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NASA NTRS2000

Case Study Analyses of the SUCCESS DC-8 Scanning Lidar Database

Under project SUCCESS (Subsonic Aircraft Contrail and Cloud Effects Special Study) funded by the Atmospheric Effects of Aviation Program, SRI International (SRI) developed an angular scanning backscatter lidar for operation on the NASA DC-8 research aircraft and deployed the scanning lidar during the SUCCESS field campaign. The primary purpose of the lidar was to generate real-time video displays of clouds and contrails above, ahead of, and below the DC-8 as a means to help position the aircraft for optimum cloud and contrail sampling by onboard in situ sensors, and to help extend the geometrical domain of the in situ sampling records. A large, relatively complex lidar database was collected and several data examples were processed to illustrate the value of the lidar data for interpreting the other data records collected during SUCCESS. These data examples were used to develop a journal publication for the special SUCCESS Geophysical Research Letters issue. The data examples justified data analyses of a larger part of the DC-8 lidar database and is the objective of the current study. Efficient processing of the SUCCESS DC-8 scanning lidar database required substantial effort to enhance hardware and software components of the data system that was used for the initial analyses. MATLAB instructions are used to generate altitude and distance color-coded lidar displays corrected for effects introduced by aircraft pitch and forward movement during an angular scan time interval. Onboard in situ sensor atmospheric measurements are propagated to distances ahead of the DC-8 using recorded aircraft velocity so that they can be plotted on the lidar displays for comparison with lidar remotely observed aerosol distributions. Resulting lidar and in situ sensor polar scan displays over extended sampling intervals are integrated into a time series movie format for 36 case studies. Contrails and clouds were detected to ranges of 15 km by the forward-viewing angular scanning lidar and were progressively mapped as the aircraft approached and penetrated them. Near aircraft lidar observations were much better correlated with in situ sensor observations than lidar observations at greater distances ahead of the aircraft. The major cause of this difference was thought to be the about 2 deg. offset of the lidar viewing direction from the flight direction. Contrail spatial distributions were not of the quality obtainable from ground-based lidar observations. This results because contrails tend to become horizontally stratified, vertical distance between angular lidar observations increases with increased distance from the aircraft, and erratic aircraft motions during an angular scan. The most useful lidar observations were made with lidar viewing directions of vertically upward or vertically downward. These provided real-time information on aircraft altitudes to achieve optimum in situ cloud and contrail sampling. At sampling altitudes, the forward viewing angular scanning observations were useful for fine-tuning the aircraft altitude for cloud and contrail penetration. Best information on cloud and contrail properties were obtained from vertically directed lidar observations as the aircraft performed a series of upward and downward penetrations of contrails. This operational mode was especially well suited for lidar and radiometric evaluation of cloud and contrail optical and radiative properties. The vertical viewing lidar detected ice crystals thought to be precipitating from an aircraft contrail and their scavenging by a cirrus cloud layer. The lidar display indicates that the crystals are effective for increasing cirrus cloud density. Vertical angular scanning observations can evaluate the sharp decrease in lidar backscatter for small off-vertical viewing directions that result from horizontally aligned ice crystals and perhaps can provide additional information on crystal shapes. The about 2 deg. offset of the lidar viewing direction from the flight direction is thought to have greatly degraded the forward-viewing angular scanning observations and this mode of operation was not fully evaluated. However, the reasoning for this capability remains valid and the angular scan presentations collected during this program justifies modification of the lidar pod for true forward direction lidar viewing during future cloud and contrail studies.

Uthe, Edward E.↗

NASA NTRS1975

Measurement scanning schemes for terrain modeling

A scanning scheme for the laser rangefinder aboard an autonomous Mars Rover is developed. The rover is expected to be able to traverse an incline of slope up to 25% deg positive or negative. The total azimuth angle of the rangefinder is calculated so that the rangefinder can scan a width of 3 m at a distance of 3 m. A combination of two approaches is considered: scanning the field with a data point spacing appropriate for the terrain modeling technique, followed by zoom scanning with reduced spacing aimed at an obstacle location indicated in a previous terrain scan. It is found that the scan time and total number of data points can be reduced by dividing the field into corridors. The scan is divided into two subscans: the initial scan covering the entire field, and a corridor scan. The corridor scan method reduces the core required in the on-board computer. Hardware changes are expected to be small since the parameters of the corridor are fixed and a continuously variable point spacing is not necessary.

