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NASA NTRS2010

Formal Verification of Air Traffic Conflict Prevention Bands Algorithms

In air traffic management, a pairwise conflict is a predicted loss of separation between two aircraft, referred to as the ownship and the intruder. A conflict prevention bands system computes ranges of maneuvers for the ownship that characterize regions in the airspace that are either conflict-free or 'don't go' zones that the ownship has to avoid. Conflict prevention bands are surprisingly difficult to define and analyze. Errors in the calculation of prevention bands may result in incorrect separation assurance information being displayed to pilots or air traffic controllers. This paper presents provably correct 3-dimensional prevention bands algorithms for ranges of track angle; ground speed, and vertical speed maneuvers. The algorithms have been mechanically verified in the Prototype Verification System (PVS). The verification presented in this paper extends in a non-trivial way that of previously published 2-dimensional algorithms.

Narkawicz, Anthony J.↗
NASA NTRS2009

The OMPS Limb Profiler Instrument: An Alternative Data Analysis and Retrieval Algorithm

The upcoming Ozone Mapper and Profiler Suite (OMPS), which will be launched on the NPOESS Preparatory Project (NPP) platform in early 2011, will continue monitoring the global distribution of the Earth's middle atmosphere ozone and aerosol. OMPS is composed of three instruments, namely the Total Column Mapper (heritage: TOMS, OMI), the Nadir Profiler (heritage: SBUV) and the Limb Profiler (heritage: SOLSE/LORE, OSIRIS, SCIAMACHY, SAGE III). The ultimate goal of the mission is to better understand and quantify the rate of stratospheric ozone recovery. The focus of the paper will be on the Limb Profiler (LP) instrument. The LP instrument will measure the Earth fs limb radiance (which is due to the scattering of solar photons by air molecules, aerosol and Earth surface) in the ultra-violet (UV), visible and near infrared, from 285 to 1000 nm. The LP simultaneously images the whole vertical extent of the Earth's limb through three vertical slits, each covering a vertical tangent height range of 100 km and each horizontally spaced by 250 km in the cross-track direction. The focal plane of the LP spectrometer is a two ]dimensional CCD array comprised of 340 x 740 pixels. Several data analysis tools are presently being constructed and tested to retrieve ozone and aerosol vertical distribution from limb radiance measurements. The primary NASA algorithm is based on earlier algorithms developed for the SOLSE/LORE and SAGE III limb scatter missions. The paper will describe an alternative algorithm which will retrieve ozone density and aerosol extinction directly from radiance data collected on individual CCD pixels. This alternative method uses an optimal estimation approach to retrieve ozone and aerosol in the 10-60 km range from the information contained within an ensemble of about 50000 down-linked pixels. Tangent height registration is performed using the Rayleigh Scattering Attitude Sensor (RSAS) technique applied to columns of pixels in the 340-360 nm range. Cloud height is determined by analyzing the radiance first derivative along pixel columns at longer wavelengths. Wavelength registration is performed using rows of pixels and identifying Fraunhofer solar lines within the measured spectra. Special attention is given to stray-light decontamination and modeling of the measured finite spectral/spatial line shape functions.

Rault, Didier F.↗
NASA NTRS2009

Towards a Framework for Evaluating and Comparing Diagnosis Algorithms

Diagnostic inference involves the detection of anomalous system behavior and the identification of its cause, possibly down to a failed unit or to a parameter of a failed unit. Traditional approaches to solving this problem include expert/rule-based, model-based, and data-driven methods. Each approach (and various techniques within each approach) use different representations of the knowledge required to perform the diagnosis. The sensor data is expected to be combined with these internal representations to produce the diagnosis result. In spite of the availability of various diagnosis technologies, there have been only minimal efforts to develop a standardized software framework to run, evaluate, and compare different diagnosis technologies on the same system. This paper presents a framework that defines a standardized representation of the system knowledge, the sensor data, and the form of the diagnosis results and provides a run-time architecture that can execute diagnosis algorithms, send sensor data to the algorithms at appropriate time steps from a variety of sources (including the actual physical system), and collect resulting diagnoses. We also define a set of metrics that can be used to evaluate and compare the performance of the algorithms, and provide software to calculate the metrics.

Kurtoglu, Tolga↗
NASA NTRS2010

Guidance and Control Algorithms for the Mars Entry, Descent and Landing Systems Analysis

The purpose of the Mars Entry, Descent and Landing Systems Analysis (EDL-SA) study was to identify feasible technologies that will enable human exploration of Mars, specifically to deliver large payloads to the Martian surface. This paper focuses on the methods used to guide and control two of the contending technologies, a mid- lift-to-drag (L/D) rigid aeroshell and a hypersonic inflatable aerodynamic decelerator (HIAD), through the entry portion of the trajectory. The Program to Optimize Simulated Trajectories II (POST2) is used to simulate and analyze the trajectories of the contending technologies and guidance and control algorithms. Three guidance algorithms are discussed in this paper: EDL theoretical guidance, Numerical Predictor-Corrector (NPC) guidance and Analytical Predictor-Corrector (APC) guidance. EDL-SA also considered two forms of control: bank angle control, similar to that used by Apollo and the Space Shuttle, and a center-of-gravity (CG) offset control. This paper presents the performance comparison of these guidance algorithms and summarizes the results as they impact the technology recommendations for future study.

