Gimballess inertial systems for space navigation
Gimballess inertial systems for space navigation
COORDINATE TRANSFORMATION↗
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Symbolic computer vector analysis
A MACSYMA program is described which performs symbolic vector algebra and vector calculus. The program can combine and simplify symbolic expressions including dot products and cross products, together with the gradient, divergence, curl, and Laplacian operators. The distribution of these operators over sums or products is under user control, as are various other expansions, including expansion into components in any specific orthogonal coordinate system. There is also a capability for deriving the scalar or vector potential of a vector field. Examples include derivation of the partial differential equations describing fluid flow and magnetohydrodynamics, for 12 different classic orthogonal curvilinear coordinate systems.
Stoutemyer, D. R.↗
NASF transposition network: A computing network for unscrambling p-ordered vectors
The viewpoints of design, programming, and application of the transportation network (TN) is presented. The TN is a programmable combinational logic network that connects 521 memory modules to 512 processors. The unscrambling of p-ordered vectors to 1-ordered vectors in one cycle is described. The TN design is based upon the concept of cyclic groups from abstract algebra and primitive roots and indices from number theory. The programming of the TN is very simple, requiring only 20 bits: 10 bits for offset control and 10 bits for barrel switch shift control. This simple control is executed by the control unit (CU), not the processors. Any memory access by a processor must be coordinated with the CU and wait for all other processors to come to a synchronization point. These wait and synchronization events can be a degradation in performance to a computation. The TN application is for multidimensional data manipulation, matrix processing, and data sorting, and can also perform a perfect shuffle. Unlike other more complicated and powerful permutation networks, the TN cannot, if possible at all, unscramble non-p-ordered vectors in one cycle.
Lim, R. S.↗
Coordinates of features on the Galilean satellites
The coordinate systems of each of the Galilean satellites are defined and coordinates of features seen in the Voyager pictures of these satellites are presented. The control nets of the satellites were computed by means of single block analytical triangulations. The normal equations were solved by the conjugate iterative method which is convenient and which converges rapidly as the initial estimates of the parameters are very good.
Davies, M. E.↗
The solar optical telescope
This paper describes NASA's Solar Optical Telescope (SOT), which is designed to measure the density temperature, magnetic fields, and the nonthermal velocity fields of solar features on a scale at which the basic physical processes are occurring. A series of 7- to 14-day missions carrying a 1.3-meter solar-observing telescope that has a spatial resolution only slightly larger than the photon mean-free-path of about 80 km will be flown as a Spacelab-attached payload aboard the Space Transportation System (STS) in mid-1990. The telescope (Fig. 1) will be built and integrated by the Perkin-Elmer Corporation and is managed by NASA's Goddard Space Flight Center. Coarse pointing to the sun is provided by the Spacelab instrument pointing system (IPS), whereas fine pointing is provided by the Observatory pointing and control system. The science instruments for the first mission, the photometric filtergraph and the coordinated filtergraph/spectrograph, that are integrated into a combined instrument package are also described.
Hogan, G. D.↗
A proposal of an architecture for the coordination level of intelligent machines
The issue of obtaining a practical, structured, and detailed description of an architecture for the Coordination Level of Center for Intelligent Robotic Systems for Sapce Exploration (CIRSSE) Testbed Intelligent Controller is addressed. Previous theoretical and implementation works were the departure point for the discussion. The document is organized as follows: after this introductory section, section 2 summarizes the overall view of the Intelligent Machine (IM) as a control system, proposing a performance measure on which to base its design. Section 3 addresses with some detail implementation issues. An hierarchic petri-net with feedback-based learning capabilities is proposed. Finally, section 4 is an attempt to address the feedback problem. Feedback is used for two functions: error recovery and reinforcement learning of the correct translations for the petri-net transitions.
