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All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Mu2e Tracker Electronics - Construction of a Straw Tracker

The Mu2e experiment, currently under construction at the Fermi National Accelerator Laboratory (FNAL) in Batavia, Illinois, is a particle physics experiment designed to detect Charged Lepton Flavor Violation (CLFV) via muon-to-electron conversion, a process beyond the Standard Model (BSM). One of the primary Mu2e detectors is the Straw Tracker, whose purpose is to measure the momentum of the electron, identify the signal, and reject background. The straw tubes are being read out by a total of 20,736 preamplifiers (preamps) within 36 planes that make up the Tracker. In this presentation, the installation of electronics into the Tracker, the implementation of anti-oscillation copper clips, and the process of installing fully constructed planes into the frame will be discussed in depth.

Lynch, Alec [UC, Berkeley]↗
DOE OSTI2025

Mu2e Tracker Electronics - Construction of a Straw Tracker

The Mu2e experiment, located at the Fermi National Accelerator Laboratory (FNAL), also known as Fermilab, in Batavia, Illinois, is an in-progress particle physics experiment aiming to detect Charged Lepton Flavor Violation (CLFV) via the $\mu^-Al\rightarrow e^-Al$ interaction, a Beyond the Standard Model (BSM) process. One of the sections of the Mu2e experiment is the Tracker, which aims to identify the signal and reject the background while the experiment is running. A total of 20,736 Calibration (CAL) and High-Voltage (HV) preamplifiers (preamps) are being installed within 36 planes that make up the Tracker. During this process, MHz oscillations were discovered on the CAL preamps, obscuring desired signal detection in the \~kHz range. To solve this issue, copper clips are installed onto the CALs to remove the MHz oscillations. The installation of electronics into the Tracker will be discussed in depth.

Lynch, Alec Michael [UC, Berkeley; Fermilab]↗
DOE OSTI2024

Commissioning of the Mu2e tracker DAQ, planning for the Vertical Slice Test and pre-pattern recognition studies

The primary objective of the Mu2e experiment at Fermilab is to search for the neutrino-less coherent $\mu \rightarrow e$ conversion in the field of an aluminum nucleus ($\mu^- \text{Al} \rightarrow e^- \text{Al}$). The signature of this process is a monochromatic Conversion Electron (CE) with an energy of approximately 104.97 MeV \cite{bartoszek2015mu2e}. Within the Standard Model (SM), the branching ratio for this process, including neutrino masses and oscillation, is expected to be less than $\mathcal{O}(10^{-50})$. This value is far beyond current experimental capabilities. However, models of physics beyond the SM predict much higher relative rates, approaching an observable level. The SINDRUM II experiment set an upper limit on muon conversion at $7 \times 10^{-13}$ (90\% CL) on Au target \cite{SINDRUMII:2006dvw}, and the Mu2e collaboration aims to improve this limit by four orders of magnitude. Observing this process would provide a clear evidence of physics beyond the Standard Model. A brief discussion of the theoretical and experimental aspects is provided in Chapter \ref{intr}. Mu2e adopts a sophisticated experimental setup to achieve its goals, further described in Chapter \ref{mu2echapter}. The central part of the Mu2e detector is the tracker, that consists of 18 tracking stations. The tracker must provide excellent momentum resolution, approximately 1 MeV/c, to distinguish the monochromatic CE signal from the background. To minimize the energy losses, a straw tube tracker will be used \cite{bobbb}. Chapter \ref{chaptertrk} provides an overview of the straw tracker design and its working principles. This Thesis presents a comprehensive study of the Mu2e tracker, covering complementary aspects from initial commissioning to optimization and first steps of the calibration processes. My work at Fermilab has been focused on the complete Data Acquisition (DAQ) testing from both hardware and software perspectives. I was involved in the commissioning of the Mu2e DAQ system and the Vertical Slice Test (VST) of the tracker. The VST encompasses the entire testing chain, from the straws to the readout, and to processed data on disk. I was also focused on the offline analysis, especially on pre-pattern recognition studies, to explore the best methods for identifying $\delta$-electrons during the data taking. Chapter \ref{commissioning} details the commissioning of the tracker DAQ system, emphasizing the importance of understanding of the readout process before the data acquisition. This includes validating the readout logic and firmware through Monte Carlo simulations to confirm functionality and buffering, monitoring the quality of the data from the tracker preamplifiers and front-end electronics, and assessing overall DAQ performance to ensure reliability during future calibration and data-taking. Chapter \ref{planning} discusses the initial steps towards the tracker calibration. The ultimate goal is to perform a time calibration of the first assembled station of the tracker using cosmic muons, aiming for a longitudinal hit position resolution better than 4 cm. This involves determining the signal propagation times and channel-to-channel delays. I performed a Monte Carlo study to determine the impact of the station orientation on the quality of the calibration, in particular on the cosmic track reconstruction, focusing on potential biases that could arise. These studies provide essential insights into the operation, optimization, and calibration of the Mu2e tracker system. Given the high data volume expected during Mu2e operations, estimated at approximately 7 PBytes per year, optimizing memory usage and minimizing CPU consumption are critical. A significant challenge lies in effectively flagging $\delta$-electron hits, which are the primary source of hits in the tracker, without compromising the efficiency of CE hit detection and track reconstruction. A detailed study of pre-pattern recognition and a thorough comparison of two $\delta$-electron flagging algorithms is provided in Chapter \ref{delta}. In Chapter \ref{conclusions}, the findings are concisely summarized, offering a comprehensive synthesis of the research and emphasizing the key insights derived from this study.

