Improving the Value of EO-1 Observations

Demand and Penalty-Based Resource Allocation for Reconfigurable Systems with Runtime Partitioning

A High-Performance Radix-2 FFT in ANSI-C for RTL Generation

Barton, G.H. et al.

A Multichip Module Implementation of a Radiation-Tolerant Microprocessor for Space Applications

International Space Station U.S. GN&C Attitude Hold Controller Design for Orbiter Repair Maneuver

Bickford, J. et al.

Microsystems Technology for Long-Term Drug Delivery to the Inner Ear

RPOP Enhancements to Support the Space Shuttle R-Bar Pitch Maneuver for Tile Inspection

Automating Space Operations Using Timeliner and Adept

Onboard Mission Planning System to Facilitate Precision Airdrop

An Air Traffic System Simulation of the NAS with CNS and CD&R Models

Autonomous Guidance, Navigation, and Control of Large Parafoils

Situation Awareness Improvements for UUVs

Implementing Collocation Groups

Microfabricated Sensors for Clinical Diagnostic Applications

Hedging Strategy for Midcourse Interceptor Commitments Against Uncertain Threats

INS/GPS Deep Integration Navigation Hardware Testbed

The Dragonfly 4,500-kg Class Guided Airdrop System

Shuttle Stability and Control During the Orbiter Repair Maneuver

Inertial Navigation System Technology: A Short Course

Huntington, G.T. et al.

Optimal Spacecraft Formation Configuration Using a Gauss Pseudospectral Method

Autonomous Mission Management for Spacecraft Rendezvous Using an Agent Hierarchy

Efficient Multicast Trees with Local Knowledge on Wireless Ad Hoc Networks

Detection of Biological and Chemical Agents Using Differential Mobility Spectrometry (DMS) Technology

Wafer-Level Vacuum Packaging of MEMS Sensors

JAHUMS ACTD Operational Experience

ONR's Maritime Reconnaissance Demonstration - Simulation Based Test and Integration

Autonomy and Control Architectures

Stability of Angular Rate Damping for the NASA Space Shuttle

Personal Navigation for the Warfighter

Stocker, D. et al.

Neutron-Induced Degradation of CCD and CMOS Imager Optical Responsivity

State Estimation for International Space Station Centrifuge Rotor

Exactly What Does the GPS Satellite Transmit?

Tudryn, C.D. et al.

Characterization of Si and CVD SiC to Glass Anodic Bonding Using TEM and STEM Analysis

Distributed Satellite Communications Systems: First-Order Interactions Between System and Network Architectures

Vestibular Prostheses for the Balance Impaired

Automatic Low-Visibility Trajectory Optimization for Visually Identifying a Suspected Aircraft

Solid-Core Laminar Photonic-Crystal Waveguide

Autonomous Rendezvous and Capture Guidance, Navigation, and Control

Autonomous Rendezvous, Capture, and In-Space Assembly: Past, Present, and Future

Abramson, M.R.; Carter, D.W.; Collins, B.K.; Kolitz, S.E.; Scheidler, P.J.; Strauss, C.M.

Improving the Value of EO-1 Observations

5th Earth Science Technology Conference (ESTC), College Park, MD, 6/28/2005 - 6/30/2005. Sponsored by: NASA's Earth-Sun Systems Technology Office (ESTO) (Draper Report no. P-4363)

Abstract: We have used Draper Laboratory's Earth Phenomena Observing System (EPOS) testbed ability to utilize near-real-time cloud cover data generated by processing data produced by the Air Force Weather Agency's Stochastic Cloud Forecast Model. The cloud cover data are used as input for the EPOS planner in the tasking of the Hyperion instrument on EO-1, with the objective of achieving increased value of the observation data. The cloud cover data include forecasts provided every 6 hours for 3-hour periods up to 84 hours in the future. We describe the process used to generate the recommended target for Hyperion to image. The recommendation is sent to EO-1 operations in time for the command to be uplinked to EO-1. We present the results of a number of experiments using this capability.

Subjects: EARTH PHENOMENA OBSERVING SYSTEM (EPOS), CLOUD COVER, DATA COMPILATION, EARTH OBSERVING MISSION (EO-1)

Abramson, M.; Bryant, C.; Carr, F.; Key, R.; Kolitz, S.; Sakamoto, P.

Robust Planning Under Uncertainty

Infotech and Aerospace, Crystal City, VA, 09/26/2005-09/29/2005. Sponsored by: AIAA (Draper Report no. P-4322)

Abstract: We consider the modeling and computational benefits of a recent approach to robust planning under uncertainty. For large problems, traditional stochastic decision formulations such as dynamic programming are often unsuitable because of computation time considerations. As a result, other reasonable approaches are deployed such as closed-loop planning and control, in which deterministic models and algorithms are invoked when there is a sufficiently disruptive change in the system data, e.g., in the environment. Our research examines an approach recently proposed by Bertsimas and Sim, which comes with theoretical performance guarantees. They develop a mathematical programming formulation that trades away some of the "optimal" performance in return for an increased probability that the solution will remain feasible despite disruptive changes in the system data. This formulation offers several advantages: few assumptions are made on the mathematical nature of the uncertainty, the formulation is applicable to a wide range of problem domains, and it has tractable computational complexity. We evaluate the Bertsimas-Sim formulation across a range of standard problems found in the literature and those that arise in a two-level UAV planning problem, observe several potential drawbacks of the current formulation, and propose modifications to address these issues.

Subjects: UNCERTAINTY, UNMANNED AERIAL VEHICLES (UAV), ROBUST PLANNING

Adams, M.; Manobianco, J.; Bickford, J.; Manobianco, D.M.

In Situ Atmospheric Profiling Using Mobile Ad Hoc Sensor Networks

Nano Science and Technology Institute Nanotechnology Conference & Trade Show. Held in Anaheim, CA, 05/08/2005 to 05/12/2005. Sponsored by: NSTI. (Draper Report no. P-4320)

Abstract: ENSCO, Inc. is developing an innovative atmospheric observing system known as Global Environmental Micro Sensors (GEMS). The GEMS concept features in situ airborne buoyant probes that can take measurements over all regions of the Earth. The probes will communicate with other probes and remote ground and/or space-based receiving platforms using radio frequency transmissions to form a wireless network of passive Lagrangian drifters. For a successful GEMS system, the most important network function is to relay timely data to one or more receiving stations. In this paper, we describe both the GEMS system and probe design as well as discuss the trade-offs associated with optimizing a three-dimensional, mobile, airborne network composed of low-cost, low-power probes. We also analyze and present measured data to determine the performance of a representative GEMS prototype system under actual environmental conditions and various aspects of mobility.

Subjects: ATMOSPHERIC PROFILING, GLOBAL ENVIRONMENTAL MICRO SENSORS (GEMS), MICROSENSORS, AD HOC SENSOR NETWORKS

Ardini, J.P.

