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Hubble Space Telescope Fine Guidance Sensor and Two-Gyro Control Law Design, Implementation, and On-Orbit Performance

For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three rate gyros for n Controlling with alternate sensors to replace failing gyros can extend the HST science mission. A two-gyro control law has been designed and implemented using magnetometers, star trackers, and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro axis. The three aforementioned sensors are used in succession to reduce HST boresight jitter to less than 7 milli-arcseconds rms prior to science imaging. The Magnetometer and 2-Gyro (M2G) control law is used for large angle maneuvers and attitude control during earth. occultation of star trackers and FGSs. The Tracker and 2-Gyro (T2G) control law dampens M2G rates and controls attitude in preparation for guide star acquisition with the FGSs. The Fine Guidance Sensor and 2-Gyro (F2G) control law dampens T2G rates and controls HST attitude during science imaging. This paper describes the F2G control law. Details of F2G algorithms are presented, including computation of the FGS-measured star vector using non-linear equations, optimal estimation of HST body rate, design of the F2G control laws and gyro bias observer, SISO and MIMO linear stability analyses, and design of the F2G intramode transition and guide star acquisition logic. Results from an FGS flight spare ground test are presented that define acceptable HST jitter levels for successful guide star acquisition under two-gyro control. HST-specific disturbance and noise models are described that are based upon flight telemetry; these models are used in HSTSIM, a high-fidelity non-linear time domain simulation, to predict HST on-orbit disturbance responses and FGS interferometer Loss of Lock (LOL) characteristics under F2G control. Additional HSTSIM results are presented predicting HST quiescent boresight jitter performance, science maneuver performance, and observer configuration performance during F2G operation. Simulation results are compared to on-orbit data b m F2G flight tests performed in February 2005. Science images and point spread functions from the Advanced Camera for Surveys (ACS) High Resolution Camera (HRC) are presented that compare HST science performance under F2G versus three-gyro control. Images and flight telemetry show that HST boresight jitter with the new F2G control law is usually less than jitter using the three-gyro law, and HST boresight jitter during F2G operation is dependent upon guide star magnitude.

Clapp, Brian R.↗

Hubble Space Telescope nickel-hydrogen battery testing: An update

The Marshall Space Flight Center (MSFC) began testing the HST Ni-H2 Six Battery Test and the 'Flight Spare Battery' Tests approximately one year before the launch of the HST. These tests are operated and reported on by the MSFC, but are managed and funded by Goddard Space Flight Center in direct support of the HST program. The HST Ni-H2 batteries are built from Eagle Picher RNH-90-3 cells. The HST EPS (electrical power system) is a direct energy transfer power system. The HST Ni-H2 Six Battery Test is a breadboard of the HST EPS. The batteries in the test are composed of test module cells and packaged into three battery modules identical to the flight modules. This test is the HST EPS testbed. The 'Flight Spare Battery' Test is a simulation of one of the six battery channels on the HST. The cells in the test are from the flight spare lot of cells, which are the same lot of cells that three of the six HST flight batteries are made from. This test is the battery life test for the HST program.

Whitt, Thomas H.↗

Hubble Space Telescope Magnetometer and Two-Gyro Control Law Design, Implementation, and On-Orbit Performance

For f i h years, the science mission of the Hubble Space Telescope (HST) required using at least three of six rate gyros for attitude control. In the past, HST has mitigated gyro hardware failures by replacement of the failed units through Space Shuttle Servicing Missions. Following the tragic loss of Space Shuttle Columbia on STS-107, the desire to have a safe haven for astronauts during missions has resulted in the cancellation of all planned maxu14 missions to HST. While a robotic servicing mission is being currently being planned, controlling with alternate sensors to replace failed gyros can extend the HST Science mission until the robotic mission can be performed and extend science at HST s end of life. A two-gym control law has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), fixed head star trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro axis. The three aforementioned sensors are used in succession to reduce HST boresight jitter to less than 7 milli-arcseconds rms and attitude error to less than 10 milli-arcseconds prior to science imaging. The MSS and 2-Gyro (M2G) control law is used for large angle maneuvers and attitude control during earth occultation of FHSTs and FGSs. The Tracker and 2-Gyro (T2G) control law dampens M2G rates and corrects the majority of attitude error in preparation for guide star acquisition with the FGSs. The Fine Guidance Sensor and 2-Gyro (F2G) control law d a m p T2G rates and controls HST attitude during science imaging. This paper describes the M2G control law. Details of M2G algorithms are presented, including computation of the HST 3-axis attitude error estimate, design of the M2G control law, SISO hear stability analyses, and restrictions on operations to maintain the h d t h and safety requirement of a 10degree maximum attitude error. Results of simulations performed in HSTSIM, a high-fidelity non-linear time domain simulation, are presented to predict HST on-orbit performance in attitude hold and maneuver modes. Simulation results are compared to on-orbit data from M2G flight tests performed in November and December 2004 and February 2005. Flight telemetry, using a currently available third gyro, shows that HST attitude error with the new M2G control law is maintained below the 10-degree requirement, and attitude errors are under 2 degrees for 95% of the time.