43 PARTICLE ACCELERATORS↗
NASA NTRS2011

On-Orbit Solar Dynamics Observatory (SDO) Star Tracker Warm Pixel Analysis

This paper describes the process of identification and analysis of warm pixels in two autonomous star trackers on the Solar Dynamics Observatory (SDO) mission. A brief description of the mission orbit and attitude regimes is discussed and pertinent star tracker hardware specifications are given. Warm pixels are defined and the Quality Index parameter is introduced, which can be explained qualitatively as a manifestation of a possible warm pixel event. A description of the algorithm used to identify warm pixel candidates is given. Finally, analysis of dumps of on-orbit star tracker charge coupled devices (CCD) images is presented and an operational plan going forward is discussed. SDO, launched on February 11, 2010, is operated from the NASA Goddard Space Flight Center (GSFC). SDO is in a geosynchronous orbit with a 28.5 inclination. The nominal mission attitude points the spacecraft X-axis at the Sun, with the spacecraft Z-axis roughly aligned with the Solar North Pole. The spacecraft Y-axis completes the triad. In attitude, SDO moves approximately 0.04 per hour, mostly about the spacecraft Z-axis. The SDO star trackers, manufactured by Galileo Avionica, project the images of stars in their 16.4deg x 16.4deg fields-of-view onto CCD detectors consisting of 512 x 512 pixels. The trackers autonomously identify the star patterns and provide an attitude estimate. Each unit is able to track up to 9 stars. Additionally, each tracker calculates a parameter called the Quality Index, which is a measure of the quality of the attitude solution. Each pixel in the CCD measures the intensity of light and a warns pixel is defined as having a measurement consistently and significantly higher than the mean background intensity level. A warns pixel should also have lower intensity than a pixel containing a star image and will not move across the field of view as the attitude changes (as would a dim star image). It should be noted that the maximum error introduced in the star tracker attitude solution during suspected warm pixel corruptions is within the specified 36 attitude error budget requirement of [35, 70, 70] arcseconds. Thus, the star trackers provided attitude accuracy within the specification for SDO. The star tracker images are intentionally defocused so each star image is detected in more than one CCD pixel. The position of each star is calculated as an intensity-weighted average of the illuminated pixels. The exact method of finding the positions is proprietary to the tracker manufacturer. When a warm pixel happens to be in the vicinity of a star, it can corrupt the calculation of the position of that particular star, thereby corrupting the estimate of the attitude.