Friedman, M.↗

NASA NTRS1981

Effects of curved approach paths and advanced displays on pilot scan patterns

The effect on pilot scan behavior of both advanced cockpit and advanced manuevers was assessed. A series of straight-in and curved landing approaches were performed in the Terminal Configured Vehicle (TCV) simulator. Two comparisons of pilot scan behavior were made: (1) pilot scan behavior for straight-in approaches compared with scan behavior previously obtained in a conventionally equipped simulator, and (2) pilot scan behavior for straight-in approaches compared with scan behavior for curved approaches. The results indicate very similar scanning patterns during the straight-in approaches in the conventional and advanced cockpits. However, for the curved approaches pilot attention shifted to the electronic horizontal situation display (moving map), and a new eye scan path appeared between the map and the airspeed indicator. The very high dwell percentage and dwell times on the electronic displays in the TCV simulator during the final portions of the approaches suggest that the electronic attitude direction indicator was well designed for these landing approaches.

Harris, R. L., Sr.↗

NASA NTRS1985

Visual scanning behavior

This report summarizes the results and knowledge of scan behavior gained in various simulation and laboratory studies. Results were obtained through various analysis techniques such as real-time viewing of the pilot's scanning behavior and quantitative analysis of scan behavior performance parameters (average dwell time, dwell percentages, instrument transition paths, dwell histograms, and entropy rate measures). Pilot scan behavior is discussed in the following areas; scanning is a subconscious conditioned activity, scanning is situation dependent, pilots' scanning pattern is centered around a home base. Scanning behavior data have been shown to be useful in determining pilot's workload, evaluating pilot's strategy and role, determining the rate of information transfer of various displays, and aiding in pilot training.

Harris, R. L., Sr.↗

NASA NTRS1985

Visual scanning behavior

This report summarizes the results and knowledge of scan behavior gained in various simulation and laboratory studies. Results were obtained through various analysis techniques such as real-time viewing of the pilot's scanning behavior and quantitative analysis of scan behavior performance parameters (average dwell time, dwell percentages, instrument transition paths, dwell percentages, instrument transition paths, dwell histograms, and entropy rate measures). Pilot scan behavior is discussed in the following areas; scanning is a subconscious conditioned activity, scanning is situation dependent, pilots' scanning pattern is centered around a home base. Scanning behavior data nave been shown to be useful in determining pilot's workload, evaluating pilot's strategy and role, determining the rate of information transfer of various displays, and aiding in pilot training.

Harris, R. L., Sr.↗

NASA NTRS1987

Io: Comparison of photometric scans produced by the Minnaert and Hapke functions

Experience has shown that the empirical Minnaert function is a very useful approximation to real photometric behavior near opposition (phase angle = 0), but that in general it cannot accurately model photometric scans across the face of even a homogeneous planet at higher phase angles. Given recent work on fitting the rigorous Hapke function to Voyager data for Io, we can test to what degree the Minnaert function breaks down in the case of Ionian materials by comparing photometric scans produced by the two approaches. At phase angles 2, 20, 30, 60, and 90 deg, we have computed scans of the reflectance along the photometric equator and mirror meridian that would be expected for a homogeneous planet whose surface obeys Hapke's law. The values used for the Hapke parameters omega(0), h, g, and bar-theta were derived for Io by Simonelli and Veverka in both the Voyager narrow angle camera violet filter and orange filter. Each calculated Hapke scan is compared with the corresponding scan predicted by Minnaert's law for various values of the Minnaert limb-darkening parameter k. For a Minnaert scan at a particular k, the value of the reflectance parameter B(0) is arbitrarily chosen so that the Minnaert and Hapke scans coincide at the so-called specular point (the point where the photometric equator and mirror meridian intersect). The violet filter photometric scans that result from this process are shown. Results indicate that the empirical Minnaert function, while not a perfect model of real photometric behavior, does provide a very useful parameterization of limb darkening at phase angles out to 90 deg, and is especially useful near opposition.

