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NASA NTRS2004

Mars Exploration Rovers Landing Dispersion Analysis

Landing dispersion estimates for the Mars Exploration Rover missions were key elements in the site targeting process and in the evaluation of landing risk. This paper addresses the process and results of the landing dispersion analyses performed for both Spirit and Opportunity. The several contributors to landing dispersions (navigation and atmospheric uncertainties, spacecraft modeling, winds, and margins) are discussed, as are the analysis tools used. JPL's MarsLS program, a MATLAB-based landing dispersion visualization and statistical analysis tool, was used to calculate the probability of landing within hazardous areas. By convolving this with the probability of landing within flight system limits (in-spec landing) for each hazard area, a single overall measure of landing risk was calculated for each landing ellipse. In-spec probability contours were also generated, allowing a more synoptic view of site risks, illustrating the sensitivity to changes in landing location, and quantifying the possible consequences of anomalies such as incomplete maneuvers. Data and products required to support these analyses are described, including the landing footprints calculated by NASA Langley's POST program and JPL's AEPL program, cartographically registered base maps and hazard maps, and flight system estimates of in-spec landing probabilities for each hazard terrain type. Various factors encountered during operations, including evolving navigation estimates and changing atmospheric models, are discussed and final landing points are compared with approach estimates.

Knocke, Philip C.↗
NASA NTRS2004

Comparison of Classical and Charge Storage Methods for Determining Conductivity of Thin Film Insulators

Conductivity of insulating materials is a key parameter to determine how accumulated charge will distribute across the spacecraft and how rapidly charge imbalance will dissipate. Classical ASTM and IEC methods to measure thin film insulator conductivity apply a constant voltage to two electrodes around the sample and measure the resulting current for tens of minutes. However, conductivity is more appropriately measured for spacecraft charging applications as the "decay" of charge deposited on the surface of an insulator. Charge decay methods expose one side of the insulator in vacuum to sequences of charged particles, light, and plasma, with a metal electrode attached to the other side of the insulator. Data are obtained by capacitive coupling to measure both the resulting voltage on the open surface and emission of electrons from the exposed surface, as well monitoring currents to the electrode. Instrumentation for both classical and charge storage decay methods has been developed and tested at Jet Propulsion Laboratory (JPL) and at Utah State University (USU). Details of the apparatus, test methods and data analysis are given here. The JPL charge storage decay chamber is a first-generation instrument, designed to make detailed measurements on only three to five samples at a time. Because samples must typically be tested for over a month, a second-generation high sample throughput charge storage decay chamber was developed at USU with the capability of testing up to 32 samples simultaneously. Details are provided about the instrumentation to measure surface charge and current; for charge deposition apparatus and control; the sample holders to properly isolate the mounted samples; the sample carousel to rotate samples into place; the control of the sample environment including sample vacuum, ambient gas, and sample temperature; and the computer control and data acquisition systems. Measurements are compared here for a number of thin film insulators using both methods at both facilities. We have found that conductivity determined from charge storage decay methods is 102 to 104 larger than values obtained from classical methods. Another Spacecraft Charging Conference presentation describes more extensive measurements made with these apparatus. This work is supported through funding from the NASA Space Environments and Effects Program and the USU Space Dynamics Laboratory Enabling Technologies Program.

Swaminathan, Prasanna↗
NASA NTRS2004

MSFC Stream Model Preliminary Results: Modeling the 1998-2002 Leonid Encounters and the 1993,1994, and 2004 Perseid Encounters

The cometary meteoroid ejection models of Jones (1996) and Crifo (1997) were used to simulate ejection from comets 55P/Tempel-Tuttle during the last 12 revolutions, and the 1862, 1737, and 161 0 apparitions of 1 OSP/Swift-Tuttle. Using cometary ephemerides generated by the JPL HORIZONS Solar System Data and Ephemeris Computation Service, ejection was simulated in 1 hour time steps while the comet was within 2.5 AU of the Sun. Also simulated was ejection occurring at the hour of perihelion passage. An RK4 variable step integrator was then used to integrate meteoroid position and velocity forward in time, accounting for the effects of radiation pressure, Poynting-Robertson drag, and the gravitational forces of the planets, which were computed using JPL's DE406 planetary ephemerides. An impact parameter is computed for each particle approaching the Earth, and the results are compared to observations of the 1998-2002 Leonid showers, and the 1993-1 994 Perseids. A prediction for Earth's encounter with the Perseid stream in 2004 is also presented.

