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The findings concerning Jupiter that were made by the Voyager missions are briefly reviewed. The ring and three new moons around Jupiter, the live volcanoes on Io, and atmospheric phenomena on Jupiter which were observed by Voyager 1 are described. The discoveries regarding Callisto and Europa made by Voyager 2 are briefly summarized.
The Voyager mission to the giant outer planets of our solar system is described. Scientific highlights include interplanetary cruise, Jupiter, Saturn, Uranus, and their vast satellite and ring systems. Detailed plans are provided for the August 1989 Neptune encounter and subsequent interstellar journey to reach the heliopause. As background, the elements of an unmanned space mission are explained, with emphasis on the capabilities of the spacecraft and the scientific sensors. Other topics include the Voyager Grand Tour trajectory design, deep-space navigation, and gravity-assist concepts. The Neptune flyby is animated through the use of computer-generated, flip-page movie frames that appear in the corners of the publication. Useful historical information is also presented, including facts associated with the Voyager mission. Finally, short summaries are provided to describe the major objectives and schedules for several space missions planned for the remainder of the 20th century.
The findings made by Voyager 2 as it passed by the gas giants are reviewed. The unexpected problems that had to be overcome during the mission, including receiver failure and scan platform problems, are described. The scientific instrumentation aboard Voyager is briefly examined, and the major types of Voyager scientific investigations and principal investigators are listed. The scientific findings regarding the atmospheres, thermal properties, electromagnetic environments, ring systems, satellite surfaces, body properties, and bulk properties are examined.
Optical navigation techniques were required to successfully complete the planetary exploration phase of the NASA deep-space Voyager mission. The last of Voyager's planetary encounters, with Neptune, posed unique problems from an optical navigation standpoint. In this paper we briefly review general aspects of the optical navigation process as practiced during the Voyager mission, and discuss in detail particular features of the Neptune encounter which affected optical navigation. New approaches to the centerfinding problem were developed for both stars and extended bodies, and these are described. Results of the optical navigation data analysis are presented, as well as a description of the optical orbit determination system and results of its use during encounter. Partially as a result of the optical navigation processing, results of scientific significance were obtained. These results include the discovery and orbit determination of several new satellites of Neptune and the determination of the size of Triton, Neptune's largest moon.
In August 1989 the Voyager 2 spacecraft encountered Neptune and Triton. Precise knowledge of the trajectory of the spacecraft relative to the Neptunian system was essential to ensure successful observations during the flyby, and to perform trajectory control. Determination of the orbit of Voyager 2 with respect to the Neptunian system was accomplished by the use of radiometric Doppler, range, and VLBI observations of the spacecraft in combination with spacecraft-based optical observations of Neptune, Triton, Nereid, and the Voyager-discovered satellite 1989N1. These data types were used in a new version of the JPL Orbit Determination Program to determine the orbit of the spacecraft as well as Neptunian system ephemerides and dynamical parameters, resulting in accurate delivery of the spacecraft to targeted conditions at Neptune and Triton.
The development and application of the Spacecraft Health Automated Reasoning Prototype (SHARP) for the operations of the telecommunications systems and link analysis functions in Voyager mission operations are presented. An overview is provided of the design and functional description of the SHARP system as it was applied to Voyager. Some of the current problems and motivations for automation in real-time mission operations are discussed, as are the specific solutions that SHARP provides. The application of SHARP to Voyager telecommunications had the goal of being a proof-of-capability demonstration of artificial intelligence as applied to the problem of real-time monitoring functions in planetary mission operations. AS part of achieving this central goal, the SHARP application effort was also required to address the issue of the design of an appropriate software system architecture for a ground-based, highly automated spacecraft monitoring system for mission operations, including methods for: (1) embedding a knowledge-based expert system for fault detection, isolation, and recovery within this architecture; (2) acquiring, managing, and fusing the multiple sources of information used by operations personnel; and (3) providing information-rich displays to human operators who need to exercise the capabilities of the automated system. In this regard, SHARP has provided an excellent example of how advanced artificial intelligence techniques can be smoothly integrated with a variety of conventionally programmed software modules, as well as guidance and solutions for many questions about automation in mission operations.
The DSN (Deep Space Network) mission support requirements for the Voyager Interstellar Mission (VIM) are summarized. The general objectives of the VIM are to investigate the interplanetary and interstellar media and to continue the Voyager program of ultraviolet astronomy. The VIM will utilize both Voyager spacecraft for the period from January 1990 through December 2019. The mission objectives are outlined and the DSN support requirements are defined through the presentation of tables and narratives describing the spacecraft flight profile; DSN support coverage; frequency assignments; support parameters for telemetry, control and support systems; and tracking support responsibility.
