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Viewgraphs on the Flight Projects Office Information Systems Testbed (FIST) are presented. The goal is to perform technology evaluation and prototyping of information systems to support SFOC and JPL flight projects in order to reduce risk in the development of operational data systems for such projects.
A space mission operations system is a complex network of human organizations, information and deep-space network systems and spacecraft hardware. As in other organizations, one of the problems in mission operations is managing the relationship of the mission information systems related to how people actually work (practices). Brahms, a multi-agent modeling and simulation tool, was used to model and simulate NASA's Mars Exploration Rover (MER) mission work practice. The objective was to investigate the value of work practice modeling for mission operations design. From spring 2002 until winter 2003, a Brahms modeler participated in mission systems design sessions and operations testing for the MER mission held at Jet Propulsion Laboratory (JPL). He observed how designers interacted with the Brahms tool. This paper discussed mission system designers' reactions to the simulation output during model validation and the presentation of generated work procedures. This project spurred JPL's interest in the Brahms model, but it was never included as part of the formal mission design process. We discuss why this occurred. Subsequently, we used the MER model to develop a future mission operations concept. Team members were reluctant to use the MER model, even though it appeared to be highly relevant to their effort. We describe some of the tool issues we encountered.
Mission Operations Assurance (MOA) started at the Jet Propulsion Laboratory (JPL) with the Magellan and Galileo missions of the late 80's. It continued to develop and received a significant impetus with the failures of two successive missions to Mars in the late 90's. MOA continued to evolve with each successive project at JPL achieving its current maturity with the Stardust sample return to Earth.
We show how a technology transfer effort was carried out. The successful use of model checking on a pilot JPL flight project demonstrates the usefulness and the efficacy of the approach. The pilot project was used to model a complex spacecraft controller. Software design and implementation validation were carried out successfully. To suggest future applications we also show how the implementation validation step can be automated. The effort was followed by the formal introduction of the modeling technique as a part of the JPL Quality Assurance process.
The Active Thermal Architecture (ATA) is an advanced sub-1U Active Thermal Control technology (ATC) for high power payload support in 6U CubeSat form factors and above. The design utilizes a two-stage, single-phase mechanically pumped fluid loop coupled through a two-axis flexible rotary fluid hinge, to reject thermal power to a deployable tracking radiator. A COTS Ricor K508N cryocooler forms the second stage and provides cryogenic cooling to a custom Kevlar detector mount through a TMT pyrolytic graphene thermal strap. Passive vibration isolation and damping technologies prevent the transfer of jitter to the satellite systems. The ATA design utilizes state-of-the-art 3D fabrication techniques such as Ultrasonic Additive Manufacturing (UAM) to directly embed the working fluid channels into the HX, radiator, and CubeSat chassis allowing for the miniaturization and simplification of the ATA system into an integrated thermal control solution. This paper will focus on the design and ground-based characterization and qualification of the ATA system and provide performance metrics for its use as a thermal support subsystem for advanced infrared electro-optical CubeSat payloads. The ATA project is funded through a NASA Small Satellite Technology Program (SSTP) and is a partnership between the Center for Space Engineering at Utah State University and the Jet Propulsions Laboratory. The ATA active thermal control system has been raised to a TRL of 6 and hopes to provide payload support to advanced missions such as the SABER-Lite and JPL CIRAS projects.
This packaging design approach can help heritage hardware meet a flight project's stringent EMC radiated emissions requirement. The approach requires only minor modifications to a hardware's chassis and mainly concentrates on its connector interfaces. The solution is to raise the surface area where the connector is mounted by a few millimeters using a pedestal, and then wrapping with conductive tape from the cable backshell down to the surface-mounted connector. This design approach has been applied to JPL flight project subsystems. The EMC radiated emissions requirements for flight projects can vary from benign to mission critical. If the project's EMC requirements are stringent, the best approach to meet EMC requirements would be to design an EMC control program for the project early on and implement EMC design techniques starting with the circuit board layout. This is the ideal scenario for hardware that is built from scratch. Implementation of EMC radiated emissions mitigation techniques can mature as the design progresses, with minimal impact to the design cycle. The real challenge exists for hardware that is planned to be flown following a built-to-print approach, in which heritage hardware from a past project with a different set of requirements is expected to perform satisfactorily for a new project. With acceptance of heritage, the design would already be established (circuit board layout and components have already been pre-determined), and hence any radiated emissions mitigation techniques would only be applicable at the packaging level. The key is to take a heritage design with its known radiated emissions spectrum and repackage, or modify its chassis design so that it would have a better chance of meeting the new project s radiated emissions requirements.
The management of the Ulysses project, a probe which will fly a solar polar orbit, is described. The 5-yr mission will feature a flyby of Jupiter to deflect the spacecraft into a high-inclination orbit. Data on the solar corona, solar wind, the sun-wind interface, the heliospheric magnetic field, solar and nonsolar cosmic rays, etc., will be gathered as a function of the solar latitude. NASA will track and control the probe with the Deep Space Network. JPL provides project management for NASA while the Directorate of Scientific Programs performs ESA management functions. The DOE will provide a radioisotope thermoelectric generator while NASA and ESA each supply half the scientific payload. A NASA-ESA Joint Working Group meets about twice per year to monitor the project and discuss the technical and scientific requirements. Safety issues and measures which are being addressed due to the presence of the Pu-238 heat source for the RTG are discussed.
