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Following the trend of creating flight code with state chart modeling and auto-code generation, NASA's Deep Impact (DI) project uses Stateflow for its Fault Protection Flight Software development.
For most comets, infrared (IR) spectroscopy (remote sensing) is the method through which we diagnose the mineralogy and size distribution of dust in their comae. The shape and contrast of the IR spectral features depend on the particle size: optically active minerals (absorbing of visible and near-IR solar photons) and submicron solid grains or highly porous (> 90% vacuum) grains primarily contribute to the shapes of the observed resonances. Comet mineralogies typically are determined by fitting thermal emission models of ensembles of discrete mineral grains to observed IR spectral energy distributions. The absorptivities (Q-abs) and scattering efficiencies (Q-scat) of the discrete mineral grains are computed using Mie scattering, Maxwell-Garnet mixing, Discrete Dipole Approximation, and Multi-Layered Sphere codes. These techniques when applied to crystalline minerals, specifically olivine (Mg_x, Fe_1-x)2 Si04, x>0.9, require the use of ellipsoidal shaped particles with elongated axial ratios or hollow spheres to produce the shapes of the resonances observed both from comet comae and laboratory samples. The wavelength positions of the distinct resonances from submicron-radii crystalline silicates, as well as their thermal equilibrium temperatures, constrain the crystalline olivine to have a relatively high Mg-content (x>0.9, or Fo>90). Only resonances computed for submicron Mg-rich crystalline olivine and crystalline orthopyroxene match the observed IR spectral features. However, this has led to the interpretation that micron-radii and larger crystals are absent from comet comae. Furthermore, the mass fraction of silicate crystals is dependent upon whether just the submicron portion of the size distribution is being compared or the submicron crystals compare to the aggregates of porous amorphous silicates that are computationally tractable as porous spheres. We will discuss the Deep Impact results as examples of these challenges to interpreting mid-IR spectra of short-period comets.
We report on imaging observations of comets 73P-B/Schwassmann-Wachmann 1 and 73P-C/Schwassmann-Wachmann 1 at the IRTF with SpeX (J, K) and MRSI (10 micron narrow band filter set) on 2006 Apr 17-19 UT and 2006 Jun 18-19, and at the VLT with VISIR (1 0 micron narrow band filters, 20 micron) on 2006 Apr 17 UT. Compared to when the comet was in the midst of breaking up in mid-April, in June the tail of 73P-B is much fainter and there is a compact coma detected well separated and ahead of its tail, and fainter than the tail. The width of the tail in J, K, and 10 micron images indicates that the pieces that were shed in April must still be outgassing and releasing small particles into the tail-shaped coma; small grains have relatively short lifetimes in the coma due to radiation pressure. The trailing tail is now well separated from the faint "leader of the pack" compact coma that we suppose is a remaining piece of the nucleus. It will be interesting to see post-perihelion if this "leading compact coma" object continues to gain distance on the debris and continues to weakly outgas and shed small grains. One wonders if it expended its volatiles (available to the surface) in breaking up; a short-lived release of volatiles occurred in the Deep Impact event with comet 9P/Tempel 1. 73P-C is extended with a more elongated coma structure closer to perihelion compared to 2006 Apr 18- 19 UT. The SEDs from 2006 Apr and Jun from SpeX-MIRSI (IRTF) are compared with VISIR (VLT) SEDs from 2006 Apr. Information on the heliocentric dependence of the activity and dust release yields insights into the origin of activity and the relationship between activity and grain size distribution/mineralogy.
The success of JPL's AutoNav system at comet Tempel-1 on July 4, 2005, demonstrated the power of autonomous navigation technology for the Deep Impact Mission. This software is being planned for use as the onboard navigation, tracking and rendezvous system for a Mars Sample Return Mission technology demonstration, and several mission proposals are evaluating its use for rendezvous with, and landing on asteroids. Before this however, extensive re-engineering of AutoNav will take place. This paper describes the AutoNav systems-engineering effort in several areas: extending the capabilities, improving operability, utilizing new hardware elements, and demonstrating the new possibilities of AutoNav in simulations.
NASA's Museum Alliance is a nationwide network of informal educators at museums, science centers, and planetariums that present NASA information to their local audiences. Begun in 2002 as the Mars Museum Visualization Alliance with advisors from a dozen museums, the network has grown to over 300 people from 200 organizations, including a dozen or so international partners. The network has become a community of practice among these informal educators who work with students, educators, and the general public on a daily basis, presenting information and fielding questions about space exploration. Communications are primarily through an active listserve, regular telecons, and a pass word protected website. Professional development is delivered via telecons and downloadable presentations. Current content offerings include Mars exploration, Cassini, Stardust, Genesis, Deep Impact, Earth observations, STEREO, and missions to explore beyond our solar system.
