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NASA NTRS2016

Transitioning Autonomous Systems Technology Research to a Flight Software Environment

NASA has developed methods and algorithms for autonomous spacecraft operations,including automated planning and scheduling, fault diagnostics and impact determination,procedure management and display. Making the transition from technology research tooperational flight software requires overcoming significant technical, programmatic andcultural challenges. Technology research is aimed at developing methods that performspecific functions correctly, but the resulting software may not be designed for flightprocessors with limited CPU, memory and network resources, and may not be easilyintegrated into spacecraft flight software. Our objective in the Autonomous Systems andOperations Project is to make significant strides toward the transformation from technologyto operational use. Our focus was twofold: maturing research grade autonomy software intoa flight software environment using broadly accepted languages and tools; and integratingautonomy applications with each other and with representative systems and their data andcommand interfaces. For a target flight software environment, we chose Core FlightSoftware, developed by Goddard Space Flight Center as a common operating systemindependent framework. Our hardware integration environment was provided by theIntegrated Power and Avionics Systems (iPAS) Lab at Johnson Space Center, in whichvarious subsystem development has been conducted to address engineering challenges forthe vehicles and systems required for long-duration missions into the solar system. The iPASand its network of connected facilities provides realistic subsystem hardware or simulationsof spacecraft power, life support, guidance, navigation and control, and command and datahandling subsystems. Interfaces between autonomy applications and the subsystems beingassessed and controlled were developed, assessed and refined. The hardware and softwareenvironment using CFS and the iPAS facility has proven to be a highly flexible and realisticenvironment in which to rapidly integrate applications in an iterative, low cost setting. Usingthe integration environment we have developed, we will turn our focus to performance andsizing analysis to determine the computational requirements for full-scale deployment ofautonomy technology. Scalability of reasoners and the spacecraft models upon which theyoperate, and robustness across the full range of spacecraft conditions and environments willbe explored and improved. We are making significant contributions to the future programsthat will build the spacecraft that will take humans beyond the Earth-Moon system, in whichprogram Systems Engineers will be able to accurately and confidently design in accurate,robust and mature autonomous operations systems.

Flight Software↗

NASA NTRSDate not supplied

High-Fidelity CFD Verification Workshop 2024 Summary: Spalart-Allmaras QCR2000-R Turbulence Model

This paper summarizes solutions submitted for the Reynolds-averaged Navier-Stokes (RANS) test suite of the High-Fidelity CFD Verification Workshop. The goal of the workshop is to establish standards for verification of computational fluid dynamics (CFD) approaches to simulations of steady and unsteady turbulent flows. The RANS verification studies focus on a one-equation Spalart-Allmaras model with quadratic constitutive relation and rotation correction, SA-neg-QCR2000-R. The verification test cases are a two-dimensional subsonic flow around a Joukowski airfoil, a three-dimensional subsonic flow around an extruded NACA 0012 wing in a tunnel, and a subsonic flow around a wing-body configuration developed for verification of solvers participating in the 5 𝑡 ℎ High-Lift Prediction Workshop. The turbulencemodel formulation, geometry, flow conditions, grids, and reference solutions are described in detail. Solutions for the test cases are computed by seven established CFD solvers on adaptedand fixed-grid families using different discretization approaches. While some noticeable differences between solutions remain, the results achieved by contributing solvers show that different solutions computed for the same RANS model on different grid families can converge to a common limit with grid refinement. The apparent requirements for grid convergence are a well designed family of grids that provide sufficient resolution in important areas and a strong solver capable of deep iterative convergence on each grid. For each test case in the study, the variation between aerodynamic forces computed by different solvers on the finest grids of different families is less than 2%.

