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All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Reinforcement Learning Approach to Cybersecurity in Space (RELACSS)

Securing satellite groundstations against cyber-attacks is vital to national security missions. However, these cyber threats are constantly evolving. As vulnerabilities are discovered and patched, new vulnerabilities are discovered and exploited. In order to automate the process of discovering existing vulnerabilities and the means to exploit them, a reinforcement learning framework is presented in this report. We demonstrate that this framework can learn to successfully navigate an unknown network and detect nodes of interest despite the presence of a moving target defense. The agent then exfiltrates a file of interest from the node as quickly as possible. This framework also incorporates a defensive software agent that learns to impede the attacking agents progress. This setup allows for the agents to work against each other and improve their abilities. We anticipate that this capability will help uncover unforeseen vulnerabilities and the means to mitigate them. The modular nature of the framework enables users to swap out learning algorithms and modify the reward functions in order to adapt the learning tasks to various use cases and environments. Several algorithms, viz., tabular Q learning, deep Q networks, proximal policy optimization, advantage actor-critic, generative adversarial imitation learning, are explored for the agents and the results highlighted. The agent learns to solve the tasks in a light-weight abstract environment. Once the agent learns to perform sufficiently well, it can be deployed in a minimega virtual machine environment (or a real network) with wrappers that map abstract actions to software commands. The agent also uses a local representation of the actions called a ‘slot-mechanism’. This allows the agent to learn in a certain network and generalize it to different networks. The defensive agent learns to predict the actions taken by an offensive agent and uses that information to anticipate the threat. This information can then either be used to raise an alarm or to take actions to thwart the attack. We believe that with the appropriate reward design, a representative environment, and action set, this framework can be generalized to tackle other cybersecurity tasks. By sufficiently training these agents, we can anticipate vulnerabilities leading to robust future designs. We can also deploy automated defensive agents that can help secure satellite groundstation and their vital national security missions.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗
NASA NTRS2016

On the Maneuvers Operational Response for NASA’s Soil Moisture Active-Passive (SMAP) Mission

The Soil-Moisture Active-Passive (SMAP) spacecraft requires various kinds of in-orbit maneuvers over the course of its three-year mission. The types of maneuvers include pre-planned commissioning maneuvers to reach its science orbit, regularly executed orbit maintenance maneuvers to overcome drag and other nominally occurring phenomena, as well as (the possibility of) collision avoidance maneuvers. The architecture of the spacecraft – in terms of availability of commanding via ground assets, the inherited avionics' ability to sequence and execute commands, and the capability of available subsystems able to carry out maneuvers – was well defined early in the development of the spacecraft and mission, well before the operational plan for responding to maneuver requests was cemented. The systems engineering challenge became: how to accommodate all three types of maneuvers in the confines of this well-defined architecture. This paper will describe how the operations team on SMAP successfully met this challenge. Specifically, it will dive into the three pronged approach that SMAP developed to handle each type of maneuver described above – to meet the timeliness requirements leveraged on the operations team to execute said maneuvers, while continuing to fit within the allotted staffing profile during nominal operations. Defining this paradigm to fit the mission’s architecture meant re-defining the original paradigm, (planned maneuvers being thought of separately than collision avoidance maneuvers), and re-classifying all responses to maneuver requests as variations and permutations of a singular operational response to a maneuver request. This paper will also describe the tools that were created to simplify the human interface and automate as much of the response as was possible. Finally, this paper will describe, at a very high level, some of the problems encountered and lessons learned by the operations team when this process was executed the first four times during the first ninety days of operations. Though the architecture of the operations team's response to maneuver requests will never be repeated exactly, the flexibility that was inserted via redefining the scope of the problem and by redefining the human interfaces should influence future projects' architectures earlier in their development – in the hopes that said influence will save time and money in the future.

