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NASA NTRS1986

Towards a theory for Neptune's arc rings

It is proposed that the incomplete rings of Neptune consist of a number of short arcs centered on the corotation resonances of a single satellite. The satellite must have a radius of the order of 100 km or more and move on an inclined orbit. Corotation resonances are located at potential maxima. Thus, mechanical energy dissipated by interparticle collisions must be continually replenished to prevent the arcs from spreading. It is shown that each corotation resonance is associated with a nearby Lindblad resonance, which excites the ring particles' orbital eccentricity, thus supplying the energy required to maintain the arc. The ultimate energy reservoir is the satellite's orbital energy. Therefore, interaction with the arcs damps the satellite's orbital inclination. The self-gravity of the arcs limits their contraction and enforces a relation between arc length and mass. The estimated arc masses are so small, of the order of 10 to the 16th g, that the satellite's orbital inclination suffers negligible decay over the age of the solar system. The inferred surface mass densities are comparable to those found in the major rings of Saturn and Uranus.

Goldreich, P.↗

NASA NTRS2000

The Hummingbird GC-IMS: In Situ Analysis of a Cometary Nucleus

Comets are of enormous scientific interest for many reasons. They are primitive bodies that date back to the earliest stages of solar system formation and, because of their small size and because they have been stored in the outer reaches of the solar system, their pristine nature has been preserved better than for any other class of body. They are extremely rich in highly volatile elements, many in the form of ices, and are richer in organic matter than any other known solar system body. It is strongly suspected that in addition to their content of primordial solar nebular material, they also incorporate unprocessed matter from the interstellar medium. Impacts by comets occur onto all the planets and satellites, often with major consequences (e.g., the dinosaur extinction event at the KIT boundary), or sometimes just providing a spectacular cosmic event (e.g., the collision of comet Shoemaker-Levy 9 with Jupiter). A mission to analyze a cometary nucleus must be capable of detecting and identifying over 30 molecular species among several different chemical groups. The Hummingbird Mission will rendezvous with, orbit, characterize, and make multiple descents to the nucleus of a comet. Hummingbird will employ a Gas Chromatograph - Ion Mobility Spectrometer (GC-IMS) as part-of a suite of sophisticated instruments for a comprehensive in situ elemental, molecular, and isotopic analysis of the comet.

Kojiro, Daniel R.↗

NASA NTRS2016

NASA's Earth Science Flight Program Meets the Challenges of Today and Tomorrow

NASA's Earth science flight program is a dynamic undertaking that consists of a large fleet of operating satellites, an array of satellite and instrument projects in various stages of development, a robust airborne science program, and a massive data archiving and distribution system. Each element of the flight program is complex and present unique challenges. NASA builds upon its successes and learns from its setbacks to manage this evolving portfolio to meet NASA's Earth science objectives. NASA fleet of 16 operating missions provide a wide range of scientific measurements made from dedicated Earth science satellites and from instruments mounted to the International Space Station. For operational missions, the program must address issues such as an aging satellites operating well beyond their prime mission, constellation flying, and collision avoidance with other spacecraft and orbital debris. Projects in development are divided into two broad categories: systematic missions and pathfinders. The Earth Systematic Missions (ESM) include a broad range of multi-disciplinary Earth-observing research satellite missions aimed at understanding the Earth system and its response to natural and human-induced forces and changes. Understanding these forces will help determine how to predict future changes, and how to mitigate or adapt to these changes. The Earth System Science Pathfinder (ESSP) program provides frequent, regular, competitively selected Earth science research opportunities that accommodate new and emerging scientific priorities and measurement capabilities. This results in a series of relatively low-cost, small-sized investigations and missions. Principal investigators whose scientific objectives support a variety of studies lead these missions, including studies of the atmosphere, oceans, land surface, polar ice regions, or solid Earth. This portfolio of missions and investigations provides opportunity for investment in innovative Earth science that enhances NASA's capability for better understanding the current state of the Earth system. ESM and ESSP projects often involve partnerships with other US agencies and/or international organizations. This adds to the complexity of mission development, but allows for a greater scientific return on NASA's investments. The Earth Science Airborne Science Program provides manned and unmanned aircraft systems that further science and advance the use of satellite data. NASA uses these assets worldwide in campaigns to investigate extreme weather events, observe Earth system processes, obtain data for Earth science modeling activities, and calibrate instruments flying aboard Earth science spacecraft. The Airborne Science Program has six dedicated aircraft and access to many other platforms. The Earth Science Multi-Mission Operations program acquires, preserves, and distributes observational data from operating spacecraft to support Earth Science research focus areas. The Earth Observing System Data and Information System (EOSDIS), which has been in operations since 1994, primarily accomplishes this. EOSDIS acquires, processes, archives, and distributes Earth Science data and information products. The archiving of NASA Earth Science information happens at eight Distributed Active Archive Centers (DAACs) and four disciplinary data centers located across the United States. The DAACs specialize by topic area, and make their data available to researchers around the world. The DAACs currently house over 9 petabytes of data, growing at a rate of 6.4 terabytes per day. NASA's current Earth Science portfolio is responsive to the National Research Council (NRC) 2007 Earth Science Decadal Survey and well as the 2010 NASA Response to President Obama's Climate Plan. As the program evolves into the future it will leverage the lessons learned from the current missions in operations and development, and plan for adjustments to future objectives in response to the anticipated 2017 NRC Decadal Survey.

