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Scheduling Position, Navigation and Time Service Requests from Non-dedicated Lunar Constellations

This paper presents a centralized scheduler that satisfies user requests for Position, Navigation, and Time (PNT) services from an ad-hoc, non-dedicated orbital constellation around the Moon. Traditional, dedicated GNSS networks provide service 24/7, which allows users to acquire localization services at-will. For ad-hoc networks, a coordinated schedule is needed to ensure Quality of Service (QoS) guarantees for user localization, while satisfying non-dedicated assets’ usage constraints. This scheduler bridges this coordination gap by leveraging Mixed Integer-Linear Programming (MILP) to schedule this “as-needed” localization service while respecting the constraints on each asset. In upcoming decades there is expected to be a substantial increase in Lunar missions. Many of these missions will feature low-cost surface assets near the moon’s polar regions and small-sat science missions in orbit. Most missions need PNT capabilities to ensure safe operations and meet their science objectives, but low-cost missions may not be able to support the large power, mass, and weight that a weak GNSS or DSN based navigation solution would entail. Asset localization has been demonstrated using a decentralized extended Kalman Filter (DEKF) in the previously presented Lunar Autonomous PNT System (LAPS). Within the LAPS simulation environment, a module has been developed to generate the coordinated user-asset schedules described above; this Service Scheduler Module (SSM) allows for complete end-to-end testing of the entire system. Within SSM, a user service request consists of a location on the Lunar surface, a cumulative service duration, and a window in which service must occur. SSM takes as input these requests and the LAPS-predicted positional degree of precision as the QoS for each available set of orbital assets. A simple, baseline MILP model is formulated to provide the highest-precision service balanced across all requests. To reflect the non-dedicated nature of the constellation, this baseline model is augmented with additional asset-specific load capacity constraints or availability constraints. The load capacity constraints limit total time spent providing service, and the availability constraints reflect blockout times or availability windows when the assets are not otherwise occupied. SSM outputs two schedules: the user schedule to indicate their service times and expected QoS, and a satellite schedule to be transmitted to the orbiting constellation, describing when each non-dedicated asset provides PNT service. SSM is predominantly implemented in MATLAB and allows the use of any MILP solver to generate the resulting schedules. This paper describes the SSM - LAPS interface, how the output of LAPS is used to construct the MILP, and how SSM provides user localization service while satisfying constraints. It will also demonstrate the tool’s flexibility for formulating schedules for the end user and the constellation, focusing on scenarios that match real-world proposed missions. It will detail how SSM can be used to compare the addition of load capacity constraints, satellite availability constraints, and QoS guarantees for the users. Finally, we describe how SSM can be used to support the design of the ad-hoc constellation itself. The resulting integrated capability will support the design of future ad-hoc Lunar PNT networks, enabling high-quality, low-cost Lunar exploration

Swarm↗

NASA NTRS2023

High-Rate Delay Tolerant Networking (HDTN) User Guide Version 1.0

Delay Tolerant Networking (DTN) has been identified as a key technology to enable and facilitate the development and growth of future space networks. Classically, space communications networks are collections of disparate links that are manually managed either point-to-point or use space relays. The accelerating accessibility of space enables a new scaling of space nodes, yet both the manual management of configurations and scheduling and the lack of structure connecting links precisely prohibit scaling. This challenge gives rise to newer and larger classes of communications needs that are met by DTN, which must overcome the disconnection, disruption, latency, and mobility featured in space communications systems. DTN joins the underlying links as an overlay, and can be made to communicate over any protocol stack. The core actions of DTN are store, carry, and forward, where data are stored instead of dropped if there is no immediately available outduct. It does this by taking the DTN unit of data, bundles, and providing necessary layers to adapt these bundles to the underlying transport protocols of choice; these are called convergence layers. DTN's Bundle Protocol (BP) can then be used on top of terrestrial protocol stacks, such as TCP/IP, as well as protocols for space, such as LTP/AOS, all in the same network. For emphasis it is noted that bundles can be of essentially any size, and hence this convergence to lower layers of choice is necessary. Existing DTN implementations have operated in constrained environments with limited resources, resulting in low data speeds. However, as various technologies have advanced, data transfer rates and efficiency have advanced, which has pushed the need for a DTN implementation for ground systems and for spacecraft that is performance-oriented in order to not impose an unnecessary bottleneck. High-rate Delay Tolerant Networking (HDTN) takes advantage of modern hardware platforms to substantially reduce latency and improve throughput compared to today’s DTN operations. The HDTN implementation maintains interoperability with existing deployments of DTN that conform to IETF RFCs 4838, 5050, and 9171. At the same time, HDTN defines a new data format better suited to higher-rate operation. It defines and adopts a massively parallel pipelined and message-oriented architecture, allowing the system to scale gracefully as its resources increase. HDTN’s architecture also supports hooks to replace various processing pipeline elements with specialized hardware accelerators. This offers improved Size, Weight, and Power (SWaP) characteristics while reducing development complexity and cost.

