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NASA NTRS1988

Effect of Detector Dead Time on the Performance of Optical Direct-Detection Communication Links

Avalanche photodiodes (APDs) operating in the Geiger mode can provide a significantly improved single-photon detect ion sensitivity over conventional photodiodes. However, the quenching circuit required to remove the excess charge carriers after each photon event can introduce an undesirable dead time into the detection process. The effect of this detector dead time on the performance of a binary pulse-position-modulted (PPM) channel is studied by analyzing the error probability. It is shown that, when back- ground noise is negligible, the performance of the detector with dead time is similar to that o f a quantum-limited receiver. For systems with increasing background intensities, the error rate of the receiver starts to degrade rapidly with increasing dead time. The power penalty due to detector dead time is also evaluated and shown to depend critically on background intensity as well as dead time. Given the expected background strength in an optical channel, therefore, a constraint must be placed on the bandwidth of the receiver to limit the amount of power penalty due to detector dead time.

Chen, C.-C.↗
NASA NTRS2006

Time Relevance of Convective Weather Forecast for Air Traffic Automation

The Federal Aviation Administration (FAA) is handling nearly 120,000 flights a day through its Air Traffic Management (ATM) system and air traffic congestion is expected to increse substantially over the next 20 years. Weather-induced impacts to throughput and efficiency are the leading cause of flight delays accounting for 70% of all delays with convective weather accounting for 60% of all weather related delays. To support the Next Generation Air Traffic System goal of operating at 3X current capacity in the NAS, ATC decision support tools are being developed to create advisories to assist controllers in all weather constraints. Initial development of these decision support tools did not integrate information regarding weather constraints such as thunderstorms and relied on an additional system to provide that information. Future Decision Support Tools should move towards an integrated system where weather constraints are factored into the advisory of a Decision Support Tool (DST). Several groups such at NASA-Ames, Lincoln Laboratories, and MITRE are integrating convective weather data with DSTs. A survey of current convective weather forecast and observation data show they span a wide range of temporal and spatial resolutions. Short range convective observations can be obtained every 5 mins with longer range forecasts out to several days updated every 6 hrs. Today, the short range forecasts of less than 2 hours have a temporal resolution of 5 mins. Beyond 2 hours, forecasts have much lower temporal. resolution of typically 1 hour. Spatial resolutions vary from 1km for short range to 40km for longer range forecasts. Improving the accuracy of long range convective forecasts is a major challenge. A report published by the National Research Council states improvements for convective forecasts for the 2 to 6 hour time frame will only be achieved for a limited set of convective phenomena in the next 5 to 10 years. Improved longer range forecasts will be probabilistic as opposed to the deterministic shorter range forecasts. Despite the known low level of confidence with respect to long range convective forecasts, these data are still useful to a DST routing algorithm. It is better to develop an aircraft route using the best information available than no information. The temporally coarse long range forecast data needs to be interpolated to be useful to a DST. A DST uses aircraft trajectory predictions that need to be evaluated for impacts by convective storms. Each time-step of a trajectory prediction n&s to be checked against weather data. For the case of coarse temporal data, there needs to be a method fill in weather data where there is none. Simply using the coarse weather data without any interpolation can result in DST routes that are impacted by regions of strong convection. Increasing the temporal resolution of these data can be achieved but result in a large dataset that may prove to be an operational challenge in transmission and loading by a DST. Currently, it takes about 7mins retrieve a 7mb RUC2 forecast file from NOAA at NASA-Ames Research Center. A prototype NCWF6 1 hour forecast is about 3mb in size. A Six hour NCWFG forecast with a 1hr forecast time-step will be about l8mb (6 x 3mb). A 6 hour NCWF6 forecast with a l5min forecast time-step will be about 7mb (24 x 3mb). Based on the time it takes to retrieve a 7mb RUC2 forecast, it will take approximately 70mins to retrieve a 6 hour NCWF forecast with 15min time steps. Until those issues are addressed, there is a need to develop an algorithm that interpolates between these temporally coarse long range forecasts. This paper describes a method of how to use low temporal resolution probabilistic weather forecasts in a DST. The beginning of this paper is a description of some convective weather forecast and observation products followed by an example of how weather data are used by a DST. The subsequent sections will describe probabilistic forecasts followed by a descrtion of a method to use low temporal resolution probabilistic weather forecasts by providing a relevance value to these data outside of their valid times.

