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NASA NTRS2020

Distributed Spacecraft Autonomy (DSA): Development of Swarm Autonomy Capability and Scalability for Spacecraft

The Distributed Spacecraft Autonomy project is developing a suite of software tools that enable an operator to command and receive data from a swarm as a single entity, enable a swarm to autonomously coordinate its actions via distributed decision making and reactive closed-loop control, and model swarm behavior in the presence of anomalies or failures. Our use case is the mapping of the electron density of the ionosphere using radio tomography by coordinating the selection of appropriate GPS channels, and by recording Total Electron Count (TEC)measurements. DSA will be demonstrated on board the NASA Ames Starling mission a swarm of four small, LEO spacecraft, scheduled to launch in 2021. We will also perform a ground demonstration with simulated and hardware-in-the-loop elements, to validate the tools for controlling swarms of up to 100 assets.The capability to communicate autonomously between the swarm satellites is demonstrated via a sophisticated simulation architecture. Historical Plasma sphere TEC data obtained via dual-band Novatel GPS Receivers are utilized as a representative input data set for the swarm. The representative TEC data and GPS satellite observability information is fed to the autonomous software package in place of a true real-time ground data collection process. The swarm satellites actively share status updates amongst one another and utilize multi-agent decision making to optimally identify regions of interest in the TEC distribution. The software,aware of the bandwidth limitations of the swarm satellites, prioritizes explorative measurements,which define the range of observability for the satellites, as well as exploitative measurements,which focus on maximizing the observance potential of regions with prolonged, elevated TEC density. The science of this study can ultimately be used to determine the dynamics and coupling of Earth's magnetosphere, ionosphere, and atmosphere and their response to solar and terrestrial inputs. The findings can be applied to the imaging of critical, transient phenomena in the magnetosphere in later missions. Meanwhile, the swarm autonomy capabilities have far reaching potential in future satellite missions.As an experimental demonstration of the autonomous capabilities of the network, a message is first printed within a core Flight Executive (cFE) application. Two cFE applications that communicate with one another within the same core Flight System (cFS) are shown.Communication between mission applications on the internal cFE bus is extended to utilize Data Distribution Service (DDS) for vehicle-to-vehicle networking. The DDS middle ware provides reliable delivery, routing, and topic subscription features over User Data gram Protocol (UDP).Leveraging Linux containerization, a networked set of satellite instances are generated by script to simulate swarm behavior. Swarm commanding and synchronization through the network is demonstrated under various topologies and data-loss conditions. Finally, autonomous swarms calability from 2 satellites to 100 satellites is shown.

Fugate, Jason↗
NASA NTRS1994

NASA High Performance Computing and Communications program

The National Aeronautics and Space Administration's HPCC program is part of a new Presidential initiative aimed at producing a 1000-fold increase in supercomputing speed and a 1(X)-fold improvement in available communications capability by 1997. As more advanced technologies are developed under the HPCC program, they will be used to solve NASA's 'Grand Challenge' problems, which include improving the design and simulation of advanced aerospace vehicles, allowing people at remote locations to communicate more effectively and share information, increasing scientists' abilities to model the Earth's climate and forecast global environmental trends, and improving the development of advanced spacecraft. NASA's HPCC program is organized into three projects which are unique to the agency's mission: the Computational Aerosciences (CAS) project, the Earth and Space Sciences (ESS) project, and the Remote Exploration and Experimentation (REE) project. An additional project, the Basic Research and Human Resources (BRHR) project, exists to promote long term research in computer science and engineering and to increase the pool of trained personnel in a variety of scientific disciplines. This document presents an overview of the objectives and organization of these projects, as well as summaries of early accomplishments and the significance, status, and plans for individual research and development programs within each project. Areas of emphasis include benchmarking, testbeds, software and simulation methods.

Holcomb, Lee↗
NASA NTRS2002

Teaching, Learning, and Planetary Exploration

This is the final report of a program that examined the fundamentals of education associated with space activities, promoted educational policy development in appropriate forums, and developed pathfinder products and services to demonstrate the utility of advanced communication technologies for space-based education. Our focus was on space astrophysics and planetary exploration, with a special emphasis on the themes of the Origins Program, with which the Principal Investigator (PI) had been involved from the outset. Teaching, Learning, and Planetary Exploration was also the core funding of the Space Telescope Science Institute's (ST ScI) Special Studies Office (SSO), and as such had provided basic support for such important NASA studies as the fix for Hubble Space Telescope (HST) spherical aberration, scientific conception of the HST Advanced Camera, specification of the Next-Generation Space Telescope (NGST), and the strategic plan for the second decade of the HST science program.

