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Backup - Test Stop and Success Criteria, Pre-Test Verica/on Criteria Review, Test Ar/cle Descrip/on/Congura/on, Test Plan, Test Safety
2. Characterize
slosh
damping
3. Characterize
CG
management
4. Long
duraQon
engine
burn
and
steady
state
engine
temp
Demonstrate
Isp,
duraQon,
steady-state
temp
5. Wireless
FTS
end-to-end
(later
test)
6. Hi-Frequency
DFI
data
recording
(new)
!
3
2. 3.
Calibra/on of ight control propellant deple/on es/mator (later test, s/ll collec/ng ight data) Engine overpressure (5 ] height requires hi-frequency data)
Test
ModicaQons
Test
dura/on
extended
to
be
50
second
hover
(approx
total
60
seconds)
Modied
CG/weight
determina/on
(deferred
to
TT6)
Add
slosh
test
Add
VHF
FTS
signal
(deleted)
Add
TVS
experiment
(TBD
experiment
only,
not
required)
DFI
so]ware
trigger
Future
test
mods:
FTS,
2-channel
wireless
PWM
electronics
I-load
architecture
(could
be
a]er
free-ight)
5
Subsystem
Tests
Tether
load
characteriza/on,
complete
(see
following
chart)
GNC
so]ware
tes/ng
numerous
GNC
Actuator
test
(5/26,
10
am)
Flow
meter
test
(5/26,
1
pm)
could
get
some
accomplished
Friday,
need
APU
on
CG
measurement
and
procedure
development
(5/27,
10
am
setup
and
12:30
pm
start)
requires
all
vehicle
hardware
mounted
for
correct
weight/CG
GNC
Nav
x
hang
test
(concurrent
with
CG
test)
Slosh
procedure
development
(concurrent
with
CG
test)
DFI
SW
trigger
test
(5/27,
3:30
pm)
6
FTS
2nd
string
of
FTS
(VHF
signal)
removed
for
this
test
FSW
Scheduler
issue:
Fixed
5
ms
dri]
(was
default)
that
was
causing
the
1
Hz
spikes
Telemetry
updates
as
needed,
make
room
for
HDS,
freeze
COB
Friday
DS
updates
for
dierent
speed
recording,
evalua/ng
this
change
AFM Cleanup
Complete
Tamblyn
Complete
Tamblyn
Tamblyn
Assigned to Description GNC/FSW/ In progress Avionics Fix sensor data drop-out/skip issue. Complete, Add a low-pass filtered sensed acceleration redmine output in IMUPre (add to NAV_IMU_OUT_T structure). Add the raw and filtered Add UPP low pass filter 560 and on rates and accels 565 Christian acceleration data to telemetry. doneChange initial guidance redmine desensitize guidance early in the ascent to paradigm lateral position errors 563 Johnson I currently save off the ENU relative position the lander is at, and try to steer back to that point during an ascent. This point is currently snapshot when hop2 is first activated. If there's a large enough delay between guidance activation and engine ignition, the nav state will drift off some. I'd recommend donechanging the code to record the position at Change initial guidance redmine target 563 ignition instead. Johnson Revise iload paradigm and implementation Allow for greater flexibility in changing iloads. via the CFS table mechanism, or what we have currently in place made a bit spiffier.
10
Status
Later test
Crain
Nguyen, Crain
Complete Getchius
Complete Getchius OK for tether, still analyzing data Nguyen Will confirm with Fix 200 second SIGI motion test 5/27 Getchius spasm
New sch setup and Christian SIGI setup are causing major barfs every 200 seconds and once reset the processor.
11
Title
Status
Update sim sensor models from flight dataLater test In Progress Not currently Review impact of altimeter cutoff on nav seen as performance for hover issue Getchius Create a MET time in AFM
Assigned to Description Incorporate error characteristics of sensors into sim enviornment based on flight data Getchius Study impact of lost altimeter due to smoke / fire and verify altitude channel requirements can be met for hover Create a Mission Elapsed Time (MET) timer to output in AFM_OUT_T, to have another timestamp source. Create a more robust method for handling data drop-outs in the SIGI reverse filter in IMUPre. data structure/telemetry scrub and make sure we're getting enough info for both ops and postflight. For example, I'd like to get the CG location estimate from control in the downlink, since that value is used in guidance's footpad-to-ground altitude calc.