Boris Diskin↗

NASA NTRS2007

Automated Knowledge Discovery From Simulators

A computational method, SimLearn, has been devised to facilitate efficient knowledge discovery from simulators. Simulators are complex computer programs used in science and engineering to model diverse phenomena such as fluid flow, gravitational interactions, coupled mechanical systems, and nuclear, chemical, and biological processes. SimLearn uses active-learning techniques to efficiently address the "landscape characterization problem." In particular, SimLearn tries to determine which regions in "input space" lead to a given output from the simulator, where "input space" refers to an abstraction of all the variables going into the simulator, e.g., initial conditions, parameters, and interaction equations. Landscape characterization can be viewed as an attempt to invert the forward mapping of the simulator and recover the inputs that produce a particular output. Given that a single simulation run can take days or weeks to complete even on a large computing cluster, SimLearn attempts to reduce costs by reducing the number of simulations needed to effect discoveries. Unlike conventional data-mining methods that are applied to static predefined datasets, SimLearn involves an iterative process in which a most informative dataset is constructed dynamically by using the simulator as an oracle. On each iteration, the algorithm models the knowledge it has gained through previous simulation trials and then chooses which simulation trials to run next. Running these trials through the simulator produces new data in the form of input-output pairs. The overall process is embodied in an algorithm that combines support vector machines (SVMs) with active learning. SVMs use learning from examples (the examples are the input-output pairs generated by running the simulator) and a principle called maximum margin to derive predictors that generalize well to new inputs. In SimLearn, the SVM plays the role of modeling the knowledge that has been gained through previous simulation trials. Active learning is used to determine which new input points would be most informative if their output were known. The selected input points are run through the simulator to generate new information that can be used to refine the SVM. The process is then repeated. SimLearn carefully balances exploration (semi-randomly searching around the input space) versus exploitation (using the current state of knowledge to conduct a tightly focused search). During each iteration, SimLearn uses not one, but an ensemble of SVMs. Each SVM in the ensemble is characterized by different hyper-parameters that control various aspects of the learned predictor - for example, whether the predictor is constrained to be very smooth (nearby points in input space lead to similar output predictions) or whether the predictor is allowed to be "bumpy." The various SVMs will have different preferences about which input points they would like to run through the simulator next. SimLearn includes a formal mechanism for balancing the ensemble SVM preferences so that a single choice can be made for the next set of trials.

Burl, Michael↗

NASA NTRS1994

Joint operations planning for space surveillance missions on the MSX satellite

The Midcourse Space Experiment (MSX) satellite, sponsored by BMDO, is intended to gather broad-band phenomenology data on missiles, plumes, naturally occurring earthlimb backgrounds and deep space backgrounds. In addition the MSX will be used to conduct functional demonstrations of space-based space surveillance. The JHU/Applied Physics Laboratory (APL), located in Laurel, MD, is the integrator and operator of the MSX satellite. APL will conduct all operations related to the MSX and is charged with the detailed operations planning required to implement all of the experiments run on the MSX except the space surveillance experiments. The non-surveillance operations are generally amenable to being defined months ahead of time and being scheduled on a monthly basis. Lincoln Laboratory, Massachusetts Institute of Technology (LL), located in Lexington, MA, is the provider of one of the principle MSX instruments, the Space-Based Visible (SBV) sensor, and the agency charged with implementing the space surveillance demonstrations on the MSX. The planning timelines for the space surveillance demonstrations are fundamentally different from those for the other experiments. They are generally amenable to being scheduled on a monthly basis, but the specific experiment sequence and pointing must be refined shortly before execution. This allocation of responsibilities to different organizations implies the need for a joint mission planning system for conducting space surveillance demonstrations. This paper details the iterative, joint planning system, based on passing responsibility for generating MSX commands for surveillance operations from APL to LL for specific scheduled operations. The joint planning system, including the generation of a budget for spacecraft resources to be used for surveillance events, has been successfully demonstrated during ground testing of the MSX and is being validated for MSX launch within the year. The planning system developed for the MSX forms a model possibly applicable to developing distributed mission planning systems for other multi-use satellites.

Stokes, Grant↗

NASA NTRS2019

Exploration Medical Capability Medical System Recommendations for Gateway

- Medical System Content Development - 2019: Develop clinical content to inform medical system design; Iterate on content with wider ExMC (Exploration Medical Capability) team; Capture processes used to perform these tasks. - Using model content to inform system design - SME (Subject Matter Expert) collaboration to refine systems using clinical content.