Felikson, Denis↗
NASA NTRS2004

System and method for calibrating inter-star-tracker misalignments in a stellar inertial attitude determination system

A method and apparatus for determining star tracker misalignments is disclosed. The method comprises the steps of defining a defining a reference frame for the star tracker assembly according to a boresight of the primary star tracker and a boresight of a second star tracker wherein the boresight of the primary star tracker and a plane spanned by the boresight of the primary star tracker and the boresight of the second star tracker at least partially define a datum for the reference frame for the star tracker assembly; and determining the misalignment of the at least one star tracker as a rotation of the defined reference frame.

Li, Rongsheng↗
NASA NTRS1987

The development of a charge-coupled device tracker for spacecraft

Charge-coupled device (CCD) optical sensors have made it possible to construct high performance star and target trackers for spacecraft. The Advanced Star and Target Reference Orbital Sensor (ASTROS) trackers have been developed by JPL for the Shuttle-based astronomical flight Astro-1 and the Mariner Mark II (MMII) spacecraft. For the Shuttle application the tracker will provide the data for high precision instrument pointing and for the MMII application the tracker will provide stellar and extended target tracking data for flyby and rendezvous navigation. The specifications, architecture, and testing program for these trackers will be described. Laboratory measurements have demonstrated that these trackers can be very effective. The versatility and flexibility of the ASTROS type trackers will permit adaptation to a variety of navigation and guidance applications. These trackers represent one of the technologically advanced components that will be used in the development of the next generation of spacecraft.

Dennison, E. W.↗
NASA NTRS1999

Tracker: Image-Processing and Object-Tracking System Developed

Tracker is an object-tracking and image-processing program designed and developed at the NASA Lewis Research Center to help with the analysis of images generated by microgravity combustion and fluid physics experiments. Experiments are often recorded on film or videotape for analysis later. Tracker automates the process of examining each frame of the recorded experiment, performing image-processing operations to bring out the desired detail, and recording the positions of the objects of interest. It can load sequences of images from disk files or acquire images (via a frame grabber) from film transports, videotape, laser disks, or a live camera. Tracker controls the image source to automatically advance to the next frame. It can employ a large array of image-processing operations to enhance the detail of the acquired images and can analyze an arbitrarily large number of objects simultaneously. Several different tracking algorithms are available, including conventional threshold and correlation-based techniques, and more esoteric procedures such as "snake" tracking and automated recognition of character data in the image. The Tracker software was written to be operated by researchers, thus every attempt was made to make the software as user friendly and self-explanatory as possible. Tracker is used by most of the microgravity combustion and fluid physics experiments performed by Lewis, and by visiting researchers. This includes experiments performed on the space shuttles, Mir, sounding rockets, zero-g research airplanes, drop towers, and ground-based laboratories. This software automates the analysis of the flame or liquid s physical parameters such as position, velocity, acceleration, size, shape, intensity characteristics, color, and centroid, as well as a number of other measurements. It can perform these operations on multiple objects simultaneously. Another key feature of Tracker is that it performs optical character recognition (OCR). This feature is useful in extracting numerical instrumentation data that are embedded in images. All the results are saved in files for further data reduction and graphing. There are currently three Tracking Systems (workstations) operating near the laboratories and offices of Lewis Microgravity Science Division researchers. These systems are used independently by students, scientists, and university-based principal investigators. The researchers bring their tapes or films to the workstation and perform the tracking analysis. The resultant data files generated by the tracking process can then be analyzed on the spot, although most of the time researchers prefer to transfer them via the network to their offices for further analysis or plotting. In addition, many researchers have installed Tracker on computers in their office for desktop analysis of digital image sequences, which can be digitized by the Tracking System or some other means. Tracker has not only provided a capability to efficiently and automatically analyze large volumes of data, saving many hours of tedious work, but has also provided new capabilities to extract valuable information and phenomena that was heretofore undetected and unexploited.