Tirona, Joseph↗
NASA NTRS2011

A Review of the NASA MLAS Flight Demonstration

The NASA Engineering and Safety Center (NESC) has tested the Max Launch Abort System (MLAS) as a risk-mitigation design should problems arise with the baseline Orion spacecraft launch abort design. The Max in MLAS is not Maximum, but rather dedicated to Max Faget, the renowned NASA Spacecraft designer. In July 2009, the mission was flown, with great success, from the NASA Wallops Flight Facility. The MLAS flight test vehicle prototype consists of a boost skirt, coast skirt, and the MLAS fairing itself, which houses an Orion Command Module (CM) boilerplate. The objective of the MLAS flight test is to reorient the fairing with the CM, weighing approximately 29,000 lbs and traveling 290 fps, 180 degrees to an orientation suitable for the release of the CM during a pad abort or low altitude abort. The boost and coast skirts provide the necessary thrust and stability to establish the flight test conditions and are released prior to the reorientation of the fairing. A secondary test objective after successful release of the CM from the fairing is to demonstrate the removal of the CM forward bay cover (FBC) with the CM drogue parachutes, and subsequent deployment of the CM main parachutes attached to the FBC. Although multiple parachute deployments are used in the MLAS flight test vehicle to complete its objective, there are only two parachute types employed in the flight test. Five of the nine parachutes used for MLAS are 27.6 ft DO ribbon parachutes already proven as a spin/stall parachute for military aircraft, and the remaining four are G-12 cargo parachutes modified for increased strength and reefing. This paper presents an overview of the 27.6 ft DO ribbon parachute system employed on the MLAS flight test vehicle for coast skirt separation, fairing reorientation, and as CM drogue parachutes. Discussion will include: the process used to select this design; descriptions of all components of the parachute system; the minor modifications necessary to adapt the parachute to the MLAS program; the techniques used to analyze the parachute for the multiple roles it performs including discussions of how the evolution of the program affected parachute usage and analysis; a summary of the results of the highly successful flight test, including video of the flight test; and an overview of the subsequent post-test analysis.

Taylor, Anthony P.↗
NASA NTRS1991

Model reference adaptive control of robots

This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load.

Steinvorth, Rodrigo↗
NASA NTRS1993

The Database Query Support Processor (QSP)

The number and diversity of databases available to users continues to increase dramatically. Currently, the trend is towards decentralized, client server architectures that (on the surface) are less expensive to acquire, operate, and maintain than information architectures based on centralized, monolithic mainframes. The database query support processor (QSP) effort evaluates the performance of a network level, heterogeneous database access capability. Air Force Material Command's Rome Laboratory has developed an approach, based on ANSI standard X3.138 - 1988, 'The Information Resource Dictionary System (IRDS)' to seamless access to heterogeneous databases based on extensions to data dictionary technology. To successfully query a decentralized information system, users must know what data are available from which source, or have the knowledge and system privileges necessary to find out this information. Privacy and security considerations prohibit free and open access to every information system in every network. Even in completely open systems, time required to locate relevant data (in systems of any appreciable size) would be better spent analyzing the data, assuming the original question was not forgotten. Extensions to data dictionary technology have the potential to more fully automate the search and retrieval for relevant data in a decentralized environment. Substantial amounts of time and money could be saved by not having to teach users what data resides in which systems and how to access each of those systems. Information describing data and how to get it could be removed from the application and placed in a dedicated repository where it belongs. The result simplified applications that are less brittle and less expensive to build and maintain. Software technology providing the required functionality is off the shelf. The key difficulty is in defining the metadata required to support the process. The database query support processor effort will provide quantitative data on the amount of effort required to implement an extended data dictionary at the network level, add new systems, adapt to changing user needs, and provide sound estimates on operations and maintenance costs and savings.

Source record↗
NASA NTRS2010

Ares I-X Range Safety Simulation Verification and Analysis IV and V

NASA s ARES I-X vehicle launched on a suborbital test flight from the Eastern Range in Florida on October 28, 2009. NASA generated a Range Safety (RS) flight data package to meet the RS trajectory data requirements defined in the Air Force Space Command Manual 91-710. Some products included in the flight data package were a nominal ascent trajectory, ascent flight envelope trajectories, and malfunction turn trajectories. These data are used by the Air Force s 45th Space Wing (45SW) to ensure Eastern Range public safety and to make flight termination decisions on launch day. Due to the criticality of the RS data in regards to public safety and mission success, an independent validation and verification (IV&V) effort was undertaken to accompany the data generation analyses to ensure utmost data quality and correct adherence to requirements. Multiple NASA centers and contractor organizations were assigned specific products to IV&V. The data generation and IV&V work was coordinated through the Launch Constellation Range Safety Panel s Trajectory Working Group, which included members from the prime and IV&V organizations as well as the 45SW. As a result of the IV&V efforts, the RS product package was delivered with confidence that two independent organizations using separate simulation software generated data to meet the range requirements and yielded similar results. This document captures ARES I-X RS product IV&V analysis, including the methodology used to verify inputs, simulation, and output data for an RS product. Additionally a discussion of lessons learned is presented to capture advantages and disadvantages to the IV&V processes used.