Delay Tolerant Networking↗

NASA NTRS2024

High-Rate Delay Tolerant Networking (HDTN) User Guide Version 1.3.0

Delay Tolerant Networking↗

NASA NTRS1981

Aether Drift and the isotropy of the universe: A measurement of anisotropes in the primordial black-body radiation

Large-angular-scale anisotropies in the 3 K primordial black-body radiation were detected and mapped with a sensitivity of 2 x to the minus 4 power K and an angular resolution of about 10 deg. The motion of the Earth with respect to the distant matter of the Universe ("Aether Drift") was measured and the homogeneity and isotropy of the Universe (the "Cosmological Principle") was probed. The experiment uses two Dicke radiometers, one at 33 GHz to detect the cosmic anisotropy, and one at 54 GHz to detect anisotropies in the residual oxygen above the detectors. The system was installed in the NASA-Ames Earth survey aircraft (U-2), and operated successfully in a series of flights in both the Northern and Southern Hemispheres. Data taking and analysis to measure the anisotropy were successful.

Smoot, G. F.↗

NASA NTRS2006

Application of Solar-Electric Propulsion to Robotic and Human Missions in Near-Earth Space

Solar-electric propulsion (SEP) is becoming of interest for application to a wide range of missions. The benefits of SEP are strongly influenced by system element performance, especially that for the power system. Solar array performance is increasing rapidly and promises to continue to do so for another 10 to 20 years (Fig. 1). At the same time, cost per watt is decreasing. Radiation hardness is increasing. New concepts for how to design a SEP are emerging. These improvements lead to changes in the best ways to apply SEP technology to missions, and broadening of the practical uses of SEP technology compared to competing technologies. This paper addresses the evolving characteristics of SEP technology from the point of view of mission design, and how mission profile characteristics can be designed to best take advantage of evolving SEP characteristics. Mission concepts include robotic lunar landers and orbiters; scientific planetary spacecraft; delivery of spacecraft to geosynchronous orbit from inclined and low-inclination launch orbits; and lunar cargo delivery from Earth orbit to lunar orbit. Expendable and re-usable SEP profiles are considered. Flight control considerations are abstracted from recent papers by the author to describe how these influence SEP design and operations.

Woodcock, Gordon↗

NASA NTRS1980

Balancing of a power-transmission shaft with the application of axial torque

Evaluation of power transmission shafting for high-speed balancing has shown that when axial torque is applied, the imbalance response is altered. An increase in synchronous excitation always occurs if the axial torque level is altered from the value used during balancing; this was the case even when the shaft was balanced with torque applied. The twisting of the long slender shaft produces a change in the imbalance distribution sufficient to disrupt the balanced state. This paper presents a review of the analytic development of a weighted least squares approach to influence coefficient balancing and a review of experimental results. The analytic approach takes advantage of the fact that the past testing has shown that the influence coefficients are not significantly affected by the application of axial torque. The 3.60-m (12-ft) long aluminum shaft, 7.62 cm (3 in.) in diameter was run through the first flexural critical speed at torque levels ranging from zero-torque to 903.8 N-M (8000 lb-in.) in 112.9 N-M (1000 lb-in.) increments. Good comparison was achieved between predicted and experimental results.

