Coordination Manager - Antidote to the Stovepipe Anti-Pattern

Single Orbital Revolution Planner for NASA's EO-1 Spacecraft

Simulation-Based Design Model for Analysis and Optimization of Multistate Aircraft Performance

Inertial MEMS System Applications (SET-116)

Inertial Navigation Sensors (SET116)

Markov Analysis of Human-in-the-Loop System Performance

Analysis of Human Spatial Perception During Lunar Landing

Algorithm for Enhanced Situation Awareness for Trajectory Performance Management

Nanohole Array Sensor Technology: Multiplexed Label-Free Protein Binding Assays

Detection of Deception in Structured Interviews Using Sensors and Algorithms

Automated Frozen Sample Aliquotting System

The Joint Milli-Arcsecond Pathfinder Survey (JMAPS): Measurement Accuracy of the Primary Instrument When Used as Fine Guidance Sensor

Analysis of Relative GPS Navigation Techniques

Combined Technologies for Microfabricating Elastomeric Cardiac Tissue Engineering Scaffolds

Asynchronous, Distributed Optimization for the Coordinated Planning of Air and Space Assets

Integrated Inertial/GPS-Based Navigation Applications

Human Guided Visualization Enhances Automated Target Detection

Robust Human Identification Using ECG: Eigenpulse Revisited

Absolute Stability Analysis of a Phase Plane Controlled Spacecraft

Requirements-Driven Autonomous System Test Design: Building Trusting Relationships

Human-System Collaborative Planning Environment for Unmanned Aerial Vehicle Mission Planning

Detection of Deception in Structured Interviews Using Sensors and Algorithms

Autonomous Operations for the Next Generation of Human Space Exploration

New Method for Processing Banked Samples

Smart Medical Devices: What Are They and Why Should You Care?

Transitioning Research into Operations: A View from Healthcare

Model-Based Design and Implementation of Pointing and Tracking Systems: From Model to Code in One Step

Ares I Avionics Introduction

Draper Multichip Modules for Space Applications

Development of a Micropump for Dispensing Nanoliter-Scale Volumes of Concentrated Drug for Intracochlear Delivery

Small Lunar Lander/Hopper Performance Analysis

Improving Sensitivity, Time to First Fix, and Robustness of GPS Positioning by Combining Signals from Multiple Satellites

Entry Trajectory Design Methodology for Lunar Return

PredGuid Entry Guidance for Orion Return from Low Earth Orbit

Guidance, Navigation, and Control System Performance Trades for Mars Pinpoint Landing

Model-Based Design and Testing Approach for Orion GN&C Flight Software Development

Hermetic Vacuum Sealing of MEMS Devices Containing Organic Components

Subwavelength Plasmonic Readout for Direct Linear Analysis of Optically Tagged DNA

Multiplicative Residual Approach to Attitude Kalman Filtering with Unit-Vector Measurements

Abramson, M.R.; Kahn, A.C.; Kolitz, S.E.

Coordination Manager - Antidote to the Stovepipe Anti-Pattern

Infotech at Aerospace Conference, Atlanta, GA, 4/20/2010-4/22/2010. Sponsored by: AIAA (Draper report no. P-5010)

Abstract: Many large data collection enterprises (e.g., the collection of Earth observation data) are organized as single-mission systems of separately managed collection systems, i.e., stovepipes. This organizational approach inhibits communication and coordination among collection systems. The approach is so pervasive that essentially it is a pattern of behavior that new collection systems will be organized as a stovepipe. This pattern limits the collection potential of the overall enterprise, and so we view this pattern as a negative way of doing things or an anti-pattern. This paper discusses our solution to this anti-pattern: the coordination manager, which provides a framework for optimization-based rolling horizon dynamic planning and scheduling, an approach that addresses the issue of coordination of stovepipe mission planning systems. It is the first step toward an objective multiple mission system designed from the beginning to participate with other single-mission systems.

Subjects: SOFTWARE, EARTH (PLANET), OBSERVATION, MISSION PLANNING

Abramson, M.R.; Carter, D.W.; Kahn, A.C.; Kolitz, S.E.; Riek, J.C.; Scheidler, P.J.

Single Orbital Revolution Planner for NASA's EO-1 Spacecraft

Infotech at Aerospace Conference, Atlanta, GA, 4/20/2010-4/22/2010. Sponsored by: AIAA (Draper report no. P-4981)

Abstract: A new operational concept is being developed for NASA's EO-1 spacecraft that will allow the public to request scenes to be imaged. When public imaging requests are accepted, the number of scene requests per revolution is expected to grow significantly. This paper describes a planner developed at Draper Laboratory that can be used by EO-1 operations staff to determine which image requests to accept on any given orbital revolution.

Subjects: SPACECRAFT, ORBITAL TRAJECTORIES, IMAGES

Agte, J.S.; Borer, N.K.; de Weck, O.

Simulation-Based Design Model for Analysis and Optimization of Multistate Aircraft Performance

Multidisciplinary Design Optimization (MDO) Specialist's Conference, Orlando, FL, 4/12/2010-4/15/2010. Sponsored by: AIAA (Draper report no. P-4930)

Abstract: This paper introduces an approach to aircraft design and analysis that focuses on the evaluation of aircraft as multistate systems, where a multistate system is one having a finite set of performance levels or ranges, differentiated in this case by distinct levels of failure. In order to accurately examine numerous aircraft performance states, a multidisciplinary design model was used, consisting of an open-source 6-degree-of-freedom (DOF) flight simulator integrated with a vortex lattice aerodynamics solver and a MATLAB routine for calculation of weights and inertias. The primary impetus for using a flight simulator run in batch mode was to facilitate a global approach for concurrent analysis of aircraft expected performance and availability. Namely, by allowing systematic calculation of performance metrics for differing aircraft states, the relationship between an aircraft's global design variables and its performance and availability may be established. Such an approach allows designers to identify those elements that might drive system loss probability through an analysis of performance changes across system states and their respective sensitivity to design variables.

Subjects: AIRCRAFT DESIGN, OPTIMIZATION, MULTISTAGE SYSTEMS

Barbour, N.M.; Hopkins III, R.E.; Kourepenis, A.S.; Ward, P.A.

