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A relatively simple system using a preloaded pneumatic piston latch with a pyrotechnic valve release was developed. The system was the only candidate that met all the imposed requirements utilizing reliable state-of-art components. The development of the latch system from its first use on Mariner '69 Mars Flyby Spacecraft through its most recent use on the Voyager Spacecraft that will fly to Jupiter and Saturn is reviewed.
The Tropical Rainfall Measuring Mission was a new concept of measuring rainfall over the global tropics using a combination of instruments, including the first weather radar to be flown in space. An important objective of the mission was to obtain profiles of latent heat in order to initialize large-scale circulation models and to understand the relationship between short-term climate changes in relation to rainfall variability. The idea originated in the early 1980's from scientists at the Goddard Space Flight Center/NASA who had been involved with attempts to measure rain with a passive microwave instrument on Nimbus 5 and had compared its results with rain falling in the area covered by the GATE1 radar ships. Using an imaginary satellite flying over the GATE ships, scientists showed that a satellite with an inclined orbit of 30-35 degrees could obtain monthly rainfalls with a sampling error of less than 10 percent over 5 degree by 5 degree areas. The Japanese proposed that they could build a nadir-scanning rain radar for the satellite. Vern Suomi was excited by this mission from the outset, since he recognized the great importance of adequate rainfall measurements over the tropical oceans. He was a charter member of the Science Steering Team and prepared a large part of the Report. While the mission attracted strong support in the science community, it was opposed by some of the high-level NASA management who feared its competition for funds with some much larger Earth Science satellites. Vern was able to overcome this opposition and to generate Congressional support, so that the Project finally got underway on both sides of the Pacific in 1991. The paper will discuss the design of the satellite, its data system and ground validation program. TP.NM was successfully launched in late 1997. Early results will be described. 1 GATE stands for GARP Atlantic Tropical Experiment and GARP stands for Global Atmospheric Research Program.
The goal of the Clouds and the Earth s Radiant Energy System (CERES) project is to provide a long-term record of radiation budget at the top-of-atmosphere (TOA), within the atmosphere, and at the surface with consistent cloud and aerosol properties at climate accuracy. CERES consists of an integrated instrument-algorithm validation science team that provides development of higher-level products (Levels 1-3) and investigations. It involves a high level of data fusion, merging inputs from 25 unique input data sources to produce 18 CERES data products. Over 90% of the CERES data product volume involves two or more instruments. Continuation of the Earth Radiation Budget (ERB) Climate Data Record (CDR) has been identified as critical in the 2007 NRC Decadal Survey, the Global Climate Observing System WCRP report, and in an assessment titled Impacts of NPOESS Nunn-McCurdy Certification on Joint NASA-NOAA Climate Goals . Five CERES instruments have flown on three different spacecraft: TRMM, EOS-Terra and EOS-Aqua. In response, NASA, NOAA and NPOESS have agreed to fly the existing CERES Flight Model (FM-5) on the NPP spacecraft in 2011 and to procure an additional CERES Sensor with modest upgrades for flight on the JPSS C1 spacecraft in 2014, followed by a CERES follow-on sensor for flight in 2018. CERES is a scanning broadband radiometer that measures filtered radiance in the SW (0.3-5 m), total (TOT) (0.3-200 m) and WN (8-12 m) regions. Pre-launch calibration is performed on each Flight Model to meet accuracy requirements of 1% for SW and 0.5% for outgoing LW observations. Ground to flight or in-flight changes are monitored using protocols employing onboard and vicarious calibration sources. Studies of flight data show that SW response can change dramatically due to optical contamination. with greatest impact in blue-to UV radiance, where tungsten lamps are largely devoid of output. While science goals remain unchanged for ERB Climate Data Record, it is now understood that achieving these goals is more difficult for two reasons. The first is an increased understanding of the dynamics of the Earth/atmosphere system which demonstrates that separation of natural variability from anthropogenic change on decadal time scales requires observations with higher accuracy and stabilit