Water appears to be essential to all life on Earth. For this reason, "Follow the Water" has been adopted as a mantra for the search for Life in the Cosmos. Expeditions have helped to establish the limits and biodiversity of life in the most extreme environments on Earth. Microbial extremophiles inhabit acidic streams; hypersaline and hyperalkaline lakes and pools; the cold deep sea floor, permafrost, rocks, glaciers, and perennially ice-covered lakes of the polar environments; geysers, volcanic fumaroles, hydrothermal vents and hot rocks deep within the Earth's crust. The ESA Venus Express Spacecraft entered Venusian Orbit in 2006 and continues to produce exciting results. The Visible and Infrared Thermal Imaging Spectrometer (VIRTIS) instrument made the first detection of hydroxyl in the atmosphere of Venus, indicating it is much more similar to Earth and Mars than previously thought. Huge hurricane-like vortices have been found above the poles of the planet and as yet unidentified UV absorbers that form mysterious dark bands in the upper atmosphere. At 70 km and below, water vapor and sulfur dioxide combine to form sulfuric acid droplets that create a haze above the cloud tops. Thermophilic acidophiles, such as have recently been discovered on Earth, could possibly survive in the hot sulfuric acid droplets that exist in the upper atmosphere of Venus. In order to understand how to search for life elsewhere in the Solar System, over 40 VIRTIS images of Earth from Venus have been obtained to search for evidence of life on Earth. The signatures of water and molecular Oxygen were detected in the Earth s atmosphere, but the atmosphere of Venus also exhibits these signatures. The water and water ice are far more abundant on comet, the polar caps and permafrost of Mars and the icy moons of Jupiter and Saturn. These "frozen worlds" of our Solar System, are much more promising regimes where extant or extinct microbial life may exist. The ESA Mars Advanced Radar for Subsurface and Ionospheric Sounding (MARSIS) probe has found that both the North and South Polar Caps of Mars are approximately 3.5 km thick and are composed almost entirely of water ice. In winter, a thin dry ice layer covers the caps, but it sublimates directly to CO2 in the spring. The ESA Mars Express Orbiter images reveal Rupes Tenuis to be a vast snow-laden region on the southern edge of the Martian North Polar Cap. The Mars Exploration Rover Spirit found alkaline volcanic rocks in the Gusev Crater and the Phoenix Mars Lander has shown that the soil of Mars is much more alkaline than previously expected. The Phoenix Mars Lander has also made direct observations of frozen and liquid water on Mars. It is known that microorganisms from Alaska, Siberia and Antarctica can remain alive frozen in permafrost or ice for long periods of time. These discoveries increase the possibility that the Labeled Release Experiment may have discovered life on Mars during the Viking Mission and provide strong impetus for the return of life detection experiments to Mars. Changes in the spin rate of Saturn's moon Titan indicate that it may also harbor a 300 km thick liquid water ocean beneath its icy crust. The NASA/ESA/Italian Space Agency Cassini Spacecraft has imaged geysers containing water vapor, methane, carbon dioxide and organics erupting from the "tiger stripe" regions near the South Pole of Saturn's moon Enceladus. The high temperatures observed, the water vapor and large number of ice particles expelled suggest that a liquid water lake may exist beneath the "tiger stripe" ice cracks of Enceladus. The NASA Deep Impact probe found the surface temperature of comet 9P/Temple 1 at 1.5 AY was slightly above the ice/water phase change temperature (273 K). This suggests melting of water ice near the comet surface. A spectrometer the spacecraft detected a mixture of clay and carbonate minerals (that form in the presence of liquid water) streaming off the comet after the collision with the pactor. The study of chemical and mineral biomarkers, chiral amino acids and possible indigenous microfossils in SNC and carbonaceous meteorites continues. These results suggest that comets should be considered prime targets in the search for Life in the Cosmos. The ESA Rosetta mission is on track to rendezvous with comet 67P/Churyumov-Gerasimenko. The recent space observations combined with new information about the ability of microbial extremophiles to thrive in polar environments suggest that life may be far more widely distributed in the Cosmos than previously thought possible. The Panelists will review recent discoveries and provide their own insights about Life in the Cosmos -- followed by a question and answer session with the audience.
