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NASA NTRS2011

Cassini Mission Sequence Subsystem (MSS)

This paper describes my work with the Cassini Mission Sequence Subsystem (MSS) team during the summer of 2011. It gives some background on the motivation for this project and describes the expected benefit to the Cassini program. It then introduces the two tasks that I worked on - an automatic system auditing tool and a series of corrections to the Cassini Sequence Generator (SEQ_GEN) - and the specific objectives these tasks were to accomplish. Next, it details the approach I took to meet these objectives and the results of this approach, followed by a discussion of how the outcome of the project compares with my initial expectations. The paper concludes with a summary of my experience working on this project, lists what the next steps are, and acknowledges the help of my Cassini colleagues.

solstice mission↗
NASA NTRS2011

Cassini Attitude Control Operations - Guidelines Levied on Science to Extend Reaction Wheel Life

The Cassini spacecraft was launched on October 15, 1997 and arrived at Saturn on June 30, 2004. It has performed detailed observations and remote sensing of Saturn, its rings, and its satellites since that time. Cassini deployed the European-built Huygens probe, which descended through the Titan atmosphere (Saturn's largest moon) and landed on its surface on January 14, 2005. The Cassini mission has recently been approved by NASA to continue through September of 2017. This 7-year extension is called the Solstice mission and it presents challenges to the spacecraft operations team and its ability to maintain the health of the spacecraft. To keep the spacecraft healthy for 7 more years, the spacecraft team must carefully manage hydrazine use (about 48% of the 132 kg launch load remains as of January 2011). A vital part of conserving hydrazine is to use the reaction wheel assembly (RWA) control system for precise pointing and slews wherever possible. In any given week, the Cassini spacecraft is commanded to use RWA control about 99% of the time, with about 1% of the time requiring reaction control system (RCS) thruster control (to perform Delta V course corrections or to bias the RWA momentum). Such extensive use of the RWA hardware throughout the mission requires that the RWAs be operated in a way that minimizes degradation in the RWA electronics, DC motor, and spin bearing for each reaction wheel. Three consumables in particular have been identified for the RWAs: (1) Total number of revolutions for each RWA. (2) Time spent at very low wheel speeds. At these low speeds, good elasto-hydrodynamic (EHD) film lubrication may be compromised. (3) Total number of on/off power cycles. The second of these consumables, minimizing the time spent at very low wheel speeds, is especially important to keep the spin bearing healthy and well-lubricated. These consumables are actively managed by the attitude control operations team throughout the mission. One vital management technique is to predict individual RWA momentum (given the pointing and slews that are needed to collect the best science) and to bias the RWA momentum in a way that reduces both the total number of revolutions as well as the time spent below EHD wheel speed. Another strategy to protect RWA health is to alter the planned pointing of the spacecraft (which can affect science collection) so that the RWA consumables are conserved. This paper focuses on why this second technique is needed, and discusses how guidelines have been developed by the attitude control team which affects the planned science pointing, so that science data can be most optimally collected while still minimizing RWA consumable usage.

interplanetary trajectory↗
NASA NTRS2013

Inflight Performance of Cassini Reaction Wheel Bearing Drag in 1997-2013

As the first spacecraft to achieve orbit at Saturn in 2004, Cassini has collected science data throughout its four-year prime mission (2004-08), and has since been approved for a first and second extended missions through September 2017. Cassini is a three-axis stabilized spacecraft. It uses reaction wheels to achieve high level of spacecraft pointing stability that is needed during imaging operations of several science instruments. The Cassini flight software makes in-flight estimates of reaction wheel bearing drag torque and made them available to the mission operations team. These telemetry data are being trended for the purpose of monitoring the long-term health of the reaction wheel bearings. Anomalous drag torque signatures observed over the past 15 years are described in this paper. One of these anomalous drag conditions is bearing cage instability that appeared (and disappeared) spontaneously and unpredictably. Cage instability is an uncontrolled vibratory motion of the bearing cage that can produce high-impact forces internal to the bearing that will cause intermittent and erratic torque transients. Characteristics of the observed cage instabilities and other drag torque "spikes" are described in this paper. In day-to-day operations, the reaction wheels' rates must be neither too high nor too low. To protect against operating the wheels in any undesirable conditions (such as prolonged low spin rate operations), a ground software tool named Reaction Wheel Bias Optimization Tool (RBOT) was developed for the management of the wheels. Disciplined and long-term use of this ground software has led to significant reduction in the daily consumption rate of the wheels' low spin rate dwell time. Flight experience on the use of this ground software tool as well as other lessons learned on the management of Cassini reaction wheels is given in this paper.

