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This final report describes the work done by Dr. Marc Hairston and Dr. Rod Heelis on NASA SR&T grant NAGW-4411 studying the theta aurora using DE-1 ultraviolet imager data and DMSP particle data. This report covers the period from summer 1995 through summer 1996 along with a review of the previous work. Previous work on this grant looked at the time period from the launch of DMSP-F8 in June 1987 through the end of mission of DE-1 in summer 1991. Despite the sporadic and decreasing frequency of observations from DE-1 over this time period, we were able to identify six events for study where the DE-1 imager observed a theta aurora occurring during a period in which the DMSP-F8 satellite flew through the region of the aurora at an altitude of 800 km. We focused on the best two events where the theta aurora persisted for an extended period so that we could observe the DMSP particle signatures in both the hemisphere observed by DE-1 and in the other polar hemisphere immediately before or afterwards. These results were presented at the Fall 1994 meeting of the AGU. Initially we had hoped to expand on this work. However, further work showed that none of these events gave a clear enough signature in the DMSP data for us to identify a theta aurora in the hemisphere opposite to the hemisphere imaged by DE-1. Without that, there were no results from this work that were new enough to warrant publication. So instead we used the final year of the grant to work with our colleague, J. A. Cumnock on a similar project using DE data to study the evolution of theta auroras as a function of the IMF A paper from that work was published which acknowledged this grant and a copy of that paper is included with this final report.
This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.
This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.
This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.
This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.
We report on coordinated high-altitude satellite observations in support of one of the first space-based very low frequency (VLF) wave injection experiments, namely the USSR Aktivny mission. The Aktivny satellite (A) was designed to carry a VLF transmitter (nominal frequency approximately 10 kHz, transmitter power approximately 10 kW) coupled to a 20-m-diameter loop antenna in a nearly polar orbit (83 deg inclination, apogee approximately 2500 km, perigee approximately 500 km). We focus our attention on conjunction experiments between the Aktivny and DE 1 satellites. Because of problems in the deployment of the loop antenna, the radiated power capability of the antenna was significantly reduced. Although this substantially reduced the expectation of receiving detectable signal levels on the satellite, the DE 1/Aktivny conjunction experiments were nevertheless carried out as a means of possibly placing an upper limit on the radiated power. During the period November 1989 through April 1990, a total of 10 DE 1/Aktivny wave injection sessions were conducted. During each session the Aktivny transmitter operated at 10.537 kHz with 1 s On - 1 s Off format, for a period of 6 min centered around the conjunction time. During three conjunction periods (December 12, 26, and 27, 1989) both DE 1 and Aktivny were in the southern hemisphere, and DE 1 was at relatively low altitudes (ranging from 6211 to 14,810 km), thus providing the best conjunction possibilities according to the ray tracing criteria developed above. On most days, Omega transmitter signals as well as commonly occuring natural wave phenomena such as whistlers (0(+)) and hiss were clearly seen well above the background level, but there was no evidence of the Aktivny 1 s On/ 1 s Off pattern. Though no Aktivny signals were detected by the LWR on the DE 1 satellite, the experimental constraints allow us to place an upper limit on the total power radiated by the Aktivny transmitter in the whistler-mode. Using experimental parameters, and the minimum detectable signal level of 0.05 muV/m for LWR, we find the upper limit on the total power radiated by the Aktivny satellite in the whistler-mode to be approximately 10 mW. Several recommendations for future space-based wave injection experiments are presented.
An investigation has been made in the NACA Cleveland icing research tunnel to determine the de-icing effectiveness of an experimental configuration of an Internal electric propeller-blade heater. Two atmospheric Icing conditions and two propeller operating conditions were Investigated, In experiments with unheated blades and with heat applied to the blades both continuously and cyclically. Data are presented to show the effect of propeller speed., ambient air temperature and liquid-water concentration, and the duration of the heat-on and cycle times on the power requirements and de-Icing performance of the blade heaters. The extent of ice-covered area on the blades for various icing ax4 operating conditions has been determined. The largest iced area was obtained at the higher ambient-air temperatures and at low propeller speed. The ohord.wise extent of Icing In practically every case was greater than that covered by blade heaters. Adequate de-icing in the heated area with continuous application of heat was obtained with the power available but a maximum power, input of 1250 watts per blade was insufficient for cyclic de-Icing for the range of conditions investigated. Blade-surface temperature rates of rise of 0.2 to 0.7 F per second were obtained and the minimum cooling period for cyclic de-icing was found to be approximately 2-1/2 times the heating period.