A document describes a methodology for designing fault-protection (FP) software for autonomous spacecraft. The methodology embodies and extends established engineering practices in the technical discipline of Fault Detection, Diagnosis, Mitigation, and Recovery; and has been successfully implemented in the Deep Impact Spacecraft, a NASA Discovery mission. Based on established concepts of Fault Monitors and Responses, this FP methodology extends the notion of Opinion, Symptom, Alarm (aka Fault), and Response with numerous new notions, sub-notions, software constructs, and logic and timing gates. For example, Monitor generates a RawOpinion, which graduates into Opinion, categorized into no-opinion, acceptable, or unacceptable opinion. RaiseSymptom, ForceSymptom, and ClearSymptom govern the establishment and then mapping to an Alarm (aka Fault). Local Response is distinguished from FP System Response. A 1-to-n and n-to- 1 mapping is established among Monitors, Symptoms, and Responses. Responses are categorized by device versus by function. Responses operate in tiers, where the early tiers attempt to resolve the Fault in a localized step-by-step fashion, relegating more system-level response to later tier(s). Recovery actions are gated by epoch recovery timing, enabling strategy, urgency, MaxRetry gate, hardware availability, hazardous versus ordinary fault, and many other priority gates. This methodology is systematic, logical, and uses multiple linked tables, parameter files, and recovery command sequences. The credibility of the FP design is proven via a fault-tree analysis "top-down" approach, and a functional fault-mode-effects-and-analysis via "bottoms-up" approach. Via this process, the mitigation and recovery strategy(s) per Fault Containment Region scope (width versus depth) the FP architecture.
The close approach (0.12 AU) of Comet 103P/Hartley 2 to the Earth only S days prior to perihelion provides a unique opportunity to probe the chemical composition of this object. We will employ the Arizona Radio Observatory's Kitt Peak 12m (KPH12M) and the Submillimeter Telescope (SMT) for observations of multiple molecular species and their isotopologs towards the comet. There will also be an attempt to monitor this object during the EPOXI (Extrasolar Planet Observation. and Deep Impact Extended Investigation) flyby mission, which will obtain high resolution infrared spectra, for a comparison of the molecular inventory and a more accurate assessment of the abundances, sources (e.g. jets or cometismals), and chemistry.
The Moon's polar permanent shadow regions (PSR) have long been considered the unique repository for volatile Hydrogen (H) Largely, this was due to the extreme and persistently cold environment that has been maintained over eons of lunar history. However, recent discoveries indicate that the H picture may be more complex than thc PSR hypothesis suggests. Observations by the Lunar Exploration Neutron Detect (LEND) onboard the Lunar Reconnaissance Orbiter (LRO) indicate some H concentrations lie outside PSR. Similarly, observations from Chandraayan-l's M3 and Deep Impact's EPOXI near infra-red observations indicate diurnal cycling of volatile H in lower latitudes. These results suggest other geophysical phenomena may also play a role in the Lunar Hydrogen budget. In this presentation we review the techniques and results from the recent high latitude analysis and apply similar techniques to equatorial regions. Results from our low latitude analysis will be reported. We discuss interpretations and implications for Lunar Hydrogen studies
We report measurements of eight primary volatiles (H2O, HCN, CH4, C2H6, CH3OH, C2H2, H2CO, and NH3) and two product species (OH and NH2) in comet lO3P/Hartley-2 using high dispersion infrared spectroscopy. We quantified the long- and short-term behavior of volatile release over a three-month interval that encompassed the comet's close approach to Earth, its perihelion passage, and flyby of the comet by the Deep Impact spacecraft during the EPOXI mission. We present production rates for individual species, their mixing ratios relative to water, and their spatial distributions in the coma on multiple dates. The production rates for water, ethane, HCN, and methanol vary in a manner consistent with independent measures of nucleus rotation, but mixing ratios for HCN, C2H6, & CH3OH are independent of rotational phase. Our results demonstrate that the ensemble average composition of gas released from the nucleus is well defined, and relatively constant over the three-month interval (September 18 through December 1,7). If individual vents vary in composition, enough diverse vents must be active simultaneously to approximate (in sum) the bulk composition of the nucleus. The released primary volatiles exhibit diverse spatial properties which favor the presence of separate polar and apolar ice phases in the nucleus, establish dust and gas release from icy clumps, and from the nucleus, and provide insights into the driver for the cyanogen (CN) polar jet. The spatial distributions of C2H6 & HCN along the near-polar jet (UT 19.5 October) and nearly orthogonal to it (UT 22.5 October) are discussed relative to the origin of CN. The ortho-para ratio (OPR) of water was 2.85 +/- 0.20; the lower bound (2.65) defines T(sub spin) > 32 K. These values are consistent with results returned from ISO in 1997 .
