Engineering topics
Publications and source records attributed to Mukai, Ryan.
Deformation in the form of natural hazards like earthquakes, volcanic eruptions and landslides, to ecosystem disturbances, to changes in the cryosphere (measurements of polar ice caps, ice sheets and sea ice).
The Mars Science Laboratory (MSL) Telecom Operations Team at the Jet Propulsion Laboratory (JPL) has implemented a machine learning system in order to automate the anomaly detection process as a part of daily operations. Machine learning enables reliable detection of anomalies in Telecom-related telemetry and automated reporting of Telecom subsystem status, resulting in an 90% reduction in team workload and improved anomaly detection reliability. At present, machine learning methods are used to detect: 1. Anomalous long-term trends in telemetry data 2. Anomalous time-domain evolution of telemetry values Both types of anomalies pose their own unique challenges that are addressed in different ways. In the first case, long term trending of daily minima, maximum, and mean telemetry values in temperatures, currents, voltages, and radio frequency (RF) power levels is used in addition to hard threshold safety checks to look for changes in long-term equipment health and performance. Long-term trending methods allow for ordinary seasonal variations in these quantities caused by temperature changes over the course of the Martian year while allowing operators to determine whether current performance remains in line with historical values from previous years. Changes in long-term trends can provide important insights into the health and status of the rover's on-board systems as well as valuable early warning if subtle degradation begins to take hold. But while trending of daily statistics is valuable, it does not detect anomalies in the short-term time evolution of data over the course of minutes or hours during a day, and this task is handled with short-term shape analysis. Principal components analysis (PCA) has been found to provide robust detection of short-term anomalies, and several examples of the use of PCA to detect actual anomalous events will be provided here. In using PCA, we use both the percentage of explained variance and also a log likelihood test on the PCA expansion coefficients to flag telemetry data for human review. Previous work in the field of spacecraft anomaly detection includes [1] for MSL and [2] for some other JPL missions.
Mars Science Laboratory (MSL) undergoes extreme heating and acceleration during Entry, Descent, and Landing (EDL) on Mars. Unknown dynamics lead to large Doppler shifts, making communication challenging. During EDL, a special form of Multiple Frequency Shift Keying (MFSK) communication is used for Direct-To-Earth (DTE) communication. The X-band signal is received by the Deep Space Network (DSN) at the Canberra Deep Space Communication complex, then down-converted, digitized, and recorded by open-loop Radio Science Receivers (RSR), and decoded in real-time by the EDL Data Analysis (EDA) System. The EDA uses lock states with configurable Fast Fourier Transforms to acquire and track the signal. RSR configuration and channel allocation is shown. Testing prior to EDL is discussed including software simulations, test bed runs with MSL flight hardware, and the in-flight end-to-end test. EDA configuration parameters and signal dynamics during pre-entry, entry, and parachute deployment are analyzed. RSR and EDA performance during MSL EDL is evaluated, including performance using a single 70-meter DSN antenna and an array of two 34-meter DSN antennas as a back up to the 70-meter antenna.
During the Entry, Descent, and Landing (EDL) of NASA's Mars Science Laboratory (MSL), or Curiosity, rover to Gale Crater on Mars on August 6, 2012 UTC, the rover transmitted an X-band signal composed of carrier and tone frequencies and a UHF signal modulated with an 8kbps data stream. During EDL, the spacecraft's orientation is determined by its guidance and mechanical subsystems to ensure that the vehicle land safely at its destination. Although orientation to maximize telecom performance is not possible, antennas are especially designed and mounted to provide the best possible line of sight to Earth and to the Mars orbiters supporting MSL's landing. The tones and data transmitted over these links are selected carefully to reflect the most essential parameters of the vehicle's state and the performance of the EDL subsystems for post-EDL reconstruction should no further data transmission from the vehicle be possible. This paper addresses the configuration of the X band receive system used at NASA / JPL's Deep Space Network (DSN) to capture the signal spectrum of MSL's X band carrier and tone signal, examines the MSL vehicle state information obtained from the X band carrier signal only and contrasts the Doppler-derived information against the post-EDL known vehicle state. The paper begins with a description of the MSL EDL sequence of events and discusses the impact of the EDL maneuvers such as guided entry, parachute deploy, and powered descent on the frequency observables expected at the DSN. The range of Doppler dynamics possible is derived from extensive 6 Degrees-Of-Freedom (6 DOF) vehicle state calculations performed by MSL's EDL simulation team. The configuration of the DSN's receive system, using the Radio Science