Converting from Classical to Robotic Astronomy: The Lowell Observatory 0.8‐m Telescope
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Marc W. Buie↗
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Multi-Robot Assembly Scheduling for the Lunar Crater Radio Telescope on the Far-Side of the Moon
The Lunar Crater Radio Telescope (LCRT) is a pro- posed ultra-long-wavelength radio telescope to be constructed on the far side of the moon. The proposed telescope will be constructed by deploying a 1km wire mesh in a 3-5km crater using a team of wall-climbing DuAxel robots. In this work, we consider the problem of generating minimum-time assembly sequences for LCRT, using realistic models of travel speed and lighting. Specifically, we pose the assembly sequencing problem as a mixed-integer linear program (MILP), which we solve to global optimality using commercial solvers. We present methods for modeling time-varying travel and assembly times, based on variable lighting conditions (including crater shadowing), and show how such time-varying parameters can be incorporated into the MILP. Finally, we present numerical studies of our method, showing how makespan varies with the number of assembly robots.
Schwager, Mac↗
STS-109 Flight Day 2 Highlights
Footage shows the cargo bay of the Columbia Orbiter, including the rigid array carrier, the solar arrays to be installed on the Hubble Space Telescope, and the robotic arm. Close-up shots show several components of the flight support system. STS-109 Commander Scott Altman, Payload Commander John Grunsfeld, and Mission Specialist Nancy Currie are seen on the flight deck, and they answer questions about the stabilization of the freon flow, details of the upcoming rendezvous and capture of the Hubble Space Telescope, the scheduled spacewalks, and the social dynamics of the flight crew.
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Overview of the Fiber System for the Dark Energy Spectroscopic Instrument
The Dark Energy Spectroscopic Instrument (DESI) is a revolutionary instrument designed for precise measurements of cosmic distances and the investigation of dark energy. DESI utilizes 5000 optical fibers to simultaneously measure the spectra of distant objects and aims to measure 40 million galaxies and quasars in a 5 yr survey. One of the critical challenges to DESI's success was ensuring that the fiber system was not only highly efficient but also delivered a highly stable beam enabling more reliable sky subtraction for measurements of faint objects. We achieved this stability by minimizing the stress on the fiber system during the manufacture and operation of the telescope and fiber positioning robots. We installed the DESI fiber system on the 4 m Mayall telescope with ≥99% of fibers intact, and the instrument has delivered superb optical performance throughout the initial years of the DESI survey, including ≥90% average throughput when injected with a focal ratio of ~f/3.9 as delivered by the primary focus corrector, excluding fiber absorption losses. The design of DESI required multiple innovations to achieve these requirements, such as cleaved fibers bonded with a UV-curing epoxy to glass ferrules in the focal plane and fusion splicing instead of physical connectors. In this paper, we describe the development, delivery, and installation of the fiber system, the innovations that made the state-of-the-art performance possible, and the key lessons learned that could benefit future projects.
79 ASTRONOMY AND ASTROPHYSICS↗
G-133: A soft x ray solar telescope
The GOLDHELOX Project, NASA payload number G-133, is a robotic soft x ray solar telescope designed and built by an organization of undergraduate students. The telescope is designed to observe the sun at a wavelength of 171 to 181 A. Since we require observations free from atmospheric interference, the telescope will be launched in a NASA Get-Away-Special (GAS) canister with a Motorized Door Assembly (MDA). In this paper we primarily discuss the most important elements of the telescope itself. We also elaborate on some of the technical difficulties associated with doing good science in space on a small budget (about $100,000) and mention ways in which controlling the instrument environment has reduced the complexity of the system and thus saved us money.