The close approach (0.12 AU) of Comet 103P/Hartley 2 to the Earth only 8 days prior to perihelion provided a unique opportunity to probe the chemical composition of this object. Additionally, supporting data was acquired during the EPOXI (Extrasolar Planet Observation and Deep Impact Extended Investigation) flyby mission [1], which provided high resolution infrared spectra and images. Observations were conducted from four facilities, contributing to the large ground-based consortium organized in support of the EPOXI mission [2]. The Arizona Radio Observatory's 12m telescope, Kitt Peak, AZ, and Submillimeter telescope, Mt. Graham, AZ, as well as the James Clerk Maxwell Telescope, Mauna Kea, HI and the Greenbank 100m telescope, Greenbank, WV, were employed for this study covering 20 cm, 3 cm, and 0.8-3 mm. Data were obtained, collectively, from 12 October 2010 to 5 November 2010 [3]. HCN, CH3OH, H2CO, HNC, OH, and CS were detected, and upper limits on the abundance of H2S, SO2, c-C3H2, and deuterated isotopologues of HCN, H2CO, and H2O were measured. Upper limits on the D/H ratio derived from DCN gave D/H less than 0.01[3]. Detailed analysis of these data will help constrain the temperature, abundances, variance or periodicity of a given species, and can be compared to results from other comets, as well as support the data obtained from the EPOXI mission. The full analysis and comparison will be presented.
The first visible-light studies of Earth-sized extrasolar planets will employ photometry or low-resolution spectroscopy. This work uses EPOCh medium-hand filter photometry between 150 and 950 nm obtained with the Deep Impact (DI) High Resolution Instrument (HRI) of Earth, the Moon, and Mars in addition to previous full-disk observations of the other six solar system planets and Titan to analyze the limitations of using photometric colors to characterize extrasolar planets. We determined that the HRI 350, 550, and 850 nm filters are optimal for distinguishing Earth from the other planets and separating planets to first order based on their atmospheric and surface properties. Detailed conclusions that can be drawn about exoplanet atmospheres simply from a color-color plot are limited due to potentially competing physical processes in the atmosphere. The presence of a Rayleigh scattering atmosphere can be detected by an increase in the 350-550 nm brightness ratio, but the absence of Rayleigh scattering cannot be confirmed due to the existence of atmospheric and surface absorbing species in the UV. Methane and ammonia are the only species responsible for strong absorption in the 850 nm filter in our solar system. The combination of physical processes present on extrasolar planets may differ from those we see locally. Nevertheless, a generation of telescopes capable of collecting such photometric observations can serve a critical role in first-order characterization and constraining the population of Earth-like extrasolar planets.
The EPOXI Discovery Mission of Opportunity reused the Deep Impact flyby spacecraft to obtain spatially and temporally resolved visible photometric and moderate resolution near-infrared (NIR) spectroscopic observations of Earth. These remote observations provide a rigorous validation of whole disk Earth model simulations used to better under- stand remotely detectable extrasolar planet characteristics. We have used these data to upgrade, correct, and validate the NASA Astrobiology Institute s Virtual Planetary Laboratory three-dimensional line-by-line, multiple-scattering spectral Earth model (Tinetti et al., 2006a,b). This comprehensive model now includes specular reflectance from the ocean and explicitly includes atmospheric effects such as Rayleigh scattering, gas absorption, and temperature structure. We have used this model to generate spatially and temporally resolved synthetic spectra and images of Earth for the dates of EPOXI observation. Model parameters were varied to yield an optimum fit to the data. We found that a minimum spatial resolution of approx.100 pixels on the visible disk, and four categories of water clouds, which were defined using observed cloud positions and optical thicknesses, were needed to yield acceptable fits. The validated model provides a simultaneous fit to the Earth s lightcurve, absolute brightness, and spectral data, with a root-mean-square error of typically less than 3% for the multiwavelength lightcurves, and residuals of approx.10% for the absolute brightness throughout the visible and NIR spectral range. We extend our validation into the mid-infrared by comparing the model to high spectral resolution observations of Earth from the Atmospheric Infrared Sounder, obtaining a fit with residuals of approx.7%, and temperature errors of less than 1K in the atmospheric window. For the purpose of understanding the observable characteristics of the distant Earth at arbitrary viewing geometry and observing cadence, our validated forward model can be used to simulate Earth s time dependent brightness and spectral properties for wavelengths from the far ultraviolet to the far infrared.brightness
