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NASA NTRS2019

Utilization of Unsupervised Anomalies Detector as a Tool for Managing the TDRS Constellation at GSFC

NASA’s Goddard Space Flight Center (GSFC) operates a constellation of ten geosynchronous Tracking and Data Relay Satellites (TDRS). The mission of the TDRS constellation is to provide relay communications from low-earth orbiting spacecraft to the primary ground station at the White Sands Complex in Las Cruces, New Mexico. Major customers include the International Space Station and Hubble Space Telescope. The NASA Space Network project office at GSFC manages the constellation of spacecraft. The constellation is over 30 years old, and a wide range of technologies and manufacturing techniques are represented on-orbit. Since 1983, the TDRS constellation has recorded thousands of gigabytes of telemetry data. Spacecraft telemetry data has changed throughout the three generations of TDRS spacecraft, however each spacecraft has the same basic functions with some generational enhancements. The constellation includes several spacecraft that have significantly outlived the manufacturer's projected lifetime. This has provided NASA with a significant benefit in terms of return on investment, however it places a burden on efficient management of the assets for maximum life without permitting a TDRS spacecraft to become stranded in its geosynchronous orbital slot. Consequently, the highest level of attention is paid to systems whose failure could strand a TDRS spacecraft in orbit. In this paper, we proposed two stages of analyzing spacecraft anomalies using data mining (DM) to enhance on-going predictions of spacecraft life, subsystem performance, and analysis of subsystem anomalies. The first stage conducts the unsupervised anomaly detector to detect potential anomalies in real-time telemetry data. The second stage introduced telemetry weight (TW) to each telemetry parameter to determine which parameter caused the strongest anomaly. We will present case studies of some of these analyses and how the data can impact decisions on the management of the constellation.

Ma, Kenneth Y.↗

NASA NTRS2018

Detecting Spacecraft Anomalies Using LSTMs and Nonparametric Dynamic Thresholding

As spacecraft send back increasing amounts of telemetry data, improved anomaly detection systems are needed to lessen the monitoring burden placed on operations engineers and reduce operational risk. Current spacecraft monitoring systems only target a subset of anomaly types and often require costly expert knowledge to develop and maintain due to challenges involving scale and complexity. We demonstrate the effectiveness of Long Short-Term Memory (LSTMs) networks, a type of Recurrent Neural Network (RNN), in overcoming these issues using expert-labeled telemetry anomaly data from the Soil Moisture Active Passive (SMAP) satellite and the Mars Science Laboratory (MSL) rover, Curiosity. We also propose a complementary unsupervised and nonparametric anomaly thresholding approach developed during a pilot implementation of an anomaly detection system for SMAP, and offer false positive mitigation strategies along with other key improvements and lessons learned during development.

Soderstrom, Tom↗

NASA NTRS2020

The InSight APSS Data Return Anomaly: Development of an Automated Detection and Response Method

The Auxiliary Payload Sensor Suite (APSS), a collection of environmental sensors carried by the Interior exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) lander, is capable of measuring Martian air temperature, wind speed, atmospheric pressure, and local magnetic fields. After beginning Mars surface operations, the instrument experienced an anomaly that prevented it from returning science data. The anomaly affected not only the instrument, but also had impacts at the system level. APSS returned to normal operations, however the anomaly occurred again just several weeks later. This proved the need for a streamlined recovery response that would be adaptable to the operations planning cycle and workforce, that would limit the system-level impacts of the anomaly, and that would minimize the instrument downtime. The recovery response evolved from a ground-in-the-loop response to an onboard method for detecting occurrences of the anomaly and automatically recovering the instrument. Ultimately, the automated detection and response method reduced instrument downtime from days to hours and significantly minimized science data loss.

Mittal, Nimisha↗

NASA NTRS1974

The magnetic anomaly of the Ivreazone

A magnetic field survey was made in the Ivreazone in 1969/70. The results were: significant anomaly of the vertical intensity is found. It follows the basic main part of the Ivrea-Verbano zone and continues to the south. The width of the anomaly is about 10 km, the maximum measures about +800 gamma. The model interpretation shows that possibly the anomaly belongs to an amphibolitic body, which in connection with the Ivrea-body was found by deep seismic sounding. Therefore, the magnetic anomaly provides further evidence for the conception that the Ivrea-body has to be regarded as a chip of earthmantle material pushed upward by tectonic processes.