Hailey, Melinda↗

NASA NTRS1980

CAS2D: FORTRAN program for nonrotating blade-to-blade, steady, potential transonic cascade flows

An exact, full-potential-equation (FPE) model for the steady, irrotational, homentropic and homoenergetic flow of a compressible, homocompositional, inviscid fluid through two dimensional planar cascades of airfoils was derived, together with its appropriate boundary conditions. A computer program, CAS2D, was developed that numerically solves an artificially time-dependent form of the actual FPE. The governing equation was discretized by using type-dependent, rotated finite differencing and the finite area technique. The flow field was discretized by providing a boundary-fitted, nonuniform computational mesh. The mesh was generated by using a sequence of conforming mapping, nonorthogonal coordinate stretching, and local, isoparametric, bilinear mapping functions. The discretized form of the FPE was solved iteratively by using successive line overrelaxation. The possible isentropic shocks were correctly captured by adding explicitly an artificial viscosity in a conservative form. In addition, a three-level consecutive, mesh refinement feature makes CAS2D a reliable and fast algorithm for the analysis of transonic, two dimensional cascade flows.

Dulikravich, D. S.↗

NASA NTRS1997

On Approximate Factorization Schemes for Solving the Full Potential Equation

An approximate factorization scheme based on the AF2 algorithm is presented for solving the three-dimensional full potential equation for the transonic flow about isolated wings. Two spatial discretization variations are presented, one using a hybrid first-order/second-order-accurate scheme and the second using a fully second-order-accurate scheme. The present algorithm utilizes a C-H grid topology to map the flow field about the wing. One version of the AF2 iteration scheme is used on the upper wing surface and another slightly modified version is used on the lower surface. These two algorithm variations are then connected at the wing leading edge using a local iteration technique. The resulting scheme has improved linear stability characteristics and improved time-like damping characteristics relative to previous implementations of the AF2 algorithm. The presentation is highlighted with a grid refinement study and a number of numerical results.

Holst, Terry L.↗

NASA NTRS2019

Development Concepts for Mars Ascent Vehicle (MAV) Solid and Hybrid Vehicle Systems

The Advanced Concepts Office (ACO) at Marshall Space Flight Center (MSFC) has conducted ongoing studies and trades into options for both hybrid and solid vehicle systems for potential Mars Ascent Vehicle (MAV) concepts for the Jet Propulsion Laboratory (JPL). Two MAV propulsion options are being studied for use in a potential Mars Sample Retrieval (MSR) campaign. The following paper describes the current concepts for hybrid and solid propulsion vehicles for MAV as part of a potential MSR campaign, and provides an overview of the ongoing studies and trades for both hybrid and solid vehicle system concepts. Concepts and options under consideration for vehicle subsystems include reaction control system (RCS), separation, and structures will be described in terms of technology readiness level (TRL), benefit to the vehicle design, and associated risk. A hybrid propulsion system, which uses a solid fuel core and liquid oxidizer, is currently being developed by JPL with support from MSFC. This type of hybrid propulsion vehicle would allow the MAV to be more flexible at the cost of higher complexity, in contrast to the solid propulsion vehicle that is simpler, but allows less flexibility. The solid propulsion vehicle study performed by MSFC in 2018 further refined the solid propulsion system sizing as well as added definition to vehicle subsystem concepts, including the RCS, structures and configuration, interstage and separation, aerodynamics, and power/avionics. The studies were performed using an iterative concept design methodology, engaging subject matter experts from across MSFC’s propulsion and vehicle systems disciplines as well as seeking trajectory feedback from analysts at JPL.

McCollum, Lisa Tunstill↗

NASA NTRS1989

Vortex breakdown simulation - A circumspect study of the steady, laminar, axisymmetric model

The incompressible axisymmetric steady Navier-Stokes equations are written using the streamfunction-vorticity formulation. The resulting equations are discretized using a second-order central-difference scheme. The discretized equations are linearized and then solved using an exact LU decomposition, Gaussian elimination, and Newton iteration. Solutions are presented for Reynolds numbers (based on vortex core radius) 100-1800 and swirl parameter 0.9-1.1. The effects of inflow boundary conditions, the location of farfield and outflow boundaries, and mesh refinement are examined. Finally, the stability of the steady solutions is investigated by solving the time-dependent equations.