Convergence rates between the Juan de Fuca and North American plates are calculated by means of their relative, present-day pole of rotation. A method of calculating the propagation of errors in addition to the instantaneous poles of rotation is also formulated and applied to determine the Euler pole for Pacific-Juan de Fuca. This pole is vectorially added to previously published poles for North America-Pacific and 'hot spot'-Pacific to obtain North America-Juan de Fuca and 'hot spot'-Juan de Fuca, respectively. The errors associated with these resultant poles are determined by propagating the errors of the two summed angular velocity vectors. Under the assumption that hot spots are fixed with respect to a mantle reference frame, the average absolute velocity of the Juan de Puca plate is computed at approximately 15 mm/yr, thereby making it the slowest-moving of the oceanic plates.
De-icing of aircraft by using the electro-magnetic impulse phenomenon was proposed and demonstrated in several European countries. However, it is not available as a developed system due to lack of research on the basic physical mechanisms and necessary design parameters. The de-icing is accomplished by rapidly discharging high voltage capacitors into a wire coil rigidly supported just inside the aircraft skin. Induced eddy currents in the skin create a repulsive force resulting in a hammer-like force which cracks, de-bonds, and expels ice on the skin surface. The promised advantages are very low energy, high reliability of de-icing, and low maintenance. Three years of Electo-Impulse De-icing (EIDI) research is summarized and the analytical studies and results of testing done in the laboratory, in the NASA Icing Research Tunnel, and in flight are presented. If properly designed, EIDI was demonstrated to be an effective and practical ice protection system for small aircraft, turbojet engine inlets, elements of transport aircraft, and shows promise for use on helicopter rotor blades. Included are practical techniques of fabrication of impulse coils and their mountings. The use of EIDI with nonmetallic surface materials is also described.
The outer planet positions of JPL's recent planetary ephemeris, DE 202, have begun to show significant differences from DE 200, the basic ephemeris of the major national almanacs. The differences DE 202 - DE 200 are plotted and are assumed to approximate the errors of DE 200. For Jupiter, the difference in right ascension varies over the planet's 12 yr period between -0.1 and -0.2 arcsec throughout the century; for Saturn, the right ascension also varies over the 30 yr period, but in addition, shows a drift which reaches -0.25 arcsec at present; for Uranus, the difference is small through the first half of the century, but now has reached -0.4 arcsec; for Neptune, the error was +0.6 arcsec at 1900 and is near -1.0 arcsec by the year 2000; the error for Pluto exceeds +2.0 arcsec by the end of the century and is rapidly increasing. The declination errors are generally periodic and smaller than the right ascensions.
A one-dimensional hybrid satellite track model has been developed to calculate the high-latitude thermospheric/ionospheric structure below the satellite altitude using Dynamics Explorer 2 (DE 2) satellite measurements and theory. This model is based on Emery et al. (1985) satellite track code but also includes elements of Roble et al. (1987b) global mean thermosphere/ionosphere model. A number of parameterizations and data handling techniques are used to input satellite data from several DE 2 instruments into this model. Profiles of neutral atmospheric densities are determined from the Mass Spectrometer Incoherent Scatter 1990 (MSIS-90) model and measured neutral temperatures. Measured electron precipitation spectra are used in an auroral model to calculate particle impact ionization rates below the satellite. These rates are combined with a solar ionization rate profile and used to solve the O(+) diffusion equation, with the measured electron density as an upper boundary condition. The calculated O(+) density distribution, as well as the ionization profiles, are then used in a photochemical equilibrium model to calculate the electron and molecular ion densities. The electron temperature is also calculated by solving the electron energy equation with an upper boundary condition determined by the DE 2 measurement. The model enables calculations of altitude profiles of conductivity and Joule heating rate along and below the satellite track. In a first application of the new model, a study is made of thermospheric and ionospheric structure below the DE 2 satellite for a single orbit which occurred on October 25, 1981. The field-aligned Poynting flux, which is independently obtained for this orbit, is compared with the model predictions of the height-integrated energy conversion rate. Good quantitative agreement between these two estimates has been reached. In addition, measurements taken at the incoherent scatter radar site at Chatanika (65.1 deg N, 147.4 deg W) during a DE 2 overflight are compared with the model calculations. A good agreement was found in lower thermospheric conductivities and Joule heating rate.