Vertical Intensity of Magnetic Field↗

NASA NTRS1994

A Distance Measure for Attention Focusing and Anomaly Detection in Systems Monitoring

Any attempt to introduce automation into the monitoring of complex physical systems must start from a robust anomaly detection capability. This task is far from straightforward, for a single definition of what constitutes an anomaly is difficult to come by. In addition, to make the monitoring process efficient, and to avoid the potential for information overload on human operators, attention focusing must also be addressed. When an anomaly occurs, more often than not several sensors are affected, and the partially redundant information they provide can be confusing, particularly in a crisis situation where a response is needed quickly. Previous results on extending traditional anomaly detection techniques are summarized. The focus of this paper is a new technique for attention focusing.

attention focusing systems monitoring anomaly dete↗

NASA NTRS2004

Assessment of in-flight anomalies of long life outer plant mission

Thee unmanned planetary spacecraft to the outer planets have been controlled and operated successfully in space for an accumulated total of 66 years. The Voyager 1 and 2 spacecraft each have been in space for more than 26 years. The Galileo spacecraft was in space for 14 years, including eight years in orbit about Jupiter. During the flight operations for these missions, anomalies for the ground data system and the flight systems have been tracked using the anomaly reporting tool at the Jet Propulsion Laboratory. A total of 3300 incidents, surprises, and anomaly reports have been recorded in the database. This paper describes methods and results for classifying and identifying trends relative to ground system vs. flight system, software vs. hardware, and corrective actions. There are several lessons learned from these assessments that significantly benefit the design and planning for long life missions of the future. These include the necessity for having redundancy for successful operation of the spacecraft, awareness that anomaly reporting is dependent on mission activity not the age of the spacecraft, and the need for having a program to maintain and transfer operation knowledge and tools to replacement flight team members.

anomalies↗

NASA NTRS2006

Anomaly Recovery and the Mars Exploration Rovers

The premise of the design of operations for the Mars Exploration Rovers (MER) is that the vehicles will drive each day. As a result, they will encounter some aspect of the terrain environment that cannot be anticipated or otherwise accommodated by the sequences linked onboard that day. The operations team then must correct the problem by planning then commanding the execution of a different drive the next day. Often other aspects of the operation on the surface of Mars: environmental changes, component degradation, errors in sequence design or execution, etc., lead to anomalies which must be addressed before normal operations can resume. The operational design that makes it possible to recover from a driving error each day also reduces the time needed to recover from anomalies. As an example of the efficiency achieved, less than 5% (about 30 sols out of 700 sols of operations) of the time on the surface has been devoted to recovery from anomalies for each vehicle. In this paper the major anomalies experienced by the MER rovers will be recounted and the streamlined approaches to addressing these problems described. The operational flexibility developed for these missions is also a function of the system design that anticipated a number of likely faults and conditions arising from uncertainty in sequence execution and environmental change. This design will be described as well as the considerations in operation that motivated this design. These considerations will likely be present in any future surface mission.

rovers↗

NASA NTRSDate not supplied

Multi-Class Anomaly Detection in Flight Data using Semi-Supervised Explainable Deep Learning Model

Identifying precursor for safety incidents in aviation data is a crucial task, yet extremely challenging. The main approach, in practice, leverages domain expertise to define expected tolerances in system’s behavior and alarm exceedance from such safety margins. However, this approach is incapable of identifying unknown risk and vulnerabilities. Machine learning has been long studied and deployed to identify precursors for such anomalies, with the great challenge of the need for sufficient labelled set of data to achieve a reliable and accurate performance. In this article, we develop an explainable deep semi-supervised model for anomaly detection in aviation, building upon recent advancements in the machine learning literature. The proposed model combines feature engineering and classification in the feature space, while leveraging all available data (labelled and unlabeled). Validating on two case studies of anomaly detection in take-off and landing phases of commercial aircraft, we show that our model is able to outperform state-of-the-art supervised anomaly detection model and reach significantly high accuracy and low false alarm with minimum amount of available labelled data.