Tarpley, Ashley↗
NASA NTRS2008

NASA Tech Briefs, November 2008

Topics covered include: Digital Phase Meter for a Laser Heterodyne Interferometer; Vision System Measures Motions of Robot and External Objects; Advanced Precipitation Radar Antenna to Measure Rainfall From Space; Wide-Band Radar for Measuring Thickness of Sea Ice; Vertical Isolation for Photodiodes in CMOS Imagers; Wide-Band Microwave Receivers Using Photonic Processing; L-Band Transmit/Receive Module for Phase-Stable Array Antennas; Microwave Power Combiner/Switch Utilizing a Faraday Rotator; Compact Low-Loss Planar Magic-T; Using Pipelined XNOR Logic to Reduce SEU Risks in State Machines; Quasi-Optical Transmission Line for 94-GHz Radar; Next Generation Flight Controller Trainer System; Converting from DDOR SASF to APF; Converting from CVF to AAF; Documenting AUTOGEN and APGEN Model Files; Sequence History Update Tool; Extraction and Analysis of Display Data; MRO DKF Post-Processing Tool; Rig Diagnostic Tools; MRO Sequence Checking Tool; Science Activity Planner for the MER Mission; UAVSAR Flight-Planning System; Templates for Deposition of Microscopic Pointed Structures; Adjustable Membrane Mirrors Incorporating G-Elastomers; Hall-Effect Thruster Utilizing Bismuth as Propellant; High-Temperature Crystal-Growth Cartridge Tubes Made by VPS; Quench Crucibles Reinforced with Metal; Deep-Sea Hydrothermal-Vent Sampler; Mars Rocket Propulsion System; Two-Stage Passive Vibration Isolator; Improved Thermal Design of a Compression Mold; Enhanced Pseudo-Waypoint Guidance for Spacecraft Maneuvers; Altimetry Using GPS-Reflection/Occultation Interferometry; Thermally Driven Josephson Effect; Perturbation Effects on a Supercritical C7H16/N2 Mixing Layer; Gold Nanoparticle Labels Amplify Ellipsometric Signals; Phase Matching of Diverse Modes in a WGM Resonator; WGM Resonators for Terahertz-to-Optical Frequency Conversion; Determining Concentration of Nanoparticles from Ellipsometry; Microwave-to-Optical Conversion in WGM Resonators; Four-Pass Coupler for Laser-Diode-Pumped Solid-State Laser; Low-Resolution Raman-Spectroscopy Combustion Thermometry; Temperature Sensors Based on WGM Optical Resonators; Varying the Divergence of Multiple Parallel Laser Beams; Efficient Algorithm for Rectangular Spiral Search; Algorithm-Based Fault Tolerance Integrated with Replication; Targeting and Localization for Mars Rover Operations; Terrain-Adaptive Navigation Architecture; Self-Adjusting Hash Tables for Embedded Flight Applications; Schema for Spacecraft-Command Dictionary; Combined GMSK Communications and PN Ranging; System-Level Integration of Mass Memory; Network-Attached Solid-State Recorder Architecture; Method of Cross-Linking Aerogels Using a One-Pot Reaction Scheme; An Efficient Reachability Analysis Algorithm.

Source record↗
DOE OSTI2025

Hydrogen from low-density polyethylene via nonthermal plasma: Effects of energy density and process parameters

Nonthermal plasma processes are promising for the modular valorization of plastic waste, especially into hydrogen and carbon materials, due to their high intensity, lack of reliance on catalysts or consumables, and suitability to be directly powered by electricity. We investigate the production of hydrogen from low-density polyethylene (LDPE) as a plastic waste model using streamer Dielectric Barrier Discharge (sDBD) plasma in nitrogen at atmospheric pressure. Here, we examine the effects of process energy density (energy input per unit of feedstock mass), feedstock mass, and plasma intensity (electric voltage) on plasma properties, hydrogen yield and energy efficiency via gas chromatography, optical emission spectroscopy, and electrical diagnostics, together with reactor-scale and nonlinear electric circuit modeling. The characteristic temperature of free electrons in the sDBD plasma is approximately 15000 K (1.3 eV), and that of gas species 10 times lower, demonstrating strong thermal non-equilibrium that can lead to molecular bond scission via charged species impact rather than direct heating. Experimental results show that higher energy density leads to greater hydrogen production and diminishing energy efficiency, and that higher plasma intensity and larger feedstock mass lead to greater hydrogen yield due to higher plasma temperatures and enhanced energy fluxes to the feedstock.

