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NASA NTRS2011

Investigating On-Orbit Attitude Determination Anomalies for the Solar Dynamics Observatory Mission

The Solar Dynamics Observatory (SDO) was launched on February 11, 2010 from Kennedy Space Center on an Atlas V launch vehicle into a geosynchronous transfer orbit. SDO carries a suite of three scientific instruments, whose observations are intended to promote a more complete understanding of the Sun and its effects on the Earth's environment. After a successful launch, separation, and initial Sun acquisition, the launch and flight operations teams dove into a commissioning campaign that included, among other things, checkout and calibration of the fine attitude sensors and checkout of the Kalman filter (KF) and the spacecraft s inertial pointing and science control modes. In addition, initial calibration of the science instruments was also accomplished. During that process of KF and controller checkout, several interesting observations were noticed and investigated. The SDO fine attitude sensors consist of one Adcole Digital Sun Sensor (DSS), two Galileo Avionica (GA) quaternion-output Star Trackers (STs), and three Kearfott Two-Axis Rate Assemblies (hereafter called inertial reference units, or IRUs). Initial checkout of the fine attitude sensors indicated that all sensors appeared to be functioning properly. Initial calibration maneuvers were planned and executed to update scale factors, drift rate biases, and alignments of the IRUs. After updating the IRU parameters, the KF was initialized and quickly reached convergence. Over the next few hours, it became apparent that there was an oscillation in the sensor residuals and the KF estimation of the IRU bias. A concentrated investigation ensued to determine the cause of the oscillations, their effect on mission requirements, and how to mitigate them. The ensuing analysis determined that the oscillations seen were, in fact, due to an oscillation in the IRU biases. The low frequencies of the oscillations passed through the KF, were well within the controller bandwidth, and therefore the spacecraft was actually following the oscillating biases, resulting in movement of the spacecraft on the order of plus or minus 20 arcsec. Though this level of error met the ACS attitude knowledge requirement of [35, 70, 70] arcsec, 3 sigma, the desire of the ACS and instrument teams was to remove as much of the oscillation as possible. The Kearfott IRUs have an internal temperature controller, designed to maintain the IRU temperature at a constant temperature of approximately 70 C, thus minimizing the change in the bias drift and scale factors of the mechanical gyros. During ground testing of the observatory, it was discovered that the 83-Hz control cycle of the IRU heaters put a tremendous amount of stress on the spacecraft battery. Analysis by the power systems team indicated that the constant charge/discharge on the battery due to the IRU thermal control cycle could potentially limit the life of the battery. After much analysis, the decision was made not to run the internal IRU heaters. Analysis of on orbit data revealed that the oscillations in the IRU bias had a connection to the temperature of the IRU; changes in IRU temperature resulted in changes in the amplitude and period of the IRU biases. Several mitigating solutions were investigated, the result of which was to tune the KF with larger IRU noise assumptions which allows the KF to follow and correct for the time-varying IRU biases.

Vess, Melissa F.↗

NASA NTRS1999

Rotor Re-Design for the SSME Fuel Flowmeter

The present report describes the process of redesigning a new rotor for the SSME Fuel Flowmeter. The new design addresses the specific requirement of a lower rotor speed which would allow the SSME operation at 1 15% rated power level without reaching a blade excitation by the wakes behind the hexagonal flow straightener upstream at frequencies close to the blade natural frequency. A series of calculations combining fleet flowmeters test data, airfoil fluid dynamics and CFD simulations of flow patterns behind the flowmeter's hexagonal straightener has led to a blade twist design alpha = alpha (radius) targeting a kf constant of 0.8256. The kf constant relates the fuel volume flow to the flowmeter rotor speed, for this particular value 17685 GPM at 3650 RPM. Based on this angle distribution, two actual blade designs were developed. A first design using the same blade airfoil as the original design targeted the new kf value only. A second design using a variable blade chord length and airfoil relative thickness targeted simultaneously the new kf value and an optimum blade design destined to provide smooth and stable operation and a significant increase in the blade natural frequency associated with the first bending mode, such that a comfortable margin could be obtained at 115% RPL. The second design is a result of a concurrent engineering process, during which several iterations were made in order to achieve a targeted blade natural frequency associated with the first bending mode of 1300 Hz. Water flow tests preliminary results indicate a kf value of 0.8179 for the f-irst design, which is within 1% of the target value. The second design rotor shows a natural frequency associated with the first bending mode of 1308 Hz, and a water-flow calibration constant of kf 0.8169.

