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Each phase of the sequence development process had to overcome many operational challenges due to the immense complexity of the spacecraft, tour design, pointing capabilities, flight rules and software development. This paper will address the specific challenges related to each of those complexities and the methods used to overcome them during operation.
Two very different deep space exploration missions—Mars Exploration Rover and Cassini—have made use of distributed operations for their science teams. In the case of MER, the distributed operations capability was implemented only after the prime mission was completed, as the rovers continued to operate well in excess of their expected mission lifetimes; Cassini, designed for a prime mission of four years, had planned for distributed operations from its inception. The rapid command turnaround timeline of MER, as well as many of the operations features implemented to support it, have proven to be conducive to distributed operations. These features include: a single science team leader during the tactical operations timeline, highly integrated science and engineering teams, processes and file structures designed to permit multiple team members to work in parallel to deliver sequencing products, web-based spacecraft status and planning reports for team-wide access, and near-elimination of paper products from the operations process.
In October 2010, the Cassini spacecraft embarked on the seven-year Solstice Mission. The mission will culminate with a spectacular series of orbits that bring Cassini between Saturn's innermost ring, the D ring, and the cloud tops of the planet. The spacecraft will make its closest passages ever to the planet allowing for unprecedented science to be collected on Saturn and its rings. These final orbits will expose the spacecraft to new environments, which presents a number of challenges to planning the final mission phase. While these challenges will require adaptations to planning processes and operations, they are not insurmountable. This paper describes the challenges identified and the steps taken to mitigate them to enable collection of unique Saturn system science.
"Support imaging" is imagery requested by other Cassini science teams to aid in the interpretation of their data. The generation of the spacecraft command sequences for these images is performed by the Cassini Instrument Operations Team. The process initially established for doing this was very labor-intensive, tedious and prone to human error. Team management recognized this process as one that could easily benefit from automation. Team members were tasked to document the existing manual process, develop a plan and strategy to automate the process, implement the plan and strategy, test and validate the new automated process, and deliver the new software tools and documentation to Flight Operations for use during the Cassini extended mission. In addition to the goals of higher efficiency and lower risk in the processing of support imaging requests, an effort was made to maximize adaptability of the process to accommodate uplink procedure changes and the potential addition of new capabilities outside the scope of the initial effort.
The rings are changing before our eyes; structure varies on all timescales and unexpected things have been discovered. Many questions have been answered, but some answers remain elusive. Here we highlight the major ring science progress over the mission to date, and describe new observations planned for Cassini’s final three years. Ring Composition and particle sizes: The rings are nearly all water ice with no other ices – so why are they reddish? The C Ring and Cassini Division are “dirtier” than the more massive B and A Rings, as shown by near- IR and, recently, microwave observations. Particle sizes, from stellar and radio occultation's, vary from place to place. Ring structure, micro and macro: numerous spiral density waves and ubiquitous “self-gravity wakes” reveal processes which fostered planet formation in the solar system and elsewhere. However, big puzzles remain regarding the main ring divisions, the C Ring plateau structures, and the B Ring irregular structure. Moonlets, inside and out, seen and unseen: Two gaps contain sizeable moonlets, but more gaps seem to contain none; even smaller embedded “propeller” objects wander, systematically or randomly, through the A ring. Rubble pile ring moons just outside the rings may escaped from the rings, and the recently discovered “Peggy” may be trying this as we watch. Impact bombardment of the rings: Comet fragments set the rings to rippling on century-timescales, and boulders crash through hourly; meanwhile, the constant hail of in falling Kuiper belt material has a lower mass flux than previously thought. Origin and Age of the Rings: The ring mass and bombardment play key roles. The ring mass is well known everywhere but in the B Ring (where most of it is). New models suggest how tidal breakup of evolving moons may have formed massive ancient rings, of which the current ring is just a shadow. During its last three years, the Cassini tour profile will allow entirely new observations: direct measurement of the still-unknown ring mass; direct in-situ sampling of ring particle composition (targeting the iron- or carbon based red non-icy component); and radar backscattering observations.