Early in the development of the Space Shuttle, it became clear that NASA needed a method of deploying and retrieving payloads from the payload bay. The Shuttle Remote Manipulator System (SRMS) was developed to fill this need. The 50 foot long robotic arm is an anthropomorphic design consisting of three electromechanical joints, six degrees of freedom, and two boom segments. Its composite boom construction provided a light weight solution needed for space operations. Additionally, a method of capturing payloads with the arm was required and a unique End Effector was developed using an electromechanical snare mechanism. The SRMS is operated using a Displays and Controls Panel and hand controllers located within the aft crew compartment of the shuttle. Although the SRMS was originally conceived to deploy and retrieve payloads, its generic capabilities allowed it to perform many other functions not originally conceived of. Over the years it has been used for deploying and retrieving constrained and free flying payloads, maneuvering and supporting EVA astronauts, satellite repair, International Space Station construction, and as a viewing aid for on-orbit International Space Station operations. After the Columbia accident, a robotically compatible Orbiter Boom Sensor System (OBSS) was developed and used in conjunction with the SRMS to scan the Thermal Protection System (TPS) of the shuttle. These scans ensure there is not a breach of the TPS prior to shuttle re-entry. Ground operations and pre mission simulation, analysis and planning played a major role in the success of the SRMS program. A Systems Engineering Simulator (SES) was developed to provide a utility complimentary to open loop engineering simulations. This system provided a closed-loop real-time pilot-driven simulation giving visual feedback, display and control panel interaction, and integration with other vehicle systems, such as GN&C. It has been useful for many more applications than traditional training. Evolution of the simulations, guided by the Math Model Working Group, showed the utility of input from multiple modeling groups with a structured forum for discussion.There were many unique development challenges in the areas of hardware, software, certification, modeling and simulation. Over the years, upgrades and enhancements were implemented to increase the capability, performance and safety of the SRMS. The history and evolution of the SRMS program provided many lessons learned that can be used for future space robotic systems.
The MOCS is an imaging spectroradiometer with a sensitivity that matches the light upwelling from open bodies of water. Twenty contiguous spectral channels in the visible are recorded in a line scanning mode from an aircraft. The system also supports a thermal infrared radiometer and will accept input from a position location system. The sensor in the MOCS system is an image dissector tube. A spectral curvature algorithm was developed. No atmospheric correction to the data is needed for low flying aircraft gathering chlorophyll data using this algorithm. Although the MOCS is now about 15 years old, because its response has been so stable, its data recording system was upgraded to the system used by the Aircraft Oceanographic Lidar where possible. The MOCS has been a reliable instrument for recording ocean color from low flying aircraft. As NASA enters the next period of ocean color investigations from space, such a device can play an important role in calibration of the space instrument, as well as provide support for programs developing the next generation of spaceborne devices.
The Isothermal Dendritic Growth Experiment, which is expected to fly on the Space Shuttle to study dendritic solidification of molten metals such as iron and aluminum, is examined. Succinonitrile and pivalic acid are substitued for metals to permit visualiztion of dendritic growth. The technical features of the apparatus are described, including temperature control, the photographic system, and slow scan television. The teleoperations techniques for the experiment are discussed in detail.
Algorithms for the retrieval of atmospheric winds in precipitating systems from downward-pointing, conically-scanning airborne Doppler radars are presented. The focus in the paper is on two radars: the Imaging Wind and Rain Airborne Profiler(IWRAP) and the High-altitude IWRAP (HIWRAP). The IWRAP is a dual-frequency (Cand Ku band), multi-beam (incidence angles of 30 50) system that flies on the NOAAWP-3D aircraft at altitudes of 2-4 km. The HIWRAP is a dual-frequency (Ku and Kaband), dual-beam (incidence angles of 30 and 40) system that flies on the NASA Global Hawk aircraft at altitudes of 18-20 km. Retrievals of the three Cartesian wind components over the entire radar sampling volume are described, which can be determined using either a traditional least squares or variational solution procedure. The random errors in the retrievals are evaluated using both an error propagation analysis and a numerical simulation of a hurricane. These analyses show that the vertical and along-track wind errors have strong across-track dependence with values of 0.25 m s-1 at nadir to 2.0 m s-1 and 1.0 m s-1 at the swath edges, respectively. The across-track wind errors also have across-track structure and are on average, 3.0 3.5 m s-1 or 10 of the hurricane wind speed. For typical rotated figure four flight patterns through hurricanes, the zonal and meridional wind speed errors are 2 3 m s-1.Examples of measured data retrievals from IWRAP during an eyewall replacement cycle in Hurricane Isabel (2003) and from HIWRAP during the development of Tropical Storm Matthew (2010) are shown.