Complete
Tamblyn
Add more robust data drop out response in Complete redmine 561 Christian IMU Pre
12
Structures
Re-stack
energy
absorber,
gekng
materials
today
need
to
sort
and
assemble
13
DFI so]ware trigger completed and tested, Friday test External power switch - in work, comple/on by Friday
Vehicle
Maintenance
Torque
all
kngs
and
check
all
fasteners,
throTle
valve
clutch
(Eric),
to
use
new
torque
sekng,
add
torque
stripes
To
be
completed
by
COB
Friday
Engine
Cleaning
(Morehead)
6 Ghe hose
15
TVS
experiment
Ac/ons
required
for
inclusion
in
TT5
Install
TVS
valve
voltage
trace
and
two
thermocouple
DAQ
channels
Review
possibility
of
adding
fuse
to
prevent
damage
of
vehicle
Generate
test
procedures
/
test
matrix
for
opera/on
Fabricate
(bend
tubing),
clean
components
(valves
already
cleaned),
leak
check,
and
insulate
Perform
a
pre-test
func/onal
with
system
complete
on
the
ground
before
ight
Install
high
frequency
accelerometer
near
TVS
valve
16
Procedures
Issues/Mods
New
balance/CG
determina/on
procedure
(Move
to
TT6)
Methodology
presented
at
5/18
MRCB
Pad
crew
to
balance
LOX
to
within
target
balance
+/-
10
lb
(GNC
requires
8
kg
or
LESS
delta
between
tanks)
GHe
trailer
used
to
push
LOX/LNG
(moved
to
TT6)
Using
tube
trailer
helium
will
not
result
in
increased
loading
/me,
rela/ve
to
our
current
setup,
because
our
current
loading
process
uses
helium
sourced
down
to
approximately
400
psig
from
R-boTles.
The
tube
trailer
will
have
at
least
this
much
pressure
available,
and
it
has
a
larger
regulator
and
supply
hose.
Loading informa/on: 450 lb LNG 716 lb LOX Added slosh test procedures (following pages)
17
Test
Approach
Fill
each
set
of
vehicle
propellant
tanks
to
two
dierent
ll
levels
for
tes/ng
LNG
tes/ng
planned
for
Tether
Test
#5
LOX
tes/ng
planned
for
Tether
Test
#6
Both
propellants
tested
in
Tether
Test
#7
(?)
At each ll level, raise vehicle and push/pull on structure to excite natural frequency of system Release vehicle and record mo/on with onboard IMU Analyze IMU data and compare to model values being used
18
19
21
22
23
Safety brief, 0745 Proposed start /me, 0815 Predicted Tether test, 1220
Fire
PrevenQon
Mowing
to
occur
Tuesday
AM
25
Test
Schedule
Tether
#5
(60
second
hover)
scheduled
for
6/01/2011
Tether
#6
scheduled
for
6/07/2011
Objec/ves
TBD
26
BACKUP
27
28
Success
Criteria
Success
Criteria
Stable
engine
igni/on
Handover
to
GNC
FSW
Stable
ver/cal
transla/on
Stable
hover
with
acceptable
gimbal
posi/on
Acceptable
engine
wear
Steady-State
engine
temperature
reached
Acceptable
slosh
damping
(damping
ra/o
of
>
0.25)
Subsystem
lead
concurrence
All
subsystem
leads
are
sa/sed
that
their
subsystem
is
ready
for
tethered
tes/ng
FTS
has
been
veried
end-to-end
during
an
engine
ring
All
hot
re
mandatory
verica/ons
have
been
completed
29
Mo/on
Imagery.
Verica/on
that
the
imagery
system
captures
hi-def
mo/on
imagery
star/ng
with
igni/on
sequence
and
ending
with
vehicle
touchdown
(Completed
in
TT3/4?)
Items
that
were
in
original
verica/on
planning:
Trajectory
Updates.
Verica/on
that
Morpheus
will
accept
updates
to
the
guidance
reference
trajectory
during
powered
ight
(Complete?)
Vehicle
Turnaround:
Verica/on
that
the
Morpheus
vehicle
is
capable
of
re-ight
within
2
hours
(Later
test)
30
Test
ObjecQves
Primary
Objec/ves,
Integrated
dynamic
test
of
full
vehicle:
1. Closed-loop GNC with 3-axis attitude control (hover stability, vertical translation)!
a) b) c) d) e) f) g) Test of tank loading CG management and/or knowledge handoff to GNC! Test of throttle up stability ! Test of hover stability! Test of navigation system in dynamic ight! Test of complete ight activation and shutdown sequence by AFM! Demonstration of robustness to wind and ground prop interaction! Roll control including roll control impulse bit!