Simonelli, Damon P.↗

NASA NTRS1992

Conically scanned lidar telescope using holographic optical elements

Holographic optical elements (HOE) using volume phase holograms make possible a new class of lightweight scanning telescopes having advantages for lidar remote sensing instruments. So far, the only application of HOE's to lidar has been a non-scanning receiver for a laser range finder. We introduce a large aperture, narrow field of view (FOV) telescope used in a conical scanning configuration, having a much smaller rotating mass than in conventional designs. Typically, lidars employ a large aperture collector and require a narrow FOV to limit the amount of skylight background. Focal plane techniques are not good approaches to scanning because they require a large FOV within which to scan a smaller FOV mirror or detector array. Thus, scanning lidar systems have either used a large flat scanning mirror at which the receiver telescope is pointed, or the entire telescope is steered. We present a concept for a conically scanned lidar telescope in which the only moving part is the HOE which serves as the primary collecting optic. We also describe methods by which a multiplexed HOE can be used simultaneously as a dichroic beamsplitter.

Schwemmer, Geary K.↗

NASA NTRS1994

Beam scanning offset Cassegrain reflector antennas by subreflector movement

In 1987 a NASA panel recommended the creation of the Mission to Planet Earth. This mission was intended to apply to remote sensing experience of the space community to earth remote sensing to enhance the understanding of the climatological processes of our planet and to determine if, and to what extent, the hydrological cycle of Earth is being affected by human activity. One of the systems required for the mission was a wide scanning, high gain reflector antenna system for use in radiometric remote sensing from geostationary orbit. This work describes research conducted at Virginia Tech into techniques for beam scanning offset Cassegrain reflector antennas by subreflector translation and rotation. Background material relevant to beam scanning antenna systems and offset Cassegrain reflector antenna system is presented. A test case is developed based on the background material. The test case is beam scanned using two geometrical optics methods of determining the optimum subreflector position for the desired scanned beam direction. Physical optics far-field results are given for the beam scanned systems. The test case system is found to be capable of beam scanning over a range of 35 half-power beamwidths while maintaining a 90 percent beam efficiency or 50 half-power beamwidths while maintaining less than l dB of gain loss during scanning.

Lapean, James W., Jr.↗

NASA NTRS2000

Scanning Lidar Transceiver Telescopes Using Holographic Optical Elements

Scanning enables remote measurements perpendicular to the ground track of airborne and spaceborne lidar systems, giving us three dimensional images of atmospheric backscatter or other measurable parameters. For ground based systems, scanning allows one to record a time series of data in multiple spatial dimensions. The large size and cost of scanning systems for atmospheric lidars using conventional scanning technologies is prohibitive for space based systems. By replacing the conventional reflective telescope with a holographic optical element (HOE) in the lidar, single axis conical scanning can be achieved with a mechanically simple system. Relatively inexpensive to produce, HOES can be used to satisfy a variety of scanning lidar applications. I will introduce the concept of the HOE and describe its production and use as a scanning lidar transceiver telescope. I will describe the advantages as well as the disadvantages and limitations of HOES in this application. Optical performance test results and two lidar systems currently using HOES will be described. Examples of data taken with these systems will be presented. Current and planned future developments will be described, including scanning without mechanical motion and wide field-of-view lidar imaging.

Schwemmer, Geary K.↗

NASA NTRS2002

Scanning Ultrasonic Spectroscopy System Developed for the Inspection of Composite Flywheels

Composite flywheels are being considered as replacements for chemical batteries aboard the International Space Station. A flywheel stores energy in a spinning mass that can turn a generator to meet power demands. Because of the high rotational speeds of the spinning mass, extensive testing of the flywheel system must be performed prior to flight certification. With this goal in mind, a new scanning system has been developed at the NASA Glenn Research Center for the nondestructive inspection of composite flywheels and flywheel subcomponents. The system uses ultrasonic waves to excite a material and examines the response to detect and locate flaws and material variations. The ultrasonic spectroscopy system uses a transducer to send swept-frequency ultrasonic waves into a test material and then receives the returning signal with a second transducer. The received signal is then analyzed in the frequency domain using a fast Fourier transform. A second fast Fourier transform is performed to examine the spacing of the peaks in the frequency domain. The spacing of the peaks is related to the standing wave resonances that are present in the material because of the constructive and destructive interferences of the waves in the full material thickness as well as in individual layers within the material. Material variations and flaws are then identified by changes in the amplitudes and positions of the peaks in both the frequency and resonance spacing domains. This work, conducted under a grant through the Cleveland State University, extends the capabilities of an existing point-by-point ultrasonic spectroscopy system, thus allowing full-field automated inspection. Results of an ultrasonic spectroscopy scan of a plastic cylinder with intentionally seeded flaws. The result of an ultrasonic spectroscopy scan of a plastic cylinder used as a proof-of-concept specimen is shown. The cylinder contains a number of flat bottomed holes of various sizes and shapes. The scanning system was able to successfully detect all the defects in the material. Ultrasonic spectroscopy results for a second specimen are shown along with a conventional ultrasonic C-scan. The second specimen is a section of a flywheel subcomponent that has a series of drilled holes and notches. This specimen is employed as a defect detection standard to evaluate the various nondestructive evaluation methods under consideration. Scanning results demonstrate the ability of the system to detect flaws on the order of 10 mils in the radial direction and 5 mils in the circumferential direction. Work conducted to date has shown that scanning ultrasonic spectroscopy is a viable tool for the inspection of composite flywheel systems. Ongoing development work is focused on refining the system and scanning parameters for improved resolution and defect detection.