Williams, Memorie K.↗
STS-109 Post Flight Presentation
The STS-109 Post Flight presentation begins with Mission Specialists Nancy J. Currie, Michael J. Massimino, James H. Newman, and Richard M. Linnehan shown getting suited on launch day. Actual footage of the liftoff of the Space Shuttle Columbia is shown. Five spacewalks are performed to service the Hubble Space Telescope. Richard Linnehan and John Grunsfield are replacing solar arrays, connectors and power control units on the Hubble Space Telescope. Mission Specialist Nancy Currie will use Space Shuttle Columbia's robotic arm to grab the telescope, move it away from the orbiter and release it. A look at the coast of South America is also presented.
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DDOTI: the Deca-Degree Optical Transient Imager
DDOTI (Deca-Degree Optical Transient Imager) will be a wide-field robotic imager consisting of six 28-centimeter telescopes with prime focus CCDs (Charge-Coupled Devices) mounted on a common equatorial mount. Each telescope will have a field of view of 12 degrees squared, will have 2 arcsec pixels, and will reach a 10 sigma limiting magnitude in 60 seconds of r (redshift) equal to 18.7 in dark time and r (redshift) equal to 18.0 in bright time. The set of six will provide aninstantaneous field of view of about 72 degrees squared. DDOTI uses commercial components almost entirely. The first DDOTI willbe installed at the Observatorio Astronmico Nacional in Sierra San Pedro Martir, Baja California, Mexico in early 2017. The main science goals of DDOTI are the localization of the optical transients associated with GRBs (Gamma Ray Bursts) detected by the GBM (Gamma Ray Burst Monitor) instrument on the Fermi satellite and with gravitational-wave transients. DDOTI will also be used for studies of AGN (Active Galactic Nuclei) and YSO (Young Stellar Object) variability and to determine the occurrence of hot Jupiters. The principal advantage of DDOTI compared to other similar projects is cost: a single DDOTI installation costs only about US $500,000. This makes it possible to contemplate a global network of DDOTI installations. Such geographic diversity would give earlier access and a higher localization rate.We are actively exploring this option.
optical transients↗
Robot Rescue
Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.
Morring, Frank, Jr.↗
Detection of GRB 060927 at zeta = 5.47: Implications for the Use of Gamma-Ray Bursts as Probes of the End of the Dark Ages
We report on follow-up observations of the gamma-ray burst GRB 060927 using the robotic ROTSE-IIIa telescope and a suite of larger aperture groundbased telescopes. An optical afterglow was detected 20 s after the burst, the earliest rest-frame detection of optical emission from any GRB. Spectroscopy performed with the VLT about 13 hours after the trigger shows a continuum break at lambda approx. equals 8070 A, produced by neutral hydrogen absorption at zeta = 5.6. We also detect an absorption line at 8158 A which we interpret as Si II lambda 1260 at zeta = 5.467. Hence, GRB 060927 is the second most distant GRB with a spectroscopically measured redshift. The shape of the red wing of the spectral break can be fitted by a damped Ly(alpha) profile with a column density with log(N(sub HI)/sq cm) = 22.50 +/- 0.15. We discuss the implications of this work for the use of GRBs as probes of the end of the dark ages and draw three main conclusions: i) GRB afterglows originating from zeta greater than or approx. equal to 6 should be relatively easy to detect from the ground, but rapid near-infrared monitoring is necessary to ensure that they are found; ii) The presence of large H I column densities in some GRBs host galaxies at zeta > 5 makes the use of GRBs to probe the reionization epoch via spectroscopy of the red damping wing challenging; iii) GRBs appear crucial to locate typical star-forming galaxies at zeta > 5 and therefore the type of galaxies responsible for the reionization of the universe.