Chan, William N.↗
NASA NTRS2007

Applying MDA to SDR for Space to Model Real-time Issues

NASA space communications systems have the challenge of designing SDRs with highly-constrained Size, Weight and Power (SWaP) resources. A study is being conducted to assess the effectiveness of applying the MDA Platform-Independent Model (PIM) and one or more Platform-Specific Models (PSM) specifically to address NASA space domain real-time issues. This paper will summarize our experiences with applying MDA to SDR for Space to model real-time issues. Real-time issues to be examined, measured, and analyzed are: meeting waveform timing requirements and efficiently applying Real-time Operating System (RTOS) scheduling algorithms, applying safety control measures, and SWaP verification. Real-time waveform algorithms benchmarked with the worst case environment conditions under the heaviest workload will drive the SDR for Space real-time PSM design.

Blaser, Tammy M.↗
NASA NTRS2006

Saving Space and Time: The Tractor That Einstein Built

In 1984, NASA initiated the Gravity Probe B (GP-B) program to test two unverified predictions of Albert Einstein s theory of general relativity, hypotheses about the ways space, time, light, and gravity relate to each other. To test these predictions, the Space Agency and researchers at Stanford University developed an experiment that would check, with extreme precision, tiny changes in the spin direction of four gyroscopes contained in an Earth satellite orbiting at a 400-mile altitude directly over the Earth s poles. When the program first began, the researchers assessed using Global Positioning System (GPS) technology to control the attitude of the GP-B spacecraft accurately. At that time, the best GPS receivers could only provide accuracy to nearly 1 meter, but the GP-B spacecraft required a system 100 times more accurate. To address this concern, researchers at Stanford designed high-performance, attitude-determining hardware that used GPS signals, perfecting a high-precision form of GPS called Carrier-Phase Differential GPS that could provide continuous real-time position, velocity, time, and attitude sensor information for all axes of a vehicle. The researchers came to the realization that controlling the GP-B spacecraft with this new system was essentially no different than controlling an airplane. Their thinking took a new direction: If this technology proved successful, the airlines and the Federal Aviation Administration (FAA) were ready commercial markets. They set out to test the new technology, the "Integrity Beacon Landing System," using it to automatically land a commercial Boeing 737 over 100 times successfully through Real-Time Kinematic (RTK) GPS technology. The thinking of the researchers shifted again, from automatically landing aircraft, to automating precision farming and construction equipment.

Source record↗
NASA NTRS2007

EVA Task Timing and Timeline Planning

EVA timeline development occurs using task execution data generated through underwater training and simulation. This project collected task time data during final training events for several Space Shuttle and International Space Station missions and compared like task time data collected during on-orbit execution. Analysis was performed to compare types of activities and times required for each looking specifically for how activities can be accurately trained from a timeline planning perspective. The data revealed two significant aspects of flight timeline planning; Zero-g task times will match training times for activities that can be accurately simulated with appropriate fidelity hardware; and not all activities can be simulated sufficiently to produce training task times that will reflect required zero-g times. An approach for timeline planning utilizing this knowledge is also presented.

Looper, Christopher A.↗
NASA NTRS2009

Bounded Linear Stability Analysis - A Time Delay Margin Estimation Approach for Adaptive Control

This paper presents a method for estimating time delay margin for model-reference adaptive control of systems with almost linear structured uncertainty. The bounded linear stability analysis method seeks to represent the conventional model-reference adaptive law by a locally bounded linear approximation within a small time window using the comparison lemma. The locally bounded linear approximation of the combined adaptive system is cast in a form of an input-time-delay differential equation over a small time window. The time delay margin of this system represents a local stability measure and is computed analytically by a matrix measure method, which provides a simple analytical technique for estimating an upper bound of time delay margin. Based on simulation results for a scalar model-reference adaptive control system, both the bounded linear stability method and the matrix measure method are seen to provide a reasonably accurate and yet not too conservative time delay margin estimation.