Brown, Robert A.↗
NASA NTRS2003

A Probabilistic Risk Analysis (PRA) of Human Space Missions for the Advanced Integration Matrix (AIM)

The Advanced Integration Matrix (AIM) Project u7ill study and solve systems-level integration issues for exploration missions beyond Low Earth Orbit (LEO), through the design and development of a ground-based facility for developing revolutionary integrated systems for joint human-robotic missions. This paper describes a Probabilistic Risk Analysis (PRA) of human space missions that was developed to help define the direction and priorities for AIM. Risk analysis is required for all major NASA programs and has been used for shuttle, station, and Mars lander programs. It is a prescribed part of early planning and is necessary during concept definition, even before mission scenarios and system designs exist. PRA cm begin when little failure data are available, and be continually updated and refined as detail becomes available. PRA provides a basis for examining tradeoffs among safety, reliability, performance, and cost. The objective of AIM's PRA is to indicate how risk can be managed and future human space missions enabled by the AIM Project. Many critical events can cause injuries and fatalities to the crew without causing loss of vehicle or mission. Some critical systems are beyond AIM's scope, such as propulsion and guidance. Many failure-causing events can be mitigated by conducting operational tests in AIM, such as testing equipment and evaluating operational procedures, especially in the areas of communications and computers, autonomous operations, life support, thermal design, EVA and rover activities, physiological factors including habitation, medical equipment, and food, and multifunctional tools and repairable systems. AIM is well suited to test and demonstrate the habitat, life support, crew operations, and human interface. Because these account for significant crew, systems performance, and science risks, AIM will help reduce mission risk, and missions beyond LEO are far enough in the future that AIM can have significant impact.

Jones, Harry W.↗
NASA NTRSDate not supplied

Visualizations to Aid Decision-Making in the ACCP Value Framework

The Aerosols, Clouds, Convection, and Precipitation Value Framework is used to introduce structure, transparency, and traceability into the decision-making process for a study formulating and assessing potential observing system concepts to respond to the 2017-2027 Decadal Survey for Earth Science and Applications. Within the Value Framework, visualizations play an important role in presenting information and structuring conversations around that information. This paper describes three guiding principles that were applied to the design of the visualizations of the Value Framework, presents examples of visualizations that serve at least one of several functions (structuring communication, facilitating elicitation and aggregation of data, and summarizing complex information), and identifies lessons learned from the development and implementation of those visualizations. The guiding principles and lessons learned have not only contributed to the success of the Value Framework and the ACCP study, but also can be applied in other decision-making activities.

Christopher A. Jones↗
NASA NTRSDate not supplied

Visualizations to Aid Decision-Making in the ACCP Value Framework

The Aerosols, Clouds, Convection, and Precipitation Value Framework is used to introduce structure, transparency, and traceability into the decision-making process for a study formulating and assessing potential observing system concepts to respond to the 2017-2027 Decadal Survey for Earth Science and Applications. Within the Value Framework, visualizations play an important role in presenting information and structuring conversations around that information. This paper describes three guiding principles that were applied to the design of the visualizations of the Value Framework, presents examples of visualizations that serve at least one of several functions (structuring communication, facilitating elicitation and aggregation of data, and summarizing complex information), and identifies lessons learned from the development and implementation of those visualizations. The guiding principles and lessons learned have not only contributed to the success of the Value Framework and the ACCP study, but also can be applied in other decision-making activities.