Demand and Penalty-Based Resource Allocation for Reconfigurable Systems with Runtime Partitioning

Military and Aerospace Programmable Logic Devices. 8th. Held in Washington, DC, 09/07/2005 to 09/09/2005. Sponsored by: MAPLD. (Draper Report no. P-4354)

Abstract: The overhead of device reprogramming in reconfigurable computing has long been a detriment to the use of runtime reconfiguration in computing systems. Yet in systems in which the frequencies of task requests are not known at compile time and in which it is desirable to have the system adaptively optimize its performance for the chosen hardware architecture, runtime reconfiguration can be a valuable tool. This paper presents a process for writing software tasks in which a software version and a hardware-accelerated version are made available to a system at runtime. The method uses the C language for implementation so that each task can be targeted to hardware or software with only minor changes to the source code. The paper then presents a low-overhead execution manager that decides, based on the recent demand for task execution and the penalty of performing hardware reconfiguration, what tasks will make the most efficient use of hardware resources and performs the required reconfiguration. This method allows hardware/software partitioning decisions with a large impact on system performance to be made at runtime. Furthermore, the method prevents frequent hardware reconfigurations, akin to cache thrashing, that would nullify the performance benefits of using hardware acceleration. The API required for managing the task execution and the execution manager implementation using an off-the-shelf operating system are also presented.

Subjects: RECONFIGURABLE SYSTEMS, DEVICE REPROGRAMMING, C PROGRAMMING LANGUAGE, FIELD PROGRAMMABLE GATE ARRAYS (FPGA), LOGIC DESIGN

Ardini, J.P.

A High-Performance Radix-2 FFT in ANSI-C for RTL Generation

Military and Aerospace Programmable Logic Devices. 8th. Held in Washington, DC, 09/07/2005 to 09/09/2005. Sponsored by: MAPLD. (Draper Report no. P-4353)

Abstract: Powerful, high-level language to RTL generators is now emerging. One of the promises of these tools is to allow software and systems engineers to implement algorithms quickly in a familiar language and target the design to a programmable device. The generators available today support syntaxes with varying degrees of fidelity to the original language. This paper focuses on the efficient use of C to RTL generators that have a high degree of fidelity to the original C language. However, coding algorithms without regard for the capabilities of the target programmable logic can lead to low-performance realizations of the algorithm that are several times slower than what could be achieved with a DSP. This paper presents the architecture of a high-performance radix-2 FFT written in ANSI C that is similar in composition to the classic C implementation that is familiar to most engineers. First, methods to organize memory elements and arrays for maximum data accesses per clock cycle are discussed. Next, the exploitation of the natural parallelism of a radix-2 decimation in frequency algorithm is discussed. Finally, the performance improvement by hiding the first and last of the log2(n) butterfly stages is discussed. The resulting RTL outperforms hand-optimized DSP assembly code by a factor of three while using less effective area than a DSP solution.

Subjects: C PROGRAMMING LANGUAGE, RTL GENERATORS, PROGRAMMABLE DEVICES, ALGORITHIMS

Barton, G.H.; Marinis, T.F.; Pryputniewicz, D.R.

A Multichip Module Implementation of a Radiation-Tolerant Microprocessor for Space Applications

International Symposium on Microelectronics. 38th. Held in Boxboro, MA, 09/25/2005 to 09/29/2005. Sponsored by: IMAPS. (Draper Report no. P-4348-REV-A)

Abstract: Radiation-tolerant microprocessors for space applications typically lag behind commercial technology by at least a generation and cost several hundred times more than popular devices. This situation is not likely to change for the foreseeable future because the space market for microprocessors is small and radiation-tolerant devices tend to be significantly larger than their commercial counterparts. Radiation-tolerant systems have been constructed from commercial devices configured in Single-Event Upset (SEU) tolerant architectures and supplemented with shielding to bolster device tolerance levels. This approach is not entirely satisfactory for many space applications, however, because it significantly increases the mass and power consumption of computing systems. We have implemented the SEU-tolerant design in high-density multichip module technology to obtain a radiation-tolerant system whose size is comparable to that of a commercial microprocessor package. Our design places the multichip module within a copper heat spreader, which also provides significant radiation shielding for the devices. The highly compact construction of this design makes it feasible to add additional shielding in order to custom design for a particular radiation environment. This could reduce overall power consumption by enabling one or more of the redundant processors to be shut down when exposed to lower level radiation environments or during noncritical operations.

Bedrossian, N.; Jang, J-W; Alaniz, A.; Johnson, M.; Sebelius, K.; Mesfin, Y.

International Space Station U.S. GN&C Attitude Hold Controller Design for Orbiter Repair Maneuver

Guidance, Navigation, and Control Conference and Exhibit. Held in San Francisco, CA, 08/15/2005 to 08/18/2005. Sponsored by: AIAA. (Draper Report no. P-4380)

Abstract: This paper describes the design of the International Space Station U.S. Control Moment Gyroscope attitude hold control system and operational mode for use during contingency Orbiter Repair Maneuver operations. For this operation, the attitude control system was designed to maintain stable attitude control while the Shuttle Remote Manipulator System performs the repositioning of the Orbiter. The operational mode was designed to minimize Orbiter motion during attitude maneuvers and rate damping. This paper first reviews the design issues, then presents the design methodology, and concludes with simulation results that verify the design.

Subjects: INTERNATIONAL SPACE STATION (ISS), GUIDANCE NAVIGATION AND CONTROL (GN&C), ORBITER REPAIR MANEUVERS

Bickford, J.; Adams, M.L.; Manobianco, J.

GEMS: A Mobile Wireless Network for Atmospheric Sampling

Defense and Security Symposium. Held in Orlando, FL, 03/28/2005 to 04/01/2005. Sponsored by: SPIE. (Draper Report no. P-4336)

Abstract: Large-scale, mobile ad hoc networks (MANET) are of great interest for a number of applications, including battlesphere dominance and homeland security. ENSCO, Inc. is designing a system for profiling large regions of the atmosphere. The concept, known as Global Environmental Micro Sensors (GEMS), features an integrated system of airborne probes that will remain suspended in the atmosphere and take measurements of pressure, temperature, humidity, and wind velocity as they are carried by atmospheric currents. In addition to gathering meteorological data, the probes could be used for monitoring and predicting the dispersion of particulate emissions, organic and inorganic pollutants, ozone, carbon dioxide, and chemical, biological, or nuclear contaminants. Several functionality requirements are called into question when investigating a scalable mobile network protocol. For instance, periodic reporting may not always be required and can be abandoned in favor of event-driven reports. Similarly, network connectivity may not be required at all times. Instead of constant global connectivity, paths can be formed only when data packets are ready for transmission. For a successful GEMS system, the most important network function is to relay timely data to one or more receiving stations. We will present both the GEMS system and probe design as well as discuss the trade-offs associated with optimizing a three-dimensional, mobile, airborne network comprising low-cost, low-power probes. We will also analyze and present measured data to determine the performance of a representative MANET under actual environmental conditions and various aspects of mobility.

Subjects: GLOBAL ENVIRONMENTAL MICRO SENSORS (GEMS), ATMOSPHERIC SAMPLING, MOBILE AD HOC NETWORK (MANET)

Borenstein, J.T.; Fiering, J.O.; Mescher, M.J.; Kujawa, S.G.; Sewell, W.F.; McKenna, M.J.