Cassini/Huygens Mission↗
NASA NTRS1991

Cassini Titan Radar Mapper

The Cassini Titan Radar Mapper is a multimode radar instrument designed to probe the optically inaccessible surface of Titan, Saturn's largest moon. The instrument is to be included in the payload of the Cassini Saturn Mission, scheduled for launch in 1995. The individual modes of Cassini Radar Mapper will allow topographic mapping and surface imaging at few hundred meters resolution. The requirements that lay behind the design are briefly discussed, and the configuration and capability of the instrument are described. The present limited knowledge of Titan's surface and the measurement requirements imposed on the radar instrument are addressed. Also discussed are the Cassini mission and the projected orbits, which imposed another set of design constraints that led to the multitude of modes and to an unconventional antenna configuration. The antenna configuration and the different radar modes are described.

Elachi, Charles↗
NASA NTRS1992

Cassini: Mission to Saturn and Titan

The Cassini Mission to Saturn and Titan represents an important step into the exploration of the outerplanets. It will expand on the flyby encounters of Pioneer and Voyager and parallel the detailed exploration of the Jupiter system to be accomplished by the Galileo Mission. By continuing the study of the two giant planets and enabling detailed comparisons of their structure and behavior, Cassini will provide a tremendous insight into the formation and evolution of the solar system. In addition, by virtue of its focus on the Saturnian satellite Titan, Cassini will return detailed data on an environment whose atmospheric chemistry may resemble that of the primitive Earth. The scientific objectives can be divided into five categories: Titan, Saturn, rings, icy satellites, and magnetospheres. The key area of interest to exobiologists is Titan; the other four scientific categories will be discussed briefly to provide a comprehensive overview of the Cassini Mission.

Kerridge, Stuart J.↗
NASA NTRS1992

An overview of the Cassini mission

Cassini is a planetary mission designed to carry out a detailed exploration of the Saturnian system. The Cassini spacecraft is composed of a NASA-provided Saturn Orbiter and an ESA-supplied Titan atmospheric probe. Scheduled for launch in October 1997, Cassini will take about 7 years to reach Saturn after a journey which includes gravity assists from Venus, Earth and Jupiter. In late 2004, a few weeks after the insertion of the Cassini spacecraft in orbit around Saturn, the Huygens probe will be dropped into the atmosphere of Titan. Following the probe mission, the Saturn Orbiter will carry out a 4 year tour within the Saturn system for detailed observations of the Planet Saturn, Titan, many of the icy satellites, the rings and the magnetosphere.

Lebreton, J.-P.↗
NASA NTRS1999

Cassini Radio Science Experiments on Saturn and Titan Preserved Because of Lewis Analysis

The Cassini mission to Saturn is an international venture with participation from NASA, the European Space Agency, and the Italian Space Agency. The Cassini spacecraft was launched from Cape Canaveral in October 1997 and is scheduled to arrive at Saturn in July 2004. After arrival, the spacecraft will orbit Saturn about 60 times over a period of 4 years. During this time, the Cassini Radio Science Subsystem will be used to investigate the atmosphere and rings of Saturn and the atmosphere of its largest moon, Titan--which is larger than Mercury and is the only moon in our solar system with a dense atmosphere. A critical component in Cassini s Radio Science Subsystem is a traveling-wave tube (TWT) that was designed at the NASA Lewis Research Center and built by Hughes Electronic Dynamics Division (ref. 1). This TWT will amplify downlink microwave signals at a frequency of 32 GHz for the Deep Space Network and will be involved in a number of experiments. These include occultation experiments in which the microwave signal will be beamed through rings and atmospheres toward Earth. Researchers will analyze the received signals to determine the sizes and distributions of the particles in the rings and the structure and composition of the atmospheres. The Radio Science Subsystem also will also be used to more accurately determine the mass and size of Saturn and its moons, to investigate the solar corona, and to search for gravity waves from outside the solar system.