Flight Program↗

NASA NTRS2018

Propulsion Trade Studies for Spacecraft Swarm Mission Design

Spacecraft swarms constitute a challenge from an orbital mechanics standpoint. Traditional mission design involves the application of methodical processes where predefined maneuvers for an individual spacecraft are planned in advance. This approach does not scale to spacecraft swarms consisting of many satellites orbiting in close proximity; non-deterministic maneuvers cannot be preplanned due to the large number of units and the uncertainties associated with their differential deployment and orbital motion. For autonomous small sat swarms in LEO, we investigate two approaches for controlling the relative motion of a swarm. The first method involves modified miniature phasing maneuvers, where maneuvers are prescribed that cancel the differential delta V of each CubeSat's deployment vector. The second method relies on artificial potential functions (APFs) to contain the spacecraft within a volumetric boundary and avoid collisions. Performance results and required delta V budgets are summarized, indicating that each method has advantages and drawbacks for particular applications. The mini phasing maneuvers are more predictable and sustainable. The APF approach provides a more responsive and distributed performance, but at considerable propellant cost. After considering current state of the art CubeSat propulsion systems, we conclude that the first approach is feasible, but the modified APF method of requires too much control authority to be enabled by current propulsion systems.

CubeSat↗

NASA NTRSDate not supplied

Demonstration of Two Extended Visual Line of Sight Methods for Urban UAV Operations

This report describes two extended visual line of sight (EVLOS) methods developed and utilized during two flight campaigns over the campus of NASA Langley Research Center (LaRC): a chase vehicle method and a radio controlled (RC) pilot handoff method. These campaigns were performed to (a) evaluate small unmanned aerial system (sUAS) flight beyond the visual line of sight (BVLOS) of the ground control station operator and (b) test technologies under development to enable a transition from EVLOS to BVLOS operations. While an autonomous waypoint-based operational approach enabled minimal pilot intervention in both methods, range containment was enforced (a) manually via continual pilot visual monitoring and (b) autonomously via on-board contingency landing autonomy triggerable at the boundary of stay-in geofences. In the thirty-nine flights which utilized the chase vehicle, the pilot followed the sUAS flying a 1.2 km path at 40m altitude over urban streets. In the fifteen flights which utilized pilot handoff, a pilot at one end of a 1.5 km path initiated the flight at 120m altitude over buildings and trees, and at the midway point of the path transferred radio control to a pilot at the other end. In comparison, the chase vehicle method requires less ground crew and simpler avionics, while the pilot handoff method avoids schedule risk arising from street traffic congestion but better replicates actual direct routing for BVLOS flights. Collision risk with another aircraft was introduced in both campaigns and mitigated with the same manual and autonomous methods. Results from these campaigns serve as a basis for planned BVLOS operations at NASA LaRC.