Zorzi, E. S.↗

NASA NTRS1992

A probabilistic approach to the evaluation of fatigue damage in a space propulsion system injector element

The fatigue damage of a space propulsion system component is computed using probabilistic structural analysis methods. The analysis takes into account the variations in static and dynamic loads, the uncertainty in structural damping, and the scatter in material fatigue resistance. The key elements of the probabilistic approach include: (1) a numerical engine model for describing the global component interface loads consistent with engine balance, (2) models for computing the local mode boundary conditions on the component, (3) a static structural analysis model that captures the strains at a damage critical location as a function of engine performance variables, (4) a finite element model for assessment of the random amplitude stress response due to random base and pressure excitations with uncertain power and correlation length, and (5) advanced first order reliability methods for computing the probabilities associated with the fatigue damage.

Rajagopal, K. R.↗

NASA NTRS1921

The Dynamometer Hub for the Testing Propellers and Engines During Flight

The need for a device to measure flight resistance, engine and propeller power, and efficiency during flight grew in proportion to the demand for increased flying capacity in military types of aircraft. Here, a dynamometer hub was inserted between the engine and the propeller. Taken as a whole, the tests that were conducted show that though the dynamometer is a sensitive instrument liable to numerous derangements, it is undeniably useful even in its present form, when handled with care and skill. Facilitating, as it does, the possibility of maintaining the fixed position of the engine, the blocking out of the weight effect when the plane is in the sloping position, and the possibility of taking direct measurements of force at the point of transmission, the dynamometer appears to be by far the best solution of the problem of a flying test bench, utilized as a hydraulic balance with the smallest possible measuring stroke and the least tendency to oscillation.

Enoch, O↗

NASA NTRS2002

Testing for X-ray Periodicities in Seyfert Galaxies

The Deep Survey instrument on the Extreme Ultraviolet Explorer obtained long, continuous light-curves of 10 Seyfert galaxies with durations of 5-33 days each. We present a uniform reduction of these data, which account for a total of 209 days of observation. Several of the light curves are uniquely suited to a search for periodicity or QPOs in the range of hours to days that might be expected from dynamical effects in the inner accretion disks around approximately 10(exp 8) solar mass black holes. Power spectra show features in three of the longest observations that could be transient periods: 0.9 days in RX J0437.4-4711, 2.1 days in Ton S180, and 5.8 days in 1H 0419-577. These period values seem to be unrelated to the length of the observations, which are similar in the three cases, but they do roughly scale as the luminosity of the objects, which would be expected in a dynamical scenario if the black hole masses also scale with luminosity. The significance of these periods will be evaluated in a future publication by using the method of Timmer & Konig (1995), which properly takes into account the red-noise properties of AGN light curves.

Halpern, Jules P.↗

NASA NTRS2017

Compatibility Tests Between the Mars Vehicle System Test Bed and RIMFAX Radar Antenna Prototype for the Mars 2020 Mission

NASA's Mars 2020 rover will carry a wideband (150 megahertz to 1200 megahertz) ground penetrating radar—RIMFAX (Radar Imager for Mars’ subsurFace eXperiment ), contributed by FFI (Forsvarets forskningsinstitutt) of Norway—to survey the subsurface geology of Mars. RIMFAX will take radar soundings while the rover drives across the Martian terrain, which presents possible compatibility issues between rover and radar operations. In order to study this risk, a prototype RIMFAX antenna was attached to the flight-analogous rover Vehicle System Test Bed (VSTB) in a mechanically representative location. The prototype antenna collected spectral and time-domain data across a variety of driving operations in order to assess the radar sensitivity to rover-generated noise. Conversely, the prototype antenna was driven while an engineering-model UHF (Ultra High Frequency) antenna used for rover telecom measured received in-band power to ensure that the rover hardware was not at risk of damage. Evaluation of the data by the instrument science team showed that while rover noise was apparent to the receiver, data post-processing would yield greater than 40 decibels margin to the science requirements. Similarly, power levels received by the UHF antenna were well below damage thresholds.