In the aftermath of the Space Shuttle Columbia accident February 1, 2003, the Columbia Accident Investigation Board recognized the need for better video data from launch, on-orbit, and landing to assess the status and safety of the shuttle orbiter fleet. The board called on NASA to improve its imagery assets and update the Agency s methods for analyzing video. This paper will feature details of several projects implemented prior to the return to flight of the Space Shuttle, including an airborne HDTV imaging system called the WB-57 Ascent Video Experiment, use of true 60 Hz progressive scan HDTV for ground and airborne HDTV camera systems, and the decision to utilize a wavelet compression system for recording. This paper will include results of compression testing, imagery from the launch of STS-114, and details of how commercial components were utilized to image the shuttle launch from an aircraft flying at 400 knots at 60,000 feet altitude. The paper will conclude with a review of future plans to expand on the upgrades made prior to return to flight.
A program for 20-500 micron spectroscopy from the NASA flying C141 infrared observatory is being carried out with a Michelson interferometer. The parameters affecting the performance of the instrument are studied and an optimal configuration for high performance on the C-141 aircraft is recommended. As each parameter is discussed the relative merits of the two modes of mirror motion (rapid scan or step and integrate) are presented.
The Comet Rendezvous Asteroid Flyby Mission (CRAF) is described. After gravity assists from Venus and Earth, the spacecraft will fly by the asteroid 46 Hestia en route to a rendezvous with P/Tempel 2 in Nov. 1996, when the comet is near aphelion. The scientific experiments for the CRAF mission are: an imaging system; a visual and infrared mapping spectrometer; an infrared radiometer; a penetrator carrying a gamma-ray spectrometer, a scanning differential calorimeter and evolved gas analyzer, accelerometers, and temperature probes; a neutral gas and thermal ion mass spectrometer; a secondary ion mass spectrometer for analyzing dust, gas, and thermal ions; a scanning electron microscope and particle analyzer; an X-ray fluorescence and gas chromatographic analyzer for collected dust and ice samples; a dust counter and velocity analyzer; a retarding potential ion mass spectrometer; a supra-thermal ion mass spectrometer and electron analyzer; a magnetometer; and a coordinated radio, electron, and plasma wave analyzer.
A document describes the Antenna Calibration & Measurement Equipment (ACME) system that will provide the Deep Space Network (DSN) with instrumentation enabling a trained RF engineer at each complex to perform antenna calibration measurements and to generate antenna calibration data. This data includes continuous-scan auto-bore-based data acquisition with all-sky data gathering in support of 4th order pointing model generation requirements. Other data includes antenna subreflector focus, system noise temperature and tipping curves, antenna efficiency, reports system linearity, and instrument calibration. The ACME system design is based on the on-the-fly (OTF) mapping technique and architecture. ACME has contributed to the improved RF performance of the DSN by approximately a factor of two. It improved the pointing performances of the DSN antennas and productivity of its personnel and calibration engineers.