Marcu, Bogdan↗

NASA NTRS1994

Suboptimal schemes for atmospheric data assimilation based on the Kalman filter

This work is directed toward approximating the evolution of forecast error covariances for data assimilation. The performance of different algorithms based on simplification of the standard Kalman filter (KF) is studied. These are suboptimal schemes (SOSs) when compared to the KF, which is optimal for linear problems with known statistics. The SOSs considered here are several versions of optimal interpolation (OI), a scheme for height error variance advection, and a simplified KF in which the full height error covariance is advected. To employ a methodology for exact comparison among these schemes, a linear environment is maintained, in which a beta-plane shallow-water model linearized about a constant zonal flow is chosen for the test-bed dynamics. The results show that constructing dynamically balanced forecast error covariances rather than using conventional geostrophically balanced ones is essential for successful performance of any SOS. A posteriori initialization of SOSs to compensate for model - data imbalance sometimes results in poor performance. Instead, properly constructed dynamically balanced forecast error covariances eliminate the need for initialization. When the SOSs studied here make use of dynamically balanced forecast error covariances, the difference among their performances progresses naturally from conventional OI to the KF. In fact, the results suggest that even modest enhancements of OI, such as including an approximate dynamical equation for height error variances while leaving height error correlation structure homogeneous, go a long way toward achieving the performance of the KF, provided that dynamically balanced cross-covariances are constructed and that model errors are accounted for properly. The results indicate that such enhancements are necessary if unconventional data are to have a positive impact.

Todling, Ricardo↗

NASA NTRS2015

Improving High-Resolution Weather Forecasts using the Weather Research and Forecasting (WRF) Model with an Updated Kain-Fritsch Scheme

Efforts to improve the prediction accuracy of high resolution (1-10 km) surface precipitation distribution and variability are of vital importance to local aspects of air pollution, wet deposition, and regional climate. However, precipitation biases and errors can occur at these spatial scales due to uncertainties in initial meteorological conditions and/or grid-scale cloud microphysics schemes. In particular, it is still unclear to what extent a subgrid-scale convection scheme could be modified to bring in scale-awareness for improving high-resolution short-term precipitation forecasts in the WRF model. To address these issues, we introduced scale-aware parameterized cloud dynamics for high-resolution forecasts by making several changes to the Kain-Fritsch (KF) convective parameterization scheme in the WRF model. These changes include subgrid-scale cloud-radiation interactions, a dynamic adjustment timescale, impacts of cloud updraft mass fluxes on grid-scale vertical velocity, and lifting condensation level-based entrainment methodology that includes scale dependency. A series of 48-hour retrospective forecasts using a combination of three treatments of convection (KF, updated KF, and the use of no cumulus parameterization), two cloud microphysics schemes and two types of initial condition datasets were performed over the U.S. southern Great Plains on 9- and 3-km grid spacings during the summers of 2002 and 2010. Results indicate that (1) the source of initial conditions play a key role in high-resolution precipitation forecasting, and (2) our updated KF scheme greatly alleviates the excessive precipitation at 9-km grid spacing and improves results at 3-km grid spacing as well. Overall, we found that the updated KF scheme incorporated into a high-resolution model does provide better forecasts for precipitation location and intensity.

convective parameterization↗

NASA NTRS1986

A robust adaptive flightpath reconstruction technique

Computational schemes are presented that allow accurate reconstruction of an aircraft's flightpath in real-time. The reconstruction of the flightpath is formulated as a linear state reconstruction problem, which can be solved via Kalman filtering (KF) techniques. This imposes some conditions upon the flight-test equipment. A reliable square root covariance KF (SRCF) implementation is chosen and further developed into a fully adaptive flightpath reconstruction scheme. Therefore, the basic SRCF is modified in order to cope with several practical problems such as: the automatic control of the convergence of the recursive KF calculations, time varying zero-bias errors on the input signal of the system model used in the KF, and the changing aircraft dynamics owing to a change in reference flight condition. The developed solutions for these problems are all implemented in a numerically stable way, which guarantees the overall flightpath reconstruction scheme to be robust. Furthermore, some special features of the used system model are exploited to make the algorithmic implementation very efficient. An experimental simulation study using simulated flight test data demonstrated these different capabilities.