Ruiz-Velasco, A. E.↗
TriTruss Packaging and Deployment Trade Study
An architecture and feasibility study of next generation In-Space Assembled Telescopes (iSAT) concluded that robotic in-space assembly of modular components is necessary to enable large (>15-meter diameter) primary apertures. The iSAT study recommended that the foundational structure be assembled from modular TriTruss modules that are packaged for launch, deployed on-orbit and robotically assembled into the final configuration. This paper will describe and summarize the results of a trade study that investigated viable concept of operations (ConOps) for the packaging and deployment (P&D) of individual planar TriTruss modules that could be assembled to form a large aperture iSAT. The ideal TriTruss P&D concept is defined as one that: allows for efficient packaging; has sufficient geometric versatility to be launch vehicle independent; provides a stiff and lightweight structure; has low mechanical complexity; and has component modularity. The P&D concept should allow for prelaunch subsystem or utility integration if required. The concept would be kinematically simple and be robotically deployed using a minimum number of specialized tools. In this first phase of an ongoing more comprehensive trade study, concepts were proposed and then evaluated based on initial metrics representing features of an ideal P&D concept. The P&D concepts evaluated are categorized as: core collapse, face collapse, and erectable structures. Sub-scale models were constructed to help understand the kinematics and mechanical complexity required to enable P&D. Based on a weighting scale, the most promising candidate P&D concepts have selected and will undergo more rigorous structural design, analysis, and testing in the study’s next phase. The ultimate goal of the comprehensive trade study will be to recommend a single TriTruss design and associated P&D concept that will be built and evaluated at NASA Langley Research Center’s In-Space Assembly Laboratory.
in-space assembly (ISA)↗
The Robotic Multiobject Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI)
Abstract A system of 5020 robotic fiber positioners was installed in 2019 on the Mayall Telescope, at Kitt Peak National Observatory. The robots automatically retarget their optical fibers every 10–20 minutes, each to a precision of several microns, with a reconfiguration time of fewer than 2 minutes. Over the next 5 yr, they will enable the newly constructed Dark Energy Spectroscopic Instrument (DESI) to measure the spectra of 35 million galaxies and quasars. DESI will produce the largest 3D map of the universe to date and measure the expansion history of the cosmos. In addition to the 5020 robotic positioners and optical fibers, DESI’s Focal Plane System includes six guide cameras, four wave front cameras, 123 fiducial point sources, and a metrology camera mounted at the primary mirror. The system also includes associated structural, thermal, and electrical systems. In all, it contains over 675,000 individual parts. We discuss the design, construction, quality control, and integration of all these components. We include a summary of the key requirements, the review and acceptance process, on-sky validations of requirements, and lessons learned for future multiobject, fiber-fed spectrographs.
46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
What would we miss if we characterized the Moon and Mars with just planetary meteorites, remote mapping, and robotic landers?
Exploration of the Moon and planets began with telescopic studies of their surfaces, continued with orbiting spacecraft and robotic landers, and will culminate with manned exploration and sample return. For the Moon and Mars we also have accidental samples provided by impacts on their surfaces, the lunar and martian meteorites. How much would we know about the lunar surface if we only had lunar meteorites, orbital spacecraft, and robotic exploration, and not the Apollo and Luna returned samples? What does this imply for Mars? With martian meteorites and data from Mariner, Viking, and the future Pathfinder missions, how much could we learn about Mars? The basis of most of our detailed knowledge about the Moon is the Apollo samples. They provide ground truth for the remote mapping, timescales for lunar processes, and samples from the lunar interior. The Moon is the foundation of planetary science and the basis for our interpretation of the other planets. Mars is similar to the Moon in that impact and volcanism are the dominant processes, but Mars' surface has also been affected by wind and water, and hence has much more complex surface geology. Future geochemical or mineralogical mapping of Mars' surface should be able to tell us whether the dominant rock types of the ancient southern highlands are basaltic, anorthositic, granitic, or something else, but will not be able to tell us the detailed mineralogy, geochemistry, or age. Without many more martian meteorites or returned samples we will not know the diversity of martian rocks, and therefore will be limited in our ability to model martian geological evolution.
