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NASA NTRS2010

Management and Systems Engineering of the Kepler Mission

Kepler is the National Aeronautics and Space Administration's (NASA's) first mission capable of detecting Earth-size planets orbiting in the habitable zones around stars other than the sun. Selected for implementation in 2001 and launched in 2009, Kepler seeks to determine whether Earth-like planets are common or rare in the galaxy. The investigation requires a large, space-based photometer capable of simultaneously measuring the brightnesses of 100,000 stars at part-per-million level of precision. This paper traces the development of the mission from the perspective of project management and systems engineering and describes various methodologies and tools that were found to be effective. The experience of the Kepler development is used to illuminate lessons that can be applied to future missions.

systems engineering↗
NASA NTRS2010

Focal Plane Geometry Characterization of the Kepler Mission

The Kepler Mission focal plane contains 42 charge-coupled device (CCD) photodetectors. Each CCD is composed of 2.2 million square pixels, 27 micrometers on a side, arranged in a grid of 2,200 columns by 1,044 rows. The science goals of the Kepler Mission require that the position of each CCD be determined with an accuracy of 0.1 pixels, corresponding to 2.7 micrometers or 0.4 seconds of arc, a level which is not achievable through pre-flight metrology. We describe a technique for determining the CCD positioning using images of the Kepler field of view (FOV) obtained in flight. The technique uses the fitted centroid row and column positions of 400 pre-selected stars on each CCD to obtain empirical polynomials which relate sky coordinates (right ascension and declination) to chip coordinates (row and column). The polynomials are in turn evaluated to produce constraints for a nonlinear model fit which directly determines the model parameters describing the location and orientation of each CCD. The focal plane geometry characterization algorithm is itself embedded in an iterative process which determines the focal plane geometry and the Pixel Response Function for each CCD in a self-consistent manner. In addition to the fully automated calculation, a person-in-the-loop implementation was developed to allow an initial determination of the geometry in the event of large misalignments, achieving a much looser capture tolerance for more modest accuracy and reduced automation.

ccd↗
NASA NTRS1998

Scientific Issues Addressed by the Kepler Mission

The Kepler Mission uses a wide field-of-view telescope to photometrically monitor 100,000 main-sequence stars for evidence of planetary transits. Because of the large number of stars monitored and because the mission is designed with a precision (0.002%) sufficient to readily recognize Earth-size planets transiting solar-like stars, several hundred Earth-size planets should be found. Based on the the Dopper velocity observations that find 2% of the main-sequence stars have Jupiter-size planets in short-period orbits, the Kepler mission is also expected to detect about 2000 giant planets. Several questions about the association of planet types and stellar characteristics can be investigated. For example; Are small planets found when Jupiter-mass planets are also present in inner orbits? What is the frequency of small planets compared to Jupiter-mass planets? What is the frequency and distribution of planets intermediate in size and mass to that of Earth and Jupiter? What correlations exist between planet size, distribution, and frequency with the characteristics of the stars they orbit? A comparison between model predictions and observation should be a useful step in evolving better models of planetary system formation and help put the formation of our Solar System in perspective.

Bourcki, W. J.↗
NASA NTRS2002

Planetary and Stellar Data Products Expected From The Kepler Mission

The Kepler Mission is a Discovery-class mission scheduled to be launched in the 2006-2007 time frame. It is a wide field of view photometer with a 95 m aperture designed to attain a photometric precision of 2 parts in 10^5 for the 12th magnitude stars. It will continually observe 100,000 main-sequence stars from 9th to 14th magnitude for a period of four years with a cadence of 4/hour. This database should be unique in its photometric precision, cadence, and duration of observations. Several hundred terrestrial-size planets will be detected if they are common around solar-like stars. Based on the current results of Doppler-velocity searches, over a thousand giant planets will also be found. A guest investigator program is planned that would provide the opportunity to observe thousands of other objects in the 105 square degree FOV. Such objects could include stars with micro-variability, other intrinsic variables, cataclysmic variables, eclipsing binaries (including x-ray binaries), and possibly AGN. A ground-based program to classify all 225,000 stars in the FOV and to do a detailed examination of a subset of the stars that show planetary companions is planned. Doppler-velocity observations will be made to find the presence of giant planets not seen in transit. The data will be rapidly released to the community for follow up observations and for changes to the guest investigator program.