The Interplanetary Overlay Network (ION) system's BP package, an implementation of the Delay-Tolerant Networking (DTN) Bundle Protocol (BP) and supporting services, has been specifically designed to be suitable for use on deep-space robotic vehicles. Although the ION BP implementation is unique in its use of zero-copy objects for high performance, and in its use of resource-sensitive rate control, it is fully interoperable with other implementations of the BP specification (Internet RFC 5050). The ION BP implementation is built using the same software infrastructure that underlies the implementation of the CCSDS (Consultative Committee for Space Data Systems) File Delivery Protocol (CFDP) built into the flight software of Deep Impact. It is designed to minimize resource consumption, while maximizing operational robustness. For example, no dynamic allocation of system memory is required. Like all the other ION packages, ION's BP implementation is designed to port readily between Linux and Solaris (for easy development and for ground system operations) and VxWorks (for flight systems operations). The exact same source code is exercised in both environments. Initially included in the ION BP implementations are the following: libraries of functions used in constructing bundle forwarders and convergence-layer (CL) input and output adapters; a simple prototype bundle forwarder and associated CL adapters designed to run over an IPbased local area network; administrative tools for managing a simple DTN infrastructure built from these components; a background daemon process that silently destroys bundles whose time-to-live intervals have expired; a library of functions exposed to applications, enabling them to issue and receive data encapsulated in DTN bundles; and some simple applications that can be used for system checkout and benchmarking.
The Deep Impact spacecraft flew by comet Hartley 2 on November 4, 2010 as part of its extended mission called EPOXI. Successful navigation depended critically on the quality and timing of optical navigation data processing, since pictures of the comet provided the most precise comet-relative position of the spacecraft. This paper describes the planning, including the picture timing and pointing; the methods used to determine the center of the comet image in each picture; and the optical navigation results, which provided the necessary information to allow the cameras to accurately target the comet for science imaging at encounter.
We present the discovery and mass measurement of the cold, low-mass planet MOA-2009-BLG-266Lb, made with the gravitational microlensing method. This planet has a mass of mp = 10.4 +/- M(Earth) and orbits a star of Mstar = 0.56 +/- 0.09 M(Sun) at a semi-major axis of a = 3.2 + 1.9/-0.5 AU, and an orbital period of 7.6 +7.7/-1.5 yrs. The planet and host star mass measurements are due to the measurement of the microlensing parallax effect. This measurement was primarily due to the orbital motion of the Earth, but the analysis also demonstrates the capability measure micro lensing parallax with the Deep Impact (or EPOXI) spacecraft in a Heliocentric orbit. The planet mass and orbital distance are similar to predictions for the critical core mass needed to accrete a substantial gaseous envelope, and thus may indicate that this planet is a failed gas giant. This and future microlensing detections will test planet formation theory predictions regarding the prevalence and masses of such planets
Based on LOLA topography and a new crustal thickness model, the number of candidate lunar basins greater than 300 km in diameter is at least a factor 2 larger than the traditional number based on photogeology alone, and may be as high as 95. Preliminary N(50) crater retention ages for this population of candidate basins shows two distinct peaks. Frey [1] suggested, based on Clementine-era topography (ULCN2005) and a crustal thickness model based on Lunar Prospector data [2], that there could be as many as 98 lunar basins greater than 300 km diameter. Many of the weaker cases have not stood up to recent testing [3,4,5] using LOLA data and a newer crustal thickness model based on Kaguya gravity data and LOLA topography data [6]. As described in companion abstracts [4,5], we have deleted from the earlier inventory 1 more named feature (Sikorsky- Rittenhouse; LOLA data show that its diameter is actually less than 300 km), 11 Quasi-Circular Depressions (QCDs) identified in the ULCN topography, and 11 Circular Thin Areas (CTAs) found in the earlier crustal thickness model [2]. We did this by repeating the scoring exercise originally done in [1] but with the new data [4,5]. Topographic Expression (TE) and Crustal Thickness Expression (CTE) scores were determined for each candidate on a scale of 0 to 5 (5 being a strong, circular signature, 0 for those with no discernible circular topographic or crustal thickness signature). These scores are added together to produce a Summary Score which has a range of 0 to 10. We eliminated all candidates with a Summary Score less than 3, as well as other cases where, for example, the TE went to zero because what looked like a single large circular QCD in the lower resolution ULCN data was in fact a cluster of smaller deep impacts readily apparent in the newer higher resolution LOLA data. This process reduced the original inventory from 98 to 75 candidates.
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.