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A library of computer programs for antenna feed system design and analysis is described, with emphasis on instructions for using the programs. The programs cover a large spectrum of feed design problems, from primary feed pattern synthesis to the far-field pattern of the main reflector, including analyses of structural distortions.
A single-aperture, low-profile antenna design has been developed that supports dual-polarization and simultaneous operation at two wavelengths. It realizes multiple beams in the elevation plane, and supports radiometric, radar, and conical scanning applications. This antenna consists of multiple azimuth sticks, with each stick being a multilayer, hybrid design. Each stick forms the h-plane pattern of the C and Ku-band vertically and horizontally polarized antenna beams. By combining several azimuth sticks together, the elevation beam is formed. With a separate transceiver for each stick, the transmit phase and amplitude of each stick can be controlled to synthesize a beam at a specific incidence angle and to realize a particular side-lobe pattern. By changing the transmit phase distribution through the transceivers, the transmit antenna beam can be steered to different incidence angles. By controlling the amplitude distribution, different side lobe patterns and efficiencies can be realized. The receive beams are formed using digital beam synthesis techniques, resulting in very little loss in the receive path, thus enabling a very-low loss receive antenna to support passive measurements.
A technique for the synthesis of planar aperture antennas has been developed. It applies equally well to continuous or array type apertures. Patterns with shaped main beams and complex sidelobe structures can be synthesized. The method involves applying corrections iteratively and converging toward the desired pattern. The iteration process terminates when the synthesized pattern approximates the desired pattern to within a specified tolerance. A computer program has been written to perform all calculations. The source distribution which is required to produce the synthesized pattern is provided as output. The method is such that patterns requiring complex source distributions will not be synthesized (such as superdirective patterns).
Fourteen computer programs have been developed for antenna feed system design and analysis. The programs cover a large spectrum of feed design problems, from primary feed pattern synthesis to the farfield pattern of the main reflector, including analyses of structural distortions.
Preliminary details of a 2-D synthetic aperture radiometer prototype operating from 50 to 58 GHz will be presented. The instrument is being developed as a laboratory testbed, and the goal of this work is to demonstrate the technologies needed to do atmospheric soundings with high spatial resolution from Geostationary orbit. The concept is to deploy a large sparse aperture Y-array from a geostationary satellite, and to use aperture synthesis to obtain images of the earth without the need for a large mechanically scanned antenna. The laboratory prototype consists of a Y-array of 24 horn antennas, MMIC receivers, and a digital cross-correlation sub-system. System studies are discussed, including an error budget which has been derived from numerical simulations. The error budget defines key requirements, such as null offsets, phase calibration, and antenna pattern knowledge. Details of the instrument design are discussed in the context of these requirements.
Surface errors on parabolic reflector antennas degrade the overall performance of the antenna. Space antenna structures are difficult to build, deploy and control. They must maintain a nearly perfect parabolic shape in a harsh environment and must be lightweight. Electromagnetic compensation for surface errors in large space reflector antennas can be used to supplement mechanical compensation. Electromagnetic compensation for surface errors in large space reflector antennas has been the topic of several research studies. Most of these studies try to correct the focal plane fields of the reflector near the focal point and, hence, compensate for the distortions over the whole radiation pattern. An alternative approach to electromagnetic compensation is presented. The proposed technique uses pattern synthesis to compensate for the surface errors. The pattern synthesis approach uses a localized algorithm in which pattern corrections are directed specifically towards portions of the pattern requiring improvement. The pattern synthesis technique does not require knowledge of the reflector surface. It uses radiation pattern data to perform the compensation.
The modification of a moment method code is described. Analyses of horn antennas were conducted extensively. Excellent agreements with measured results were observed for pyramidal horn antennas with perfectly conducting surfaces. The predicted results are so accurate that even the finest ripple structures in the far-field radiation patterns are computed correctly. Preliminary results for the radiation patterns of pyramidal horns with impedance surfaces were also obtained. Discussions of using the code in accurate modeling of practical pyramidal horn antennas are also included. After the code for the analysis of the horn antennas with impedance materials is finalized, the synthesis problem will be examined in the coming research period.
Dual-shaped reflectors have been used for many years. Thus, these reflectors have been used as high gain antennas on Voyagers 1 and 2. The objectives of the geometrical optics (GO) dual shaped synthesis are considered. Concerning the synthesis of dual shaped reflectors, it has been shown for circular symmetric reflectors that an exact GO solution can be found to the problem of transforming, by two reflections, any feed pattern into any aperture distribution. This problem involves solving two simultaneous nonlinear ordinary differential equations. The same approach for offset geometry leads to two simultaneous nonlinear partial differential equations. It is shown that these equations could also be integrated numerically, except that in general these equations are not total and therefore, in general, they do not have a 'smooth' solution. It is further shown that the offset partial differentials often very nearly form a total differential in many cases of practical importance.