Inertial MEMS System Applications (SET-116)

NATO SET Lecture Series, Turkey, Czech Republic, France, Portugal, 3/15/2010-3/26/2010. Sponsored by: NATO Research & Technology Organization (Draper report no. P-4993)

Abstract: The performance of Microelectromechanical Systems (MEMS) inertial technology has evolved from automotive quality to that approaching tactical-grade quality (1 deg/h, 1 mg). This evolution is a direct result of advances made in the key technology areas driven by gun-launched projectile requirements. The application of silicon MEMS inertial technology to competent munitions efforts began in the early 1990s. Initially, gun hardness was demonstrated at the sensor level, although the bias-and-scale factor of these gyros and accelerometers was mostly suitable for automotive or commercial use. Subsequently, development programs were initiated to develop gun-hard inertial systems with greatly improved sensor performance and with a goal of a low production cost. This paper discusses the evolution of low-cost MEMS inertial system technology development for guided projectile Inertial Navigation System (INS)/Global Positioning Systems (GPS) and high-performance inertial measurement units (IMUs). The evolution in sensors and packaging to realize performance improvement and system size reduction are presented.  Recent data from the culmination of a 3-year effort to develop an 8 cu. in. IMU are summarized and represent the highest performance to date for an all-silicon IMU. Further investments in silicon MEMS systems will ultimately realize IMUs that are smaller (less than 2 in³ (33 cc), higher performing (1 deg/h and less than 1 mg), and lower in cost (less than $1200 per IMU and $1500 per INS/GPS) than is achievable in any competing technology.

Subjects: INERTIAL TECHNOLOGY, MICROELECTROMECHANICAL SYSTEMS (MEMS), SENSORS, INERTIAL MEASUREMENT UNIT (IMU)

Barbour, N.M.

Inertial Navigation Sensors (SET116)

NATO SET Lecture Series, Turkey, Czech Republic, France, Portugal, 3/15/2010-3/26/2010. Sponsored by: NATO Research & Technology Organization (Draper report no. P-4994)

Abstract: For many navigation applications, improved accuracy/performance is not necessarily the most important issue, but meeting performance at reduced cost and size is. In particular, small navigation sensor size allows the introduction of guidance, navigation, and control into applications previously considered out of reach (e.g., artillery shells, guided bullets). Three major technologies have enabled advances in military and commercial capabilities: Ring Laser Gyros (RLGs), Fiber-Optic Gyros (FOGs), and Microelectromechanical Systems (MEMS) gyros and accelerometers. RLGs and FOGs are now mature technologies, although there are still technology advances underway for FOGs. MEMS is still a very active development area. Technology developments in these fields are described with specific emphasis on MEMS sensor design and performance. Some aspects of performance drivers are mentioned as they related to specific sensors. Finally, predictions are made of the future applications of the various sensor technologies.

Subjects: INERTIAL NAVIGATION, GYROSCOPES, MICROELECTROMECHANICAL SYSTEMS (MEMS), SENSORS

Bortolami, S.B.; Duda, K.R.; Borer, N.K.

Markov Analysis of Human-in-the-Loop System Performance

Aerospace Conference, Big Sky, MT, 3/6/2010-3/13/2010. Sponsored by: IEEE (Draper Report no. P-4903)

Abstract: Pilot interaction with complex vehicles involves information perception and understanding, as well as decision making to select and execute the desired action. These decisions and actions are often time-critical and require an accurate response. When designing a complex system, the analysis of human-in-the-loop system performance is important during early-stage system design to assess the impact of varying levels of automation, redundancy, and task allocation. See paper for complete abstract.

Subjects: HUMAN-IN-THE-LOOP, SPACE EXPLORATION, PILOT PERFORMANCE

Clark, T.; Stimpson, A.; Young, L.R.; Oman, C.M.; Duda, K.R.

Analysis of Human Spatial Perception During Lunar Landing

Aerospace Conference, Big Sky, MT, 3/6/2010-3/13/2010. Sponsored by: IEEE (Draper report no. P-4960)

Abstract: Crewed lunar landings require astronauts to interact with automated systems to identify a location that is level and free of hazards and to guide the vehicle to the lunar surface through a controlled descent. However, vestibular limitations resulting from exposure to lunar gravity after short-term adaptation to weightlessness, combined with acceleration profiles unique to lunar landing trajectories may result in astronaut spatial disorientation. A quantitative mathematical model of human spatial orientation previously developed was adopted to analyze disorientation concerns during lunar landing conditions that cannot be reproduced experimentally. Vehicle acceleration and rotation rate profiles of lunar landing descent trajectories were compiled and entered as inputs to the orientation model to predict astronaut-perceived orientations. Both fully automated trajectories and trajectories with pilot interaction were studied. The latter included both simulated landing point redesignation and direct manual control. The lunar descent trajectories contain acceleration and rotation rate profiles producing attitude perceptions that differ substantially from the actual vehicle state. In particular, a somatogravic illusion is predicted that causes the perceived orientation to be nearly upright compared to the actual vehicle state, which is pitched back. Furthermore, astronaut head location within the vehicle is considered for different vehicle designs to determine the effect on perceived orientation. The effect was found to be small but measurable (0.3-4.1 degrees) and larger for the new Altair vehicle design compared with the Apollo Lunar Module.

Subjects: LUNAR LANDING, SPATIAL ORIENTATION, DESCENT TRAJECTORIES, HUMAN COMPUTER INTERACTION (HCI)

Collins, B.K.; Kessler, L.J.; Benagh, E.A.