Davis, Jody L.↗
NASA NTRS2010

Robust Optimization Design Algorithm for High-Frequency TWTs

Traveling-wave tubes (TWTs), such as the Ka-band (26-GHz) model recently developed for the Lunar Reconnaissance Orbiter, are essential as communication amplifiers in spacecraft for virtually all near- and deep-space missions. This innovation is a computational design algorithm that, for the first time, optimizes the efficiency and output power of a TWT while taking into account the effects of dimensional tolerance variations. Because they are primary power consumers and power generation is very expensive in space, much effort has been exerted over the last 30 years to increase the power efficiency of TWTs. However, at frequencies higher than about 60 GHz, efficiencies of TWTs are still quite low. A major reason is that at higher frequencies, dimensional tolerance variations from conventional micromachining techniques become relatively large with respect to the circuit dimensions. When this is the case, conventional design- optimization procedures, which ignore dimensional variations, provide inaccurate designs for which the actual amplifier performance substantially under-performs that of the design. Thus, this new, robust TWT optimization design algorithm was created to take account of and ameliorate the deleterious effects of dimensional variations and to increase efficiency, power, and yield of high-frequency TWTs. This design algorithm can help extend the use of TWTs into the terahertz frequency regime of 300-3000 GHz. Currently, these frequencies are under-utilized because of the lack of efficient amplifiers, thus this regime is known as the "terahertz gap." The development of an efficient terahertz TWT amplifier could enable breakthrough applications in space science molecular spectroscopy, remote sensing, nondestructive testing, high-resolution "through-the-wall" imaging, biomedical imaging, and detection of explosives and toxic biochemical agents.

Wilson, Jeffrey D.↗
NASA NTRS2010

An Autonomous Onboard Targeting Algorithm Using Finite Thrust Maneuvers

In earlier investigations, the adaptation and implementation of a modified two-level corrections (or targeting) process as the onboard targeting algorithm for the Trans-Earth Injection phase of Orion is presented. The objective of that targeting algorithm is to generate the times of ignition and magnitudes of the required maneuvers such that the desired state at entry interface is achieved. In an actual onboard flight software implementation, these times of ignition and maneuvers are relayed onto Flight Control for command and execution. Although this process works well when the burn durations or burn arcs are small, this might not be the case during a contingency situation when lower thrust engines are employed to perform the maneuvers. Therefore, a new model for the two-level corrections process is formulated here to accommodate finite burn arcs. This paper presents the development and formulation of the finite burn two-level corrector, used as an onboard targeting algorithm for the Trans-Earth Injection phase of Orion. A performance comparison between the impulsive and finite burn models is also presented. The present formulation ensures all entry constraints are met, without violating the available fuel budget, while allowing for low-thrust scenarios with long burn durations.

Scarritt, Sara K.↗
NASA NTRS2010

An Aircraft Separation Algorithm with Feedback and Perturbation

A separation algorithm is a set of rules that tell aircraft how to maneuver in order to maintain a minimum distance between them. This paper investigates demonstrating that separation algorithms satisfy the FAA requirement for the occurrence of incidents by means of simulation. Any demonstration that a separation algorithm, or any other aspect of flight, satisfies the FAA requirement is a challenge because of the stringent nature of the requirement and the complexity of airspace operations. The paper begins with a probability and statistical analysis of both the FAA requirement and demonstrating meeting it by a Monte Carlo approach. It considers the geometry of maintaining separation when one plane must change its flight path. It then develops a simple feedback control law that guides the planes on their paths. The presence of feedback control permits the introduction of perturbations, and the stochastic nature of the chosen perturbation is examined. The simulation program is described. This paper is an early effort in the realistic demonstration of a stringent requirement. Much remains to be done.