Anomaly Detection↗

NASA NTRSDate not supplied

Dynamic Anomaly Response and Integrated Analysis (DARIA): A Fault Investigation Toolset Supporting Earth-Independent Operations in Future Crewed Mars Missions

NASA's Moon to Mars Objectives outline a strategic vision for human spaceflight culminating in crewed missions to Mars. A critical component of this objective is the development of systems that are capable of being Earth-Independent Operated (EIO). A key aspect of EIO is the ability to rapidly detect, diagnose, and respond to anomalies in crew-supporting habitat and connected systems. To address this, the Dynamic Anomaly Response and Integrated Analysis (DARIA) architecture has been developed. DARIA incorporates a network of compact, wireless sensing devices called the System for Telemetry Amalgamation of Multimodal PrognosticS (STAMPS) for increased state awareness of EIO habitats. Able to perform on-the-fly data acquisition, STAMPS are connected to integrated anomaly data dashboards for crew visualization. DARIA is designed to seamlessly integrate into various off-world environments, including the International Space Station, Lunar Gateway, Artemis Base Camp, and future Mars habitats. By leveraging Commercial Off-The-Shelf (COTS) hardware, the NASA Internet of Things (NASA IoT) framework, and EIO fault detection methods, DARIA provides a cost-effective and adaptable solution for anomaly detection and response in EIO habitats.

Diagnostics↗

NASA NTRS1972

Quadrature errors in the partical derivatives required for the direct recovery of gravity anomalies from satellite observations

The equations of motion of a geodetic satellite in the earth's gravitational field expressed by gravity anomalies require the evaluation, amongst others, of the partial derivatives of the disturbing force with respect to individual gravity anomalies. Data are discussed on how anomaly blocks should be subdivided so that the partial derivatives may be numerically evaluated for each subdivision, and then finally meaned to give the value representative of the whole blocks, with accuracies better than 2 to 3 percent for all blocks. The number of subdivisions is large for the blocks nearest to the satellite subpoint and decreases away from it. The actual values of this spherical distance and the actual subdivision of the mean gravity anomaly blocks was determined numerically for 184 15 deg x 15 deg equal area blocks. Satellite heights above the earth of 400 km, 800 km and 1600 km were considered. The computer times for the suggested scheme were compared with alternative solutions.

Hajela, D. P.↗

NASA NTRS1974

Procedures and results related to the direct determination of gravity anomalies from satellite and terrestrial gravity data

The equations needed for the incorporation of gravity anomalies as unknown parameters in an orbit determination program are described. These equations were implemented in the Geodyn computer program which was used to process optical satellite observations. The arc dependent parameter unknowns, 184 unknown 15 deg and coordinates of 7 tracking stations were considered. Up to 39 arcs (5 to 7 days) involving 10 different satellites, were processed. An anomaly solution from the satellite data and a combination solution with 15 deg terrestrial anomalies were made. The limited data samples indicate that the method works. The 15 deg anomalies from various solutions and the potential coefficients implied by the different solutions are reported.

Rapp, R. H.↗

NASA NTRS1975

A global magnetic anomaly map

A subset of Pogo satellite magnetometer data has been formed that is suitable for analysis of crustal magnetic anomalies. Through the use of a thirteenth-order field model fit to these data, magnetic residuals have been calculated over the world to latitude limits of plus or minus 50 deg. These residuals, averaged over 1-degree latitude-longitude blocks, represent a detailed global magnetic anomaly map derived solely from satellite data. The occurrence of these anomalies on all individual satellite passes independent of local time and their decay as altitude increases imply a definite internal origin. Their wavelength structure and their correlation with known tectonic features further suggest that these anomalies are primarily of geologic origin and have their sources in the lithosphere.

Regan, R. D.↗

NASA NTRS1975

The anatomy of an anomaly

An anomalous tonal pattern, apparently associated with the Beaver Creek oil field in central Wyoming, was identified using an MSS Band 5 to 4 ratio image made from digital LANDSAT data. This pattern was attributed to an increase in iron with rocks and/or soils which might have resulted from escaping hydrocarbons. The nature of this anomaly was investigated by producing several different combinations of band ratios and by conducting appropriate field studies. The results indicated (1) the existence of a well-defined oval feature related to exposure of iron-cemented red sandstones in a badlands topography, (2) a broader iron-influenced anomaly surrounding this feature, and (3) a spectral response of the rocks, soils, and alluvium making up this iron-colored surface that is readily distinguishable from that of iron-rich reddish Chugwater siltstones exposed in nearby anticlines. The general pattern of the broad anomaly extending beyond the Beaver Creek field is controlled by several factors including variations in vegetation (mainly sage and tall grasses), soil composition and moisture, and topography in addition to variations in iron content of the rock materials. From the available evidence, there is no provable correlation between the oval or the broad anomalies and the distribution of petroleum-producing structures or possible surface alteration effects related to uranium deposits known to occur within this region.