Microsystems Technology for Long-Term Drug Delivery to the Inner Ear

International Symposium Meniere's Disease & Inner Ear Homeostasis Disorders. 5th. Held in Los Angleles, CA, 04/02/2005 to 04/05/2005. (Draper Report no. P-4312)

Abstract: Microsystems, or Microelectromechanical Systems (MEMS) technologies are revolutionizing industries ranging from automotives and aerospace to commercial electronics and health care. These advances are spurred by miniaturization, reduced cost, improved reliability and enhanced performance of microsystems relative to the products they are replacing. In the health care arena, MEMS-based products such as blood pressure and flow sensors, accelerometers for pacemakers and implantable cardioverter defibrillators, and in vitro diagnostics are already available, and MEMS-based microphones are envisioned for next-generation hearing aids and cochlear implants. A novel application of MEMS technology to treat vestibular disease is the Draper-Massachusetts Eye & Ear Infirmary (MEEI) program to develop a balance prosthesis based on miniaturized gyroscopes and accelerometers. Applications of MEMS in regenerative medicine and drug delivery are also expanding, and long-term implantable MEMS-based drug delivery systems will have important benefits for both discovery and clinical applications. Here we report on recent progress toward the development of a fully implantable long-term MEMS-based delivery device for the infusion of drugs to the perilymph. Immediate applications of this system in the treatment of sensorineural hearing loss include delivery of otoprotective drugs during chemotherapy, and delivery of treatments for Meniere's disease. Future applications based on molecular biology approaches will provide powerful clinical tools in the treatment of hearing loss from many causes.

Subjects: MICROELECTROMECHANICAL SYSTEM (MEMS), INNER EAR DISORDERS, MICROFLUIDIC SYSTEMS, BIOENGINEERING, DRUG DELIVERY

Brazzel, J.P., Jr.; Spehar, P.T.; Clark, F.D.

RPOP Enhancements to Support the Space Shuttle R-Bar Pitch Maneuver for Tile Inspection

Guidance, Navigation, and Control Conference, 2005, San Francisco, CA. 08/15/2005 - 08/18/2005. Sponsored by: AIAA. (Draper Report no. P-4381)

Abstract: The Rendezvous and Proximity Operations Program (RPOP) is guidance and navigational piloting-aid software, which runs on a laptop computer onboard the Space Shuttle Orbiter. The purpose of RPOP is to provide information to make flying an efficient trajectory easier for the Space Shuttle crew. RPOP provides the crew with situational awareness during the rendezvous and proximity operations phases of flight. A 360-deg Orbiter pitch maneuver has been developed to allow International Space Station (ISS)-based photography of the Orbiter's underside and wing leading edge during its approach to the ISS. This maneuver is called the R-bar pitch maneuver (RPM). The RPM requires the pilot to meet strict relative position and velocity requirements prior to initiating the pitch maneuver to avoid potential collision with the ISS and an overabundance of propellant usage. Several new guidance and navigation capabilities were developed and implemented in RPOP to support the RPM. The new guidance capabilities include algorithms to provide the pilot with translational hand controller (THC) recommendations to efficiently acquire the R-bar, set up and initiate the RPM, and recover from the RPM and initiate the twice orbital rate R-bar to V-bar approach (TORVA) maneuver. The Trajectory Control Sensor (TCS) Kalman filter was enhanced to provide better navigation performance during the RPM when the sensor is no longer tracking the ISS. These new capabilities in RPOP increase the piloting efficiency by reducing trajectory dispersions and propellant usage leading up to and recovering from the RPM. This paper describes the new guidance and navigation capabilities that have been developed and implemented in RPOP to support the RPM. In addition, the paper will include trajectory performance comparisons with and without the use of these new capabilities.

Subjects: RENDEZVOUS AND PROXIMITY OPERATIONS PROGRAM (RPOP), GUIDANCE AND NAVIGATION, SPACE SHUTTLES, R-BAR PITCH MANUEVERS (RPM), SITUATIONAL AWARENESS (SA), TILES

Brown, R.A.

Automating Space Operations Using Timeliner and Adept

Enhancing Space Operations Workshop. Held in Houston, TX, 05/04/2005 to 05/06/2005. Sponsored by: AIAA. (Draper Report no. P-4355)

Subjects: TIMELINER, INTELLIGENT AUTONOMOUS FRAMEWORKS, AUTOMATED PROCEDURES, OPERATIONAL PROCEDURES, ALL-DOMAIN EXECUTION AND PLANNING TECHNOLOGY (ADEPT)

Campbell, D.P.; Fill, T.J.; Hattis, P.D.; Tavan, S.W.

Onboard Mission Planning System to Facilitate Precision Airdrop

Infotech@Aerospace. Arlington, VA. 09/26/2005 - 09/29/2005. Sponsored by: AIAA ( Draper Report no. P-4387 )

Abstract: The Precision Airdrop System (PADS), a laptop computer-based airdrop planning system, enables a crew onboard carrier aircraft to improve payload delivery precision for high-altitude airdrops. It is also used for personnel airdrop mission planning. A core element of PADS is the Precision Airdrop Planning System (PAPS) that includes accurate models of an expanding set of airdrop systems. PAPS enables in-flight airdrop mission planning, including release point determination for ballistic parachute airdrop systems, as well as release envelopes and mission plans for guided airdrop systems. PAPS is integrated within PADS with the WindPADS wind field determination system to enable precision delivery by anticipating the descent trajectory behavior of airdrop systems in the vicinity of Drop Zones (DZs). PADS has graphical interfaces that have the look and feel of the Portable Flight Planning System that is already used by the Air Force onboard its aircraft. PADS acquires meteorological and DZ target data through a variety of aircraft communication links and provides mission updates to guided airdrop systems shortly before their release. Using FalconView, PADS provides an interface to display release points/envelopes and failed payload expected impact footprints over maps or images of the terrain near the DZ. PADS currently accommodates a variety of 2,000-lb class ballistic and guided airdrop systems released from C-130 and C-17 aircraft. The ballistic airdrop planning capability has undergone Operational Utility Evaluation (OUE) with both aircraft classes and is already in limited field use. For airdrops from both 18,000 25,000 ft, the OUE demonstrated a circular error probable of 260 m for C-130 drops and 308 m for C-17 drops. PADS support capability for guided airdrops is completing flight evaluation in preparation for use in the field. In addition, PADS support capabilities for 10,000-30,000 lb class airdrop systems is in development.

Subjects: PRECISION AIRDROP PLANNING SYSTEM (PAPS), PRECISION AIRDROP SYSTEM (PADS), MISSION PLANNING

Carr, F.; Kolitz, S.; Lepanto, J.; Scheidler, P.; Wilde, J.; Smith, J.

An Air Traffic System Simulation of the NAS with CNS and CD&R Models

Modeling and Simulation Technologies, Conference and Exhibit. Held in San Francisco, CA, 08/15/2005 to 08/18/2005. Sponsored by: AIAA. (Draper Report no. P-4302)

Abstract: The Charles Stark Draper Laboratory, Inc. has developed the Air Transportation System Simulator ( ATSS), an en-route air traffic simulator that can be used to conduct integrated safety, capacity, and economic analyses of national air transportation system advanced concepts. ATSS uses accurate geospatial models of the National Airspace System (NAS) sectors, en-route surveillance radars, and NAVAIDS. It simulates realistic information-states for Communication, Navigation, and Surveillance (CNS) systems. The concept of an information-state captures the effects of compartmentalized or localized information: For example, an air traffic controller and an aircraft pilot may have different information about the current position and intended trajectory of an aircraft. Draper Laboratory developed ATSS in C++. Currently, the run-time performance is memory-bound; scenarios with 60K+ aircraft flight plans can be run on a Windows XP desktop computer with 2 GB RAM. Propagating an aircraft forward over a single simulated time step takes 10 to 15 ms on a 2-GHz CPU. ATSS has been used for large-scale NAS-wide simulations of sector congestion with scenarios of up to 120 K flight plans over a 24-hour period across the contiguous U.S.