Algorithm for Enhanced Situation Awareness for Trajectory Performance Management

Infotech at Aerospace Conference, Atlanta, GA, 4/20/2010-4/22/2010. Sponsored by: AIAA (Draper report no. P-4972)

Abstract: An Autonomous Flight Manager (AFM) is an integral and necessary component to achieve NASA's goal of safe and precise landing to extend exploration beyond Low Earth Orbit. This goal includes reduced interaction with mission operations unlike those present during the Apollo era. To that end, the crew's situation awareness of the vehicle's performance with regard to executing a predefined descent trajectory is critical. The Multi-State Excursion Assessment (MSEA) algorithm is a central component in providing this situation awareness by monitoring designated trajectory parameters as defined in a mission profile, which is outside the scope of traditional guidance algorithm functionality. During the mission, the MSEA algorithm compares real-time updates of the current trajectory state with parameter-specific thresholds dictating nominal performance. The algorithm fuses this information into a composite assessment of the traversed trajectory versus the predefined nominal trajectory. The assessment includes a projection of emergent trends leading to imminent violation of the prescribed trajectory. Through the use of the MSEA algorithm, the AFM significantly reduces the crew's monitoring responsibilities by providing them with an assessment of current and future mission performance, which alleviates the need to monitor and assess the individual performance parameters manually.

Subjects: ALGORITHMS, SITUATIONAL AWARENESS (SA), LANDING

Cuiffi, J.D.; Soong, R.K.; Manolakos, S.Z.; Mohapatra, S.; Larson, D.N. 

Nanohole Array Sensor Technology: Multiplexed Label-Free Protein Binding Assays

26th Southern Biomedical Engineering Conference, College Park, MD, 4/30/2010-5/2/2010. Sponsored by: International Federation for Medical and Biological Engineering (IFMBE) (Draper report no. P-5083)

Abstract: We present a review of current implementations of nanohole array sensor technology and discuss future trends for this technique applied to multiplexed, label-free protein binding assays. Nanohole array techniques are similar to surface plasmon resonance (SPR) techniques in that local refractive index changes at the sensor surface, correlated to protein binding events, are probed and detected optically. Nanohole array sensing differs by use of a transmission-based mode of optical detection, extraordinary optical transmission (EOT), that eliminates the need for prism coupling to the surface and provides high spatial and temporal resolution for chip-based assays. This enables nanohole array sensor technology to combine the real-time label-free analysis of SPR with the multiplexed assay format of protein microarrays. Various implementations and configurations of nanohole array sensing have been demonstrated, but the use of this technology for specific research or commercial applications has yet to be realized. In this review, we discuss the potential applications of nanohole sensor array technology and the impact that each application has on nanohole array sensor, instrument, and assay design. A specific example presented is a multiplexed biomarker assay for metastatic melanoma, which focuses on biomarker specificity in human serum and ultimate levels of detection. This example demonstrates strategies for chip layout and the integration of microfluidic channels to take advantage of the high spatial resolution achievable with this technique. Finally, we evaluate the potential of nanohole array sensor technology against current trends in SPR and protein micro-arrays, providing direction toward development of this tool to fill unmet needs in protein analysis.

Subjects: NANOHOLES, ARRAYS, SENSORS

Cunha, M.G.; Clarke, A.C.; Martin, J.; Beauregard, J.R.; Webb, A.K.; Hensley, A.A.; Keshava, N.; Martin, D.J.

Detection of Deception in Structured Interviews Using Sensors and Algorithms

SPIE Defense, Security and Sensing, Orlando, FL, 4/5/2010-4/9/2010. Sponsored by: SPIE (Draper report no. P-5023)

Abstract: Draper Laboratory and MRAC have recently completed a comprehensive study to quantitatively evaluate deception detection performance under different interviewing styles. The interviews were performed while multiple physiological waveforms were collected from participants to determine how well automated algorithms can detect deception based on changes in physiology. We report the results of a multifactorial experiment with 77 human participants who were deceptive on specific topics during interviews conducted with one of two styles: a forcing style, which relies on more coercive or confrontational techniques, or a fostering approach, which relies on open-ended interviewing and elements of a cognitive interview. The interviews were performed in a state-of-the-art facility where multiple sensors simultaneously collect synchronized physiological measurements, including electrodermal response, relative blood pressure, respiration, pupil diameter, and electrocardiogram (ECG). Features extracted from these waveforms during honest and deceptive intervals were then submitted to a hypothesis test to evaluate their statistical significance. A univariate statistical detection algorithm then assessed the ability to detect deception for different interview configurations. Our paper will explain the protocol and experimental design for this study. Our results will be in terms of statistical significances, effect sizes, and ROC (receiving operating characteristic) curves and will identify how promising features performed in different interview scenarios.

Subjects: SENSORS, ALGORITHMS, DETECTION

Dorland, B.N.; Dudik, R.P.; Veillette, D.; Hennessy, G.S.; Dugan, Z.; Lane, B.F.; Moran, B.A.

Automated Frozen Sample Aliquotting System

European Laboratory Robotics Interest Group (ELRIG) Liquid Handling & Label-Free Detection Technologies Conference, Whittlebury Hall, UK, 3/4/2010. Sponsored by: ELRIG P-5034 (Draper Report no. P-5034)

Abstract: This is a presentation with the goal of extracting an aliquot from a frozen biological sample without thawing it and automating the process.

Subjects: ALIQUOTS, AUTOMATION, FREEZING

Dorland, B.N.; Dudik, R.P.; Veillette, D.; Hennessy, G.S.; Dugan, Z.; Lane, B.F.; Moran, B.A.

The Joint Milli-Arcsecond Pathfinder Survey (JMAPS): Measurement Accuracy of the Primary Instrument When Used as Fine Guidance Sensor

33rd Guidance and Control Conference, Breckenridge, CO, 2/6/2010-2/10/2010. Sponsored by: AAS (Draper Report no. P-5033)

Abstract: We describe the Joint Milli-Arcsecond Pathfinder Survey (JMAPS) mission, a bright-star astrometric survey mission with a launch date of 2013. We provide an overview of the mission and the primary instrument. We discuss use of the instrument as the fine guidance sensor and show that given the current design, we can achieve the required onboard stellar position measurement accuracies needed to meet the extremely challenging attitude knowledge requirements for the mission.

Subjects: SPACE, ASTROMETRY, SURVEYS

Fritz, M.P.; Zanetti, R.; Vadali, S.R.