Salas, M. D.↗

NASA NTRS1996

An Algebraic Multigrid Solver for Navier-Stokes Problems in the Discrete Second-Order Approximation

An algebraic multigrid scheme is presented for solving the discrete Navier-Stokes equations to second-order accuracy using the defect-correction method. Solutions have been obtained for problems involving both structured and unstructured meshes, with the resolution and resolution grading controlled by global and local mesh refinements. The solver is efficient and robust to the extent that no underrelaxation of variables has been required to ensure convergence, but rates of convergence can be improved with small amounts of underrelaxation of the velocity-pressure coupling. Provided that the computational mesh can resolve the flow field, convergence characteristics are almost mesh independent. Rates of convergence actually improve with refinement, asymptotically approaching mesh independent values. For extremely coarse meshes where dispersive truncation errors would be expected to prevent convergence (or even induce divergence), solutions can still be obtained by using explicit underrelaxation in the iterative cycle.

Webster, R.↗

NASA NTRS1995

Accurate orbit determination strategies for the tracking and data relay satellites

The National Aeronautics and Space Administration (NASA) has developed the Tracking and Data Relay Satellite (TDRS) System (TDRSS) for tracking and communications support of low Earth-orbiting satellites. TDRSS has the operational capability of providing 85% coverage for TDRSS-user spacecraft. TDRSS currently consists of five geosynchronous spacecraft and the White Sands Complex (WSC) at White Sands, New Mexico. The Bilateration Ranging Transponder System (BRTS) provides range and Doppler measurements for each TDRS. The ground-based BRTS transponders are tracked as if they were TDRSS-user spacecraft. Since the positions of the BRTS transponders are known, their radiometric tracking measurements can be used to provide a well-determined ephemeris for the TDRS spacecraft. For high-accuracy orbit determination of a TDRSS user, such as the Ocean Topography Experiment (TOPEX)/Poseidon spacecraft, high-accuracy TDRS orbits are required. This paper reports on successive refinements in improved techniques and procedures leading to more accurate TDRS orbit determination strategies using the Goddard Trajectory Determination System (GTDS). These strategies range from the standard operational solution using only the BRTS tracking measurements to a sophisticated iterative process involving several successive simultaneous solutions for multiple TDRSs and a TDRSS-user spacecraft. Results are presented for GTDS-generated TDRS ephemerides produced in simultaneous solutions with the TOPEX/Poseidon spacecraft. Strategies with different user spacecraft, as well as schemes for recovering accurate TDRS orbits following a TDRS maneuver, are also presented. In addition, a comprehensive assessment and evaluation of alternative strategies for TDRS orbit determination, excluding BRTS tracking measurements, are presented.

Oza, D. H.↗

NASA NTRS1996

A Least-Squares Finite Element Method for Electromagnetic Scattering Problems

The least-squares finite element method (LSFEM) is applied to electromagnetic scattering and radar cross section (RCS) calculations. In contrast to most existing numerical approaches, in which divergence-free constraints are omitted, the LSFF-M directly incorporates two divergence equations in the discretization process. The importance of including the divergence equations is demonstrated by showing that otherwise spurious solutions with large divergence occur near the scatterers. The LSFEM is based on unstructured grids and possesses full flexibility in handling complex geometry and local refinement Moreover, the LSFEM does not require any special handling, such as upwinding, staggered grids, artificial dissipation, flux-differencing, etc. Implicit time discretization is used and the scheme is unconditionally stable. By using a matrix-free iterative method, the computational cost and memory requirement for the present scheme is competitive with other approaches. The accuracy of the LSFEM is verified by several benchmark test problems.

Wu, Jie↗

NASA NTRS1997

Computation of Transonic Flows Using Potential Methods

The proposed paper will describe the state of the art associated with numerical solution of the full or exact velocity potential equation for solving transonic, external-aerodynamic flows. The presentation will begin with a review of the literature emphasizing research activities of the past decade. Next, the various forms of the full or exact velocity potential equation, the equation's corresponding mathematical characteristics, and the derivation assumptions will be presented and described in detail. Impact of the derivation assumptions on simulation accuracy, especially with respect to shock wave capture, will be presented and discussed relative to the more complete Euler or Navier-Stokes formulations. The technical presentation will continue with a description of recently developed full potential numerical approach characteristics. This description will include governing equation nondimensionalization, physical-to-computational-domain mapping procedures, a limited description of grid generation requirements, the spatial discretization scheme, numerical implementation of boundary conditions, and the iteration scheme. The next portion of the presentation will present and discuss numerical results for several two- and three-dimensional aerodynamic applications. Included in the results section will be a discussion and demonstration of a typical grid refinement analysis for determining spatial convergence of the numerical solution and level of solution accuracy. Computer timings for a variety of full potential applications will be compared and contrasted with similar results for the Euler equation formulation. Finally. the presentation will end with concluding remarks and recommendations for future work.