Nguyen, Nhan T.↗
NASA NTRS2010

The Waypoint Planning Tool: Real Time Flight Planning for Airborne Science

NASA Earth science research utilizes both spaceborne and airborne real time observations in the planning and operations of its field campaigns. The coordination of air and space components is critical to achieve the goals and objectives and ensure the success of an experiment. Spaceborne imagery provides regular and continual coverage of the Earth and it is a significant component in all NASA field experiments. Real time visible and infrared geostationary images from GOES satellites and multi-spectral data from the many elements of the NASA suite of instruments aboard the TRMM, Terra, Aqua, Aura, and other NASA satellites have become norm. Similarly, the NASA Airborne Science Program draws upon a rich pool of instrumented aircraft. The NASA McDonnell Douglas DC-8, Lockheed P3 Orion, DeHavilland Twin Otter, King Air B200, Gulfstream-III are all staples of a NASA's well-stocked, versatile hangar. A key component in many field campaigns is coordinating the aircraft with satellite overpasses, other airplanes and the constantly evolving, dynamic weather conditions. Given the variables involved, developing a good flight plan that meets the objectives of the field experiment can be a challenging and time consuming task. Planning a research aircraft mission within the context of meeting the science objectives is complex task because it is much more than flying from point A to B. Flight plans typically consist of flying a series of transects or involve dynamic path changes when "chasing" a hurricane or forest fire. These aircraft flight plans are typically designed by the mission scientists then verified and implemented by the navigator or pilot. Flight planning can be an arduous task requiring frequent sanity checks by the flight crew. This requires real time situational awareness of the weather conditions that affect the aircraft track. Scientists at the University of Alabama-Huntsville and the NASA Marshall Space Flight Center developed the Waypoint Planning Tool, an interactive software tool, that enables scientists to develop their own flight plans (also known as waypoints) with point-and-click mouse capabilities on a digital map draped with real time satellite imagery. The Waypoint Planning Tool has further advanced to include satellite orbit predictions and seamlessly interfaces with the Real Time Mission Monitor which tracks the aircraft s position when the planes are flying. This presentation will describe the capabilities and features of the Waypoint Planning Tool highlighting the real time aspect, interactive nature and the resultant benefits to the airborne science community.

He, Yubin↗
NASA NTRS2011

Failure Modes in Capacitors When Tested Under a Time-Varying Stress

Power-on failure has been the prevalent failure mechanism for solid tantalum capacitors in decoupling applications. A surge step stress test (SSST) has been previously applied to identify the critical stress level of a capacitor batch to give some predictability to the power-on failure mechanism [1]. But SSST can also be viewed as an electrically destructive test under a time-varying stress (voltage). It consists of rapidly charging the capacitor with incremental voltage increases, through a low resistance in series, until the capacitor under test is electrically shorted. When the reliability of capacitors is evaluated, a highly accelerated life test (HALT) is usually adopted since it is a time-efficient method of determining the failure mechanism; however, a destructive test under a time-varying stress such as SSST is even more time efficient. It usually takes days or weeks to complete a HALT test, but it only takes minutes for a time-varying stress test to produce failures. The advantage of incorporating a specific time-varying stress profile into a statistical model is significant in providing an alternative life test method for quickly revealing the failure mechanism in capacitors. In this paper, a time-varying stress that mimics a typical SSST has been incorporated into the Weibull model to characterize the failure mechanism in different types of capacitors. The SSST circuit and transient conditions for correctly surge testing capacitors are discussed. Finally, the SSST was applied for testing Ta capacitors, polymer aluminum capacitors (PA capacitors), and multi-layer ceramic (MLC) capacitors with both precious metal electrodes (PME) and base metal electrodes (BME). The test results are found to be directly associated with the dielectric layer breakdown in Ta and PA capacitors and are independent of the capacitor values, the way the capacitors were built, and the capacitors manufacturers. The test results also show that MLC capacitors exhibit surge breakdown voltages much higher than the rated voltage and that the breakdown field is inversely proportional to the dielectric layer thickness. The SSST data can also be used to comparatively evaluate the voltage robustness of capacitors for decoupling applications.