Nicholas Rymer↗

NASA NTRS2002

Formation and Migration of Trans-Neptunian Objects

We consider that trans-Neptunian objects (TNOs) with diameter d greater than 100 kilometers moving now in not very eccentric orbits could be formed directly by the compression of large rarefied dust condensations (with a greater than 30 AU), but not by the accretion of smaller solid planetesimals. Probably, some planetesimals with d approximately 100- 1000 kilometers in the feeding zone of the giant planets and even large main-belt asteroids also could be formed directly by such compression. Some smaller objects (TNOs, planetesimals, asteroids) could be debris of larger objects, and other such objects could be formed directly by compression of condensations. A small portion of planetesimals from the feeding zone of the giant planets that entered into the trans-Neptunian region could left in eccentrical orbits beyond Neptune and became so called "scattered objects". Our computer runs in which gravitational interactions of bodies were taken into account with the use of the spheres method, showed that the embryos of Uranus and Neptune could increase their semimajor axes from less than 10 AU to their present values, moving permanently in orbits with small eccentricities, due to gravitational interactions with the migrating planetesimals. Later on, Thommes et al. considered a similar model using direct numerical integration. The total amount of water delivered to the Earth during the formation of the giant, planets was about the mass of water in the Earth oceans. The end of such bombardment could be caused mainly by the planetesimals that became scattered objects. For the present mass of the trans-Neptunian belt, the collisional lifetime of 1-kilometer TNO is about the age of the Solar system, but only a small portion (less than 1%) of 100-km TNOs could be destroyed during this age. The probability of destruction of a typical TNO (with 30 less than a,less than 50 AU) by scattered objects can be of the same order of magnitude as that by typical TNOs. TNOs could be even more often destroyed during planet formation than during last 4 Gyr. The analysis of the results of the orbital evolution of Jupiter-crossing objects (JCOs) and TNOs showed that, in principle, the trans-Neptunian belt can provide up to 100% of Earth-crossing objects, but, of course, some of them came from the main asteroid belt. Most of the collisions of former JCOs with the Earth were from orbits with aphelia inside Jupiter's orbit and belonged to a small portion of objects which moved in such orbits for a long time. About 1 of 300 JCOs collided with the Sun. The ratio of the total mass of icy planetesimals that migrated from the feeding zone of the giant planets and collided with the planet to the mass of this planet was greater (by a factor of 3 in our runs) for Mars than that for Earth and Venus.

Ipatov, S. I.↗

NASA NTRSDate not supplied

Probability of Obstacle Collision for UAVs in Presence of Wind

For incorporation of unmanned aerial vehicles into the National Airspace, ensuring safety of the airspace including the vehicles, people, and property on the ground is of utmost importance. One of the safety-critical factors for unmanned aviation flights is the risk of deviating from a planned trajectory resulting in a variety of hazards, including potential loss of separation between vehicle and obstacles or unexpected battery energy consumption. Off-nominal conditions introduced by component failures, degraded controllability and environmental disturbances such as wind gusts can lead to unacceptable unexpected deviations from the flight trajectory. It is essential to accurately model such effects on the flight trajectory while computing safety thresholds such as minimum separation from surrounding obstacles, available battery resource to complete the mission or determining delay in the expected time of arrival of flights. In this paper, a tool is presented based on Gaussian Process Regression for wind representation over a pre-defined trajectory for fast, yet approximated, in-time evaluation of possible trajectory deviations caused by wind gusts. The deviation in the planned trajectory caused by wind is further simulated utilizing a 6 degrees-of-freedom (DOF) UAV trajectory simulator comprising of a rotorcraft lumped-mass model with LQRI controller. Both steady-state wind and wind gust effects are investigated. The probability of collision with obstacle is computed and demonstrated on real flight data from experimental flights of an octocopter at NASA Langley Research Center in the presence of simulated obstacles and wind conditions. Effect of varying wind conditions and varying UAV airspeed is further demonstrated on experimental flights in the presence of wind measured by ground based weather service stations. The proposed approach would eventually benefit timely mitigation of current and future safety-critical events in autonomous systems by enabling risk-informed decision making.