Hoist, Terry L.↗

NASA NTRS2007

High Fidelity Thermal Simulators for Non-Nuclear Testing: Analysis and Initial Results

Non-nuclear testing can be a valuable tool in the development of a space nuclear power system, providing system characterization data and allowing one to work through various fabrication, assembly and integration issues without the cost and time associated with a full ground nuclear test. In a non-nuclear test bed, electric heaters are used to simulate the heat from nuclear fuel. Testing with non-optimized heater elements allows one to assess thermal, heat transfer, and stress related attributes of a given system, but fails to demonstrate the dynamic response that would be present in an integrated, fueled reactor system. High fidelity thermal simulators that match both the static and the dynamic fuel pin performance that would be observed in an operating, fueled nuclear reactor can vastly increase the value of non-nuclear test results. With optimized simulators, the integration of thermal hydraulic hardware tests with simulated neutronie response provides a bridge between electrically heated testing and fueled nuclear testing, providing a better assessment of system integration issues, characterization of integrated system response times and response characteristics, and assessment of potential design improvements' at a relatively small fiscal investment. Initial conceptual thermal simulator designs are determined by simple one-dimensional analysis at a single axial location and at steady state conditions; feasible concepts are then input into a detailed three-dimensional model for comparison to expected fuel pin performance. Static and dynamic fuel pin performance for a proposed reactor design is determined using SINDA/FLUINT thermal analysis software, and comparison is made between the expected nuclear performance and the performance of conceptual thermal simulator designs. Through a series of iterative analyses, a conceptual high fidelity design can developed. Test results presented in this paper correspond to a "first cut" simulator design for a potential liquid metal (NaK) cooled reactor design that could be applied for Lunar surface power. Proposed refinements to this simulator design are also presented.

Bragg-Sitton, Shannon M.↗

NASA NTRS2021

An Evaluation of Size-Resolved Cloud Microphysics Scheme Numerics for use with Radar Observations Part II: Condensation and Evaporation

Accurate numerical modeling of clouds and precipitation is essential for weather forecasting and climate change research. While size-resolved (bin) cloud microphysics models predict particle size distributions without imposing shapes, results are subject to artificial size distribution broadening owing to numerical diffusion associated with various processes. Whereas Part 1 addressed collision-coalescence, here we investigate numerical diffusion that occurs in solving condensation and evaporation. In a parcel model framework, all of the numerical schemes examined converge to one solution of condensation and evaporation as the mass grid is refined, and the advection-based schemes are recommended over the reassigning schemes. Including Eulerian vertical advection in a column limits the convergence to some extent, but that limitation occurs at a sufficiently fine mass grid, and the number of iterations in solving vertical advection should be minimized to reduce numerical diffusion. Insubstantial numerical diffusion in solving condensation can be amplified if collision-coalescence is also active, which in turn can be substantially diminished if turbulence effects on collision are incorporated. Large-eddy simulations of a drizzling stratocumulus field reveal that changes in moments of Doppler spectra obtained using different mass grids are consistent with those obtained from the simplified framework, and that spectral moments obtained using a mass grid designed to effectively reduce numerical diffusion are generally closer to observations. Notable differences between the simulations and observations still exist, and our results suggest a need to consider whether factors other than numerical diffusion in the fundamental process schemes employed can cause such differences.