It is pointed out that the offset geometry for dual reflector antennas is attractive for satellite communications where low side lobes are necessary to achieve good isolation between adjacent main lobes operating over the same frequency band. A description is presented of a new, numerically rigorous technique for synthesizing dual offset reflectors. The objective of the synthesis procedure is to transform a given primary feed pattern into a desired aperture distribution through two reflections in an offset dual reflector system. It is found that a given specification for the aperture distribution does not always lead to a smooth solution for the two surfaces. In this event, the so-called energy condition on the specified amplitude distribution is relaxed, and an approximate solution which satisfies the energy condition only within a certain numerical tolerance is derived.
A full scale 20 GHz antenna model was designed, fabricated and tested. The model is intended to test the low sidelobe beam scanning capability of a new class of an offset dual reflector and feed array configuration. The offset main reflector and subreflector surfaces are custom shaped by a computer synthesis procedure. The derived optics result in beam scan loss under 1 db over the + or - 12.3 beamwidths by + or - 5.8 beamwidths scan volume while maintaining low sidelobes. It is found that the measured and computed patterns are in good agreement.
During this research period, we have effectively transferred existing computer codes from CRAY supercomputer to work station based systems. The work station based version of our code preserved the accuracy of the numerical computations while giving a much better turn-around time than the CRAY supercomputer. Such a task relieved us of the heavy dependence of the supercomputer account budget and made codes developed in this research project more feasible for applications. The analysis of pyramidal horns with impedance surfaces was our major focus during this research period. Three different modeling algorithms in analyzing lossy impedance surfaces were investigated and compared with measured data. Through this investigation, we discovered that a hybrid Fourier transform technique, which uses the eigen mode in the stepped waveguide section and the Fourier transformed field distributions across the stepped discontinuities for lossy impedances coating, gives a better accuracy in analyzing lossy coatings. After a further refinement of the present technique, we will perform an accurate radiation pattern synthesis in the coming reporting period.
An error budget is presented to meet 1 Kelvin radiometric accuracy in a geostationary atmospheric sounder with 50 km spatial resolution on the earth. The gain and phase errors are weighted by the magnitude of visibility versus antenna separation, and requirements range between approx.0.5% and 0.3 degrees of amplitude and phase, respectively, for the closest spacings at the center of the array, and about 5% and 3 degrees for the majority of the array. The latter requirement is met by our design without any special testing or stabilizations by reference signals. The former is met using an internal noise diode reference and by measuring the detailed antenna patterns on the antenna range. Biases and other additive errors in the raw visibility samples must be below about 2 mK on average, and this requirement is met by a phase shifting scheme applied to the local oscillator distribution. An outline of the data processing is presented, along with the first images from this system.
Topics include: Advanced Systems for Monitoring Underwater Sounds; Wireless Data-Acquisition System for Testing Rocket Engines; Processing Raw HST Data With Up-to-Date Calibration Data; Mobile Collection and Automated Interpretation of EEG Data; System for Secure Integration of Aviation Data; Servomotor and Controller Having Large Dynamic Range; Digital Multicasting of Multiple Audio Streams; Translator for Optimizing Fluid-Handling Components; AIRSAR Web-Based Data Processing; Pattern Matcher for Trees Constructed From Lists; Reducing a Knowledge-Base Search Space When Data Are Missing; Ground-Based Correction of Remote-Sensing Spectral Imagery; State-Chart Autocoder; Pointing History Engine for the Spitzer Space Telescope; Low-Friction, High-Stiffness Joint for Uniaxial Load Cell; Magnet-Based System for Docking of Miniature Spacecraft; Electromechanically Actuated Valve for Controlling Flow Rate; Plumbing Fixture for a Microfluidic Cartridge; Camera Mount for a Head-Up Display; Core-Cutoff Tool; Recirculation of Laser Power in an Atomic Fountain; Simplified Generation of High-Angular-Momentum Light Beams; Imaging Spectrometer on a Chip; Interferometric Quantum-Nondemolition Single-Photon Detectors; Ring-Down Spectroscopy for Characterizing a CW Raman Laser; Complex Type-II Interband Cascade MQW Photodetectors; Single-Point Access to Data Distributed on Many Processors; Estimating Dust and Water Ice Content of the Martian Atmosphere From THEMIS Data; Computing a Stability Spectrum by Use of the HHT; Theoretical Studies of Routes to Synthesis of Tetrahedral N4; Estimation Filter for Alignment of the Spitzer Space Telescope; Antenna for Measuring Electric Fields Within the Inner Heliosphere; Improved High-Voltage Gas Isolator for Ion Thruster; and Hybrid Mobile Communication Networks for Planetary Exploration.