Beard, Randall↗
SIMBAD quality-control
The astronomical database SIMBAD developed at the Centre de donnees astronomiques de Strasbourg presently contains 760,000 objects (stellar and non-stellar). It has the unique characteristic of being structured specifically for astronomical objects. All types of heterogeneous data (bibliographic references, measurements, and sets of identification) are connected with each object. The attributes that define quality of the database include the following. Reliability: cross-identification should not rely upon just exact values object coordinates. It also means that information attached to one simple object should be consistent. The existing data must be controlled in order to start with a reliable base and to cross-identify new data assuring the quality as data grows. Exhaustivity: delays between publication of new informations and their inclusion in the database should be as short as possible. The integrity of the database has to be maintained as data accumulates. Taking the amount of data into consideration and the rate of new data production, it is necessary to use automatic methods. One of the possibilities is to use multivariate data analysis. The factor-space is a n-dimensional relevancy space which is described by the n-axes representing a set of n subject matter headings; the words and phrases can be used to scale the axes and the documents are then a vector average of the terms within them. The application reported herein is based on the NASA-STI bibliographical database. The selected data concern astronomy, astrophysics, and space radiation (102,963 references from 1975 to 1991 included 8070 keywords). The F-space is built from this bibliographical data. By comparing the F-space position obtained from the NASA-STI keywords with the F-space position obtained from the SIMBAD references, the authors will be able to show whether it is possible to retrieve information with a restricted set of words only. If the comparison is valid, this will be a way to enter bibliographic information in the SIMBAD quality control process. Furthermore, it is possible to connect the physical measurements of stars from SIMBAD to literature concerning these stars from the NASA-STI abstracts. The physical properties of stars (e.g. UBV colors) are not randomly distributed. Stars are distributed among different clusters in a physical parameter space. The authors will show that there are some relations between this classification and the literature concerning these objects clusters in a factor space. They will investigate the nature of the relationship between the SIMBAD measurements and the bibliography. These would be new relationships that are not pre-established by an astronomer. In addition, the bibliography could be neutral information that can be used in combination with the measured parameters.
Lesteven, Soizick↗
Investigations of the Effects of Altered Vestibular System Function on Hindlimb Anti-Gravity Muscles
Exposure to different gravitational environments, both the microgravity of spaceflight and the hypergravity of centrifugation, result in altered vestibulo-spinal function which can be reversed by reacclimation to earth gravity (2). Control of orientation, posture, and locomotion are functions of the vestibular system which are altered by changes in gravitational environment. Not only is the vestibular system involved with coordination and proprioception, but the gravity sensing portion of the vestibular system also plays a major role in maintaining muscle tone through projections to spinal cord motoneurons that control anti-gravity muscles. I have been involved with investigations of several aspects of the link between vestibular inputs and muscle morphology and function during my work with Dr. Nancy Daunton this summer and the previous summer. We have prepared a manuscript for submission (4) to Aviation, Space, and Environmental Medicine based on work that I performed last summer in Dr. Daunton's lab. Techniques developed for that project will be utilized in subsequent experiments begun in the summer of 1998. I have been involved with the development of a pilot project to test the effects of vestibular galvanic stimulation (VGS) on anti-gravity muscles and in another project testing the effects of the ototoxic drug streptomycin on the otolith-spinal reflex and anti-gravity muscle morphology.
Lowery, Mary Sue↗
International Space Station ECLSS Operations Status - Increment OA
This paper describes Environmental Control and Life Support Systems (ECLSS) operations to date for preflight planning, international partner coordination and mission plan execution of the International Space Station (ISS). The focus is on the activities involved with the STS-88(2A) Space Shuttle Endeavor flight, the first delivery of the US segment of the ISS, which consists of the Pressurized Mating Adapter (PMA)/and Node 1 elements, and the delivery of the first Russian segment of the ISS, the FGB, a US-financed and Russian- built module.
Lamczyk, Philip C.↗
Optomechanical Alignment of the Grating Wheel Mechanism for a Ground-based, Cryogenic, Near-Infrared Astronomy Instrument
We describe the population, optomechanical alignment, and alignment verification of near-infrared gratings on the grating wheel mechanism (GWM) for the Infrared Multi- Object Spectrometer (IRMOS). IRMOS is a cryogenic (80 K) facility instrument for the Mayall Telescope (3.8 m) at Kitt Peak National Observatory and a MEMS spectrometer concept demonstrator for NASA's James Webb Space Telescope. The IRMOS optics, bench, and mechanisms are predominantly made of Al 6061 -T651. The GWM consists of 13 planar diffraction gratings and one flat imaging mirror (58 x 57 mm), each mounted at a unique compound angle on a 31.8 cm diameter gear. The Al 6061 grating substrates are stress relieved for enhanced cryogenic performance and the optical surface is replicated from an off-the-shelf master. The imaging mirror is diamond turned and post-polished. The grating mechanism spans a projected diameter of approximately 48cm when fully assembled, utilizes several flexure designs throughout the system to accommodate thermal gradient situations, and is controlled using custom software with an off-the-shelf controller. Each optic is aligned in six degrees of freedom relative to the GWM coordinate system, which is defined relative to an optical alignment cube mounted at the center of the gear. The tip/tilt (Rx, Ry) orientation of a given grating is measured using the zero-order return from an autocollimating theodolite. Each optic's mount includes a one-piece shim located between the optic and the gear. The shim is machined to fine align each optic. We also describe alignment verification, where grating diffractive properties are compared to model predictions.