Subjects: AIR TRAFFIC MANAGEMENT SYSTEM, SIMULATIONS, AIR TRANSPORTATION

Carter, D.; George, S.; Hattis, P.; Singh, L.; Tavan, S.

Autonomous Guidance, Navigation, and Control of Large Parafoils

Aerodynamic Decelerator Systems Conference. ADSC. Held in Munich, Germany, 05/23/2005 to 05/26/2005. (Draper Report no. P-4332)

Abstract: Under the Joint Precision Airdrop System program, a Draper Laboratory autonomous Guidance, Navigation, and Control (GN&C) software package that enables precision payload airdrop delivery using large parafoils has been developed in prototype form and successfully flight tested. The modular software design is structured to accommodate parafoil airdrop systems for payloads ranging from under 2,000 lb to over 30,000 lb. The initial GN&C software implementation has been demonstrated on the Para-Flite Dragonfly 10,000 lb class parafoil using an Airborne Guidance Unit (AGU) provided by Wamore, Inc. and an avionics package provided by RoboTek. Among the primary avionics selection criteria was low component cost, resulting in use of a processor with very limited data throughput capability. To accommodate the processor limits, the guidance algorithm includes table-driven trajectory data that guide the parafoil through precision final-descent maneuvers while imposing very limited processor throughput burden. The GN&C algorithms and associated mission planning software have also been incorporated into the Precision Airdrop System laptop personal computer. This accommodates easy, in the field, ground loading of the GN&C software onto the AGU and enables PADS updates of the airdrop system mission files during flight of the carrier aircraft to the airdrop release point. The details of the GN&C design and flight test results to date are discussed.

Subjects: GUIDANCE NAVIGATION AND CONTROL (GN&C), AIRDROP SYSTEMS, SOFTWARE, FLIGHT TESTING, PARAFOILS

Cleary, M.; Dai, L.

Situation Awareness Improvements for UUVs

Unmanned Systems, North America. Held in Baltimore, MD, 06/28/2005 to 06/30/2005. Sponsored by: AUVSI. (Draper Report no. P-4337)

Abstract: To develop more capable autonomous vehicles and to provide more flexibility and robustness in integrating Situation Awareness (SA) information as systems matured, a more structured integration was needed between SA elements and the planning and control system. Draper's ADEPT architecture was extended, applying the closed-loop control approach to the gathering and maintenance of SA. The primary new element of the extended architecture is the SA Engine, an integrated SA and sensor fusion processor. It operates autonomously within the vehicle, constructing and maintaining internally consistent representations from organic sensor data and appropriate off-board ISR data. With the addition of the SA Engine, ADEPT's SA Assessor is extended from module-specific SA information processing to provide insight into the workings of the SA Engine, to extract information and perform evaluations needed by the planning and control system, and to adjust weights within the SA Engine to achieve task-directed prioritization of SA processing. This improves the SA picture maintained by an autonomous vehicle. Specifically, the vehicle can more capably track dynamic contacts and detect hostile actions by dynamic objects. Simulation results from the SA Option of Maritime Reconnaissance Demonstration (MRD) program are discussed.

Subjects: SITUATIONAL AWARENESS (SA), SENSOR FUSION, MARITIME RECONNAISSANCE DEMONSTRATION (MRD), AUTONOMOUS VEHICLES, THESIS, UNMANNED UNDERWATER VEHICLES (UUV)

Colwell, W.F.

Implementing Collocation Groups

Facing the Future, Tivioli Storage Manager Symposium. 09/26/2005 to 09/29/2005. Sponsored by: TSM. (Draper Report no. P-4378)

Abstract: 'Collocation groups' is a new feature of ITSM 5.3. The purpose of the feature is to allow sites that have more nodes than online tapes to use collocation to reduce the number of tapes a node is on. It also allows sites that have enough tapes, but also have nodes that are much smaller than the capacity of a tape, to combine nodes and use the otherwise wasted tape capacity. This paper supplements the presentation given at the Oxford TSM Symposium; it adds information left out due to time constraints and supplies SQL and scripts referenced in the presentation.

Subjects: COLLOCATION, TSM ENVIRONMENT, NODE DATA, BACKUP SYSTEMS

Davis, C.

Microfabricated Sensors for Clinical Diagnostic Applications

Gordon Research Conference on Chemical Sensors & Interfacial Design. Held in Oxford, England, 08/28/2005 to 09/02/2005. (Draper Report no. P-4389)

Subjects: MICROFABRICATED SENSORS, MULTISENSOR APPLICATIONS, CLINICAL DIAGNOSTICS, MICROELECTROMECHANICAL SYSTEM (MEMS)

Deutsch, O.; Kahn, A.; Key, J.R.

Hedging Strategy for Midcourse Interceptor Commitments Against Uncertain Threats. Abstract Only

Military Operations Research Society. 73rd. Held in West Point, NY, 06/21/2005 to 06/23/2005. Sponsored by: MORS. (Draper Report no. P-4335A)

Abstract: In any military engagement, the use of resources in the immediate response needs to be hedged against the demands for these resources in future attacks. In the context of battle management for midcourse interceptors, this gives rise to the question of how many interceptors to allocate to the threats in the air given that there is uncertainty in the size of future attacks. The problem is formulated as a Markov Decision Problem (MDP). To maintain computational tractability, the solution architecture is decomposed into two components: an inventory manager and a fire control manager. The fire control manager optimizes launch decisions for a single attack, given an allocation of interceptors from the inventory manager. In essence, the fire control manager solves the Weapons Target Assignment (WTA) problem. The inventory manager determines the interceptor allocation by solving the MDP using a database of the fire control manager's performance and a model of uncertainty in future attacks. The database is built offline by simulating hypothesized attacks. Results of the algorithm show improvement in the probability of no leakage over a series of attacks when compared with two different fire control managers operating without inventory management.

Subjects: BATTLE MANAGEMENT SYSTEMS, MARKOV DECISION PROCESSES (MDP), FIRE CONTROL MANAGERS, WEAPONS TARGET ASSIGNMENT (WTA), INVENTORY MANAGEMENT

Flueckiger, K.; Gustafson, D.; Dowdle, J.

