magnetosphere

Intensities of auroral and magnetospheric hiss generated by the Cherenkov radiation process of electrons in the lower magnetosphere were calculated with respect to a realistic model of the earth's magnetosphere. In this calculation, the magnetic field was expressed by the Mead-Fairfield Model, and a static model of the iono-magnetospheric plasma distribution was constructed by accumulated data obtained by recent satellite observations. The energy range of hiss producing electrons and the frequency range of produced VLF in the computation are 100 eV to 200 keV, and 2 to 200 kHz, respectively. The maximum hiss intensity produced by soft electrons is more than one order higher than that of hard electron produced hiss. Higher rate of hiss occurrence in the daytime side, particularly in the soft electron precipitation zone in the morning sector, and less association of auroral hiss in nighttime sectors must be, therefore, due to the local time dependence of the energy spectra of precipitating electrons rather than the difference in the geomagnetic field and in the geoplasma distributions.

Maeda, K.↗

NASA NTRSDate not supplied

Evaluation of Human Spaceflight-Related Tissue Weight Relief Using Whole Body Finite Element Model Simulations

Tissue Weight Relief (TWR) is a physiological condition observed in human spaceflight. It not only impacts the injury biomechanics of soft tissue but also the physiological responses of the cardiovascular system both due to fluid redistribution and the effect of tissue-related transmural pressure on the large venous blood vessels. Understanding the effects of tissue weight relief is especially important because of the role it may play in understanding the cause of Space Associated Neuro-Ocular Syndrome (SANS). SANS can be characterized by a number of ocular changes which reduce visual acuity and SANS related symptoms occur in up to 51% of astronauts. A prevailing theory for the causation of SANS is that of headward (cephalad) fluid shift and a prolonged increase of Intracranial Pressure (ICP) similar to intracranial hypertension, which is not fully supported by the experimental data or astronaut symptom reporting. However, it is still believed that SANS is caused by a pressure change in the eye and the surrounding tissues. It has been proposed that TWR plays a substantial role in affecting internal pressures and fluid shifts in microgravity. In this effort, two whole-body Finite Element (FE) models – Elemance and THUMS – are used to ascertain the microgravity-associated TWR of the musculature surrounding the lower body veins. Elemance and THUMS are physics-based computational models that have been validated and verified for several automotive and domestic applications, and as such, can simulate the relief of soft tissue weight due to changes in the gravitation vector. Specifically, the current effort modeled the transition of the gravitational vector from 1G to 0G, applied across the whole-body model in a supine position. For each 1G to 0G transition simulation, the lower body vein’s transmural pressure-time profile was extracted and averaged around the anterior portion of the thigh muscle. The ascertained transmural pressure changes from 1G to 0G transition are given in Figure 1 for the Elemance and the THUMS FE models. The transmural pressure changes of 10 mmHg and 21 mmHg are in the same order of magnitude as Lu’s value of 44 mmHg. It is to be noted that Lu implemented a 0D to 1D lumped parameter model and the Elemance and THUMS are 3D higher order computational models. This proof-of-concept approach demonstrates that TWR pressure can be adequately estimated with in silico techniques however, further in silico investigations need to be conducted to address the unique contributions to the transmural pressure from each of the computational models.

Finite element modeling↗

NASA NTRS1977

The interstellar medium in the direction of the Crab Nebula - Reconciling soft X-ray and radio observations

The total soft X-ray photoabsorption cross section of the interstellar medium (ISM) in the direction of the Crab Nebula is computed on the basis of a two-phase model of the ISM. This cross section is used to reanalyze Copernicus data on the X-ray spectrum of the Crab between 0.7 and 1.5 keV. The total hydrogen column density along the line of sight to that nebula is found to be approximately 2.6 by 10 to the 21st power H atoms/sq cm. This result is evaluated in light of the two-phase model of the ISM, and the predictions based on the X-ray data are compared with results of radio and UV observations. A discrepancy between the radio and X-ray measurements of the hydrogen column density is resolved by noting that 21-cm absorption measurements sample only the neutral hydrogen in clouds while X-ray measurements are sensitive to all forms of hydrogen in both cloud and intercloud regions. It is suggested that roughly 50% of the hydrogen in the direction of the Crab Nebula is in clouds and that 85% of this hydrogen is neutral and atomic.