Liu, David (Donhang)↗
NASA NTRS2011

Weekly Solutions of Time-Variable Gravity from 1993 to 2010

The GRACE mission has been highly successful in determining the time-variable gravity field of the Earth, producing monthly or even more frequent solutions (cf. 10-day) solutions using both spherical harmonics and mascons. However the GRACE time series only commences in 2002 - 2003 and a gap of several years may occur in the series before a GRACE follow-on satellite is launched. Satellites tracked by SLR and DORIS have also been used to study time variations in the Earth's gravitational field. These include (most recently) the solutions of Cox and Chao (2002), Cheng et al. (2004, 2007) and Lemoine et al. (2007). In this paper we discuss the development of a new time series of low degree spherical harmonic fields based on the available SLR, DORIS and GPS data. We develop simultaneous solutions for both the geocenter and the low degree harmonics up to 5x5. The solutions integrate data from SLR geodetic satellites (e.g., Lageos1, Lageos2, Starlette, Stella, Ajisai, Larets, Westpac), altimetry satellites (TOPEX/Poseidon, Envisat, Jason-1, Jason-2), and satellites tracked solely by DORIS (e.g. SPOT2-5). We discuss some pertinent aspects of the satellite-specific modeling. We include altimeter crossovers in the weekly solutions where feasible and time permits. The resulting geocenter time series is compared with geophysical model predictions and other independently-derived solutions. Over the GRACE time period the fidelity and consistency with the GRACE solutions are presented.

Lemoine, F.↗
NASA NTRS2011

The Relationship Between El Nino/La Nina Oscillations and Recent Anomaly Time Series of OLR Determined by CERES and AIRS

This paper compares recent spatial anomaly time series of OLR (Outgoing Longwave Radiation) and OLRCLR (Clear Sky OLR) as determined using CERES and AIRS observations over the time period September 2002 through June 2010. We find excellent agreement in OLR anomaly time series of both data sets in almost every detail, down to the 1 x 1 spatial grid point level. This extremely close agreement of OLR anomaly time series derived from observations by two different instruments implies that both sets of results must be highly stable. This agreement also validates to some extent the anomaly time series of the AIRS derived products used in the computation of the AIRS OLR product. The paper then examines anomaly time series of AIRS derived products over the extended time period September 2002 through April 2011. We show that OLR anomalies during this period are closely in phase with those of an El Nino index, and that the recent global and tropical mean decreases in OLR and OLRCLR are a result of a transition from an El Nino condition at the beginning of the data record to La Nina conditions toward the end of the data period. We show that the relationship between global mean, and especially tropical mean, OLR anomalies to the El Nino index can be explained by temporal changes of the distribution of mid-tropospheric water vapor and cloud cover in two spatial regions that are in direct response to El Nino/La Nina activity which occurs outside these spatial regions.

Susskind, Joel↗
NASA NTRS2003

Finite-Element Methods for Real-Time Simulation of Surgery

Two finite-element methods have been developed for mathematical modeling of the time-dependent behaviors of deformable objects and, more specifically, the mechanical responses of soft tissues and organs in contact with surgical tools. These methods may afford the computational efficiency needed to satisfy the requirement to obtain computational results in real time for simulating surgical procedures as described in Simulation System for Training in Laparoscopic Surgery (NPO-21192) on page 31 in this issue of NASA Tech Briefs. Simulation of the behavior of soft tissue in real time is a challenging problem because of the complexity of soft-tissue mechanics. The responses of soft tissues are characterized by nonlinearities and by spatial inhomogeneities and rate and time dependences of material properties. Finite-element methods seem promising for integrating these characteristics of tissues into computational models of organs, but they demand much central-processing-unit (CPU) time and memory, and the demand increases with the number of nodes and degrees of freedom in a given finite-element model. Hence, as finite-element models become more realistic, it becomes more difficult to compute solutions in real time. In both of the present methods, one uses approximate mathematical models trading some accuracy for computational efficiency and thereby increasing the feasibility of attaining real-time up36 NASA Tech Briefs, October 2003 date rates. The first of these methods is based on modal analysis. In this method, one reduces the number of differential equations by selecting only the most significant vibration modes of an object (typically, a suitable number of the lowest-frequency modes) for computing deformations of the object in response to applied forces.