INS/GPS Deep Integration Navigation Hardware Testbed

Institute of Navigation Annual Meeting. 61st. Held in Cambridge, MA, 06/27/2005 to 06/29/2005. Sponsored by: ION. (Draper Report no. P-4155-REV-1)

Abstract: Draper Laboratory has developed a capability for executing Inertial Navigation System/Global Positioning System (INS/GPS) Deep Integration algorithms using both SPS-only (Standard Positioning Service) and PPS-enabled (Precise Positioning Service) GPS receivers. This capability is embodied in hardware-in-the-loop simulation testbeds that were designed and assembled for exercising and analyzing the performance benefits of advanced integrated INS/GPS algorithms. This paper briefly paper describes the benefits of INS/GPS Deep Integration relative to traditional tightly-coupled techniques as demonstrated using hardware-in-the-loop simulation testbeds. Detailed quantification of hardware results specifying the jamming immunity offered by Deep Integration for specific mission scenarios will not be presented here. The focus of this paper is the development and test methodology provided by software-only and hardware-in-the-loop simulation configurations developed by Draper. INS/GPS Deep Integration replaces the GPS receiver's traditional tracking loop functions with a centralized architecture. Data from auxiliary sensors, such as delta velocity and delta angle from inertial instruments, and the I (in phase) and Q (quadrature phase) information from the receiver's correlator bank are used directly in navigation filter processing, which calculates position, velocity, attitude, and time estimates, and provides feedback to the receiver's numerically controller oscillators (NCOs). The navigation filter gains continuously adapt to changes in the observed jamming environment, and the filter's error covariance propagation is driven directly by measurements to enhance robustness under high jamming conditions. Deep Integration development and performance evaluation were provided by hardware-in-the-loop simulation configurations, where tracking of both C/A and P codes were demonstrated using this technique. Deep Integration was shown to enable navigation in the presence of significant broadband jamming.

Subjects: INERTIAL NAVIGATION SYSTEMS (INS), GLOBAL POSITIONING SYSTEM (GPS), ALGORITHMS, DEEP INTEGRATION SOFTWARE, TESTBEDS

Friend, S.; Monopoli, D.; Natoli, L.; Haas, D.J.

SH-60B HUMS Experience Using a Satellite Data Link

Aerospace Conference. Held in Big Sky, MT, 03/05/2005 to 03/12/2005. Sponsored by: IEEE. (Draper Report no. P-4273)

Abstract: Helicopter Health and Usage Monitoring Systems (HUMS) have achieved greater acceptance in the user community over the past decade as an effective tool to enhance maintainability, reduce costs, and improve flight safety. As more HUMS are fielded on operational Army and Navy aircraft, operators and maintainers are becoming familiar with the flexibility and efficiencies this technology offers. This paper presents the uses and field experiences of a new HUMS capability termed the HUMS In-Flight Reporting System (HIRS). The HIRS provides interactive two-way communications directly with the HUMS for transmitting and querying maintenance and safety data while the aircraft is airborne. The system consists of commercial-off-the-shelf (COTS) satellite communications equipment and associated ground-based software. The HIRS has been installed and is flying onboard a Navy SH-60B helicopter for evaluation as part of the Joint Advanced Health and Usage Monitoring System (JAHUMS) Advanced Concept Technology Demonstration (ACTD) Program. The concepts of operation (CONOPS) and as-flown operational scenarios are presented to illustrate this powerful real-time HUMS satellite data communications tool. Actual SH-60B flight data and operations are presented along with the ground station interface. The ground station includes real-time graphing of HUMS parameters, remote control of HUMS transmission mode, and automatic takeoff, landing, and exceedance notification via email. Another aspect discussed includes the COTS product insertion into an open architecture HUMS process.

Subjects: HELICOPTER HEALTH AND USAGE MONITORING SYSTEMS (HUMS), HUMS IN-FLIGHT REPORTING SYSTEM (HIRS), SATELLITE COMMUNICATIONS

George, S.; Carter, D.; Berland, J-C.; Dunker, S.; Tavan, S.; Barber, J.

The Dragonfly 4,500-kg Class Guided Airdrop System

Infotech & Aerospace. Held in Arlington, VA, 09/26/2005 to 09/29/2005. Sponsored by: AIAA. (Draper Report no. P-4390)

Abstract: The Dragonfly is a 3500-ft2 ram-air, precision airdrop system being developed under the Army Joint Precision Airdrop System (JPADS) Advanced Concept Technology Demonstration (ACTD) program. The system, which includes an innovative main canopy, hardened airborne guidance unit (AGU), and autonomous guidance, navigation, and control (GN&C) algorithms, has been developed under a multicontractor effort and managed by Natick Soldier Center. Dragonfly's canopy was designed to give maximum gliding performance while minimizing system cost. Using standard manufacturing techniques and low-cost materials, a glide ratio of nearly 4:1 was achieved. The system's AGU consists of two small, high-powered motors that operate the parafoil control lines, as well as an avionics suite to generate trajectory information for the flight software. The onboard GN&C algorithms have been developed to accommodate a low-cost processor by utilizing very simple command logic and a table-driven trajectory profile for final descent maneuvers. The flight software onboard the Dragonfly has also been tightly integrated with previously developed PADS mission planning software. Test drops of the Dragonfly have been conducted over the last year to evolve key components of the system and to evaluate the autonomous flight performance. The Dragonfly system had routinely demonstrated landing accuracies of 200 meters in flight tests, with a recent best of 23 meters.

Subjects: DRAGONFLY, AIRDROP SYSTEMS, AIRBORNE GUIDANCE UNIT (AGU), GUIDANCE NAVIGATION AND CONTROL (GN&C), GUIDED SYSTEMS

Guerra, C.J.; Page, L.

Autonomous Planning for Spacecraft Rendezvous and Proximity Operations

Infotech@Aerospace. Arlington, VA. 09/26/2005 - 09/29/2005. Sponsored by: AIAA. (Draper Report no. P-4391)

Abstract: This paper describes a solution to the proximity operations scheduling problem for autonomous orbital rendezvous. The algorithm allows the operator to specify planned modes that encode the satellite's operations. The scheduler optimally places these modes in the midst of the "environmental" conditions that are beyond the satellite's control. The algorithm manages resources, for example, the battery state of charge, and observes temporal constraints. Experiments show that the scheduler responds to changes in a variety of situations.

Subjects: SPACECRAFT RENDEZVOUS, AUTONOMOUS PLANNING, PROXIMITY OPERATIONS

Hall, R.; Barrington, R.; Kirchwey, K.; Alaniz, A.; Grigoriadis, K.

Shuttle Stability and Control During the Orbiter Repair Maneuver

International Energy Conversion, Engineering Conference. 3rd. Held in San Francisco, CA, 08/15/2005 to 08/18/2005. Sponsored by: AIAA. (Draper Report no. P-4306)

Abstract: The Orbiter Repair Maneuver (ORM) is a challenging on-orbit operation designed to use the Shuttle robotic arm to rotate and present the underside of the Space Shuttle to the Space Station, hence allowing access and repair to Shuttle thermal protection system damage. The operation calls for the Shuttle and Space Station to be mated via (and only) the Shuttle arm, introducing expremely low-frequency structural dynamics, and hence, proposes a significant control/structure dynamic interaction problem. This paper provides an overview of the Shuttle on-orbit control system design for the ORM. Given the low-frequency dynamics, saturation limits of the arm robotic joints, and the close proximity of the two space vehicles, the Orbiter Repair Maneuver represents one of the most challenging on-orbit operations for Shuttle control design to date.

Subjects: SPACE SHUTTLES, ORBITER REPAIR MANEUVERS, ROBOTIC ARMS (SPACE SHUTTLES)

Hopkins, R.E.

Inertial Navigation System Technology: A Short Course

2005 Joint Navigation Conference. 30th. Held in Orlando, FL, 04/11/2005 Sponsored by: JSDE. (Draper Report no. P-4350)

Subjects: INERTIAL NAVIGATION SYSTEMS (INS), MICROELECTROMECHANICAL SYSTEM (MEMS), GLOBAL POSITIONING SYSTEM (GPS), GUIDANCE NAVIGATION AND CONTROL (GN&C), COURSES (EDUCATION)

Hopkins, R.; Miola, J.; Sawyer, W.; Setterlund, R.; Dow, B.