Wirzburger, John H.↗

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

During the Hubble Robotic Servicing Mission, the Hubble Space Telescope (HST) attitude and rates are necessary to achieve the capture of HST by the Hubble Robotic Vehicle (HRV). The attitude and rates must be determined without the HST gyros or HST attitude estimates. The HRV will be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a nonlinear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. Second, a linearized approach is developed. The linearized approach is based on more traditional Extended Kalman filter techniques. Simulation test results for both methods are given.

Thienel, Julie K.↗

Hubble Space Telescope battery background

The following topics are presented in viewgraph form and include the following: the MSFC Hubble Space Telescope (HST) Nickel-Hydrogen Battery Contract; HST battery design requirements; HST nickel-hydrogen battery development; HST nickel-hydrogen battery module; HST NiH2 battery module hardware; pressure vessel design; HST NiH2 cell design; offset non-opposing vs. rabbit ear cell; HST NiH2 specified capacity; HST NiH2 battery design; and HST NiH2 module design.

Standlee, Dan↗

Loads Produced During the Ingression and Egression of the Portable Foot Restraint on the Hubble Space Telescope

The Hubble Space Telescope (HST) was deployed from the Space Shuttle Discovery on April 25, 1990. It is capable of performing observations in the visible, near-ultraviolet, and near-infrared (1150 A to 1 mm). The HST weighs 12 tons, and collects light with an 8-ft-diameter mirror. The attitude control and maneuvering is performed by four of six gyroscopes, or reaction wheels. The HST contains fine guidance sensors that lock onto guide stars to reduce the spacecraft drift and increase the pointing accuracy. The HST was designed to last 15 years, with crewed service missions approximately every three years. The first service mission, STS-61, took place in 1993. The second service mission took place in 1997. In 1999, the STS-103 crew performed the third service mission to the HST. This mission's purpose was to replace the right sensor units and make improvements on the fine guidance sensors. To perform these tasks on the HST, the STS-103 crewmembers used a portable foot restraint to anchor themselves to the HST in the zero-gravity environment. The solar arrays currently used on the telescope are second-generation, and therefore susceptible to loads placed on the telescope. The crew and Mission Operations Directorate worried about the damage that the crew could possibly cause during ingress and egress of the PFR and by transferring loads to the solar arrays. The purpose of this study is to inform the crewmembers of the loads they are imparting on the HST, and train them to decrease these loads to a safer level. Minimizing these loads will significantly decrease the chance of crewmembers causing damage to the solar arrays while repairing the HST.

Ramsey, Susan↗

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

In 2004 NASA began investigation of a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would require estimates of the HST attitude and rates in order to achieve a capture by the proposed Hubble robotic vehicle (HRV). HRV was to be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The inertial HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a non-linear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. Second, a linearized approach is developed. The linearized approach is a pseudo-linear Kalman filter. Simulation test results for both methods are given. Even though the development began as an application for the HST robotic servicing mission, the methods presented are applicable to any rendezvous/capture mission involving a non-cooperative target spacecraft.

Thienel, Julie K.↗

James Webb Space Telescope Studies of Dark Energy

The Hubble Space Telescope (HST) has contributed significantly to studies of dark energy. It was used to find the first evidence of deceleration at z=1.8 (Riess et al. 2001) through the serendipitous discovery of a type 1a supernova (SN1a) in the Hubble Deep Field. The discovery of deceleration at z greater than 1 was confirmation that the apparent acceleration at low redshift (Riess et al. 1998; Perlmutter et al. 1999) was due to dark energy rather than observational or astrophysical effects such as systematic errors, evolution in the SN1a population or intergalactic dust. The GOODS project and associated follow-up discovered 21 SN1a, expanding on this result (Riess et al. 2007). HST has also been used to constrain cosmological parameters and dark energy through weak lensing measurements in the COSMOS survey (Massey et al 2007; Schrabback et al 2009) and strong gravitational lensing with measured time delays (Suyu et al 2010). Constraints on dark energy are often parameterized as the equation of state, w = P/p. For the cosmological constant model, w = -1 at all times; other models predict a change with time, sometimes parameterized generally as w(a) or approximated as w(sub 0)+(1-a)w(sub a), where a = (1+z)(sup -1) is the scale factor of the universe relative to its current scale. Dark energy can be constrained through several measurements. Standard candles, such as SN1a, provide a direct measurement of the luminosity distance as a function of redshift, which can be converted to H(z), the change in the Hubble constant with redshift. An analysis of weak lensing in a galaxy field can be used to derive the angular-diameter distance from the weak-lensing equation and to measure the power spectrum of dark-matter halos, which constrains the growth of structure in the Universe. Baryonic acoustic oscillations (BAO), imprinted on the distribution of matter at recombination, provide a standard rod for measuring the cosmological geometry. Strong gravitational lensing of a time-variable source gives the angular diameter distance through measured time delays of multiple images. Finally, the growth of structure can also be constrained by measuring the mass of the largest galaxy clusters over cosmic time. HST has contributed to the study of dark energy through SN1a and gravitational lensing, as discussed above. HST has also helped to characterize galaxy clusters and the HST-measured constraints on the current Hubble constant H(sub 0) are relevant to the interpretation of dark energy measurements (Riess et al 2009a). HST has not been used to constrain BAO as the large number of galaxy redshifts required, of order 100 million, is poorly matched to HST's capabilities. As the successor to HST, the James Webb Space Telescope (JWST; Gardner et al 2006) will continue and extend HST's dark energy work in several ways.

