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In this paper, we present some ideas regarding the optics and imaging aspects of granular spacecraft. Granular spacecraft are complex systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of grains in orbit. An example of application is a spaceborne observatory for exoplanet imaging, where the primary aperture is a cloud instead of a monolithic aperture.
Typically, the cost of a space-borne imaging system is driven by the size and mass of the primary aperture. The solution that we propose uses a method to construct an imaging system in space in which the nonlinear optical properties of a cloud of micron-sized particles, shaped into a specific surface by electromagnetic means, and allows one to form a very large and lightweight aperture of an optical system, hence reducing overall mass and cost. Recent work at JPL has investigated the feasibility of a granular imaging system, concluding that such a system could be built and controlled in orbit. We conducted experiments and simulation of the optical response of a granular lens. In all cases, the optical response, measured by the Modulation Transfer Function, of hexagonal reflectors was closely comparable to that of a conventional spherical mirror. We conducted some further analyses by evaluating the sensitivity to fill factor and grain shape, and found a marked sensitivity to fill factor but no sensitivity to grain shape. We have also found that at fill factors as low as 30%, the reflection from a granular lens is still excellent. Furthermore, we replaced the monolithic primary mirror in an existing integrated model of an optical system (WFIRST Coronagraph) with a granular lens, and found that the granular lens that can be useful for exoplanet detection provides excellent contrast levels. We will present our testbed and simulation results in this paper.
Aggregates were observed to form very suddenly in a lab-contained dust cloud, transforming (within seconds) an opaque monodispersed cloud into a clear volume containing rapidly-settling, long hair-like aggregates. The implications of such a "phase change" led to a series of experiments progressing from the lab, to KC-135, followed by micro-g flights on USML-1 and USML-2, and now EGM slated for Space Station. We attribute the sudden "collapse" of a cloud to the effect of dipoles. This has significant ramifications for all types of cloud systems, and additionally implicates dipoles in the processes of cohesion and adhesion of granular matter. Notably, there is the inference that like-charged grains need not necessarily repel if they are close enough together: attraction or repulsion depends on intergranular distance (the dipole being more powerful at short range), and the D/M ratio for each grain, where D is the dipole moment and M is the net charge. We discovered that these ideas about dipoles, the likely pervasiveness of them in granular material, the significance of the D/M ratio, and the idea of mixed charges on individual grains resulting from tribological processes --are not universally recognized in electrostatics, granular material studies, and aerosol science, despite some early seminal work in the literature, and despite commercial applications of dipoles in such modern uses as "Krazy Glue", housecleaning dust cloths, and photocopying. The overarching goal of EGM is to empirically prove that (triboelectrically) charged dielectric grains of material have dipole moments that provide an "always attractive" intergranular force as a result of both positive and negative charges residing on the surfaces of individual grains. Microgravity is required for this experiment because sand grains can be suspended as a cloud for protracted periods, the grains are free to rotate to express their electrostatic character, and Coulombic forces are unmasked. Suspended grains will be "interrogated" by applied electrical fields. In one module, grains will be immersed in an inhomogeneous electric field and allowed to be attracted towards or repelled from the central electrode of the module: part of the grain's speed will be a function of its net charge (monopole), part will be a function of the dipole. Observed grain position vs. time will provide a curve that can be deconvolved into the dipole and monopole forces responsible, since both have distinctive radial dependencies. In a second approach, the inhomogeneous field will be alternated at low frequency (e.g., every 5-10 seconds) so that the grains are alternately attracted and repelled from the center of the field. The resulting "zigzag" grain motion will gradually drift inwards, then suddenly change to a unidirectional inward path when a critical radial distance is encountered (a sort of "Coulombic event horizon") at which the dipole strength supersedes the monopole strength --thus proving the presence of a dipole, while also quantifying the D/M ratio. In a second module, an homogeneous electric field eliminates dipole effects (both Coulombic and induced) to provide calibration of the monopole and to more readily evaluate net charge statistical variance. In both modules, the e-fields will be exponentially step-ramped in voltage during the experiment, so that the field "nominalizes" grain speed while spreading the response time --effectively forcing each grain to "wait its turn" to be measured. In addition to rigorously quantifying M, D, and the D/M ratio for many hundreds of grains, the experiment will also observe gross electrometric and RF discharge phenomena associated with grain activity. The parameter space will encompass grain charging levels (via intentional triboelectrification), grain size, cloud density, and material type. Results will prove or disprove the dipole hypothesis. In either case, light will be shed on the role of electrostatic forces in governing granular systems. Knowledge so gained can be applied to natural clouds such as protostellar and protoplanetary dust and debris systems, planetary rings, planetary dust palls and aerosols created by volcanic, impact, aeolian, firestorm, or nuclear winter processes. The data are also directly applicable to adhesion, cohesion, transport, dispersion, and collection of granular materials in industrial, agricultural, pharmaceutical applications, and in fields as diverse as dust contamination of space suits on Mars and crop spraying on Earth.