Analysis of Relative GPS Navigation Techniques

Space Flight Mechanics Conference, San Diego, CA, 2/14/2010-2/17/2010. Sponsored by: AAS and AIAA (Draper report no. P-4906)

Abstract: Relative Global Positioning System (GPS) navigation is currently used for autonomous rendezvous and docking of two spacecraft as well as formation flying applications. GPS receivers' measurements are used by the navigation subsystem to determine estimates of the current states of the spacecraft. The success of autonomous proximity operations in the presence of an uncertain environment and noisy measurements is highly dependent on the navigation accuracy. This paper presents the comparison of four Kalman filter architectures to be used for relative GPS navigation. A trade study is performed with the advantages and disadvantages of the four different Kalman architectures used for relative GPS navigation presented and compared.

Subjects: NAVIGATION, GLOBAL POSITIONING SYSTEM (GPS), AUTONOMOUS RENDEZVOUS AND DOCKING SYSTEMS, KALMAN FILTERING

Guillemette, M.D.; Park, H.; Hsiao, J.C.; Jain, S.R.; Larson, B.L.; Langer, R.; Freed, L.E.

Combined Technologies for Microfabricating Elastomeric Cardiac Tissue Engineering Scaffolds

4th Biennial Heart Valve Biology and Tissue Engineering Meeting, Hilton Head, SC, 3/7/2010-3/10/2010. Sponsored by: Hilton Head Workshop (Draper report no. P-5029A)

Abstract: Polymer scaffolds that direct elongation and orientation of cultured cells can enable tissue engineered muscle to act as a mechanically functional unit. We combined micromolding and microablation technologies to create muscle tissue engineering scaffolds from the biodegradable elastomer poly(glycerol sebacate). These scaffolds exhibited well defined surface patterns and pores and robust elastomeric tensile mechanical properties. Cultured C2C12 muscle cells penetrated the pores to form full three-dimensional engineered tissues. Scanning electron and confocal microscopy revealed muscle cell orientation in a preferential direction, parallel to micromolded gratings and long axes of microablated anisotropic pores, with significant individual and interactive effects of gratings and pore design.

Subjects: MICROFABRICATION, TISSUE ENGINEERING, SCAFFOLDS

Herold, T.M.; Abramson, M.R.; Kahn, A.C.; Kolitz, S.E.; Balakrishnan, H.

Asynchronous, Distributed Optimization for the Coordinated Planning of Air and Space Assets

Infotech at Aerospace Conference, Atlanta, GA, 4/20/2010-4/22/2010. Sponsored by: AIAA (Draper report no. P-5009)

Abstract: In this paper, we examine how to improve the frequency and accuracy with which high-quality Earth observations are made by coordinating across multiple collection systems, including air and space assets, in an asynchronous environment. In particular, we consider how these improvements could impact Earth observing sensors in two use areas: climate studies and intelligence collection operations. To do this, we make simplifying but reasonable assumptions and use a complex yet intuitive value function to solve a series of simple optimization problems that allocate requests to single-mission planners or "subplanners." We consider requests with time windows and priority levels, some of which require simultaneous observations by different sensors. The primary contributions of this paper include our approach to the asynchronous and distributed nature of the problem and the development of a value function to facilitate the coordination of the observations with multiple surveillance assets.

Subjects: OPTIMIZATION, EARTH OBSERVATIONS (FROM SPACE), SENSORS

Hopkins III, R.E.; Barbour, N.M.; Gustafson, D.E.; Sherman, P.G.

Integrated Inertial/GPS-Based Navigation Applications

NATO SET Lecture Series, Turkey, Czech Republic, France, Portugal, 3/15/2010-3/26/2010 Sponsored by: NATO Research & Technology Organization (Draper Report no. P-4950)

Abstract: Recent developments in the miniaturization of inertial instruments and Global Positioning System (GPS) receiver hardware have led to the introduction of small, low-cost integrated navigation systems which advertise better than 10-m position accuracy under circumstances where GPS remains available. Under situations where GPS is unavailable or intermittent, such as urban, indoor, or subterranean environments, navigation performance is limited by inertial sensor performance; given the size, power, and cost constraints of miniature systems, currently only tactical-grade Microelectromechanical System (MEMS) gyros and accelerometers (performing at around 1 deg/h and 1 milli-g bias stabilities, respectively) are suitable for use in these applications. Consequently, position accuracy degrades rapidly in a tactical-grade inertial/GPS system when GPS is denied. To recover navigation accuracy in miniature systems then, it is necessary to use additional sensors (e.g., velocity meters, magnetometers, barometers) and algorithms to augment the inertial system. This paper discusses some of the ongoing activities in the technology development of small inertial navigation sensors and augmentation sensors that could be used to improve performance in applications with little or no GPS signal. A brief overview of developments that could lead to higher performance miniature inertial sensors is presented, followed by a more extensive discussion on miniature magnetometers, velocity meter technologies, and MEMS precision clocks and MEMS barometers. Emphasis is placed on component miniaturization and the pathway to future miniature navigation systems. Simulations of position error over time are compared for certain GPS-unavailable missions based on hypothetical inertial measurement unit (IMU) performance expected from these inertial sensors, with and without a velocity meter and with/without barometer and magnetometer. The benefit of higher performing inertial sensors is discussed based on these simulations. Algorithms used to implement integration of barometers and magnetometers into the INS navigation solution are also presented. The paper concludes with projections for the future availability of integrated inertial technologies.

Subjects: NAVIGATION, SENSORS, MINIATURIZATION, INERTIAL INSTRUMENTS

Irvine, J.M.

Human Guided Visualization Enhances Automated Target Detection

SPIE Defense, Security and Sensing, Orlando, FL, 4/5/2010-4/9/2010. Sponsored by: SPIE (Draper report no. P-4961)

Abstract: Automated target cueing (ATC) can assist analysts with searching large volumes of imagery. Performance of most automated systems is less than perfect, requiring an analyst to review the results to dismiss false alarms or confirm correct detections. This paper explores methods for improving the presentation and visualization of the ATC output, enabling more efficient and effective review of the detections flagged by the ATC. The techniques presented in this paper are applicable to a wide range of search problems using data from different sensor modalities. The information available to the computer increases as ATC detections are either accepted or rejected by the analyst. It is often easy to confirm obviously correct detections and dismiss obvious false alarms, which provides the starting point for the automated updating of the visualization. In machine learning algorithms, this information can be used to retrain or refine the classifier. However, this retraining process is appropriate only when future sensor data are expected to closely resemble the current set. For many applications, the sensor data characteristics (viewing geometry, resolution, clutter complexity, prevalence and types of confusers) are likely to change from one data collection to the next. For this reason, updating the visualization for the current data set, rather than updating the classifier for future processing, may prove more effective. This paper presents an adaptive visualization technique and illustrates the technique with applications.