The Silicon Oscillating Accelerometer: A High-Performance MEMS Accelerometer for Precision Navigation and Strategic Guidance Applications

Institute of Navigation, 2005 National Technical Meeting, Proceedings. 10th. Held in San Diego, CA, 01/24/2005 to 01/26/2005. Sponsored by: ION. (Draper Report no. P-4269)

Abstract: The intercontinental ballistic missile (ICBM) and submarine-launched strategic missiles developed over the past 50 years have employed successive generations of increasingly accurate inertial guidance systems. The comparatively short time of guided flight and high acceleration levels characteristic of the ballistic missile application place a premium on accelerometer performance to achieve desired weapon system accuracy. Currently, the U.S. strategic missile arsenal relies on variants of the pendulous integrating gyro accelerometer (PIGA) to meet the high-performance, radiation-hard requirements of the weapon system. Likewise, precision navigation systems, such as the currently deployed SSBN Ship Inertial Navigation Systems (SINS), employ highly specialized and complex electromechanical instruments that, like the PIGA, present a system life-cycle cost and maintenance challenge. The PIGA and the Electromagnetic Accelerometer (EMA) demonstrate unsurpassed performance, however, their life-cycle cost has motivated a search for a high-performance, solid-state, strategic accelerometer. Draper Laboratory is currently in the process of developing the Silicon Oscillating Accelerometer (SOA), a Microelectromechanical System (MEMS)-based sensor that has demonstrated in laboratory testing the part-per-million (ppm) micro-g scale factor and bias performance stability required of precision guidance navigation applications. The ICBM and SSBN applications have significantly different environmental, acceleration dynamic range, and resolution requirements that are best satisfied by optimizing the SOA geometry for each application. The design flexibility and wafer-scale fabrication methods of the silicon MEMS process enable manufacturing both instrument designs with essentially zero incremental cost associated with the additional instrument assembly line. That is, the SOAs developed for the ICBM guidance and SSBN navigation applications share a common sensor package, electronics architecture, main housing, and instrument assembly process. This paper will give an overview of the Draper SOA and compare and contrast performance data taken to date on both versions of the SOA.

Subjects: MICROELECTROMECHANICAL SYSTEM (MEMS), SILICON OSCILLATING ACCELEROMETERS (SOA), NAVIGATION SYSTEMS, SENSORS

Hopkins, R.; Miola, J.; Setterlund, R.; Sawyer, W.; Dow, B.

The Silicon Oscillating Accelerometer: A High-Performance MEMS Accelerometer for Precision Navigation and Strategic Guidance Applications

Institute of Navigation Annual Meeting. 61th. Held in Cambridge, MA, 06/27/2005 to 061/29/2005. Sponsored by: ION. (Draper Report no. P-4269 Rev-2)

Abstract: The intercontinental ballistic missile (ICBM) and submarine-launched strategic missiles developed over the past 50 years have employed successive generations of increasingly accurate inertial guidance systems. The comparatively short time of guided flight and high acceleration levels characteristic of the ballistic missile application place a premium on accelerometer performance to achieve the desired weapon system accuracy. Currently, the U.S. strategic missile arsenal relies on variants of the pendulous integrating gyro accelerometer (PIGA) to meet the high-performance, radiation-hard requirements of the weapon system. Likewise, precision navigation systems, such as the currently deployed SSBN Ship Inertial Navigation Systems (SINS), employ highly specialized and complex electromechanical instruments that, like the PIGA, present a system life-cycle cost and maintenance challenge. The PIGA and the electromagnetic accelerometer (EMA) demonstrate unsurpassed performance, however, their life-cycle cost has motivated a search for a high-performance, solid- state, strategic accelerometer. Draper Laboratory is currently in the process of developing the Silicon Oscillating Accelerometer (SOA), a Microelectromechanical System (MEMS)-based sensor that has demonstrated in laboratory testing the part-per-million (ppm)/5-g scale factor and bias performance stability required of precision guidance navigation applications. The ICBM and SSBN applications have significantly different environmental, acceleration dynamic range, and resolution requirements that are best satisfied by optimizing the SOA geometry for each application. The design flexibility and wafer-scale fabrication methods of the silicon MEMS process enable manufacturing both instrument designs with essentially zero incremental cost associated with the additional instrument assembly line. That is, the SOAs developed for the ICBM guidance and SSBN navigation applications share a common sensor package, electronics architecture, main housing, and instrument assembly process. This paper will give an overview of the Draper SOA and compare and contrast performance data taken to date on both versions of the SOA.

Subjects: MICROELECTROMECHANICAL

Huntington, G.T.; Rao, A.V.

Optimal Spacecraft Formation Configuration Using a Gauss Pseudospectral Method

Space Flight Mechanics Meeting. 15th. Held in Copper Mountain, CO, 01/23/2005 to 01/27/2005. Sponsored by: AAS/AIAA. (Draper Report no. P-4260)

Abstract: The problem of determining minimum-fuel maneuver sequences for a four-spacecraft formation is considered. The objective of this paper is to determine fuel-optimal configuration trajectories that transfer a four-spacecraft formation from an initial parking orbit to a desired terminal reference orbit while satisfying particular formation constraints. In this paper, the configuration problem is solved numerically using a newly developed direct transcription method called the Gauss pseudospectral method. Two versions of the minimum fuel configuration problem are considered. In the first problem, the trajectory is terminated upon satisfying the required terminal position constraints. In the second problem, the trajectory is extended one full orbit beyond that of the first problem such that the terminal conditions are the same as those attained one period earlier. The results obtained in this paper illustrate the key features of the optimal configuration trajectories and controls, provide insight into the structure of the optimally controlled system, and demonstrate the applicability of the Gauss pseudospectral method to optimal formation flying trajectory design.

Subjects: FUEL TRAJECTORIES, GAUSS PSEUDOSPECTRAL METHOD, OPTIMALLY CONTROLLED SYSTEMS, SPACECRAFT FORMATIONS

Jackson, M.C.; D'Souza, C.N.; Lane, H.

Autonomous Mission Management for Spacecraft Rendezvous Using an Agent Hierarchy

Infotech@Aerospace. Arlington, VA. 09/26/2005 - 09/29/2005. Sponsored by: AIAA. (Draper Report no. P-4370 )

Abstract: An agent-based autonomous mission manager for spacecraft is developed and applied to a spacecraft rendezvous problem. The mission manager monitors, plans, and executes rendezvous activities for a chaser satellite with low-thrust and high-thrust effectors. The software is based on a hierarchy of "Activity Agents," each of which plans, monitors, executes, and replans an activity. These activity agents are instantiated and scheduled by a software framework capable of reconfiguring the agent hierarchy when replanning occurs. Targeting and planning algorithms are incorporated into the agent hierarchy to orchestrate a rendezvous with an orbiting spacecraft. These algorithms make use of low-thrust guidance to arrive in the neighborhood of the target, followed by a series of high-thrust burns to arrive at a specified offset point at a specified time. During both the low-thrust and high-thrust activities, the mission manager monitors subsystem status, as well as the relative navigation state of the chaser. When low-thrust failures occur, the manager completes the rendezvous by scheduling additional high-thrust burns. The mission manager, along with low- and high-thrust guidance algorithms, is implemented in simulation. A demonstration of several replanning events -- both failure, and error driven -- is provided with three-dimensional graphics as well as an "agent activity" display that depicts the active agents and shows the hierarchy reconfiguration process when replans occur.