Portia Banerjee↗

NASA NTRS2020

Strategic Deconfliction Performance: Results and Analysis from the NASA UTM Technical Capability Level 4 Demonstration

Unmanned Aircraft System (UAS) Traffic Management (UTM) refers to the service-based, cooperative approach to the management of small UAS in the National Airspace System that is safe, scalable, and fair. UTM provides the means to manage the airspace in a complementary manner that does not burden the current air traffic control workforce or infrastructure but allows the Air Navigation Service Provider to maintain its regulatory and operational authority of the airspace. A key feature of UTM is the ability to provide operators the means to strategically deconflict operations from others in the airspace through the digital exchange of information via supporting services. Through this approach, the four-dimensional operation volumes that encompass the intent of operators in a given area are discoverable and can be used for airspace awareness as well as planning conflict free operations that account for and avoid other operations. In certain cases, it is also possible to negotiate volume intersections for shared airspace use without the need to re-plan. In the NASA UTM concept, strategic deconfliction is the first layer of three in the overall conflict management model. The three layers of the conflict management model, which follow the International Civil Aviation Organization’s scheme [ICAO 2005] are: strategic conflict management, separate provision, and collision avoidance. In UTM, the strategic layer mostly occurs prior to departure, but is applicable to en route operations with sufficient planning horizon. The initial requirements for a strategic deconfliction capability within UTM are defined in a NASA publication [Rios 2018]. Within the concept and implementation of service-provided strategic deconfliction is the notion of priority. It is understood that there are instances in which an operation requires a priority designation within the UTM system and special handling accordingly to provide situation awareness and facilitate appropriate responses from other airspace users. Examples of situations requiring priority designation include: when an operator declares an emergency due to problems with the vehicle or its immediate surroundings; operations that are in support of certain organizations (e.g., public safety and first responders); or special missions that also require priority use of airspace (e.g., emergency medical deliveries). UAS Volume Reservations (UVRs) also relate to the topic of priority in the sense that the airspace that the volume encompasses has a different status or classification in which unassociated operations must vacate if inside, or avoid if outside, through strategic deconfliction with the volume. Operations that are specially permitted to access the UVR area are typically assigned priority status given the nature of their mission and their associated credentials. The ability to perform strategic deconfliction, handle certain operations with a priority distinction, and establish UVRs that are communicated throughout the UTM system, is predicated on an architecture that has been established through an evolutionary process in response to close collaboration with stakeholders from government and industry. Another important and influential aspect of these capabilities and architecture is the live, distributed flight tests that have been conducted across the Technical Capability Levels (TCLs) that culminated with a set of complex tests performed as part of TCL4 [Rios 2020]. The TCL4 flight test involved two FAA-designated UAS test sites building teams to collaborate with NASA’s UTM Project on the execution of several detailed, small UAS scenarios in urban environments.

conflict management↗

NASA NTRSDate not supplied

A Green Propulsion Dual Mode (GPDM) In-Space Technology Demonstration on a 6U CubeSat

Over the past decade there has been an increase in the launch and operations of small spacecraft. Small spacecraft (defined as having a total vehicle mass of < 180 kg) provide an opportunity for low-cost, high impact technology demonstrations on a small scale. They also create opportunities for government, industry, and academic to engage, transfer knowledge, and extend partnerships with non-traditional partners. NASA’s Marshall Space Flight Center (MSFC) is leading a collaborative effort to demonstrate a dual-mode (chemical and electrospray) propulsion system using a common propellant system as a payload on a 6U CubeSat. The novel feature in the propulsion system is the interfacing of propulsion technologies requiring dramatically different operating conditions and support hardware. GPDM will use a low toxicity or “green” propellant known as Advanced Spacecraft Energetic Non-Toxic (ASCENT) to demonstrate using a chemical thruster for translation burns and electrospray propulsion for both attitude control and translational burns on the spacecraft. Specific mission activities could include demonstration of collision avoidance during frequent altitude adjustment maneuvers to validate thruster performance and managing extended duration thruster burns of at least 24 hours with limited vehicle contact times. This paper will summarize the ground testing, spacecraft development, mission objectives, and mission planning activities to achieve some of GPDM’s technical objectives.

