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NASA NTRS1987

Operation of a multi-year, multi-agency project

Organizational and technological aspects of the operation by NASA and ESA of the IUE satellite observatory since its launch in 1978 are discussed. Topics addressed include the division of responsibilities among the ground stations, the IUE orbit and its evolution, the IUE spacecraft, normal operations (proposal selection and observation planning, shift handover, and spacecraft operations), and a typical observation (target identification and acquisition, telescope focus, spectrograph modes, camera operations, calibration, and data reduction). Consideration is given to constraints on IUE operation due to the sun-earth-moon configuration (eclipses), spacecraft power, radiation, temperature, and momentum-wheel speed; problems encountered with gyros, onboard computers, the fine sun sensor, and cameras; and the reliable high-efficiency overall performance of the IUE. Diagrams, drawings, and graphs are provided.

Faelker, Juergen↗

NASA NTRS1988

Accuracy study of the Upper Atmosphere Research Satellite (UARS) definitive attitude determination

The Upper Atmosphere Research Satellite (UARS) has two definitive attitude determination requirements: the definitive attitude of the Modular Attitude Control Subsystem (MACS) and the definitive attitude of the gimbaled Solar-Stellar Pointing Platform (SSPP). The onboard computer (OBC) will compute the MACS attitude using a Kalman filter and will transform this attitude solution through the SSPP gimbals to calculate the SSPP attitude. The attitude ground support system (AGSS) will compute the MACS attitude using a batch least-squares differential corrector algorithm and will also transform this solution through the gimbals to obtain the SSPP attitude. This paper reports the results of a prelaunch study to predict the accuracy of the OBC attitude solutions and the accuracy of the AGSS attitude solutions. The OBC and AGSS solution accuracies are then compared to establish the relative quality. The effects of star observability, sensor noise, and sensor misalignment uncertainties on attitude determination accuracy are analyzed for each case.

Snow, Frank↗

NASA NTRS1988

Ocean Drifter Project

Four drifting buoys were fabricated from mostly local hardware plus animal locating transmitters. The first two working models were dropped from a Wallops aircraft, to test the mechanical integrity and to test the ability of the whole system to withstand the drop and provide usable data. There are two temperature sensors on board, one to measure sea surface temperature and the other to measure air temperature. An onboard computer controls the transmissions, sending three water temperature readings for each air temperature reading in order to differentiate one from the other after data reduction. Guidelines for the development and test of optical drifting buoys include: air deployable and expendable, reasonable cost for multiple deployment, 1 year lifetime, use of existing technology and a minimal validation parameter set.

Mason, C. D.↗

NASA NTRS1989

SSFP approach to software reuse

This talk began by presenting the Space Station Freedom Program (SSFP) definitions of software commonality and software reuse. Software commonality is the use of identical, interchangeable, functionally compatible, or similar software items to satisfy different sets of functionally similar requirements. The Software Support Environment (SSE) and the Data Management System (DMS) of onboard computing facilities are examples of SSFP common software. Software reuse is the use of identical, compatible, or similar software items in either modified or unmodified form to satisfy development activities at any point in the software life cycle; in other words, taking an existing item and applying it to another development activity. Software commonality has been mandated in several critical areas (such as the SSE and DMS) and a policy directive is under review. A software reuse study group was established in May 1988 to gather background information (see Level 2 Software Reuse Study that follows by Scott Herman). The SSFP Program Definition and Requirements Document contains requirements for SSE support in the area of software reuse. The SSE is a collection of tools and rules, and provides the common environment to be used for the life cycle management of all SSFP operational software.

Snyder, Peg↗

NASA NTRS1990

A comparison of time-optimal interception trajectories for the F-8 and F-15

The simulation results of a real time control algorithm for onboard computation of time-optimal intercept trajectories for the F-8 and F-15 aircraft are given. Due to the inherent aerodynamic and propulsion differences in the aircraft, there are major differences in their optimal trajectories. The significant difference in the two aircrafts are their flight envelopes. The F-8's optimal cruise velocity is thrust limited, while the F-15's optimal cruise velocity is at the intersection of the Mach and dynamic pressure constraint boundaries. This inherent difference necessitated the development of a proportional thrust controller for use as the F-15 approaches it's optimal cruise energy. Documented here is the application of singular perturbation theory to the trajectory optimization problem, along with a summary of the control algorithms. Numerical results for the two aircraft are compared to illustrate the performance of the minimum time algorithm, and to compute the resulting flight paths.

Calise, Anthony J.↗

NASA NTRS1990

Gamma Ray Observatory (GRO) dynamics simulator requirements and mathematical specifications, revision 1

The requirements and mathematical specifications for the Gamma Ray Observatory (GRO) Dynamics Simulator are presented. The complete simulator system, which consists of the profie subsystem, simulation control and input/output subsystem, truth model subsystem, onboard computer model subsystem, and postprocessor, is described. The simulator will be used to evaluate and test the attitude determination and control models to be used on board GRO under conditions that simulate the expected in-flight environment.