Borucki, W. J.↗
NASA NTRS2003

Overview and Status of the Kepler Mission

The Kepler Mission is a search for terrestrial planets with the design optimized for detecting Earth-size planets in the habitable zone (HZ) of solar-like stars. In addition, the mission has a broad detection capability for a wide range of planetary sizes, planetary orbits and spectral types of stars. The mission is in the midst of the development phase with good progress leading to the preliminary design review later this year. Long lead procurements are well under way. An overview in all areas is presented including both the flight system (photometer and spacecraft) and the ground system. Launch is on target for 2007 on a Delta II.

Koch, D.↗
NASA NTRS2005

Eclipsing Binaries from the Kepler Mission

The Kepler Mission is a photometric space mission that will continuously observe a single 100 sq deg field of view (FOV) of greater than 100,000 stars in the Cygnus-Lyra region for 4 or more years with a precision of 14 ppm (R=12). The primary goal of the mission is to detect Earth-size planets in the habitable zone of solar-like stars. In the process, many eclipsing binaries (EB) will also be detected. Prior to launch, the stellar characteristics will have been detennined for all the stars in the FOV with R<16. As part of the verification process, stars with transits ~<5% will need to have follow-up radial velocity observations performed to determine the component masses and thereby separate transits caused by stellar companions from those caused by planets. The result will be a rich database on EBs. The community will have access to the archive for uses such as for EB modeling of the high-precision light curves. A guest observer program is also planned for objects not already on the target list.

Koch, David↗
NASA NTRS2011

The Little Photometer That Could: Technical Challenges and Science Results from the Kepler Mission

The Kepler spacecraft launched on March 7, 2009, initiating NASA's first search for Earth-size planets orbiting Sun-like stars. Since launch, Kepler has announced the discovery of 17 exoplanets, including a system of six transiting a Sun-like star, Kepler-11, and the first confirmed rocky planet, Kepler-10b, with a radius of 1.4 that of Earth. Kepler is proving to be a cornucopia of discoveries: it has identified over 1200 candidate planets based on the first 120 days of observations, including 54 that are in or near the habitable zone of their stars, and 68 that are 1.2 Earth radii or smaller. An astounding 408 of these planetary candidates are found in 170 multiple systems, demonstrating the compactness and flatness of planetary systems composed of small planets. Never before has there been a photometer capable of reaching a precision near 20 ppm in 6.5 hours and capable of conducting nearly continuous and uninterrupted observations for months to years. In addition to exoplanets, Kepler is providing a wealth of astrophysics, and is revolutionizing the field of asteroseismology. Designing and building the Kepler photometer and the software systems that process and analyze the resulting data to make the discoveries presented a daunting set of challenges, including how to manage the large data volume. The challenges continue into flight operations, as the photometer is sensitive to its thermal environment, complicating the task of detecting 84 ppm drops in brightness corresponding to Earth-size planets transiting Sun-like stars.

Kepler Mission↗
NASA NTRS2005

Kepler Mission Design

The Kepler Mission is in the development phase with launch planned for 2007. The mission goal first off is to reliably detect a significant number of Earth-size planets in the habitable zone of solar-like stars. The mission design allows for exploring the diversity of planetary sizes, orbital periods, stellar spectral types, etc. In this paper we describe the technical approach taken for the mission design; describing the flight and ground system, the detection methodology, the photometer design and capabilities, and the way the data are taken and processed. (For Stellar Classification program. Finally the detection capability in terms of planet size and orbit are presented as a function of mission duration and stellar type.

Koch, David↗
NASA NTRS2003

Kepler Mission to Detect Earth-like Planets

Kepler Mission to detect Earth-like planets in our Milky Way galaxy was approved by NASA in December 2001 for a 4-5 year mission. The launch is planned in about 5 years. The Kepler observatory will be placed in an Earth-trailing orbit. The unique feature of the Kepler Mission is its ability to detect Earth-like planets orbiting around solar-type stars at a distance similar to that of Earth (from our Sun); such an orbit could provide an environment suitable for supporting life as we know it. The Kepler observatory accomplishes this feat by looking for the transits of planetary object in front of their suns; Kepler has a photometric precision of 10E-5 (0.00001) to achieve such detections. Other ongoing planetary detection programs (based mostly on a technique that looks for the shifting of spectral lines of the primary star due to its planetary companions' motions around it) have detected massive planets (with masses in the range of Jupiter); such massive planets are not considered suitable for supporting life. If our current theories for the formation of planetary systems are valid, we expect to detect about 50 Earth-like planets during Kepler's 4-year mission (assuming a random distribution of the planetary orbital inclinations with respect to the line of sight from Kepler). The number of detection will increase about 640 planets if the planets to be detected are Jupiter-sized.