Ride, S. K.↗

NASA NTRS2012

Lossless Convexification of Control Constraints for a Class of Nonlinear Optimal Control Problems

In this paper we consider a class of optimal control problems that have continuous-time nonlinear dynamics and nonconvex control constraints. We propose a convex relaxation of the nonconvex control constraints, and prove that the optimal solution to the relaxed problem is the globally optimal solution to the original problem with nonconvex control constraints. This lossless convexification enables a computationally simpler problem to be solved instead of the original problem. We demonstrate the approach in simulation with a planetary soft landing problem involving a nonlinear gravity field.

planetary soft landing↗

NASA NTRS1977

Computer-aided manufacture of sculptured objects

Optical numerical-control tooling system can be developed by combining optical profilometer with conventional numerical-control tool. Because no contact is required, soft or delicate models can be used, extending life of model.

Mogavero, L. N.↗

NASA NTRS2004

Segmenting Images for a Better Diagnosis

NASA's Hierarchical Segmentation (HSEG) software has been adapted by Bartron Medical Imaging, LLC, for use in segmentation feature extraction, pattern recognition, and classification of medical images. Bartron acquired licenses from NASA Goddard Space Flight Center for application of the HSEG concept to medical imaging, from the California Institute of Technology/Jet Propulsion Laboratory to incorporate pattern-matching software, and from Kennedy Space Center for data-mining and edge-detection programs. The Med-Seg[TM] united developed by Bartron provides improved diagnoses for a wide range of medical images, including computed tomography scans, positron emission tomography scans, magnetic resonance imaging, ultrasound, digitized Z-ray, digitized mammography, dental X-ray, soft tissue analysis, and moving object analysis. It also can be used in analysis of soft-tissue slides. Bartron's future plans include the application of HSEG technology to drug development. NASA is advancing it's HSEG software to learn more about the Earth's magnetosphere.

Source record↗

NASA NTRS1987

Precise computer controlled positioning of robot end effectors using force sensors

A major problem in space applications of robotics and docking of spacecraft is the development of technology for automated precise positioning of mating components with smooth motion and soft contact. To achieve the above objective, a design method was developed for optimally placing the closed-loop poles of a discretized robotic control system at exact prescribed locations inside the unit circle of the complex z-plane. The design method combines the merits of the pole placement and the linear quadratic design approaches. The proposed design procedure is based on the assignment of one real eigenvalue or two complex conjugate (or real) eigenvalues at each design step. The method involves solutions of simple algebraic equations and this is considered to be efficient for on-line or off-line computations. Also, two methods for the linearization of the nonlinear model of a robotic manipulator were presented. Since automatic control of multi-degree freedom robotic manipulators involves high nonlinear equations of systems, a pilot project was proposed involving the control of a one-dimensional system. This simple system can be readily implemented for testing the concepts and algorithms.

Shieh, Leang S.↗

NASA NTRS1995

EUV emission from a sample of Active Galactic Nuclei

Active Galactic Nuclei (AGN) emit a substantial fraction of their total radiated power in the EUV passband, because spectroscopically this band is situated at or near the peak of the 'big blue bump,' which is bounded on either side by the UV and soft X-ray excesses. Owing to the lack of observational data, the shape of AGN spectra in the EUV is not well known. This paper presents broad band (65-190 eV) count rates of 11 AGN detected by the Extreme Ultraviolet Explorer (EUVE). Assuming a power law spectral shape for the EUV and soft X-ray energies, we demonstrate that the photon indices of the sources are considerably steeper than typical AGN indices. For 6 sources where ROSAT data are available to provide a more precise determination of their spectral parameters in the 0.1-2.5 keV range, we have used these parameters to compute predicted EUVE count rates and compared them with the observed values. The two sets of quantities agree to within experimental error. We conclude that there is no evidence of spectral steepening or turn-over of the soft X-ray excess at EUV wavelengths for a sample of AGN which covers a wide range of brightness.