Basdogan, Cagatay↗
NASA NTRS2012

Forming Human-Robot Teams Across Time and Space

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

Hambuchen, Kimberly↗
NASA NTRS2012

Using NASA's Giovanni System to Simulate Time-Series Stations in the Outflow Region of California's Eel River

Oceanographic time-series stations provide vital data for the monitoring of oceanic processes, particularly those associated with trends over time and interannual variability. There are likely numerous locations where the establishment of a time-series station would be desirable, but for reasons of funding or logistics, such establishment may not be feasible. An alternative to an operational time-series station is monitoring of sites via remote sensing. In this study, the NASA Giovanni data system is employed to simulate the establishment of two time-series stations near the outflow region of California s Eel River, which carries a high sediment load. Previous time-series analysis of this location (Acker et al. 2009) indicated that remotely-sensed chl a exhibits a statistically significant increasing trend during summer (low flow) months, but no apparent trend during winter (high flow) months. Examination of several newly-available ocean data parameters in Giovanni, including 8-day resolution data, demonstrates the differences in ocean parameter trends at the two locations compared to regionally-averaged time-series. The hypothesis that the increased summer chl a values are related to increasing SST is evaluated, and the signature of the Eel River plume is defined with ocean optical parameters.

Acker, James G.↗
NASA NTRS2012

Time-Resolved Data Acquisition for In Situ Subsurface Planetary Geochemistry

The current gamma-ray/neutron instrumentation development effort at NASA Goddard Space Flight Center aims to extend the use of active pulsed neutron interrogation techniques to probe the subsurface geochemistry of planetary bodies in situ. All previous NASA planetary science missions, that used neutron and/or gamma-ray spectroscopy instruments, have relied on a constant neutron source produced from galactic cosmic rays. One of the distinguishing features of this effort is the inclusion of a high intensity 14.1 MeV pulsed neutron generator synchronized with a custom data acquisition system to time each event relative to the pulse. With usually only one opportunity to collect data, it is difficult to set a priori time-gating windows to obtain the best possible results. Acquiring time-tagged, event-by-event data from nuclear induced reactions provides raw data sets containing channel/energy, and event time for each gamma ray or neutron detected. The resulting data set can be plotted as a function of time or energy using optimized analysis windows after the data are acquired. Time windows can now be chosen to produce energy spectra that yield the most statistically significant and accurate elemental composition results that can be derived from the complete data set. The advantages of post-processing gamma-ray time-tagged event-by-event data in experimental tests using our prototype instrument will be demonstrated.

Bodnarik, Julia Gates↗
NASA NTRS2012

Adaptive Sampling of Time Series During Remote Exploration

This work deals with the challenge of online adaptive data collection in a time series. A remote sensor or explorer agent adapts its rate of data collection in order to track anomalous events while obeying constraints on time and power. This problem is challenging because the agent has limited visibility (all its datapoints lie in the past) and limited control (it can only decide when to collect its next datapoint). This problem is treated from an information-theoretic perspective, fitting a probabilistic model to collected data and optimizing the future sampling strategy to maximize information gain. The performance characteristics of stationary and nonstationary Gaussian process models are compared. Self-throttling sensors could benefit environmental sensor networks and monitoring as well as robotic exploration. Explorer agents can improve performance by adjusting their data collection rate, preserving scarce power or bandwidth resources during uninteresting times while fully covering anomalous events of interest. For example, a remote earthquake sensor could conserve power by limiting its measurements during normal conditions and increasing its cadence during rare earthquake events. A similar capability could improve sensor platforms traversing a fixed trajectory, such as an exploration rover transect or a deep space flyby. These agents can adapt observation times to improve sample coverage during moments of rapid change. An adaptive sampling approach couples sensor autonomy, instrument interpretation, and sampling. The challenge is addressed as an active learning problem, which already has extensive theoretical treatment in the statistics and machine learning literature. A statistical Gaussian process (GP) model is employed to guide sample decisions that maximize information gain. Nonsta tion - ary (e.g., time-varying) covariance relationships permit the system to represent and track local anomalies, in contrast with current GP approaches. Most common GP models are stationary, e.g., the covariance relationships are time-invariant. In such cases, information gain is independent of previously collected data, and the optimal solution can always be computed in advance. Information-optimal sampling of a stationary GP time series thus reduces to even spacing, and such models are not appropriate for tracking localized anomalies. Additionally, GP model inference can be computationally expensive.