A fraction of the measurements of the interplanetary Lyman-alpha background collected by the Ultraviolet Spectrometer during the cruise of Voyager 1 and 2 between 1977 and 1983 is presented and compared with results from current models of the interaction between the sun and the neutral interstellar gas. An analysis of two sets of data indicates that the same H atom lifetime cannot fit all the data. The actual ionization rate is inferred from the intensity gradient in the maximum emissivity region observed from a sidewind Voyager position at 6 AU, yielding a lifetime of about 1 exp 6 s at 1 AU, whereas the upwind/downwind intensity ratio in the inner solar system favors 2 x 10 exp 6 s, as measured by Voyager, Prognoz, and Pioneer Venus instruments. It is proposed that there is an excess of Ly-alpha emission in the downwind region which forces the model toward excessively high values of the lifetime. Possible explanations are discussed, like incorrect modeling or an additional source of H atoms.
The instrumental characteristics, observational capabilities and scientific results of the Voyager 1 and 2 ultraviolet spectrometers are reviewed. These instruments provide current and ongoing access to low resolution spectra for a wide variety of astronomical sources in the 500 to 1700 A band. Observations of the brightest OB stars and hot subluminous stars as faint as V = 15 mag, are possible. In the EUV, at wavelengths shortward of 900 A, several new sources have been detected and a host of potential sources ruled out. In the far UV, particularly at wavelengths between 900 and 1200 A, Voyager is capable of observing a wide range of stellar and non-stellar sources. Such observations can often provide a valuable complement to IUE and other data sets at longer wavelengths. The Voyager spectrometers have proved remarkably stable photon counting instruments, capable of extremely long integration times. The long integration times, relatively large field of view, and location in the outer solar system also provide an ideal platform for observations of sources of faint diffuse emission, such as nebulae and the general sky background.
The Voyager mission based on two spacecraft, Voyager 1 and Voyager 2, launched on September 5, 1977 and August 20 1977, respectively, is reviewed. The mission was designed to take advantage of a rare geometric arrangement of Jupiter, Saturn, Uranus, and Neptune that occurs only once every 176 years. Particular attention is given to data on Jupiter's ring and moons, the discovery of active volcanoes on Io, Jovian magnetism, Saturn's atmosphere, Titan and other moons, Uranus and Miranda, Uranian moons and rings, Triton's atmosphere.
This video describes Voyager 2's encounter with Neptune. Computer animation and actual data convey Voyager's discoveries such as turbulent storms and dark spots in Neptune's atmosphere, six new moons, Neptune's three rings, and the presence of frozen methane on Triton, as researchers at NASA's Jet Propulsion Laboratory describe Voyager's achievements.
The interaction of the solar wind with the interstellar medium is expected to result in a complex, probably dynamic outer heliospheric boundary region. In increasing distance from the sun the boundary region includes the solar wind termination shock, the heliopause, and perhaps a heliobowshock. The continuing missions of Voyager 1 and 2 and Pioneer 10 and 11 provide a unique opportunity to make in situ particle and field observations of the boundaries of the heliosphere and associated phenomena. Observations already made by these spacecraft suggest that the termination shock may be located 60-100 AU from the sun. Voyager 1 will reach 60 AU in 1995 and 100 AU in 2006. NASA's Space Physics Division is planning with the Voyager and Pioneer Projects to ensure timely and maximum scientific return from spacecraft encounters with the solar wind termination region. Initial emphasis is on being able to reliably determine when an encounter is imminent, so that spacecraft tracking and spacecraft and instrument configurations can be changed to encounter modes. It is anticipated that multiple encounters with heliospheric boundaries will occur due to motion of the boundaries in response to large variations in the solar wind pressure.
The plasma science (PLS) experiments on the Voyager 1 and 2 spacecraft began making measurements of the solar wind shortly after the two launches in the fall of 1977. In reviewing the data obtained prior to the Jupiter encounters in 1979, we have found that the large dynamic range of the PLS instrument generally allows a clean separation of signatures of minor ions (about 2.5% of the time) during a single instrument scan in energy per charge. The minor ions, most notably O(+6), are well separated from the protons and alpha particles during times when the solar wind Mach number (ratio of streaming speed to thermal speed) is greater than approximately 15. During the Earth to Jupiter cruise we find that the average ratio of alpha particle number density to that of oxygen is 66 +/- 7 (Voyager 1) and 71 +/- 17 (Voyager 2). These values are consistent with the value 75 +/- 20 inferred from the Ion Composition Instrument on ISEE 3 during the period spanning 1978 and 1982. We have inferred an average coronal temperature of (1.7 +/- 0.1) x 10(exp 6) K based on the ratio of O(+7) to O(+6) number densities. Our observations cover a period of increasing solar activity. During this time we have found that the alpha particle to proton number density ratio is increasing with the solar cycle, the oxygen to proton ratio increases, and the alpha particle to oxygen ratio remains relatively constant in time.
Voyager 2 and Interplanetary Monitoring Platform (IMP) 8 data from 1977 through 1994 are presented and compared. Radial velocity and temperature structures remain intact over the distance from 1 to 43 AU, but density structures do not. Temperature and velocity changes are correlated and nearly in phase at 1 AU, but in the outer heliosphere temperature changes lead velocity changes by tens of days. Solar cycle variations are detected by both spacecraft, with minima in flux density and dynamic pressure near solar maxima. Differences between Voyager 2 and IMP 8 observations near the solar minimum in 1986-1987 are attributed to latitudinal gradients in solar wind properties. Solar rotation variations are often present even at 40 AU. The Voyager 2 temperature profile is best fit with a R(exp -0.49 +/- 0.01) decrease, much less steep than an adiabatic profile.
