ALBERT

Description: The term clock is usually used to refer to a device that counts a nearly periodic signal. A group of clocks, called an ensemble, is often used for time keeping in mission critical applications that cannot tolerate loss of time due to the failure of a single clock. The time generated by the ensemble of clocks is called a time scale. The question arises how to combine the times of the individual clocks to form the time scale. One might naively be tempted to suggest the expedient of averaging the times of the individual clocks, but a simple thought experiment demonstrates the inadequacy of this approach. Suppose a time scale is composed of two noiseless clocks having equal and opposite frequencies. The mean time scale has zero frequency. However if either clock fails, the time-scale frequency immediately changes to the frequency of the remaining clock. This performance is generally unacceptable and simple mean time scales are not used. First, previous time-scale developments are reviewed and then some new methods that result in enhanced performance are presented. The historical perspective is based upon several time scales: the AT1 and TA time scales of the National Institute of Standards and Technology (NIST), the A.1(MEAN) time scale of the US Naval observatory (USNO), the TAI time scale of the Bureau International des Poids et Measures (BIPM), and the KAS-1 time scale of the Naval Research laboratory (NRL). The new method was incorporated in the KAS-2 time scale recently developed by Timing Solutions Corporation. The goal is to present time-scale concepts in a nonmathematical form with as few equations as possible. Many other papers and texts discuss the details of the optimal estimation techniques that may be used to implement these concepts.

Description: A computer program is described which effectively eliminates the misgivings of the DOS system clock in PC/AT-class computers. RighTime is a small, sophisticated memory-resident program that automatically corrects both the DOS system clock and the hardware 'CMOS' real time clock (RTC) in real time. RighTime learns what corrections are required without operator interaction beyond the occasional accurate time set. Both warm (power on) and cool (power off) errors are corrected, usually yielding better than one part per million accuracy in the typical desktop computer with no additional hardware, and RighTime increases the system clock resolution from approximately 0.0549 second to 0.01 second. Program tools are also available which allow visualization of RighTime's actions, verification of its performance, display of its history log, and which provide data for graphing of the system clock behavior. The program has found application in a wide variety of industries, including astronomy, satellite tracking, communications, broadcasting, transportation, public utilities, manufacturing, medicine, and the military.

Description: TimeSet is a shareware program for accessing digital time services by telephone. At its initial release, it was capable of capturing time signals only from the U.S. Naval Observatory to set a computer's clock. Later the ability to synchronize with the National Institute of Standards and Technology was added. Now, in Version 7.10, TimeSet is able to access three additional telephone time services in Europe - in Sweden, Austria, and Italy - making a total of five official services addressable by the program. A companion program, TimeGen, allows yet another source of telephone time data strings for callers equipped with TimeSet version 7.10. TimeGen synthesizes UTC time data strings in the Naval Observatory's format from an accurately set and maintained DOS computer clock, and transmits them to callers. This allows an unlimited number of 'freelance' time generating stations to be created. Timesetting from TimeGen is made feasible by the advent of Becker's RighTime, a shareware program that learns the drift characteristics of a computer's clock and continuously applies a correction to keep it accurate, and also brings .01 second resolution to the DOS clock. With clock regulation by RighTime and periodic update calls by the TimeGen station to an official time source via TimeSet, TimeGen offers the same degree of accuracy within the resolution of the computer clock as any official atomic time source.

Description: The knowledge of vegetation dielectric behavior is important in studying the scattering properties of the vegetation canopy and radar backscatter modelling. Until now, a limited number of studies have been published on the dielectric properties in the boreal forest context. This paper presents the results of the dielectric constant as a function of depth in the trunks of two common boreal forest species: black spruce and trembling aspen, obtained from field measurements. The microwave penetration depth for the two species is estimated at C, L, and P bands and used to derive the equivalent dielectric constant for the trunk as a whole. The backscatter modelling is carried out in the case of black spruce and the results are compared with the JPL AIRSAR data. The sensitivity of the backscatter coefficient to the dielectric constant is also examined.

Description: Because changes in the Earth's environment have become major global issues, continuous, longterm scientific information is required to assess global problems such as deforestation, desertification, greenhouse effects and climate variations. Global change studies require understanding of interactions of complex processes regulating the Earth system. Space-based Earth observation is an essential element in global change research for documenting changes in Earth environment. It provides synoptic data for conceptual predictive modeling of future environmental change. This paper provides a brief overview of remote sensing technology from the perspective of global change research.

Description: This paper presents the results of the correlation analysis of the Skylab S-193 13.9 GHz Radiometer/Scatterometer data. Computer analysis of the S-193 data shows more than 50 percent of the radiometer and scatterometer data are uncorrelated. The correlation coefficients computed for the data gathered over various ground scenes indicates the desirability of using both active and passive sensors for the determination of various Earth phenomena.

Description: Four radiometric correction methods for the reduction of slope-aspect effects in a Landsat TM data set are tested in a mountainous test site with regard to their physical soundness and their influence on forest classification, as well as on the visual appearance of the scene. Excellent ground reference information and a fine-resolution DEM allowed precise assessment of the applicability of the methods under investigation. The results of the study presented here demonstrate the weakness of the classical cosine correction method for radiometric correction in rugged terrain. The statistical, Minnaert and C-correction approaches, however, yielded an improvement of the forest classification and an impressive reduction of the visual topography effect.

Description: Development of a first-order radiative transfer model for predicting backscatter from tree canopies has been underway at the University of Michigan Radiation Laboratory for some time. This model is known as the Michigan Microwave Canopy Scattering (MIMICS) model. This article presents the second-generation MIMICS model (MIMICS II) which accounts for canopies with discontinuous (open) crown layer geometries. MIMICS II models open crown layers by treating the location, size, and shape of the individual tree crowns as random variables. The backscattering coefficients for the canopy are then determined by introducing statistics derived from these parameters into the radiative transfer solution. Application of the radiative transfer equations to the discontinuous canopy geometry is presented. The resulting model is a robust fully polarimetric solution that is applicable over a wide variety of canopy architectures. Model simulations are compared to results generated with the continuous canopy model. The effect of the open crown geometry is found to be most significant at shallow incidence angles and at high frequencies for trees with well-developed crowns. Under these conditions, the gaps in the crown layer give rise to a notable increase in crown layer transmissivity which allows the radar to see through to the lower layers of the canopy more easily, thereby directly affecting the backscatter contribution of the trunks and ground.

Description: Experimental studies are performed on some coniferous trees (Austrian pine, Nordmann spruce, and Norway spruce) to investigate the relation between the tree architecture and radar signal at X-band. For a single tree, the RCS is measured as a function of the scatterer location at 90 deg incidence. It is found that the main scatterers are the leafy branches and the difference between sigma(vv) and sigma(hh) is significant at the upper portion of the tree. At the lower portion of the tree, sigma(vv) and sigma(hh) have almost the same level. For a group of trees the angular trends of sigma(vv) and sigma(hh) are measured. It is found that the levels of sigma(vv) and sigma(hh) are of the same order, but their angular trends vary from one tree species to the other depending on the tree species structure. The interpretation of these experimental results is carried out with the help of a theoretical model which accounts for the structure of the tree. According to this theoretical study, the major scattering trend is due to the leaves, while the perturbation to the angular trend and the level difference between sigma(vv) and sigma(hh) are due to the branch orientation distributions (i.e., the tree architecture).