Short, N. M.↗

NASA NTRS1976

Gravity anomaly detection: Apollo/Soyuz

The Goddard Apollo-Soyuz Geodynamics Experiment is described. It was performed to demonstrate the feasibility of tracking and recovering high frequency components of the earth's gravity field by utilizing a synchronous orbiting tracking station such as ATS-6. Gravity anomalies of 5 MGLS or larger having wavelengths of 300 to 1000 kilometers on the earth's surface are important for geologic studies of the upper layers of the earth's crust. Short wavelength Earth's gravity anomalies were detected from space. Two prime areas of data collection were selected for the experiment: (1) the center of the African continent and (2) the Indian Ocean Depression centered at 5% north latitude and 75% east longitude. Preliminary results show that the detectability objective of the experiment was met in both areas as well as at several additional anomalous areas around the globe. Gravity anomalies of the Karakoram and Himalayan mountain ranges, ocean trenches, as well as the Diamantina Depth, can be seen. Maps outlining the anomalies discovered are shown.

Vonbun, F. O.↗

NASA NTRS1977

Discovery and repair of software anomalies

The average time required to discover and repair anomalies which appear randomly in the end-to-end tests performed after program completion is evaluated. A model which explains anomaly discovery and repair phenomena when applied to variations in work load and multiple-stage testing is presented. The theory shows that estimates of anomaly levels and team capability can be predicted after a significant fraction of the anomalies have been found, and indicates procedures for applying these figures to schedule estimation and work-load assignment. Of particular interest is the demonstration that end-to-end testing of programs in other than the operational environment is not generally cost effective.

Tausworthe, R. C.↗

NASA NTRS1975

Negative gravity anomalies on the moon

Two kinds of negative gravity anomalies on the moon are distinguished - those which show a correspondence to lunar topography and those which appear to be unrelated to surface topography. The former appear to be due to mass deficiencies caused by the cratering process, in large part probably by ejection of material from the crater. Anomalies on the far side which do not correspond to topography are thought to have resulted from irregularities in the thickness of the lunar crust. Localized large negative anomalies adjacent to mascons are considered. Although structures on the moon having a half-wavelength of 800 km or less and large negative or positive gravity anomalies are not in isostatic equilibrium, many of these features have mass loadings of about 1000 kg/sq cm which can be statically sustained on the moon.

Bowin, C.↗

NASA NTRS1978

Detailed gravity anomalies from GEOS-3 satellite altimetry data

A technique for deriving mean gravity anomalies from dense altimetry data was developed. A combination of both deterministic and statistical techniques was used. The basic mathematical model was based on the Stokes' equation which describes the analytical relationship between mean gravity anomalies and geoid undulations at a point; this undulation is a linear function of the altimetry data at that point. The overdetermined problem resulting from the excessive altimetry data available was solved using Least-Squares principles. These principles enable the simultaneous estimation of the associated standard deviations reflecting the internal consistency based on the accuracy estimates provided for the altimetry data as well as for the terrestrial anomaly data. Several test computations were made of the anomalies and their accuracy estimates using GOES-3 data.

Gopalapillai, G. S.↗

NASA NTRS1979

GEOS 3 data processing for the recovery of geoid undulations and gravity anomalies

The paper discusses the analysis of GEOS 3 altimeter data for the determination of geoid heights and point and mean gravity anomalies. Methods are presented for determining the mean anomalies and mean undulations from the GEOS 3 altimeter data available by the end of September 1977 without having a complete set of precise orbits. The editing of the data is extensive to remove questionable data, although no filtering of the data is carried out. An adjustment process is carried out to eliminate orbit error and altimeter bias. Representative point anomaly values are computed to investigate anomaly behavior across the Bonin Trench and over the Patton seamounts.

Rapp, R. H.↗