Gardner, Jonathan P.↗

Hubble Space Telescope Angular Velocity Estimation During the Robotic Servicing Mission

In 2004 NASA began investigation of a robotic servicing mission for the Hubble Space Telescope (HST). Such a mission would require estimates of the HST attitude and rates in order to achieve a capture by the proposed Hubble robotic vehicle (HRV). HRV was to be equipped with vision-based sensors, capable of estimating the relative attitude between HST and HRV. The inertial HST attitude is derived from the measured relative attitude and the HRV computed inertial attitude. However, the relative rate between HST and HRV cannot be measured directly. Therefore, the HST rate with respect to inertial space is not known. Two approaches are developed to estimate the HST rates. Both methods utilize the measured relative attitude and the HRV inertial attitude and rates. First, a nonlinear estimator is developed. The nonlinear approach estimates the HST rate through an estimation of the inertial angular momentum. The development includes an analysis of the estimator stability given errors in the measured attitude. Second, a linearized approach is developed. The linearized approach is a pseudo-linear Kalman filter. Simulation test results for both methods are given, including scenarios with erroneous measured attitudes. Even though the development began as an application for the HST robotic servicing mission, the methods presented are applicable to any rendezvous/capture mission involving a non-cooperative target spacecraft.

Thienel, Julie K.↗

Hubble Asteroid Hunter

Context: The Hubble Space Telescope (HST) archives constitute a rich dataset of high-resolution images to mine for strong gravitational lenses. While many HST programmes specifically target strong lenses, they can also be present by coincidence in other HST observations. Aims: Our aim is to identify non-targeted strong gravitational lenses, without any prior selection on the lens properties, in almost two decades of images from the ESA HST archive (eHST). Methods: We used crowdsourcing on the Hubble Asteroid Hunter (HAH) citizen science project to identify strong lenses, along with asteroid trails, in publicly available large field-of-view HST images. We visually inspected 2354 objects tagged by citizen scientists as strong lenses to clean the sample and identify the genuine lenses. Results: We report the detection of 252 strong gravitational lens candidates, which were not the primary targets of the HST observations. A total of 198 of them are new, not previously reported by other studies, consisting of 45 A grades, 74 B grades and 79 C grades. The majority are galaxy-galaxy configurations. The newly detected lenses are, on average, 1.3 magnitudes fainter than previous HST searches. This sample of strong lenses with high-resolution HST imaging is ideal to follow up with spectroscopy for lens modelling and scientific analyses. Conclusions: This paper presents the unbiased search of lenses that enabled us to find a wide variety of lens configurations, including exotic lenses. We demonstrate the power of crowdsourcing in visually identifying strong lenses and the benefits of exploring large archival datasets. This study shows the potential of using crowdsourcing in combination with artificial intelligence for the detection and validation of strong lenses in future large-scale surveys such as ESA’s Euclid mission or in James Webb Space Telescope (JWST) archival images.