Description: The feasibility of using imaging spectrometry in studies of playa evaporites is demonstrated by mapping efflorescent salt crusts in Death Valley (California), using Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) data and a recently developed least-squares spectral band-fitting algorithm. It is shown that it was possible to remotely identify eight different saline minerals, including three borates that have not been previously reported for the Death Valley efflorescent crusts: hydroboracite, pinnoite, and rivadavite. The three borates are locally important phases in the crusts; at least one of them, rivadavite, appears to be forming directly from brine.

Description: Data on chlorophyll content and bathymetry of Lake Tahoe obtained on August 9, 1990 by the Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) are compared to concurrent in situ surface and in-water measurements. Measured parameters included profiles of percent transmission of monochromatic light, stimulated chlorophyll fluorescence, photosynthetically available radiation, spectral upwelling and downwelling irradiance, and upwelling radiance. Several analyses were performed illustrating the utility of the AVIRIS over a dark water scene. Image-derived chlorophyll concentration compared extremely well with that measured with bottle samples. A bathymetry map of the shallow parts of the lake was constructed which compares favorably with published lake soundings.

Description: Remotely sensed optical and microwave data can be synergistically used to infer land surface properties. Optical data can be used to estimate surface albedo, radiation absorption by vegetation canopies and their photosynthetic efficiencies. Vegetation canopy reflectance at red and near-infrared wavelengths can be used to correct for vegetation effect on microwave emissivities at low frequencies for estimating soil moisture. Optical data can also provide information about surface and air temperatures, precipitable water vapor, cloud top temperature and its water content. This information can be utilized to correct microwave data for atmospheric effects. These points are illustrated with theoretical analyses and by application to satellite data. The basic physical mechanisms operative at the various wavelengths are also discussed.

Description: Quantitative use of remote multispectral measurements to study and map land surface evapotranspiration has been a challenging issue for the past 20 years. Past work is reviewed against process physics. A simple two-layer combination-type model is used which is applicable to both vegetation and bare soil. The theoretic analysis is done to show which land surface properties are implicitly defined by such evaporation models and to assess whether they are measurable as a matter of principle. Conceptual implications of the spatial correlation of land surface properties, as observed by means of remote multispectral measurements, are illustrated with results of work done in arid zones. A normalization of spatial variability of land surface evaporation is proposed by defining a location-dependent potential evaporation and surface temperature range. Examples of the application of remote based estimates of evaporation to hydrological modeling studies in Egypt and Argentina are presented.

Description: Examples are presented of applications of a fast Fourier transform algorithm to analyze time series of images of Normalized Difference Vegetation Index values. The results obtained for a case study on Zambia indicated that differences in vegetation development among map units of an existing agroclimatic map were not significant, while reliable differences were observed among the map units obtained using the Fourier analysis.

Description: This paper discusses a multisensor satellite approach for the study of hydrological applications. Spectral as well as spatial and temporal characteristics of specific operational and planned instruments applicable to hydrology are presented. A hydrology specific series of sensors are proposed to fill the gaps not covered by the current and planned systems. We have called this hypothetical platform HYDROSAT. In addition, the trade-offs between a geostationary satellite and a polar orbiter are explored.

Description: This paper shows how the radar scattering from vegetated areas is affected by the topography of the surface underneath the vegetation. It is shown, using a discrete scatterer model, that the dominant scattering mechanism may change drastically when the ground surface is tilted relative to the horizontal. In the case of a horizontal ground surface, total scattering may be dominated by scattering off the tree trunks, followed by a reflection off the ground surface. For a relatively small tilt in the ground surface (about 2 deg from horizontal), the ground-trunk interaction term may be replaced by scattering from the branches alone as the dominant scattering mechanism. We also show that the effect of the topography is more pronounced for scattering by longer wavelengths, and discuss the implications on algorithms designed to infer forest woody biomass and soil and vegetation moisture using polarimetric SAR data. The effect of the topography on the scattering behavior from forested areas is illustrated with images acquired by the NASA/JPL three-frequency polarimetric SAR over the Black Forest in Germany.

Description: Land surface hydrologic-atmospheric interactions in humid and semi-arid watersheds were investigated. Active and passive microwave sensors were used to estimate the spatial and temporal distribution of soil moisture at the catchment scale in four areas. Results are presented and discussed. The eventual use of this information in the analysis and prediction of associated hydrologic processes is examined.

Description: Regional ecological studies are considered in the context of the global change problem. The Kursk-91 international experiment is used to illustrate applications of remote sensing data and data bases of field experiments for assessment of parameters of the state of the soil and vegetative cover and subsequent study of biospheric stability on the basis of regular satellite observations.

Description: The visible bands of the Landsat Thematic Mapper (TM) sensor were used in an empirical assessment of seagrass biomass on shallow banks near Lee Stocking Island in the Bahamas. The TM bands were transformed to minimize the depth-dependent variance in the bottom reflectance signal. Regression analyses were performed between the transformed bands and field measurements of seagrass standing crop (above-ground biomass). Regression equations using spectral data accounted for up to 80 per cent of the variability in seagrass biomass. The unexplained variance was ascribed to variations in bottom sediment color.

Description: In this paper a distributed parameter model for the estimation of modal characteristics of NASA Mini-Mast truss is proposed. A closed-form solution of the Timoshenko beam equation, for a uniform cantilevered beam with two concentrated masses, is derived so that the procedure and the computational effort for the estimation of modal characteristics are improved. A maximum likelihood estimator for the Timoshenko beam model is also developed. The resulting estimates from test data by using Timoshenko beam model are found to be comparable to those derived from other approaches.

Description: The single scattering albedo and optical depth of typical savanna vegetation in Botswana (Africa) have been determined by inverse modelling using satellite observed microwave signatures and surface soil moisture. Soil emissivity was modelled using a multi-layer radiative transfer model. The study is based on large scale surface moisture data and Nimbus/SMMR 6-6 GHz and 37 GHz dual polarized brightness temperatures over a 3-year period. As compared to the optical depths, the derived single scattering albedos displayed only minor seasonal variations, whereas the values fit well within the range reported in the literature from laboratory and field experiments. Both 6-6 and 37GHz optical depths were found to be significantly related to NDVI-values derived from NOAA/AVHRR.

Description: The hypothesis tested was that some part of the ecosystem-dependent variability of vegetation indices was attributable to the effects of light specularly reflected by leaves. 'Minus specular' indices were defined excluding effects of specular light which contains no cellular pigment information. Results, both empirical and theoretical, show that the 'minus specular' indices, when compared to the traditional vegetation indices, potentially provide better estimates of the photosynthetic activity within a canopy - and therefore canopy primary production - specifically as a function of sun and view angles.

Description: A linear mixing model was applied to coarse spatial resolution data from the NOAA Advanced Very High Resolution Radiometer. The reflective component of the 3.55-3.95 micron channel was used with the two reflective channels 0.58-0.68 micron and 0.725-1.1 micron to run a constrained least squares model to generate fraction images for an area in the west central region of Brazil. The fraction images were compared with an unsupervised classification derived from Landsat TM data acquired on the same day. The relationship between the fraction images and normalized difference vegetation index images show the potential of the unmixing techniques when using coarse spatial resolution data for global studies.

Description: Recently, a number of studies have investigated the use of the 37 GHz channels of the Nimbus-7 Scanning Multichannel Microwave Radiometer (SMMR) for vegetation monitoring and for studying synergisms between the SMMR and the NOAA Advanced Very High Resolution Radiometer (AVHRR). The approaches are promising but raise a number of issues concerning interpretation of the results, specifically on the relative effects of vegetation and other surface and atmospheric characteristics on the observed signal. This article analyzes the 37 GHz Microwave Polarization Difference Temperature (MPDT) in terms of its sensitivity to surface and atmospheric parameters. For this, a radiative transfer model is used which indicates some limitations of the MPDT index and suggests the importance of accounting for atmospheric effects in the data analysis. An alternative approach to the MPDT, including lower SMMR frequencies than 37 GHz, is discussed.