Harman, R.↗

NASA NTRS1990

Information sciences experiment system

The rapid expansion of remote sensing capability over the last two decades will take another major leap forward with the advent of the Earth Observing System (Eos). An approach is presented that will permit experiments and demonstrations in onboard information extraction. The approach is a non-intrusive, eavesdropping mode in which a small amount of spacecraft real estate is allocated to an onboard computation resource. How such an approach allows the evaluation of advanced technology in the space environment, advanced techniques in information extraction for both Earth science and information science studies, direct to user data products, and real-time response to events, all without affecting other on-board instrumentation is discussed.

Katzberg, Stephen J.↗

NASA NTRS1989

Distributed communications and control network for robotic mining

The application of robotics to coal mining machines is one approach pursued to increase productivity while providing enhanced safety for the coal miner. Toward that end, a network composed of microcontrollers, computers, expert systems, real time operating systems, and a variety of program languages are being integrated that will act as the backbone for intelligent machine operation. Actual mining machines, including a few customized ones, have been given telerobotic semiautonomous capabilities by applying the described network. Control devices, intelligent sensors and computers onboard these machines are showing promise of achieving improved mining productivity and safety benefits. Current research using these machines involves navigation, multiple machine interaction, machine diagnostics, mineral detection, and graphical machine representation. Guidance sensors and systems employed include: sonar, laser rangers, gyroscopes, magnetometers, clinometers, and accelerometers. Information on the network of hardware/software and its implementation on mining machines are presented. Anticipated coal production operations using the network are discussed. A parallelism is also drawn between the direction of present day underground coal mining research to how the lunar soil (regolith) may be mined. A conceptual lunar mining operation that employs a distributed communication and control network is detailed.

Schiffbauer, William H.↗

NASA NTRS1990

Universal Lambert and Kepler algorithms for autonomous rendezvous

This paper describes Lambert and Kepler algorithms designed to be the core of an autonomous rendezvous guidance system for an onboard computer. Applications include robotic and piloted missions to the moon and planets. Flight software must be compact, fast, and totally reliable. Although high accuracy is not essential for flight, in double precision these algorithms are accurate to at least 14 places almost everywhere. Both are universal; they apply to elliptic, parabolic, hyperbolic, and even rectilinear trajectories. The algorithms are improvements to those published by Battin (1987).

Klumpp, Allan R.↗

NASA NTRS1990

Walking robot: A design project for undergraduate students

The design and construction of the University of Maryland walking machine was completed during the 1989 to 1990 academic year. It was required that the machine be capable of completing a number of tasks including walking a straight line, turning to change direction, and manuevering over an obstacle such as a set of stairs. The machine consists of two sets of four telescoping legs that alternately support the entire structure. A gear box and crank arm assembly is connected to the leg sets to provide the power required for the translational motion of the machine. By retracting all eight legs, the robot comes to rest on a central Bigfoot support. Turning is accomplished by rotating this machine about this support. The machine can be controlled by using either a user-operated remote tether or the onboard computer for the execution of control commands. Absolute encoders are attached to all motors to provide the control computer with information regarding the status of the motors. Long and short range infrared sensors provide the computer with feedback information regarding the machine's position relative to a series of stripes and reflectors. These infrared sensors simulate how the robot might sense and gain information about the environment of Mars.

Source record↗

NASA NTRS1991

Capturing, using, and managing quality assurance knowledge for shuttle post-MECO flight design

Ascent initialization values used by the Shuttle's onboard computer for nominal and abort mission scenarios are verified by a six degrees of freedom computer simulation. The procedure that the Ascent Post Main Engine Cutoff (Post-MECO) group uses to perform quality assurance (QA) of the simulation is time consuming. Also, the QA data, checklists and associated rationale, though known by the group members, is not sufficiently documented, hindering transfer of knowledge and problem resolution. A new QA procedure which retains the current high level of integrity while reducing the time required to perform QA is needed to support the increasing Shuttle flight rate. Documenting the knowledge is also needed to increase its availability for training and problem resolution. To meet these needs, a knowledge capture process, embedded into the group activities, was initiated to verify the existing QA checks, define new ones, and document all rationale. The resulting checks were automated in a conventional software program to achieve the desired standardization, integrity, and time reduction. A prototype electronic knowledge base was developed with Macintosh's HyperCard to serve as a knowledge capture tool and data storage.

Peters, H. L.↗

NASA NTRS1991

Conceptual studies on the integration of a nuclear reactor system to a manned rover for Mars missions

Multiyear civilian manned missions to explore the surface of Mars are thought by NASA to be possible early in the next century. Expeditions to Mars, as well as permanent bases, are envisioned to require enhanced piloted vehicles to conduct science and exploration activities. Piloted rovers, with 30 kWe user net power (for drilling, sampling and sample analysis, onboard computer and computer instrumentation, vehicle thermal management, and astronaut life support systems) in addition to mobility are being considered. The rover design, for this study, included a four car train type vehicle complete with a hybrid solar photovoltaic/regenerative fuel cell auxiliary power system (APS). This system was designed to power the primary control vehicle. The APS supplies life support power for four astronauts and a limited degree of mobility allowing the primary control vehicle to limp back to either a permanent base or an accent vehicle. The results showed that the APS described above, with a mass of 667 kg, was sufficient to provide live support power and a top speed of five km/h for 6 hours per day. It was also seen that the factors that had the largest effect on the APS mass were the life support power, the number of astronauts, and the PV cell efficiency. The topics covered include: (1) power system options; (2) rover layout and design; (3) parametric analysis of total mass and power requirements for a manned Mars rover; (4) radiation shield design; and (5) energy conversion systems.