Subjects: AUTOMATED SYSTEMS, DETECTION, SENSORS

Jang, D.; Wendelken, S.M.; Irvine, J.M.

Robust Human Identification Using ECG: Eigenpulse Revisited

SPIE Defense, Security and Sensing, Orlando, FL, 4/5/2010-4/9/2010. Sponsored by: SPIE (Draper report no. P-4962)

Abstract: Biometrics, such as fingerprint, iris scan, and face recognition, offer methods for identifying individuals based on a unique physiological measurement. Recent studies indicate that a person's electrocardiogram (ECG) may also provide a unique biometric signature. Several methods for processing ECG data have appeared in the literature and most approaches rest on an initial detection and segmentation of the heartbeats. Various sources of noise, such as sensor noise, poor sensor placement, or muscle movements, can degrade the ECG signal and introduce errors into the heartbeat segmentation. This paper presents a screening technique for assessing the quality of each segmented heartbeat. Using this technique, a higher quality signal can be extracted to support the identification task. We demonstrate the benefits of this quality screening using a principal component technique known as eigenpulse. The analysis demonstrated the improvement in performance attributable to the quality screening.

Subjects: BIOMETRICS, ELECTROCARDIOGRAM (ECG), SCREENING

Jang, J.-W.; Plummer, M.K.; Bedrossian, N.S.; Hall, C.; Spanos, P.D.

Absolute Stability Analysis of a Phase Plane Controlled Spacecraft

20th Spaceflight Mechanics Meeting, San Diego, CA, 2/14/2010-2/17/2010. Sponsored by: AAS/AIAA (Draper Report no. P-4965)

Abstract: Many aerospace attitude control systems utilize phase plane control schemes that include nonlinear elements such as dead zone and ideal relay. To evaluate phase plane control robustness, stability margin prediction methods must be developed. Absolute stability is extended to predict stability margins and to define an abort condition. A constrained optimization approach is also used to design flex filters for roll control. The design goal is to optimize vehicle tracking performance while maintaining adequate stability margins. Absolute stability is shown to provide satisfactory stability constraints for the optimization.

Subjects: STABILITY, SPACECRAFT

Jones, T.B.; Leammukda, M.G.

Requirements-Driven Autonomous System Test Design: Building Trusting Relationships

International Test and Evaluation Association (ITEA) Live Virtual Constructive Conference, El Paso, TX, 1/11/2010-1/14/2010 (Draper report no. P-5018)

Abstract: Formal testing of autonomous systems is an evolving practice. For these systems to transition from operating in restricted (or completely isolated) environments to truly collaborative operations alongside humans, new test methods and metrics are required to build trust between the operators and their new partners. There are no current general standards of performance and safety testing for autonomous systems. However, we propose that there are several critical system-level requirements to consider for an autonomous system that can efficiently direct the test design to focus on potential system weaknesses: environment uncertainty, frequency of operator interaction, and level of assertiveness. We believe that by understanding the effects of these system requirements, the test engineers - and the systems engineers - will be better poised to develop validation and verification plans that expose unexpected system behaviors early, ensure a quantifiable level of safety, and ultimately build trust with collaborating humans. To relate these concepts to physical systems, examples will be related to experiences from the DARPA Urban Challenge autonomous vehicle race project in 2007 and other relevant systems.

Subjects: AUTONOMOUS SYSTEMS, HUMAN COMPUTER INTERACTION (HCI), TESTING

Kahn, A.C.; Kolitz, S.E.; Abramson, M.R.; Carter, D.W.  

Human-System Collaborative Planning Environment for Unmanned Aerial Vehicle Mission Planning

Infotech at Aerospace Conference, Atlanta, GA, 4/20/2010-04/22/2010. Sponsored by: AIAA (Draper report no. P-5004)

Abstract: With recent advances in unmanned aerial vehicle (UAV) technology, UAVs are finding uses beyond their traditional "patrol drone" role. UAVs are increasingly valued as unmanned sensor platforms capable of performing imaging in a variety of domains. However, flight planning for UAVs is still an emerging discipline, and in practice, is often performed by hand. We describe an automated planner and graphical user interface designed to assist an operator in mission planning for a single UAV imaging ground target. Over time, the planner has evolved from a purely automated flight planner into a human-system collaborative planning environment. The resulting software package is flexible and powerful, allowing many different degrees of human-system collaboration.  The planner has been used to support NASA's Western States Fire Missions and may also prove to be useful in many other domains.

Subjects: UNMANNED AERIAL VEHICLES (UAV), HUMAN SYSTEM INTERFACE, MISSION PLANNING

Keshava, Nirmal

Detection of Deception in Structured Interviews Using Sensors and Algorithms

SPIE Defense, Security and Sensing, Orlando, FL, 4/5/2010-4/9/2010. Sponsored by: SPIE (Draper report no. P-5049)

Abstract: Human Signals and Systems is a multidisciplinary technology area within Draper Laboratory focusing on the research and development of systems attempting to make inferences based on measurements of humans or the behavior of humans. See paper for full abstract.

Subjects: SENSORS, ALGORITHMS

Kessler, L.J.; West, J.J.; McClung, K.; Miller, J.; Zimpfer, D.J.

Autonomous Operations for the Next Generation of Human Space Exploration

SpaceOps, Huntsville, AL, 4/25/2010-4/30/2010. Sponsored by: AIAA (Draper report no. P-5080)

Abstract: Currently, a majority of Space Shuttle and International Space Station (ISS) operations are heavily supported by ground control teams and require crew intervention for even routine onboard operations. To achieve the success and efficiencies necessary to support the National Aeronautics and Space Administration's (NASA's) envisioned manned exploration programs, technology programs, and commercial objectives, a higher level of autonomous operations is needed. Candidate autonomous operations needed for next-generation missions may include robotic descent and landing, surface exploration, human/robotic cooperation, on-orbit refueling, and routine inspection and maintenance of systems, to name just a few. Meeting the level of autonomy needed to perform these tasks requires flexible architectures and new tools. The new tools must be able to both plan and execute the operations of multiple systems while working collaboratively with mission operators and/or flight crews. Additionally, these capabilities need to be demonstrated incrementally through the use of ground systems, prototypes, or even ISS prior to the next-generation missions to minimize safety and mission success risks. This paper proposes concepts and an approach for achieving higher levels of autonomy for human space operations.