Description: A time-optimal open-loop control problem of flexible spacecraft in the presence of modeling uncertainty has been investigated. The results indicate that the proposed approach significantly reduces the residual structural vibrations caused by modeling uncertainty. The results also indicate the importance of proper jet placement for practical tradeoffs among the maneuvering time, fuel consumption, and performance robustness.

Description: This paper uses spatial operator techniques to develop a new algorithm for the dynamics of multibody systems with hinges undergoing prescribed motion. This algorithm is spatially recursive, and its computational complexity grows only linearly with the number of degrees of freedom in the system. Its structure is a hybrid of known recursive forward and inverse dynamics algorithms for regular multibody systems. Changes to the prescribed/nonprescribed nature of hinges can be implemented during run time since they are handled with very low overhead in the algorithm.

Description: Fractal geometry is increasingly becoming a useful tool for modeling natural phenomena. As an alternative to Euclidean concepts, fractals allow for a more accurate representation of the nature of complexity in natural boundaries and surfaces. The purpose of this paper is to introduce and implement three algorithms in C code for deriving fractal measurement from remotely sensed data. These three methods are: the line-divider method, the variogram method, and the triangular prism method. Remote-sensing data acquired by NASA's Calibrated Airborne Multispectral Scanner (CAMS) are used to compute the fractal dimension using each of the three methods. These data were obtained as a 30 m pixel spatial resolution over a portion of western Puerto Rico in January 1990. A description of the three methods, their implementation in PC-compatible environment, and some results of applying these algorithms to remotely sensed image data are presented.

Description: Spaceborne laser altimeter systems intended to operate at lunar and Martian orbits are reviewed. Laser altimeter systems capable of long lifetimes with centimeter precision ranging electronics are considered to be essential components of NASA's EOS.

Description: The Visiting Investigator Program (VIP) developed at NASA-Stennis' Science and Technology Laboratory (STL) allows U.S. industry to use the specialized resources of STL in the fields of remote sensing and GIS, with a view to the development of new commercial processes and improved services. Attention is given to the novel agreement mechanisms developed by NASA to implement VIP. These agreements encompass a memorandum of understanding, a technical exchange agreement, a sponsored-transfer agreement, a proprietary work agreement, and a joint endeavor agreement.

Description: Topographic profiles at 25- and 5-cm horizontal resolution for three sites along a lava flow on Kilauea Volcano are presented, and these data are used to illustrate techniques for surface roughness analysis. Height and slope distributions and the height autocorrelation function are evaluated as a function of varying lowpass filter wavelength for the 25-cm data. Rms slopes are found to increase rapidly with decreasing topographic scale and are typically much higher than those found by modeling of Magellan altimeter data for Venus. A more robust description of the surface roughness appears to be the ratio of rms height to surface height correlation length. For all three sites this parameter falls within the range of values typically found from model fits to Magellan altimeter waveforms. The 5-cm profile data are used to estimate the effect of small-scale roughness on quasi-specular scattering.

Description: This paper affirms that the quantification of life-critical software reliability is infeasible using statistical methods, whether these methods are applied to standard software or fault-tolerant software. The classical methods of estimating reliability are shown to lead to exorbitant amounts of testing when applied to life-critical software. Reliability growth models are examined and also shown to be incapable of overcoming the need for excessive amounts of testing. The key assumption of software fault tolerance - separately programmed versions fail independently - is shown to be problematic. This assumption cannot be justified by experimentation in the ultrareliability region, and subjective arguments in its favor are not sufficiently strong to justify it as an axiom. Also, the implications of the recent multiversion software experiments support this affirmation.

Description: The attitude matrix minimizing Wahba's loss function is computed directly by a method that is competitive with the fastest known algorithm for finding this optimal estimate. The method also provides an estimate of the attitude error covariance matrix. Analysis of the special case of two vector observations identifies those cases for which the TRIAD or algebraic method minimizes Wahba's loss function.

Description: An improved method of estimating fractal surface dimensions has been developed. The accuracy of this method is illustrated using artificially generated fractal surfaces. A slightly different from usual concept of linear dimension is developed, allowing a direct link between that and the corresponding surface dimension estimate. These methods are applied to a series of images of lava flows, representing a variety of physical and chemical conditions. These include lavas from California, Idaho, and Hawaii, as well as some extraterrestrial flows. The fractal surface dimension estimations are presented, as well as the fractal line dimensions where appropriate.

Description: Three AVHRR-LAC data sets acquired in September 1990 and January 1991 were used to map the forest resources of Madagascar. The island was partitioned into four strata to include: (1) the western hardwoods, (2) the central grasslands, (3) the eastern rainforest, and (4) spiny forest. Each stratum was classified separately using AVHRR-LAC data in conjunction with 1984-1988 Landsat-MSS photoproducts. The results of AVHRR classification indicate that approximately 11 percent of the island is covered by forest. Estimates of forest area, by stratum, are as follows: western hardwoods, 6697 sq km; central grasslands, 2830 sq km; eastern rainforest 34,167 sq km; and spiny forest, 17,224 sq km. The total forest area on the 587,041 sq km island is estimated to be 60,918 sq km. The AVHRR forest map was compared to a mid-1970s land cover map which was developed using Landsat-MSS photoproducts. The average class agreement between the mid 1970s ground reference map and the 1990 AVHRR-LAC map was 78.2 percent, the overall accuracy was 81.1 percent. Much of the per-pixel disagreement between the ground reference and AVHRR maps involved areas identified as forest in the 1970s and as nonforest in 1990.

Description: We describe an application of a scale-space clustering algorithm to the classification of a multispectral and polarimetric SAR image of an agricultural site. After the initial polarimetric and radiometric calibration and noise cancellation, we extracted a 12-dimensional feature vector for each pixel from the scattering matrix. The clustering algorithm was able to partition a set of unlabeled feature vectors from 13 selected sites, each site corresponding to a distinct crop, into 13 clusters without any supervision. The cluster parameters were then used to classify the whole image. The classification map is much less noisy and more accurate than those obtained by hierarchical rules. Starting with every point as a cluster, the algorithm works by melting the system to produce a tree of clusters in the scale space. It can cluster data in any multidimensional space and is insensitive to variability in cluster densities, sizes and ellipsoidal shapes. This algorithm, more powerful than existing ones, may be useful for remote sensing for land use.

Description: Results are presented of an investigation to determine the degree to which digitally processed Landsat TM imagery can be used to discriminate among vegetated lava flows of different ages in the Menengai Caldera, Kenya. A selective series of five images, consisting of a color-coded Landsat 5 classification and four color composites, are compared with geologic maps. The most recent of more than 70 postcaldera flows within the caldera are trachytes, which are variably covered by shrubs and subsidiary grasses. Soil development evolves as a function of time, and as such supports a changing plant community. Progressively older flows exhibit the increasing dominance of grasses over bushes. The Landsat images correlated well with geologic maps, but the two mapped age classes could be further subdivided on the basis of different vegetation communities. It is concluded that field maps can be modified, and in some cases corrected by use of such imagery, and that digitally enhanced Landsat imagery can be a useful aid to field mapping in similar terrains.