Nehemiah Joel Williams↗

NASA NTRS1991

SPECS: Orbital debris removal

The debris problem has reached a stage at which the risk to satellites and spacecraft has become substantial in low Earth orbit (LEO). This research discovered that small particles posed little threat to spacecraft because shielding can effectively prevent these particles from damaging the spacecraft. The research also showed that, even though collision with a large piece of debris could destroy the spacecraft, the large pieces of debris pose little danger because they can be tracked and the spacecraft can be maneuvered away from these pieces. Additionally, there are many current designs to capture and remove large debris particles from the space environment. From this analysis, it was decided to concentrate on the removal of medium-sized orbital debris, that is, those pieces ranging from 1 cm to 50 cm in size. The current design incorporates a transfer vehicle and a netting vehicle to capture the medium-sized debris. The system is based near an operational space station located at 28.5 deg inclination and 400 km altitude. The system uses ground-based tracking to determine the location of a satellite breakup or debris cloud. These data are uploaded to the transfer vehicle, which proceeds to rendezvous with the debris at a lower altitude parking orbit. Next, the netting vehicle is deployed, tracks the targeted debris, and captures it. After expending the available nets, the netting vehicle returns to the transfer vehicle for a new netting module and continues to capture more debris in the target area. Once all the netting modules are expended, the transfer vehicle returns to the space station's orbit where it is resupplied with new netting modules from a space shuttle load. The new modules are launched by the shuttle from the ground and the expended modules are taken back to Earth for removal of the captured debris, refueling, and repacking of the nets. Once the netting modules are refurbished, they are taken back into orbit for reuse. In a typical mission, the system has the ability to capture 50 pieces of orbital debris. One mission will take approximately six months and the system is designed to allow for a 30 deg inclination change on the outgoing and incoming trips of the transfer vehicle.

Source record↗

NASA NTRS2011

Chance-Constrained Guidance With Non-Convex Constraints

Missions to small bodies, such as comets or asteroids, require autonomous guidance for descent to these small bodies. Such guidance is made challenging by uncertainty in the position and velocity of the spacecraft, as well as the uncertainty in the gravitational field around the small body. In addition, the requirement to avoid collision with the asteroid represents a non-convex constraint that means finding the optimal guidance trajectory, in general, is intractable. In this innovation, a new approach is proposed for chance-constrained optimal guidance with non-convex constraints. Chance-constrained guidance takes into account uncertainty so that the probability of collision is below a specified threshold. In this approach, a new bounding method has been developed to obtain a set of decomposed chance constraints that is a sufficient condition of the original chance constraint. The decomposition of the chance constraint enables its efficient evaluation, as well as the application of the branch and bound method. Branch and bound enables non-convex problems to be solved efficiently to global optimality. Considering the problem of finite-horizon robust optimal control of dynamic systems under Gaussian-distributed stochastic uncertainty, with state and control constraints, a discrete-time, continuous-state linear dynamics model is assumed. Gaussian-distributed stochastic uncertainty is a more natural model for exogenous disturbances such as wind gusts and turbulence than the previously studied set-bounded models. However, with stochastic uncertainty, it is often impossible to guarantee that state constraints are satisfied, because there is typically a non-zero probability of having a disturbance that is large enough to push the state out of the feasible region. An effective framework to address robustness with stochastic uncertainty is optimization with chance constraints. These require that the probability of violating the state constraints (i.e., the probability of failure) is below a user-specified bound known as the risk bound. An example problem is to drive a car to a destination as fast as possible while limiting the probability of an accident to 10(exp -7). This framework allows users to trade conservatism against performance by choosing the risk bound. The more risk the user accepts, the better performance they can expect.