Kondo, Yoji↗
NASA NTRS2002

Kepler Mission to Detect Earth-like Planets

Kepler Mission to detect Earth-like planets in our Milky Way galaxy was approved by NASA in December 2001 for a 4-5 year mission. The launch is planned in about 5 years. The Kepler observatory will be placed in an Earth-trailing orbit. The unique feature of the Kepler Mission is its ability to detect Earth-like planets orbiting around solar-type stars at a distance similar to that of Earth (from our Sun); such an orbit could provide an environment suitable for supporting life as we know it. The Kepler observatory accomplishes this feat by looking for the transits of planetary object in front of their suns; Kepler has a photometric precision of 10E-5 (0.00001) to achieve such detections. Other ongoing planetary detection programs (based mostly on a technique that looks for the shifting of spectral lines of the primary star due to its planetary companions' motions around it) have detected massive planets (with masses in the range of Jupiter); such massive planets are not considered suitable for supporting life. If our current theories for the formation of planetary systems are valid, we expect to detect about 50 Earth-like planets during Kepler's 4-year mission (assuming a random distribution of the planetary orbital inclinations with respect to the line of sight from Kepler). The number of detection will increase about 640 planets if the planets to be detected are Jupiter-sized.

Kondo, Yoji↗
NASA NTRS2004

Systems engingeering for the Kepler Mission : a search for terrestrial planets

The Kepler mission will launch in 2007 and determine the distribution of earth-size planets (0.5 to 10 earth masses) in the habitable zones (HZs) of solar-like stars. The mission will monitor > 100,000 dwarf stars simultaneously for at least 4 years. Precision differential photometry will be used to detect the periodic signals of transiting planets. Kepler will also support asteroseismology by measuring the pressure-mode (p-mode) oscillations of selected stars. Key mission elements include a spacecraft bus and 0.95 meter, wide-field, CCD-based photometer injected into an earth-trailing heliocentric orbit by a 3-stage Delta II launch vehicle as well as a distributed Ground Segment and Follow-up Observing Program. The project is currently preparing for Preliminary Design Review (October 2004) and is proceeding with detailed design and procurement of long-lead components. In order to meet the unprecedented photometric precision requirement and to ensure a statistically significant result, the Kepler mission involves technical challenges in the areas of photometric noise and systematic error reduction, stability, and false-positive rejection. Programmatic and logistical challenges include the collaborative design, modeling, integration, test, and operation of a geographically and functionally distributed project. A very rigorous systems engineering program has evolved to address these challenges. This paper provides an overview of the Kepler systems engineering program, including some examples of our processes and techniques in areas such as requirements synthesis, validation & verification, system robustness design, and end-to-end performance modeling.

systems engineering↗
NASA NTRS2003

Kepler Mission: A Technical Overview

The Kepler Mission is a Discovery-class mission designed to continuously monitor the brightness of 100,000 solar-like stars to detect the transits of Earth-size and larger planets. It is a wide field of view photometer Schmidt-type telescope with an array of 42 CCDs. It has a 0.95 m aperture and 1.4 m primary and is designed to attain a photometric precision of 2 parts in 10(exp 5) for 12th magnitude solar-like stars for a 6 hr transit duration. It will continuously observe 100,000 main-sequence stars from 9th to 14th magnitude in the Cygnus constellation for a period of four years with a cadence of 4/hour. An additional 250 stars can be monitored at a cadence of l/minute to do astro-seismology of stars brighter than 11.5 mv. The photometer is scheduled to be launched into heliocentric orbit in 2007. A ground-based program to classify all 225,000 stars in the FOV and to do a detailed examination of a subset of the stars that show planetary companions is also planned.

Borucki, W. J.↗
NASA NTRS2006

The Kepler Mission and Eclipsing Binaries

The Kepler Mission is a photometric mission with a precision of 14 ppm (at R=12) that is designed to continuously observe a single field of view (FOV) of greater 100 sq deg in the Cygnus-Lyra region for four or more years. The primary goal of the mission is to monitor greater than 100,000 stars for transits of Earth-size and smaller planets in the habitable zone of solar-like stars. In the process, many eclipsing binaries (EB) will also be detected and light curves produced. To enhance and optimize the mission results, the stellar characteristics for all the stars in the FOV with R less than 16 will have been determined prior to launch. As part of the verification process, stars with transit candidates will have radial velocity follow-up observations performed to determine the component masses and thereby separate eclipses caused by stellar companions from transits caused by planets. The result will be a rich database on EBs. The community will have access to the archive for further analysis, such as, for EB modeling of the high-precision light curves. A guest observer program is also planned to allow for photometric observations of objects not on the target list but within the FOV, since only the pixels of interest from those stars monitored will be transmitted to the ground.

