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NASA NTRS2017

Operating Small Sat Swarms as a Single Entity: Introducing SODA

Swarm concepts are a growing topic of interest in the small satellite community. Compared to a small satellite constellation, a swarm has the distinction of being multiple spacecraft in close proximity, in approximately the same orbit. Furthermore, we envision swarms to have capabilities for cross-link communication and station-keeping. Of particular interest is a means to maintain operator-specified geometry, alignment, and/or separation.From NASA's decadal survey, it is clear that simultaneous measurements from a 3D volume of space are desired for a variety of Earth scientific studies. As this mission concept is ultimately extended to deep space, some degree of local control for the swarm to self-correct its configuration is required. We claim that the practicality of ground commanding each individual satellite in the swarm is simply not a feasible concept of operations. In other words, the current state-of-practice does not scale to very large swarms (e.g. 100 spacecraft or more) without becoming cost prohibitive. To contain the operations costs and complexity, a new approach is required: the swarm must be operated as a unit, responding to high-level specifications for relative position and velocity.The Mission Design Division at NASA Ames Research Center is looking to the near future for opportunities to develop satellite swarm technology. As part of this effort, we are developing SODA (Swarm Orbital Dynamics Advisor), a tool that provides the orbital maneuvers required to achieve a desired type of relative swarm motion. The purpose of SODA is two-fold. First, it encompasses the algorithms and orbital dynamics model to enable the desired relative motion of the swarm satellites. The process starts with the user specifying the properties of a swarm configuration. This could be as simple as varying in-track spacing of the swarm in one orbit, or as complex as maintaining a specified 3D geometrical orientation. We presume that science objectives will drive this choice. Given these inputs, the tool provides the most efficient maneuver(s) to achieve the objective.Second, SODA provides a variety of visualization tools. We acknowledge that the relationship between a desired relative motion amongst the swarm, and the corresponding orbital parameters for each individual satellite may not be immediately apparent for ground controllers and mission planners. The purpose of SODA's visualization tools is to illustrate this concept clearly with a variety of graphics and animations. After computing the optimal orbital maneuvers to modify the swarm, these results are simulated to demonstrate successful swarm control.Our emphasis in this paper is on the importance of relating the desired motion of the swarm satellites relative to one another with the required orbital element changes. One cannot joystick a drifting swarm satellite back into position; the underlying orbital mechanics dictate the most efficient recovery maneuvers. To illustrate this point, results from several case study simulations are presented. We conclude with our forward work for ongoing SODA development and potential science applications.

small satellites↗

NASA NTRS2017

Operating Small Sat Swarms as a Single Entity: Introducing SODA

NASA's decadal survey determined that simultaneous measurements from a 3D volume of space are advantageous for a variety of studies in space physics and Earth science. Therefore, swarm concepts with multiple spacecraft in close proximity are a growing topic of interest in the small satellite community. Among the capabilities needed for swarm missions is a means to maintain operator-specified geometry, alignment, or separation. Swarm stationkeeping poses a planning challenge due to the limited scalability of ground resources. To address scalable control of orbital dynamics, we introduce SODA - Swarm Orbital Dynamics Advisor - a tool that accepts high-level configuration commands and provides the orbital maneuvers needed to achieve the desired type of swarm relative motion. Rather than conventional path planning, SODA's innovation is the use of artificial potential functions to define boundaries and keepout regions. The software architecture includes high fidelity propagation, accommodates manual or automated inputs, displays motion animations, and returns maneuver commands and analytical results. Currently, two swarm types are enabled: in-train distribution and an ellipsoid volume container. Additional swarm types, simulation applications, and orbital destinations are in planning stages.

Conn, Tracie↗

NASA NTRS2017

Operating Small Sat Swarms as a Single Entity: Introducing SODA

Conn, Tracie↗

NASA NTRS1991

Distributed semantic networks and CLIPS

Semantic networks of frames are commonly used as a method of reasoning in many problems. In most of these applications the semantic network exists as a single entity in a single process environment. Advances in workstation hardware provide support for more sophisticated applications involving multiple processes, interacting in a distributed environment. In these applications the semantic network may well be distributed over several concurrently executing tasks. This paper describes the design and implementation of a frame based, distributed semantic network in which frames are accessed both through C Language Integrated Production System (CLIPS) expert systems and procedural C++ language programs. The application area is a knowledge based, cooperative decision making model utilizing both rule based and procedural experts.