Long-term human mission to space, such as living in International Space Station (ISS), Lunar, and Martian bases, and travel to Mars, must m ake use of Advanced Life Support Systems (ALSS) to generate and recycle critical life supporting elements like oxygen and water. Oxygen Gen eration Assembly (OGA) and Water Processor Assembly (WPA), critical c omponents of ALSS, make use of series of granular material packed beds for generation and recycling of oxygen and water. Several granular m aterials can be used for generation, recycling, processing and recovery of oxygen and water. For example, they may include soft bed media, e.g. ion exchange resins for oxygen generation assembly and hard bed media such as, activated alumina, magchem (Magnesium oxide) and activa ted carbon to remove organic species like ethanol, methanol, and urea from wastewater in Water recovery/processing assembly. These beds are generally packed using a plate-spring mechanism to provide sufficien t compaction to the bed media throughout the course of operation. This paper presents results from an experimental study of a full-scale, 3 8.1 cm (15 inches) long and 3.7 cm (1.44 inches) diameter. activated alumina bed enclosed in a cylinder determining its force-displacement behavior, friction mobilizing force, and axial normal stress distribu tion under various axially applied loads and at different levels of packing. It is observed that force-displacement behavior is non-linear for low compaction level and becomes linear with increase in compaction of the bed media. Axial normal stress distribution along the length of the bed media decreased non-linearly with increase in depth from the loading end of the granular media. This paper also presents experimental results on the amount of particulates generated corresponding to various compaction levels. Particulates generated from each of the tests were measured using standard US sieves. It was found that the p articulates and the overall displacement of the bed media increased with decrease in initial compaction of the bed media. This effect could be attributed to the greater tendency for inter-particle sliding/rub bing due to smaller internal friction angles, as seen from the shear tests, at lesser initial compacted levels. Upon unloading, it was obse rved that there was no change in displacement (especially rebounding) in the bed media. This effect could be attributed to the fact that th e porous activated alumina particles fracture/break upon increase in applied load (during loading phase) and occupy void spaces in between the material grains; thereby leading to settling of the media. The lo ad-displacement curve becomes more linear with increase in initial compaction of the bed media. It is concluded that compaction considerabl y affects the load-displacement behavior of the bed media. A series of tests were also conducted on the packed bed media to determine the f orce required to mobilize the friction between the bed media and the housing cylinder. The results from these tests showed the existence of significant friction between the bed media and the encasing stainles s steel cylinder. Further, it was found that friction effects were more pronounced for media with higher initial compaction. Internal frict ion of the granular media was measured using direct shear apparatus. It was observed that the internal friction increased with increase in initial compaction of the bed media. In this study, a computational m odel (CM) is also developed using finite element software ANSYS to verify experimental results obtained for the distribution of the axial n ormal stress and axial displacement along the length of the full-scal e activated alumina bed media. In the computational model, the granular material is considered to have appropriate failure and frictional c ontact exists between the wall and the granular media. It is observed that the model predicts results closely with the experimental method. The compational results show that the axial normal stress distribution along the length of the activated alumina media decreases non-linea rly from the loading end and is negligible beyond a certain depth. Th is can be attributed to the existence of friction between the walls and the media and that the friction takes up most of the applied load.
In this paper, we present some ideas regarding the modeling, dynamics and control aspects of granular spacecraft. Granular spacecraft are complex multibody systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of grains in orbit. An example of application is a spaceborne observatory for exoplanet imaging, where the primary aperture is a cloud instead of a monolithic aperture. A model is proposed of a multi-scale dynamics of the grains and cloud in orbit, as well as a control approach for cloud shape maintenance and alignment, and preliminary simulation studies are carried out for the representative imaging system.