Wilson, Jeffrey D.↗
NASA NTRS1995

Vibration damping of the Cassini spacecraft structure

Cassini is a large robotic spacecraft currently under development at the Jet Propulsion Laboratory (JPL) whose interplanetary scientific mission is to explore Saturn, its ring, and its moons. Cassini is scheduled to launch on a Titan IV rocket with a Centaur upper stage booster, and will be protected during ascent through the atmosphere by a lightweight aluminum payload fairing (PLF). As a result of the extreme noise levels generated by the powerful Titan IV at liftoff, and the acoustic transparency of the PLF, Cassini is predicted to experience sever acoustic levels. Furthermore, the high acoustic levels, coupled with the size and configuration of the spacecraft, will induce unacceptable random vibration levels on the structure and critical spacecraft components. Studies showed that the use of Tuned Vibration Absorbers (TVAs) would be effective in reducing vibration. A series of reverberant acoustic tests were performed on a partial development test model (DTM) of Cassini to evaluate the effectiveness of TVAs in reducing the structural vibration. The test results showed that significant vibration attenuation was achieved.

vibration damping↗
NASA NTRS2010

Using Cassini UVIS Data to Constrain Enceladus' Libration State

Given the non-spherical shape of Enceladus, the satellite may experience gravitational torques that will cause it to physically librate as it orbits Saturn. Physical libration would produce a diurnal oscillation in the longitude of Enceladus' tidal bulge, which could have a profound effect on the diurnal stresses experienced by the surface of the satellite. Although Cassini ISS has placed an observational upper limit on Enceladus' libration amplitude, stall amplitude librations may have geologically significant consequences. For example, a physical libration will affect heat production along the tiger stripes as produced by tidal shear heating and a previous study has explored possible libration states that provided better matches to Cassini CIRS observations of heat along the tiger stripes. Cassini UVIS stellar occultations provided measurements of the column density of the Enceladus plume at two different points in Enceladus' orbit and find comparable column density values. This column density may be a reflection of the amount of the tiger stripe rifts in tension and able to vent volatiles and a physical libration will also affect the fraction of tiger stripe in tension at different points in the orbit. We have modeled the expected fraction of tiger stripes in tension under different libration conditions. Without libration the amount of tiger stripe rifts in tension at both paints in the orbit would not be comparable and therefore may not allow comparable amounts of volatiles to escape. However, we identify libration conditions that do allow comparable amounts of the tiger stripes to be in tension at each point in the orbit, which might lead to comparable column densities. The librations identified coincide with possible librations states identified in the earlier study, which used Cassini CIRS observations.

Hurford, Terry A.↗
NASA NTRS2013

Fault Protection Design and Testing for the Cassini Spacecraft in a "Mixed" Thruster Configuration

NASA's Cassini Spacecraft, launched on October 15th, 1997 and arrived at Saturn on June 30th, 2004, is the largest and most ambitious interplanetary spacecraft in history. In order to meet the challenging attitude control and navigation requirements of the orbit profile at Saturn, Cassini is equipped with a monopropellant thruster based Reaction Control System (RCS), a bipropellant Main Engine Assembly (MEA) and a Reaction Wheel Assembly (RWA). In 2008, after 11 years of reliable service, several RCS thrusters began to show signs of end of life degradation, which led the operations team to successfully perform the swap from the A-branch to the B-branch RCS system. If similar degradation begins to occur on any of the B-branch thrusters, Cassini might have to assume a "mixed" thruster configuration, where a subset of both A and B branch thrusters will be designated as prime. The Cassini Fault Protection FSW was recently updated to handle this scenario. The design, implementation, and testing of this update is described in this paper.

propellant↗
NASA NTRS2012

In-Flight Position Calibration of the Cassini Articulated Reaction Wheel Assembly

NASA's long-lived Cassini-Huygens spacecraft is currently in its 14th year of flight and in the midst of its second, and final, extended mission. Cassini is a massive interplanetary spacecraft that is three axis stabilized and can maintain attitude control using either its reaction control system thrusters or using reaction wheel control. Cassini has four identical reaction wheels, of which three are mutually orthogonal and have a fixed orientation. The fourth reaction wheel has an articulation motor that allows this reaction wheel to be aligned with the momentum direction of any of the other three fixed reaction wheels. The articulation motor allows this reaction wheel to be used as a replacement for any of the other three wheels without any performance degradation. However, due to limitations in the design of this backup system, there are few telemetric indications of the orientation of this reaction wheel following an articulation. This investigation serves to outline the procedures that have been developed by the Cassini Attitude and Articulation Control Subsystem to calibrate the position of the articulated reaction wheel assembly in the event that the momentum direction of this reaction wheel must be reoriented.