Lieu, R.↗

NASA NTRS2021

Wind suppression by X-rays in Cygnus X-3

Context: The radiatively driven wind of the primary star in wind-fed X-ray binaries can be suppressed by the X-ray irradiation of the compact secondary star. This causes feedback between the wind and the X-ray luminosity of the compact star. Aims: We aim to estimate how the wind velocity on the face-on side of the donor star depends on the spectral state of the high-mass X-ray binary Cygnus X-3. Methods: We modeled the supersonic part of the wind by computing the line force (force multiplier) with the Castor, Abbott & Klein formalism and XSTAR physics and by solving the mass conservation and momentum balance equations. We computed the line force locally in the wind considering the radiation fields from both the donor and the compact star in each spectral state. We solved the wind equations at different orbital angles from the line joining the stars and took the effect of wind clumping into account. Wind-induced accretion luminosities were estimated using the Bondi-Hoyle-Lyttleton formalism and computed wind velocities at the compact star. We compared them to those obtained from observations. Results: We found that the ionization potentials of the ions contributing the most to the line force fall in the extreme-UV region(100–230 Å). If the flux in this region is high, the line force is weak, and consequently, the wind velocity is low. We found a correlation between the luminosities estimated from the observations for each spectral state of Cyg X-3 and the computed accretion luminosities assuming moderate wind clumping and a low mass of the compact star. For high wind clumping, this correlation disappears. We compared the XSTAR method used here with the comoving frame method and found that they agree reasonably well with each other. Conclusions. We show that soft X-rays in the extreme-UV region from the compact star penetrate the wind from the donor star and diminish the line force and consequently the wind velocity on the face-on side. This increases the computed accretion luminosities qualitatively in a similar manner as observed in the spectral evolution of Cyg X-3 for a moderate clumping volume filling factor and a compact star mass of a few (2–3) solar masses.

O. Vilhu↗

NASA NTRS2009

Hardware Implementation of Serially Concatenated PPM Decoder

A prototype decoder for a serially concatenated pulse position modulation (SCPPM) code has been implemented in a field-programmable gate array (FPGA). At the time of this reporting, this is the first known hardware SCPPM decoder. The SCPPM coding scheme, conceived for free-space optical communications with both deep-space and terrestrial applications in mind, is an improvement of several dB over the conventional Reed-Solomon PPM scheme. The design of the FPGA SCPPM decoder is based on a turbo decoding algorithm that requires relatively low computational complexity while delivering error-rate performance within approximately 1 dB of channel capacity. The SCPPM encoder consists of an outer convolutional encoder, an interleaver, an accumulator, and an inner modulation encoder (more precisely, a mapping of bits to PPM symbols). Each code is describable by a trellis (a finite directed graph). The SCPPM decoder consists of an inner soft-in-soft-out (SISO) module, a de-interleaver, an outer SISO module, and an interleaver connected in a loop (see figure). Each SISO module applies the Bahl-Cocke-Jelinek-Raviv (BCJR) algorithm to compute a-posteriori bit log-likelihood ratios (LLRs) from apriori LLRs by traversing the code trellis in forward and backward directions. The SISO modules iteratively refine the LLRs by passing the estimates between one another much like the working of a turbine engine. Extrinsic information (the difference between the a-posteriori and a-priori LLRs) is exchanged rather than the a-posteriori LLRs to minimize undesired feedback. All computations are performed in the logarithmic domain, wherein multiplications are translated into additions, thereby reducing complexity and sensitivity to fixed-point implementation roundoff errors. To lower the required memory for storing channel likelihood data and the amounts of data transfer between the decoder and the receiver, one can discard the majority of channel likelihoods, using only the remainder in operation of the decoder. This is accomplished in the receiver by transmitting only a subset consisting of the likelihoods that correspond to time slots containing the largest numbers of observed photons during each PPM symbol period. The assumed number of observed photons in the remaining time slots is set to the mean of a noise slot. In low background noise, the selection of a small subset in this manner results in only negligible loss. Other features of the decoder design to reduce complexity and increase speed include (1) quantization of metrics in an efficient procedure chosen to incur no more than a small performance loss and (2) the use of the max-star function that allows sum of exponentials to be computed by simple operations that involve only an addition, a subtraction, and a table lookup. Another prominent feature of the design is a provision for access to interleaver and de-interleaver memory in a single clock cycle, eliminating the multiple clock-cycle latency characteristic of prior interleaver and de-interleaver designs.