The control of water content and water movement in granular substrate-based plant root systems in microgravity is a complex problem. Improper water and oxygen delivery to plant roots has delayed studies of the effects of microgravity on plant development and the use of plants in physical and mental life support systems. Our international effort (USA, Russia and Bulgaria) has upgraded the plant growth facilities on the Mir Orbital Station (OS) and used them to study the full life cycle of plants. The Bulgarian-Russian-developed Svet Space Greenhouse (SG) system was upgraded on the Mir OS in 1996. The US developed Gas Exchange Measurement System (GEMS) greatly extends the range of environmental parameters monitored. The Svet-GEMS complex was used to grow a fully developed wheat crop during 1996. The growth rate and development of these plants compared well with earth grown plants indicating that the root zone water and oxygen stresses that have limited plant development in previous long-duration experiments have been overcome. However, management of the root environment during this experiment involved several significant changes in control settings as the relationship between the water delivery system, water status sensors, and the substrate changed during the growth cycles. c 2001 Published by Elsevier Science Ltd. All rights reserved.
In this paper, we present some ideas regarding the modeling, dynamics and control aspects of granular spacecraft. Granular spacecraft are complex multibody systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of grains in orbit. An example of application is a spaceborne observatory for exoplanet imaging, where the primary aperture is a cloud instead of a monolithic aperture. A model is proposed of the multi-scale dynamics of the grains and cloud in orbit, as well as a control approach for cloud shape maintenance and alignment, and preliminary simulation studies are carried out for the representative imaging system.
This work focuses on the properties of sheared granular materials near the jamming transition. The project currently involves two aspects. The first of these is an experiment that is a prototype for a planned ISS (International Space Station) flight. The second is discrete element simulations (DES) that can give insight into the behavior one might expect in a reduced-g environment. The experimental arrangement consists of an annular channel that contains the granular material. One surface, say the upper surface, rotates so as to shear the material contained in the annulus. The lower surface controls the mean density/mean stress on the sample through an actuator or other control system. A novel feature under development is the ability to 'thermalize' the layer, i.e. create a larger amount of random motion in the material, by using the actuating system to provide vibrations as well control the mean volume of the annulus. The stress states of the system are determined by transducers on the non-rotating wall. These measure both shear and normal components of the stress on different size scales. Here, the idea is to characterize the system as the density varies through values spanning dense almost solid to relatively mobile granular states. This transition regime encompasses the regime usually thought of as the glass transition, and/or the jamming transition. Motivation for this experiment springs from ideas of a granular glass transition, a related jamming transition, and from recent experiments. In particular, we note recent experiments carried out by our group to characterize this type of transition and also to demonstrate/ characterize fluctuations in slowly sheared systems. These experiments give key insights into what one might expect in near-zero g. In particular, they show that the compressibility of granular systems diverges at a transition or critical point. It is this divergence, coupled to gravity, that makes it extremely difficult if not impossible to characterize the transition region in an earth-bound experiment. In the DE modeling, we analyze dynamics of a sheared granular system in Couette geometry in two (2D) and three (3D) space dimensions. Here, the idea is to both better understand what we might encounter in a reduced-g environment, and at a deeper level to deduce the physics of sheared systems in a density regime that has not been addressed by past experiments or simulations. One aspect of the simulations addresses sheared 2D system in zero-g environment. For low volume fractions, the expected dynamics of this type of system is relatively well understood. However, as the volume fraction is increased, the system undergoes a phase transition, as explained above. The DES concentrate on the evolution of the system as the solid volume fraction is slowly increased, and in particular on the behavior of very dense systems. For these configurations, the simulations show that polydispersity of the sheared particles is a crucial factor that determines the system response. Figures 1 and 2 below, that present the total force on each grain, show that even relatively small (10 %) nonuniformity of the size of the grains (expected in typical experiments) may lead to significant modifications of the system properties, such as velocity profiles, temperature, force propagation, and formation shear bands. The simulations are extended in a few other directions, in order to provide additional insight to the experimental system analyzed above. In one direction, both gravity, and driving due to vibrations are included. These simulations allow for predictions on the driving regime that is required in the experiments in order to analyze the jamming transition. Furthermore, direct comparison of experiments and DES will allow for verification of the modeling assumptions. We have also extended our modeling efforts to 3D. The (preliminary) results of these simulations of an annular system in zero-g environment will conclude the presentation.