The Cassini mission has been in orbit for eight years, returning a wealth of scientific data from Titan and the Saturnian system. The mission, a cooperative undertaking between NASA, ESA and ASI, is currently in its second extension of the prime mission. The Cassini Solstice Mission (CSM) extends the mission's lifetime until Saturn's northern summer solstice in 2017. The Titan Orbital Science Team (TOST) has the task of integrating the science observations for all 56 targeted Titan flybys in the CSM. In order to balance Titan science across the entire set of flybys during the CSM, to optimize and influence the Titan flyby altitudes, and to decrease the future workload, TOST went through a "jumpstart" process before the start of the CSM. The "jumpstart" produced Master Timelines for each flyby, identifying prime science observations and allocating control of the spacecraft attitude to specific instrument teams. Three years after completing this long-range plan, TOST now faces a new challenge: incorporating changes into the Titan Science Plan without undoing the balance achieved during the jumpstart.
The first two missions planned for the Mariner Mark II spacecraft, the Cassini mission and the Comet Rendevous Asteroid Flyby (CRAF), are described, along with the Mariner Mark II spacecraft and the instruments that will be used for the two missions. The chief goals of the CRAF mission include determinations of the elemental, molecular, isotopic, and mineralogic compositions and the physical, morphological, and geological character of the cometary nucleus, as well as the characterization of changes occurring as functions of time and orbital position. The Cassini mission will determine the elemental, molecular, isotopic, and mineralogic compositions of Saturn, Titan, the smaller moons, and the rings of the Saturnian system and determine the physical, morphological, and geological nature of these objects; it will also determine the processes operating in the atmospheres of Saturn and Titan and on the surfaces of the rings and satellites of the system and determine the properties of Saturn's magnetosphere and its interactions with the rings and the moons of Saturn.
In this paper we describe the use of our planning and scheduling framework, HSTS, to reduce the complexity of science mission planning. This work is part of an overall project to enable a small team of scientists to control the operations of a spacecraft. The present process is highly labor intensive. Users (scientists and operators) rely on a non-codified understanding of the different spacecraft subsystems and of their operating constraints. They use a variety of software tools to support their decision making process. This paper considers the types of decision making that need to be supported/automated, the nature of the domain constraints and the capabilities needed to address them successfully, and the nature of external software systems with which the core planning/scheduling engine needs to interact. HSTS has been applied to science scheduling for EUVE and Cassini and is being adapted to support autonomous spacecraft operations in the New Millennium initiative.
The Narrow Angle Camera (NAC) is one of two cameras in the Imaging Science Subsystem (ISS) on the Cassini Spacecraft (S/C), the second camera is a Voyager-inherited Wide Angle Camera (WAC). Cassini is currently planned to be launched in October 1997 and will arrive at Saturn for a four year tour in June 2004. The Narrow Angle Optics are a Ritchey Chretien type Optics, has a focal length of 2000 mm, a relative aperture of f/10.5, a spectral range of 200 to 1100 nm, 24 filters, a pixel field of view of 6.0 microradian/pixel, and has a field of view of 3.5 x 3.5 degrees. The sensor is a Charged Couple Device (CCD), 1024 x 1024 pixels with a pixel size of 12 x 12 um, a full well greater than 50,000 e-, on chip processing of up to 800,000 e- pixel summation, a dark current of less than 0.1 e-/pixel/sec at operating temperature, and a charge transfer efficiency of 0.99999 at operating temperature...
Many of NASA's successful missions of robotic exploration have gone on to highly productive mission extensions, from Voyager, Magellan, Ulysses, and Galileo, to the Mars Exploration Rovers Spirit and Opportunity, a variety of Mars orbiters, Spitzer, Deep Impact / EPOXI, and Cassini. These missions delivered not only a high science return during their prime science phase, but a wealth of opportunities during their extensions at a low incremental cost to the program. The success of such mission extensions can be traced to demonstration of new and unique science achievable during the extension; reduction in cost without significant increase in risk to spacecraft health; close inclusion of the science community and approval authorities in planning; intelligent design during the development and prime operations phase; and well crafted and conveyed extension proposals. This paper discusses lessons learned collected from a variety of project leaders which can be applied by current and future missions to maximize their chances of approval and success.