Klimek, Robert B.↗
NASA NTRS2013

Optical Alignment of the Global Precipitation Measurement (GPM) Star Trackers

The optical alignment of the star trackers on the Global Precipitation Measurement (GPM) core spacecraft at NASA Goddard Space Flight Center (GSFC) was challenging due to the layout and structural design of the GPM Lower Bus Structure (LBS) in which the star trackers are mounted as well as the presence of the star tracker shades that blocked line-of-sight to the primary star tracker optical references. The initial solution was to negotiate minor changes in the original LBS design to allow for the installation of a removable item of ground support equipment (GSE) that could be installed whenever measurements of the star tracker optical references were needed. However, this GSE could only be used to measure secondary optical reference cube faces not used by the star tracker vendor to obtain the relationship information and matrix transformations necessary to determine star tracker alignment. Unfortunately, due to unexpectedly large orthogonality errors between the measured secondary adjacent cube faces and the lack of cube calibration data, we required a method that could be used to measure the same reference cube faces as originally measured by the vendor. We describe an alternative technique to theodolite auto-collimation for measurement of an optical reference mirror pointing direction when normal incidence measurements are not possible. This technique was used to successfully align the GPM star trackers and has been used on a number of other NASA flight projects. We also discuss alignment theory as well as a GSFC-developed theodolite data analysis package used to analyze angular metrology data.

Hetherington, Samuel↗
DOE OSTI2024

MPGD Trackers in the ePIC Detector at the EIC

The future Electron-Ion Collider (EIC) at Brookhaven National Laboratory will collide polarized electrons with polarized proton/ions. The electron ? Proton / Ion Collider (ePIC) Experiment is the EIC general-purpose detector aiming at delivering the full physics program of the EIC. This unique environment imposes stringent requirements on the tracking system needed for the measurement of the scattered electron and charged particles produced in the collisions at the EIC. The central tracker of the ePIC detector has silicon layers for tracking and vertexing based on MAPS technology, which are complemented by large Micro-Pattern Gaseous Detector (MPGD) trackers in the barrel and in both the electron and hadron end cap regions. The MPGD layers provide fast timing (10-20 ns) and additional hit points (150 µm) for pattern recognition during track finding. Two MPGD technologies are used in ePIC central trackers: cylindrical Micromegas for the barrel inner tracker and planar thin-gap GEM-µRWELL hybrid detector for the barrel outer tracker and the end cap disks. In this talk, we will introduce these two technologies in the context of ePIC and we will discuss the ongoing R&D efforts to address the requirements. Finally, we will discuss the plans and timeline for the production and testing and commissioning of the MPGD trackers for the installation in the ePIC detector.

Gnanvo, Kondo↗
NASA NTRS1981

A CCD tracker for closed-loop instrument pointing at Halley's comet

An optical tracker based on CCD technology has been developed for the closed-loop pointing of the narrow-angle imaging system of the proposed Halley's comet intercept mission at the comet nucleus. The target tracker, needed to assure the accurate pointing of science instruments as the nucleus rapidly passes the spacecraft, is a component of the pointing control system, which also includes a two-axis articulated instrument platform and high-resolution optical encoders to measure platform orientation relative to spacecraft structure. The device was designed on the basis of a CCD imaging array to calculate target centroid position based on the optical intensity of all pixels containing the image, and a processor to perform spacecraft attitude control, pointing control and target tracker control and data processing functions. The tracker has been configured to operate in both target acquisition and tracking modes. Preliminary simulation results and past experiments on similar trackers indicate that excellent tracking performance can be achieved, and a breadboard version of the tracker is currently being fabricated.