With the growth in urban air mobility systems and the increasing reliance on interconnected technologies, ensuring the security of these complex infrastructures has become critical. As cities evolve into smart urban centers, the vulnerability to cyber threats escalates, possibly endangering citizens’ safety and the efficiency of transportation networks. In response to these challenges, this paper presents a study on implementing a Host-Based Intrusion Detection System (HIDS) tailored explicitly to urban mobility environments’ unique demands. This study explores the design, development, and deployment of the proposed HIDS, focusing on its adaptability to monitor the hybrid nature of the urban mobility environment. Leveraging machine learning algorithms and anomaly detection techniques, the HIDS is equipped to continuously monitor and analyze the behavior of individual host systems, vehicles, and devices, thereby providing a proactive approach to threat detection. Implementing a HIDS is a pivotal strategy for enhancing cyber resiliency, as it gives an organization granular visibility into internal system activities, enables rapid detection and response to anomalous behavior and cyber threats, and fortifies the organization’s overall cybersecurity posture. In conclusion, this paper highlights the significance of host-based intrusion detection in urban mobility environments and underscores the necessity of tailored security solutions to safeguard against emerging cyber threats.
With the growth in Urban Air Mobility systems and the increasing reliance on interconnected technologies, ensuring the security of these complex components has become critical. As cities evolve into smart urban centers, the vulnerability to cyber threats escalates, possibly endangering citizens safety and the efficiency of transportation networks.In response to these challenges, this paper presents a study on the need for cyber resilient techniques within future air traffic environments. It will pay specific attention to the implementation of a Host-Based Intrusion Detection System (HIDS) utilizing Atomic OSSEC software, tailored specifically to a NASA simulation of an UrbanAirMobility environments’ unique demands. Further, this study seeks to outline the rational for NASA’s recommendation for a HIDS in such environments. It explores the design, development, and deployment of the proposed HIDS, focusing on its adaptability to monitor the hybrid nature of the Urban Air Mobility environment. Leveraging machine learning algorithms and anomaly detection techniques, the HIDS is equipped to continuously monitor and analyze the behavior of individual host systems, vehicles, and devices, thereby providing a proactive approach to threat detection. Implementing a HIDS is a pivotal strategy for enhancing cyber resiliency, as it gives an organization granular visibility into internal system activities, enables rapid detection and response to anomalous behavior and cyber threats, and fortifies the organizations overall cybersecurity posture. Finally, this study aims to provide recommendations and include learned takeaways that the Urban Air Mobility industry should consider. In brief, this paper highlights the significance of host-based intrusion detection in UrbanAirMobility environments and underscores the necessity of tailored security solutions to safeguard against emerging cyber threats.
In this paper, we present some ideas regarding the modeling, dynamics and control aspects of granular spacecraft. Granular spacecraft are complex multibody systems composed of a spatially disordered distribution of a large number of elements, for instance a cloud of N grains in orbit, with N greater than 10(exp 3). These grains can be large (Cubesat-size) or small (mm-size), and can be active, i.e., a fully equipped vehicle capable sensing their own position and attitude, and enabled with propulsion means, or entirely passive. The ultimate objective would be to study the behavior of the single grains and of large ensembles of grains in orbit and to identify ways to guide and control the shape of a cloud composed of these grains so that it can perform a useful function in space, for instance, as an element of an optical imaging system for astrophysical applications. This concept, in which the aperture does not need to be continuous and monolithic, would increase the aperture size several times compared to large NASA observatories such as ATLAST, allowing for a true Terrestrial Planet Imager that would be able to resolve exo-planet details and do meaningful spectroscopy on distant world. In the paper, we address the modeling and autonomous operation of a distributed assembly (the cloud) of large numbers of highly miniaturized space-borne elements (the grains). A multi-scale, multi-physics model is proposed of the dynamics of the cloud in orbit, as well as a control law for cloud shape maintenance, and preliminary simulation studies yield an estimate of the computational effort, indicating a scale factor of approximately N(exp 1.4) as a function of the number of grains. A granular spacecraft can be defined as a collection of a large number of space-borne elements (in the 1000s) designed and controlled such that a desirable collective behavior emerges, either from the interactions among neighboring grains, and/or