Martin, Richard E.↗

NASA NTRS2008

Assessment of MODIS Scan Mirror Reflectance Changes On-Orbit

Since launch, the NASA EOS Terra and Aqua MODIS have operated successfully for more than 8 and 6 years, respectively. MODIS collects data using a two-sided scan mirror over a large scan angular range. The scan mirror is made of a polished, nickel-plated beryllium base coated with high purity silver, which is then over-coated with the Denton proprietary silicon monoxide and silicon dioxide mixture. The scan mirror's reflectance was characterized pre-launch using its witness samples, and the response versus scan angle was measured at the sensor system level. In this study, we present an assessment of MODIS scan mirror on-orbit degradation by examining changes of spectral band response over each sensor's mission lifetime. Results show that the scan mirror's optical properties for both Terra and Aqua MODIS have experienced significant degradation since launch in the VIS spectral region, which is mirror side dependent as well as scan angle dependent. In general, the mirror degradation is more severe for Terra MODIS than Aqua MODIS, especially during recent years. For Terra MODIS, the degradation rate is noticeably different between the mirror sides. On the other hand, there has been little mirror side dependent difference for Aqua MODIS.

Xiong, Xiaoxiong↗

NASA NTRS2010

Relating Linear and Volumetric Variables Through Body Scanning to Improve Human Interfaces in Space

Designing space suits and vehicles for the diverse human population present unique challenges for the methods of traditional anthropometry. Space suits are bulky and allow the operator to shift position within the suit and inhibit the ability to identify body landmarks. Limited suit sizing options also cause variability in fit and performance between similarly sized individuals. Space vehicles are restrictive in volume in both the fit and the ability to collect data. NASA's Anthropometric and Biomechanics Facility (ABF) has utilized 3D scanning to shift from traditional linear anthropometry to explore and examine volumetric capabilities to provide anthropometric solutions for design. Overall, the key goals are to improve the human-system performance and develop new processes to aid in the design and evaluation of space systems. Four case studies are presented that illustrate the shift from purely linear analyses to an augmented volumetric toolset to predict and analyze the human within the space suit and vehicle. The first case study involves the calculation of maximal head volume to estimate total free volume in the helmet for proper air exchange. Traditional linear measurements resulted in an inaccurate representation of the head shape, yet limited data exists for the determination of a large head volume. Steps were first taken to identify and classify a maximum head volume and the resulting comparisons to the estimate are presented in this paper. This study illustrates the gap between linear components of anthropometry and the need for overall volume metrics in order to provide solutions. A second case study examines the overlay of the space suit scans and components onto scanned individuals to quantify fit and clearance to aid in sizing the suit to the individual. Restrictions in space suit size availability present unique challenges to optimally fit the individual within a limited sizing range while maintaining performance. Quantification of the clearance and fit between similarly sized individuals is critical in providing a greater understanding of the human body's function within the suit. The third case study presented in this paper explores the development of a conformal seat pan using scanning techniques, and details the challenges of volumetric analyses that were overcome in order to develop a universal seat pan that can be utilized across the entire user population. The final case study explores expanding volumetric capabilities through generation of boundary manikins. Boundary manikins are representative individuals from the population of interest that represent the extremes of the population spectrum. The ABF developed a technique to take three-dimensional scans of individuals and manipulate the scans to reflect the boundary manikins' anthropometry. In essence, this process generates a representative three-dimensional scan of an individual from anthropometry, using another individual's scanned image. The results from this process can be used in design process modeling and initial suit sizing work as a three dimensional, realistic example of individuals from the population, maintaining the variability between and correlation to the relevant dimensions of interest.