Receivers (RSR) to perform open-loop recording for both for nominal and off-nominal EDL scenarios, is detailed. Expected signal carrier power-to-noise levels during EDL are shown and their impact on signal detection is considered. Particular attention is given to the selection of the appropriate RSR processing bandwidths and to its configuration for real-time signal detection. The X-band carrier frequency obtained through post-processing of the open-loop recorded spectrum is given. Detection of spacecraft status and completion of key vehicle events through their Doppler signature is discussed and illustrated. This Doppler-derived information is compared against the very accurate vehicle data obtained post-EDL via MSL's UHF radio subsystem. The paper concludes with a discussion on the advantages and disadvantages of transmitting the X-band carrier and tone signal in the general context of EDL communications and lessons learned for future missions with EDL sequences are given
An Advanced Focal Plane Array ("AFPA") for parabolic dish antennas that exploits spatial diversity to achieve better channel equalization performance in the presence of multipath (better than temporal equalization alone), and which is capable of receiving from two or more sources within a field-of-view in the presence of multipath. The AFPA uses a focal plane array of receiving elements plus a spatio-temporal filter that keeps information on the adaptive FIR filter weights, relative amplitudes and phases of the incoming signals, and which employs an Interference Cancelling Constant Modulus Algorithm (IC-CMA) that resolves multiple telemetry streams simultaneously from the respective aero-nautical platforms. This data is sent to an angle estimator to calculate the target's angular position, and then on to Kalman filters FOR smoothing and time series prediction. The resulting velocity and acceleration estimates from the time series data are sent to an antenna control unit (ACU) to be used for pointing control.
A microwave aeronautical-telemetry receiver system includes an antenna comprising a seven-element planar array of receiving feed horns centered at the focal point of a paraboloidal dish reflector that is nominally aimed at a single aircraft or at multiple aircraft flying in formation. Through digital processing of the signals received by the seven feed horns, the system implements a method of enhanced cancellation of interference, such that it becomes possible to receive telemetry signals in the same frequency channel simultaneously from either or both of two aircraft at slightly different angular positions within the field of view of the antenna, even in the presence of multipath propagation. The present system is an advanced version of the system described in Spatio- Temporal Equalizer for a Receiving-Antenna Feed Array NPO-43077, NASA Tech Briefs, Vol. 34, No. 2 (February 2010), page 32. To recapitulate: The radio-frequency telemetry signals received by the seven elements of the array are digitized, converted to complex baseband form, and sent to a spatio-temporal equalizer that consists mostly of a bank of seven adaptive finite-impulse-response (FIR) filters (one for each element in the array) plus a unit that sums the outputs of the filters. The combination of the spatial diversity of the feedhorn array and the temporal diversity of the filter bank affords better multipath suppression performance than is achievable by means of temporal equalization alone. The FIR filter bank adapts itself in real time to enable reception of telemetry at a low bit error rate, even in the presence of frequency-selective multipath propagation like that commonly found at flight-test ranges. The combination of the array and the filter bank makes it possible to constructively add multipath incoming signals to the corresponding directly arriving signals, thereby enabling reductions in telemetry bit-error rates.
A spatio-temporal equalizer has been conceived as an improved means of suppressing multipath effects in the reception of aeronautical telemetry signals, and may be adaptable to radar and aeronautical communication applications as well. This equalizer would be an integral part of a system that would also include a seven-element planar array of receiving feed horns centered at the focal point of a paraboloidal antenna that would be nominally aimed at or near the aircraft that would be the source of the signal that one seeks to receive (see Figure 1). This spatio-temporal equalizer would consist mostly of a bank of seven adaptive finite-impulse-response (FIR) filters one for each element in the array - and the outputs of the filters would be summed (see Figure 2). The combination of the spatial diversity of the feedhorn array and the temporal diversity of the filter bank would afford better multipath-suppression performance than is achievable by means of temporal equalization alone. The seven-element feed array would supplant the single feed horn used in a conventional paraboloidal ground telemetry-receiving antenna. The radio-frequency telemetry signals re ceiv ed by the seven elements of the array would be digitized, converted to complex baseband form, and sent to the FIR filter bank, which would adapt itself in real time to enable reception of telemetry at a low bit error rate, even in the presence of multipath of the type found at many flight test ranges.