Cloud microphysics↗

NASA NTRS1991

Navier-Stokes solutions for an oscillating double-delta wing

An upwind-biased implicit scheme is used to investigate steady-state and unsteady Navier-Stokes solutions of the vortical flow over a double-delta wing configuration. The governing equations are solved numerically with a fully upwind, implicit, iterative, and factorized numerical scheme. Steady-state solutions for fixed angles of attack and unsteady solutions for a sinusoidal oscillatory motion are obtained. The steady-state solutions on the baseline grid are in agreement with the experiment, and grid refinements show some improvements of the predictions. The higher-order accuracy of the present scheme yields equivalent solutions on smaller grid densities compared to solutions obtained with a second-order accurate method on larger grids. As the angle of attack increases, the grid resolution requirements for adequate resolution of the leeward-side vortical flowfield become very severe. The unsteady solutions are in general agreement with the measurements and show a qualitative correlation with the experiment.

Ekaterinaris, John A.↗

NASA NTRSDate not supplied

A Crew Seat for Human Exploration in Multiple Gravity Environments

This work attempts to develop a single crew seating solution that is applicable across a range of gravity environments encountered by spacecraft proposed in several conceptual spacecraft architectures. All of these spacecraft will need to provide some sort of stationary accommodation for the crew for performing various activities such as work in science laboratories, maintenance and repair facilities, medical care facilities, and spacecraft operations centers, as well as for basic habitation in crew quarters, entertainment / relaxation facilities, and crew dining facilities. Depending on the spacecraft or architecture, this stationary accommodation may be experienced continuously in microgravity, such as would be the case for the Deep Space Exploration Vehicle. Alternately, it could be in continuous lunar or Martian gravity, such as the Common Habitat base camps. It could experience fractional gravity, such as a Pressurized Rover for In-Space Missions at a Near Earth Asteroid or one of the Martian moons. It could alternate between artificial gravity and microgravity, such as the Nautilus-X. It could alternate between microgravity and lunar or Martian gravity, such as the SpaceX Starship Human Landing System or the Blue Origin Blue Moon Block 2 Human Landing System. Or it could be in continuous Earth gravity, such as ground trainer systems. Prior human spaceflight systems for stationary accommodation have been focused on microgravity applications. These systems have their own limitations and cannot be used in a gravity environment. A public crowdsourcing campaign generated dozens of ideas, which ultimately generated a Gecko Mobility Aids system for crew translation and the Multi-Gravity Crew Seat (MGCS) for stationary accommodation. The MGCS functions in gravity as a traditional terrestrial seat, performing functions of load for the overall body and forearms, as well as head and neck load relief while positioning the body within range of an intended task. In microgravity, the MGCS functions as a body restraint, securing the body against inadvertent drifting by applying a restraining pressure at the front and back of the thighs, shoulders, and back. The initial MGCS concept was developed in a NASA hackathon and was refined through a review of dozens of terrestrial seating styles. Additionally, a review of anthropometry and biomechanics data related to the neutral body posture was conducted to help inform the microgravity configuration of the MGCS. A series of CAD models were iteratively developed, with subject matter expert reviews leading to design improvements. A scale model was constructed and used with a humanoid model to demonstrate MGCS accommodation of a human-like body in both gravity and microgravity modes. Work to develop a full-scale protype of the MGCS is discussed, including design and fabrication of the headrest, arm rest, seat back, seat pan, seat base, and the conversion mechanisms. A 1-g human-in-the-loop evaluation of the prototype assessed the acceptability of performing seated activities in the MGCS, collecting data on the usability, comfort, and ease of ingress/egress. Based on the evaluation results, design modifications needed for reduced gravity testing are documented and initial work is indicated for a reduced gravity test plan.

Restraints and Mobility Aids↗

NASA NTRS1981

Accuracy and convergence of a finite element algorithm for laminar boundary layer flow

The Galerkin-weighted residuals formulation is employed to derive an implicit finite element solution algorithm for a generally non-linear initial-boundary value problem. Solution accuracy and convergence with discretization refinement are quantized in several error norms, for the non-linear parabolic partial differential equation system governing laminar boundary layer flow, using linear, quadratic and cubic functions. Richardson extrapolation is used to isolate integration truncation error in all norms, and Newton iteration is employed for all equation solutions performed in double-precision. The mathematical theory supporting accuracy and convergence concepts for linear elliptic equations appears extensible to the non-linear equations characteristic of laminar boundary layer flow.

Soliman, M. O.↗