Subjects: AUTONOMOUS SPACE SYSTEMS, SPACE EXPLORATION

Larson, D.N.

New Method for Processing Banked Samples

Biospecimen Research Network (BRN) Symposium, Bethesda, MD, 3/24/2010-3/25/2010. Sponsored by: National Cancer Institute (NCI) (Draper report no. P-5087)

Abstract: This is a presentation outlining a new method for processing banked samples.

Subjects: BIOMEDICINE, SAMPLES, AUTOMATION

Larson, D.N.

Smart Medical Devices: What Are They and Why Should You Care?

University of South Florida's Nano-Bio Collaborative Conference, Tampa, FL, 3/11/2010-3/12/2010. Sponsored by: University of South Florida (Draper report no. P-5078A)

Abstract: Nanotechnology offers the potential for new and improved products that leverage unique performance characteristics that exist only at the nanoscale. However, before nanotechnology can deliver on this potential, new products and processes must be identified that truly benefit from these unique performance characteristics. In this talk, I will describe a class of medical devices that stand to benefit from a broad range of technological advances, including nanotechnology. These medical devices, integrate sensing, analysis, and actuation providing closed-loop control. We call them "Smart Medical Devices," and if properly defined and targeted, stand to deliver healthcare outcomes that we expect will play an important role in addressing the crisis in healthcare financing.

Subjects: NANOTECHNOLOGY, MEDICAL DEVICES

Larson, D.

Transitioning Research into Operations: A View from Healthcare

NASA Human Research Program Investigators’ Workshop, Houston, TX, 2/3/2010-2/5/2010. Sponsored by: NASA/NASA Space Biomedical Research Institute (NSBRI) (Draper Report no. P-5046)  

Abstract: What is needed to succeed in transitioning research into operations? Transparent process. Good understanding of the mission. Appropriate culture.

Subjects: RESEARCH AND DEVELOPMENT, OPERATIONS

Lim, S.; Lane, B.F.; Moran, B.A.; Henderson, T.C.; Geisel, F.A.

Model-Based Design and Implementation of Pointing and Tracking Systems: From Model to Code in One Step

33rd Guidance and Control Conference, Breckenridge, CO, 2/6/2010-2/10/2010. Sponsored by: AAS (Draper Report no. P-5015)

Abstract: The paper presents an integrated model-based design and implementation approach of pointing and tracking systems that can shorten the design cycle and reduce the development cost of guidance navigation, and control (GN&C) flight software. It provides detailed models of critical pointing and tracking system elements, such as gyros, reaction wheels, and telescopes, as well as essential pointing and tracking GN&C algorithms. The paper describes the process of developing models and algorithms followed by direct conversion of the models into software for software-in-loop and hardware-in-loop tests. A representative pointing system is studied to provide valuable insights into the model-based GN&C design.

Subjects: GUIDANCE NAVIGATION, AND CONTROL (GN&C), FLIGHT SOFTWARE, ALGORITHMS

Marchant, C.C.

Ares I Avionics Introduction

AIAA Webinar, Huntsville, AL, 2/11/2010. Sponsored by: AIAA (Draper report no. P-5051)

Abstract: Presentation Outline: Ares I Architecture Overview, Human Rating Requirements, Ares I Avionics Architecture Overview, Maintaining Critical Functionalities through Redundancy.

Subjects: ARES I, AVIONICS

Matranga, M.J.

Draper Multichip Modules for Space Applications

ChipSat Workshop, Providence, RI, 2/18/2010. Sponsored by: Brown University (Draper report no. P-5062)

Abstract: This is a poster presentation describing the processing and application of multichip modules.

Subjects: MULTICHIP MODULES (MCM), SPACE APPLICATIONS

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

Development of a Micropump for Dispensing Nanoliter-Scale Volumes of Concentrated Drug for Intracochlear Delivery

33rd Association for Research in Otolaryngology (ARO) Midwinter Meeting, Anaheim, CA, 2/6/2010-2/11/2010. Sponsored by: ARO (Draper Report no. P-5044)

Abstract: We are developing a fully-implantable, microelectromechanical system (MEMS)-based device for long-term precision-controlled drug delivery directly to the inner ear. The device operates through a single implanted cannula dispensing a fixed volume over a few seconds into the cochlea and slowly withdrawing the same amount over a few minutes. The fluid delivery system consists of a microliter-scale displacement chamber for dispensing and withdrawing fluid and a micropump and valve system for dispensing smaller volumes of concentrated drug into the injection line flow stream. Because of the need to limit drug storage volume in an implantable device, drugs must be highly concentrated and therefore dispense rates must be controlled at the microliter/minute level. In order to enable a wearable system for long-term animal experiments and ultimately a fully implantable device, we are developing a miniature, low-power delivery system with the requisite precision flow control. Our prototype micropump is a positive displacement pump composed of an electromechanical actuator, a membrane-based displacement chamber, and two inline check valves, all integrated on a substrate composed of machined and laminated polymer sheets. The volume of the fluidic components of the pump is less than 30 mm³. We have demonstrated controlled dispense volumes over the range 5 to 125 nanoliters and flow control from 0 to 25 microliter/min by varying the duty cycle of the input square wave voltage to our electromechanical actuator.

Subjects: INNER EAR, DRUG DELIVERY, MICROELECTROMECHANICAL SYSTEMS (MEMS), DEVICES

Middleton, A.; Paschall II, S.C.; Cohanim, B.E.