Data return is a metric that is commonly publicized for all space science missions. In the early days of the Space Program, this figure was small, and could be described in bits or maybe even megabits. But now, missions are capable of returning data volumes two or three orders of magnitude larger. For example, Voyager 1 and 2 combined produced a little over 5 Terabits of data in 39 years of operation. In contrast, the Cassini mission, launched two decades after Voyager, produced about one and a half times those data volumes in half the time. NISAR, an Earth Science Mission currently in implementation, plans to produce over 28 Petabits of raw data in just 3 years. This means that NISAR will produce about as many data in 30 days as the combined data production of nearly all planetary missions to date. These increases in capability are a result of technology enhancements in two main areas: telecommunications architecture (both space and ground segments) and data storage technology. This paper describes the progression of these two technologies over the course of more than three decades of space missions and provides additional insight into the design of the end-to-end NISAR Data System Architecture. Trends in the data are briefly explored and compared to Moore’s Law which provides only a qualitative model for memory growth but not for data production. In summary, early missions are found to be driven by unrefined processes while later missions, having utilized earlier lessons learned, focus more on improvements to flight and ground capabilities. Data return seems to fall into three categories. First, deep space missions are driven by the large distances that limit data return to the Earth. Next, the orbiter infrastructure around Mars helps these missions generate more data than other deep space spacecraft. Finally, near-Earth missions have the greatest capabilities for the studied metrics due to their close proximity to Earth and the ground network availability.
"Whether life exists beyond Earth remains a fundamental question driving our exploration of the Solar System. At Saturn’s moon Enceladus, plumes of oceanic material vented into space allow the investigation of the astrobiological potential of an ocean world, hinted at by Cassini, without the necessity of drilling through kilometers of ice crust. The Enceladus Orbilander is a flagship ($2.56B in fiscal year 2025 dollars) mission concept created for the 2023–2033 Planetary Science Decadal Survey. Orbilander takes full advantage of the opportunity provided by Enceladus’ plumes to search for signs of life. A single spacecraft both orbits and lands, capturing samples from four distinct reservoirs offered by the plumes. These samples, both particulate and vapor, are then analyzed by the Life Detection Suite (LDS), a set of five instruments conducting complementary and orthogonal biosignature-seeking measurements. To provide the context that specifically enhances interpretation of LDS measurements, geochemical and geophysical investigations are conducted both in orbit and on the surface. These reveal the physio-chemical state of the ocean and core as well as the processes involved in ejection of plume material and how these affect the ocean material analyzed by the LDS. The Orbilander can be delivered to the Saturn system via several launch vehicle and trajectory options, including a direct trajectory (7-year cruise), a ∆V-EGA trajectory (9-year cruise) and several options using an inner cruise with Venus and Earth flybys (10-year cruise). Upon Saturn Orbit Insertion, a 4-year moon tour pumps down the Orbilander’s orbit to intercept Enceladus. The most optimal arrival times balance the Jupiter flyby opportunities of the late 2030s and solar illumination at the Enceladus high southern latitudes where plume material is most abundant. This mission concept therefore targets project start in 2030. Upon Enceladus Orbit Insertion, the Orbilander begins a 1.5-year-long campaign of landing site reconnaissance, remote sensing science, and collecting sufficient plume sample to run all but one of the LDS measurements. After successful landing, the Orbilander spends 2 years on the surface conducting multiple LDS measurements with all five instruments on actively and passively collected plume material, as well as seismic investigations. The schedule laid out here is well-defined, but the mission also has operational and resource flexibility should additional reconnaissance be needed. As part of the design study, mission and development risks were identified and mitigation strategies proposed. Technologies key to achieving the life detection science objectives include instrumentation matured under programs like COLDTech and ICEE-2, such as aspects of the sampling system and microfluidic devices, as well as well-known techniques like high-resolution and separation-capable mass spectrometers. Autonomous onboard navigation is planned to maintain a halo orbit around Enceladus to enable passive sampling from orbit as well as reconnaissance measurements for use in site selection and landing. Terrain relative navigation is included to ensure safe landing, given that targeted areas may contain landing hazards. Continued development of radioisotope thermoelectric generator (RTG) technology and long-life batteries is essential for this long duration mission. The Enceladus Orbilander represents an optimal point in the trade space of science value versus cost, taking advantage of the extensive knowledge of Enceladus provided by Cassini, how well Enceladus lends itself to a search for life in material from its ocean, and the flexibility afforded by the innovative design developed by the APL team. By taking full advantage of Enceladus’ plumes both in orbit and on the surface, Orbilander represents a robust search for life with complementary and orthogonal biosignatures as well as contextual geophysical and geochemical measurements, determining not only whether Enceladus is inhabited (at levels up to 500,000× scarcer than in Earth’s oceans) but also why. "