Description: In this article, the vibration control of adaptive truss structures, where the control actuation is provided by length adjustable active members, is formulated as a direct output feedback control problem. A control method named Model Truncated Output Feedback (MTOF) is presented. The method allows the control feedback gain to be determined in a decoupled and truncated modal space in which only the critical vibration modes are retained. The on-board computation required by MTOF is minimal; thus, the method is favorable for the applications of vibration control of large scale structures. The truncation of the modal space inevitably introduces spillover effect during the control process. In this article, the effect is quantified in terms of active member locations, and it is shown that the optimal placement of active members, which minimizes the spillover effect (and thus, maximizes the control performance) can be sought. The problem of optimally selecting the locations of active members is also treated.

Description: Measurements of the C-band (wavelength = 5 cm) radar cross section of an area in the Brooks Range foothills on the North Slope of Alaska using images from the ERS-1 satellite show significant temporal changes. These changes are strongly correlated with elevation and hillslope orientation and are greatest on some of the elevated areas and weaker in river drainages. By constructing 'difference images' using various image pairs, and by analyzing climatological and hydrological data from the site, we conclude that the radar backscatter changes are largely due to changes in soil and vegetation liquid water content induced by freeze/thaw events. The correlation with topography in the difference images arises from the dependence of vegetation, organic layer thickness, and volumetric water content on hillslope position and orientation. These results demonstrate the viability of radar backscatter intensity comparisons using repeat-pass images as a means of change detection.

Description: This paper describes a preliminary design of the thrust vector control algorithm for the interplanetary spacecraft, Cassini. Topics of discussion include flight software architecture, modeling of sensors, actuators, and vehicle dynamics, and controller design and analysis via classical methods. Special attention is paid to potential interactions with structural flexibilities and propellant dynamics. Controller performance is evaluated in a simulation environment built around a multi-body dynamics model, which contains nonlinear models of the relevant hardware and preliminary versions of supporting attitude determination and control functions.

Description: An effort was made to increase the predicted lifetime of the SIRTF dewar by lowering the exterior shell temperature, increasing the radiated energy from the vapor cooled shields and reconfiguring the vapor cooled shields. The lifetime increases can be used to increase the scientific return from the mission and as a trade-off against mass and cost. This paper describes the configurations studied, the steady state thermal model used, the analytical methods and the results of the analysis. Much of the heat input to the outside dewar shell is radiative heat transfer from the solar panel. To lower the shell temperature, radiative cooled shields were placed between the solar panel and the dewar shell and between the bus and the dewar shell. Analysis showed that placing a radiator on the outer vapor cooled shield had a significant effect on lifetime. Lengthening the distance between the outer shell and the point where the vapor cooled shields are attached to the support straps also improved lifetime.

Description: This research attempts to map small-scale vegetation changes in Mexico. Forty-eight weeks of coarse resolution Advanced Very High Resolution Radiometer Normalized Difference Vegetation Index (NDVI), a digitized climax vegetation map, land cover samples from space shuttle photographs and actual vegetation samples were used as inputs. Principal components analyses and a clustering algorithm were applied to the NDVI data to generate a single layer that was stratified by the climax vegetation zones map. The purpose is to create a new layer that differentiates climax vegetation (hypothesized potential vegetation) from non-climax vegetation land covers. One of the keys to developing a present-day vegetation map was differentiating intrazone land covers based on the stratification; as great as 75% of the sampled land cover types differed from the climax vegetation. The present-day vegetation map achieved 80% classification accuracy when calculated from available ground reference data. About 55% of the temperate zones and 37% of the tropical zones were found to contain original climax vegetation. Most changes coincide with areas of major agricultural activity.

Description: The photographic and videographic documentation of the Earth during STS-46 mission has enhanced the Space Shuttle Earth Observations Project (SSEOP) database. Increasing numbers of scientists are using this database; many are downloading the imagery from our electronic database for specific scientific analyses. We believe the scientific returns of the Earth Observations photography from this mission will add to the global change databases and will contribute to the better understanding of our home planet. The use of manned space flights in understanding the global process first hand is a vital component in NASA's Mission to Planet Earth. The following are discussed along with photographs from the mission: landforms and geologic observation; environmental observations; meteorological/atmospheric observation; and oceanographic observations.

Description: The potential benefits of employing controlled structures technology in spacecraft design are illustrated using an example of a Mission-to-Planet Earth multisensor geostationary platform. The platform has a precipitation mapping sensor which requires large antennas to meet the science requirement of resolution cell size and dynamic measurement range. A series approach and an integrated approach to designing a controlled structure are discussed.

Description: Major issues in system identification are summarized and recent advances are reviewed. Modal testing and system identification used in control theory are examined, and the mathematical relationships and conversions of the models appropriate to modal testing and those appropriate to modern control design methods are discussed. The importance of obtaining input and output matrices in modal testing is emphasized, and the changes that may be needed in modal testing procedures to meet the needs of the control system designer are addressed. Directions for future research are considered.

Description: The advantages of the astronaut photography during Space Shuttle missions are briefly examined, and the scope and applications of the Space Shuttle earth observations photography database are discussed. The global and multidisciplinary nature of the data base is illustrated by several examples of geologic applications. These include the eruption of Mount Pinatubo (Philippine Islands), heat flow and ice cover on Lake Baikal in Siberia (Russia), and windblown dust in South America. It is noted that hand-held photography from the U.S. Space Shuttle provides unique remotely-sensed data for geologic applications because of the combination of varying perspectives, look angles, and illumination, and changing resolution resulting from different lenses and altitudes.

Description: A review of the imagery acquired during the STS 50 mission of the Space Shuttle is presented. The earth viewing photography from this flight includes photos of dust plumes over several portions of the Red Sea, Arabian Sea, Persian Gulf, the Mediterranean Sea, and the Atlantic Ocean. Over land, prominent dust plumes were seen over Iraq, North Africa, Sudan, and West Africa. The color infrared photography includes images of the tropical rain forests of South America and South and Southeast Asia. Other examples include photographs of floods in Argentina, photos of Lake Chad in Africa, Coastal Madagascar, the Aswan dam and the Nile, geologic features of North Africa, the center pivot irrigation land areas of Saudi Arabia, flooding in Asian rivers, and sediment plumes of South American and South and Southeast Asian coasts.

Description: A Mars Aerial Platform (MAP) mission capable of generating thousands of very-high-resolution (20 cm/pixel) pictures of the Martian surface is considered. The MAP entry vehicle will map the global circulation of the planet's atmosphere and examine the surface and subsurface. Data acquisition will use instruments carried aboard balloons flying at nominal altitude of about 7 km over the Martian surface. The MAP balloons will take high- and medium-resolution photographs of Mars, sound its surface with radar, and provide tracking data to chart its winds. Mars vehicle design is based on the fourth-generation NTP, NEP, SEP vehicle set that provides a solid database for determining transportation system costs. Interference analysis and 3D image generation are performed using manual system sizing and sketching in conjunction with precise CAD modeling.

Description: An attitude control law is derived to realize linear unforced error dynamics with the attitude error defined in terms of rotation group algebra (rather than vector algebra). Euler parameters are used in the rotational dynamics model because they are globally nonsingular, but only the minimal three Euler parameters are used in the error dynamics model because they have no nonlinear mathematical constraints to prevent the realization of linear error dynamics. The control law is singular only when the attitude error angle is exactly pi rad about any eigenaxis, and a simple intuitive modification at the singularity allows the control law to be used globally. The forced error dynamics are nonlinear but stable. Numerical simulation tests show that the control law performs robustly for both initial attitude acquisition and attitude control.