Stanton, R. H.↗
NASA NTRS1981

Breadboard stellar tracker system test report, volume 1

The performance of a star tracker equipped with a focal plane detector was evaluated. The CID board is an array of 256 x 256 pixels which are 20 x 20 micrometers in dimension. The tracker used for test was a breadboard tracker system developed by BASD. Unique acquisition and tracking algorithms are employed to enhance performance. A pattern recognition process is used to test for proper image spread function and to avoid false acquisition on noise. A very linear, high gain, interpixel transfer function is derived for interpolating star position. The lens used in the tracker has an EFL of 100 mm. The tracker has an FOV of 2.93 degrees resulting in a pixel angular subtense of 41.253 arc sec in each axis. The test procedure used for the program presented a star to the tracker in a circular pattern of positions; the pattern was formed by projecting a simulated star through a rotatable deviation wedge. Further tests determined readout noise, Noise Equivalent Displacement during track, and spatial noise during acquisition by taking related data and reducing it.

Kollodge, J. C.↗
NASA NTRS1988

Technology transfer: Imaging tracker to robotic controller

The transformation of an imaging tracker to a robotic controller is described. A multimode tracker was developed for fire and forget missile systems. The tracker locks on to target images within an acquisition window using multiple image tracking algorithms to provide guidance commands to missile control systems. This basic tracker technology is used with the addition of a ranging algorithm based on sizing a cooperative target to perform autonomous guidance and control of a platform for an Advanced Development Project on automation and robotics. A ranging tracker is required to provide the positioning necessary for robotic control. A simple functional demonstration of the feasibility of this approach was performed and described. More realistic demonstrations are under way at NASA-JSC. In particular, this modified tracker, or robotic controller, will be used to autonomously guide the Man Maneuvering Unit (MMU) to targets such as disabled astronauts or tools as part of the EVA Retriever efforts. It will also be used to control the orbiter's Remote Manipulator Systems (RMS) in autonomous approach and positioning demonstrations. These efforts will also be discussed.

Otaguro, M. S.↗
NASA NTRS2022

Night Sky Testing of the Lunar Flashlight Star Tracker

Lunar Flashlight (LF) is a 6U, 14 kg spacecraft being built by the NASA Jet Propulsion Laboratory (JPL). The mission will use IR laser technology to search for volatiles and surface water ice deposits in the permanently shadowed regions (PSR) of the moon in preparation for future human lunar exploration. The fine pointing provided by the Guidance, Navigation and Control (GNC) system is crucial for the spacecraft to successfully reach the moon, enter a lunar orbit, and acquire scientific data. At the center of the GNC system’s ability to determine the spacecraft’s attitude is a star tracker. The LF star tracker is a commercial-off-the-shelf (COTS) unit built into the integrated GNC system provided by Blue Canyon Technologies. Blue Canyon tested the star tracker in a lab environment for basic functionality and attitude estimation capabilities; upon delivery of the hardware to JPL, further testing with a real night sky was desired to determine expected in-flight operational characteristics. JPL maintains the Table Mountain Facility with its suite of ground telescopes, including a 0.6m telescope with an equatorial mount. This stable platform provided a highly accurate method of providing slews and attitude holds akin to what the spacecraft will perform in flight. Therefore, by analyzing the data from these representative night-sky ground tests performed in March, 2021, it is possible to acquire expected flight performance of the star tracker, particularly in regard to the ability of the star tracker to maintain lock on the starfield during planned maneuver types. This paper presents the various tests that have been performed to ensure that the LF star tracker will function as part of the overall GNC system and integrated spacecraft once launched. Test data is included for several key tests, and a path forward towards future integration and testing at the spacecraft level is described.