08 HYDROGEN↗
DOE OSTI2026

Public Reference Data for Megawatt-Scale Hydrogen Electrolysis - NLR Historical Wind

The U.S. Department of Energy and the National Laboratory of the Rockies (NLR) demonstrate hydrogen electrolysis from variable sources, hydrogen compression and storage, and hydrogen fuel cell power production using megawatt-scale equipment at NLR’s Flatirons Campus as part of the Advanced Research on Integrated Energy Systems (ARIES) initiative. This dataset represents part of that effort and is intended for academic, national laboratory, industrial, and other stakeholders to plan, design, and validate models of megawatt-scale hydrogen technologies and diverse energy infrastructure nationwide. These data provide a baseline for how existing hydrogen electrolysis technologies perform when coupled with various energy technologies. Future datasets will demonstrate how existing hydrogen fuel cell technologies can provide controllable, dispatchable, and variable power output for artificial intelligence (AI) data centers and other variable loads. This dataset entry describes hydrogen production by conducting a statistical analysis of historical wind data over a five-year period (2020-2025) from a single 1.5MW turbine manufactured by General Electric (GE) located at NLR’s Flatirons Campus, to generate an experimental test profile that was deployed on a 1.25-MW proton exchange membrane type MC250 electrolyzer system manufactured by Nel Hydrogen . [1] While the electrolyzer balance-of-plant supports up to 2.5 MW of electrolysis, NLR only has a single 1.25-MW electrolysis stack. The historical wind data provided several metrics, however, the analysis particularly focused on the measured power output by the wind turbine. The power output time series of data for each day was categorized by total energy generation and standard deviation, and the day that represented the highest combination of these two metrics was chosen – December 25th, 2022. This process was then repeated for a moving four-hour window within this day to identify the most statistically variable period. Finally, this four-hour period was scaled by 65% to match the 1.25 MW electrolyzer. The electrolysis system controls hydrogen production by varying DC current applied to the stack, from a maximum of 3000 A to a minimum safe operation of 300 A, or 10%. Because the current – voltage characteristic changes as the stack ages and efficiency degrades, the actual minimum safe operating power changes over time. The historical wind profiles were translated from power (kilowatts) to current (amperes) using a curve fit with calibration data and sent to the electrolyzer power supply at 1 Hz frequency. For more details on the statistical analysis process, see the presentation labeled “ Public Reference Data for Megawatt-Scale Hydrogen Electrolysis” provided with each data entry. These datasets report relevant hydrogen balance-of-plant and system data, all captured at 1 Hz, including hydrogen mass production measured with an Emerson Coriolis flow meter. Each .zip file represents a single wind turbine electrolysis experiment and is formatted as follows: {technology}_{scaling factor}-{electrolyzer ramp rate in amperes/second} For instance, “wind-GE1.5MW_0.65-400.zip” represents the hour-long experiment using historical data from the wind-GE1.5MW turbine, scaled to 65%, with the electrolyzer power supply set to a maximum ramp rate (gain and slew) of 400 A/s. Each .zip folder contains the following files: A .csv file containing raw data An .xlsx file explaining all the fields in the raw data. A .png plot showing the time series of hydrogen production, electrolysis power consumption, and wind power input. A PDF file detailing the historical wind data statistical analysis used to generate the wind profile. An experiment labeled “characterization_200.zip” demonstrates the MC250 electrolyzer steady-state response with 30-minute load steps for a total duration of 5 hours. Finally, a .csv file is provided with all simulated wind experiments combined into one dataset labeled "combined_historical_wind_experiments.csv". NLR also built an AI/machine-learning predictive model based on these datasets. The model ingests the electrolyzer current command in amperes, as well as various pressures and temperatures across the system, and predicts hydrogen output in kilograms per hour. The complete model can be found at https://huggingface.co/NatLabRockies/ptmelt-hydrogen-electrolysis [1] nelhydrogen.com/product/mc-series-electrolyser .

08 HYDROGEN↗
DOE OSTI2017

Rechargeable Zinc Alkaline Anodes for Long-Cycle Energy Storage

Zinc alkaline anodes command significant share of consumer battery markets and are a key technology for the emerging grid-scale battery market. Improved understanding of this electrode is required for long-cycle deployments at kWh and MWh scale due to strict requirements on performance, cost, and safety. For this article, we give a modern literature survey of zinc alkaline anodes with levelized performance metrics and also present an experimental assessment of leading formulations. Long-cycle materials characterization, performance metrics, and failure analysis are reported for over 25 unique anode formulations with up to 1500 cycles and ~1.5 years of shelf life per test. Statistical repeatability of these measurements is made for a baseline design (fewest additives) via 15 duplicates. Baseline design capacity density is 38 mAh per mL of anode volume, and lifetime throughput is 72 Ah per mL of anode volume. We then report identical measurements for anodes with improved material properties via additives and other perturbations, some of which achieve capacity density over 192 mAh per mL of anode volume and lifetime throughput of 190 Ah per mL of anode volume. Novel in operando X-ray microscopy of a cycling zinc paste anode reveals the formation of a nanoscale zinc material that cycles electrochemically and replaces the original anode structure over long-cycle life. Ex situ elemental mapping and other materials characterization suggest that the key physical processes are hydrogen evolution reaction (HER), growth of zinc oxide nanoscale material, concentration deficits of OH – and ZnOH 4 2– , and electrodeposition of Zn growths outside and through separator membranes.