Moser, D. E.↗
NASA NTRS2004

Balloon and Lear Jet Testing of Scarlet Modules and Cells

This paper presents test results from SCARLET (Solar Concentrator Array with Refractive Linear Element Technology) experiments performed on several Lewis Research Center Lear jet flights and two JPL balloon flights. The tests were performed in support of the BMDO sponsored SCARLET II program, which is building a 2.6 kW SCARLET solar array to supply the primary power for the JPL New Millennium Deep Space 1 Mission. The experiments involve TECSTAR dual junction GaInP2/GaAs/Ge cells flown bare and under two different types of SCARLET lenses. The two types of lenses tested were a developmental design consisting of monolithic THV fluoroplastic and the current baseline flight design consisting of ceria-doped microsheet and silicone. Measured lens and total module efficiencies are presented and the flight data is compared to various solar simulator test results.

Eskenazi, Michael↗
NASA NTRS2000

Ground-to-Ground Optical Communications Demonstration

A bidirectional horizontal-path optical link was demonstrated between Strawberry Peak (SP), Lake Arrowhead, California, and the JPL Table Mountain Facility (TMF), Wrightwood, California, during June and November of 1998. The 0.6-m telescope at TMF was used to broadcast a 4-beam 780-nm beacon to SP. The JPL-patented Optical Communications Demonstrator (OCD) at SP received the beacon, performed ne tracking to compensate for the atmosphere-induced beacon motion and retransmitted a 844-nm communications laser beam modulated at 40 to 500 Mb/s back to TMF. Characteristics of the horizontal-path atmospheric channel as well as performance of the optical communications link were evaluated. The normalized variance of the irradiance fluctuations or scintillation index delta2/I at either end was determined. At TMF where a single 844-nm beam was received by a 0.6-m aperture, the measured delta2/I covered a wide range from 0.07 to 1.08. A single 780-nm beam delta2/I measured at SP using a 0.09-m aperture yielded values ranging from 0.66 to 1.03, while a combination of four beams reduced the scintillation index due to incoherent averaging to 0.22 to 0.40. This reduction reduced the dynamic range of the fluctuations from 17 to 21 dB to 13 to 14 dB as compared with the OCD tracking sensor dynamic range of 10 dB. Predictions of these values also were made based on existing theories and are compared. Generally speaking, the theoretical bounds were reasonable. Discussions on the probability density function (PDF) of the intensity fluctuations are presented and compared with the measurements made. The lognormal PDF was found to agree for the weak scintillation regime as expected. The present measurements support evidence presented by earlier measurements made using the same horizontal path, which suggests that the aperture averaging effect is better than theoretically predicted.

