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Examining the Role of IMU Health Characterization and Monitoring in UAS Safety

Inertial measurement units (IMUs) can be vital for vehicle attitude and position estimation in unmanned aerial vehicles (UAVs). Degradation in these units could result in incorrect position estimates that are utilized in vehicle control, trajectory prediction, and other critical systems; however, the modes and effects of degradation in these IMUs are not well understood. In order to quantify the risk posed by degradation in these sensors, a study was conducted on the types of IMUs prevalent in the commercial market, their known failure modes, and the applicability to health monitoring methods for risk reduction and increased safety in an increasingly autonomous airspace. First, use cases and failure modes of the various types and reliability of commercially available IMUs were reviewed, and knowledge gaps and issues in the field were identified. Noting that inexpensive and lightweight MEMS (Microelectromechanical Systems) IMUs are some of the most commonly used but least reliable sensors in sUAS (small Unmanned Aerial Systems), five inexpensive MEMS IMUs were chosen for a performance evaluation study, selected from the Pixhawk autopilot systems, hobby sUAS, and prior NASA experimental studies. For each of these IMUs, a 10-minute bias test and a 12-hour drift test were performed for the accelerometers in a benchtop setting, using a BeagleBone Black for data collection. Using these results, the sensors’ performance is compared to their reported specifications, and the utility of implementing diagnostic methods for MEMS IMUs for research and commercial applications is evaluated. The paper concludes with a planned study for the evaluation of vibration-induced degradation for the selected sensors.

IMUs↗

m:N Working Group Annual Status Report

This document serves as an annual report of m:N Unmanned Aircraft Systems (UAS) subgroup activities, addressed challenges, and roadmaps for the future. The subgroups consist of small Unmanned Aircraft Systems (sUAS), Large UAS, High Altitude Platform Systems (HAPS), and Urban Air Mobility (UAM). Also included in this report are participant lists for each subgroup (Appendix B) and future roadmap and outreach plans.The subgroups meet in a virtual format multiple times throughout the year. Twice a year, participants from all the subgroups come together as part of the m:N working group to brief each other in person on progress, challenges, and path forward ideas for successful incorporation of UAS into the airspace. Recent m:N in person meetings include: - November 29-30, 2022 at the NASA Ames Research Center in Mountain View, CA - May 9 & 11, 2023 at AUVSI’s Xponential conference in Denver, CO - The next in person working group meeting is planned for November 28-30, 2023 at NASA Langley in Hampton, Virginia The m:N UAS working group is run by Jay Shively (Adaptive Aerospace) and Andy Thurling (Thurling Aero Consulting) and is comprised of members from government, industry, and academia in an effort to identify and reduce barriers to m:N operations. This effort also includes identifying requirements, use cases, and metrics to support organizations and groups including the Federal Aviation Administration (FAA) and Radio Technical Commission for Aeronautics (RTCA’s) SC-228 Detect and Avoid committee.

multi-vehicle↗

In-Lab Rapid Analytical Detection of Lunar Volatiles By Universal Gas Analyzer With Comparison to GC-MS System