between the grains and the environment. In this paper, each grain is considered to be a highly miniaturized spacecraft which has limited size and mass, hence it has limited actuation, limited propulsive capability, limited power, limited sensing, limited communication, limited computational resources, limited range of motion, limited lifetime, and may be expendable. The modeling and dynamics of clouds of vehicles is more challenging than with conventional vehicles because we are faced with a probabilistic vehicle composed of a large number of physically disconnected vehicles. First, different scales of motion occur simultaneously in a cloud: translations and rotations of the cloud as a whole (macro-dynamics), relative rotation and translation of one cloud member with respect to another (meso-dynamics), and individual cloud member dynamics (micro-dynamics). Second, the control design needs to be tolerant of the system complexity, of the system architecture (centralized vs. decentralized large scale system control) as well as robust to un-modeled dynamics and noise sources. Figure 1, top left, shows the kinematic parameters of a 1000 element cloud in orbit. The motion of the system is described with respect to a local vertical-local horizontal (LV-LH) orbiting reference frame (x,y,z)=F(sub ORF) of origin O(sub ORF) which rotates with mean motion omega and orbital semi-major axis R(sub 0). The orbital geometry at the initial time is defined in terms of its six orbital elements, and the orbital dynamics equation for point O(sub ORF) is propagated forward in time under the influence of the gravitational field of the primary and other external perturbations, described below. The origin of this frame coincides with the initial position of the center of mass of the system, and the coordinate axes are z along the local vertical, x toward the flight direction, and y in the orbit normal direction. The assumptions we used to model the dynamics are as follows: 1) The inertial frame is fixed at Earth's center. 2) The orbiting Frame ORF follows Keplerian orbit. 3) the cloud system dynamics is referred to ORF. 4) the attitude of each grain uses the principal body frame as body fixed frame. 5) the atmosphere is assumed to be rigidly rotating with the Earth. Regarding the grains forming the cloud: 1) each grain is modeled as a rigid body; 2) a simple attitude estimator provides attitude estimates, 3) a simple guidance logic commands the position and attitude of each grain, 4) a simple local feedback controller based on PD control of local states is used to stabilize the attitude of the vehicle. Regarding the cloud: 1) the cloud as a whole is modeled as an equivalent rigid body in orbit, and 2) an associated graph establishes agent connectivity and enables coupling between modes of motion at the micro and macro scales; 3) a simple guidance and estimation logic is modeled to estimate and command the attitude of this equivalent rigid body; 4) a cloud shape maintenance controller is based on the dynamics of a stable virtual truss in the orbiting frame. Regarding the environmental perturbations acting on the cloud: 1) a non-spherical gravity field including JO (Earth's spherical field) zonal component, J2 (Earth's oblateness) and J3 zonal components is implemented; 2) atmospheric drag is modeled with an exponential model; 3) solar pressure is modeled assuming the Sun is inertially fixed; and 4) the Earth's magnetic field is model using an equivalent dipole model. The equations of motion are written in a referential system with respect to the origin of the orbiting frame and the state is propagated forward in time using an incremental predictor-corrector scheme. A representative cloud with varying number of grains is simulated to identify the limitations in computation time as the number of grains grows. We derive a control law to track a desired surface in the ORF (equivalently to maintain a reference cloud shape) by defining an error from a desired surface shape, and designing a control law that is exponentially stable and reduces the tracking error to zero. Figure 1 (top right) shows a comparison of various requirements for simulation of single spacecraft vs. granular spacecraft, indicating the high degree of complexity that needs to be taken into consideration. The ORF components of control force required by one of the grains is, for this particular case, in the micro-Newton range. However, no attempt has been made yet to reconfigure (or re-orient) the cloud configuration internally, for which forces in the milli-Newton level are expected, depending on the time required to do the reconfiguration. Figure 1, bottom, shows the computation time as a function of the number of grains, indicating an order N(exp 1.43) scaling on a 8 Gb, 1067 MHz RAM MacOSX computer with a 3.06 GHz Intel Core 2 Duo processor. With this metric, the same simulation for a system of N=1000 grains would take 5.4 hours, and 146 hours (i.e., 6 days) for a system with N=10,000 grains. Therefore, efficient ways to simulate this complex system, where not only the time scales of natural system dynamics, but also the sampling times of the Guidance, Navigation, and Control are included, remain to be explored. Additional details on the cloud modeling, dynamics, and control will be described in the paper.