Brown, Todd S.↗
NASA NTRS2010

Cassini Titan Science Integration: Getting a 'Jumpstart' on the Process

The Cassini spacecraft has been in orbit for five years, returning a wealth of scientific data from Titan and the Saturn system. The mission is a cooperative undertaking between NASA, ESA and the Italian Space Agency and the project is currently planning for a second extension of the mission. The Cassini Solstice Mission (CSM) will extend the mission's lifetime until Saturn's northern summer solstice in 2017. The Titan Orbiter Science Team (TOST) has the task of integrating the science observations for all 126 targeted Titan flybys (44 in the Prime Mission, 26 in the first extension (Equinox Mission), and 56 in the second extension (Solstice Mission)) contained in the chosen trajectory. Cassini science instruments are body-fixed with limited ability to articulate; thus, the spacecraft pointing during the flybys must be allocated among the instruments to accomplish the mission's science goals. The science that can be accomplished on each Titan flyby also critically depends on the closest approach altitude, which is in turn determined by the attitude, but changing the altitude impacts the overall trajectory for the Solstice Mission. During the Prime and Extended missions, TOST has learned that the best way to achieve Cassini's Titan science goals is via a 'jumpstart' process prior to final delivery of the trajectory. The jumpstart is driven by the desire to balance Titan science across the entire set of flybys during the CSM, and to influence any changes (tweaks) to the flyby altitudes. By the end of the jumpstart, TOST produces Master Timelines for each flyby, identifying each flyby's prime science observations and allocating control of the spacecraft attitude to specific instrument teams. In addition, developing timelines early, while the science and operations teams are still fully funded, decreases the future workload in integration and implementation.

Steadman, Kimberly B.↗
NASA NTRS2010

A Flight-Calibrated Methodology for Determination of Cassini Thruster On-Times for Reaction Wheel Biases

This paper describes a methodology for accurate and flight-calibrated determination of the on-times of the Cassini spacecraft Reaction Control System (RCS) thrusters, without any form of dynamic simulation, for the reaction wheel biases. The hydrazine usage and the delta V vector in body frame are also computed from the respective thruster on-times. The Cassini spacecraft, the largest and most complex interplanetary spacecraft ever built, continues to undertake ambitious and unique scientific observations of planet Saturn, Titan, Enceladus, and other moons of Saturn. In order to maintain a stable attitude during the course of its mission, this three-axis stabilized spacecraft uses two different control systems: the RCS and the reaction wheel assembly control system. The RCS is used to execute a commanded spacecraft slew, to maintain three-axis attitude control, control spacecraft's attitude while performing science observations with coarse pointing requirements, e.g. during targeted low-altitude Titan and Enceladus flybys, bias the momentum of reaction wheels, and to perform RCS-based orbit trim maneuvers. The use of RCS often imparts undesired delta V on the spacecraft. The Cassini navigation team requires accurate predictions of the delta V in spacecraft coordinates and inertial frame resulting from slews using RCS thrusters and more importantly from reaction wheel bias events. It is crucial for the Cassini spacecraft attitude control and navigation teams to be able to, quickly but accurately, predict the hydrazine usage and delta V for various reaction wheel bias events without actually having to spend time and resources simulating the event in flight software-based dynamic simulation or hardware-in-the-loop simulation environments. The methodology described in this paper, and the ground software developed thereof, are designed to provide just that. This methodology assumes a priori knowledge of thrust magnitudes and thruster pulse rise and tail-off time constants for eight individual attitude control thrusters, the spacecraft's wet mass and its center of mass location, and a few other key parameters.