Gutkowski, Sharon M.↗
Tele-Supervised Adaptive Ocean Sensor Fleet
The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate for the OASIS ASV system and allows for independent development and testing of higher-level software components. The Platform Communicator acts as a proxy for both actual and simulated platforms. It translates platform-independent messages from the higher control systems to the device-dependent communication protocols. This enables the higher-level control systems to interact identically with heterogeneous actual or simulated platforms.
Lefes, Alberto↗
Comparison of Airborne and Ground-Based Function Allocation Concepts for NextGen Using Human-In-The-Loop Simulations
This paper presents an air/ground functional allocation experiment conducted by the National Aeronautics and Space Administration (NASA) using two human-in-the-Loop simulations to compare airborne and ground-based approaches to NextGen separation assurance. The approaches under investigation are two trajectory-based four-dimensional (4D) concepts; one referred to as "airborne trajectory management with self-separation" (airborne) the other as "ground-based automated separation assurance" (ground-based). In coordinated simulations at NASA's Ames and Langley Research Centers, the primary operational participants -controllers for the ground-based concept and pilots for the airborne concept - manage the same traffic scenario using the two different 4D concepts. The common scenarios are anchored in traffic problems that require a significant increase in airspace capacity - on average, double, and in some local areas, close to 250% over current day levels - in order to enable aircraft to safely and efficiently traverse the test airspace. The simulations vary common independent variables such as traffic density, sequencing and scheduling constraints, and timing of trajectory change events. A set of common metrics is collected to enable a direct comparison of relevant results. The simulations will be conducted in spring 2010. If accepted, this paper will be the first publication of the experimental approach and early results. An initial comparison of safety and efficiency as well as operator acceptability under the two concepts is expected.
Wing, David J.↗
Alternative Way of Shifting Mass to Move a Spherical Robot
The method proposed calls for suspending a payload by use of four or more cables that would be anchored to the inner surface of the sphere. In this method, the anchor points would not be diametrically opposite points defining Cartesian axes. The payload, which includes the functional analog of the aforementioned control box, would contain winches that would shorten or lengthen the cables in a coordinated manner to shift the position of the payload within the shell.
Lux, James↗
Local Estimators for Spacecraft Formation Flying
A formation estimation architecture for formation flying builds upon the local information exchange among multiple local estimators. Spacecraft formation flying involves the coordination of states among multiple spacecraft through relative sensing, inter-spacecraft communication, and control. Most existing formation flying estimation algorithms can only be supported via highly centralized, all-to-all, static relative sensing. New algorithms are needed that are scalable, modular, and robust to variations in the topology and link characteristics of the formation exchange network. These distributed algorithms should rely on a local information-exchange network, relaxing the assumptions on existing algorithms. In this research, it was shown that only local observability is required to design a formation estimator and control law. The approach relies on breaking up the overall information-exchange network into sequence of local subnetworks, and invoking an agreement-type filter to reach consensus among local estimators within each local network. State estimates were obtained by a set of local measurements that were passed through a set of communicating Kalman filters to reach an overall state estimation for the formation. An optimization approach was also presented by means of which diffused estimates over the network can be incorporated in the local estimates obtained by each estimator via local measurements. This approach compares favorably with that obtained by a centralized Kalman filter, which requires complete knowledge of the raw measurement available to each estimator.