Biswas, A.↗
NASA NTRS2002

Mountain-Top-to-Mountain-Top Optical Link Demonstration

A mountain-top-to-mountain-top optical communications demonstration was conducted between the JPL Table Mountain Facility (TMF), Wrightwood, California, and Strawberry Peak (SP), Lake Arrowhead, California, during the months of August and September of 2000. The link was nearly horizontal at an altitude of 2 km and spanned a range of 46.8 km. A 780-nm multibeam beacon broadcast from TMF was received by the JPL Optical Communications Demonstrator (OCD) located at SP. The received beacon was utilized as a pointing reference to retransmit an 852-nm communications laser beam, modulated at 400 Mb/s by a PN7 pseudo-random bit stream (PRBS) sequence. The long atmospheric path resulted in atmospheric-turbulence-induced angle-of-arrival fluctuations of the beacon at the OCD aperture. A .ne-steering control loop was used to track the resulting beacon centroid motion and update the pointing of the communications laser beam transmitted from SP to TMF. Fried parameters, or r0, inferred from focal spot sizes received at SP were 4 to 5 cm whereas, using the spot sizes received at TMF, they were 2 to 3 cm. In both cases, theory predicts larger r0 values. The predicted angle-of-arrival fluctuations compare well with measured rms displacements exhibited by the focal spots at either end of the link. An uncompensated error of ~1.1 rad in the x-axis and ~2 rad in the y-axis was obtained using centroid data logged by the OCD. Average bit-error rates of 10-5 were recorded for extended periods of time. An atmospheric coherence length r0 of 3 to 5 cm was inferred using the focal-plane spot size measured on the CCD tracking sensor and compared to a predicted value of 5 to 7 cm using reasonable atmospheric models. The irradiance bounds required for the CCD tracking sensor to perform centroiding was found to range from 2000 to 3000 integrated pixel counts, although a more reliable range was 600 to 3000, indicating a dynamic range of 6 to 11 dB. The motion of the spot on the focal plane was also recorded and yielded rms angle-of-arrival-induced focal-plane displacement of 9 to 11 m, compared to a predicted value of 7.8 to 11 m. The irradiance measurements made with the OCD clearly indicate that best tracking performance is obtained when the mean received signal is 2000 to 2200 counts. The best tracking performance resulted in an rms uncompensated error of 1.1 rad. The uncompensated error appeared to increase with either an increase or decrease in mean beacon-signal level. The rms uncompensated error determined by deriving the beacon displacement power spectral density from the beacon centroid-versustime data and the rejection function of the control loop yielded a higher value of 3.4 rad.

Biswas, A.↗
NASA NTRS2004

Softc: An Operational Software Correlator

Softc has been used operationally for spacecraft navigation at JPL for over 2 years and will be JPL's Mark 5 correlator next year. Softc was written to be as close to an ideal correlator as possible, making approximations only below 10(exp -13) seconds. The program can correlate real USB, real LSB, or complex I/Q data sampled with 1, 2, 4. or 8-bit resolution, and was developed with strong debugging tools that made final debugging relatively quick. Softc's algorithms and program structure are fully documented. Timing tests on a recent Intel CPU show Softc processes 8 lags of 1-bit sampled data at 10 MSamples/sec, independent of sample rate.

Lowe, Stephen T.↗
NASA NTRS2004

MSFC Stream Model Preliminary Results: Modeling Recent Leonid and Perseid Encounters

The cometary meteoroid ejection model of Jones and Brown (1996b) was used to simulate ejection from comets 55P/Tempel-Tuttle during the last 12 revolutions, and the last 9 apparitions of 109P/Swift-Tuttle. Using cometary ephemerides generated by the Jet Propulsion Laboratory s (JPL) HORIZONS Solar System Data and Ephemeris Computation Service, two independent ejection schemes were simulated. In the first case, ejection was simulated in 1 hour time steps along the comet s orbit while it was within 2.5 AU of the Sun. In the second case, ejection was simulated to occur at the hour the comet reached perihelion. A 4th order variable step-size Runge-Kutta integrator was then used to integrate meteoroid position and velocity forward in time, accounting for the effects of radiation pressure, Poynting-Robertson drag, and the gravitational forces of the planets, which were computed using JPL s DE406 planetary ephemerides. An impact parameter was computed for each particle approaching the Earth to create a flux profile, and the results compared to observations of the 1998 and 1999 Leonid showers, and the 1993 and 2004 Perseids.