FROM↗

NASA NTRS2006

JSC Orbital Debris Website Description

Purpose: The website provides information about the NASA Orbital Debris Program Office at JSC, which is the lead NASA center for orbital debris research. It is recognized world-wide for its leadership in addressing orbital debris issues. The NASA Orbital Debris Program Office has taken the international lead in conducting measurements of the environment and in developing the technical consensus for adopting mitigation measures to protect users of the orbital environment. Work at the center continues with developing an improved understanding of the orbital debris environment and measures that can be taken to control its growth. Major Contents: Orbital Debris research is divided into the following five broad efforts. Each area of research contains specific information as follows: 1) Modeling - NASA scientists continue to develop and upgrade orbital debris models to describe and characterize the current and future debris environment. Evolutionary and engineering models are described in detail. Downloadable items include a document in PDF format and executable software. 2) Measurements - Measurements of near-Earth orbital debris are accomplished by conducting ground-based and space-based observations of the orbital debris environment. The data from these sources provide validation of the environment models and identify the presence of new sources. Radar, optical and surface examinations are described. External links to related topics are provided. 3) Protection - Orbital debris protection involves conducting hypervelocity impact measurements to assess the risk presented by orbital debris to operating spacecraft and developing new materials and new designs to provide better protection from the environment with less weight penalty. The data from this work provides the link between the environment defined by the models and the risk presented by that environment to operating spacecraft and provides recommendations on design and operations procedures to reduce the risk as required. These data also help in the analysis and interpretation of impact features on returned spacecraft surfaces. 4) Mitigation - Controlling the growth of the orbital debris population is a high priority for NASA, the United States, and the major space-faring nations of the world to preserve near-Earth space for future generations. Mitigation measures can take the form of curtailing or preventing the creation of new debris, designing satellites to withstand impacts by small debris, and implementing operational procedures ranging from utilizing orbital regimes with less debris, adopting specific spacecraft attitudes, and even maneuvering to avoid collisions with debris. Downloadable items include several documents in PDF format and executable software.and 5) Reentry - Because of the increasing number of objects in space, NASA has adopted guidelines and assessment procedures to reduce the number of non-operational spacecraft and spent rocket upper stages orbiting the Earth. One method of postmission disposal is to allow reentry of these spacecraft, either from orbital decay (uncontrolled entry) or with a controlled entry. Orbital decay may be achieved by firing engines to lower the perigee altitude so that atmospheric drag will eventually cause the spacecraft to enter. However, the surviving debris impact footprint cannot be guaranteed to avoid inhabited landmasses. Controlled entry normally occurs by using a larger amount of propellant with a larger propulsion system to drive the spacecraft to enter the atmosphere at a steeper flight path angle. It will then enter at a more precise latitude, longitude, and footprint in a nearly uninhabited impact region, generally located in the ocean.

Johnson, Nicholas L.↗

NASA NTRS1991

Generation of ultrahigh-energy gamma rays in accreting x ray pulsars

Relativistic protons producing ultrahigh energy gamma rays as a result of nuclear collisions ought to be generated in close proximity to the surface of a neutron star due to accretion. The main features of the mechanism in question are a high efficiency of conversion of the gravitational energy of the accreting matter into acceleration energy and a high efficiency of the acceleration itself. It is shown that in accretion to a neutron star with a strong magnetic field, a loss cone type distribution of accreting protons is formed, which due to instability effectively generates small scale Alfven and proton cyclotron waves, as well as nonlinear waves (magneto-acoustic and Alfven solitons). The electric field of the moving solitons may accelerate the protons to energies of greater than 10(exp 15) eV. The region of acceleration is not locally isolated, but extends from its surface. New possible sources of ultrahigh energy gamma rays are predicted. They may be binary x ray systems containing neutron stars with magnetic fields of about 10(exp 9) gauss.