Margerum, Sarah E.↗

NASA NTRS2014

Passive Thermal Design Approach for the Space Communications and Navigation (SCaN) Testbed Experiment on the International Space Station (ISS)

The Space Communications and Navigation (SCaN) Program Office at NASA Headquarters oversees all of NASAs space communications activities. SCaN manages and directs the ground-based facilities and services provided by the Deep Space Network (DSN), Near Earth Network (NEN), and the Space Network (SN). Through the SCaN Program Office, NASA GRC developed a Software Defined Radio (SDR) testbed experiment (SCaN testbed experiment) for use on the International Space Station (ISS). It is comprised of three different SDR radios, the Jet Propulsion Laboratory (JPL) radio, Harris Corporation radio, and the General Dynamics Corporation radio. The SCaN testbed experiment provides an on-orbit, adaptable, SDR Space Telecommunications Radio System (STRS) - based facility to conduct a suite of experiments to advance the Software Defined Radio, Space Telecommunications Radio Systems (STRS) standards, reduce risk (Technology Readiness Level (TRL) advancement) for candidate Constellation future space flight hardware software, and demonstrate space communication links critical to future NASA exploration missions. The SCaN testbed project provides NASA, industry, other Government agencies, and academic partners the opportunity to develop and field communications, navigation, and networking technologies in the laboratory and space environment based on reconfigurable, software defined radio platforms and the STRS Architecture.The SCaN testbed is resident on the P3 Express Logistics Carrier (ELC) on the exterior truss of the International Space Station (ISS). The SCaN testbed payload launched on the Japanese Aerospace Exploration Agency (JAXA) H-II Transfer Vehicle (HTV) and was installed on the ISS P3 ELC located on the inboard RAM P3 site. The daily operations and testing are managed out of NASA GRC in the Telescience Support Center (TSC).

Passive Thermal Design↗

NASA NTRS2024

3D Scanning System to Assess Gravity-Dependent Body Shape Changes

The human body shows unique physiological and morphological changes when exposed to different gravity conditions, including muscle atrophy, fluid shift, spinal elongation, and body posture adjustments. Such changes need to be incorporated for human-system integration in the vehicle habitat, garment, and spacesuit designs, as inaccurate body measurements can result in suboptimal crew protection that can potentially decrease injury tolerance. However, the traditional linear measurements, such as stature, segment lengths or circumferences measured using a caliper or tape measure, often show limited consistency and are unable to capture the nonlinear characteristics of the human body. While 3D body scanning can provide significant advantages over linear measurements, the technologies have not been fully developed or customized for in-flight scanning. For ground laboratory use, several different scanner types are commercially available. However, in-flight scanning requires additional technical considerations, such as minimal scan time, simplified calibration, and sufficient capture volume. This work aims to develop a prototype 3-D body scanning system that is customized for in-flight use to scan crewmembers, with the configuration and performance optimized for detecting known gravity-dependent body shape and posture changes. A hardware system will be custom built using a network of commercial off-the-shelf 3D sensors. The sensor parameters and settings will be optimized to detect the targeted body shape changes, specifically using body manikins of which the shape and size are iteratively permuted to simulate the known changes by fluid shift and spinal elongation. The capture volume will be also matched for a range of body sizes from a 1st percentile female to 99th percentile male. Unintentional body motions or floating in microgravity will be also simulated and incorporated. A data acquisition software will be developed for efficient in-flight operations with minimal overhead and easy-to-use user interface. A simplified calibration procedure will be designed for robust scanning against frequent vibration or unexpected sensor position shifts. The system will be tested in the ground laboratory for accuracy and reliability against a reference scanning system. New anthropometry measurements will be also identified to sensitively capture the gravity dependent body shape changes, in addition to the traditional anthropometry measurements. A novel landmark-based technique will be tested for consistent anthropometry measurements across posture variations. If successfully developed and deployed, the new system is expected to provide previously unavailable body shape and size data from different gravitational environments, including 0-g, 1/6-g, and 1-g. Such data can improve suit fit, habitat design, exercise efficacy quantification and sizing of orthostatic intolerance garments.