Communicating information from spacecraft in deep space utilizes sophisticated techniques of modulations onto a microwave signal carrier. Under most conditions, there is a high success rate of sending commands to the spacecraft and receiving science data acquired by on-board instruments along with health and status information. There are conditions, however, where the signal dynamics are too high and/or the received signal-to-noise ratio is below the receiver threshold. Under these conditions, often by design and sometimes as a result of planned or unplanned critical maneuvers, events (e.g., orbit insertion or descent and landing), safe mode, etc., it becomes highly critical but exceedingly challenging to receive information about the health and dynamical behavior of the spacecraft. The Deep Space Network, being a world-class instrument for Radio Science research, developed openloop receivers, called the Radio Science Receiver, designed to capture the raw incoming electromagnetic signals and associated noise for Radio Science experiments; post data capture digital signal processing extracts the signal carrier for scientific analysis. This receiver provides a high level of configuration flexibility and can be optimized for the various types of experiments. In addition to its scientific utility, it proved to be useful, and in some cases critical, for the support of missions during specific scenarios were the link budget is below the threshold of the tracking receiver to maintain lock or the frequency dynamics are faster than the limits of the tracking receiver. In these cases, the signal carrier is often detected only in the open-loop receiver to provide information on the specific behavior of the spacecraft from the carrier dynamics. This paper describes the utility of the system to support mission-critical events for the three cases of Cassini's Saturn orbit insertion, Huygens Titan landing, and Mars rovers landing.
The Cassini Atmospheric Chemistry Mapper (ACM) enables a broad range of atmospheric science investigations for Saturn and Titan by providing high spectral and spatial resolution mapping and occultation capabilities at 3 and 5 microns. ACM can directly address the major atmospheric science objectives for Saturn and for Titan, as defined by the Announcement of Opportunity, with pivotal diagnostic measurements not accessible to any other proposed Cassini instrument. ACM determines mixing ratios for atmospheric molecules from spectral line profiles for an important and extensive volume of the atmosphere of Saturn (and Jupiter). Spatial and vertical profiles of disequilibrium species abundances define Saturn's deep atmosphere, its chemistry, and its vertical transport phenomena. ACM spectral maps provide a unique means to interpret atmospheric conditions in the deep (approximately 1000 bar) atmosphere of Saturn. Deep chemistry and vertical transport is inferred from the vertical and horizontal distribution of a series of disequilibrium species. Solar occultations provide a method to bridge the altitude range in Saturn's (and Titan's) atmosphere that is not accessible to radio science, thermal infrared, and UV spectroscopy with temperature measurements to plus or minus 2K from the analysis of molecular line ratios and to attain an high sensitivity for low-abundance chemical species in the very large column densities that may be achieved during occultations for Saturn. For Titan, ACM solar occultations yield very well resolved (1/6 scale height) vertical mixing ratios column abundances for atmospheric molecular constituents. Occultations also provide for detecting abundant species very high in the upper atmosphere, while at greater depths, detecting the isotopes of C and O, constraining the production mechanisms, and/or sources for the above species. ACM measures the vertical and horizontal distribution of aerosols via their opacity at 3 microns and, particularly, at 5 microns. ACM recovers spatially-resolved atmospheric temperatures in Titan's troposphere via 3- and 5-microns spectral transitions. Together, the mixing ratio profiles and the aerosol distributions are utilized to investigate the photochemistry of the stratosphere and consequent formation processes for aerosols. Finally, ring opacities, observed during solar occultations and in reflected sunlight, provide a measurement of the particle size and distribution of ring material. ACM will be the first high spectral resolution mapping spectrometer on an outer planet mission for atmospheric studies while retaining a high resolution spatial mapping capability. ACM, thus, opens an entirely new range of orbital scientific studies of the origin, physio-chemical evolution and structure of the Saturn and Titan atmospheres. ACM provides high angular resolution spectral maps, viewing nadir and near-limb thermal radiation and reflected sunlight; sounds planetary limbs, spatially resolving vertical profiles to several atmospheric scale heights; and measures solar occultations, mapping both atmospheres and rings. ACM's high spectral and spatial resolution mapping capability is achieved with a simplified Fourier Transform spectrometer with a no-moving parts, physically compact design. ACM's simplicity guarantees an inherent stability essential for reliable performance throughout the lengthy Cassini Orbiter mission.