25 ENERGY STORAGE↗
NASA NTRS1947

Report on Rocket Power Plants Based on T-Substance

In the search for an energy source independent of air for the propulsion of underwater craft, attention was early concentrated on T-substance. It was possible to convince the OKM [NACA comment: Navy High Command] very quickly of the importance of this material. In 1934, the first experiments were undertaken. A difficulty was at once presented by the limited concentration that had been attained. At first only 60 percent T-substance could be supplied; this amount was later increased to as much as 85 percent. Decomposition and combustion experiments conducted on the grounds of the CPVA in Kiel-Dietrichsdorf led to the first practical information as to the technical feasibility of the use of T-substance. New perspectives soon developed because a method of concentrated energy production had been found here, which was capable of many applications. The idea of using this energy for the propulsion of missiles either in guns or as rockets suggested itself and appropriate proposals, which quickly led to the construction of the first experimental devices, were made to the official quarters concerned. In January 1937, the first flight of a DVL aircraft with T-substance auxiliary propulsion took place at Alimbsmuhle in the presence of Colonel Udet, who piloted the third flight. In June 1937, the first T-substance rockets were fired (Altenwalde). Then in rapid succession take-off auxiliary, main propulsion, and other rocket drives were brought out in experimental versions. Hydrogen peroxide is a well known chemical, which is widely used in the textile industry. Its chemical and physical properties as well as the processes of manufacture and use are familiar and have been described in voluminous books and papers, Nevertheless, much developmental work was required to open the way for T-substance as a usable oxygen carrier. In fact the utilization of hydrogen peroxide as the oxygen carrier for energy production had hitherto been the subject only of isolated suggestions, which have never been developed beyond the stage of theoretical discussion.

Walter, Hellmuth↗
NASA NTRS2013

NASA Activity Update for the 2013 Unmanned Vehicle Systems International (UVSI) Yearbook

This year s report offers a high level perspective on some of the UAS related activities in which NASA is involved, both internal and external to the agency. Internally, NASA issued UAS operational policy on certification of NASA UAS and aircrew. A team of NASA UAS experts and operators analyzed all current procedures and best practices to design the policy. An update to the agencies Aircraft Operations Management Manual incorporated a new chapter to address UAS planning, preflight operations, flight operations, flight crew requirements, airworthiness and flight safety reviews. NASA UAS are classified into three categories based on weight and airspeed. Aircrews, including observers, are classified by how they interface with the UAS, and the policy defines qualifications, training, and currency. The NASA flight readiness approval process identifies risks and mitigations in order to reduce the likelihood and/or consequence of the risk to an acceptable level. The UAS operations process incorporates all aspects of airworthiness, flight standards and range safety exactly the same processes used for NASA manned aircraft operations. NASA has two internal organizations that routinely operate UAS. The Science Mission Directorate utilizes UAS as part of its Airborne Science Program and is the most frequent operator of NASA UAS in both national and international airspace. The Aeronautics Research Mission Directorate conducts UAS flight operations in addition to conducting research important to the UAS community. This past year the Science Mission Directorate supported the Hurricane and Severe Storm Sentimental (HS3) Mission with two NASA Global Hawk platforms. HS3 is a five-year mission specifically targeted to investigate the processes that underlie hurricane formation. During the 2012 portion of this mission the Global Hawk overflew hurricanes Leslie and Nadine in the Atlantic Ocean completing 6 flights and accumulating more than 148 flight hours. Another multi-year mission was initiated last year when the Sensor Integrated Environmental Remote Research Aircraft (SIERRA) UAS began surveying faults in California s Surprise Valley. A team of scientists and engineers from the United States Geological Survey (USGS), NASA Ames Research Center, Central Washington University, and Carnegie Mellon University will measure magnetic fields using ground surveys and the SIERRA to map the geophysics below the surface of Surprise Valley. The data collected will be used to generate 3D maps of the geophysical data of the area. The Aeronautics Mission Directorate continues its collaboration with Boeing to conduct UAS flight operations of the X-48C, a modified version of the X-48B originally built by Cranfield Aerospace, United Kingdom. The Aeronautics Mission Directorate utilizes vehicles of this size for a wide variety of research studies. Most of these operations are conducted within restricted airspace. The Aeronautics Research Mission Directorate also sponsors the UAS in the National Airspace System (NAS) Project, which is working in close cooperation with the Federal Aviation Administration (FAA) to address critical challenges associated with routine UAS operations in civil airspace. The project is focused on separation assurance and collision avoidance systems and algorithms, command and control for non-military operations including spectrum allocation requirements, human system interaction issues, and safety and certification topics.