An upcoming series of joint US-Russian plant experiments will use the granular Substrate Nutrient Delivery System (NDS) equipment developed by Russian and Bulgarian scientists for the Mir Space Station's Svet greenhouse. The purpose of this study was to develop a better understanding of granular substrate water relations and to provide the ability to document water distribution in the Svet NDS during the space experiments. To this end, we conducted a study to expanded our understanding of substrate water behavior in granular substrates in microgravity. This report documents the results of our experiments with the Svet substrate water content sensor, explains the results observed in the Svet NDS during the 1990 Greenhouse experiment; describes the development of a miniature version of the Svet type (heat pulse) sensor that has been used to measure the distribution of water content inside the Svet NDS in space, and documents the calibration of these sensors and measurements conducted in both ground and space experiments,
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A paper presents the concept of swarms of micron-sized and smaller carriers of sensing equipment, denoted generally as controllable granular matter, to be used in exploring remote planets and interplanetary space. The design and manufacture of controllable granular matter would exploit advances in microelectromechanical systems and nanotechnology. Depending on specific designs and applications, controllable granular matter could have characteristics like those of powders, sands, or aerosols, which would be dispersed into the environments to be explored: For example, sensory grains could be released into orbit around a planet, spread out over ground, or dispersed into wind or into a body of liquid. The grains would thus become integral parts of multiphase environments, where they would function individually and/or collectively to gather information about the environments. In cases of clouds of grains dispersed in outer space, it may be feasible to use laser beams to shape the clouds to perform specific functions. To enable the full utilization of controllable granular matter, it is necessary to advance the knowledge of the dynamics and controllable characteristics of both individual grains and the powders, sands, or aerosols of which they are parts.
Several compounds in the ersatz humidity condensate do react with iodine to form iodine-substituted organic compounds (TOI), most notably phenol, acetaldehyde, ethanol, and sodium formate. Iodination of the ersatz humidity condensate produced 3.0 to 3.5 mg/L of TOI within 24 hours. The TOI that was produced by the passage of the ersatz humidity condensate through the first iodinated resin (IR) in the adsorption system was removed by the granular activated carbon that followed. TOI detected in the final effluent was formed by the reaction of the non-adsorbable condensate compounds with the final IR in the treatment series. The activated carbon bed series in the adsorption system performed poorly in its removal of TOC. The rapid breakthrough of TOC was not surprising, as the ersatz humidity condensate contained several highly soluble organic compounds, alcohols and organic acids.
A biologically-enhanced, physical/chemical terminal water treatment testbed for the Space Station Freedom is proposed. Recycled water requirements for human, animal, plant and/or combined crews for long duration space missions are discussed. An effective terminal treatment method for recycled water reclamation systems that is based on using granular activated carbon as the principal active agent and the controls of microbial contamination and growth within recycled water systems are examined. The roles of plants in water recycling within CELSS is studied.
Frequency-variable illumination has been used previously to provide high resolution imaging in one dimension. The paper extends the results on this imaging by frequency scanning to derive the expression for a two-dimensional image. This is the Fourier transformation, with respect to the angle and frequency of illumination, of the electric field detected in the far-field region of the object. The case is considered of a rough object and it is shown that for roughness finer than the resolution of the imaging system, the image has a granular appearance corresponding to the classical speckle effect. Large scale phase perturbations lead to the elevation displacement effect.
A tri-state delta modulation/demodulation (TSDM) technique which provides for efficient run-length coding of constant-intensity segments of a TV picture is described. Aspects of the hardware implementation of a high-speed TSDM transmitter and receiver for black-and-white TV or field-sequential color or NTSC format color are reviewed. Run-length encoding of the TSDM output can consistently reduce the required channel data rate well below one bit per sample. As compared with a bistate delta modulation system, the present technique eliminates granularity in the reconstructed video without degrading rise or fall times. About 40 chips are used by TSDM when used to handle the luminance information in a color link. A possible overall space and ground functional configuration to accommodate Shuttle digital TV with scrambling for privacy is presented.