A method of estimating phase drifts of microwave signals distributed to, and transmitted by, antennas in an array involves the use of the signals themselves as phase references. The method was conceived as part of the solution of the problem of maintaining precise phase calibration required for proper operation of an array of Deep Space Network (DSN) antennas on Earth used for communicating with distant spacecraft at frequencies between 7 and 8 GHz. The method could also be applied to purely terrestrial phased-array radar and other radio antenna array systems. In the DSN application, the electrical lengths (effective signal-propagation path lengths) of the various branches of the system for distributing the transmitted signals to the antennas are not precisely known, and they vary with time. The variations are attributable mostly to thermal expansion and contraction of fiber-optic and electrical signal cables and to a variety of causes associated with aging of signal-handling components. The variations are large enough to introduce large phase drifts at the signal frequency. It is necessary to measure and correct for these phase drifts in order to maintain phase calibration of the antennas. A prior method of measuring phase drifts involves the use of reference-frequency signals separate from the transmitted signals. A major impediment to accurate measurement of phase drifts over time by the prior method is the fact that although DSN reference-frequency sources separate from the transmitting signal sources are stable and accurate enough for most DSN purposes, they are not stable enough for use in maintaining phase calibrations, as required, to within a few degrees over times as long as days or possibly even weeks. By eliminating reliance on the reference-frequency subsystem, the present method overcomes this impediment. In a DSN array to which the present method applies (see figure), the microwave signals to be transmitted are generated by exciters in a signal-processing center, then distributed to the antennas via optical fibers. At each antenna, the signals are used to drive a microwave power-amplifier train, the output of which is coupled to the antenna for transmission. A small fraction of the power-amplifier-train output is sent back to the signal-processing center along another optical fiber that is part of the same fiber-optic cable used to distribute the transmitted signal to the antenna. In the signal-processing center, the signal thus returned from each antenna is detected and its phase is compared with the phase of the signal sampled directly from the corresponding exciter. It is known, from other measurements, that the signal-propagation path length from the power-amplifier-train output port to the phase center of each antenna is sufficiently stable and, hence, that sampling the signal at the power-amplifier-train output port suffices for the purpose of characterizing the phase drift of the transmitted signal at the phase center of the antenna
The Mars Exploration Rover Opportunity has recently completed a two year campaign studying Victoria Crater. The campaign culminated in a close approach of Cape Verde in order to acquire high resolution imagery of the exposed stratigraphy in the cliff face. The close approach to Cape Verde provided significant challenges for every subsystem of the rover as the rover needed to traverse difficult, uncharacterised terrain and approach a cliff face with the potential of blocking out solar energy and communications with Earth. In this paper we describe the strategic analyses performed by the science and engineering teams so that we could successfully achieve the science objectives while keeping the rover safe.
A document describes a method of calibrating phase differences among ground antennas in an array so that the maximum-intensity direction of the far-field interference pattern of the array coincides with the direction for aiming the antennas to enable radio communication with a distant spacecraft. The method pertains to an array typically comprising between two and four 34-m (or similar size) antennas. The antennas are first calibrated pair-wise to maximize the uplink power received at a different spacecraft that is close enough for communication via a single ground antenna. In the calibration procedure, the phase of the signal transmitted by one of the antennas is ramped through a complete cycle, thereby causing the interference pattern to sweep over this closer spacecraft and guaranteeing that, at some point during the sweep, this spacecraft is illuminated at maximum intensity. The varying received uplink power is measured by a receiver in the closer spacecraft and the measurement data are transmitted to a ground station to enable determination of the optimum phase adjustment for the direction to the closer spacecraft. This adjustment is then translated to the look direction of the distant spacecraft, which could not be reached effectively using only one antenna.
The performance of a coherent free-space optical communication system operating in the presence of turbulence is investigated. Maximum Likelihood Detection techniques are employed to optimally detect Pulse Position Modulated signals with a focal-plane detector array, and reconstruct the turbulence-degraded signals. The experimental demonstration of this project and results may be divided in three parts; two of which have already been explained in previous publications (1,2). This latest paper shows the final experimental results, including investigation of performance of the Coherent Optical Receiver Experiment (CORE) performed at the laboratory facilities at JPL. Bit Error Rate (BER) is presented for single and multichannel optical receivers, where quasi-shot noise limited performance is achieved, under simulated turbulence conditions using non-coherent post-detection processing techniques.