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  • 1
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    Predicting Loss-of-Control Boundaries Toward a Piloting Aid (2012)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: This work presents an approach to predicting loss-of-control with the goal of providing the pilot a decision aid focused on maintaining the pilot's control action within predicted loss-of-control boundaries. The predictive architecture combines quantitative loss-of-control boundaries, a data-based predictive control boundary estimation algorithm and an adaptive prediction method to estimate Markov model parameters in real-time. The data-based loss-of-control boundary estimation algorithm estimates the boundary of a safe set of control inputs that will keep the aircraft within the loss-of-control boundaries for a specified time horizon. The adaptive prediction model generates estimates of the system Markov Parameters, which are used by the data-based loss-of-control boundary estimation algorithm. The combined algorithm is applied to a nonlinear generic transport aircraft to illustrate the features of the architecture.
    Keywords: Avionics and Aircraft Instrumentation
    Type: ARC-E-DAA-TN5393 , AIAA Infotech@Aerospace 2012; Jun 19, 2012 - Jun 21, 2012; Garden Grove, CA; United States
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    NASA TECHNICAL REPORTS
  • 2
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    M-MRAC for SPHERES (2015)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: This paper presents application of the modified reference model MRAC (M-MRAC) method to control the relative position and orientation of a cluster of satellites known collectively as the Synchronized Position Hold, Engage, Reorient Experimental Satellites (SPHERES). The approach uses fast estimation algorithms to achieve guaranteed tracking of reference commands for both input and output signals in the presence of uncertainties in mass and inertia data and external disturbances. The tracking errors can be systematically decreased by the proper selection of the design parameters in the identification model. The generated control signals have acceptable magnitudes and exhibit no oscillations. The benefits of the method are demonstrated in numerical simulations.
    Keywords: Space Communications, Spacecraft Communications, Command and Tracking; Spacecraft Design, Testing and Performance
    Type: ARC-E-DAA-TN15573 , 2015 AIAA SciTech Forum; Jan 05, 2015 - Jan 09, 2015; Kissimmee, FL; United States
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  • 3
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    Astrobee Guest Science (2016)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: At the end of 2018, Astrobee will launch three free-flying robots that will navigate the entire US segment of the ISS and serve as a payload facility. The mechanical and electrical interfaces are now established and several payloads are being developed.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN59162 , ISS R&D Conference 2018; Jul 23, 2018 - Jul 26, 2018; San Francisco, CA; United States
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  • 4
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    ISS Robotic Student Programming (2016)
    In:  CASI
    Details
    Publication Date: 2019-08-13
    Description: The SPHERES (Synchronized Position Hold Engage and Reorient Experimental Satellite) facility is a set of three free-flying satellites launched in 2006. In addition to scientists and engineers, middle- and high-school students program the SPHERES during the annual Zero Robotics programming competition. Zero Robotics conducts virtual competitions via simulator and on SPHERES aboard the ISS (International Space Station), with students doing the programming. A web interface allows teams to submit code, receive results, collaborate, and compete in simulator-based initial rounds and semi-final rounds. The final round of each competition is conducted with SPHERES aboard the ISS. At the end of 2017 a new robotic platform called Astrobee will launch, providing new game elements and new ground support for even more student interaction.
    Keywords: Cybernetics, Artificial Intelligence and Robotics; Astronautics (General)
    Type: ARC-E-DAA-TN33741 , International Space Station R&D Conference (ISSR&D 2016); Jul 12, 2016 - Jul 14, 2016; San Diego, CA; United States
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  • 5
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    Astrobee Guest Science (2017)
    In:  CASI
    Details
    Publication Date: 2019-08-13
    Description: At the end of 2017, Astrobee will launch three free-flying robots that will navigate the entire US segment of the ISS (International Space Station) and serve as a payload facility. These robots will provide guest science payloads with processor resources, space within the robot for physical attachment, power, communication, propulsion, and human interfaces.