Introduction: The curation of permanently shadowed regions (PSRs) [1] on the lunar surface is centered around studies based upon the observed volatiles from the LCROSS mission [2]. The rapid detection of important volatile gases and vapors present in planetary bodies and Astromaterials by a standalone analytical device is an area of intense research interest in our group and Planetary Exploration & Astromaterials Research Laboratory (PEARL) facility and this work is relevant to the future preparation of viable lunar simulants for testing curation efforts down the road. The groundbreaking results obtained from the LCROSS Mission [2] open the requirements for the direct detection of volatiles present in regolith materials collected from the lunar surface. The mass spectrometry of volatile chemicals is a general technique that utilizes a set of instruments that creates charged ions from a gaseous chemical species and measures the intensities vs. mass-to-charge ratio (m/z) [3]. In this context, we discuss in-lab experimental results and procedures for rapid qualitative analysis of main LCROSS volatiles (water, H2S, NH3, CO2, and CH3OH) by a Universal Gas Analyzer (UGA) instrument. Additionally, the instrument performance was evaluated by measuring the isotopic abundance ratio of atmospheric Ar-40 to Ar-36 present in room air since, argon is a relevant gas in planetary studies as it can provide an insight and reference point to isotope studies [4]. Additional, cross comparisons were attempted and made between the two instruments to develop a robust analytical technique by comparing mass spectral data for H2S headspace samples with a Trace-1310/ ISQ 7000 (ThermoFisher Scientific.) GC-MS system. Background: The benchtop UGA System is equipped with an SRS UGA 300 quadrupole mass spectrometer designed and built by Stanford Research Systems [5]. This system can be configured for several types of gaseous chemical analysis. The inlet line continuously samples gases at low flow rates (several milliliters per minute) through a capillary limiting the intake pressure making the instrument ideal for online analysis of select gases and/or room atmosphere. Moreover, in our current UGA system, a change in composition at the inlet can be detected in about 200 milliseconds and a complete spectrum is acquired (for a range of 1-100 amu) in under 45 sec with masses measured at rates up to 25 msec per point [5]. This system provides a quick upstream analytical data that we can then compare to results obtained by our GC-MS system. Sample Preparation: Small volume (2-4 mL) of analyte sample was taken in a 10 mL glass vial and sealed with a crimped cap and purged with pure Ar or N2 gas to displace air from the top. The headspace sample was scanned by the UGA instrument at analog, histogram, and pressure vs. time modes. The isotopic abundance ratio for 40Ar-to-36Ar was estimated by measuring partial pressure vs. time scans and setting the mass at 40 and 36 respectively. Results and Discussions: In this work, we have investigated the applicability of the UGA system by qualitative analysis of a series of LCROSS volatiles measured individually. Fig. 1 demonstrates a set of vertically offset spectra for the partial pressures measured as a function of mass-to-charge (m/z) ratios. The average acquisition time for each spectrum was less than a minute suggesting that the UGA system is ideal for quick analysis of geochemical volatiles. For the cross-comparison, we analyzed an H2S headspace sample by a Trace-1310/ISQ-7000 system and compared mass spectral data with previously measured UGA histogram scan data (Fig. 2). In both cases, major peak positions are the same, however, the intensities of fragment ions ([1H132S]+ and [32S]+) are higher for UGA suggesting that the fragment ionization process is stronger in UGA compared to that of GC-MS. To investigate how the integrated area under each chromatogram varies with the headspace sample volume, a set of five H2S headspace samples with increasing volumes was analyzed by the GC-MS system (Fig. 3, inset). A small volume (e.g., 200 to 1000 µL) of H2S/H2O vapor was withdrawn from a 20 mL stock sample vial containing ~5 mL of 0.4% H2S in water by a gas-tight syringe and added to another 20 mL vial filled with argon and analyzed by the GC-MS system. Finally, the UGA detector sensitivity was evaluated by calculating the atmospheric 40Ar-to-36Ar isotopic abundance ratio in room air by running a partial pressure vs. time scan with setting the atomic mass at 40, and 36. Fig. 4(a) shows a ~25 min duration “P vs. time” scan for 40Ar (plot for 36Ar is not shown). The partial pressure values (~100 points) were corrected by subtracting the corresponding background pressure value for 37Ar and utilized to calculate 40Ar-to-36Ar isotopic abundance ratios as shown by Fig. 4b. The average isotopic abundance ratio is ~306 with a 2*STDEV ~13. This abundance ratio is significantly close to the previously reported value of 298.56 [6] and the ratio obtained by our GC-MS system (303 for a UHP grade Ar sample). Conclusions: Our study strongly evidenced that the benchtop UGA system is a valuable analytical tool for the detection of major LCROSS volatiles. The rapid scanning capability, the inexpensiveness of the whole system, and impressive detection sensitivity prove its worthiness as an essential device for advanced geochemical applications. Moreover, cross comparisons with the GC-MS provide important bridges into advanced curatorial efforts into the future. References: [1] Bickel, V.T., et al. (2021) Nat Commun 12, 5607. [2] Colaprete, A., et al. (2010) Science, 330, 463-468. [3] Glavin, D. P. et al. (2012) 2012 IEEE Aerospace Conference, 1-11. [4] Willett, C. D., et al. (2022) Geochimica et Cosmochimica Acta 329, 119-134. [5] Operation Manual and Programming Reference. (2018) Universal gas Analyzers, Stanford Research Systems. [6] Lee, J. Y., et al. (2006) Geochimica et Cosmochimica Acta 70, 4507–4512. Notes: (4 figures are attached with text as shown by the attached file)