Fathpour, Nanaz↗
Airspace Technology Demonstration 2 (ATD-2) Phase 2 Technology Description Document (TDD)
This Technology Description Document (TDD) provides an overview of the technology for the Phase 1 Baseline and Phase 2 Fused demonstrations of the Integrated Arrival, Departure, and Surface (IADS) prototype system of the National Aeronautics and Space Administration’s (NASA) Airspace Technology Demonstration 2 (ATD-2) project, which has been demonstrated since October of 2017 at Charlotte Douglas International Airport (CLT). Development, integration, and field demonstration of relevant technologies of the IADS system directly address recommendations made by the Next Generation Air Transportation System (NextGen) Integration Working Group (NIWG) on Surface and Data Sharing and the Surface Collaborative Decision Making (Surface CDM) concept of operations developed jointly by the Federal Aviation Administration (FAA) and aviation industry partners. NASA has been developing the IADS traffic management system under the ATD-2 project in coordination with the FAA, flight operators, CLT airport operators, and the National Air Traffic Controllers Association (NATCA). The primary goal of ATD-2 is to improve the predictability and operational efficiency of the air traffic system in metroplex environments, through the enhancement, development, and integration of the nation’s most advanced and sophisticated arrival, departure, and surface prediction, scheduling, and management systems. The ATD-2 project is a 5-year research activity beginning in 2015 and extending through 2020. The Phase 1 Baseline IADS capability resulting from the ATD-2 research has been demonstrated at the CLT airport since the beginning of October 2017. Phase 1 provided data exchange and integration with the initial demonstration of the integrated system of strategic and tactical scheduling, collaborative tactical surface metering, tactical departure scheduling to an en route meter point and overhead stream insertion, initial integration of a TFDM SWIM prototype feed, and an early implementation prototype of a Terminal Flight Data Manager (TFDM) Electronic Flight Data (EFD) system. The strategic surface scheduling element of the capability is consistent with the Surface CDM Concept of Operations published in 2014 by the FAA Surface Operations Directorate.1 The Phase 2 Fused IADS system provided substantial updates to baseline IADS Demonstration capability. Improvements were made to the IADS modeler; tactical surface scheduling, and metering; tactical departure scheduling for overhead stream insertion; Electronic Flight Data (EFD) and the integration with the FAA Advanced Electronic Flight Strip (AEFS); RTC/RMTC, and departure trajectories. New capabilities included a TFDM SWIM prototype feed and delivery of IADS data via the TFDM Terminal Publication (TTP) service of the FAA’s SWIM system; strategic surface scheduling and metering as well as fusion with tactical surface metering; integration and ingestion of data from TTP-connected Mobile App and texting industry for General Aviation (GA) flights; and expansion of airspace deployments to include adjacent Center automation, in particular interface with the Atlanta Center (ZTL) arrival metering TBFM system to evaluate pre-scheduling of flights. Improvements in Data Analysis and System Health (DASH) monitoring and updates were completed as well.
Talebi, Ehsan↗
Control approach for power modulation of end-use loads
Methods, apparatus, and systems are disclosed herein for power modulation control of power grids using end-use loads. At the beginning of a coordination period typically lasting a few minutes, a population of end-use loads (water heaters, air conditioners, plug-in electric vehicles, etc.) is interrogated for their willingness to participate in power modulation by undergoing state transitions from on to off, or off to on. Distribution system flexibilities are calculated from the sums of device powers within distribution systems. Area flexibilities are calculated from the sums of device powers within areas. Thresholds for various devices to change state in response to inter-area oscillation damping or frequency regulation are derived from these flexibilities. Two power functions are monitored in real-time and compared with the device thresholds to trigger state changes which then remain locked throughout the remainder of the coordination period, then the devices are released from the lockout state.
Lian, Jianming↗
Reinforcement Learning to Enhance Optimal Operation of Resilient Community Energy Systems
This paper presents a novel model-free multi-agent Reinforcement Learning (RL) control method to enhance the resilience of community energy systems in island mode, which coordinates multiple objectives without the necessity of identifying system models that require expert knowledge. Specifically, a community-level coordinator agent is designed to allocate renewable energy resources among different buildings, and multiple building-level agents are developed to optimize load schedules based on limited energy resources and requirements of building loads and occupants’ comfort. In a two-day evaluation, our RL approach demonstrated a similar performance against MPC without requiring system models and formulation of optimization problems as required in MPC.
ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION↗
Energy Infrastructure Threat Brief: Russia and Iran State Sponsored APTs
This briefing provides a high-level overview of recent cyber threats to the energy sector, focusing on Russia’s coordinated 2025 attack on Poland’s energy infrastructure and ongoing Iranian targeting of industrial control systems (ICS).
14 - SOLAR ENERGY↗