Gonzales, Edward↗

NASA NTRS2021

Achieving Breakthroughs in Global Hydrologic Science by Unlocking the Power of Multisensor, Multidisciplinary Earth Observations

Over the last half century, remote sensing has transformed hydrologic science. Whereas early efforts were devoted to observation of discrete variables, we now consider spaceborne missions dedicated to interlinked global hydrologic processes.Furthermore, cloud computing and computational techniquesare accelerating analyses of these data. How will the hydrologic community use these new resources to better understand the world’s water and relatedchallenges facing society? In this Commentary, we suggest that optimizing the benefits of remote sensing for advancing hydrologic research will happen byintegratingmultidisciplinary and multisensor data, leveraging commercial satellite measurements, and employingdata assimilation, cloud computing, and machine learning.We provide several recommendations to these ends. Plain Language Summary Observations from satellites have transformed hydrologic science. Early efforts, five decades ago, mapped attributes like snow cover, rainfall, topography, and vegetation, but now we consider new missions specifically designed to study global hydrologic processes. We also take advantageof new technologies like cloud computing and artificial intelligence. We describe strategiesfor maximizing the benefits of remote sensing for hydrology, encouraging research across disciplines using multiple sensors, using new commercially available satellites, and combining remote sensing measurements with hydrologic models.

Michael Durand↗

NASA NTRS2000

On the Computational Capabilities of Physical Systems: The Impossibility of Infallible Computation - Part 1

In this first of two papers, strong limits on the accuracy of physical computation are established. First it is proven that there cannot be a physical computer C to which one can pose any and all computational tasks concerning the physical universe. Next it is proven that no physical computer C can correctly carry out any computational task in the subset of such tasks that can be posed to C. This result holds whether the computational tasks concern a system that is physically isolated from C, or instead concern a system that is coupled to C. As a particular example, this result means that there cannot be a physical computer that can, for any physical system external to that computer, take the specification of that external system's state as input and then correctly predict its future state before that future state actually occurs; one cannot build a physical computer that can be assured of correctly 'processing information faster than the universe does'. The results also mean that there cannot exist an infallible, general-purpose observation apparatus, and that there cannot be an infallible, general-purpose control apparatus. These results do not rely on systems that are infinite, and/or non-classical, and/or obey chaotic dynamics. They also hold even if one uses an infinitely fast, infinitely dense computer, with computational powers greater than that of a Turing Machine. This generality is a direct consequence of the fact that a novel definition of computation - a definition of 'physical computation' - is needed to address the issues considered in these papers. While this definition does not fit into the traditional Chomsky hierarchy, the mathematical structure and impossibility results associated with it have parallels in the mathematics of the Chomsky hierarchy. The second in this pair of papers presents a preliminary exploration of some of this mathematical structure, including in particular that of prediction complexity, which is a 'physical computation analogue' of algorithmic information complexity. It is proven in that second paper that either the Hamiltonian of our universe proscribes a certain type of computation, or prediction complexity is unique (unlike algorithmic information complexity), in that there is one and only version of it that can be applicable throughout our universe.