Thompson, David R.↗
NASA NTRS2013

The CACAO Method for Smoothing, Gap Filling, and Characterizing Seasonal Anomalies in Satellite Time Series

Consistent, continuous, and long time series of global biophysical variables derived from satellite data are required for global change research. A novel climatology fitting approach called CACAO (Consistent Adjustment of the Climatology to Actual Observations) is proposed to reduce noise and fill gaps in time series by scaling and shifting the seasonal climatological patterns to the actual observations. The shift and scale CACAO parameters adjusted for each season allow quantifying shifts in the timing of seasonal phenology and inter-annual variations in magnitude as compared to the average climatology. CACAO was assessed first over simulated daily Leaf Area Index (LAI) time series with varying fractions of missing data and noise. Then, performances were analyzed over actual satellite LAI products derived from AVHRR Long-Term Data Record for the 1981-2000 period over the BELMANIP2 globally representative sample of sites. Comparison with two widely used temporal filtering methods-the asymmetric Gaussian (AG) model and the Savitzky-Golay (SG) filter as implemented in TIMESAT-revealed that CACAO achieved better performances for smoothing AVHRR time series characterized by high level of noise and frequent missing observations. The resulting smoothed time series captures well the vegetation dynamics and shows no gaps as compared to the 50-60% of still missing data after AG or SG reconstructions. Results of simulation experiments as well as confrontation with actual AVHRR time series indicate that the proposed CACAO method is more robust to noise and missing data than AG and SG methods for phenology extraction.

LAI↗
NASA NTRS2014

Time-Spectral Rotorcraft Simulations on Overset Grids

The Time-Spectral method is derived as a Fourier collocation scheme and applied to NASA's overset Reynolds-averaged Navier-Stokes (RANS) solver OVERFLOW. The paper outlines the Time-Spectral OVERFLOWimplementation. Successful low-speed laminar plunging NACA 0012 airfoil simulations demonstrate the capability of the Time-Spectral method to resolve the highly-vortical wakes typical of more expensive three-dimensional rotorcraft configurations. Dealiasing, in the form of spectral vanishing viscosity (SVV), facilitates the convergence of Time-Spectral calculations of high-frequency flows. Finally, simulations of the isolated V-22 Osprey tiltrotor for both hover and forward (edgewise) flight validate the three-dimensional Time-Spectral OVERFLOW implementation. The Time-Spectral hover simulation matches the time-accurate calculation using a single harmonic. Significantly more temporal modes and SVV are required to accurately compute the forward flight case because of its more active, high-frequency wake.

Rotocraft↗
NASA NTRS2012

Subsurface Supergranular Vertical Flows as Measured Using Large Distance Separations in Time-Distance Helioseismology

As large-distance rays (say, 10 - 24deg) approach the solar surface approximately vertically, travel times measured from surface pairs for these large separations are mostly sensitive to vertical flows, at least for shallow flows within a few Mm of the solar surface. All previous analyses of supergranulation have used smaller separations and have been hampered by the difficulty of separating the horizontal and vertical flow components. We find that the large-separation travel times associated with supergranulation cannot be studied using the standard phase-speed filters of time-distance helioseismology. These filters, whose use is based upon a refractive model of the perturbations, reduce the resultant travel time signal by at least an order of magnitude at some distances. More effective filters are derived. Modeling suggests that the center-annulus travel-time difference [outward-going time minus inward-going time] in the separation range delta= 10 - 24deg is insensitive to the horizontally diverging flow from the centers of the supergranules and should lead to a constant signal from the vertical flow. Our measurement of this quantity, 5.1+/-0.1 seconds, is constant over the distance range. This magnitude of the signal cannot be caused by the level of upflow at cell centers seen at the photosphere of 10 ms(exp−1) extended in depth. It requires the vertical flow to increase with depth. A simple Gaussian model of the increase with depth implies a peak upward flow of 240 ms(exp−1) at a depth of 2.3 Mm and a peak horizontal flow of 700 ms(exp−1) at a depth of 1.6 Mm.

convection↗