Curation↗

Influence of Thermal Energy Storage Integration Strategy on System Performance and Refrigerant Charge for Small-Scale R290 Heat Pumps

As small-scale (2.5 – 5 kW) heat pumps across the US increase straining the grid during peak hours, integrated heat pump thermal energy storage (HP-TES) systems can assist by load shifting. However, challenges arise when assembling these systems, as direct refrigerant-phase change material (PCM) heat exchangers (HXs) increase refrigerant charge, and indirect secondary loops degrade HP-TES performance. In this work, direct and indirect HP-TES configurations were sized using commercially available HXs to compare the available load shift time and performance at similar refrigerant charges. For the same indirect 5 kW HP-TES refrigerant charge, directly HP-TES can operate up to 72 and 145 minutes in cooling and heating modes, respectively, using small diameter tubes. Using Modelica, COP increases for direct and indirect HP-TES were 22% and 9%, respectively, given the parasitic losses in the indirect HP-TES. Overall, small-scale direct HP-TES can have comparable refrigerant charges with indirect HP-TES maximizing COP improvements.

25 ENERGY STORAGE↗

Probable Disastrous Consequences of Collision Between Unknown Small (100 m) Asteroids with Known (Approximately 1 km) Near Earth Orbiting (NEO) Asteroids

The long-term stability of the Solar System is not well understood. Ironically its stability is taken for granted even though our knowledge of all the constituents [comets, asteroids. (The Asteroid Belt between Mars and Jupiter, Trojan Asteroids, Kuiper belt, Ort Cloud), planetoids, planets, moons, etc], and its long-term dynamics cannot be easily computed. At best one might say that the solar system is chaotic, but much of the time it seems to exists near a quasi-stationary state. An asteroid that passes near the Earth regularly returns with clock-like precision. Taking into account every known detail of its path through the solar system, its orbit is calculated forward thousands of years with no untoward calamity on the horizon. And then one day, this passive visitor slams into the Earth during a sunny afternoon picnic! Can this happen? Unfortunately, this is a real possibility in the ordinary history of the solar system. In fact our knowledge of the solar system in the small is sketchy, as will be pointed out. Events, which lie outside our awareness, can precipitate disasters that we may perceive when it's too late to launch effective counter measures. In this work, one such scenario is described and the direct consequences for the Earth are calculated.

Smalley, Larry↗

Meteoric Ions in Planetary Ionospheres

Solar system debris, in the form of meteoroids, impacts every planet. The flux, relative composition and speed of the debris at each planet depends on the planet's size and location in the solar system. Ablation in the atmosphere evaporates the meteoric material and leaves behind metal atoms. During the ablation process metallic ions are formed by impact ionization. For small inner solar system planets, including Earth, this source of ionization is typically small compared to either photoionization or charge exchange with ambient molecular ions. For Earth, the atmosphere above the main deposition region absorbs the spectral lines capable of ionizing the major metallic atoms (Fe and Mg) so that charge exchange with ambient ions is the dominant source. Within the carbon dioxide atmosphere of Mars (and possibly Venus), photoionization is important in determining the ion density. For a heavy planet like Jupiter, far from the sun, impact ionization of ablated neutral atoms by impacts with molecules becomes a prominent source of ionization due to the gravitational acceleration to high incident speeds. We will describe the processes and location and extent of metal ion layers for Mars, Earth and Jupiter, concentrating on flagging the uncertainties in the models at the present time. This is an important problem, because low altitude ionosphere layers for the planets, particularly at night, probably consist predominantly of metallic ions. Comparisons with Earth will be used to illustrate the differing processes in the three planetary atmospheres.