Bauer, Jeffrey E.↗
NASA NTRS2013

Development Status of the WetLab-2 Project: New Tools for On-orbit Real-time Quantitative Gene Expression.

The primary objective of NASA Ames Research Centers WetLab-2 Project is to place on the ISS a research platform to facilitate gene expression analysis via quantitative real-time PCR (qRT-PCR) of biological specimens grown or cultured on orbit. The WetLab-2 equipment will be capable of processing multiple sample types ranging from microbial cultures to animal tissues dissected on-orbit. In addition to the logistical benefits of in-situ sample processing and analysis, conducting qRT-PCR on-orbit eliminates the confounding effects on gene expression of reentry stresses and shock acting on live cells and organisms. The system can also validate terrestrial analyses of samples returned from ISS by providing quantitative on-orbit gene expression benchmarking prior to sample return. The ability to get on orbit data will provide investigators with the opportunity to adjust experimental parameters for subsequent trials based on the real-time data analysis without need for sample return and re-flight. Finally, WetLab-2 can be used for analysis of air, surface, water, and clinical samples to monitor environmental contaminants and crew health. The verification flight of the instrument is scheduled to launch on SpaceX-5 in Aug. 2014.Progress to date: The WetLab-2 project completed a thorough study of commercially available qRT-PCR systems and performed a downselect based on both scientific and engineering requirements. The selected instrument, the Cepheid SmartCycler, has advantages including modular design (16 independent PCR modules), low power consumption, and rapid ramp times. The SmartCycler has multiplex capabilities, assaying up to four genes of interest in each of the 16 modules. The WetLab-2 team is currently working with Cepheid to modify the unit for housing within an EXPRESS rack locker on the ISS. This will enable the downlink of data to the ground and provide uplink capabilities for programming, commanding, monitoring, and instrument maintenance. The project is currently designing a module that will lyse the cells and extract RNA of sufficient quality for use in qRT-PCR reactions while using a housekeeping gene to normalize RNA concentration and integrity. Current testing focuses on two promising commercial products and chemistries that allow for RNA extraction with minimal complexity and crew time.