Snyder, James↗

NASA NTRS2005

A model-based executive for commanding robot teams

The paper presents a way to robustly command a system of systems as a single entity. Instead of modeling each component system in isolation and then manually crafting interaction protocols, this approach starts with a model of the collective population as a single system. By compiling the model into separate elements for each component system and utilizing a teamwork model for coordination, it circumvents the complexities of manually crafting robust interaction protocols. The resulting systems are both globally responsive by virtue of a team oriented interaction model and locally responsive by virtue of a distributed approach to model-based fault detection, isolation, and recovery.

domain compilations↗

NASA NTRS2022

Evaluating Network Performance of Containerized Test Framework for Distributed Space Systems

Distributed space systems are a mission architecture consisting of multiple spacecraft as a cohesive system which provide multipoint sampling, increased mission coverage, or improved sample resolution, while reducing mission risk through redundancy. To fully realize the potential of these systems, eventually scaling to hundreds or thousands of spacecraft, distributed space systems need to be operated as a single entity, which will enable a variety of novel scientific space missions. The Distributed Spacecraft Autonomy (DSA) project is a software project which aims to mature the technology needed for those systems, namely autonomous decision-making and swarm networking. The DSA project leverages a containerized swarm test framework to simulate spacecraft software, which can identify emergent behavior early in development. Container virtualization allows distributed spacecraft systems to be simulated entirely in software on a single computer, avoiding the overhead associated with conventional approaches like hardware facsimiles and virtual machines. For this approach to be effective, the simulated system behavior must not be artificially influenced by the swarm test framework itself. To address this, we present a series of benchmarks to quantify virtual network bandwidth available on a single-host computer and contextualize this against the network and application behavior of the DSA swarm test framework.

Distributed Spacecraft Autonomy↗

NASA NTRS1984

Chip level modeling of LSI devices

The advent of Very Large Scale Integration (VLSI) technology has rendered the gate level model impractical for many simulation activities critical to the design automation process. As an alternative, an approach to the modeling of VLSI devices at the chip level is described, including the specification of modeling language constructs important to the modeling process. A model structure is presented in which models of the LSI devices are constructed as single entities. The modeling structure is two layered. The functional layer in this structure is used to model the input/output response of the LSI chip. A second layer, the fault mapping layer, is added, if fault simulations are required, in order to map the effects of hardware faults onto the functional layer. Modeling examples for each layer are presented. Fault modeling at the chip level is described. Approaches to realistic functional fault selection and defining fault coverage for functional faults are given. Application of the modeling techniques to single chip and bit slice microprocessors is discussed.

Armstrong, J. R.↗

NASA NTRS1974

Critical problems in establishing the morphology of substorms in space

A phenomenological model of the magnetospheric substorm has been developed which divides the substorm into three phases: a growth phase, an expansion phase, and a recovery phase. Current research is reviewed in the light of criticism of this model. The most important inadequacies of the model concern the fact that the tail lobe and the plasma sheet do not always react as single entities as previously supposed. Further research is needed on the problems of substorm variability, errors in onset time, the number of distinct spatial regions, and the dependence of magnetic activity on past history.

Mcpherron, R. L.↗

NASA NTRS1988

A new look at coding for APD-based direct-detection optical channels

Coding for avalanche-photodiode (APD)-based direct-detection optical channels is investigated using a simple channel model that clearly points out the difference between the signal-dependent optical noise channel model and the additive white Gaussian noise channel model. Coding and modulation are viewed as a single entity, and the coding/modulation gain (CMG) is used to analyze and construct good codes for APD-based optical receivers. It is shown that the structure of block codes, when used in conjunction with on-off keying signaling, renders these codes fairly inefficient with respect to obtaining reasonable CMG on the optical channel. In contrast, codes (or modulations) that use fewer channel ones (pulses) than information ones per block can offer substantial CMG on the optical channel. For bandwidth-constrained applications, it is proposed that pulse-position modulation be used with more than one pulse per word to obtain reasonable CMG while consuming small amounts of bandwidth.