Verhaegen, M. H.↗

NASA NTRS1986

Geodesy by radio interferometry - Corrections to the IAU 1980 nutation series

The 1980 data on VLBI were analyzed using two techniques: weighted least squares (WLS) and Kalman filtering (KF), estimating corrections to the 14 terms in the nutation series that have the largest coefficients and that could be separated spectrally using the VLBI data available. The estimates of the coefficients from the two analyses are in good agreement, with the rms difference between the two sets being 0.07 milliarcsec. The largest corrections to the nutation amplitudes found were -(/1.89 + or - 0.17/ + i/0.49 + or 0.17/) milliarcsec (WLS) and -(/2.03 + or - 0.12/ + i/0.38 + or - 0.12/) milliarcsec (KF) for the retrograde annual nutation; for the prograde semiannual nutation, the largest corrections were (/0.45 + or - 0.13/ + i/0.31 + or - 0.13/) milliarcsec (WLS) and (/0.43 + or - 0.10/ + i/0.34 + or 0.10/) milliarcsec (KF). The corrections of the amplitudes for all other terms (both in-phase and out-of-phase) were less than 0.3 milliarcsec.

Herring, T. A.↗

NASA NTRS1989

Characteristics and Preliminary Observations of the Influence of Electromyostimulation on the Size and Function of Human Skeletal Muscle During 30 Days of Simulated Microgravity

During 30 days (d) of bedrest, the practicality of using Elec- troMyoStimulation (EMS) as a deterrent to atrophy and strength loss of lower limb musculature was examined. An EMS system was developed that provided variable but quantifiable levels of EMS, and measured torque. The dominant log of three male subjects was stimulated twice daily in a 3-d on/1-d off cycle during bedrest. The non-dominant leg of each subject acted as a control. A stimulator, using a 0.3 ms monophasic 60 Hz pulse waveform, activated muscle tissue for 4 s. The output waveform from the stimulator was sequenced to the Knee Extensors (KE), Knee Flex- ors (KF), Ankle Extensors (AE), and Ankle Flexors (AF), and caused three isometric contractions of each muscle group per minute. Subject tolerance determined EMS Intensity. Each muscle group received four 5-min bouts of EMS each session with a 10 -min rest between bouts. EMS and torque levels for each muscle action were recorded directly an a computer. Overall average EMS Intensity was 197, 197, 195, and 188 mA for the KE, KF, AF, and AE, respectively. Overall average torque development for these muscle groups was 70, 16, 12, and 27 Nm, respectively. EMS intensity doubled during the study, and average torque increased 2.5 times. Average maximum torque throughout a session reached 54% of maximal voluntary for the KE and 29% for the KF. Reductions in leg volume, muscle compartment size, cross-sectional area of slow and fast-twitch fibers, strength, and aerobic enzyme activities, and increased log compliance were attenuated in the legs which received EMS during bedrest. These results indicate that similar EMS levels induce different torques among different muscle groups and that repeated exposure to EMS increases tolerance and torque development. Longer orien- tation periods, therefore, may enhance its effectiveness. Our preliminary data suggest that the efficacy of EMS as an effective countermeasure for muscle atrophy and strength loss during long duration space travel warrants further investigation.

Duvoisin, Marc R.↗

NASA NTRS2000

Calibration of a Spacecraft Gyro Quadruplet

This work presents a new approach to gyro calibration where, in addition to being used for computing attitude that is needed in the calibration process, the gyro outputs are also used as measurements in a Kalman filter. Gyro calibration as well as calibration of other instruments occurs in two steps. In the first step, the instrument error parameters are estimated. During the second stage, those errors are continuously removed from the gyro readings. In the classical approach to gyro calibration, the gyro outputs are used to maintain or compute body orientation rather than being used as measurements in the context of filtering. In inertial navigation, for example, gyro errors cause erroneous computation of velocity and position, and then when the latter are compared to measured velocity and position, a great portion of the computed velocity and position errors can be determined. The latter errors are then fed into a Kalman filter (KF) that uses the INS error model to infer on the gyro errors. Similarly, when applying the classical approach to spacecraft (SC) altitude determination, the gyro outputs are used to compute the attitude and then attitude measurements are used to determine the attitude errors, which again using a KF, indicates what the gyro errors are. In the approach adopted in this work the gyro outputs are used as angular rate measurements and are compared to estimated angular rate measurements. However, this approach requires the knowledge of the angular rate. In the past, the estimated angular rate was computed in a rather simplistic way assuming that the rate was constant. In the present work, the estimated angular rate is derived using a KF whose input can be any kind of attitude measurement, therefore the angular rate experienced by the SC can be continuously changing, and yet a good estimate of the rate, necessary for calibration, can be obtained.