Lindstrom, M. M.↗
Concept for a Large Scalable Space Telescope: In-Space Assembly
We present a conceptual design for a scalable (10-50 meter segmented filled-aperture) space observatory operating at UV-optical-near infrared wavelengths. This telescope is designed for assembly in space by robots, astronauts or a combination of the two, as envisioned in NASA s Vision for Space Exploration. Our operations concept for this-space telescope provides for assembly and check-out in an Earth Moon L2 (EML2) orbit, and transport to a Sun-Earth L2 (SEL2) orbit for science operations and routine servicing, with return to EML2 for major servicing. We have developed and analyzed initial designs for the optical, structural, thermal and attitude control systems for a 30-m aperture space telescope. We further describe how the separate components are packaged for launch by heavy lift vehicle(s) and the approach for the robot assembly of the telescope from these components.
Oegerle, W. R.↗
STS-103: Flight Day 6 Highlights and Crew Activities Report
Discovery's astronauts (Mission Commander, Curtis L. Brown; Pilot, Scott J. Kelly; Mission Specialists, Steven L. Smith, C. Michael Foale, and John M. Grunsfeld; and (ESA) Mission Specialists, Claude Nicollier and Jean-Francois Clervoy) deliver a Christmas present to the world, putting the Hubble Space Telescope back into service after 24 hours and 33 minutes of repairs and upgrades that make the orbital observatory more capable than ever. European Space Agency Astronaut Jean-Francois Clervoy uses the shuttle's robot arm to release the telescope at 5:03 p.m. CST, then places the arm into an upright salute as Commander Curt Brown fires Discovery's steering jets to begin separating from the telescope. The telescope's re-deployment takes place at an altitude of 370 statute miles as the two spacecraft fly over the South Pacific's coral sea northeast of Australia. At 5:39 CST, Brown executes a second steering jet burn, lowering Discovery's orbit slightly, so that it will begin orbiting faster than the telescope and move away at just under 6 statute miles per orbit. Afterward, each of the seven astronauts on board calls down holiday wishes from space in several languages.
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Metrics for in-space telescope assembly techniques
Reliable metrics are not yet available for choosing among human and robotic assets for space-based construction and servicing of large space telescopes. Using FAIR-DART as a reference design, we generated example event sequences for telescope assembly scenarios in enough detail to identify infrastructure assumptions and technology requirements. A systems trade among human and robotic techniques (human EVA, on-site telerobotic, ground-in-the- loop robotic, commanded or sequenced robotic, and autonomous/decision-making robotic) helped us to define key metrics in the human-robotic trade space, including quality, time, cost, and risk. Our methodology included examining representative end-member scenarios. Case A treated each step in the assembly sequence as if all other steps have no on-site human involvement, and Case B treated each step as if human EVA is already involved in all other steps. With this trade, we identified key enabling technologies and infrastructure for space-based assembly and servicing of large space telescopes.
space telescopes human and robotic in-space assemb↗
STS-103 Flight Day 3 Highlights and Crew Activities Report
Highlights of the third day of the STS-103 mission on board the space shuttle Discovery are shown in this videotape. The mission was led by Commander Curtis L. Brown, with Pilot Scott J Kelly, and Mission Specialists Steven L. Smith, Jean-Francois Clervoy, John M. Grunsfeld, Michael Foale, and Claude Nicollier. The main purpose of the mission was to service the Hubble Space Telescope (HST). The primary objective of the mission was to replace all six of the gyroscopes that make up the three Rate Sensor Units. In addition the Astronauts installed a new computer. During the third day when Discovery reached a point about 35 feet from Hubble, astronaut Jean-Francois Clervoy used the robot arm to capture the telescope's grapple fixture located midway up the HST structure. The approach to the HST is described and the actual maneuver aimed at retrieving the telescope is also described. The video includes actual live views of the HST in the shuttle's service bay, the shuttle, and shots of Johnson mission control. .