Herro, Mark A.↗

NASA NTRS1989

Polar wander of an ice shell on Europa

The present consideration of a hypothesized ice shell around Europa, which is decoupled from the silicate core by a liquid water layer and possesses a spatially varying thermal equilibrium thickness profile, proceeds through the development of equations for variations in the inertia tensor of a body when second-harmonic-degree topography is added to the crustal base. Attention is given to a realistic model in which the shell and ocean are assumed to undergo reorientations as a single entity independently of the core, but subject to viscous dissipation within the shell. Shell friction is in this case noted to preclude polar wander, unless a low conductivity regolith increases the near-surface temperature by a few tens of degrees C; the ice beneath the regolith would then behave viscously on the time-scale of polar wander.

Ojakangas, Gregory W.↗

NASA NTRS1991

The business case for connectivity

Information systems that provide competitive advantages to organizations can be broadly classified into those that improve the effectiveness of a business function and those that improve the reach of information in the organization. The latter, organizational connectivity systems, can be categorized as intraorganizational and interorganizational systems. Intraorganization systems provide connectivity to function areas within the business, while interorganizational systems support the exchange of business data between independent business units. These system are not confined to a single entity but span organizational boundaries which can be national or international in scope. A series of case studies was undertaken in an effort to better understand the issues and problems associated with providing an increased flow of information within and outside of an organization. Ten issues emerged from this study. In summary, it is necessary for firms to first consider how effective their internal communications systems are before launching projects that tie the organization to external systems.

Adams, Dennis↗

NASA NTRS1992

Autonomous power system: Integrated scheduling

The Autonomous Power System (APS) project at NASA Lewis Research Center is designed to demonstrate the abilities of integrated intelligent diagnosis, control and scheduling techniques to space power distribution hardware. The project consists of three elements: the Autonomous Power Expert System (APEX) for fault diagnosis, isolation, and recovery (FDIR), the Autonomous Intelligent Power Scheduler (AIPS) to determine system configuration, and power hardware (Brassboard) to simulate a space-based power system. Faults can be introduced into the Brassboard and in turn, be diagnosed and corrected by APEX and AIPS. The Autonomous Intelligent Power Scheduler controls the execution of loads attached to the Brassboard. Each load must be executed in a manner that efficiently utilizes available power and satisfies all load, resource, and temporal constraints. In the case of a fault situation on the Brassboard, AIPS dynamically modifies the existing schedule in order to resume efficient operation conditions. A database is kept of the power demand, temporal modifiers, priority of each load, and the power level of each source. AIPS uses a set of heuristic rules to assign start times and resources to each load based on load and resource constraints. A simple improvement engine based upon these heuristics is also available to improve the schedule efficiency. This paper describes the operation of the Autonomous Intelligent Power Scheduler as a single entity, as well as its integration with APEX and the Brassboard. Future plans are discussed for the growth of the Autonomous Intelligent Power Scheduler.

Ringer, Mark J.↗

NASA NTRS1992

A spatial, kinematical, and dynamical analysis of Abell 400

The paper presents a detailed spatial, kinematical, and dynamical analysis for the cluster A400, based on a nearly complete redshift survey of bright galaxies within 1 Mpc of the cluster center. A dispersed component with a high fraction of spiral galaxies at a velocity of 8200 km/s, and a background group with a mean velocity of 13,400 km/s are identified. It is proposed that the main body of A400 is composed of at least two individual subclusters. If subclustering is ignored, the derived dispersion of the 88 galaxies with measured velocities within 4000 km/s of the bright dumbbell galaxy near the cluster center is 702 km/s. When kinematic information is used to split A400 into likely subclusters, the velocity dispersions of the individual units which make up this cluster are on the order of 200-300 km/s. If A400 is considered a single entity, the inferred blue mass-to-light ratio is 1210 solar masses/solar luminosities. It is argued that A400 is an example of a presently occurring merger, and that the individual components of the dumbbell galaxy were once individual D galaxies within the premerger subclusters.

Beers, Timothy C.↗

NASA NTRS1992

High-order wide-band frequency domain identification using composite curve fitting

A method is presented for curve fitting nonparametric frequency domain data so as to identify a parametric model composed of two models in parallel, where each model has dynamics in a specified portion of the frequency band. This decomposition overcomes the problem of numerical sensitivity since lower order polynomials can be used compared to existing methods which estimate the model as a single entity. Consequently, composite curve fitting is useful for frequency domain identification of high-order systems and/or systems whose dynamics are spread over a large bandwidth. The approach can be extended to identify an arbitrary number of parallel subsystems in specified frequency regimes.