The search for life (extinct or extant) and potentially habitable bodies in our solar system and beyond is one of the 12 priority science questions outlined in the National Acadamies’ 2022 decadal survey [5]. Extraterrestrial destinations containing liquid water present an opportunity to search for life as we know it, and in recent years an increasing number of such locations have been discovered within our solar system. Several Jovian moons—Europa, Ganymede, and Callisto [10]—and the Saturnian moons Enceladus [8] and Titan [9] are known or suspected to harbor massive subsurface oceans. Of these "ocean worlds", Europa is the focus of at least one planned NASA orbiter mission, Europa Clipper [4], and an early lander mission concept, the Europa Lander [2, 3]. Whereas most robotic missions to the Moon and Mars (e.g. orbiters, rovers, landers) to date have had ground controllers on Earth tightly involved in mission operations, missions to more distant worlds will require a high degree of onboard autonomy due to long communication lags and blackouts, harsh environments (radiation, cold), and more limited battery and hardware life. The past decade has seen great advances in both AI technologies and computing scalability and performance that offer promising solutions for spacecraft autonomy and motivate the software system and research programs described in this paper. The Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS) [1], which has been in development at the NASA Ames Research Center since 2018, is a virtual environment for testing lander autonomy solutions. It is built on the Robot Operating System (ROS), runs on consumer-grade Linux workstations, and was released as open source in 2020. OceanWATERS provides a physical and visual simulation of a prototypical lander in a Europa-like environment (Figure 1). The lander was modeled after requirements and specifications made in JPL’s Europa Lander Study of 2016 [3]. Simulated lander systems include stereo cameras and spotlights mounted on an antenna mast that pans and tilts, a 6 degrees of freedom (DoF) robotic arm with a force-torque sensor and two interchangeable end effectors, and a battery pack power system. The environment consists of multiple terrain models including a highly detailed model sourced from the FROST dataset [11], simulation of surrounding planetary bodies based on an ephemeris model, and lighting from the sun with associated surface illumination, reflectance, and shadows. Operations supported by OceanWATERS include panoramic and directed imaging of the environment and lander workspace, Cartesian and joint-level arm commanding, grinding of the terrain surface (e.g. digging a trench), and scooping of ground material (Figure 2) which can be discarded or collected as science samples in a receptacle that can be emptied (science operations themselves are not simulated). These operations are realized as ROS Actions and are complimented by a wide selection of telemetry that is continually produced by each lander subsystem. The power system model is driven by the open-source Generic Software Architecture for Prognostics (GSAP) [11] that predicts the battery’s remaining useful life and other characteristics. As a testbed for high-level autonomy, OceanWATERS provides an execution framework based on PLEXIL [12], an open-source plan specification language and execution engine developed largely at Ames. NASA's initial development of OceanWATERS, as well the Ocean Worlds Lander Autonomy Testbed (OWLAT) [6], a complimentary physical testbed developed at JPL, was the first step in a plan for realizing candidate onboard autonomy solutions for such planetary landers. In 2020 NASA solicited applications for its Autonomous Robotics Research for Ocean Worlds (ARROW) program, and in 2021 the similar Concepts for Ocean worlds Life Detection Technology (COLDTech) program. Collectively six research teams, based in universities and companies across the United States, were awarded grants to develop and demonstrate autonomy solutions on OceanWATERS and OWLAT. These 1–2-year projects have now finished or are nearing completion, and a wide variety of autonomy challenges in ocean world surface missions were addressed. Prototyped and demonstrated solutions have included autonomous discovery, response and adaptation to system faults and unexpected environmental events, world model synthesis through perception, plan synthesis using learned models, methods to optimize sample target selection and prioritize science data transmission, extension of PLEXIL for stochastic decision-making, and an integration of a model of JPL’s mission-ready COLDArm [7]. Technologies used in these projects include many forms of machine learning, causal reasoning, automated planning, Markov decision processes, formal methods, and other advanced techniques. A more detailed summary of the ARROW and COLDTech projects is given herein. OceanWATERS has had significant enhancements since its open-source release in 2020. Many of its new features were driven or shaped by feedback from the ARROW and COLDTech teams and requirements of their projects. In support of enabling autonomous adaptation to spacecraft faults (a specific capability solicited by both programs), a fault injection and detection framework was developed that supports a wide and growing range of fault types such as locked joints, image loss, and battery failures. The power system model was completed and integrated into the simulator, starting as a single-cell battery model and later upgraded to a multi-cell model with associated faults such as cell disconnection. Arm/terrain interaction was improved by adding a force-torque sensor and associated faults, and an analytic dig force model based on the Balovnev bucket force equations. Environment fidelity was increased by modeling terrain deformation resulting from digging and scooping; visual improvements were made in textures, lighting, and shadows. To facilitate interoperation with OWLAT, a unified command and telemetry interface between the testbeds was developed at the ROS level, along with a PLEXIL interface. The number of lander operations was greatly expanded (e.g. with Cartesian-based arm and antenna movement), and a framework was designed for users to build their own lander actions. A GUI for PLEXIL plan selection was created (Figure 3), and an expansive set of plans were added, such as those that illustrate patterns for fault handling. This paper provides a self-contained high-level description of OceanWATERS, focusing on more detailed coverage of the aforementioned enhancements. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed, as likely informed by the recent planetary science decadal survey [5].