Cooke, William J.↗
NASA NTRS2005

Multi-Agent Modeling and Simulation Approach for Design and Analysis of MER Mission Operations

A space mission operations system is a complex network of human organizations, information and deep-space network systems and spacecraft hardware. As in other organizations, one of the problems in mission operations is managing the relationship of the mission information systems related to how people actually work (practices). Brahms, a multi-agent modeling and simulation tool, was used to model and simulate NASA's Mars Exploration Rover (MER) mission work practice. The objective was to investigate the value of work practice modeling for mission operations design. From spring 2002 until winter 2003, a Brahms modeler participated in mission systems design sessions and operations testing for the MER mission held at Jet Propulsion Laboratory (JPL). He observed how designers interacted with the Brahms tool. This paper discussed mission system designers' reactions to the simulation output during model validation and the presentation of generated work procedures. This project spurred JPL's interest in the Brahms model, but it was never included as part of the formal mission design process. We discuss why this occurred. Subsequently, we used the MER model to develop a future mission operations concept. Team members were reluctant to use the MER model, even though it appeared to be highly relevant to their effort. We describe some of the tool issues we encountered.

Seah, Chin↗
NASA NTRS2005

A Reliable Service-Oriented Architecture for NASA's Mars Exploration Rover Mission

The Collaborative Information Portal (CIP) was enterprise software developed jointly by the NASA Ames Research Center and the Jet Propulsion Laboratory (JPL) for NASA's highly successful Mars Exploration Rover (MER) mission. Both MER and CIP have performed far beyond their original expectations. Mission managers and engineers ran CIP inside the mission control room at JPL, and the scientists ran CIP in their laboratories, homes, and offices. All the users connected securely over the Internet. Since the mission ran on Mars time, CIP displayed the current time in various Mars and Earth time zones, and it presented staffing and event schedules with Martian time scales. Users could send and receive broadcast messages, and they could view and download data and image files generated by the rovers' instruments. CIP had a three-tiered, service-oriented architecture (SOA) based on industry standards, including J2EE and web services, and it integrated commercial off-the-shelf software. A user's interactions with the graphical interface of the CIP client application generated web services requests to the CIP middleware. The middleware accessed the back-end data repositories if necessary and returned results for these requests. The client application could make multiple service requests for a single user action and then present a composition of the results. This happened transparently, and many users did not even realize that they were connecting to a server. CIP performed well and was extremely reliable; it attained better than 99% uptime during the course of the mission. In this paper, we present overviews of the MER mission and of CIP. We show how CIP helped to fulfill some of the mission needs and how people used it. We discuss the criteria for choosing its architecture, and we describe how the developers made the software so reliable. CIP's reliability did not come about by chance, but was the result of several key design decisions. We conclude with some of the important lessons we learned form developing, deploying, and supporting the software.

Mak, Ronald↗
NASA NTRS1996

NSTAR Ion Propulsion System Power Electronics

The NASA Solar Electric Propulsion Technology Application Readiness (NSTAR) program, managed by the Jet Propulsion Laboratory (JPL), is currently developing a high performance, simplified ion propulsion system. This propulsion system, which is throttleable from 0.5- to 2.3-kW output power to the thruster, targets primary propulsion applications for planetary and Earth-space missions and has been baselined as the primary propulsion system for the first New Millennium spacecraft. The NASA Lewis Research Center is responsible for the design and delivery of a breadboard power processing unit (PPU) and an engineering model thruster (EMT) for this system and will manage the contract for the delivery of the flight hardware to JPL. The PPU requirements, which dictate a mass of less than 12 kg with an efficiency of 0.9 or greater at a 2.3-kW output, forced a departure from the state-of-the-art ion thruster PPU design. Several innovations--including dual-use topologies, simplified thruster control, and the use of ferrite magnetic materials--were necessary to meet these requirements.

Source record↗
NASA NTRS1997

Nonlinear Dynamic Behavior in the Cassini Spacecraft Modal Survey

In October 1997, the 6-ton robotic spacecraft, Cassini, will lift off from Cape Canaveral atop a Titan IV B rocket, beginning a 7-year journey to Saturn. Upon completion of that voyage, Cassini will send the Huygens probe into the atmosphere of Saturn's largest moon, Titan. Cassini will then spend years studying Saturn's vast realm of rings, icy moons, and magnetic fields. The size and complexity of this endeavor mandates the involvement of many organizations. The Jet Propulsion Laboratory (JPL) manages the project for NASA and is responsible for the spacecraft design, development, and assembly. The NASA Lewis Research Center is the launch system integrator. As is typical for such a spacecraft, a test-verified finite element model is required for loads analysis. JPL had responsibility for the Cassini modal survey and the development of the spacecraft test-verified finite element model. Test verification is a complex and sometimes subjective process. Because of this, NASA Lewis independently verified and validated the Cassini spacecraft modal survey.