Moision, Bruce↗

NASA NTRSDate not supplied

NASA and Blue Origin Collaborative Assessment of Precision Landing Algorithms and Computing

NASA’s Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project is developing sensor, algorithm, and compute technologies for precision landing and hazard avoidance. These technologies are being tested as an integrated Precision Landing and Hazard Avoidance (PL&HA) system on Blue Origin’s New Shephard suborbital vehicle. A key goal for the computing element of this technology development is to characterize the performance of the SPLICE software workloads on the project’s Descent and Landing Computer (DLC). The DLC is a multi-core processor designed as a surrogate for NASA’s High-Performance Space Computer (HPSC). Measurements of the SPLICE workload performance on the DLC provides NASA insight on how PL&HA capabilities will perform on the HPSC, and guidance on how the SPLICE algorithms can be implemented to best utilize the DLC platform. This insight can also be used to derive requirements to guide trade studies on candidate computing architectures, for use on platforms like Blue Moon. NASA and Blue Origin are collaborating under an agreement to pursue this mutual benefit. Performance metrics collected are based on measurement of common compute resources such as percentage used of memory bandwidth, I/O utilization, interrupt latency, and kernel vs. user space code residency. Where possible existing performance counters and metrics that are part of the operating system kernel are used. As the design has a significant FPGA component, performance counters are identified and instantiated in the fabric to measure DMA performance and interface metrics. Collection of metrics is performed on the DLC with a representative workload that simulates a full landing cycle of the Blue Origin New Shepard vehicle. Consideration is given to the other compute implementations and whether they can run SPLICE algorithms at the same rate and with the same latency as the DLC. One option being considered is the use of a RISC-V soft core instantiated in a radiation resilient FPGA fabric such as the Xilinx KU60. Select algorithms from the SPLICE code will be run for comparison with the DLC. This paper describes how the DLC is instrumented to collect performance measurements of the SPLICE workloads, preliminary results from these measurements, and their implications on SPLICE algorithm implementation. The results of experimentation to derive candidate requirements for architecture trades on a PL&HA computing system are also presented.

computer performance↗

NASA NTRS1982

Fuel optimal maneuvers of spacecraft about a circular orbit

Fuel optimal maneuvers of spacecraft relative to a body in circular orbit are investigated using a point mass model in which the magnitude of the thrust vector is bounded. All nonsingular optimal maneuvers consist of intervals of full thrust and coast and are found to contain at most seven such intervals in one period. Only four boundary conditions where singular solutions occur are possible. Computer simulation of optimal flight path shapes and switching functions are found for various boundary conditions. Emphasis is placed on the problem of soft rendezvous with a body in circular orbit.