Uralane 5750 A/B (LV) is a POLYURETHANE which was to be considered for use as a thin CONFORMAL COATING on printed circuit boards for JPL flight projects. As part of the qualification process several properties of Uralane 5750 A/B (LV) were measured for the as-cured material and after various environmental exposures. The properties that were measured included outgassing i.e. Total Mass Loss (TML) and Vacuum Condensable Mass (VCM) and mass accumulation rates on cold surfaces, Static Elastic Modulus and coefficient of Thermal Expansion (CTE). The Uralane 5750 A/B (LV) that was tested consisted of sheets which varied in both thickness and curing procedures. The environmental exposures consisted of vacuum, thermal and combined thermal vacuum. The physical properties of Uralane 5750 A/B (LV) met the JPL requirements for flight in both the as-cured condition and after environmental exposures.
A new approach has been initiated at JPL to fabricate thin-film, high efficiency GaAs solar cells on low-cost, single-crystal Si substrates having a thin CVD interlayer of Ge to minimize the lattice and thermal expansion mismatch. For initial experiments, n(+)/p GaAs cells were grown by OM-CVD on single-crystal GaAs and Ge wafers. Details of the growths and performance results will be presented. Subsequently, a combined epitaxial structure of OM-CVD GaAs on a strongly adherent Ge interlayer on (100) Si was grown. This is the first report of the successful growth of this composite structure. Low module costs projected by JPL SAMICS methodology calculations and the potential for 400-600W/kg space solar arrays will be discussed.
With NASA funding, the Deep Space Optical Communication (DSOC) Project at JPL is planning a system level technology demonstration of optical communications from deep space. A 22 cm diameter flight laser transceiver (FLT) is being developed for space flight. The FLT will be designed to transmit an average laser power of 4W at 1550 nm and receive a weak 1064 nm laser signal (> 100 femtowatts). Use of the Hale telescope at Palomar Mountain, CA, retrofitted with a photoncounting receiver to detect the downlink from space, is planned. The Optical Communication Telescope Laboratory (OCTL) at Table Mountain, CA will transmit a 1064 nm laser beacon to serve as a pointing reference for the FLT and support low-rate uplink data-rates. The DSOC FLT is part of the baseline payload for the Psyche mission spacecraft recently selected for flight by NASA, providing link demonstration opportunities during the mission cruise phase. Link demonstration opportunities at distances of approximately 0.1 to 2 astronomical units (AU) are expected. The DSOC system is being designed to support downlink data-rates of 0.2 to > 200 Mb/s and uplink data rates of approximately 1.6 kb/s. A status update of DSOC Project activities on flight and ground development will be summarized in this paper.
The sensory subsystem of the JPL robotics project is described. The first sensory instrument is a pair of TV cameras, which provides a stereo view of the area of interest. The second is a laser range finder, which can be aimed in a requested direction and measure distance to a surface point that reflects the beam back. Both instruments are controlled by and are interfaced to computer. The calibration process and basic applications to obtain measurements of the external environment are described.
This paper provides a brief description and analysis of the main issues in advanced autonomous control of manipulators as seen from a system point of view. The nature of manipulation is analyzed at some depth. A general multilevel structure is outlined for manipulator control organization which includes the human operator at the top level of the control structure. Different approaches to the development of advanced automation of mechanical arms are summarized. Recent work in the JPL teleoperator project is described, including control system, force/torque sensor, and control software development. Some results from control experiments are summarized.
The general objective was to make a continuing assessment of current automotive technology development programs and of the prospects for new concepts. The study embraced alternative engines, advanced powertrain components, and related energy conserving vehicle modifications which could be implemented by the end of this century. Vehicle level projections of the fuel economy and emissions potential of alternative power systems were key elements of this assessment.
The problem of constructing event-related information displays from multidimensional data generated by proximity, force-torque and tactile sensors integrated with the terminal device of a remotely controlled manipulator is considered. Event-driven displays are constructed by using appropriate algorithms acting on sensory data in real time. Event-driven information displays lessen the operator's workload and improve control performance. The paper describes and discusses several event-driven display examples that were implemented in the JPL teleoperator project, including a brief outline of the data handling system which drives the graphics display in real time. The paper concludes with a discussion of future plans to integrate event-driven displays with visual (TV) information.
The problem of displaying information generated by sensors attached to the terminal device of a remotely controlled manipulator is considered. The sensors under consideration are proximity, force-torque, tactile and slip-page sensors. The paper describes and evaluates several examples that have been implemented in the JPL teleoperator project using audio and graphic displays of information generated by four proximity sensors attached to a manipulator end effector. Design schemes are also discussed related to the display of information generated by a six-dimensional force-torque sensor, a multipoint proportional tactile sensor, and a directional slippage sensor. The paper concludes with a discussion of future integrated displays of visual (TV) and handbased sensor information.
The Small Power Systems Applications (SPSA) Project has been established to develop and commercialize small solar thermal power plants. The technologies of interest include all distributed and central receiver technologies which are potentially economically viable in power plant sizes of one to 10 MWe. The paper presents an overview of the SPSA Project and briefly discusses electric utility involvement in the Project.
Proximity, force-torque, touch and slippage sensors developed or applied by the JPL Teleoperator Project for remote manipulator control are described, including sensor data handling by computers for display and control. Examples are quoted showing the significance of these sensors for manual or computer control of manipulators. An interesting example is a proximity sensor system implemented for a four-claw JSC end effector and tested at the Shuttle Manipulator Training Facility of JSC. New sensing concepts aimed at simplifying the implementation of 'Smart Sensors for Smart Hands' in the space environment are discussed.
This paper describes the hardware and software system of a dedicated mini- and microcomputer network developed at the JPL teleoperator project to aid the operator in real-time control of remote manipulators. The operator can be in series or in parallel with the control computer during operation. The purpose of the project is to develop, demonstrate and evaluate advanced supervisory control concepts and techniques for space applications. The paper concludes with a brief outline of future development plans and issues.