InSight Mars Lander Robotics Instrument Deployment System

The InSight Mars Lander is equipped with an Instrument Deployment System (IDS) and science payload with accompanying auxiliary peripherals mounted on the Lander. The InSight science payload includes a seismometer (SEIS) and Wind and Thermal Shield (WTS), heat flow probe (Heat Flow and Physical Properties Package, HP³) and a precision tracking system (RISE) to measure the size and state of the core, mantle and crust of Mars. The InSight flight system is a close copy of the Mars Phoenix Lander and comprises a Lander, cruise stage, heatshield and backshell. The IDS comprises an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, motor controller, arm-mounted Instrument Deployment Camera (IDC), lander-mounted Instrument Context Camera (ICC), and control software. IDS is responsible for the first precision robotic instrument placement and release of SEIS and HP³ on a planetary surface that will enable scientists to perform the first comprehensive surface-based geophysical investigation of Mars’ interior structure. This paper describes the design and operations of the Instrument Deployment Systems (IDS), a critical subsystem of the InSight Mars Lander necessary to achieve the primary scientific goals of the mission including robotic arm geology and physical properties (soil mechanics) investigations at the Landing site. In addition, we present test results of flight IDS Verification and Validation activities including thermal characterization and InSight 2017 Assembly, Test, and Launch Operations (ATLO), Deployment Scenario Test at Lockheed Martin, Denver, where all the flight payloads were successfully deployed with a balloon gravity offload fixture to compensate for Mars to Earth gravity.     

Effects of ice accretions on aircraft aerodynamics

This article is a systematic and comprehensive review, correlation, and assessment of test results available in the public domain which address the aerodynamic performance and control degradations caused by various types of ice accretions on the lifting surfaces of fixed wing aircraft. To help put the various test results in perspective, overviews are provided first of the important factors and limitations involved in computational and experimental icing simulation techniques, as well as key aerodynamic testing simulation variables and governing flow physics issues. Following these are the actual reviews, assessments, and correlations of a large number of experimental measurements of various forms of mostly simulated in-flight and ground ice accretions, augmented where appropriate by similar measurements for other analogous forms of surface contamination and/or disruptions. In-flight icing categories reviewed include the initial and inter-cycle ice accretions inherent in the use of de-icing systems which are of particular concern because of widespread misconceptions about the thickness of such accretions which can be allowed before any serious consequences occur, and the runback/ridge ice accretions typically associated with larger-than-normal water droplet encounters which are of major concern because of the possible potential for catastrophic reductions in aerodynamic effectiveness. The other in-flight ice accretion category considered includes the more familiar large rime and glaze ice accretions, including ice shapes with rather grotesque features, where the concern is that, in spite of all the research conducted to date, the upper limit of penalties possible has probably not been defined. Lastly, the effects of various possible ground frost/ice accretions are considered. The concern with some of these is that for some types of configurations, all of the normally available operating margins to stall at takeoff may be erased if these accretions are not adequately removed prior to takeoff. Throughout this review, important voids in the available database are highlighted, as are instances where previous lessons learned have tended to be overlooked.     

Performance Measures for Compressed and Coded Space Telemetry Systems

The considerations involved in the combination of data compression and error-control coding in space telemetry are analyzed through the use of two performance measures, D and R, which are similar to those used by Shannon for his rate distortion function. The average distortion D is a function of the source probability distribution, the overall system transitional probability matrix, and a cost matrix that signifies the relative importance of different types of data errors. The rate ratio R is the reciprocal of the overall system compression ratio and includes the data expansion effect of additional timing and identification data as well as coding redundancy. The effects of the following system parameters and properties on the overall distortion and rate ratio are analyzed: the error-control usefulness of natural data redundancy; the effect of errors in time information; the use of the strict monotonicity of the time information for error control; the probability distribution of the source; the biterror probability of a binary-symmetric channel; and the word-compression ratio. A rationale for comparing and choosing among three systems? uncompressed-uncoded, compressed-uncoded, and compressed-coded ?is given in terms of the performance measures D and R.     

Waveform fusion in sonar signal processing

In active sonar systems, proper selection of the transmitted waveform is critical for target detection and parameter estimation, especially with the existence of clutter (reverberation). Two commonly used waveforms (constant frequency (CF) and linear frequency modulated (LFM)) are studied. Their characteristics are complementary both with respect to their accuracies and their sensitivity to the blind zero-Doppler ridge. Several fusion schemes of the two kinds of waveforms are explored and fusion results are studied both analytically and from simulation. It is concluded that fusion of the information of different waveforms can be not only more robust, but in some cases outright preferable, in term of detection probability and estimation accuracy.     

Multispectral remote sensing of aerosols

Aerosols are common atmospheric constituents that occur both naturally (clouds, sea spray, dust, smoke, and volcanic emissions) and artificially (smog, smoke, certain hazes, detonation products, and industrial emissions). Some, like the great dust bowl storms in the U.S. in the 1930s, are a combination of natural and manmade agents. Most aerosols are difficult to model because they are composed of small, non-spherical particles whose optical constants and particle sizes are poorly known. Spectroscopic observations of aerosols in the thermal infrared atmospheric window between 8 and 13.5 μm offer the opportunity to detect aerosols both day and night down to very low column densities. Such observations can also identify the gross chemical composition of the particles and, in some cases, the actual sizes and shapes. In this paper, we discuss thermal i.r. observations of three types of aerosols: satellite measurements of volcanic dust, ground-based observations of airborne desert soil and both ground- and space-based measurements of cirrus clouds.     