Carter, T. E.↗

NASA NTRS1984

Fuel-optimal maneuvers of a spacecraft relative to a point in circular orbit

Carter, T. E.↗

NASA NTRS2003

Kalman Filtering with Inequality Constraints for Turbofan Engine Health Estimation

Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints (which may be based on physical considerations) are often neglected because they do not fit easily into the structure of the Kalman filter. This paper develops two analytic methods of incorporating state variable inequality constraints in the Kalman filter. The first method is a general technique of using hard constraints to enforce inequalities on the state variable estimates. The resultant filter is a combination of a standard Kalman filter and a quadratic programming problem. The second method uses soft constraints to estimate state variables that are known to vary slowly with time. (Soft constraints are constraints that are required to be approximately satisfied rather than exactly satisfied.) The incorporation of state variable constraints increases the computational effort of the filter but significantly improves its estimation accuracy. The improvement is proven theoretically and shown via simulation results. The use of the algorithm is demonstrated on a linearized simulation of a turbofan engine to estimate health parameters. The turbofan engine model contains 16 state variables, 12 measurements, and 8 component health parameters. It is shown that the new algorithms provide improved performance in this example over unconstrained Kalman filtering.

Simon, Dan↗

NASA NTRS2012

Combining Ratio Estimation for Low Density Parity Check (LDPC) Coding

The Low Density Parity Check (LDPC) Code decoding algorithm make use of a scaled receive signal derived from maximizing the log-likelihood ratio of the received signal. The scaling factor (often called the combining ratio) in an AWGN channel is a ratio between signal amplitude and noise variance. Accurately estimating this ratio has shown as much as 0.6 dB decoding performance gain. This presentation briefly describes three methods for estimating the combining ratio: a Pilot-Guided estimation method, a Blind estimation method, and a Simulation-Based Look-Up table. The Pilot Guided Estimation method has shown that the maximum likelihood estimates of signal amplitude is the mean inner product of the received sequence and the known sequence, the attached synchronization marker (ASM) , and signal variance is the difference of the mean of the squared received sequence and the square of the signal amplitude. This method has the advantage of simplicity at the expense of latency since several frames worth of ASMs. The Blind estimation method s maximum likelihood estimator is the average of the product of the received signal with the hyperbolic tangent of the product combining ratio and the received signal. The root of this equation can be determined by an iterative binary search between 0 and 1 after normalizing the received sequence. This method has the benefit of requiring one frame of data to estimate the combining ratio which is good for faster changing channels compared to the previous method, however it is computationally expensive. The final method uses a look-up table based on prior simulated results to determine signal amplitude and noise variance. In this method the received mean signal strength is controlled to a constant soft decision value. The magnitude of the deviation is averaged over a predetermined number of samples. This value is referenced in a look up table to determine the combining ratio that prior simulation associated with the average magnitude of the deviation. This method is more complicated than the Pilot-Guided Method due to the gain control circuitry, but does not have the real-time computation complexity of the Blind Estimation method. Each of these methods can be used to provide an accurate estimation of the combining ratio, and the final selection of the estimation method depends on other design constraints.

Mahmoud, Saad↗

NASA NTRS2015

Impedance Eduction in Sound Fields With Peripherally Varying Liners and Flow

A two-dimensional impedance eduction theory is extended to three-dimensional sound fields and peripherally varying duct liners. The approach is to first measure the acoustic pressure field at a series of flush-mounted wall microphones located around the periphery of the flow duct. The numerical solution for the acoustic pressure field at these microphones is also obtained by solving the three-dimensional convected Helmholtz equation using the finite element method. A quadratic objective function based on the difference between the measured and finite element solution is constructed and the unknown impedance function is obtained by minimizing this objective function. Impedance spectra educed for two uniform-structure liners (a wire-mesh and a conventional liner) and a hard-soft-hard peripherally varying liner (for which the soft segment is that of the conventional liner) are presented. Results are presented at three mean flow Mach numbers and fourteen sound source frequencies. The impedance spectra of the uniform-structure liners are also computed using a two-dimensional impedance eduction theory. The primary conclusions of the study are: 1) when measured data is used with the uniform-structure liners, the three-dimensional theory reproduces the same impedance spectra as the two-dimensional theory except for frequencies corresponding to very low or very high liner attenuation; and 2) good agreement between the educed impedance spectra of the uniform structure conventional liner and the soft segment of the peripherally varying liner is obtained.

Watson, W. R.↗