Christopher A Jones↗
NASA NTRS2021

FRESCO: A Framework for Spacecraft Systems Autonomy

Achieving the science exploration and defense goals of the following decades will require flight systems capable of operations with limited operator contact, system mode changes and retasking based on sensor data, and complex robotic operations. To support these capabilities, increasingly autonomous flight systems are required that can perform dedicated mission functions, e.g. payload targeting and communications, and system-level functions, e.g. planning and goal monitoring. Architecting an autonomous system requires a well-reasoned, self-consistent framework to avoid \textit{ad hoc} design choices that will introduce complexity and risk. The Framework for Robust Execution and Scheduling of Commands On-Board, FRESCO, is the result of lessons learned in developing a software architecture to enable autonomous solar system exploration. FRESCO generalizes this work to offer a modular, software-agnostic approach to developing verifiable architecture for autonomous space systems. FRESCO specifies guiding principles, functions, interfaces, and interactions from which mission-specific autonomous control architectures can be derived. FRESCO is a principled framework relying on explicit, state-based goal definitions, centralized management of state knowledge, clearly separated control boundaries, and hierarchical reasoning. Using components from FRESCO reference architecture, an autonomous decision-making architecture can be designed for spacecraft which can then be mapped to flight software architecture. FRESCO is flexibly defined to enable autonomous control of flight systems built using extensive software and hardware heritage. Finally, FRESCO-derived architectures support a spectrum of operator/spacecraft interactions, ranging from traditional commanding to goal-driven commanding with the ability to change mission goals autonomously. FRESCO has been used in defining the autonomy architectures for the ASTERIA mission and have been demonstrated in laboratory and software simulation for small body rendezvous and in-space servicing missions.

Kolcio, Ksenia↗
NASA NTRS1976

Biomedical technical transfer. Applications of NASA science and technology

Lower body negative pressure testing in cardiac patients has been completed as well as the design and construction of a new leg negative unit for evaluating heart patients. This technology is based on NASA research, using vacuum chambers to stress the cardiovascular system during space flight. Additional laboratory tests of an intracranial pressure transducer, have been conducted. Three new biomedical problems to which NASA technology is applicable are also identified. These are: a communication device for the speech impaired, the NASA development liquid-cooled garment, and miniature force transducers for heart research.

Source record↗
NASA NTRS2001

Hubble Space Telescope Servicing Mission 3A Rendezvous Operations

The Hubble Space Telescope (HST) hardware complement includes six gas bearing, pulse rebalanced rate integrating gyros, any three of which are sufficient to conduct the science mission. After the loss of three gyros between April 1997 and April 1999 due to a known corrosion mechanism, NASA decided to split the third HST servicing mission into SM3A, accelerated to October 1999, and SM3B, scheduled for November 2001. SM3A was developed as a quick turnaround 'Launch on Need' mission to replace all six gyros. Loss of a fourth gyro in November 1999 caused HST to enter Zero Gyro Sunpoint (ZGSP) safemode, which uses sun sensors and magnetometers for attitude determination and momentum bias to maintain attitude stability during orbit night. Several instances of large attitude excursions during orbit night were observed, but ZGSP performance was adequate to provide power-positive sun pointing and to support low gain antenna communications. Body rates in ZGSP were estimated to exceed the nominal 0.1 deg/sec rendezvous limit, so rendezvous operations were restructured to utilize coarse, limited life, Retrieval Mode Gyros (RMGs) under Hardware Sunpoint (HWSP) safemode. Contingency procedures were developed to conduct the rendezvous in ZGSP in the event of RMGA or HWSP computer failure. Space Shuttle Mission STS-103 launched on December 19, 1999 after a series of weather and Shuttle-related delays. After successful rendezvous and grapple under HWSP/RMGA, the crew changed out all six gyros. Following deploy and systems checkout, HST returned to full science operations.

Lee, S.↗
NASA NTRS1974

Venus - Mass, gravity field, atmosphere, and ionosphere as measured by the Mariner 10 dual-frequency radio system

The unique properties of the Mariner 10 radio system, and the preliminary scientific results obtained from the analysis of the radio signals are described. In the normal two-way communication mode, a command- and range-modulated 2115-MHz signal is transmitted to the spacecraft for reception on its omnidirectional antenna. As implemented for Mariner 10, the dual-frequency system has proven fully capable of performing interplanetary columnar electron content measurements while achieving the prime goals of the celestial mechanics and radio science team. The determination of the mass and gravitational potential of Venus is one of the major objectives of the radio science experiments. Information on Venus's atmosphere was deduced from analysis of the radio signals during occultation. Open-loop receiver differential Doppler data were used to measure the nightside and dayside ionospheres of Venus.