Directed Subspace Search ML-PDA with Application to Active Sonar Tracking

The maximum likelihood probabilistic data association (ML-PDA) tracking algorithm is effective in tracking Very Low Observable targets (i.e., very low signal-to-noise ratio (SNR) targets in a high false alarm environment). However, the computational complexity associated with obtaining the track estimate in many cases has precluded its use in real-time scenarios. Previous ML-PDA implementations used a multi-pass grid (MPG) search to find the track estimate. Two alternate methods for finding the track estimate are presented-a genetic search and a newly developed directed subspace (DSS) search algorithm. Each algorithm is tested using active sonar scenarios in which an autonomous underwater vehicle searches for and tracks a target. Within each scenario, the problem parameters are varied to illustrate the relative performance of each search technique. Both the DSS search and the genetic algorithm are shown to be an order of magnitude more computationally efficient than the MPG search, making possible real-time implementation. In addition, the DSS search is shown to be the most effective technique at tracking a target at the lowest SNR levels-reliable tracking down to 5 dB (postprocessing SNR in a resolution cell) using a 5-frame sliding window is demonstrated, this being 6 dB better than the MPG search.     

THE ELECTRON DRIFT INSTRUMENT FOR CLUSTER

The Electron Drift Instrument (EDI) measures the drift of a weak beam of test electrons that, when emitted in certain directions, return to the spacecraft after one or more gyrations. This drift is related to the electric field and the gradient in the magnetic field, and these quantities can, by use of different electron energies, be determined separately. As a by-product, the magnetic field strength is also measured. The present paper describes the scientific objectives, the experimental method, and the technical realization of the various elements of the instrument.     

Statistical validation of HZETRN as a function of vertical cutoff rigidity using ISS measurements

Measurements taken in Low Earth Orbit (LEO) onboard the International Space Station (ISS) and transit vehicles have been extensively used to validate radiation transport models. Primarily, such comparisons were done by integrating measured data over mission or trajectory segments so that individual comparisons to model results could be made. This approach has yielded considerable information but is limited in its ability to rigorously quantify and differentiate specific model errors or uncertainties. Further, as exploration moves beyond LEO and measured data become sparse, the uncertainty estimates derived from these validation cases will no longer be applicable. Recent improvements in the underlying numerical methods used in HZETRN have resulted in significant decreases in code run time. Therefore, the large number of comparisons required to express error as a function of a physical quantity, like cutoff rigidity, are now possible. Validation can be looked at in detail over any portion of a flight trajectory (e.g. minute by minute) such that a statistically significant number of comparisons can be made. This more rigorous approach to code validation will allow the errors caused by uncertainties in the geometry models, environmental models, and nuclear physics models to be differentiated and quantified. It will also give much better guidance for future model development. More importantly, it will allow a quantitative means of extrapolating uncertainties in LEO to free space. In this work, measured data taken onboard the ISS during solar maximum are compared to results obtained with the particle transport code HZETRN. Comparisons are made at a large number (∼77,000) of discrete time intervals, allowing error estimates to be given as a function of cutoff rigidity. It is shown that HZETRN systematically underestimates exposure quantities at high cutoff rigidity. The errors are likely associated with increased angular variation in the geomagnetic field near the equator, the lack of pion production in HZETRN, and errors in high energy nuclear physics models, and will be the focus of future work.     

On-Board Image Compression for the RAE Lunar Mission

The requirements, design, implementation, and flight performance of an on-board image compression system for the lunar orbiting Radio Astronomy Explorer-2 (RAE-2) spacecraft are described. The image to be compressed is a panoramic camera view of the long radio astronomy antenna booms used for gravity-gradient stabilization of the spacecraft. A compression ratio of 32 to 1 is obtained by a combination of scan line skipping and adaptive run-length coding. The compressed imagery data are convolutionally encoded for error protection. This image compression system occupies about 1000 cm2 and consumes 0.4 W.     

Correlation of macro and micro cardiovascular function during weightlessness and simulated weightlessness

The investigation of cardiovascular function necessarily involves a consideration of the exchange of substances at the capillary. If cardiovascular function is compromised or in any way altered during exposure to zero gravity in space, then it stands to reason that microvascular function is also modified. We have shown that an increase in cardiac output similar to that reported during simulated weightlessness is associated with a doubling of the number of post-capillary venules and a reduction in the number of arterioles by 35%. If the weightlessness of space travel produces similar changes in cardiopulmonary volume and cardiac output, a reasonable expectation is that astronauts will undergo venous neovascularization. We have developed an animal model in which to correlate microvascular and systemic cardiovascular function. The microcirculatory preparation consists of a lightweight, thermo-neutral chamber implanted around intact skeletal muscle on the back of a rat. Using this technique, the performed microvasculature of the cutaneous maximus muscle may be observed in the conscious, unanesthetized animal. Microcirculatory variables which may be obtained include venular and arteriolar numbers, lengths and diameters, single vessel flow velocities, vasomotion, capillary hematocrit anastomoses and orders of branching. Systemic hemodynamic monitoring of cardiac output by electromagnetic flowmetry, and arterial and venous pressures allows correlation of macro- and microcirculatory changes at the same time, in the same animal. Observed and calculated hemodynamic variables also include pulse pressure, heart rate, stroke volume, total peripheral resistance, aortic compliance, minute work, peak aortic flow velocity and systolic time interval. In this manner, an integrated assessment of total cardiovascular function may be obtained in the same animal without the complicating influence of anesthetics.