2. 3. 4. 5.
Characterize slosh damping! Characterize CG management! Long duration engine burn (TT Day 2) and steady state engine temp! Wireless FTS end-to-end (TT Day 2+)!
31
Test
ObjecQves
Secondary Objectives:!
1. GNC !
a) b) Possible test of soft abort command during hover ight condition! Possible test of hard abort command during hover ight condition!
32
Mo/on
Imagery.
Verica/on
that
the
imagery
system
captures
hi-def
mo/on
imagery
star/ng
with
igni/on
sequence
and
ending
with
vehicle
touchdown
Items
that
were
in
original
verica/on
planning:
Trajectory
Updates.
Verica/on
that
Morpheus
will
accept
updates
to
the
guidance
reference
trajectory
during
powered
ight
Vehicle
Turnaround:
Verica/on
that
the
Morpheus
vehicle
is
capable
of
re-ight
within
2
hours
33
Strain gauges 100 Hz 4 sets of full bridges each tank {FT1 and FT3 (1 LOX & 1 LCH4 tank)}
APU
DFI
FT3 SN1005 Methane
8 LF triaxial accels (24 LF channels) {on top boss and near boTom boss on frame of each tank}
2 Thermocouples (2 TC channels) 2.1 Hz {on top and boTom of frame} Channel Count 8 HF channels 41 LF channels 30 TC channels 8 strain gauge full bridges
Landing pad load cells were deleted. 2 cameras added. Other minor changes.
34
Primary Structure
35
Crane Shield
37
Install
crane
shield
over
crane
cab
Evacuate
Cryo
dewars
and
baTery
cart
Transfer
to
full
GHe
tube
and
set
supply
regulator
to
300
psig
Clear
pad
crew
and
riggers
to
>=
1000
]
Pressurize
vehicle
to
ight
pressure
(~220
psig
target)
Crane cab Shield
5 GHe QD
38
20
5 Ghe QD
39
~5
40
5 - x
41
Vent line
42
Test
Safety
Phase
Leak
Check
Commodity
GHe
or
GN2
Pressure
Less
than
50
PSIG
Personnel
Distance
32
for
10
min
0
a]er
10min
15
0
a]er
ow
stop
32
for
10
min
0
a]er
10min
15
0
a]er
ow
stop
32
for
10
min
0
a]er
10
min
1000
1000
to
0
RaQonal
Over
Pressure
Safe
@32
Improbable
Rupture
Safe
@
15
Improbable
Rupture
Safe
@
32
Improbable
Rupture
Safe
@
15
Improbable
Rupture
Safe
@
32
Improbable
Rupture
Safe
@
1000
Improbable
Rupture
RaQonal
FragmentaQon
Duc/le
Non
Credible
Duc/le
Non
Credible
Duc/le
Non
Credible
Duc/le
Non
Credible
Duc/le
Non
Credible
Safe
@
1000
Non
Credible
Cold Flow
LN2 Loading LN2 w/ GHe LOX and LCH4 Loading GHe Press Leak Check Ghe Flight Press Post Test
Hot Fire
Fill at 25 PSIG Tank Less than 25 PSIG Press to 45 PSIG Press to 235 PSIG Depress to 50 PSIG
Note Improbable Rupture due to quiescent linear strain in the membrane Non Credible due to unlikely rupture and unlikely shrapnel.
Goggles, face shield, cryo apron and gauntlet gloves, cuffless trousers, sturdy shoes Post-cryo fill vehicle ops, Safety glasses, hearing tank pressure <50 psig protection (for manual venting), cryo gloves (when contacting wetted surfaces) Cryo offloading/dumping Goggles, face shield, cryo tank pressure <50 psig apron and gauntlet gloves, (PAD personnel) cuffless trousers, sturdy shoes, hearing protection Cryo offloading/dumping, Hearing protection if within tank pressure <50 psig 150 feet (non essential personnel) Post-powered ops, tank Safety glasses, hearing pressure <50 psig protection (for manual venting), cryo gloves (when contacting wetted surfaces or hot surfaces)
*All Morpheus personnel are expected to intervene any time they observe team members or visitors not in compliance with these requirements. Help keep your team members and the public safe!