Howard, H. T.↗
NASA NTRS1975

Significant Accomplishments in Science and Technology

The proceedings of a symposium on significant accomplishments in science and technology are presented. The symposium was held at the Goddard Space Flight Center in December 1973. The subjects discussed are as follows: (1) cometary physics, (2) X-ray and gamma ray astronomy, (3) solar and terrestrial physics, (4) spacecraft technology, (5) Earth Resources Technology Satellite, (6) earth and ocean physics, (6) communications and navigation, (7) mission operations and data systems, and (8) networks systems and operations.

Source record↗
NASA NTRS1975

Challenges of the Viking Mars Lander system

A number of natural constraints have led to a highly autonomous Lander system design. Almost all communications to and from the Lander are via the Orbiter. A functional description of the Lander mission is given, taking into account deorbit and descent, entry, terminal descent, landing, and landed operations. The challenges of the system design are considered along with the mechanical configuration and aspects of thermal control. Attention is given to science data return, aspects of reliability and redundancy, and details regarding the software.

Goodlette, J. D.↗
NASA NTRS1993

NASA high performance computing and communications program

The National Aeronautics and Space Administration's HPCC program is part of a new Presidential initiative aimed at producing a 1000-fold increase in supercomputing speed and a 100-fold improvement in available communications capability by 1997. As more advanced technologies are developed under the HPCC program, they will be used to solve NASA's 'Grand Challenge' problems, which include improving the design and simulation of advanced aerospace vehicles, allowing people at remote locations to communicate more effectively and share information, increasing scientist's abilities to model the Earth's climate and forecast global environmental trends, and improving the development of advanced spacecraft. NASA's HPCC program is organized into three projects which are unique to the agency's mission: the Computational Aerosciences (CAS) project, the Earth and Space Sciences (ESS) project, and the Remote Exploration and Experimentation (REE) project. An additional project, the Basic Research and Human Resources (BRHR) project exists to promote long term research in computer science and engineering and to increase the pool of trained personnel in a variety of scientific disciplines. This document presents an overview of the objectives and organization of these projects as well as summaries of individual research and development programs within each project.

Holcomb, Lee↗
NASA NTRS1996

Development of the command data system and ground software for the SEDSAT-1 microsatellite

SEDSAT-1 is designed to be a low cost scientific satellite which is to be used to perform a minimum of five tasks which include: (1) the acquisition of a number of important parameters associated with the tethering processes from the payloads perspective (such as accelerations incurred and imaging data of the tether during deployment), (2) to act as a remote sensing platform for making measurements of the Earth's Atmosphere (allowing research to be performed in such areas as vertical lightning observation, visible light spectrography, and cloud cover studies, (3) to act as a general purpose amateur radio communication satellite relaying information back to earth, (4) to demonstrate the feasibility of the deployment in low earth orbit of advanced technology such as the Gallium Arsenide Solar Cells, Nickel Metal Hydride batteries, and multi-chip module technology and, (5) to support student's active participation in applying the disciplines of engineering and science to space-based hardware platforms. The project includes the Three-axis Accelerometer System, TAS, Experiment which is designed to report the accelerations that the satellite undergoes during the tethering operations and during the second phase of the mission when the free floating satellite comes in contact with orbit debris. The SEASIS (SEDS Earth, Atmosphere, and Space Imaging System) is another SEDSAT experiment designed to provide images of the tether during its deployment and the earth during the second phase of the mission. To control these experiments and virtually all other satellite operations the Command Data System, CDS is employed. This system utilizes a moderate complexity micro-controller controlled by tasks operating under a real-time operating system to dynamically monitor and control the satellite. The scope of this researchers efforts has been in the general area of coordinating and assisting the student researchers with the development of the CDS and ground station interfaces. This included the low level CDS hardware design and the formulization of a general software plan and schedule for both the CDS and ground station portions of the project.

Wells, B. Earl↗
NASA NTRS2003

Government and Industry Issues for Expanding Commercial Markets into Space

In 2002, the Foresight and Governance Project at the Woodrow Wilson Center in Washington, D.C, organized a "Global Foresight Workshop" in partnership with NASA and in cooperation with other Federal Agencies to provide integrated consideration of broad challenges for the 2lst century. Many long-range goals for the nation were discussed and selected, among them were space related goals of interest to NASA. During much of the Agency's history, NASA advanced studies have focused consistently on the challenges of science-driven space exploration and operations. However, workshop findings indicate little interest in these goals unless they can also solve national and global issues. Many technologies and space development studies indicate great potential to enable new, important commercial markets in space that could address the many global challenges facing America in this century. But communication of these ideas are lacking. In conclusion, it appears that the commercial development of space could have broad implications on many impending problems, including energy resources, environmental impact, and climate changes. The challenge will be to develop a consistent coordinated effort among the many industries and Agencies that should be involved in opening this new frontier for these new commercial markets.