quantitative PCR↗
NASA NTRS2011

Solar Dynamics Observatory Guidance, Navigation, and Control System Overview

The Solar Dynamics Observatory (SDO) was designed and built at the Goddard Space Flight Center, launched from Cape Canaveral on February 11, 2010, and reached its final geosynchronous science orbit on March 16, 2010. The purpose of SDO is to observe the Sun and continuously relay data to a dedicated ground station. SDO remains Sun-pointing throughout most of its mission for the instruments to take measurements of the Sun. The SDO attitude control system (ACS) is a single-fault tolerant design. Its fully redundant attitude sensor complement includes sixteen coarse Sun sensors (CSSs), a digital Sun sensor (DSS), three two-axis inertial reference units (IRUs), and two star trackers (STs). The ACS also makes use of the four guide telescopes included as a part of one of the science instruments. Attitude actuation is performed using four reaction wheels assemblies (RWAs) and eight thrusters, with a single main engine used to provide velocity-change thrust for orbit raising. The attitude control software has five nominal control modes, three wheel-based modes and two thruster-based modes. A wheel-based Safehold running in the attitude control electronics box improves the robustness of the system as a whole. All six modes are designed on the same basic proportional-integral-derivative attitude error structure, with more robust modes setting their integral gains to zero. This paper details the final overall design of the SDO guidance, navigation, and control (GN&C) system and how it was used in practice during SDO launch, commissioning, and nominal operations. This overview will include the ACS control modes, attitude determination and sensor calibration, the high gain antenna (HGA) calibration, and jitter mitigation operation. The Solar Dynamics Observatory mission is part of the NASA Living With a Star program, which seeks to understand the changing Sun and its effects on the Solar System, life, and society. To this end, the SDO spacecraft carries three Sun-observing instruments: Helioseismic and Magnetic Imager (HMI), led by Stanford University; Atmospheric Imaging Assembly (AIA), led by Lockheed Martin Space and Astrophysics Laboratory; and Extreme Ultraviolet Variability Experiment (EVE), led by the University of Colorado. The basic mission is to observe the Sun for a very high percentage of the 5-year mission (10-year goal) with long stretches of uninterrupted observations and with constant, high-data-rate transmission to a dedicated ground station to be located in White Sands, New Mexico. These goals guided the design of the spacecraft bus that will carry and service the three-instrument payload. Overarching design goals for the bus are geosynchronous orbit, near-constant Sun observations with the ability to fly through eclipses, and constant HGA contact with the dedicated ground station. A three-axis stabilized ACS is needed both to point at the Sun accurately and to keep the roll about the Sun vector correctly positioned with respect to the solar north pole. This roll control is especially important for the magnetic field imaging of HM I. The mission requirements have several general impacts on the ACS design. Both the AIA and HMI instruments are very sensitive to the blurring caused by jitter. Each has an image stabilization system (ISS) with some ability to filter out high frequency motion, but below the bandwidth of the ISS the control system must compensate for disturbances within the ACS bandwidth or avoid exciting jitter at higher frequencies. Within the ACS bandwidth, the control requirement imposed by AIA is to place the center of the solar disk no more than 2 arc sec, 3 , from a body-defined target based on one of the GTs that accompany the instrument. This body-defined target, called the science reference boresight (SRB), was determined from the postlaunch orientation of the GTs by averaging the bounding telescope boresights for pitch to get a pitch SRB coordinate, and by averaging the bounding boresights for yaw toet the yaw SRB coordinate. The location of this SRB in the 0.5-deg field-of-view for each GT then becomes the central target for each telescope; one GT is selected for use as the ACS controlling guide telescope (CGT) at any given time. Fine Sun-pointing is effected based on this SRB for all three instruments when the Sun is within the linear range of the CGT. In addition to limiting jitter, HMI science requires averaging several observations, making the instrument sensitive to low frequency motion that induces differential motion between each observation. This requires the spacecraft attitude to be stable about the roll axis to approximately 10 arcsec over a ten-minute period. Instrument calibrations require that the spacecraft point the SRB up to 2.5 degrees in pitch and yaw away from the center of the Sun, placing the Sun outside the field-of-view of the guide telescopes. In such instances, when the GTs cannot provide the definitive target for the ACS, on-board attitude determination combined with ephemeris prediction of the Sun direction must provide the definitive target. EVE is capable of observing the Sun with less dependence on attitude control. However, the ground data processing needs for calibrations result in the most strict attitude knowledge requirements for the mission: [35,70,70] arcsec, 3 , of knowledge with respect to the center of the solar disk. In addition to driving the ACS sensor selection, the knowledge requirements, which have their effect primarily during Inertial mode calibrations, drive the accuracy requirements for the solar ephemeris. The need to achieve and maintain geosynchronous orbit (GEO) drove the need for high-efficiency propulsive systems and appropriate attitude control. The main engine provided high specific impulse for the maneuvers to attain GEO, while the smaller ACS thrusters managed the disturbance torques of the larger engine and provided the capability for much smaller adjustment burns on orbit. SDO s large solar profile means that solar radiation pressure is a large torque disturbance, and the momentum buildup from this disturbance and the GEO altitude drives the ACS to use thrusters to manage vehicle momentum. The demanding data capture budget for the mission, however, requires SDO to avoid frequent thruster maneuvers, while concerns about on-orbit jitter restrict the maximum desired wheel speeds desired from the RWAs. The plan for on-orbit wheel speed and momentum management will be discussed as well as what is now being done in operation after the jitter environment was characterized. The SDO ACS hardware complement is single-fault tolerant. Two main processors carry virtually identical copies of the command and data handling and ACS software, and two identical attitude control electronics (ACE) boxes carry Coldfire processors with contingency ACS software and other hardware interface cards; the ACE structure allows reaction wheels to be commanded by the Sun-pointing Safehold independent of the Mil Std 1553 data bus. The sixteen Adcole CSSs are grouped into primary and backup sets of eight sensors, each set providing the ability to calculate a sun vector. Each set of eight eyes provides full 4 -steradian coverage. The Adcole DSS comprises an optics head and a separate electronics box providing a 1553 data interface. The electronics box is mounted inside the Faraday cage created by the spacecraft bus module. The DSS head with its 32- deg square FOV is mounted on the instrument module with its boresight along the spacecraft X axis, nearly aligned with the Sun during observations. Adcole has designed the DSS calibration parameters so that the accuracy is 0.24 arcminutes within 10 deg of the boresight, and diminishes to 3 arcminutes as the Sun moves towards the edges of its FOV . This DSS calibration scheme provides higher accuracy attitude determination over the range of the instrument calibration maneuvers.