Nearly 40 years have passed since the last Apollo missions investigated the mysteries of the lunar atmosphere and the question of levitated lunar dust. The most important questions remain: what is the composition, structure and variability of the tenuous lunar exosphere? What are its origins, transport mechanisms, and loss processes? Is lofted lunar dust the cause of the horizon glow observed by the Surveyor missions and Apollo astronauts? How does such levitated dust arise and move, what is its density, and what is its ultimate fate? The US National Academy of Sciences/National Research Council decadal surveys and the recent "Scientific Context for Exploration of the Moon" (SCEM) reports have identified studies of the pristine state of the lunar atmosphere and dust environment as among the leading priorities for future lunar science missions. These measurements have become particularly important since recent observations by the Lunar Crater Observation and Sensing Satellite (LCROSS) mission point to significant amounts of water and other volatiles sequestered within polar lunar cold traps. Moreover Chandrayaan/M3, EPOXI and Cassini/VIMS have identified molecular water and hydroxyl on lunar surface regolith grains. Variability in concentration suggests these species are likely to be present in the exosphere, and thus constitute a source for the cold traps. NASA s Lunar Atmosphere and Dust Environment Explorer (LADEE) is currently under development to address these goals. LADEE will determine the composition of the lunar atmosphere and investigate the processes that control its distribution and variability, including sources, sinks, and surface interactions. LADEE will also determine whether dust is present in the lunar exosphere, and reveal its sources and variability. LADEE s results are relevant to surface boundary exospheres and dust processes throughout the solar system, will address questions regarding the origin and evolution of lunar volatiles, and will have implications for future exploration activities. LADEE will be the first mission based on the Ames Common Bus design. LADEE employs a high heritage instrument payload: a Neutral Mass Spectrometer (NMS), an Ultraviolet/Visible Spectrometer (UVS), and the Lunar Dust Experiment (LDEX). It will also carry a space terminal as part of the Lunar Laser Communication Demonstration (LLCD), which is a technology demonstration. LLCD will also supply a ground terminal. LLCD is funded by the Space Operations Mission Directorate (SOMD), managed by GSFC, and built by MIT Lincoln Lab. NMS was directed to the Goddard Space Flight Center (GSFC) and UVS to Ames Research Center (ARC). LDEX was selected through the Stand Alone Missions of Opportunity Notice (SALMON) Acquisition Process, and is provided by the University of Colorado at Boulder. The LADEE NMS covers a m/z range of 2-150 and draws its design from mass spectrometers developed at GSFC for the MSL/SAM, Cassini Orbiter, CONTOUR, and MAVEN missions. The UVS instrument is a next-generation, high-reliability version of the LCROSS UV-Vis spectrometer, spanning 250-800 nm wavelength, with high (<1 nm) spectral resolution. UVS will also perform dust occultation measurements via a solar viewer optic. LDEX senses dust impacts in situ, at LADEE orbital altitudes of 50 km and below, with a particle size range of between 100 nm and 5 micron. Dust particle impacts on a large hemispherical target create electron and ion pairs. The latter are focused and accelerated in an electric field and detected at a microchannel plate. LADEE is an important part of NASA s portfolio of near-term lunar missions; launch is planned for May, 2013. The lunar atmosphere is the most accessible example of a surface boundary exosphere, and may reveal the sources and cycling of volatiles. Dynamic dust activity must be accounted for in the design and operation of lunar surface operations.