Pesnell, W. D.↗

The effect of concentrator field layout on the performance of point-focus distributed receiver systems

The effect of concentrator field layout on the technical-economic performance of a point-focusing distributed receiver (PFDR) solar thermal power plant is presented. The plant design is based on the small community prototype system currently under development for JPL/DOE; parabolic dish concentrators are employed, and small heat engines are used to generate electricity at each dish. The effect of field size, array proportions, dish-to-dish spacing and packing fraction (concentrator-land area ratio) are presented for typical PFDR layouts. Economic analyses are carried out to determine optimum packing fraction as a function of site cost.

Pons, R. L.↗

Small Wind Site Assessment Guidelines

Site assessment for small wind energy systems is one of the key factors in the successful installation, operation, and performance of a small wind turbine. A proper site assessment is a difficult process that includes wind resource assessment and the evaluation of site characteristics. These guidelines address many of the relevant parts of a site assessment with an emphasis on wind resource assessment, using methods other than on-site data collection and creating a small wind site assessment report.

17 WIND ENERGY↗

A compact and low power coherent optical system for on-board spacecraft data processing.

Discussion of the design and performance of a compact low-power coherent optical data processing system suitable for spacecraft onboard applications. The system is a modification of the conventional optical data processing system in which a much more efficient solid state GaAs laser is substituted for the bulky and inferior He-Ne laser and paraboloidal mirror segments are substituted for the axially symmetric optical system of the conventional data processing system. Theoretical considerations are given to substantiate the improvement of performance aimed at in the modified system. Preliminary tests of the modified design being in progress indicate that a low power, rugged, small size optical system, capable of onboard spacecraft data processing, can be constructed by using off-axis paraboloidal mirror segments.-

Husain-Abidi, A. S.↗

Coherent Lidar Turbulence Measurement for Gust Load Alleviation

Atmospheric turbulence adversely affects operation of commercial and military aircraft and is a design constraint. The airplane structure must be designed to survive the loads imposed by turbulence. Reducing these loads allows the airplane structure to be lighter, a substantial advantage for a commercial airplane. Gust alleviation systems based on accelerometers mounted in the airplane can reduce the maximum gust loads by a small fraction. These systems still represent an economic advantage. The ability to reduce the gust load increases tremendously if the turbulent gust can be measured before the airplane encounters it. A lidar system can make measurements of turbulent gusts ahead of the airplane, and the NASA Airborne Coherent Lidar for Advanced In-Flight Measurements (ACLAIM) program is developing such a lidar. The ACLAIM program is intended to develop a prototype lidar system for use in feasibility testing of gust load alleviation systems and other airborne lidar applications, to define applications of lidar with the potential for improving airplane performance, and to determine the feasibility and benefits of these applications. This paper gives an overview of the ACLAIM program, describes the lidar architecture for a gust alleviation system, and describes the prototype ACLAIM lidar system.

Bogue, Rodney K.↗

ADVANCING THE TRANSPORTATION – SECURITY, TRACKING, AND REPORTING (T-STAR) SYSTEM

The Transportation – Security, Tracking and Reporting (T-STAR) System was developed by NNSA NA-21 Office of Radiological Security (ORS) to provide a transportation security system for use during transport of Category 1 and Category 2 radiological material to provide detection and tracking capability for shipments. While many off the shelf systems provide asset tracking of the conveyance, few offer detection of a breach into the cargo compartment or the removal of cargo from the conveyance. Systems that do offer such capability need to be permanently installed on the conveyance, requiring drilling of holes and running of cables throughout the conveyance itself. This means that dedicated shipping containers or vehicles are required, and this is not sustainable in many countries where ORS is building capacity for the security of radioactive materials in use, storage, and in transport. T-STAR is leveraging various ORNL technologies for improved communications capability and reduced power requirements; the multimode communications module developed by the Unmanned Aerial Systems group and the low power and extensible Authenticatable Container Tracking System (ACTS) tag developed for the US Department of Energy’s Packaging Certification Program provide a small footprint tracking system which can be installed quickly as needed. T-STAR uses a cellular and an Iridium modem to communicate configuration and alert information to a server used to monitor the shipment and incorporates a Z-wave © wireless security system allowing various intrusion detection sensors to be located in the conveyance. The Z-wave sensors are readily available, inexpensive, and power efficient, making them replaceable and low maintenance. The server software be configured as a standalone system installed on a light duty computer hosted by the competent authority, carrier, or response agency, or hosted as part of an Amazon Cloud Server (AWS) accessible via a secure login. The server has two functions, first is to handle messages to/from the T-STAR field unit, second is to host the user interface which can be accessed using a web browser on desktop or mobile device. The user interface implements roles to determine the level of access to shipment information, define geo-fences, and configure notifications. The user interface also supports multiple languages for display as well as notifications by using a simple lookup file which can be modified by the host country to ensure translations are correct and meaningful to responders receiving notifications and alerts. This paper will detail the overarching T-STAR capabilities, architecture and components, and provide insights on how it is deployed, used, and monitored during transportation of radioactive material.