79 ASTRONOMY AND ASTROPHYSICS↗

Investigation of Teflon FEP Embrittlement on Spacecraft in Low Earth Orbit

Teflon(registered trademark) FEP (fluorinated ethylene-propylene) is commonly used on exterior spacecraft surfaces in the low Earth orbit (LEO) environment for thermal control. Silverized or aluminized FEP is used for the outer layer of thermal control blankets because of its low solar absorptance and high thermal emittance. FEP is also preferred over other spacecraft polymers because of its relatively high resistance to atomic oxygen erosion. Because of its low atomic oxygen erosion yield, FEP has not been protected in the space environment. Recent, long term space exposures such as on the Long Duration Exposure Facility (LDEF, 5.8 years in space), and the Hubble Space Telescope (HST, after 3.6 years in space) have provided evidence of LEO environmental degradation of FEP. These exposures provide unique opportunities for studying environmental degradation because of the long durations and the different conditions (such as differences in altitude) of the exposures. Samples of FEP from LDEF and from HST (retrieved during its first servicing mission) have been evaluated for solar induced embrittlement and for synergistic effects of solar degradation and atomic oxygen. Micro-indenter results indicate that the surface hardness increased as the ratio of atomic oxygen fluence to solar fluence decreased for the LDEF samples. FEP multilayer insulation (MLI) retrieved from HST provided evidence of severe embrittlement on solar facing surfaces. Micro-indenter measurements indicated higher surface hardness values for these samples than LDEF samples, but the solar exposures were higher. Cracks induced during bend testing were significantly deeper for the HST samples with the highest solar exposure than for LDEF samples with similar atomic oxygen fluence to solar fluence ratios. If solar fluences are compared, the LDEF samples appear as damaged as HST samples, except that HST had deeper induced cracks. The results illustrate difficulties in comparing LEO exposed materials from different missions. Because the HST FEP appears more damaged than LDEF FEP based on depth of embrittlement, other causes for FEP embrittlement in addition to atomic oxygen and ultraviolet (UV) radiation, such as thermal effects and the possible role of soft x-ray radiation, need to be considered. FEP that was exposed to soft x-rays in a ground test facility, showed embrittlement similar to that witnessed in LEO, which indicates that the observed differences between LDEF and HST FEP might be attributed to the different soft x-ray fluences during these two missions.

deGroh, Kim K.↗

Operational Considerations when Designing New Ground Systems

The Hubble Space Telescope (HST) launched in April of 1991 with a nominal 15-year old mission. Since then, the HST mission life has been extended to 2010. As is true for all NASA missions, HST is being asked to decrease its operational costs for the remainder of its mission life. Various techniques are being incorporated for cost reductions, with one of the core means being the design of a new and more efficient ground system for HST operations. This new ground system, "Vision 2000", will reduce operational and maintenance costs and also provide the HST Project with added flexibility to react to future changes. Vision 2000 began supporting HST Operations in January of 1999 and will support the mission for the remainder of the mission life. Upgrading a satellite's ground system is a popular approach for reducing costs, but it is also inherently risky. Validating a new ground system can be a severe distraction to a flight team while operating a satellite. Mission data collection and health and safety requirements are rarely, if ever, relaxed during this validation period, forcing flight teams to undertake an additional task while operating the satellite. Additionally, flight teams must usually undergo extensive training to effectively utilize the new system. Once again, this training usually occurs as an additional task, in addition to the nominal satellite operations. While operating the spacecraft, the Flight Team typically assists in the design, validation, and verification of a new ground system. This is a distraction and strain on the Flight Team, but the benefit of using the Flight Team in all phases of ground system development far outweigh the negative aspects. Finally, above the cost of the new system, the integration into the facility with the current control center system are resources and costs not normally taken into account in the design phase of the new system. In addition to the standard issues faced by a Project when upgrading its ground system, the HST Project also must continue to support Space Shuttle servicing missions, which occur approximately every two to three years. This paper will address many of the issues common to all missions when re-hosting ground systems, and those faced by the HST Project in particular.

Walyus, Keith↗

Hubble Space Telescope First Servicing Mission Prelaunch Mission Operation Report

The Hubble Space Telescope (HST) is a high-performance astronomical telescope system designed to operate in low-Earth orbit. It is approximately 43 feet long, with a diameter of 10 feet at the forward end and 14 feet at the aft end. Weight at launch was approximately 25,000 pounds. In principle, it is no different than the reflecting telescopes in ground-based astronomical observatories. Like ground-based telescopes, the HST was designed as a general-purpose instrument, capable of using a wide variety of scientific instruments at its focal plane. This multi-purpose characteristic allows the HST to be used as a national facility, capable of supporting the astronomical needs of an international user community. The telescope s planned useful operational lifetime is 15 years, during which it will make observations in the ultraviolet, visible, and infrared portions of the spectrum. The extended operational life of the HST is possible by using the capabilities of the Space Transportation System to periodically visit the HST on-orbit to replace failed or degraded components, install instruments with improved capabilities, re-boost the HST to higher altitudes compensating for gravitational effects, and to bring the HST back to Earth when the mission is terminated. The largest ground-based observatories, such as the 200-inch aperture Hale telescope at Palomar Mountain, California, can recognize detail in individual galaxies several billion light years away. However, like all earthbound devices, the Hale telescope is limited because of the blurring effect of the Earth s atmosphere. Further, the wavelength region observable from the Earth s surface is limited by the atmosphere to the visible part of the spectrum. The very important ultraviolet portion of the spectrum is lost. The HST uses a 2.4-meter reflective optics system designed to capture data over a wavelength region that reaches far into the ultraviolet and infrared portions of the spectrum.

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