Pilot response to off-nominal (very rare) events represents a critical component to understanding the safety of next generation airspace technology and procedures. We describe a meta-analysis designed to integrate the existing data regarding pilot accuracy of detecting rare, unexpected events such as runway incursions in realistic flight simulations. Thirty-five studies were identified and pilot responses were categorized by expectancy, event location, and whether the pilot was flying with a highway-in-the-sky display. All three dichotomies produced large, significant effects on event miss rate. A model of human attention and noticing, N-SEEV, was then used to predict event noticing performance as a function of event salience and expectancy, and retinal eccentricity. Eccentricity is predicted from steady state scanning by the SEEV model of attention allocation. The model was used to predict miss rates for the expectancy, location and highway-in-the-sky (HITS) effects identified in the meta-analysis. The correlation between model-predicted results and data from the meta-analysis was 0.72.
A second generation, compact, real-time, air-cooled 3-D imaging Flash Lidar sensor system, developed from a number of cutting-edge components from industry and NASA, is lab characterized and helicopter flight tested under the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project. The ALHAT project is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar incorporates a 3-D imaging video camera based on Indium-Gallium-Arsenide Avalanche Photo Diode and novel micro-electronic technology for a 128 x 128 pixel array operating at a video rate of 20 Hz, a high pulse-energy 1.06 μm Neodymium-doped: Yttrium Aluminum Garnet (Nd:YAG) laser, a remote laser safety termination system, high performance transmitter and receiver optics with one and five degrees field-of-view (FOV), enhanced onboard thermal control, as well as a compact and self-contained suite of support electronics housed in a single box and built around a PC-104 architecture to enable autonomous operations. The Flash Lidar was developed and then characterized at two NASA-Langley Research Center (LaRC) outdoor laser test range facilities both statically and dynamically, integrated with other ALHAT GN&C subsystems from partner organizations, and installed onto a Bell UH-1H Iroquois "Huey" helicopter at LaRC. The integrated system was flight tested at the NASA-Kennedy Space Center (KSC) on simulated lunar approach to a custom hazard field consisting of rocks, craters, hazardous slopes, and safe-sites near the Shuttle Landing Facility runway starting at slant ranges of 750 m. In order to evaluate different methods of achieving hazard detection, the lidar, in conjunction with the ALHAT hazard detection and GN&C system, operates in both a narrow 1deg FOV raster-scanning mode in which successive, gimbaled images of the hazard field are mosaicked together as well as in a wider, 4.85deg FOV staring mode in which digital magnification, via a novel 3-D superresolution technique, is used to effectively achieve the same spatial precision attained with the more narrow FOV optics. The lidar generates calibrated and corrected 3-D range images of the hazard field in real-time and passes them to the ALHAT Hazard Detection System (HDS) which stitches the images together to generate on-the-fly Digital Elevation Maps (DEM's) and identifies hazards and safe-landing sites which the ALHAT GN&C system can then use to guide the host vehicle to a safe landing on the selected site. Results indicate that, for the KSC hazard field, the lidar operational range extends from 100m to 1.35 km for a 30 degree line-of-sight angle and a range precision as low as 8 cm which permits hazards as small as 25 cm to be identified. Based on the Flash Lidar images, the HDS correctly found and reported safe sites in near-real-time during several of the flights. A follow-on field test, planned for 2013, seeks to complete the closing of the GN&C loop for fully-autonomous operations on-board the Morpheus robotic, rocket-powered, free-flyer test bed in which the ALHAT system would scan the KSC hazard field (which was vetted during the present testing) and command the vehicle to landing on one of the selected safe sites.
Two pilots' methods of looking at instruments with needle pointers in a fixed base helicopter simulation were observed. A total of 45 runs were analyzed for each pilot. The data indicated that two apparently different techniques were being used; one looking at the needle point, the other looking at a fixed spot on the instrument and reading the needle direction parafoveally. The latter technique is found to be somewhat faster with both pilots accomplishing the flying task.