Schultze, Michael↗

Principal Components Analysis of a JWST NIRSpec Detector Subsystem

We present principal component analysis (PCA) of a flight-representative James Webb Space Telescope NearInfrared Spectrograph (NIRSpec) Detector Subsystem. Although our results are specific to NIRSpec and its T - 40 K SIDECAR ASICs and 5 m cutoff H2RG detector arrays, the underlying technical approach is more general. We describe how we measured the systems response to small environmental perturbations by modulating a set of bias voltages and temperature. We used this information to compute the systems principal noise components. Together with information from the astronomical scene, we show how the zeroth principal component can be used to calibrate out the effects of small thermal and electrical instabilities to produce cosmetically cleaner images with significantly less correlated noise. Alternatively, if one were designing a new instrument, one could use a similar PCA approach to inform a set of environmental requirements (temperature stability, electrical stability, etc.) that enabled the planned instrument to meet performance requirements

Analysis↗

NASA Near Earth Network (NEN), Deep Space Network (DSN) and Space Network (SN) Support of CubeSat Communications

There has been a historical trend to increase capability and drive down the Size, Weight and Power (SWAP) of satellites and that trend continues today. Small satellites, including systems conforming to the CubeSat specification, because of their low launch and development costs, are enabling new concepts and capabilities for science investigations across multiple fields of interest to NASA. NASA scientists and engineers across many of NASAs Mission Directorates and Centers are developing exciting CubeSat concepts and welcome potential partnerships for CubeSat endeavors. From a communications and tracking point of view, small satellites including CubeSats are a challenge to coordinate because of existing small spacecraft constraints, such as limited SWAP and attitude control, low power, and the potential for high numbers of operational spacecraft. The NASA Space Communications and Navigation (SCaN) Programs Near Earth Network (NEN), Deep Space Network (DSN) and the Space Network (SN) are customer driven organizations that provide comprehensive communications services for space assets including data transport between a missions orbiting satellite and its Mission Operations Center (MOC). The NASA NEN consists of multiple ground antennas. The SN consists of a constellation of geosynchronous (Earth orbiting) relay satellites, named the Tracking and Data Relay Satellite System (TDRSS). The DSN currently makes available 13 antennas at its three tracking stations located around the world for interplanetary communication. The presentation will analyze how well these space communication networks are positioned to support the emerging small satellite and CubeSat market. Recognizing the potential support, the presentation will review the basic capabilities of the NEN, DSN and SN in the context of small satellites and will present information about NEN, DSN and SN-compatible flight radios and antenna development activities at the Goddard Space Flight Center (GSFC) and across industry. The presentation will review concepts on how the SN multiple access capability could help locate CubeSats and provide a low-latency early warning system. The presentation will also present how the DSN is evolving to maximize use of its assets for interplanetary CubeSats. The critical spectrum-related topics of available and appropriate frequency bands, licensing, and coordination will be reviewed. Other key considerations, such as standardization of radio frequency interfaces and flight and ground communications hardware systems, will be addressed as such standardization may reduce the amount of time and cost required to obtain frequency authorization and perform compatibility and end-to-end testing. Examples of standardization that exist today are the NASA NEN, DSN and SN systems which have published users guides and defined frequency bands for high data rate communication, as well as conformance to CCSDS standards. The workshop session will also seek input from the workshop participants to better understand the needs of small satellite systems and to identify key development activities and operational approaches necessary to enhance communication and navigation support using NASA's NEN, DSN and SN.