El-Genk, Mohamed S.↗

NASA NTRS1991

MUSES-A

The MUSES-A spacecraft mission objectives are to study the effect of a double lunar swingby technique, lunar orbital insertion, obtain experience using optical navigation equipment, measure mass and momentum of micrometeoroids by using a particle dust counter, and to support a packet telemetry and Reed-Solomon coding experiment by using a newly developed fault tolerant onboard computer. A flight profile is given, and information is presented in tabular form on the following topics: Deep Space Network support, frequency assignments, telemetry, command, and tracking support responsibility.

Nishimura, T.↗

NASA NTRS1990

True covariance simulation of the EUVE (extreme ultra violet explorer) update filter

This paper presents a covariance analysis of the performance and sensitivity of the attitude determination Extended Kalman Filter (EKF) used by the onboard computer (OBC) of the Extreme Ultra Violet Explorer (EUVE) spacecraft. The linearized dynamics and measurement equations of the error states are used in formulating the 'truth model' describing the order of the systems involved. The 'design model' used by the OBC EKF is then obtained by reducing the order of the truth model. The covariance matrix of the EKF which uses the reduced order model is not the correct covariance of the EKF estimation error. A 'true covariance analysis' has to be carried out in order to evaluate the correct accuracy of the OBC generated estimates. The results of such analysis are presented which indicate both the performance and the sensitivity of the OBC EKF.

Bar-Itzhack, I. Y.↗

NASA NTRS1992

Day-of-Launch I-load Updates for the Space Shuttle

Approximately one hour prior to the September 1991 launch of the Space Shuttle Discovery on STS-48, new guidance commands were uplinked to the onboard computers, allowing the vehicle to fly safely through unusually strong upper atmosphere winds. The capability to update the vehicle guidance commands known as Day-of-Launch I-load Update (DOLILU), had been developed by a NASA/industry team, and was certified for flight use in August 1991 following an extensive testing regime. The DOLILU capability presents several benefits to the Space Shuttle Program. Not only does it reduce the possibility of a launch scrub due to unexpected wind profiles at high altitude, it is also a major first step toward standardization of the ascent flight profile, and which will reduce the cost of flight software verification commit-to-flight trajectory analysis, and flight crew training.

Norbraten, G. L.↗

NASA NTRS1992

Planetary mission operations

A high-level overview is presented of the process through which the uplink segment of NASA's prospective planetary missions will be instituted; the overview is supplemented by suggestions as to how costs can be reduced. Uplink costs constitute two-thirds of the total cost of operations. Attention is given to 'sequence loading', which is a time-lagged set of commands and supporting information that is prepared on the ground and uplinked to the spacecraft's onboard computer. The sequence is the primary guide used by the spacecraft to accomplish its mission; sequences are supplemented by real-time commands that are executed upon reception from the ground.

Mclaughlin, W. I.↗

NASA NTRS1992

Magellan mission summary

Magellan started mapping the planet Venus on September 15, 1990, and after one cycle (one Venus day or 243 earth days) had mapped 84 percent of the planet's surface. This returned an image data volume greater than all past planetary missions combined. Spacecraft problems were experienced in flight. Changes in operational procedures and reprogramming of onboard computers minimized the amount of mapping data lost. Magellan data processing is the largest planetary image-processing challenge to date. Compilation of global maps of tectonic and volcanic features, as well as impact craters and related phenomena and surface processes related to wind, weathering, and mass wasting, has begun. The Magellan project is now in an extended mission phase, with plans for additional cycles out to 1995. The Magellan project will fill in mapping gaps, obtain a global gravity data set between mid-September 1992 and May 1993, acquire images at different view angles, and look for changes on the surface from one cycle to another caused by surface activity such as volcanism, faulting, or wind activity.

Saunders, R. S.↗

NASA NTRS1992

Methodologies for building robust schedules

COMPASS is the name of a Computer Aided Scheduling System designed and built for NASA. COMPASS can be used to develop schedule of activities based upon the temporal relationships of the activities and their resource requirements. COMPASS uses this information, and guided by the user, develops precise start and stop times for the activities. In actual practice however, it is impossible to know with complete certainty what the actual durations of the scheduled activities will really be. The best that one can hope for is knowledge of the probability distribution for the durations. This paper investigates methodologies for using a scheduling tool like COMPASS that is based upon definite values for the resource requirements, while building schedules that remain valid in the face of the schedule execution perturbations. Representations for the schedules developed by these methodologies are presented, along with a discussion of the algorithm that could be used by a computer onboard a spacecraft to efficiently monitor and execute these schedules.

Dean, John H.↗