Carney, Kelly S.↗
NASA NTRS2004

Ion Thruster Power Levels Extended by a Factor of 10

In response to two NASA Office of Space Science initiatives, the NASA Glenn Research Center is now developing a 7-kW-class xenon ion thruster system for near-term solar-powered spacecraft and a 25-kW ion engine for nuclear-electric spacecraft. The 7-kW ion thruster and power processor can be throttled down to 1 kW and are applicable to 25-kW flagship missions to the outer planets, asteroids, and comets. This propulsion system was scaled up from the 2.5-kW ion thruster and power processor that was developed successfully by Glenn, Boeing, the Jet Propulsion Laboratory (JPL), and Spectrum Astro for the Deep Space 1 spacecraft. The 7-kW ion thruster system is being developed under NASA's Evolutionary Xenon Thruster (NEXT) project, which includes partners from JPL, Aerojet, Boeing, the University of Michigan, and Colorado State University.

Patterson, Michael J.↗
NASA NTRS2005

Assessing the Relative Risk of Aerocapture Using Probabalistic Risk Assessment

A recent study performed for the Aerocapture Technology Area in the In-Space Propulsion Technology Projects Office at the Marshall Space Flight Center investigated the relative risk of various capture techniques for Mars missions. Aerocapture has been proposed as a possible capture technique for future Mars missions but has been perceived by many in the community as a higher risk option as compared to aerobraking and propulsive capture. By performing a probabilistic risk assessment on aerocapture, aerobraking and propulsive capture, a comparison was made to uncover the projected relative risks of these three maneuvers. For mission planners, this knowledge will allow them to decide if the mass savings provided by aerocapture warrant any incremental risk exposure. The study focuses on a Mars Sample Return mission currently under investigation at the Jet Propulsion Laboratory (JPL). In each case (propulsive, aerobraking and aerocapture), the Earth return vehicle is inserted into Martian orbit by one of the three techniques being investigated. A baseline spacecraft was established through initial sizing exercises performed by JPL's Team X. While Team X design results provided the baseline and common thread between the spacecraft, in each case the Team X results were supplemented by historical data as needed. Propulsion, thermal protection, guidance, navigation and control, software, solar arrays, navigation and targeting and atmospheric prediction were investigated. A qualitative assessment of human reliability was also included. Results show that different risk drivers contribute significantly to each capture technique. For aerocapture, the significant drivers include propulsion system failures and atmospheric prediction errors. Software and guidance hardware contribute the most to aerobraking risk. Propulsive capture risk is mainly driven by anomalous solar array degradation and propulsion system failures. While each subsystem contributes differently to the risk of each technique, results show that there exists little relative difference in the reliability of these capture techniques although uncertainty for the aerocapture estimates remains high given the lack of in-space demonstration.

Percy, Thomas K.↗
NASA NTRS2005

Enabling the On-line Intrinsic Evolution of Analog Controllers

The authors have worked previously on Analog Controllers. Used JPL developed stand alone board level evolvable (SABLE) system as platform controller evolution. SABLE is a hardware platform incorporating the JPL designed second generation field programmable transistor array (FPTA2).

Gwaltney, David A.↗
NASA NTRS1998

An Inflatable L-Band Microstrip SAR Array

Inflatable structures have been identified as one of the enabling technologies to achieve low mass, high packaging efficiency, and reliable deployment for future NASA spaceborne synthetic aperture radar (SAR) array antennas. A current L-band SAR antenna development, with aperture size of 10 m x 3 m, is required to have the capabilities of dual-linear polarization, 80-MHz bandwidth, electronic beam scanning, and less than 100 kg of mass. An inflatable concept, which employs the inflatable tubular frame structure to support a multilayer, thin membrane, microstrip array radiating aperture, has been identified. It uses a "roll-up" concept, for deploying the thin membranes to form a planar array aperture. To demonstrate this concept, two contracts were independently given to ILC Dover, Inc. and L'Garde Corp. for each to construct a 1/3 size (3.3 m x 1.0 m) functional model with an inflatable structure at L-band frequency. JPL provided both contractors with the antenna RF design and the etched thin membranes. The ILC Dover model has been delivered to JPL and gone through a series of deployment and RF tests. This is believed to be the first inflatable array antenna ever developed. This paper presents the mechanical and electrical constructions of this inflatable array and its test results.