Smitherman, David V., Jr.↗
NASA NTRS2006

Exploring the Possibilities: Earth and Space Science Missions in the Context of Exploration

According to Dr. Edward J. Weiler, Director of the Goddard Space Flight Center, "Exploration without science is tourism". At the American Astronautical Society's 43rd Annual Robert H. Goddard Memorial Symposium it was quite apparent to all that NASA's current Exploration Initiative is tightly coupled to multiple scientific initiatives: exploration will enable new science and science will enable exploration. NASA's Science Mission Directorate plans to develop priority science missions that deliver science that is vital, compelling and urgent. This paper will discuss the theme of the Goddard Memorial Symposium that science plays a key role in exploration. It will summarize the key scientific questions and some of the space and Earth science missions proposed to answer them, including the Mars and Lunar Exploration Programs, the Beyond Einstein and Navigator Programs, and the Earth-Sun System missions. It will also discuss some of the key technologies that will enable these missions, including the latest in instruments and sensors, large space optical system technologies and optical communications, and briefly discuss developments and achievements since the Symposium. Throughout history, humans have made the biggest scientific discoveries by visiting unknown territories; by going to the Moon and other planets and by seeking out habitable words, NASA is continuing humanity's quest for scientific knowledge.

Pfarr, Barbara↗
NASA NTRS2008

'Towers in the Tempest' Computer Animation Submission

The following describes a computer animation that has been submitted to the ACM/SIGGRAPH 2008 computer graphics conference: 'Towers in the Tempest' clearly communicates recent scientific research into how hurricanes intensify. This intensification can be caused by a phenomenon called a 'hot tower.' For the first time, research meteorologists have run complex atmospheric simulations at a very fine temporal resolution of 3 minutes. Combining this simulation data with satellite observations enables detailed study of 'hot towers.' The science of 'hot towers' is described using: satellite observation data, conceptual illustrations, and a volumetric atmospheric simulation data. The movie starts by showing a 'hot tower' observed by NASA's Tropical Rainfall Measuring Mission (TRMM) spacecraft's three dimensional precipitation radar data of Hurricane Bonnie. Next, the dynamics of a hurricane and the formation of 'hot towers' are briefly explained using conceptual illustrations. Finally, volumetric cloud, wind, and vorticity data from a supercomputer simulation of Hurricane Bonnie are shown using volume techniques such as ray marching.

Shirah, Greg↗
NASA NTRS2009

Use of Web 2.0 Technologies for Public Outreach on a Simulated Mars Mission

Recent advances in social media and internet communications have revolutionized the ways people interact and disseminate information. Astronauts are already taking advantage of these tools by blogging and tweeting from space, and almost all NASA missions now have presences on the major social networking sites. One priotity for future human explorers on Mars will be communicating their experiences to the people back on Earth. During July 2009, a 6-member crew of volunteers carried out a simulated Mars mission at the Flashline Mars Arctic Research Station (FMARS). The Mars Society built the mock Mars habitat in 2000-01 to help develop key knowledge and inspire the public for human Mars exploration. It is located on Devon island about 1600 km from the North Pole within the Arctic Circle. The structure is situated on the rim of Haughton Crater in an environment geologically and biologically analogous to Mars. Living in a habitat, conducting EVAs wearing spacesuits, and observing communication delays with "Earth,"the crew endured restrictions similar to those that will be faced by future human Mars explorers. Throughout the expedition, crewmembers posted daily blog entries, reports, photos, videos, and updates to their website and social media outlets Twitter, Facebook, YouTube, and Picasa Web Albums. During the sixteen EVAs of thier field science research campaign, FMARS crewmembers collected GPS track information and took geotagged photos using GPS-enabled cameras. They combined their traverse GPS tracks with photo location information into KML/KMZ files that website visitors can view in Google Earth.

Ferrone, Kristine↗