Morgenstern, Wendy M.↗
NASA NTRS1992

Development of generalized 3-D braiding machines for composite preforms

The development of prototype braiding machines for the production of generalized braid patterns is described. Mechanical operating principles and control strategies are presented for two prototype machines which have been fabricated and evaluated. Both machines represent advances over current fabrication techniques for composite materials by enabling nearly ideal control of fiber orientations within preform structures. They permit optimum design of parts that might be subjected to complex loads or that have complex forms. Further, they overcome both the lack of general control of produced fiber architectures and the complexity of other weaving processes that have been proposed for the same purpose. One prototype, the Farley braider, consists of an array of turntables that can be made to oscillate in 90 degree steps. Yarn ends are transported about the surface formed by the turntables by motorized tractors which are controlled through an optical link with the turntables and powered through electrical contact with the turntables. The necessary relative motions are produced by a series of linear tractor moves combined with a series of turntable rotations. As the tractors move about, they weave the yarn ends into the desired pattern. The second device, the shuttle plate braider, consists of a braiding surface formed by an array of stationary square sections, each separated from its neighbors by a gap. A plate beneath this surface is caused to reciprocate in two perpendicular directions, first in one direction and then in the other. This movement is made possibly by openings in the plate that clear short columns supporting the surface segments. Yarn ends are moved about the surface and interwoven by shuttles which engage the reciprocating plate as needed to yield the desired movements. Power and control signals are transmitted to the shuttles through electrical contact with the braiding surface. The shuttle plate is a passively driven prime mover that supplies the power to move all shuttles and the shuttles are simple devices that employ only a solenoid to engage the shuttle plate on command. Each shuttle is assigned a unique identity and is controlled independently. When compared to each other, the Farley braider is felt to have the advantage of speed and the shuttle plate braider, the advantage of simplicity.

Huey, Cecil O., Jr.↗
NASA NTRS1997

STRIPE: Remote Driving Using Limited Image Data

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

REMOTE CONTROL↗
NASA NTRS2001

Human interactions during Shuttle/Mir space missions

To improve the interpersonal climate of crewmembers involved with long-duration space missions, it is important to understand the factors affecting their interactions with each other and with members of mission control. This paper will present findings from a recently completed NASA-funded study during the Shuttle/Mir program which evaluated in-group/out-group displacement of negative emotions; changes in tension, cohesion, and leader support over time; and cultural differences. In-flight data were collected from 5 astronauts, 8 cosmonauts, and 42 American and 16 Russian mission control personnel who signed informed consent. Subjects completed a weekly questionnaire that assessed their mood and perception of their work group's interpersonal climate using questions from well-known, standardized measures (Profile of Mood States, Group and Work Environment Scales) and a critical incident log. There was strong evidence for the displacement of tension and dysphoric emotions from crewmembers to mission control personnel and from mission control personnel to management. There was a perceived decrease in commander support during the 2nd half of the missions, and for American crewmembers a novelty effect was found on several subscales during the first few months on-orbit. There were a number of differences between American and Russian responses which suggested that the former were less happy with their interpersonal environment than the latter. Mission control personnel reported more tension and dysphoria than crewmembers, although both groups scored better than other work groups on Earth. Nearly all reported critical incidents came from ground subjects, with Americans and Russians showing important differences in response frequencies.

Non-NASA Center↗
NASA NTRS2002

Implementation of Adaptive Digital Controllers on Programmable Logic Devices

Much has been made of the capabilities of FPGA's (Field Programmable Gate Arrays) in the hardware implementation of fast digital signal processing. Such capability also makes an FPGA a suitable platform for the digital implementation of closed loop controllers. Other researchers have implemented a variety of closed-loop digital controllers on FPGA's. Some of these controllers include the widely used proportional-integral-derivative (PID) controller, state space controllers, neural network and fuzzy logic based controllers. There are myriad advantages to utilizing an FPGA for discrete-time control functions which include the capability for reconfiguration when SRAM-based FPGA's are employed, fast parallel implementation of multiple control loops and implementations that can meet space level radiation tolerance requirements in a compact form-factor. Generally, a software implementation on a DSP (Digital Signal Processor) or microcontroller is used to implement digital controllers. At Marshall Space Flight Center, the Control Electronics Group has been studying adaptive discrete-time control of motor driven actuator systems using digital signal processor (DSP) devices. While small form factor, commercial DSP devices are now available with event capture, data conversion, pulse width modulated (PWM) outputs and communication peripherals, these devices are not currently available in designs and packages which meet space level radiation requirements. In general, very few DSP devices are produced that are designed to meet any level of radiation tolerance or hardness. The goal of this effort is to create a fully digital, flight ready controller design that utilizes an FPGA for implementation of signal conditioning for control feedback signals, generation of commands to the controlled system, and hardware insertion of adaptive control algorithm approaches. An alternative is required for compact implementation of such functionality to withstand the harsh environment encountered on spacecraft. Radiation tolerant FPGA's are a feasible option for reaching this goal.

Gwaltney, David A.↗