Telecommunication↗

Flight Test Evaluation of an Unmanned Aircraft System Traffic Management (UTM) Concept for Multiple Beyond-Visual-Line-of-Sight Operations

This study evaluates a traffic management concept designed to enable simultaneous operations of multiple small unmanned aircraft systems (UAS) in the national airspace system (NAS). A five-day flight-test activity is described that examined the feasibility of operating multiple UAS beyond visual line of sight (BVLOS) of their respective operators in the same airspace. Over the five-day campaign, three groups of five flight crews operated a total of eleven different aircraft. Each group participated in four flight scenarios involving five simultaneous missions. Each vehicle was operated BVLOS up to 1.5 miles from the pilot in command. Findings and recommendations are presented to support the feasibility and safety of routine BVLOS operations for small UAS.

UTM↗

Chemical Looping Coal Gasification Sub-Pilot Unit Demonstration and Economic Assessment for IGCC applications (Final Report)

The Ohio State University (OSU) coal to syngas (CTS) technology is an advanced air separation process that can be applied for electricity production via an integrated gasification combined cycle (IGCC). The objective of the proposed project is to enable the OSU CLG technology for a commercially relevant demonstration by 2020. In order to accomplish this objective, small pilot scale demonstration of the CLG reactor system was performed. The small pilot test unit incorporates commercially scalable non-mechanical gas sealing and solids flow control components for extended operations of the integrated reactor system. A cumulative demonstration of greater than 100 hours was performed to confirm the reliability of the reactors (reducer and oxidizer) and non-mechanical devices in maintaining controlled solid circulation, gas sealing, and coal distribution in the reactor (reducer) as well as to confirm sustained syngas product performance. A comprehensive techno-economic analysis (TEA) of the OSU CLG process for IGCC application was conducted with the support of WorleyParsons, Ltd. (WP) and compared to the Department of Energy (DOE) baseline IGCC report. Using the data gained from the small pilot demonstration, a complete comprehensive techno-economic analysis (TEA) of the CLG process was conducted. The evaluation was used as basis to attract utilities and coal industries in Ohio. The project duration lasts 30 months (6 months of no cost extension). Ohio coal was used in the integrated CLG small pilot unit to convert to high hydrogen syngas. A demonstration of the integrated chemical looping reactor system at the 15 kW th scale accelerates technology commercialization in the near term. The 15 kWth demonstration addressed several major technology gaps, such as coal injection and distribution in the reducer, controllable solids circulation with the desired fuel to solids ratio, system pressure distribution for proper gas sealing, effects of contaminants and fuel/oxygen carrier residence time requirements. The fates of impurities, such as SO x and NO x was also investigated in unit demonstrations. WP conducted a comprehensive system TEA to optimize the OSU CLG process design for efficient electricity generation with greater than 90% CO 2 capture in IGCC applications. The conclusion of this project supports the further scale-up of the technology to a commercially applicable large pilot scale test unit for operation by 2020. More importantly, it benefits Ohio as it provides an economically competitive mean for power generation with carbon capture. Given the rise of natural gas usage and strict environmental regulations, the use of Ohio coal is expected to decrease and thus impact the coal economy in Ohio. The conclusion of this project provided way for Ohio coal to compete in the future and secure jobs in the energy sector.

01 COAL, LIGNITE, AND PEAT↗

Transition From NASA Space Communication Systems to Commerical Communication Products

Transitioning from twenty-five years of space communication system architecting, engineering and development to creating and marketing of commercial communication system hardware and software products is no simple task for small, high-tech system engineering companies whose major source of revenue has been the U.S. Government. Yet, many small businesses are faced with this onerous and perplexing task. The purpose of this talk/paper is to present one small business (LinCom) approach to taking advantage of the systems engineering expertise and knowledge captured in physical neural networks and simulation software by supporting numerous National Aeronautics and Space Administration (NASA) and the Department of Defense (DoD) projects, e.g., Space Shuttle, TDRSS, Space Station, DCSC, Milstar, etc. The innovative ingredients needed for a systems house to transition to a wireless communication system products house that supports personal communication services and networks (PCS and PCN) development in a global economy will be discussed. Efficient methods for using past government sponsored space system research and development to transition to VLSI communication chip set products will be presented along with notions of how synergy between government and industry can be maintained to benefit both parties.

Ghazvinian, Farzad↗