Small Lunar Lander/Hopper Performance Analysis

Aerospace Conference, Big Sky, MT, 3/6/2010-3/13/2010. Sponsored by: IEEE (Draper Report no. P-4979)

Abstract: The goal of this paper is to describe a first-order performance analysis of a lunar hopper. A hopper is a vehicle that has both landing and surface mobility capabilities on a single platform. Unlike rovers, which traverse the lunar surface while in contact with the ground, hopping reuses the landing propulsion system to lift back off again and “hop” over the lunar terrain. Hopping, as a form of surface mobility, is a novel concept. As such, analysis must be performed to assess how it would fit with an overall lunar landing system architecture. Two trajectory categories are investigated to perform this assessment: the ballistic hop, where the vehicle launches itself into a ballistic trajectory toward the destination, and the hover hop, in which the vehicle ascends and maintains a constant altitude as it travels toward its desired location. Initially, parametric studies of the ballistic and hover hop are carried out in order to make observations about the performance of each hop. Using these data, it is possible to investigate the fuel-optimal hop trajectory. The delta-V costs for the ballistic and hover hops are compared for hop distances between 500 m and 5000 m, and in this range it is found that the ballistic hop and hover traverse have comparable delta-V costs. For the entire hop maneuver, however, the hover hop will always be the more delta-V expensive option due to the ascent and descent phases. Nevertheless, this does not rule out the hover hop as a feasible option.

Subjects: LUNAR EXPLORATION, TRAJECTORIES, LUNAR LANDING

Mohiuddin, S.; Donna, J.I.; Axelrad, P.; Bradley, B.

Improving Sensitivity, Time to First Fix, and Robustness of GPS Positioning by Combining Signals from Multiple Satellites

35th Joint Navigation Conference (JNC), Orlando, FL, 6/7/2010-6/10/2010. Sponsored by: Joint Services Data Exchange (JSDE) (Draper report no. P-5047)

Abstract: Growing interest in navigating in weak GPS signal environments is motivating research into new navigations systems and augmentations to existing systems. Most approaches to increasing receiver sensitivity involve lengthening the coherent and noncoherent integration times used during signal acquisition and tracking, an approach that often requires a large amount of computation and significant and expensive hardware modifications. This presentation will introduce a complementary but fundamentally different approach that enhances signal sensitivity by combining the received power from multiple GPS satellites in a direct-to-navigation-solution algorithm.

Subjects: GLOBAL POSITIONING SYSTEM (GPS), SIGNALS, ALGORITHMS

Putnam, Z.R.; Barton, G.H.; Neave, M.D.

Entry Trajectory Design Methodology for Lunar Return

Aerospace Conference, Big Sky, MT, 3/6/2010-3/13/2010. Sponsored by: IEEE (Draper Report no. P-4811)

Abstract: A methodology for exploring the design space for lunar return entry trajectories and vehicle design is proposed, using the Orion Crew Exploration Vehicle as an example. This methodology simplifies the vehicle and trajectory design space by focusing on two entry parameters: flight-path angle at entry interface and hypersonic lift-to-drag ratio. Flight-path angle is a governing trajectory design parameter, while lift-to-drag ratio captures entry vehicle performance. Landed accuracy, aeroheating, deceleration, other entry constraints are addressed within the design space. Several entry trajectory scenarios are examined, consistent with the current Orion concept of operations. Analysis and evaluation of parameters is accomplished through high-fidelity six-degree-of-freedom simulation using NASA’s Antares simulation. Monte Carlo analysis indicates that the proposed methodology provides a valid means of designing entry trajectories to maximize performance margin while satisfying constraints for a given vehicle capability. Additionally, results indicate that, while performance margin decreases with increasing entry range and lower lift-to-drag ratios, adequate performance margin exists for the Orion Crew Module for the current lunar return concept of operations and vehicle design.

Subjects: LUNAR EXPLORATION, CREW EXPLORATION VEHICLES (CEV), ENTRY TRAJECTORIES

Putnam, Z.R.; Neave, M.D.; Barton, G.H.

PredGuid Entry Guidance for Orion Return from Low Earth Orbit

Aerospace Conference, Big Sky, MT, 3/6/2010-03/13/2010. Sponsored by: IEEE (Draper Report no. P-4922)

Abstract: When returning from low Earth orbit, Orion will perform a lifting atmospheric entry with precision landing using the PredGuid entry guidance algorithm.  The PredGuid algorithm is designed to guide Orion to the desired landing site while accounting for vehicle and environment uncertainties and day of flight dispersions during atmospheric entry. The low Earth orbit mode of the PredGuid entry guidance algorithm consists of three phases: the Initial Roll Phase, which maintains proper entry attitude and steers the vehicle to proper transition conditions for the Final Phase; the Final Phase, a terminal point guidance algorithm that uses a stored reference trajectory to steer out range error and achieve precision landing; and the Terminal Phase, which seeks to null the remaining crossrange error through a simple proportional steering law. Simulation results indicate that the PredGuid algorithm provides precision landing capability to Orion as well as significant robustness to day of-flight uncertainties and dispersions.

Subjects: ENTRY GUIDANCE, CREW EXPLORATION VEHICLES (CEV), PRECISION LANDING SYSTEMS (PLS)

Steinfeldt, B.A.; Grant, M.J.; Matz, D.A.; Braun, R.D.; Barton, G.H.

Guidance, Navigation, and Control System Performance Trades for Mars Pinpoint Landing

AIAA Journal of Spacecraft and Rockets, Vol. 47. No. 1, 2010 (Draper Report no. P-4909)

Abstract: Landing site selection is a compromise between safety concerns associated with the site’s terrain and scientific interest. Therefore, technologies enabling pinpoint landing performance (sub-100 m accuracies) on the surface of Mars are of interest to increase the number of accessible sites for in situ research as well as allow placement of vehicles nearby prepositioned assets. A survey of the performance of guidance, navigation, and control technologies that could allow pinpoint landing to occur at Mars was performed. This assessment has shown that negligible propellant mass fraction benefits are seen for reducing the 3-sigma position dispersion at the end of the hypersonic guidance phase (parachute deployment) below approximately 3 km. Four different propulsive terminal descent guidance algorithms were examined. Of these four, a near propellant optimal, analytic guidance law showed promise for the conceptual design of pinpoint landing vehicles. The existence of a propellant optimum with regard to the initiation time of the propulsive terminal descent was shown to exist for various flight conditions. Subsonic guided parachutes were shown to provide marginal performance benefits due to the timeline associated with descent through the thin Mars atmosphere. This investigation also demonstrates that navigation is a limiting technology for Mars pinpoint landing, with landed performance being largely driven by navigation sensor and map tie accuracy.