Baker, John↗
NASA NTRS2015

Star Tracker Performance Estimate with IMU

A software tool for estimating cross-boresight error of a star tracker combined with an inertial measurement unit (IMU) was developed to support trade studies for the Integrated Radio and Optical Communication project (iROC) at the National Aeronautics and Space Administration Glenn Research Center. Typical laser communication systems, such as the Lunar Laser Communication Demonstration (LLCD) and the Laser Communication Relay Demonstration (LCRD), use a beacon to locate ground stations. iROC is investigating the use of beaconless precision laser pointing to enable laser communication at Mars orbits and beyond. Precision attitude knowledge is essential to the iROC mission to enable high-speed steering of the optical link. The preliminary concept to achieve this precision attitude knowledge is to use star trackers combined with an IMU. The Star Tracker Accuracy (STAcc) software was developed to rapidly assess the capabilities of star tracker and IMU configurations. STAcc determines the overall cross-boresight error of a star tracker with an IMU given the characteristic parameters: quantum efficiency, aperture, apparent star magnitude, exposure time, field of view, photon spread, detector pixels, spacecraft slew rate, maximum stars used for quaternion estimation, and IMU angular random walk. This paper discusses the supporting theory used to construct STAcc, verification of the program and sample results.

Error Budget↗
DOE OSTI2026

Mechanics and Cooling of the CMS Phase-II Tracker Barrel

The CMS upgrade for the High-Luminosity LHC (HL-LHC) era will allow for an incredibly high rate of data collection, to be used in the next generation of precision measurements and searches for beyond the standard model physics. A key element of this upgrade is the full replacement of the silicon strip tracker to enable level-1 triggering on track level primitives, produced by pixel-strip (PS) and strip-strip (2S) modules, tiled together to form the new detector. Mechanically supporting and cooling these modules is not trivial, as material budget in the tracker volume is highly constrained, and as the modules accrue radiation damage they risk becoming entirely non-functional if the silicon sensors are not sufficiently cooled. To address this, each region of the tracker has a bespoke solution for housing and cooling their modules, mostly depending on carbon-fiber and carbon-foam structures, with dual phase CO2 cooling. For the most central part of the tracker, the Flat Barrel with PS modules (Flat TBPS) covers the pseudorapidity range out to $|\eta|=0.4$, and the mechanical structures are manufactured, assembled, and tested entirely by Fermilab and UC Davis. This presentation will describe the intense design and testing requirements for these components, and how they will ensure strong performance of the tracker through the HL-LHC era.

Cosby, Christopher [Fermilab]↗
NASA NTRS2002

Performance of the Microwave Anisotropy Probe AST-201 Star Trackers

The Microwave Anisotropy Probe (MAP) was launched to create a full-sky map of the cosmic microwave background. MAP incorporates two modified Lockheed Martin AST-201 (Autonomous Star Tracker) star trackers. The AST-201 employs an eight element radiation hardened lens assembly which is used to focus an image on a charge coupled device (CCD). The CCD image is then processed by a star identification algorithm which outputs a three-axis attitude. A CCD-shift algorithm called Time Delayed Integration (TDI) was also included in each star tracker. In order to provide some radiation effect filtering during MAP's three to five phasing loop passes through the Van Allen radiation belts, a simple pixel filtering scheme was implemented, rather than using a more complex, but more robust windowing algorithm. The trackers also include a fiber optic data interface. This paper details the ground testing that was accomplished on the MAP trackers.

Ward, David K.↗
NASA NTRS2010

Space Shuttle Star Tracker Challenges

The space shuttle fleet of avionics was originally designed in the 1970's. Many of the subsystems have been upgraded and replaced, however some original hardware continues to fly. Not only fly, but has proven to be the best design available to perform its designated task. The shuttle star tracker system is currently flying as a mixture of old and new designs, each with a unique purpose to fill for the mission. Orbiter missions have tackled many varied missions in space over the years. As the orbiters began flying to the International Space Station (ISS), new challenges were discovered and overcome as new trusses and modules were added. For the star tracker subsystem, the growing ISS posed an unusual problem, bright light. With two star trackers on board, the 1970's vintage image dissector tube (IDT) star trackers track the ISS, while the new solid state design is used for dim star tracking. This presentation focuses on the challenges and solutions used to ensure star trackers can complete the shuttle missions successfully. Topics include KSC team and industry partner methods used to correct pressurized case failures and track system performance.

Herrera, Linda M.↗