White, Allan L.↗
NASA NTRS2011

Algorithm for Determination of Orion Ascent Abort Mode Achievability

For human spaceflight missions, a launch vehicle failure poses the challenge of returning the crew safely to earth through environments that are often much more stressful than the nominal mission. Manned spaceflight vehicles require continuous abort capability throughout the ascent trajectory to protect the crew in the event of a failure of the launch vehicle. To provide continuous abort coverage during the ascent trajectory, different types of Orion abort modes have been developed. If a launch vehicle failure occurs, the crew must be able to quickly and accurately determine the appropriate abort mode to execute. Early in the ascent, while the Launch Abort System (LAS) is attached, abort mode selection is trivial, and any failures will result in a LAS abort. For failures after LAS jettison, the Service Module (SM) effectors are employed to perform abort maneuvers. Several different SM abort mode options are available depending on the current vehicle location and energy state. During this region of flight the selection of the abort mode that maximizes the survivability of the crew becomes non-trivial. To provide the most accurate and timely information to the crew and the onboard abort decision logic, on-board algorithms have been developed to propagate the abort trajectories based on the current launch vehicle performance and to predict the current abort capability of the Orion vehicle. This paper will provide an overview of the algorithm architecture for determining abort achievability as well as the scalar integration scheme that makes the onboard computation possible. Extension of the algorithm to assessing abort coverage impacts from Orion design modifications and launch vehicle trajectory modifications is also presented.

Tedesco, Mark B.↗
NASA NTRS2011

Development of a Smart Release Algorithm for Mid-Air Separation of Parachute Test Articles

The Crew Exploration Vehicle Parachute Assembly System (CPAS) project is currently developing an autonomous method to separate a capsule-shaped parachute test vehicle from an air-drop platform for use in the test program to develop and validate the parachute system for the Orion spacecraft. The CPAS project seeks to perform air-drop tests of an Orion-like boilerplate capsule. Delivery of the boilerplate capsule to the test condition has proven to be a critical and complicated task. In the current concept, the boilerplate vehicle is extracted from an aircraft on top of a Type V pallet and then separated from the pallet in mid-air. The attitude of the vehicles at separation is critical to avoiding re-contact and successfully deploying the boilerplate into a heatshield-down orientation. Neither the pallet nor the boilerplate has an active control system. However, the attitude of the mated vehicle as a function of time is somewhat predictable. CPAS engineers have designed an avionics system to monitor the attitude of the mated vehicle as it is extracted from the aircraft and command a release when the desired conditions are met. The algorithm includes contingency capabilities designed to release the test vehicle before undesirable orientations occur. The algorithm was verified with simulation and ground testing. The pre-flight development and testing is discussed and limitations of ground testing are noted. The CPAS project performed a series of three drop tests as a proof-of-concept of the release technique. These tests helped to refine the attitude instrumentation and software algorithm to be used on future tests. The drop tests are described in detail and the evolution of the release system with each test is described.

Moore, James W.↗
NASA NTRS2011

Utilization of Ancillary Data Sets for SMAP Algorithm Development and Product Generation

Algorithms being developed for the Soil Moisture Active Passive (SMAP) mission require a variety of both static and ancillary data. The selection of the most appropriate source for each ancillary data parameter is driven by a number of considerations, including accuracy, latency, availability, and consistency across all SMAP products and with SMOS (Soil Moisture Ocean Salinity). It is anticipated that initial selection of all ancillary datasets, which are needed for ongoing algorithm development activities on the SMAP algorithm testbed at JPL, will be completed within the year. These datasets will be updated as new or improved sources become available, and all selections and changes will be documented for the benefit of the user community. Wise choices in ancillary data will help to enable SMAP to provide new global measurements of soil moisture and freeze/thaw state at the targeted accuracy necessary to tackle hydrologically-relevant societal issues.

ONeill, P.↗
NASA NTRS2010

Optimized Algorithms for Prediction Within Robotic Tele-Operative Interfaces

Robonaut, the humanoid robot developed at the Dexterous Robotics Labo ratory at NASA Johnson Space Center serves as a testbed for human-rob ot collaboration research and development efforts. One of the recent efforts investigates how adjustable autonomy can provide for a safe a nd more effective completion of manipulation-based tasks. A predictiv e algorithm developed in previous work was deployed as part of a soft ware interface that can be used for long-distance tele-operation. In this work, Hidden Markov Models (HMM?s) were trained on data recorded during tele-operation of basic tasks. In this paper we provide the d etails of this algorithm, how to improve upon the methods via optimization, and also present viable alternatives to the original algorithmi c approach. We show that all of the algorithms presented can be optim ized to meet the specifications of the metrics shown as being useful for measuring the performance of the predictive methods. 1

Martin, Rodney A.↗
NASA NTRS2011

Aquarius Salinity Retrieval Algorithm: Final Pre-Launch Version

This document provides the theoretical basis for the Aquarius salinity retrieval algorithm. The inputs to the algorithm are the Aquarius antenna temperature (T(sub A)) measurements along with a number of NCEP operational products and pre-computed tables of space radiation coming from the galaxy and sun. The output is sea-surface salinity and many intermediate variables required for the salinity calculation. This revision of the Algorithm Theoretical Basis Document (ATBD) is intended to be the final pre-launch version.