Harman, Richard R.↗

NASA NTRS2002

Responses of primate caudal parabrachial nucleus and Kolliker-fuse nucleus neurons to whole body rotation

The caudal aspect of the parabrachial (PBN) and Kolliker-Fuse (KF) nuclei receive vestibular nuclear and visceral afferent information and are connected reciprocally with the spinal cord, hypothalamus, amygdala, and limbic cortex. Hence, they may be important sites of vestibulo-visceral integration, particularly for the development of affective responses to gravitoinertial challenges. Extracellular recordings were made from caudal PBN cells in three alert, adult female Macaca nemestrina through an implanted chamber. Sinusoidal and position trapezoid angular whole body rotation was delivered in yaw, roll, pitch, and vertical semicircular canal planes. Sites were confirmed histologically. Units that responded during rotation were located in lateral and medial PBN and KF caudal to the trochlear nerve at sites that were confirmed anatomically to receive superior vestibular nucleus afferents. Responses to whole-body angular rotation were modeled as a sum of three signals: angular velocity, a leaky integration of angular velocity, and vertical position. All neurons displayed angular velocity and integrated angular velocity sensitivity, but only 60% of the neurons were position-sensitive. These responses to vertical rotation could display symmetric, asymmetric, or fully rectified cosinusoidal spatial tuning about a best orientation in different cells. The spatial properties of velocity and integrated velocity and position responses were independent for all position-sensitive neurons; the angular velocity and integrated angular velocity signals showed independent spatial tuning in the position-insensitive neurons. Individual units showed one of three different orientations of their excitatory axis of velocity rotation sensitivity: vertical-plane-only responses, positive elevation responses (vertical plane plus ipsilateral yaw), and negative elevation axis responses (vertical plane plus negative yaw). The interactions between the velocity and integrated velocity components also produced variations in the temporal pattern of responses as a function of rotation direction. These findings are consistent with the hypothesis that a vestibulorecipient region of the PBN and KF integrates signals from the vestibular nuclei and relay information about changes in whole-body orientation to pathways that produce homeostatic and affective responses.

Non-NASA Center↗

NASA NTRS2008

On-Orbit Multi-Field Wavefront Control with a Kalman Filter

A document describes a multi-field wavefront control (WFC) procedure for the James Webb Space Telescope (JWST) on-orbit optical telescope element (OTE) fine-phasing using wavefront measurements at the NIRCam pupil. The control is applied to JWST primary mirror (PM) segments and secondary mirror (SM) simultaneously with a carefully selected ordering. Through computer simulations, the multi-field WFC procedure shows that it can reduce the initial system wavefront error (WFE), as caused by random initial system misalignments within the JWST fine-phasing error budget, from a few dozen micrometers to below 50 nm across the entire NIRCam Field of View, and the WFC procedure is also computationally stable as the Monte-Carlo simulations indicate. With the incorporation of a Kalman Filter (KF) as an optical state estimator into the WFC process, the robustness of the JWST OTE alignment process can be further improved. In the presence of some large optical misalignments, the Kalman state estimator can provide a reasonable estimate of the optical state, especially for those degrees of freedom that have a significant impact on the system WFE. The state estimate allows for a few corrections to the optical state to push the system towards its nominal state, and the result is that a large part of the WFE can be eliminated in this step. When the multi-field WFC procedure is applied after Kalman state estimate and correction, the stability of fine-phasing control is much more certain. Kalman Filter has been successfully applied to diverse applications as a robust and optimal state estimator. In the context of space-based optical system alignment based on wavefront measurements, a KF state estimator can combine all available wavefront measurements, past and present, as well as measurement and actuation error statistics to generate a Maximum-Likelihood optimal state estimator. The strength and flexibility of the KF algorithm make it attractive for use in real-time optical system alignment when WFC alone cannot effectively align the system.