Wolpert, David H.↗

NASA NTRS2005

High-Power Fiber Lasers Using Photonic Band Gap Materials

High-power fiber lasers (HPFLs) would be made from photonic band gap (PBG) materials, according to the proposal. Such lasers would be scalable in the sense that a large number of fiber lasers could be arranged in an array or bundle and then operated in phase-locked condition to generate a superposition and highly directed high-power laser beam. It has been estimated that an average power level as high as 1,000 W per fiber could be achieved in such an array. Examples of potential applications for the proposed single-fiber lasers include welding and laser surgery. Additionally, the bundled fibers have applications in beaming power through free space for autonomous vehicles, laser weapons, free-space communications, and inducing photochemical reactions in large-scale industrial processes. The proposal has been inspired in part by recent improvements in the capabilities of single-mode fiber amplifiers and lasers to produce continuous high-power radiation. In particular, it has been found that the average output power of a single strand of a fiber laser can be increased by suitably changing the doping profile of active ions in its gain medium to optimize the spatial overlap of the electromagnetic field with the distribution of active ions. Such optimization minimizes pump power losses and increases the gain in the fiber laser system. The proposal would expand the basic concept of this type of optimization to incorporate exploitation of the properties (including, in some cases, nonlinearities) of PBG materials to obtain power levels and efficiencies higher than are now possible. Another element of the proposal is to enable pumping by concentrated sunlight. Somewhat more specifically, the proposal calls for exploitation of the properties of PBG materials to overcome a number of stubborn adverse phenomena that have impeded prior efforts to perfect HPFLs. The most relevant of those phenomena is amplified spontaneous emission (ASE), which causes saturation of gain and power at undesirably low levels, and scattering of light from dopants. In designing a given fiber laser for reduced ASE, care must be taken to maintain a correct fiber structure for eventual scaling to an array of many such lasers such that the interactions among all the members of the array would cause them to operate in phase lock. Hence, the problems associated with improving a single-fiber laser are not entirely separate from the bundling problem, and some designs for individual fiber lasers may be better than others if the fibers are to be incorporated into bundles. Extensive calculations, expected to take about a year, must be performed in order to determine design parameters before construction of prototype individual and fiber lasers can begin. The design effort can be expected to include calculations to optimize overlaps between the electromagnetic modes and the gain media and calculations of responses of PBG materials to electromagnetic fields. Design alternatives and physical responses that may be considered include simple PBG fibers with no intensity-dependent responses, PBG fibers with intensity- dependent band-gap shifting (see figure), and broad-band pumping made possible by use of candidate broad-band pumping media in place of the air or vacuum gaps used in prior PBG fibers.

DiDomenico, Leo↗

NASA NTRS1983

Low-speed tests of a high-aspect-ratio, supercritical-wing transport model equipped with a high-lift flap system in the Langley 4- by 7-meter and Ames 12-foot pressure tunnels

The Ames 12-Foot Pressure Tunnel was used to determine the effects of Reynolds number on the static longitudinal aerodynamic characteristics of an advanced, high-aspect-ratio, supercritical wing transport model equipped with a full span, leading edge slat and part span, double slotted, trailing edge flaps. The model had a wing span of 7.5 ft and was tested through a free stream Reynolds number range from 1.3 to 6.0 x 10 to 6th power per foot at a Mach number of 0.20. Prior to the Ames tests, an investigation was also conducted in the Langley 4 by 7 Meter Tunnel at a Reynolds number of 1.3 x 10 to 6th power per foot with the model mounted on an Ames strut support system and on the Langley sting support system to determine strut interference corrections. The data obtained from the Langley tests were also used to compare the aerodynamic charactertistics of the rather stiff, 7.5-ft-span steel wing model tested during this investigation and the larger, and rather flexible, 12-ft-span aluminum-wing model tested during a previous investigation. During the tests in both the Langley and Ames tunnels, the model was tested with six basic wing configurations: (1) cruise; (2) climb (slats only extended); (3) 15 deg take-off flaps; (4) 30 deg take-off flaps; (5) 45 deg landing flaps; and (6) 60 deg landing flaps.

Morgan, H. L., Jr.↗

NASA NTRS2007

Slot-Antenna/Permanent-Magnet Device for Generating Plasma

A device that includes a rectangular-waveguide/slot-antenna structure and permanent magnets has been devised as a means of generating a substantially uniform plasma over a relatively large area, using relatively low input power and a low gas flow rate. The device utilizes electron cyclotron resonance (ECR) excited by microwave power to efficiently generate plasma in a manner that is completely electrodeless in the sense that, in principle, there is no electrical contact between the plasma and the antenna. Plasmas generated by devices like this one are suitable for use as sources of ions and/or electrons for diverse material-processing applications (e.g., etching or deposition) and for ion thrusters. The absence of plasma/electrode contact essentially prevents plasma-induced erosion of the antenna, thereby also helping to minimize contamination of the plasma and of objects exposed to the plasma. Consequently, the operational lifetime of the rectangular-waveguide/ slot-antenna structure is long and the lifetime of the plasma source is limited by the lifetime of the associated charged-particle-extraction grid (if used) or the lifetime of the microwave power source. The device includes a series of matched radiating slot pairs that are distributed along the length of a plasma-source discharge chamber (see figure). This arrangement enables the production of plasma in a distributed fashion, thereby giving rise to a uniform plasma profile. A uniform plasma profile is necessary for uniformity in any electron- or ion-extraction electrostatic optics. The slotted configuration of the waveguide/ antenna structure makes the device scalable to larger areas and higher powers. All that is needed for scaling up is the attachment of additional matched radiating slots along the length of the discharge chamber. If it is desired to make the power per slot remain constant in scaling up, then the input microwave power must be increased accordingly. Unlike in prior ECR microwave plasma-generating devices, there is no need for an insulating window on the antenna. Such windows are sources of contamination and gradually become ineffective as they become coated with erosion products over time. These characteristics relegate prior ECR microwave plasma-generating devices to non-ion beam, non-deposition plasma applications. In contrast, the lack of need for an insulating window in the present device makes it possible to use the device in both ion-beam (including deposition) and electron-beam applications. The device is designed so that ECR takes place above each slot and the gradient of the magnetic field at each slot is enough to prevent backflow of plasma.