Description: An Automated Bidirectional Reflection Acquisition Measurement System (ABRAMS) has been constructed to facilitate measurement of bidirectional reflectance from soil and vegetative samples in the laboratory. The system illuminates a sample with linearly-polarized laser light, lambda = 632.8 nm, and measures the like- and cross-polarized scattered intensities over half a hemisphere. System design and polarized bidirectional reflectance measurements from a soil sample and SiO2 spherical particles are discussed in this work. It is shown that polarization information in the plane of incidence is useful for identifying certain scattering mechanisms associated with soil reflectance. This is because the like-polarized intensity, Ivv, is influenced by single-scattered light and the cross-polarized intensity, IHv, is strongly influenced by multiple-scattered light. For example, comparable levels of Ivv and IHv indicated that the reflectance of soils, is dominated by significant multiple scattering because single scattering causes minimal depolarization in the plane of incidence.

Description: In 1985, NASA Goddard's Flight Dynamics Division (FDD) began investigating how the Ada language might apply to their software development projects. Although they began cautiously using Ada on only a few pilot projects, they expected that, if the Ada pilots showed promising results, they would fully transition their entire development organization from FORTRAN to Ada within 10 years. However, nearly 9 years later, the FDD still produces 80 percent of its software in FORTRAN, despite positive results on Ada projects. This paper reports preliminary results of an ongoing study, commissioned by the FDD, to quantify the impact of Ada in the FDD, to determine why Ada has not flourished, and to recommend future directions regarding Ada. Project trends in both languages are examined as are external factors and cultural issues that affected the infusion of this technology. This paper is the first public report on the Ada assessment study, which will conclude with a comprehensive final report in mid 1994.

Description: Viewgraphs on autonomous rendezvous and docking (AR&D) for Space Station Freedom are presented. Topics covered include: requirements for AR&D experience; Comet spacecraft performance; AR&D mission profile; analytical models for approach trajectory, loosely coupled configuration, and contact dynamics; and application to space infrastructure.

Description: We are going to meet the era when advanced spacecraft such as space stations are developed and operated. The current system of the satellite operations control will need to undergo many changes. We consider that the future system will require the following functions: the function for interchanging data between international agencies, processing the various kinds of space data, and distributing data as many unspecified users require. However, we have to solve the following problems in order to satisfy these requirements: the problem of standardization of space data communication protocol, establishment of multimedia data management method, and standardization of the user interface. This paper describes three techniques to solve the above mentioned problems. That is, standardization of the data communication protocol between space and ground by AOS (Advanced Orbiting System) protocol of CCSDS (Consultative Committee for Space Data Systems) Recommendation, management of multimedia data by catalog reference, standardization of user interface by SFDU(Standard Formatted Data Unit) of CCSDS Recommendation.

Description: Several iterative algorithms based on multigrid methods are introduced for solving linear Fredholm integral equations of the second kind. Automatic programs based on these algorithms are introduced using Simpson's rule and the piecewise Gaussian rule for numerical integration.

Description: The Space Flyer Unit (SFU) is an unmanned, multi-purpose, retrievable and reusable space platform. The first mission of SFU (SFU-1) will be launched by NASDA's H-2 launch vehicle in early 1995 and retrieved by NASA's Space Shuttle after several months in orbit. Two Japanese ground stations, several ground stations belonging to NASA, and a ground station in Chile will be used for tracking of SFU-1. The control center of SFU-1 is the Sagamihara Operations Center (SOC) of ISAS located in Sagamihara, Japan. This paper describes the tracking and data acquisition network for SFU-1, the configuration and design policy of the SFU operations control system, and data processing schemes used for mission operations of SFU.

Description: The Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) is a facility instrument selected for launch in 1998 on the first in a series of spacecraft for NASA's Earth Observing System (EOS). The ASTER instrument is being sponsored and built in Japan. It is a three telescope, high spatial resolution imaging instrument with 15 spectral bands covering the visible through to the thermal infrared. It will play a significant role within EOS providing geological, biological, land hydrological information necessary for intense study of the Earth. The operational capabilities for ASTER, including the necessary interfaces and operational collaborations between the US and Japanese participants, are under development. EOS operations are the responsibility of the EOS Project at NASA's Goddard Space Flight Center (GSFC). Although the primary EOS control center is at GSFC, the ASTER control facility will be in Japan. Other aspects of ASTER are discussed.

Description: A member of the constellation of TDR satellites (TDRS) has experienced a failure of its prime earth sensor. Failure of the remaining earth sensor could result in the inability of the satellite to control its attitude and provide user services. Loss of the satellite would be a serious event. The multiple access (MA) antenna array on the TDRS has been proposed for use as a backup sensor for the attitude control system. This paper describes our analysis of the performance of the MA array as an interferometer used for accurate attitude determination. A least squares fit of a plane to the MA phase information appears to represent the TDRS body roll and pitch within about 0.1 deg. This is sufficient for SGL pointing and MA and SSA user services. Analytic improvements that include ionospheric correction may yield sufficient accuracy for KSA user services.

Description: The new NASA credo of 'faster, better, cheaper' calls for a new generation of smaller and less complex spacecraft. In response to this challenge, many new spacecraft concepts have been generated within NASA, industry, and academia. The JPL, Rockwell International Space Systems Division, and The Space Dynamics Laboratory (SDL)/Utah State University (USU) are jointly examining one such new spacecraft concept, hereafter termed ISOBUS, which is derived from recent research and development work in isogrid structures based on a six-sided hexagon shaped structure. Two prototypical products from SDL/USU's work are ISOSPACEPACK and ISOSAT. These hexagon shaped elements serve as building blocks for the ISOBUS spacecraft concept. Various aspects of the ISOBUS concept are discussed.

Description: In this paper, we have introduced a comprehensive method for enterprise modeling that addresses the three important aspects of how an organization goes about its business. FirstEP includes infrastructure modeling, information modeling, and process modeling notations that are intended to be easy to learn and use. The notations stress the use of straightforward visual languages that are intuitive, syntactically simple, and semantically rich. ProSLCSE will be developed with automated tools and services to facilitate enterprise modeling and process enactment. In the spirit of FirstEP, ProSLCSE tools will also be seductively easy to use. Achieving fully managed, optimized software development and support processes will be long and arduous for most software organizations, and many serious problems will have to be solved along the way. ProSLCSE will provide the ability to document, communicate, and modify existing processes, which is the necessary first step.

Description: This paper describes a requirements/specification environment specifically designed for large-scale software systems. This environment is called ARIES (Acquisition of Requirements and Incremental Evolution of Specifications). ARIES provides assistance to requirements analysts for developing operational specifications of systems. This development begins with the acquisition of informal system requirements. The requirements are then formalized and gradually elaborated (transformed) into formal and complete specifications. ARIES provides guidance to the user in validating formal requirements by translating them into natural language representations and graphical diagrams. ARIES also provides ways of analyzing the specification to ensure that it is correct, e.g., testing the specification against a running simulation of the system to be built. Another important ARIES feature, especially when developing large systems, is the sharing and reuse of requirements knowledge. This leads to much less duplication of effort. ARIES combines all of its features in a single environment that makes the process of capturing a formal specification quicker and easier.

Description: This paper will outline the similarities and differences between two paradigms of software development. Both support the whole software life cycle and provide automation for most of the software development process, but have different approaches. The CASE approach is based on a set of tools linked by a central data repository. This tool-based approach is data driven and views software development as a series of sequential steps, each resulting in a product. The Knowledge-Based Software Assistant (KBSA) approach, a radical departure from existing software development practices, is knowledge driven and centers around a formalized software development process. KBSA views software development as an incremental, iterative, and evolutionary process with development occurring at the specification level.