    Keywords: Astronautics (General); Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN44743 , International Space Station Research and Development Conference (ISS R&D 2017); Jul 17, 2017 - Jul 20, 2017; Washington, DC; United States
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  • 6
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    Astrobee: A New Platform for Free-Flying Robotics on the International Space Station (2016)
    In:  CASI
    Details
    Publication Date: 2019-08-13
    Description: The Astrobees are next-generation free-flying robots that will operate in the interior of the International Space Station (ISS). Their primary purpose is to provide a flexible platform for research on zero-g freeflying robotics, with the ability to carry a wide variety of future research payloads and guest science software. They will also serve utility functions: as free-flying cameras to record video of astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. The Astrobee system includes two robots, a docking station, and a ground data system (GDS). It is developed by the Human Exploration Telerobotics 2 (HET-2) Project, which began in Oct. 2014, and will deliver the Astrobees for launch to ISS in 2017. This paper covers selected aspects of the Astrobee design, focusing on capabilities relevant to potential users of the platform.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN31584 , International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS); Jun 19, 2016 - Jun 22, 2016; Beijing; China
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  • 7
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    Astrobee: Space Station Robotic Free Flyer (2016)
    In:  CASI
    Details
    Publication Date: 2019-08-13
    Description: Astrobee is a free flying robot that will fly inside the International Space Station and primarily serve as a research platform for robotics in zero gravity. Astrobee will also provide mobile camera views to ISS flight and payload controllers, and collect various sensor data within the ISS environment for the ISS Program. Astrobee consists of two free flying robots, a dock, and ground data system. This presentation provides an overview, high level design description, and project status.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN33712 , ISS R&D Conference 2016; Jul 12, 2016 - Jul 14, 2016; San Diego, CA; United States
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  • 8
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    Data-Based Predictive Control with Multirate Prediction Step (2010)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Data-based predictive control is an emerging control method that stems from Model Predictive Control (MPC). MPC computes current control action based on a prediction of the system output a number of time steps into the future and is generally derived from a known model of the system. Data-based predictive control has the advantage of deriving predictive models and controller gains from input-output data. Thus, a controller can be designed from the outputs of complex simulation code or a physical system where no explicit model exists. If the output data happens to be corrupted by periodic disturbances, the designed controller will also have the built-in ability to reject these disturbances without the need to know them. When data-based predictive control is implemented online, it becomes a version of adaptive control. One challenge of MPC is computational requirements increasing with prediction horizon length. This paper develops a closed-loop dynamic output feedback controller that minimizes a multi-step-ahead receding-horizon cost function with multirate prediction step. One result is a reduced influence of prediction horizon and the number of system outputs on the computational requirements of the controller. Another result is an emphasis on portions of the prediction window that are sampled more frequently. A third result is the ability to include more outputs in the feedback path than in the cost function.
    Keywords: Mathematical and Computer Sciences (General)
    Type: ARC-E-DAA-TN1724 , 2010 American Control Conference - ACC2010; Jun 30, 2010 - Jul 02, 2010; Baltimore, MD; United States
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  • 9
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    Astrobee: Developing a Free Flying Robot for the International Space Station (2015)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Astronaut time will always be in short supply, consumables (e.g., oxygen) will always be limited, and some work will not be feasible, or productive, for astronauts to do manually. Free flyers offer significant potential to perform a great variety of tasks, include routine, repetitive or simple but long-duration work, such as conducting environment surveys, taking sensor readings or monitoring crew activities. The "Astrobee" project is developing a new free flying robot system suitable for performing Intravehicular Activity (IVA) work on the International Space Station (ISS). This paper will describe the Astrobee project objectives, initial design, concept of operations, and key challenges.
    Keywords: Spacecraft Design, Testing and Performance; Engineering (General); Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN25831 , AIAA Space 2015; Aug 31, 2015 - Sep 02, 2015; Pasadena, CA; United States
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  • 10
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    Initial Evaluations of LoC Prediction Algorithms Using the NASA Vertical Motion Simulator (2014)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Flying near the edge of the safe operating envelope is an inherently unsafe proposition. Edge of the envelope here implies that small changes or disturbances in system state or system dynamics can take the system out of the safe envelope in a short time and could result in loss-of-control events. This study evaluated approaches to predicting loss-of-control safety margins as the aircraft gets closer to the edge of the safe operating envelope. The goal of the approach is to provide the pilot aural, visual, and tactile cues focused on maintaining the pilot's control action within predicted loss-of-control boundaries. Our predictive architecture combines quantitative loss-of-control boundaries, an adaptive prediction method to estimate in real-time Markov model parameters and associated stability margins, and a real-time data-based predictive control margins estimation algorithm. The combined architecture is applied to a nonlinear transport class aircraft. Evaluations of various feedback cues using both test and commercial pilots in the NASA Ames Vertical Motion-base Simulator (VMS) were conducted in the summer of 2013. The paper presents results of this evaluation focused on effectiveness of these approaches and the cues in preventing the pilots from entering a loss-of-control event.
    Keywords: Aircraft Stability and Control
    Type: ARC-E-DAA-TN12490 , SciTech 2014; Jan 13, 2014 - Jan 17, 2014; National Harbor, MD; United States
    Format: application/pdf
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