Subjects: GUIDANCE NAVIGATION AND CONTROL (GN&C), LANDING, ALGORITHMS

Tamblyn, S.; Henry, J.R.; King, E.T.

Model-Based Design and Testing Approach for Orion GN&C Flight Software Development

Aerospace Conference, Big Sky, MT, 3/6/2010-3/13/2010. Sponsored by: IEEE (Draper Report no. P-4927)

Abstract: The Orion Crew Exploration Vehicle (CEV) Guidance, Navigation, and Control (GN&C) design and analysis team are developing the onboard GN&C flight software (FSW) algorithms using the Matlab/Simulink tool suite to embrace a Model-Based Development approach to FSW development. Various aspects of this modern approach are described, including software architecture, design approach, and modeling standards using Matlab/Simulink for the GN&C executive and its algorithmic Computer Software Unit (CSU) components. The methods employed for unit-level and closed-loop testing simulation, test environments, and the test and verification of the autogenerated code products are also presented.  Modeling benefits, process challenges and lessons learned to date are summarized.

Subjects: CREW EXPLORATION VEHICLES (CEV), GUIDANCE NAVIGATION AND CONTROL (GN&C), FLIGHT SOFTWARE

Tepolt, G.B.; Mescher, M.J.; LeBlanc, J.; Lutwak, R.; Varghese, M.

Hermetic Vacuum Sealing of MEMS Devices Containing Organic Components

Photonics West-MOEMS-MEMS, San Francisco, CA, 1/22/2010-01/27/2010. Sponsored by: SPIE (Draper report no. P-5006)

Abstract: Traditionally, the use of organics within a vacuum-sealed hermetic electronics package has been avoided. Organics, including adhesives, outgas and degrade over time, resulting in a rapid reduction in vacuum quality within a sealed device package. However, MEMS device fabrication is now blurring the lines between strictly electronic devices, which contain very few organic components, and electromechanical devices, whose secondary assembly steps require the integration of stable organics. The Chip-Scale Atomic Clock (CSAC) device developed and implemented with funding from DARPA by a team from the Symmetricom Technology Realization Center, Sandia National Laboratory, and Charles Stark Draper Laboratory, is a prime example of a device that integrates organics and chip-scale die into an assembly that requires operation within a good vacuum environment over the lifetime of the device. Through the use of analytical chemistry techniques such as thermogravimetric analysis (TGA), direct scanning calorimetry (DSC), and internal vapor analysis (IVA), we measured outgassing of assembly materials to be sealed in the package. We have been able to determine the magnitude of initial outgassing and to measure the stable vacuum pressure of complete sealed devices to within a few milliTorr. Comparison of these results with predictions based on IVA data of specific gas species and getter capacity has allowed us to optimize processing conditions (such as cure schedule for adhesives and vacuum bake-out profile before sealing) for minimal outgassing. This information has allowed us to design and build MEMS devices that require an internal vacuum level of <20 mTorr and seal them in hermetic packages without substantial degradation.

Subjects: MICROELECTROMECHANICAL SYSTEMS (MEMS), DEVICES, ORGANIC MATERIALS

Varsanik, J.S.; Teynor, W.A.; LeBlanc, J.; Clark, H.A.; Krogmeier, J.; Yang, T.; Crozier, K.; Bernstein, J.J. 

Subwavelength Plasmonic Readout for Direct Linear Analysis of Optically Tagged DNA

Photonics West-BIOS, San Francisco, CA, 1/23/2010-1/28/2010. Sponsored by: SPIE (Draper report no. P-4913)

Abstract: This work describes the development and fabrication of a novel nanofluidic flow-through sensing chip that utilizes a plasmonic resonator to excite fluorescent tags with subwavelength resolution. We cover the design of the microfluidic chip and simulation of the plasmonic resonator using Finite Difference Time Domain (FDTD) software. The fabrication methods are presented, with testing procedures and preliminary results. This research is aimed at improving the resolution limits of the Direct Linear Analysis (DLA) technique developed by U.S. Genomics. In DLA, intercalating dyes that tag a specific 8-base-pair sequence are inserted in a DNA sample. This sample is pumped though a nanofluidic channel where it is stretched into a linear geometry and interrogated with light that excites the fluorescent tags. The resulting sequence of optical pulses produces a characteristic "fingerprint" of the sample that uniquely identifies any sample of DNA. Plasmonic confinement of light to a 100-nm wide metallic nanostripe enables resolution of a higher tag density compared to free space optics. Prototype devices have been fabricated and are being tested with fluorophore solutions and tagged DNA. Preliminary results show evanescent coupling to the plasmonic resonator is occurring with 0.1-micron resolution, however, light scattering limits the S/N of the detector. Two methods to reduce scattered light are presented: index matching and curved waveguides.

Subjects: MICROFLUIDICS, SENSING DEVICES, RESONATORS

Zanetti, R.

Multiplicative Residual Approach to Attitude Kalman Filtering with Unit-Vector Measurements

Space Flight Mechanics Conference, San Diego, CA, 2/14/2010-2/17/2010. Sponsored by: AAS and AIAA (Draper report no. P-4982)

Abstract: Using direction vectors of unit length as measurements for attitude estimation in an extended Kalman filter inevitably results in a singular measurement covariance matrix. Singularity of the measurement covariance means no noise is present in one component of the measurement. Singular measurement covariances can be dealt with by the classic Kalman filter formulation as long as the estimated measurement covariance is nonsingular in the same direction. Unit vector measurements violate this condition since both the true measurement and the estimated measurement have perfectly known lengths. Minimum variance estimation for the unit vector attitude Kalman filter is studied in this work. An optimal multiplicative residual approach is presented. The proposed approach is compared with the classic additive residual attitude Kalman filter.

Subjects: ATTITUDE, KALMAN FILTERING, VECTORS