Description: Today's software systems generally use obsolete technology, are not integrated properly with other software systems, and are difficult and costly to maintain. The discipline of reverse engineering is becoming prominent as organizations try to move their systems up to more modern and maintainable technology in a cost effective manner. The Johnson Space Center (JSC) created a significant set of tools to develop and maintain FORTRAN and C code during development of the space shuttle. This tool set forms the basis for an integrated environment to reengineer existing code into modern software engineering structures which are then easier and less costly to maintain and which allow a fairly straightforward translation into other target languages. The environment will support these structures and practices even in areas where the language definition and compilers do not enforce good software engineering. The knowledge and data captured using the reverse engineering tools is passed to standard forward engineering tools to redesign or perform major upgrades to software systems in a much more cost effective manner than using older technologies. The latest release of the environment was in Feb. 1992.

Description: As the complexity and expected life-span of modern space systems continue to increase, the need for real-time data monitoring and failure analysis becomes more critical to their successful operation. The DEcision Support SYstem (DESSY) is a joint effort by the Intelligent Systems Branch/ER2 and the Remote Manipulator System (RMS) Section/DF44 to develop an expert system for the monitoring of the Payload Deployment and Retrieval System (PDRS). DESSY users, the RMS flight controllers, are provided with user interface enhancements and automated monitoring of system state (physical orientation) and status (operational health). Currently, a DESSY prototype for the Manipulator Positioning Mechanism (MPM) and Manipulator Retention Latches (MRL) of the PDRS has been developed and successfully demonstrated during the STS-49 and STS-46 missions. Expert systems for monitoring real-time operations must not only accurately represent domain knowledge, but also address the challenges of using unfiltered real-time data as input. This paper describes the methods and design strategies developed to overcome problems with real-time data in the NASA Mission Control Center. Types of data problems addressed are as follows: (1) loss of data; (2) erratic data; and (3) data lags and irregularities during state transition. Methods used to handle data problems include rule disabling for ignoring data when data quality is uncertain, context-sensitive bounded pattern recognition for minimizing incorrect conclusions based on bad data, and graceful recovery through system correction when reliable data returns. This combination of methods with an object-based modular DESSY design assures a robust program capable of lengthy periods of uninterrupted use in operations.

Description: A new rule-based, expert system for diagnosing spacecraft anomalies is under development. The knowledge base consists of over two-hundred rules and provide links to historical and environmental databases. Environmental causes considered are bulk charging, single event upsets (SEU), surface charging, and total radiation dose. The system's driver translates forward chaining rules into a backward chaining sequence, prompting the user for information pertinent to the causes considered. The use of heuristics frees the user from searching through large amounts of irrelevant information (varying degrees of confidence in an answer) or 'unknown' to any question. The expert system not only provides scientists with needed risk analysis and confidence estimates not available in standard numerical models or databases, but it is also an effective learning tool. In addition, the architecture of the expert system allows easy additions to the knowledge base and the database. For example, new frames concerning orbital debris and ionospheric scintillation are being considered. The system currently runs on a MicroVAX and uses the C Language Integrated Production System (CLIPS).

Description: This is a short overview of the agent-oriented programming (AOP) framework. AOP can be viewed as an specialization of object-oriented programming. The state of an agent consists of components called beliefs, choices, capabilities, commitments, and possibly others; for this reason the state of an agent is called its mental state. The mental state of agents is captured formally in an extension of standard epistemic logics: beside temporalizing the knowledge and belief operators, AOP introduces operators for commitment, choice and capability. Agents are controlled by agent programs, which include primitives for communicating with other agents. In the spirit of speech-act theory, each communication primitive is of a certain type: informing, requesting, offering, etc. This document describes these features in more detail and summarizes recent results and ongoing AOP-related work.

Description: Simulations have become a powerful mechanism for understanding and modeling complex phenomena. Their results have had substantial impact on a broad range of decisions in the military, government, and industry. Because of this, new techniques are continually being explored and developed to make them even more useful, understandable, extendable, and efficient. One such area of research is the application of the knowledge-based methods of artificial intelligence (AI) to the computer simulation field. The goal of knowledge-based simulation is to facilitate building simulations of greatly increased power and comprehensibility by making use of deeper knowledge about the behavior of the simulated world. One technique for representing and manipulating knowledge that has been enhanced by the AI community is object-oriented programming. Using this technique, the entities of a discrete-event simulation can be viewed as objects in an object-oriented formulation. Knowledge can be factual (i.e., attributes of an entity) or behavioral (i.e., how the entity is to behave in certain circumstances). Rome Laboratory's Advanced Simulation Environment (RASE) was developed as a research vehicle to provide an enhanced simulation development environment for building more intelligent, interactive, flexible, and realistic simulations. This capability will support current and future battle management research and provide a test of the object-oriented paradigm for use in large scale military applications.

Description: The KSC program has the ability to prove the soundness of a particular robotic concept on the ground before it is used in space. In this context, three (3) robotic systems are discussed: the tile robot (Tessellator); HFIR (High Efficiency Particulate Air (HEPA) Filter Inspection Robot); and ARID (Automatic Radiator Inspection Project). The Tessellator is a semi-autonomous robotic system used to rewaterproof and inspect thermal protection system tiles on the underside of the orbiter. The HFIR is used for autonomous inspection of HEPA filters located at the top of the LC 39 payload changeout rooms. The ARID is designed for autonomous inspection of orbiter radiators for damage while in the orbiter processing facility.

Description: The man-tended configuration (MTC) of Space Station Freedom (SSF) provides a unique opportunity to move robotic systems from the laboratory into the mainstream space program. Restricted crew access due to the Shuttle's flight rate, as well as constrained on-orbit stay time, reduces the productivity of a facility dependent on astronauts to perform useful work. A natural tendency toward robotics to perform maintenance and routine tasks will be seen in efforts to increase SSF usefulness. This tendency will provide the foothold for deploying space robots. This paper outlines a flight experiment that will capitalize on the investment in robotic technology made by NASA over the past ten years. The flight experiment described herein provides the technology demonstration necessary for taking advantage of the expected opportunity at MTC. As a context to this flight experiment, a broader view of the strategy developed at the JSC is required. The JSC is building toward MTC by developing a ground-based SSF emulation funded jointly by internal funds, NASA/Code R, and NASA/Code M. The purpose of this ground-based Station is to provide a platform whereby technology originally developed at JPL, LaRC, and GSFC can be integrated into a near flight-like condition. For instance, the Automated Robotic Maintenance of Space Station (ARMSS) project integrates flat targets, surface inspection, and other JPL technologies into a Station analogy for evaluation. Also, ARMSS provides the experimental platform for the Capaciflector from GSPC to be evaluated for its usefulness in performing ORU change out or other tasks where proximity detection is required. The use and enhancement of these ground-based SSF models are planned for use through FY-93. The experimental data gathered from tests in these facilities will provide the basis for the technology content of the proposed flight experiment.

Description: Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

Description: A three-year, three-phase program to demonstrate the applicability of telerobotic technology to the testing of satellites and other spacecraft has been initiated. Specifically, the objectives are to design, fabricate, and install into the JPL 25-ft. Space Simulator (SS) a system that will provide the capability to view test articles from all directions in both the visible and infrared (IR) spectral regions, to automatically map the solar flux intensity over the entire work volume of the chamber, and to provide the capability for leak detection. The first year's work, which provides a vertically mobile viewing platform equipped with stereo cameras, will be discussed. Design constraints and system implementation approaches mandated by the requirements of thermal vacuum operation will be emphasized.