The flyby of Voyager 1 at Saturn yielded the detection of a large variety of plasma waves, for example, chorus, hiss, and electron cyclotron harmonics. Just before the outbound equator crossing, the Voyager 1 plasma wave instrument detected a strong, well-defined low-frequency enhancement in signal levels. Initially, it was thought that this enhancement was due to plasma waves, but more recently it was suggested that dust impacts might be at least partial contributors. In this report we present evidence that dust impacts are partly responsible for the low-frequency enhancement. A new method of analysis which relies mainly on the 16-channel spectrum analyzer has been used to derive the dust impact rate. The available wideband waveform observations (which have been used previously to study dust impacts) were useful for calibrating the impact rate from the spectrum analyzer data. The mass and hence size of the dust particles were also obtained by analyzing the response of the plasma wave spectrum and analyzer. The results show that the region sampled by Voyager 1 is populated by dust particles that have rms masses of up to a few times 10(exp -11) g and sizes of up to a few microns. The dust particle number density is of the order of 10(exp -3)/cu m. The optical depth of the region sampled by the spacecraft is approximately 10(exp -6). The particle population is centered at 2470 (+/- 150) km south of the equatorial plane and has a north-south FWHM (full-width, half-maximum) thickness of 4130 (+/- 450) km. The dust may be part of the E ring or a localized ringlet assoicated with Dione.
The limb to limb Lyman-alpha reflectivities observed with the Voyager ultraviolet spectrometer (UVS) instruments during the fly-by of Saturn are reanalyzed using a revised H Lyman-alpha sensitivity for the Voyager 1 instrument. The new sensitivity reconciles the measured intensities to those of Voyager 2 and gives a coherent set of data. To fit the UV airglow observations, four sources are considered: (1) H resonance and H2 Rayleigh scattering of solar Lyman-alpha radiation, (2) the interplanetary Lyman-alpha radiation, (3) a possible internal source of unknown origin, (4) the possibility of atmospheric turbulence recently proposed to explain the Lyman-alpha bulge of Jupiter. The analysis supports neither a dominant collisional excitation source for the UV emissions nor the presence of strong atmospheric turbulence. The best fit, in terms of brightness but also in terms of shape of the limb to limb profile (that is to say independent on the absolute calibrations), is obtained for pure resonance and Rayleigh scattering of solar and interstellar wind line in an atmosphere enriched in atomic hydrogen up to three times the standard model. Influx of water from the rings of Saturn may provide a means for producing such enhanced H densities in the upper atmosphere.
In early 1994, Voyager 2 at 42-43 AU near heliolatitude 10 deg S observed over a period of approximately 100 days a remarkable sequence of quasi-recurrent stream fronts, wherein the background (ambient) speed rose steadily from approximately 450 to approximately 550 km/s while the mean period of the streams decreased from the usual 25 days down to approximately 20 days. A qualitative explanation for this effect can be derived from IMP observations, which show that the amplitude of the stream structure at 1 AU increased monotonically in late 1993, concurrent with major secular evolution in the corona. The reduction in period, then, amounts to a doppler shift due to the progressive overtaking of successively faster streams in the sequence. Attempts to model this process quantitatively with 1-D dynamic simulations falter on three accounts: (1) the reduction in period is overestimated, (2) the simulation predicts many more fronts surviving to 43 AU than are observed by Voyager; (3) the density variations are much too large. It is argued that inclusion of the 3-D geometry in the simulation would resolve most all these shortcomings. Using a series of calculations executed with 1-D, 2-D, and 3-D MHD models of hypothetical tilted-dipole flows, we show that: (1) the radial propagation velocities of 3-D fronts are less than those of 1-D or 2-D fronts, owing to the tilt of (and increased shearing across) the interaction surfaces hence the overtaking rate of successive streams is reduced; (2) in a tilted-dipole geometry, the reverse fronts should largely disappear from the equatorial plane by 43 AU, effectively halving the number of fronts to be observed (see companion paper on predominance of forward fronts at Voyager); and (3) the density enhancements would be much smaller than predicted by a 1-D model.
Due to reliability requirements placed on the Voyager spacecraft system design and a mission resulting in long two-way, light time communication links, on-board automatic fault detection and correction capabilities are a significant feature of that spacecraft's design. Most of the protection to otherwise mission-catastrophic failures is implemented in the software of the voyager's central computer, while some resides in an attitude control-dedicated processor. This paper will present the role that automatic fault protection plans in achieving Voyager's overall reliability, its design evolution, and how its design was validated during system testing. In-flight experience will also be described, and from the lessons learned there-in, conclusions and recommendations will be drawn for the benefit of future designs.