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In Space Assembled Telescope (ISAT) Study Preliminary Findings
“When is it advantageous to assemble telescopes in space rather than deploying them from launch vehicle fairings”? This question forms the crux of the objectives of a NASA study we have been conducting in collaboration with colleagues from different NASA centers, industry and academia. In this study, we have engaged a broad cross section of experts from the various fields of optics engineering, that is, telescope design and instrument design, structure and thermal engineering, robotics, launch system engineering, orbital mechanics, integration and testing, astrophysics, and NASA programmatics among others. Initial efforts began with a quick review of the current state of art of the component technologies that contribute towards an in-space assembled telescope. Then, leveraging the collective expertise of the diverse group of experts, we formulated a reference telescope design and attempted to develop a baseline approach to modularize the telescope into components amenable for robotic assembly. The group identified different trades associated with modularization and also developed a set of criteria to discern between the different options as revealed by the trades. Based on the modularization of the telescope, we will assess the impact of various launch vehicles, orbits for assembly and operation, robotic systems and operational approaches, and other related variables. From this, a concept to assemble the reference telescope in space from modular components will be developed. Based on this concept, and definition of the modules, we will develop a mission lifecycle plan for an assembled telescope over different phases of preliminary design, detailed design, assembly-test-and-integration, and in space operations. The mission lifecycle plan will be used to evaluate cost and risk implications of in-space assembly toward answering our fundamental question of the advantages, if any, of assembling a telescope in space as compared to self-deployment. In this paper, we summarize the objectives of the study, a review of the status of the underlying component technologies, a description of the methodology, including three different multi-day technical interchange meetings (TIMs), summary of findings from the TIMs and other related activities. In addition, a detailed description of the various factors that impact in-space assembly, their interplay and criteria for discerning among them, a preliminary description of the life cycle plan, including the test and integration plan, and initial observations on cost and risk implications will be included in the paper.
Mukherjee, Rudranarayan↗
The New National Vision for Space Exploration
From the Apollo landings on the Moon, to robotic surveys of the Sun and the planets, to the compelling images captured by advanced space telescopes, U.S. achievements in space have revolutionized humanity s view of the universe and have inspired Americans and people around the world. These achievements also have led to the development of technologies that have widespread applications to address problems on Earth. As the world enters the second century of powered flight, it is appropriate to articulate a new vision that will define and guide U.S. space exploration activities for the next several decades. Today, humanity has the potential to seek answers to the most fundamental questions posed about the existence of life beyond Earth. Telescopes have found planets around other stars. Robotic probes have identified potential resources on the Moon, and evidence of water - a key ingredient for life - has been found on Mars and the moons of Jupiter. Direct human experience in space has fundamentally altered our perspective of humanity and our place in the universe. Humans have the ability to respond to the unexpected developments inherent in space travel and possess unique skills that enhance discoveries. Just as Mercury, Gemini, and Apollo challenged a generation of Americans, a renewed U.S. space exploration program with a significant human component can inspire us - and our youth - to greater achievements on Earth and in space. The loss of Space Shuttles Challenger and Columbia and their crews are a stark reminder of the inherent risks of space flight and the severity of the challenges posed by space exploration. In preparation for future human exploration, we must advance our ability to live and work safely in space and, at the same time, develop the technologies to extend humanity s reach to the Moon, Mars, and beyond. The new technologies required for further space exploration also will improve the Nation s other space activities and may provide applications that could be used to address problems on Earth. Like the explorers of the past and the pioneers of flight in the last century, we cannot today identify all that we will gain from space exploration; we are confident, nonetheless, that the eventual return will be great. Like their efforts, the success of future U.S. space exploration will unfold over generations. The fundamental goal of this new national vision is to advance U.S. scientific, security, and economic interests through a robust space exploration program. In support of this goal, the United States will: 1) Implement a sustained and affordable human and robotic program to explore the solar system and beyond; 2) Extend human presence across the solar system, starting with a human return to the Moon by the year 2020, in preparation for human exploration of IMars and other destinations; 3) Develop the innovative technologies, knowledge, and infrastructures both to explore and to support decisions about the destinations for human exploration; and 4) Promote international and commercial participation in exploration to further U.S. scientific, security, and economic interests.
Sackheim, Robert L.↗