Description: NASA LaRC has developed a unique testbed for investigating the practical problems associated with the assembly of large space structures using robotic manipulators. The testbed is an interdisciplinary effort which considers the full spectrum of assembly problems from the design of mechanisms to the development of software. This paper will describe the automated structures assembly testbed and its operation, detail the expert system executive and its development, and discuss the planned system evolution. Emphasis will be placed on the expert system development of the program executive. The executive program must be capable of directing and reliably performing complex assembly tasks with the flexibility to recover from realistic system errors. By employing an expert system, information pertaining to the operation of the system was encapsulated concisely within a knowledge base. This lead to a substantial reduction in code, increased flexibility, eased software upgrades, and realized a savings in software maintenance costs.

Description: Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Description: In this paper we describe an iconic programming language called Onika for sensor-based robotic systems. Onika is both modular and reconfigurable and can be used with any system architecture and real-time operating system. Onika is also a multi-level programming environment wherein tasks are built by connecting a series of icons which, in turn, can be defined in terms of other icons at the lower levels. Expert users are also allowed to use control block form to define servo tasks. The icons in Onika are both shape and color coded, like the pieces of a jigsaw puzzle, thus providing a form of error control in the development of high level applications.

Description: Detailed optical scanning of tray clamps is being conducted in the Facility for the Optical Inspection of Large Surfaces at JSC to locate and document impacts as small as 40 microns in diameter. Residues from selected impacts are then being characterized by Scanning Electron Microscopy/Energy Dispersive X-ray Analysis at CNES. Results from this analysis will be the initial step to classifying projectile residues into specific sources.

Description: This report focuses on the data acquired by detailed examination of LDEF intercostals, 68 of which are now in possession of the Meteoroid and Debris Special Investigation Group (M&D SIG) at JSC. In addition, limited data will be presented for several small sections from the A0178 thermal control blankets that were examined/counted prior to being shipped to Principal Investigators (PI's) for scientific study. The data presented here are limited to measurements of crater and penetration-hole diameters and their frequency of occurrence which permits, yet also constrains, more model-dependent, interpretative efforts. Such efforts will focus on the conversion of crater and penetration-hole sizes to projectile diameters (and masses), on absolute particle fluxes, and on the distribution of particle-encounter velocities. These are all complex issues that presently cannot be pursued without making various assumptions which relate, in part, to crater-scaling relationships, and to assumed trajectories of natural and man-made particle populations in LEO that control the initial impact conditions.

Description: Access to space and cost have been two major inhibitors of low Earth orbit research. The Retrievable Payload Carrier (RPC) Program is a commercial space program which strives to overcome these two barriers to space experimentation. The RPC Program's fleet of spacecraft, ground communications station, payload processing facility, and experienced integration and operations team will provide a convenient 'one-stop shop' for investigators seeking to use the unique vantage point and environment of low Earth orbit for research. The RPC is a regularly launched and retrieved, free-flying spacecraft providing resources adequate to meet modest payload/experiment requirements, and presenting ample surface area, volume, mass, and growth capacity for investigator usage. Enhanced capabilities of ground communications, solar-array-supplied electrical power, central computing, and on-board data storage pick up on the path where NASA's Long Duration Exposure Facility (LDEF) blazed the original technology trail. Mission lengths of 6-18 months, or longer, are envisioned. The year 1992 was designated as the 'International Space Year' and coincides with the 500th anniversary of Christopher Columbus's voyage to the New World. This is a fitting year in which to launch the full scale development of our unique shop of discovery whose intent is to facilitate retrieving technological rewards from another new world: space. Presented is an update on progress made on the RPC Program's development since the November 1991 LDEF Materials Workshop.

Description: The User-Interface Technology Branch at NCCOSC RDT&E Division has been conducting a series of studies to address the suitability of commercial off-the-shelf (COTS) graphic user-interface (GUI) methods for efficiency and performance in critical naval combat systems. This paper presents an advanced selection algorithm and method developed to increase user performance when making selections on tactical displays. The method has also been applied with considerable success to a variety of cursor and pointing tasks. Typical GUI's allow user selection by: (1) moving a cursor with a pointing device such as a mouse, trackball, joystick, touchscreen; and (2) placing the cursor on the object. Examples of GUI objects are the buttons, icons, folders, scroll bars, etc. used in many personal computer and workstation applications. This paper presents an improved method of selection and the theoretical basis for the significant performance gains achieved with various input devices tested. The method is applicable to all GUI styles and display sizes, and is particularly useful for selections on small screens such as notebook computers. Considering the amount of work-hours spent pointing and clicking across all styles of available graphic user-interfaces, the cost/benefit in applying this method to graphic user-interfaces is substantial, with the potential for increasing productivity across thousands of users and applications.

Description: The Entry Systems Panel was chaired by Don Rummler, LaRC and Dan Rasky, ARC. As requested, each panel participant prior to the workshop prepared and delivered presentations to: (1) identify technology needs; (2) assess current programs; (3) identify technology gaps; and (4) identify highest payoff areas R&D. Participants presented background on the entry systems R&D efforts and operations experiences for the Space Shuttle Orbiter. These participants represented NASA Centers involved in research (Ames Research Center), development (Johnson Space Center) and operations (Kennedy Space Center) and the Shuttle Orbiter prime contractor. The presentations lead to the discovery of several lessons learned.

Description: The objectives are: (1) to demonstrate the cost benefits of built-up cryotank and dry bay structures; (2) to study of benefits of using Al alloys; (3) to study of benefit of using Al-Li alloys; (4) to evaluate alternative low-cost stiffener and joining concepts.

Description: The Naval Research Laboratory (NRL) is involved in an active program of CSI flight experiments. The first CSI flight experiment of the Naval Research Laboratory, the Low Power Atmospheric Compensation Experiment (LACE) dynamics experiment, has successfully measured vibrations of an orbiting satellite with a ground-based laser radar. The observations, made on January 7, 8 and 10, 1991, represent the first ever measurements of this type. In the tests, a narrowband heterodyne CO2 laser radar, operating at a wavelength of 10.6 microns, detected vibration induced differential-Doppler signatures of the LACE satellite. Power spectral densities of forced oscillations and modal frequencies and damping rates of free-damped vibrations were obtained and compared with finite element structural models of the LACE system. Another manifested flight experiment is the Advanced Controls Technology Experiment (ACTEX) designed to demonstrate active and passive damping with piezo-electric (PZT) sensors and actuators. This experiment was developed under the management of the Air Force Phillips Laboratory with integration of the experiment at NRL. It is to ride as a secondary, or 'piggyback,' experiment on a future Navy satellite.

Description: In this paper, the design, analysis, and test of a low cost, linear proof mass actuator for vibration control is presented. The actuator is based on a linear induction coil from a large computer disk drive. Such disk drives are readily available and provide the linear actuator, current feedback amplifier, and power supply for a highly effective, yet inexpensive, experimental laboratory actuator. The device is implemented as a force command input system, and the performance is virtually the same as other, more sophisticated, linear proof mass systems.

Description: The modeling, system identification and controller design aspects of the ASTREX precision space structure are presented in this work. Modeling of ASTREX is performed using NASTRAN, TREETOPS and I-DEAS. The models generated range from simple linear time-invariant models to nonlinear models used for large angle simulations. Identification in both the time and frequency domains are presented. The experimental set up and the results from the identification experiments are included. Finally, controller design for ASTREX is presented. Simulation results using this optimal controller demonstrate the controller performance. Finally the future directions and plans for the facility are addressed.