Foster, John E.↗

NASA NTRS1952

Analytical and Experimental Investigation of Inlet-engine Matching for Turbojet-powered Aircraft at Mach Numbers up to 2.0

An analysis of inlet-turbojet-engine matching for a range of Mach numbers up to 2.0 indicates large performance penalties when fixed-geometry inlets are used. Use of variable-geometry inlets, however, nearly eliminates th The analysis was confirmed experimentally by investigating at Mach numbers of 0, 0.63, and 1.5 to 2.0 two single oblique-shock-type inlets of different compression-ramp angles, which simulated a variable-geometry configuration. The experimental investigation indicated that total-pressure recoveries comparable withose attainable with well designed nose inlets were obtained with the side inlets when all the boundary layer ahead of the inlets was removed. Serious drag penalties resulted at a Mach number of 2.0 from the use of blunt-cowl leading edges. However, sharp-lip inlets produced large losses in thrust for the take-off condition. These thrust penalties which are associated with the the low-speed operation of the sharp-lip inlet designs can probably be avoided without impairing the supersonic performance of the inlet by the use of auxiliary inlets or blow-in doors.

Esenwein, Fred T↗

NASA NTRS1972

Model for radon diffusion through the lunar regolith.

Description of a model for radon diffusion through the lunar regolith in which the atom migrates by random walk. The regolith is represented by a system of randomly oriented baffles in which the mean distance which the atom travels between two collisions takes on the role of a mean free path. The effective mean time between two collisions depends on two entities: the actual mean time-of-flight and the mean sticking time on grain surfaces for one collision. The latter depends strongly on the temperature and the heat of adsorption of radon on regolith materials. Both the mean free path as well as the heat of adsorption are either poorly known or unknown for the lunar regolith; hence these quantities are treated as free parameters. Because of the greatly different mean lifetimes against radioactive decay of Rn219, Rn220, and Rn222, the regolith acts as a powerful 'filter' for these species. Rn222 escape is significant (32%) even for a mean free path of 1 micron, a heat of adsorption of 7.0 kcal/mole and a regolith depth of 4 m. Calculations of radon escape from a 4 m thick regolith, using mean free paths of 1, 10, and 80 microns and heats of adsorption of 4.0, 5.2, and 7.0 kcal/mole show that the Rn222/Rn220 escape ratio can be as small as 7.7 and as large as, or larger than 47. The small value of 7.7 is of particular interest, because it is nearly equal to the escape ratio inferred by Turkevich et al. (1970) from their Surveyor 5 results.

Friesen, L. J.↗

NASA NTRS1975

Copper emissions from a high volume air sampler

High volume air samplers (hi vols) are described which utilize a brush-type electric motor to power the fans used for pulling air through the filter. Anomalously high copper values were attributed to removal of copper from the commutator into the air stream due to arcing of the brushes and recirculation through the filter. Duplicate hi vols were set up under three operating conditions: (1) unmodified; (2) gasketed to prevent internal recirculation; and (3) gasketed and provided with a pipe to transport the motor exhaust some 20 feet away. The results of 5 days' operation demonstrate that hi vols can suddenly start emitting increased amounts of copper with no discernible operational indication, and that recirculation and capture on the filter can take place. Copper levels found with hi vols whose exhaust was discharged at a distance downwind were among the lowest found, and apparently provides a satisfactory solution to copper contamination.

King, R. B.↗