Lou, John↗

NASA NTRS2014

Comparison of Knee and Ankle Dynamometry between NASA's X1 Exoskeleton and Biodex System 4

Pre- and post-flight dynamometry is performed on International Space Station crewmembers to characterize microgravity-induced strength changes. Strength is not assessed in flight due to hardware limitations and there is poor understanding of the time course of in-flight changes. PURPOSE: To assess the reliability of a prototype dynamometer, the X1 Exoskeleton (EXO) and its agreement with a Biodex System 4 (BIO). METHODS: Eight subjects (4 M/4 F) completed 2 counterbalanced testing sessions of knee extension/flexion (KE/KF), 1 with BIO and 1 with EXO, with repeated measures within each session in normal gravity. Test-retest reliability (test 1 and 2) and device agreement (BIO vs. EXO) were evaluated. Later, to assess device agreement for ankle plantarflexion (PF), 10 subjects (4 M/6 F) completed 3 test conditions (BIO, EXO, and BIOEXO); BIOEXO was a hybrid condition comprised of the Biodex dynamometer motor and the X1 footplate and ankle frame. Ankle comparisons were: BIO vs. BIOEXO (footplate differences), BIOEXO vs. EXO (motor differences), and BIO vs. EXO (all differences). Reliability for KE/KF was determined by intraclass correlation (ICC). Device agreement was assessed with: 1) repeated measures ANOVA, 2) a measure of concordance (rho), and 3) average difference. RESULTS: ICCs for KE/KF were 0.99 for BIO and 0.96 to 0.99 for EXO. Agreement was high for KE (concordance: 0.86 to 0.95; average differences: -7 to +9 Nm) and low to moderate for KF (concordance: 0.64 to 0.78; average differences: -4 to -29 Nm, P<0.05). BIO vs. BIOEXO PF concordance ranged from 0.89 to 0.92 and mean differences ranged from -9 to +3 Nm (BIO < BIOEXO). BIOEXO vs. EXO PF concordance ranged from 0.73 to 0.80 while mean differences were -18 to -36 Nm (BIOEXO < EXO, P<0.05). PF concordance for BIO vs. EXO was slightly lower (0.61 to 0.84) and mean differences were greater (-27 to -33 Nm; BIO < EXO, P<0.05). CONCLUSION: BIO and EXO were similarly reliable for KE and KF. KE measures produced high agreement between devices; KF did not. For ankle PF, torque differences due to the two footplates were small. However, the X1 motor reports greater torques than the Biodex motor during PF. This first prototype provides proof of concept for a reliable, robotic-based exoskeleton to perform portable dynamometry for large muscle groups of the lower body.

English, K. L.↗

NASA NTRS1969

Study of actinide chemistry in saturated potassium fluoride solution

Study concerning the chemistry of actinides in saturated KF solution included work with neptunium, uranium, and americium. Solubilities, absorption spectra, oxidation-reduction reactions, and solid compounds which can be produced in KF solution were examined. The information is used for preparation of various materials from salts of the actinides.

Cohen, D.↗

NASA NTRS1984

Major element chemical compositions of chondrules in unequilibrated chondrites

The chemical compositions (except for metals and sulfides in chondrules) of more than 500 chondrules from unequilibrated E, H, L, LL, and C chondrites were measured using a broad beam of an electron-probe microanalyzer. The compositions of chondrules can be represented by various mixtures of normative compositions of olivine, low-Ca pyroxene, plagioclase, and high-Ca pyroxene with minor amounts of spinel, feldspathoid, SiO2-minerals, etc., indicating that the chondrule precursor materials consisted of aggregates of these minerals. The Al, Na, and K contents of most chondrules reflect the compositions of the ternary feldspar (An-Ab-Kf) of the chondrule precursor materials, and chemical types of chondrules (KF, SP, IP, and CP) are defined on the basis of the atomic proportion of Al, Na, and K.