K H Kim↗

NASA NTRS2024

3D Scanning System to Assess Gravity-Dependent Body Shape Changes

K H Kim↗

NASA NTRSDate not supplied

3D Scanning System to Assess Gravity-Dependent Body Shape Changes

The human body shows unique morphological changes when exposed to different gravity conditions, including muscle atrophy, fluid shift, and spinal elongation. Such changes need to be incorporated for human-system integration in the vehicle habitat, garment, and spacesuit designs, as inaccurate body measurements can result in suboptimal crew protection that can potentially decrease injury tolerance. However, measurement tools have not been available for accurate assessments of body shape changes. This work aimed to develop a prototype 3-D body scanning system with the configuration and performance optimized for in-flight crewmember body scanning. A scan hardware system was developed using Intel RealSense commercial off-the-shelf 3D sensors. The sensor parameters were iteratively optimized and tested to obtain the performance level needed for body scanning. A scan booth structure was fabricated, with the overall size 4 x 4 x 8 feet. The specific number of sensors and mounting positions were determined by iterative simulations, which indicated that 16 cameras can capture 94% and 96% of body surface area from the 1st percentile female and 99th percentile male crew population subject. The mounted sensors were linked through a mix of USB-C and USB-3 cables and operated for data acquisition from a Linux laptop computer. A software prototype was developed using Python and Tkinter graphical user interface toolkit. A calibration procedure was also built using a panel of QR codes. A computer vision tool detected and decoded the unique ID and pattern locations of the QR codes. The calibration information determined the position and orientation of the 3D sensors with respect to each other. The scanner performance was assessed using a set of 3D printed custom manikins. The manikin size and shape were derived from the previous ISS study, which measured the crewmembers’ anthropometry changes across the different flight phases. The average anthropometric measurements at the pre-flight and flight day 15 were sampled and projected onto the 1st percentile female and 99th percentile male body shapes. Another pair of manikins were also 3D printed to simulate the neutral body posture, estimated from ISS microgravity environments. A preliminary analysis assessed the performance of the newly developed scanner against the reference scanner, which has been used at the NASA JSC for crew and test subject anthropometry. Although the new scanner data showed several artifacts and missing geometries in the occluded body areas such as armpits and crotch, overall shape matched with the reference scan. When the manikin surface coordinates were compared, a root mean square error of 1.3 cm was observed from the manikin torso segment. Linear measurements including the stature, knee height and circumference measurements at the chest and calf showed differences from the reference scan measurements, ranging between 0.3 and 0.9 cm. Overall, this work demonstrated a development framework for an in-flight scanner with design and operation optimized for crewmember body scanning. Further improvement can potentially provide previously unavailable anthropometric data from different gravitational environments, including 0-g, 1/6-g, and 1-g. Such data can improve suit fit, habitat design, exercise efficacy quantification and sizing of orthostatic intolerance garments.

K H Kim↗

NASA NTRSDate not supplied

STARscan: Spatial Targeting and Alignment Rig for Scanning

The Spatial Targeting and Alignment Rig for Scanning (STARScan) is a 3D photogrammetry system developed at NASA Ames Research Center to address bottlenecks in pre/post-test scanning of arcjet test articles. It reduces scan time from 15 minutes with handheld laser scanners to under 2 minutes, while maintaining high accuracy (±0.2-0.5 mm). STARScan integrates an array of cameras, a 3D-printed rack, turntable, and LED light panels, all controlled via a user-friendly graphical user interface (GUI). The system offers tools for scan visualization, mesh analysis, and data export, automating tasks such as alignment of pre/post-test scans, material recession measurements, surface roughness assessment, and curvature analysis. By integrating scanning, imaging, and post-processing into one application, STARScan significantly improves efficiency in scanning and analyzing arcjet test samples.

Ablation↗

NASA NTRS1978

Pointed science scan platforms

Two examples of science scan platform mechanization concepts are presented to familiarize the reader with today's planetary scan platform technology. The first example is the Voyager scan platform, which will demonstrate the traditional approach to scan pointing from planetary vehicles. Although this conventional approach may be familiar to many, the control law implemented in the scan positioning loop is a new and interesting one. It is called 'Zero Crosser + Terminal Control'. The other example marks the beginning of a new generation of planetary scan pointing systems. It is the Galileo scan platform which will be inertially stabilized and decoupled from spacecraft motion.

Ward, R. S.↗