Subjects: AUTONOMOUS MISSION MANAGEMENT; SPACECRAFT RENDEZVOUS; AGENT HIERARCHY

Kaya, T.; Lin, P.; Noubir, G.; Qian, W.

Efficient Multicast Trees with Local Knowledge on Wireless Ad Hoc Networks

Wired/Wireless Internet Communications, International Conference. 3rd. Held in Xanthi, Greece, 05/11/2005 to 05/13/2005. (Draper Report no. P-4230-REV-A)

Abstract: In this paper, we address the problem of establishing a cost-efficient multicast tree among a group of stationary nodes in a multi-hop wireless network. The flooding of broadcast discovery messages is a major limitation to the scalability of most ad hoc protocols. To avoid massive flooding, we limit the reach of broadcast discovery messages, and consider the case were joining nodes can only learn limited information about the multicast group topology from neighbors within a fixed number of hops. We propose two algorithms that satisfy this constraint. We analyze the worst-case cost of the established trees and prove that the first algorithm builds a minimal cost spanning tree, while the second builds a suboptimal tree with a worst-case approximation ratio of O(log n/ loglog n). The advantage of the second algorithm is that the communication requirement for a node to join the multicast tree is smaller. We simulate and compare the proposed algorithms. Finally, we discuss the implementation issues and scenarios for using each one of them. We also describe our secure multicast application that builds on top of the proposed protocols.

Subjects: WIRELESS AD HOC NETWORKS, MULTICAST TREES, WIRELESS NETWORKS, MULTICAST APPLICATIONS

Kostas, T.; Lin, P.

Flexible Satellite Communication Design

Intelligence Community Chief Information Officer, Digitial Convergence Conference. Held in Chantilly, VA, 05/16/2005 to 05/17/2005. Sponsored by: IC CIO. (Draper Report no. P-4360)

Subjects: SATELLITE COMMUNICATIONS, SATELLITE ARCHITECTURE, SATELLITE NETWORKING, FLEXIBLE SYSTEMS

Krebs, M.D.; Zapata, A.M.; Costa, I.S.; Davis, C.E.; Miller, R.A.; Stonenshein, A.L.; Nazarov, E.G.

Detection of Biological and Chemical Agents Using Differential Mobility Spectrometry (DMS) Technology

Sensors Journal. Sponsored by: IEEE. Vol 5. No. 4. 08/2005. p. 696-703. (Draper Report no. P-4205)

Abstract: With international concern growing over the potential for chemical and biological terrorism, there is an urgent need for a sensor that can quickly and accurately detect chemical and biological agents. Such a sensor needs to be portable, robust, and sensitive, with fast sample analysis time. We will demonstrate the use of a micromachined Differential Mobility Spectrometer (DMS) with all these characteristics that is able to detect multiple agents simultaneously on a time scale of seconds. In this study, we demonstrate the ability of the DMS to detect Bacillus subtilis spores, a surrogate for Bacillus anthracis spores, the causative agent of anthrax. Pyrolysis was used as the sample introduction method to volatilize the spores before introducing material into the DMS. Additionally, we examined the effect of pyrolysis on B. subtilis spores suspended in sterile water using SDS-PAGE. These experiments showed that the spores must be heated at 650 degrees Celsius or greater for 5 seconds or at 550 degrees Celsius for at least 10 seconds to be fragmented into particles considerably smaller than 10 kilodaltons (kDa), which the DMS is able to detect. Several major biomarkers can be easily distinguished above the background of the sterile water in which the spores are suspended, and we hypothesize that additional biomarkers could be liberated by further optimizing conditions. The DMS also has shown promise as a detector for chemical weapon agents, and we have also demonstrated the ability of the DMS to detect nerve and blister agent simulants at clinically-relevant levels.

Subjects: ION MOBILITY, SPECTROMETRY, MICROELECTROMECHANICAL SYSTEM (MEMS), DIFFERENTIAL MOBILITY SPECTROMETRY (DMS), CHEMICAL WARFARE AGENTS, BIOLOGICAL WARFARE AGENTS

Marinis, T.F.; Soucy, J.W.; Lawrence, J.G.; Owens, M.M.

Wafer-Level Vacuum Packaging of MEMS Sensors

Electronic Components & Technology Conference. 55th. Held in Lake Buena Vista, FL, 05/31/2005 to 06/03/2005. Sponsored by: IEEE/CPMT. (Draper Report no. P-4214)

Abstract: A process has been developed for wafer-level vacuum packaging MEMS sensors, which are fabricated from etched, single-crystal silicon structures, anodically bonded to metallized glass wafers. Key objectives of the process design were to minimize the number of changes to sensor fabrication, ensure a high level of vacuum integrity, and flexible enough to accommodate a wide range of sensor designs. Only a single change to the standard sensor fabrication is required to implement the vacuum sealing process. A seal ring of gold, 250 microns wide by 1 micron thick is applied around the perimeter of the sensor and its electrical contact pads. The key features of this vacuum sealing technology are incorporated in the silicon cap wafer. It is 200 microns thick and contains an array of cavities, 50 microns deep, which align with the MEMS devices on the glass wafer. The opposite side of the wafer is coated with 2000 angstroms of silicon dioxide and is arrayed with aluminum bond pads, which align with those on the sensor wafer. These pads are connected to the sensor by through wafer vias, which are coated with a layer of parylene, one micron thick. The parylene is applied in a vapor deposition process, and then an excimer laser is used to ablate it from the bottom of the vias to allow electrical connections to be made to the aluminum bond pads. The vias are metallized with an adhesion layer of 500 angstroms of titanium and a conduction layer of 2000 angstroms of gold. This metal is photopatterned to produce pads that align with those of the sensor, and then all exposed parylene is removed by reactive ion etching. This cap wafer is bonded to the sensor wafer in an ultrahigh vacuum system with a base pressure of 10-8 Torr. The two wafers are held on electrostatic chucks, one of which is hinged, so that in the degas phase, both wafers can be cleaned in-situ with an ion gun. For bonding, the hinge is actuated to position the cap wafer above the sensor wafer. A pair of prisms is positioned between the wafers to allow them to be precisely aligned prior to sealing. The wafers are bonded together by heating them to 300 deg C and actuating a pair of ball screws, which clamps them together under a load of 500 Newtons. The load and temperature is maintained for 1 hour to allow the gold of the sensor seal ring to react with the silicon of the cap wafer. The bonded pair is slowly cooled under load to complete the sealing process. The ultimate goal of this sealing approach is to use the control ASIC chip that is paired with the sensor as the cap structure. This would minimize the length of signal paths between the ASIC and sensor, while realizing a very compact vacuum package.

Subjects: MICROELECTROMECHANICAL SYSTEM (MEMS), VACUUM SEALING, WAFERS

Monopoli, D.; Natoli, L.; Haas, D.J.; Baker, T.