Description: The expected future high performance requirements for Large Space Structures (LSS) enforce technology innovations such as active vibration damping techniques e.g., by means of structure sensors and actuators. The implementation of new technologies like that requires an interactive and integrated structural and control design with an increased effort in hardware validation by ground testing. During the technology development phase generic system tests will be most important covering verification and validation aspects up to the preparation and definition of relevant space experiments. For many applications using advanced designs it is deemed necessary to improve existing testing technology by further reducing disturbances and gravity coupling effects while maintaining high performance reliability. A key issue in this context is the improvement of suspension techniques. The ideal ground test facility satisfying these requirements completely will never be found. The highest degree of reliability will always be obtained by passive suspension methods taking into account severe performance limitations such as non-zero rigid body modes, restriction of degrees of freedom of motion and frequency response limitations. Passive compensation mechanisms, e.g., zero-spring-rate mechanisms, either require large moving masses or they are limited with respect to low-frequency performance by friction, stiction or other non-linear effects. With active suspensions these limitations can be removed to a large extent thereby increasing the range of applications. Despite an additional complexity which is associated with a potential risk in reliability their development is considered promising due to the amazing improvement of real-time control technology which is still continuing.

Description: A method is presented for the synthesis of robust controllers for linear time invariant structural systems with parameterized uncertainty. The method involves minimizing quantities related to the quadratic cost (H2-norm) averaged over a set of systems described by real parameters such as natural frequencies and modal residues. Bounded average cost is shown to imply stability over the set of systems. Approximations for the exact average are derived and proposed as cost functionals. The properties of these approximate average cost functionals are established. The exact average and approximate average cost functionals are used to derive dynamic controllers which can provide stability robustness. The robustness properties of these controllers are demonstrated in illustrative numerical examples and tested in a simple SISO experiment on the MIT multi-point alignment testbed.

Description: A model was developed to determine the origin of orbital impacts measured on the training surfaces of LDEF. The model calculates the expected debris impact crater distribution around LDEF as a function of debris orbital parameters. The results show that only highly elliptical, low inclination orbits could be responsible for these impacts. The most common objects left in this type of orbit are orbital transfer stages used by the U.S. and ESA to place payloads into geosynchronous orbit. Objects in this type of orbit are difficult to catalog by the U.S. Space Command; consequently there are independent reasons to believe that the catalog does not adequately represent this population. This analysis concludes that the relative number of cataloged objects with highly elliptical, low inclination orbits must be increased by a factor of 20 to be consistent with the LDEF data.

Description: The Long Duration Exposure Facility provided a gravity gradient stabilized platform which allowed limited directional information to be derived from particle impact experiments. The morphology of impact craters on semi-infinite materials contains information which may be used to determine the direction of impact much more accurately. We demonstrate the applicability of this technique and present preliminary results of measurements from LDEF and modelling of interplanetary dust and space debris.

Description: Special actuators are needed to control the orientation of large structures in space-based precision pointing systems. Electromagnetic actuators that presently exist are too large in size and their bandwidth is too low. Hydraulic fluid actuation also presents problems for many space-based applications. Hydraulic oil can escape in space and contaminate the environment around the spacecraft. A research study was performed that selected an electrically-powered linear actuator that can be used to control the orientation of a large pointed structure. This research surveyed available products, analyzed the capabilities of conventional linear actuators, and designed a first-cut candidate superconducting linear actuator. The study first examined theoretical capabilities of electrical actuators and determined their problems with respect to the application and then determined if any presently available actuators or any modifications to available actuator designs would meet the required performance. The best actuator was then selected based on available design, modified design, or new design for this application. The last task was to proceed with a conceptual design. No commercially-available linear actuator or modification capable of meeting the specifications was found. A conventional moving-coil dc linear actuator would meet the specification, but the back-iron for this actuator would weigh approximately 12,000 lbs. A superconducting field coil, however, eliminates the need for back iron, resulting in an actuator weight of approximately 1000 lbs.

Description: The SCATHA (Spacecraft Charging at High Altitudes) satellite was operated from the Consolidated Space Test Center in Sunnyvale, California from February 1979 to May 1991. It was a spin stabilized vehicle in a highly eccentric orbit that collected data on spacecraft charging. The purpose of such data gathering was to predict and/or model the effects of the Earth's magnetic field on synchronous and near synchronous satellites. During the majority of its lifetime, attitude precession maneuvers were done every 10-15 days to maintain solar panel orientation. Maneuver planning was difficult due to the structural characteristics of SCATHA. It is cylindrically shaped and has seven booms ranging in length from 2 to 50 meters. These precession maneuvers induced predictable nutation that damped out after a few days. Eventually fuel began running low due to these frequent maneuvers. Experiments that had required the spin axis be in the orbit plane had already been turned off or had collected all their data. To increase the vehicle lifetime, the spin axis was moved to ecliptic normal. While this stopped the need for frequent attitude maneuvering (only two per year required now), this movement of the spin axis caused nutation that would not damp out for the remainder of the mission. This phase of the mission, with the ecliptic normal orientation, lasted for approximately three years. Although nutation never damped, data gathering was uninterrupted. In late 1990, when SCATHA's transmitter became seriously degraded, the Air Force decided to turn SCATHA off. This would only be done after the satellite was made 'safe'. The most difficult part of making the vehicle safe was quickly purging the fuel. Several plans were considered. The selected plan was to perform a series of 20 degree attitude precession maneuvers (3 days apart to allow for the worst nutation to damp) until the fuel was depleted. Although this sounded simple, the actual execution proved difficult. This was due to a nearly complete lack of available telemetry data, large undamped motion of the long booms, inadequacies in attitude determination software, and an error in the fuel level calculation software. This paper discusses the various proposed termination plans and execution of the selected one. Attitude determination methodologies, nutation from maneuvers, and effects of the flexible booms on the termination mission are presented and analyzed from a satellite analyst point of view.

Description: The attitude matrix minimizing Wahba's loss function is computed directly by a method that is competitive with the fastest known algorithm for finding this optimal estimate. The method also provides an estimate of the attitude error covariance matrix. Analysis of the special case of two vector observations identifies those cases for which the TRIAD or algebraic method minimizes Wahba's loss function.

Description: This paper categorizes the qualitative behavior of the Command and Control Segment (CCS) differential correction algorithm as applied to attitude estimation using simultaneous spin axis sun angle and Earth cord length measurements. The categories of interest are the domains of convergence, divergence, and their boundaries. Three series of plots are discussed that show the dependence of the estimation algorithm on the vehicle radius, the sun/Earth angle, and the spacecraft attitude. Common qualitative dynamics to all three series are tabulated and discussed. Out-of-limits conditions for the estimation algorithm are identified and discussed.

Description: This work treats the problem of weighted least squares fitting of a 3D Euclidean-coordinate transformation matrix to a set of unit vectors measured in the reference and transformed coordinates. A closed-form analytic solution to the problem is re-derived. The fact that the solution is the closest orthogonal matrix to some matrix defined on the measured vectors and their weights is clearly demonstrated. Several known algorithms for computing the analytic closed form solution are considered. An algorithm is discussed which is based on the polar decomposition of matrices into the closest unitary matrix to the decomposed matrix and a Hermitian matrix. A somewhat longer improved algorithm is suggested too. A comparison of several algorithms is carried out using simulated data as well as real data from the Upper Atmosphere Research Satellite. The comparison is based on accuracy and time consumption. It is concluded that the algorithms based on polar decomposition yield a simple although somewhat less accurate solution. The precision of the latter algorithms increase with the number of the measured vectors and with the accuracy of their measurement.