Khabarovsk transmitter signals (15.0 kHz, 48 deg N, 135 deg E) were observed on the high-altitude (approximately 15000 km) Dynamic Explorer 1 (DE 1) and the low-altitude (approximately 960) km COSMOS 1809 satellites during a 9-day period in August 1989. On 7 out of 9 days the linear wave receiver (LWR) on the DE 1 satellite also detected signals from the Alpha transmitter (11.9-15.6 kHz) in Russia and an Omega transmitter (10.2-13.6 kHz) in Australia, as well as natural VLF emissions such as hiss, chorus, whistlers, and wideband impulsive signals. On two days, August 23 and 27, 1989, observations of the Khabarovsk transmitter signals were simultaneously carried out at high altitude on thre DE 1 satellite and at low altitude on the COSMOS 1809 satellite. Analysis of data from these 2 days has led to several new results on the propagation of whistler mode signals in the Earth's magnetosphere. New evidence was found of previously reported propagation phenomena, such as (1) confinement of transmitter signals in the conjugate hemisphere at ionospheric heights (approximately 1000 km), (2) observation of direct multipath propagation on both DE 1 and COSMOS 1809, (3) detection of ionospheric irregularities of is less than or equal to 100 km scale size with a few percent enhancement in electron density. We also report the first direct detection of a magnetospheric dust at L = 2.94 which was believed to be responsible for the ducted propagation of Khabarovsk signals observed in the COSMOS 1809 satellite. Our study also indicates that duct end points can extend down to at least approximately 1000 km. The peak electric and magnetic fields of ducted Khabarovsk transmitter signals at approximately 1000 km were 520 micro V/m and 36 pT respectively. Estimated field strengths of these signals inside the dust at the geomagnetic equator were 57 micro V/m and 12 pT for electric and magnetic field respectively. The results of two-dimensional ray tracing simulations were consistent with the observations of the nonducted whistler-mode propagation of Khabarovsk (15 kHz) and Alpha (11.9 kHz) signals from the transmitter location to the DE 1 and COSMOS 1809 satellites. Our results have direct implications for the question of accessibility of waves injected from the ground to various regions of the ionosphere and the magnetosphere.
Work performed during the second half of Year 1 of the contract is summarized. The primary objective of the work is to derive global dayside thermospheric oxygen concentrations from DE-1 far ultraviolet imaging data which we are considering under both magnetically quiet and disturbed times. Work to date has been more qualitative in producing maps showing intensity variations beyond those that can be explained by changes in solar zenith angle (SZA) and look angle across an image (Craven et al., 1995; Meier et al., 1994; Gladstone, 1994). In meeting our primary objective, four tasks have been addressed during the reporting period: (1) Investigating the uniqueness of the relationship between the dayglow emission seen using DE-1's 123 filter (dominated by OI 130.4 nm emission) and the column abundance of O relative to N2 referenced to an N2 depth of 10(exp 17) cm(exp 2); (2) Completion of the algorithm for rapid conversion of DE-1 disk dayglow measurements to O/N2 values; (3) Applying the algorithm to a simulation in which a model DE image was constructed using TIGCM atmospheres. The retrieved image of O/N2 was compared to TIGCM O/N2 obtained by integrations of the TIGCM densities; and (4) Applying the algorithm to selected DE-1 data.