The Hyperspectral Digital Imagery Collection Experiment (HYDICE) instrument represents a significant advance in the state of the art in hyperspectral sensors. It combines a higher signal-to-noise ratio (SNR) and significantly better spatial and spectral resolution and radio metric accuracy than systems flying on aircraft today. The need for 'clean' data, i.e., data free of sampling artifacts and excessive spatial or spectral noise, is a key driver behind the difficult combination of performance requirements laid out for HYDICE. Most of these involve the sensor optics and detector. This paper presents an optimized approach to those requirements, one that comprises push broom scanning, a single, mechanically cooled focal plane, a double-pass prism spectrometer, and an easily fabricated yet wide-field telescope. Central to the approach is a detector array that covers the entire spectrum from 0.4 to 2.5 microns. Among the major benefits conferred by such a design are optical and mechanical simplicity, low polarization sensitivity, and coverage of the entire spectrum without suffering the spectral gaps caused by beam splitters. The overall system minimizes interfaces to the C-141 aircraft on which it will be flown, can be calibrated on the ground and in flight to accuracies better than those required, and is designed for simple, push-button operation. Only unprocessed data are recorded during flight. A ground data processing station provides quick-look, calibration correction, and archiving capabilities, with a throughput better than the requirements. Overall performance of the system is expected to provide the solid database required to evaluate the potential of hyperspectral imagery in a wide variety of applications. HYDICE can be regarded as a test bed for future planetary instruments. The ability to spectrally image a wide field of view over multiple spectral octaves offers obvious advantages and is expected to maximize science return for the required cost and weight.
An airborne C-band scatterometer system (C-Scat) has been developed for remote sensing of the air-sea interface. The sensor has been designed to fly on a number of research aircraft, beginning with the NASA Ames Research Center's C-130B, on which test flights were conducted in August of 1988. The scatterometer utilizes a 10-W solid-state power amplifier and a frequency-steered microstrip array antenna which is installed beneath the fuselage of the airplane. The antenna is electrically scanned in elevation from 20 to 50 deg off nadir, and it is mechanically rotated 360 deg in azimuth. The system is fully computer controlled and is capable of accurately measuring ocean-surface normalized radar cross section (NRCS) from altitudes as high as 25,000 feet. It has been developed to study the relationship between NRCS and ocean-surface roughness influences such as wind speed and direction, wave height and slope, and air-sea temperature difference.
A study has been completed to define a Shuttle experiment that solves the most crucial scientific and engineering problems involved in building a satellite Doppler wind profiler for making global wind measurements. The study includes: (1) a laser study to determine the feasibility of using the existing NOAA Windvan laser in the Space Shuttle spacecraft; (2) a preliminary optics and telescope design; (3) an accommodations study including power, weight, thermal, and control system requirements; and (4) a flight trajectory and operations plan designed to accomplish the required scientific and engineering goals. The experiment will provide much-needed data on the global distribution of atmospheric aerosols and demonstrate the technique of making wind measurements from space, including scanning the laser beam and interpreting the data. Engineering accomplishments will include space qualification of the laser, development of signal processing and lag angle compensation hardware and software, and telescope and optics design. All of the results of this limited Spacelab experiment will be directly applicable to a complete satellite wind profiler for the Earth Observation System/Space Station or other free-flying satellite.
This paper discusses the use of Airborne Light Detection And Ranging (LiDAR) equipment for terrain navigation. Airborne LiDAR is a relatively new technology used primarily by the geo-spatial mapping community to produce highly accurate and dense terrain elevation maps. In this paper, the term LiDAR refers to a scanning laser ranger rigidly mounted to an aircraft, as opposed to an integrated sensor system that consists of a scanning laser ranger integrated with Global Positioning System (GPS) and Inertial Measurement Unit (IMU) data. Data from the laser range scanner and IMU will be integrated with a terrain database to estimate the aircraft position and data from the laser range scanner will be integrated with GPS to estimate the aircraft attitude. LiDAR data was collected using NASA Dryden's DC-8 flying laboratory in Reno, NV and was used to test the proposed terrain navigation system. The results of LiDAR-based terrain navigation shown in this paper indicate that airborne LiDAR is a viable technology enabler for fully autonomous aircraft navigation. The navigation performance is highly dependent on the quality of the terrain databases used for positioning and therefore high-resolution (2 m post-spacing) data was used as the terrain reference.