ALBERT

Description: This paper reports the ground demonstration of precision synchronized formation rotations with better than 6 arcmin/5 cm performance in the Formation Control Testbed (FCT). The FCT currently consists of two, five degree-of-freedom, air bearing-levitated robots. The sixth degree-of-freedom, vertical translation, is being added in November 2007. Each robot has a suite of flight-like avionics and actuators, including a star tracker, fiber-optic gyroscopes, reaction wheels, cold-gas thrusters, inter-robot communication, and on-board computers that run the Formation and Attitude Control System software.

Description: Synchronized formation rotations are a common maneuver for planned precision formations. In such a rotation, attitudes remain synchronized with relative positions, as if the spacecraft were embedded in a virtual rigid body. Further, since synchronized rotations are needed for science data collection, this maneuver requires the highest precision control of formation positions and attitudes. A recently completed, major technology milestone for the Terrestrial Planet Finder Interferometer is the high-fidelity, ground demonstration of precision synchronized formation rotations. These demonstrations were performed in the Formation Control Testbed (FCT), which is a flight-like, multi-robot formation testbed. The FCT is briefly introduced, and then the synchronized rotation demonstration results are presented. An initial error budget consisting of formation simulations is used to show the connection between ground performance and TPF-I flight performance.

Description: A viewgraph presentation on the technology status and plans for Terrestrial Planet Finder Interferometer is shown. The topics include: 1) The Navigator Program; 2) TPF-I Project Overview; 3) Project Organization; 4) Technology Plan for TPF-I; 5) TPF-I Testbeds; 6) Nulling Error Budget; 7) Nulling Testbeds; 8) Nulling Requirements; 9) Achromatic Nulling Testbed; 10) Single Mode Spatial Filter Technology; 11) Adaptive Nuller Testbed; 12) TPF-I: Planet Detection Testbed (PDT); 13) Planet Detection Testbed Phase Modulation Experiment; and 14) Formation Control Testbed.

Description: The X-ray properties of a sample of 11 high-redshift (0.6 〈 z 〈 1 .O) clusters observed with Chardm and/or XMM-Newton are used to investigate the evolution of the cluster scaling relations. The observed evolution in the normalization of the L-T, M-T, M(sub 2)-T and M-L relations is consistent with simple self-similar predictions, in which the properties of clusters reflect the properties of the Universe at their redshift of observation. Under the assumption that the model of self-similar evolution is correct and that the local systems formed via a single spherical collapse, the high-redshift L-T relation is consistent with the high-z clusters having virialized at a significantly higher redshift than the local systems. The data are also consistent with the more realistic scenario of clusters forming via the continuous accretion of material. The slope of the L-T relation at high redshift (B = 3.32 +/- 0.37) is consistent with the local relation, and significantly steeper than the self-similar prediction of B = 2. This suggests that the same non-gravitational processes are responsible for steepening the local and high-z relations, possibly occurring universally at z is approximately greater than 1 or in the early stages of the cluster formation, prior to their observation. The properties of the intracluster medium at high redshift are found to be similar to those in the local Universe. The mean surface-brightness profile slope for the sample is Beta = 0.66 +/- 0.05, the mean gas mass fractions within R(sub 2500(z)) and R(200(z)) are 0.069 +/- 0.012 and 0.11 +/- 0.02, respectively, and the mean metallicity of the sample is 0.28 +/- 0.11 Z(sub solar).

Description: In this paper, we present enhancements on the powered descent guidance algorithm developed for Mars pinpoint landing. The guidance algorithm solves the powered descent minimum fuel trajectory optimization problem via a direct numerical method. Our main contribution is to formulate the trajectory optimization problem, which has nonconvex control constraints, as a finite dimensional convex optimization problem, specifically as a finite dimensional second order cone programming (SOCP) problem. SOCP is a subclass of convex programming, and there are efficient SOCP solvers with deterministic convergence properties. Hence, the resulting guidance algorithm can potentially be implemented onboard a spacecraft for real-time applications. Particularly, this paper discusses the algorithmic improvements obtained by: (i) Using an efficient approach to choose the optimal time-of-flight; (ii) Using a computationally inexpensive way to detect the feasibility/ infeasibility of the problem due to the thrust-to-weight constraint; (iii) Incorporating the rotation rate of the planet into the problem formulation; (iv) Developing additional constraints on the position and velocity to guarantee no-subsurface flight between the time samples of the temporal discretization; (v) Developing a fuel-limited targeting algorithm; (vi) Initial result on developing an onboard table lookup method to obtain almost fuel optimal solutions in real-time.

Description: This paper summarizes the modeling, simulation, and testing work related to the development of technology to investigate the potential that shape memory actuation has to provide mechanically simple and affordable solutions for delivering assets to a surface and for sample capture and possible return to Earth. We investigate the structural dynamics and controllability aspects of an adaptive beam carrying an end-effector which, by changing equilibrium phases is able to actively decouple the end-effector dynamics from the spacecraft dynamics during the surface contact phase. Asset delivery and sample capture and return are at the heart of several emerging potential missions to small bodies, such as asteroids and comets, and to the surface of large bodies, such as Titan.

Description: In this paper the design and modeling of a sensor system that gives relative position measurements is described. The position is provided in the form of bearing and range to a retro target placed on a far field target.

Description: We consider two spacecraft flying in formation to create interferometric synthetic aperture radar (InSAR). Several candidate orbits for such in InSar formation have been previously determined based on radar performance and Keplerian orbital dynamics. However, with out active control, disturbance-induced drift can degrade radar performance and (in the worst case) cause a collision. This study evaluates the feasibility of operating the InSAR spacecraft as a formation, that is, with inner-spacecraft sensing and control. We describe the candidate InSAR orbits, design formation guidance and control architectures and algorithms, and report the (Delta)(nu) and control acceleration requirements for the candidate orbits for several tracking performance levels. As part of determining formation requirements, a formation guidance algorithm called Command Virtual Structure is introduced that can reduce the (Delta)(nu) requirements compared to standard Leader/Follower formation approaches.

Description: A formulation of stability for a set of spacecraft in formation flight is presented. First, a formation is defined in a precise mathematical form in terms of control interactions. Then, stability is formulated based on input-to-output stability with respect to a partitioning of the formation dynamics. This formulation of stability is shown to be useful in characterizing disturbance propagation in the formation as a function of the partition interconnection topology, and also in analyzing the robustness of sensing, communication, and control topologies. Stability results are presented for hierarchical, cyclic, and disturbance attenuating formations.

Description: This viewgraph presentation is a study of an Emma design for Terrestrial Planet Finder (TPF) formation flying interferometer. The objective is to develop a design with reduced cost compared to TPF-I X-Array, derive mass and cost estimates, and study thermal and radiation issues.