Koch, David↗
NASA NTRS2010

Kepler Mission's Focal Plane Characterization Models Implementation

The Kepler Mission photometer is an unusually complex array of CCDs. A large number of time-varying instrumental and systemic effects must be modeled and removed from the Kepler pixel data to produce light curves of sufficiently high quality for the mission to be successful in its planet-finding objective. After the launch of the spacecraft, many of these effects are difficult to remeasure frequently, and various interpolations over a small number of sample measurements must be used to determine the correct value of a given effect at different points in time. A library of software modules, called Focal Plane Characterization (FC) Models, is the element of the Kepler Science Data Pipeline (hereafter "pipeline") that handles this. FC, or products generated by FC, are used by nearly every element of the SOC processing chain. FC includes Java components: database persistence classes, operations classes, model classes, and data importers; and MATLAB code: model classes, interpolation methods, and wrapper functions. These classes, their interactions, and the database tables they represent, are discussed. This paper describes how these data and the FC software work together to provide the pipeline with the correct values to remove non-photometric effects caused by the photometer and its electronics from the Kepler light curves. The interpolation mathematics is reviewed, as well as the special case of the sky-to-pixel,pixel-to-sky coordinate transformation code, which incorporates a compound model that is unique in the SOC software.

mission↗
NASA NTRS2001

Kepler Mission: A Search for Terrestrial Planets

The Kepler Mission is a search for terrestrial planets by monitoring a large ensemble of stars for the periodic transits of planets. The mission consists of a 95-cm aperture photometer with 105 square deg field of view that monitors 100,000 dwarf stars for four years. The mission is unique in its ability to detect Earth-size planets in the habitable zone of other stars in the extended solar neighborhood. An Earth-size transit of a solar-like star causes a change in brightness of about 100 ppm. Laboratory testing has demonstrated that a total system noise level of 20 ppm is readily achievable on the timescale of transits. Earth-like transits have been created and reliably measured in an end-to-end system test that has all known sources of noise including, spacecraft jitter. To detect Earth-size planets, the photometer must be spaceborne; this also eliminates the day-night and seasonal cycle interruptions of ground-based observing. The photometer will stare at a single field of stars for four years, with an option to continue for two more years. This allows for detection of four transits of planets in Mars-like orbits and detection of planets even smaller than Earth especially for short period orbits, since the signal to noise improves as the square root of the number of transits observed. In addition to detection of planets, Kepler data are also useful for understanding the activity cycles and rotation rates of the stars observed. For the 3,000 stars brighter than mv= 11.4 p-mode oscillations are measured. The mission has been selected as one of three candidates for NASA's next Discovery mission.

Koch, D.↗
NASA NTRS2002

Kepler Mission: A Search for Habitable Planets

The Kepler Mission was selected by NASA as one of the next two Discovery Missions. The mission design is based on the search for Earth-size planets in the habitable zone of solar-like stars, but does not preclude the discovery of larger or smaller planets in other orbits of non-solar-like stars. An overview of the mission, the scientific goals and the anticipated results will be presented.

Koch, David↗
NASA NTRS2005

Kepler Mission to Detect Earth-like Planes

Kepler Mission has been approved and funded for launch into an Earth-trailing orbit in 2007. The satellite observatory is designed to detect Earth-like planets in the Cygnus region of the sky (one hundred square degrees). If all goes as planned, we expect to detect some 60 Earth-like planets, plus a greater number of larger planets. None of the planets that have been discovered so far are not Earth-like; they are mostly Jupiter-sized, large planets.

Kondo, Yoji↗
NASA NTRS2011

Kepler Mission Development Challenges and Early Results

Kepler is NASA s first mission capable of detecting Earth-size planets orbiting in the habitable zone of stars other than the Sun. Kepler comprises a space telescope designed to continuously monitor the brightnesses of more than 100,000 target stars, and a ground segment to analyze the measured stellar light curves and detect the signatures of orbiting planets. In order to detect Earth-size planets orbiting Sun-like stars Kepler was designed to provide unprecedented photometric sensitivity and stability. This paper addresses some of the technical challenges encountered during the development of the Kepler mission and the measures taken to overcome them. Early scientific results are summarized.

exo-planets↗