Bayard, D. S.↗

NASA NTRS1992

Biomedical engineering - A means to add new dimension to medicine and research

Biomedical engineering is an evolving science that seeks to insert technically oriented and trained personnel to assist medical professionals in solving technological problems in the pursuit of innovations in the delivery of health care. Consequently, engineering solutions are brought to bear on problems that previously were outside the training of physicians and beyond the understanding or appreciation of the conventionally educated electrical or mechanical engineers. This physician/scientist/engineer team has a capability to extend medicine and research far beyond the capability of a single entity operating alone. How biomedical engineering has added a new dimension to medical science at the Kennedy Space Center is described.

Doerr, D. F.↗

NASA NTRS1995

Quasar populations in a cosmological constant-dominated flat universe

Most physical properties derived for quasars, as single entities or as a population, depend upon the cosmology assumed. In this paper, we calculate the quasar luminosity function and some related quantities for a flat universe dominated by a cosmological constant Lambda (Lambda = 0.9, Omega = 0.1) and compare them with those deduced for a flat universe with zero cosmological constant (Lambda = 0, Omega = 1). We use the ATT quasar survey data (Boyle et al. 1990) as input in both cases. The data are fitted well by a pure luminosity evolution model for both the cosmologies but with different evolutionary parameters. From the luminosity function, we predict (extrapolate) a greater number of quasars at faint apparent magnitudes (twice the number at B = 24, z is less than 2.2) for the Lambda-dominated universe. This population of faint quasars at high redshift would result in a higher incidence of gravitational lensing. The total luminosity of the quasar population and the total mass tied up in black hole remnants of quasars is not sensitive to the cosmology. However, for a Lambda cosmology, this mass is tied up in fewer but more massive black holes.

Malhotra, Sangeeta↗

NASA NTRS1999

Solid Phase Luminescence of Several Rare Earth Ions on Ion-Exchange Films

The development and characterization of a novel ion-exchange film for solid-phase fluorometry and phosphorimetry is reported. This new cation-exchange material is suitable for spectroscopic applications in the ultraviolet and visible regions. It is advantageous because it, as a single entity, is easily recovered from solution and mounted in the spectrofluorometers. After preconcentration on the film, the luminescence intensity of lanthanide ions is several orders of magnitude greater than that of the corresponding solution, depending on the volume of solution and the amount of film. This procedure allows emission spectral measurements and determination of lanthanide ions at solution concentrations of < 5 (micro)g/L. The film may be stored for subsequent reuse or as a permanent record of the analysis. The major drawback to the use of the film is slow uptake of analyte due to diffusion limitations.

Tanner, Stephen P.↗

NASA NTRS2001

The CE/SE Method: a CFD Framework for the Challenges of the New Millennium

The space-time conservation element and solution element (CE/SE) method, which was originated and is continuously being developed at NASA Glenn Research Center, is a high-resolution, genuinely multidimensional and unstructured-mesh compatible numerical method for solving conservation laws. Since its inception in 1991, the CE/SE method has been used to obtain highly accurate numerical solutions for 1D, 2D and 3D flow problems involving shocks, contact discontinuities, acoustic waves, vortices, shock/acoustic waves/vortices interactions, shock/boundary layers interactions and chemical reactions. Without the aid of preconditioning or other special techniques, it has been applied to both steady and unsteady flows with speeds ranging from Mach number = 0.00288 to 10. In addition, the method has unique features that allow for (i) the use of very simple non-reflecting boundary conditions, and (ii) a unified wall boundary treatment for viscous and inviscid flows. The CE/SE method was developed with the conviction that, with a solid foundation in physics, a robust, coherent and accurate numerical framework can be built without involving overly complex mathematics. As a result, the method was constructed using a set of design principles that facilitate simplicity, robustness and accuracy. The most important among them are: (i) enforcing both local and global flux conservation in space and time, with flux evaluation at an interface being an integral part of the solution procedure and requiring no interpolation or extrapolation; (ii) unifying space and time and treating them as a single entity; and (iii) requiring that a numerical scheme be built from a nondissipative core scheme such that the numerical dissipation can be effectively controlled and, as a result, will not overwhelm the physical dissipation. Part I of the workshop will be devoted to a discussion of these principles along with a description of how the ID, 2D and 3D CE/SE schemes are constructed. In Part II, various applications of the CE/SE method, particularly those involving chemical reactions and acoustics, will be presented. The workshop will be concluded with a sketch of the future research directions.

Chang, Sin-Chung↗