Wentz, Frank J.↗
NASA NTRS2011

Comparison of Magnetospheric MultiScale (MMS) Formation Design Algorithms

The MMS mission consists of four identical spinning spacecraft in a tetrahedron-like formation during predefined orbital regions-of-interest [1]. The MMS formation will fly about a highly eccentric orbit to study magnetic reconnection in the Earth.s magnetosphere. The mission is divided in two main science phases of markedly different orbit size. Phase 1 is a 1.2 R(sub E) x 12 R(sub E) (R(sub E) equals one Earth radius) orbit phase where science will be performed on the day-side of the magnetosphere, and Phase 2 is a 1.2 R(sub E) x 25 R(sub E) orbit phase where science will be performed on the night-side of the magnetosphere. For each phase, the MMS formation initially will fly a series of tetrahedron sizes ranging between 10-km and 400-km to assist the science team in determining the best value for the remainder of the phase. This paper presents a preliminary comparison of the algorithms currently available to determine desired MMS formation states. After a brief description of the MMS formation flying metrics and associated requirements, the five formation design algorithm combinations considered here are presented. Monte Carlo simulations determine the performance of each algorithm defined in terms of formation lifetime and fuel consumption. Preliminary results focusing on the smaller formation size for Phase 1 are discussed and the conclusions are presented along with indications for future work.

Mann, L.↗
NASA NTRS2011

Robust Control Algorithm for a Two Cart System and an Inverted Pendulum

The Rectilinear Control System can be used to simulate a launch vehicle during liftoff. Several control schemes have been developed that can control different dynamic models of the rectilinear plant. A robust control algorithm was developed that can control a pendulum to maintain an inverted position. A fluid slosh tank will be attached to the pendulum in order to test robustness in the presence of unknown slosh characteristics. The rectilinear plant consists of a DC motor and three carts mounted in series. Each cart s weight can be adjusted with brass masses and the carts can be coupled with springs. The pendulum is mounted on the first cart and an adjustable air damper can be attached to the third cart if desired. Each cart and the pendulum have a quadrature encoder to determine position. Full state feedback was implemented in order to develop the control algorithm along with a state estimator to determine the velocity states of the system. A MATLAB program was used to convert the state space matrices from continuous time to discrete time. This program also used a desired phase margin and damping ratio to determine the feedback gain matrix that would be used in the LabVIEW program. This experiment will allow engineers to gain a better understanding of liquid propellant slosh dynamics, therefore enabling them to develop more robust control algorithms for launch vehicle systems

Wilson, Chris L.↗
NASA NTRS2005

Algorithm for Identifying Erroneous Rain-Gauge Readings

An algorithm analyzes rain-gauge data to identify statistical outliers that could be deemed to be erroneous readings. Heretofore, analyses of this type have been performed in burdensome manual procedures that have involved subjective judgements. Sometimes, the analyses have included computational assistance for detecting values falling outside of arbitrary limits. The analyses have been performed without statistically valid knowledge of the spatial and temporal variations of precipitation within rain events. In contrast, the present algorithm makes it possible to automate such an analysis, makes the analysis objective, takes account of the spatial distribution of rain gauges in conjunction with the statistical nature of spatial variations in rainfall readings, and minimizes the use of arbitrary criteria. The algorithm implements an iterative process that involves nonparametric statistics.

Rickman, Doug↗
NASA NTRS2004

Routing Algorithm Exploits Spatial Relations

A recently developed routing algorithm for broadcasting in an ad hoc wireless communication network takes account of, and exploits, the spatial relationships among the locations of nodes, in addition to transmission power levels and distances between the nodes. In contrast, most prior algorithms for discovering routes through ad hoc networks rely heavily on transmission power levels and utilize limited graph-topology techniques that do not involve consideration of the aforesaid spatial relationships. The present algorithm extracts the relevant spatial-relationship information by use of a construct denoted the relative-neighborhood graph (RNG).

Okino, Clayton↗
NASA NTRS2004

Algorithm for Controlling a Centrifugal Compressor

An algorithm has been developed for controlling a centrifugal compressor that serves as the prime mover in a heatpump system. Experimental studies have shown that the operating conditions for maximum compressor efficiency are close to the boundary beyond which surge occurs. Compressor surge is a destructive condition in which there are instantaneous reversals of flow associated with a high outlet-to-inlet pressure differential. For a given cooling load, the algorithm sets the compressor speed at the lowest possible value while adjusting the inlet guide vane angle and diffuser vane angle to maximize efficiency, subject to an overriding requirement to prevent surge. The onset of surge is detected via the onset of oscillations of the electric current supplied to the compressor motor, associated with surge-induced oscillations of the torque exerted by and on the compressor rotor. The algorithm can be implemented in any of several computer languages.

Benedict, Scott M.↗