Huang, J.↗
NASA NTRS1997

An Application of the "Virtual Spacecraft" Concept in Evaluation of the Mars Pathfinder Lander Low Gain Antenna

The virtual spacecraft concept is embodied in a set of subsystems, either in the form of hardware or computational models, which together represent all, or a portion of, a spacecraft. For example, the telecommunications transponder may be a hardware prototype while the propulsion system may exist only as a simulation. As the various subsystems are realized in hardware, the spacecraft becomes progressively less virtual. This concept is enabled by JPL's Mission System Testbed which is a set of networked workstations running a message passing operating system called "TRAMEL" which stands for Task Remote Asynchronous Message Exchange Layer. Each simulation on the workstations, which may in fact be hardware controlled by the workstation, "publishes" its operating parameters on TRAMEL and other simulations requiring those parameters as input may "subscribe" to them. In this manner, the whole simulation operates as a single virtual system. This paper describes a simulation designed to evaluate a communications link between the earth and the Mars Pathfinder Lander module as it descends under a parachute through the Martian atmosphere toward the planet's surface. This link includes a transmitter and a low gain antenna on the spacecraft and a receiving antenna and receiver on the earth as well as a simulation of the dynamics of the spacecraft. The transmitter, the ground station antenna, the receiver and the dynamics are all simulated computationally while the spacecraft antenna is implemented in hardware on a very simple spacecraft mockup. The dynamics simulation is a record of one output of the ensemble of outputs of a Monte Carlo simulation of the descent. Additionally, the antenna/spacecraft mock-up system was simulated using APATCH, a shooting and bouncing ray code developed by Demaco, Inc. The antenna simulation, the antenna hardware, and the link simulation are all physically located in different facilities at JPL separated by several hundred meters and are linked via the local area network (LAN).

Pogorzelski, R. J.↗
NASA NTRS2005

James Webb Space Telescope XML Database: From the Beginning to Today

The James Webb Space Telescope (JWST) Project has been defining, developing, and exercising the use of a common eXtensible Markup Language (XML) for the command and telemetry (C&T) database structure. JWST is the first large NASA space mission to use XML for databases. The JWST project started developing the concepts for the C&T database in 2002. The database will need to last at least 20 years since it will be used beginning with flight software development, continuing through Observatory integration and test (I&T) and through operations. Also, a database tool kit has been provided to the 18 various flight software development laboratories located in the United States, Europe, and Canada that allows the local users to create their own databases. Recently the JWST Project has been working with the Jet Propulsion Laboratory (JPL) and Object Management Group (OMG) XML Telemetry and Command Exchange (XTCE) personnel to provide all the information needed by JWST and JPL for exchanging database information using a XML standard structure. The lack of standardization requires custom ingest scripts for each ground system segment, increasing the cost of the total system. Providing a non-proprietary standard of the telemetry and command database definition formation will allow dissimilar systems to communicate without the need for expensive mission specific database tools and testing of the systems after the database translation. The various ground system components that would benefit from a standardized database are the telemetry and command systems, archives, simulators, and trending tools. JWST has exchanged the XML database with the Eclipse, EPOCH, ASIST ground systems, Portable spacecraft simulator (PSS), a front-end system, and Integrated Trending and Plotting System (ITPS) successfully. This paper will discuss how JWST decided to use XML, the barriers to a new concept, experiences utilizing the XML structure, exchanging databases with other users, and issues that have been experienced in creating databases for the C&T system.

Gal-Edd, Jonathan↗