Ikeda, Y.↗

NASA NTRS1989

Alterations of the in vivo torque-velocity relationship of human skeletal muscle following 30 days exposure to simulated microgravity

The effect of a continuous 30-d-long 6-deg headdown bedrest (BR) on the force output ability of skeletal muscles was investigated in human subjects by measuring peak angle specific torque of the knee extensor (KE) and knee flexor (KF) muscle groups of both limbs during unilateral efforts at four speeds (0.52. 1.74, 2.97, and 4.19 rad/sec) during eccentric action. It was found that, for the KE muscle group, the headdown BR resulted in decreases, by 19 percent on the average, of peak angle specific torque; on the other hand, the strength of the KF muscles was not altered significantly. A post-BR recovery for 30 days was found to restore muscle strength of the KE muscle group to about 92 percent of the pre-BR values. Changes of strength were not affected by the type of speed of muscle action.

Dudley, Gary A.↗

NASA NTRS1989

Effect of lysophosphatidylcholine on the filtration coefficient in intact dog lungs

Lysophosphatidylcholine (lyso-Pc) is a lysophospholipid normally found in low concentrations in the lung. At high concentrations lyso-Pc, instilled into the airways, causes pulmonary edema. The hypothesis was tested that the edema caused by lyso-Pc was due to an increase in pulmonary microvascular membrane permeability. In 11 anesthetized dogs, the left lower lobes (LLL) were continuously weighed while lyso-Pc (20 mM) was instilled into the LLL airways. After 30 min, the microvascular membrane fluid filtration coefficient (Kf) was determined from the relationship between the rate of LLL weight gain and the pulmonary microvascular pressure. Kf was not significantly different between the lyso-Pc-treated lobes vs control lobes. The data do not support the hypothesis that lyso-Pc, instilled into the airways, causes an increase in pulmonary microvascular permeability.

Butler, B. D.↗

NASA NTRS1995

Evaluating and Understanding Parameterized Convective Processes and Their Role in the Development of Mesoscale Precipitation Systems

Research efforts during the first year focused on numerical simulations of two convective systems with the Penn State/NCAR mesoscale model. The first of these systems was tropical cyclone Irma, which occurred in 1987 in Australia's Gulf of Carpentaria during the AMEX field program. Comparison simulations of this system were done with two different convective parameterization schemes (CPS's), the Kain-Fritsch (1993 - KF) and the Betts-Miller (Betts 1986- BM) schemes. The second system was the June 10-11 1985 squall line simulation, which occurred over the Kansas-Oklahoma region during the PRE-STORM experiment. Simulations of this system using the KF scheme were examined in detail.

Fritsch, J. Michael↗

NASA NTRS1996

Evaluating and Understanding Parameterized Convective Processes and Their Role in the Development of Mesoscale Precipitation Systems

Research efforts focused on numerical simulations of two convective systems with the Penn State/NCAR mesoscale model. The first of these systems was tropical cyclone Irma, which occurred in 1987 in Australia's Gulf of Carpentaria during the AMEX field program. Comparison simulations of this system were done with two different convective parameterization schemes (CPS's), the Kain-Fritsch (KF) and the Betts-Miller (BM) schemes. The second system was the June 10-11, 1985 squall line simulation, which occurred over the Kansas-Oklahoma region during the PRE-STORM experiment. Simulations of this system using the KF scheme were examined in detail.

Fritsch, J. Michael↗

NASA NTRS1989

Alterations of the In Vivo Torque-Velocity Relationship of Human Skeletal Muscle Following 30 Days Exposure to Simulated Microgravity

The purpose of this study was to examine the effect of 30 d of 6 deg headdown bedrest (BR) on the in vivo strength of skeletal muscle. Peak angle specific (0.78 rad below horizontal) torque of the knee extensor (KE) and flexor (KF) muscle groups of both limbs was assessed during unilateral efforts at four speeds (0.52, 1.74, 2.97 and 4.19 rad/s) during concentric and at three speeds (0.52, 1.74 and 2.97 rad/s) during eccentric actions. The average decrease (P less than 0.05) of peak angle specific torque directly post-BR for the KE across speeds of concentric and eccentric actions was about 19% (n = 7). Recovery for 30 d following BR markedly improved strength to about 92% (P greater than 0.05) of 'normal'. Strength of the KF was not altered (P greater than 0.05) by BR (about a 6% decrease independent of speed and type of muscle action). Changes of strength were not affected by the type or speed of muscle action. The results indicate that strength of ex-tensor more than of flexor muscle groups of the lower limb is decreased by 30 d of bedrest and that this response does not alter the nature of the in vivo torque-velocity relation.

Dudley, Gary A.↗