Earth Mean Equatorial↗
NASA NTRS2010

Managing Cassini Safe Mode Attitude at Saturn

The Cassini spacecraft was launched on October 15, 1997 and arrived at Saturn on June 30, 2004. It has performed detailed observations and remote sensing of Saturn, its rings, and its satellites since that time. In the event safe mode interrupts normal orbital operations, Cassini has flight software fault protection algorithms to detect, isolate, and recover to a thermally safe and commandable attitude and then wait for further instructions from the ground. But the Saturn environment is complex, and safety hazards change depending on where Cassini is in its orbital trajectory around Saturn. Selecting an appropriate safe mode attitude that insures safe operation in the Saturn environment, including keeping the star tracker field of view clear of bright bodies, while maintaining a quiescent, commandable attitude, is a significant challenge. This paper discusses the Cassini safe table management strategy and the key criteria that must be considered, especially during low altitude flybys of Titan, in deciding what spacecraft attitude should be used in the event of safe mode.

Attitude Control↗
NASA NTRS2015

Ensuring Cassini's End-of-Mission Propellant Margins

The Cassini spacecraft is in its final years. On September 15, 2017, Cassini will plunge deep into Saturn's atmosphere never to reemerge; thus concluding its second extended mission and 13 years in orbit around the ringed planet. As of October 2014, the spacecraft is four years in to its seven-year, second extended mission, the Cassini Solstice Mission (CSM). With three years left and only 2.5% of its loaded bipropellant and 37% of its loaded monopropellant remaining, the Cassini project actively manages the predicted end-of-mission propellant margins to maintain a high confidence in the spacecraft's ability to complete the CSM as designed.

Sturm, Erick J., II↗
NASA NTRS2014

Using AUTORAD for Cassini File Uplinks: Incorporating Automated Commanding into Mission Operations

As the Cassini spacecraft embarked on the Solstice Mission in October 2010, the flight operations team faced a significant challenge in planning and executing the continuing tour of the Saturnian system. Faced with budget cuts that reduced the science and engineering staff by over a third in size, new and streamlined processes had to be developed to allow the Cassini mission to maintain a high level of science data return with a lower amount of available resources while still minimizing the risk. Automation was deemed an important key in enabling mission operations with reduced workforce and the Cassini flight team has made this goal a priority for the Solstice Mission. The operations team learned about a utility called AUTORAD which would give the flight operations team the ability to program selected command files for radiation up to seven days in advance and help minimize the need for off-shift support that could deplete available staffing during the prime shift hours. This paper will describe how AUTORAD is being utilized by the Cassini flight operations team and the processes that were developed or modified to ensure that proper oversight and verification is maintained in the generation and execution of radiated command files.

Goo, Sherwin↗
NASA NTRS2015

Inflight Characterization of the Cassini Spacecraft Propellant Slosh and Structural Frequencies

While there has been extensive theoretical and analytical research regarding the characterization of spacecraft propellant slosh and structural frequencies, there have been limited studies to compare the analytical predictions with measured flight data. This paper uses flight telemetry from the Cassini spacecraft to get estimates of high-g propellant slosh frequencies and the magnetometer boom frequency characteristics, and compares these values with those predicted by theoretical works. Most Cassini attitude control data are available at a telemetry frequency of 0.5 Hz. Moreover, liquid sloshing is attenuated by propellant management device and attitude controllers. Identification of slosh and structural frequency are made on a best-effort basis. This paper reviews the analytical approaches that were used to predict the Cassini propellant slosh frequencies. The predicted frequencies are then compared with those estimated using telemetry from selected Cassini burns where propellant sloshing was observed (such as the Saturn Orbit Insertion burn). Determination of the magnetometer boom structural frequency is also discussed.

Lee, Allan Y.↗
NASA NTRS2015

Inflight Characterization of the Cassini Spacecraft Propellant Slosh and Structural Frequencies

While there has been extensive theoretical and analytical research regarding the characterization of spacecraft propellant slosh and structural frequencies, there have been limited studies to compare the analytical predictions with measured flight data. This paper uses flight telemetry from the Cassini spacecraft to get estimates of high-g propellant slosh frequencies and the magnetometer boom frequency characteristics, and compares these values with those predicted by theoretical works. Most Cassini attitude control data are available at a telemetry frequency of 0.5 Hz. Moreover, liquid sloshing is attenuated by propellant management device and attitude controllers. Identification of slosh and structural frequency are made on a best-effort basis. This paper reviews the analytical approaches that were used to predict the Cassini propellant slosh frequencies. The predicted frequencies are then compared with those estimated using telemetry from selected Cassini burns where propellant sloshing was observed (such as the Saturn Orbit Insertion burn).

Lee, Allan Y.↗