Gnedin, Yu. N.↗

NASA NTRS2011

Algorithm for Autonomous Landing

Because of their small size, high maneuverability, and easy deployment, micro aerial vehicles (MAVs) are used for a wide variety of both civilian and military missions. One of their current drawbacks is the vast array of sensors (such as GPS, altimeter, radar, and the like) required to make a landing. Due to the MAV s small payload size, this is a major concern. Replacing the imaging sensors with a single monocular camera is sufficient to land a MAV. By applying optical flow algorithms to images obtained from the camera, time-to-collision can be measured. This is a measurement of position and velocity (but not of absolute distance), and can avoid obstacles as well as facilitate a landing on a flat surface given a set of initial conditions. The key to this approach is to calculate time-to-collision based on some image on the ground. By holding the angular velocity constant, horizontal speed decreases linearly with the height, resulting in a smooth landing. Mathematical proofs show that even with actuator saturation or modeling/ measurement uncertainties, MAVs can land safely. Landings of this nature may have a higher velocity than is desirable, but this can be compensated for by a cushioning or dampening system, or by using a system of legs to grab onto a surface. Such a monocular camera system can increase vehicle payload size (or correspondingly reduce vehicle size), increase speed of descent, and guarantee a safe landing by directly correlating speed to height from the ground.

Kuwata, Yoshiaki↗

NASA NTRS2021

Detection and Tracking of Aircraft in the Far-Field from Small Unmanned Aerial Systems

Onboard far-field aircraft detection is needed for safe non-cooperative traffic mitigation in autonomous small Unmanned Aerial System (sUAS) operations. Machine vision systems, based on standard optics and visible light detectors, possess the ideal size, weight, and power (SWaP) requirements for sUAS. This work presents the design and analysis of a novel aircraft detection and tracking pipeline based on optical sensing alone. Key contributions of the work include a refined range inequality model based on sensing and detection with FAA well-clear separation assurance distances between aircraft in mind, a detector fusion method to maximize the benefit of two image detectors, and a comparative analysis of Linear Kalman-filtering and Extended Kalman-filtering to seek optimal tracking performance. The pipeline is evaluated offline against multiple intruder platforms, using two types of flight encounters: multirotor sUAS vs. fixed-wing sUAS and multirotor sUAS vs. general aviation(GA)plane. Analysis is restricted to the rate-limiting head-on and departing collision volume cases vertically separated for safety. Results indicate that it is feasible to use the proposed optical spatial-temporal tracking algorithm to provide adequate alerting time to prevent penetration of well-clear separation volumes for both sUAS and GA aircraft.

Unmanned Aerial System↗

NASA NTRS2017

UAS Well Clear Recovery Against Non-Cooperative Intruders Using Vertical Maneuvers

This paper documents a study that drove the development of a mathematical expression in the detect-and-avoid (DAA) minimum operational performance standards (MOPS) for unmanned aircraft systems (UAS). This equation describes the conditions under which vertical maneuver guidance should be provided during recovery of DAA well clear separation with a non-cooperative VFR aircraft. Although the original hypothesis was that vertical maneuvers for DAA well clear recovery should only be offered when sensor vertical rate errors are small, this paper suggests that UAS climb and descent performance should be considered-in addition to sensor errors for vertical position and vertical rate-when determining whether to offer vertical guidance. A fast-time simulation study involving 108,000 encounters between a UAS and a non-cooperative visual-flight-rules aircraft was conducted. Results are presented showing that, when vertical maneuver guidance for DAA well clear recovery was suppressed, the minimum vertical separation increased by roughly 50 feet (or horizontal separation by 500 to 800 feet). However, the percentage of encounters that had a risk of collision when performing vertical well clear recovery maneuvers was reduced as UAS vertical rate performance increased and sensor vertical rate errors decreased. A class of encounter is identified for which vertical-rate error had a large effect on the efficacy of horizontal maneuvers due to the difficulty of making the correct left/right turn decision: crossing conflict with intruder changing altitude. Overall, these results support logic that would allow vertical maneuvers when UAS vertical performance is sufficient to avoid the intruder, based on the intruder's estimated vertical position and vertical rate, as well as the vertical rate error of the UAS' sensor.