JAHUMS ACTD Operational Experience

Annual Forum 61, New Frontiers in Vertrical Flight. Held in Grapevine, TX, 06/01/2005 to 06/03/2005. Sponsored by: AHS. (Draper Report no. P-4319)

Abstract: This paper presents the initial operational demonstration and field experiences of advanced HUMS capabilities developed under the Joint Advanced Health and Usage Monitoring System (JAHUMS) Advanced Concept Technology Demonstration (ACTD) in support of the military's Integrated Mechanical Diagnostics (IMD) Programs. The objective of the JAHUMS ACTD is to expand the HUMS paradigm in several key areas by providing added functionality to installed IMD systems and to demonstrate and validate the operational utility of these technologies as well as the open system implementation approach to HUMS. Five JAHUMS modules are integrated into the IMD system on Navy SH-60B helicopters. These modules include the T700 Engine Integrated support System, the HUMS In-Flight Reporting System, a Post-Flight Animated Debrief, a Virtual Sensor System, and a crash-survivable Cockpit Voice/Flight Data recorder. JAHUMS technology is also being demonstrated on Army UH-60 helicopters in conjunction with the Army's Fleet Management Demonstration. The JAHUMS operational demonstrations provide a basis to assess the application of these technologies through Concept of Operations (CONOPS) development operational utilization, user feedback, and a military utility assessment. Various CONOPS and as-flown operational scenarios from HSL-41, Naval Air Station (NAS) North Island, and from the Army's 101st Airborne Division, Ft. Campbell, are presented. Helicopter squadron personnel have indicated positive feedback overall and in addition, an unanticipated benefit of the JAHUMS technology integration has been an increase in the understanding of the functionality and utility of the baseline IMD HUMS.

Subjects: JOINT ADVANCED HEALTH AND USAGE MONITORING SYSTEM (JAHUMS), ADVANCED CONCEPT TECHNOLOGY DEMONSTRATION (ACTD), HELICOPTER HEALTH AND USAGE MONITORING SYSTEMS (HUMS), CONCEPT OF OPERATIONS (CONOPS), HELICOPTERS

Plump, J.; Ricard, M.; Keegan, M.; Jarriel, M.

ONR's Maritime Reconnaissance Demonstration - Simulation Based Test and Integration

Unmanned Systems North America. Held in Baltimore, MD, 06/28/2005 to 06/30/2005. Sponsored by: AUVSI. (Draper Report no. P-4366)

Abstract: Next-generation Unmanned Underwater Vehicles (UUV) missions will require increased levels of on-board adaptive, intelligent behavior. The development and testing of these advanced systems will require sophisticated virtual test environments that allow thorough system-level checkout prior to in-water testing. All aspects of the mission, including sensors, sensor processing, situational awareness, and mission replanning, in addition to hydrodynamics and vehicle control functions, must be tested in a realistic environment. In addition, multiple simulation modes will be required starting with full emulation and continuing through Hardware-in-the-Loop in support of the incremental testing required of these complex systems. This type of end-to-end simulation capability has been developed by the team of the Charles Stark Draper Laboratory, NUWCDIVNPT, and Northrop Grumman as part of the Office of Naval Research Autonomous Operations Future Naval Capabilities (AOFNC) Maritime Reconnaissance Demonstration (MRD) program. The team is focused on developing, demonstrating, and transitioning open architecture autonomy along with Intelligence, Surveillance, and Reconnaissance (ISR) sensor technology to support U.S. Navy UUV Acquisition Programs. This paper describes the high-level design and implementation of the MTV/ 21UUV simulation testbeds that includes the Narragansett Bay virtual environment and ISR sensor subsystems. It will also include a description of the multiple modes and the reconfiguration process devised to support the MRD integration and test phase.

Subjects: UNMANNED UNDERWATER VEHICLES (UUV), SENSORS, SITUATIONAL AWARENESS (SA), END-TO-END SIMULATION (ETESS), INTELLIGENCE, SURVEILLANCE, AND RECONNAISSANCE (ISR)

Ricard, M.; Nervegna, M.; Keegan, M.; Jarriel, M.

Autonomy and Control Architectures

Unmanned Systems North America. Held in Baltimore, MD, 06/28/2005 to 06/30/2005. Sponsored by: AUVSI. (Draper Report no. P-4362)

Abstract: The Office of Naval Research Autonomous Operations Future Naval Capabilities (AOFNC) Maritime Reconnaissance Demonstration (MRD) program implemented and demonstrated in-water a sophisticated ISR payload. This program integrated existing Intelligence, Surveillance, and Reconnaissance (ISR) sensors into a payload, demonstrated an autonomous ISR mission by integrating the payload with an autonomous controller, and conducted a series of in-water tests using a testbed Unmanned Underwater Vehicle (UUV). The Naval Undersea Warfare Center, Division Newport (NUWC), the Charles Stark Draper Laboratory, and Northrop Grumman Corporation Oceanic & Naval Systems teamed to develop an initial Concept of Operations (CONOPS) and implementation that matured Intelligent Autonomy and ISR capabilities. The concept of operations required that 1) a UUV must be able to operate autonomously in a complex environment and react intelligently to changing tactical, environmental, and mission variables with little or no outside intervention; and 2) the ISR sensor suite must be managed autonomously, collect required ISR data, and react as a tactical asset. Vital to this program was architecting a system where autonomy was applied at the appropriate level, enabling the management of a sophisticated sensor suite traditionally operated with multiple operators in the loop. This paper describes the high- level architecture for the MRD program and where the autonomous functions were partitioned.

Subjects: INTELLIGENCE, SURVEILLANCE, AND RECONNAISSANCE (ISR), UNMANNED UNDERWATER VEHICLES (UUV), CONTROL ARCHITECTURES, AUTONOMY ARCHITECTURES

Rosch, G.; Hall, R.A.

Stability of Angular Rate Damping for the NASA Space Shuttle

International Energy Conversion, Engineering Conference. 3rd. San Francisco, CA. 08/15/2005 - 08/18/2005. Sponsored by: AIAA. (Draper Report no. P-4307)

Abstract: The NASA Space Shuttle flight control system is used to illustrate how on-orbit attitude control when damping angular rate can result in control system instability. Spacecraft multi-axis motion in rotational space for a nonsymmetrical body will result in nonlinear oscillating motion, from which the frequency content of the motion can be computed. Lag in the estimate of the angular rates with respect to the actual angular rates can result in thruster firings that reinforce the oscillation in the body rate rather than damp it. A sufficient condition is defined that bounds the maximum angular rate for which the Shuttle on-orbit attitude controller will be stable with regard to the phase lag in the angular rate estimate. The specific application explored is an inadvertent thruster firing during Shuttle docking operations with the International Space Station (ISS).

Subjects: ANGULAR RATES; ATTITUDE CONTROL SYSTEMS; SPACE SHUTTLES; DOCKING

Sherman, P.; Kourepenis, A.; Holmes, S.; Girolamo, H.; Zimmer, G.; Sokolowski, S.

Personal Navigation for the Warfighter

Joint Navigation Conference. Held in Orlando, FL, 04/11/2005 to 04/15/2005. Sponsored by: DoD. (Draper Report no. P-4351)

Subjects: WARFIGHTER, URBAN WARFARE, PERSONAL NAVIGATION SYSTEM (PNS), GPS STRESSED ENVIRONMENTS, MICROELECTROMECHANICAL SYSTEM (MEMS)