UAS in the NAS↗

NASA NTRS2018

A Prognostics Framework Development for Swarm Satellite Formations

Prognostics is the science of predicting the failure(s) of a component or a system and understanding how the performance will change in the event of a failure or degradation mechanism. With accurate predictions of possible failures, autonomous mitigative actions can be taken to correct/repair any issues or alert human operators of a failure threshold exceedance requiring condition-based maintenance. Although there is extensive research on failure predictions for a component or a system, there are significantly more opportunities to foray into failure predictions and prognostics for a system of systems such as an airspace consisting of multiple aircraft, a fleet of unmanned aerial vehicles, and a swarm of intelligent satellite systems. Failure prediction and mitigation are particularly important in autonomous systems such as satellite swarm systems that need effective resource management and minimal human interactions. Based on NASA's decadal survey, there is a clear need to prioritize the development of satellite swarm technology for studies of space physics and Earth science. The science community will propose future missions that return in-situ measurements from a 3-D (three-dimensional) volume of space, with relative spacecraft motion and inter-satellite baselines controlled according to the mission objectives. For such multi-spacecraft missions, it is required that ground operations resources do not scale with the number of satellites, thus compromising the swarm or leading to inefficiencies in resource allocation. Swarms of tens or hundreds of small satellites will require autonomy in attitude control, navigation and failure. Although significant research has been conducted in the areas of autonomous formation flying algorithms, less attention has been given to the development of resilient systems robust to failures.The focus of this research paper is the integration of model-based prognostics into the swarm dynamics control and decision-making algorithms. We simulate swarm management strategies for a subsystem failure to demonstrate the importance of failure predictions by comparing two cases: (i) no health information is provided to the system and utilized in the decision-making process and (2) system health information is obtained using prognostics and employed by the control system. One example scenario presented is for the GPS (Global Positioning System) system of an individual satellite to perform off-nominally due to increasing estimated error. In this scenario, the keep-out zone for that satellite would become more conservative, thereby decreasing the risk of collision. This is achieved via tuning the individual artificial repulsive functions assigned to each satellite.This paper is structured as follows. First we provide an overview of current swarm technology development, where we specifically use the term swarm to define multiple satellites flying in formation in similar orbits, with cross-link communication and station-keeping capabilities. Second, we give an introduction to the Swarm Orbital Dynamics Advisor (SODA), a tool that accepts high-level configuration commands and provides the orbital maneuvers required to achieve the prescribed formation configuration. Third, we provide the details of the model-based prognostics algorithm implementation in SODA. Finally, we present different case studies for potential component/subsystem failures and the swarm responses based with and without failure prediction information.

prognostics↗

NASA NTRS1990

Mathematical modeling of the flow field and particle motion in a rotating bioreactor at unit gravity and microgravity

The biotechnology group at NASA Johnson Space Center is developing systems for culturing mammalian cells that stimulate some aspect of microgravity and provide a low shear environment for microgravity-based studies on suspension and anchorage dependent cells. The design of these vessels for culturing cells is based on the need to suspend cells and aggregates of cells and microcarrier beads continually in the culturing medium. The design must also provide sufficient circulation for adequate mass transfer of nutrients to the cells and minimize the total force on the cells. Forces, resulting from sources such as hydrodynamic fluid shear and collisions of cells and walls of the vessels, may damage delicate cells and degrade the formation of three dimensional structures. This study examines one particular design in both unit gravity and microgravity based on two concentric cylinders rotating in the same direction at different speeds to create a Couette flow between them. A numerical simulation for the flow field and the trajectories of particles in the vessel. The flow field for the circulation of the culturing medium is modeled by the Navier-Stokes equations. The forces on a particle are assumed to be drag from the fluid's circulation, buoyancy from the gravitational force and centrifugal force from the rotation of the vessel. The problem requires first solving the system of partial differential equations for the fluid flow by a finite difference method and then solving the system of ordinary differential equations for the trajectories by Gear's stiff method. Results of the study indicate that the trajectories in unit gravity and microgravity are very similar except for small spatial deviations on the fast time scale in unit gravity. The total force per unit cross sectional area on a particle in microgravity, however, is significantly smaller than the corresponding value in unit gravity, which is also smaller than anticipated. Hence, this study indicates that this design for a bioreactor with optimal rates of rotation can provide a good environment for culturing cells in microgravity with adequate circulation and minimal force on the cells.

Boyd, Ernest J.↗