ANOMALY DETECTIVE GROUND SUPPORT SYSTEM FOR MARS PROBE "NOZOMI"

Masashi Hashnoto Instihrte of Space and Astronautical Science (ISAS) 3- 1-1 Yoshinodai. Sagilmihara. Krulagawa 229-85 10. Japan phone: +8 1 42 7i9 8352. fax: +81 42 759 8440. e-mail: 111asas11iYrnnl.isas.acjp

Naonu Nislugori S! stems Seclion. Space S! stcn~sDcpt.. S! stelus Engineering Group. Fujitsu Limited 9-3. N;I~;ISC1-chonre. Milr;rm;~-ku.C'l~ib;r-shi. CIUba 261-0023. Jap;n~ pl~o~~c:+X 1 4.3 209 3248. fax. +8 1 43 200-.30 12. c-mil. RHE003.37,~nift!..ne jp

hl~tsuehli/uta~r~ Fujitsr~Soc~al S! sle~nsE~lgi~~ccriog Limited 1-22- 1. H~gashigotnnda.Shinagava-ku. Tok! o 14 1-0022. Japan e-n~ail:KYRO3i43 rr nift!.ne jp

ABSTRACT 011 the other 1i;uld. strong denrand to suppress or decrease the operating cost exists al~uoste\,cryn-here Il~sl~tuteof Space and Astronautical Science tllcsc da!s and also in ISAS. One of the solutio~~sfor (ISAS) \\as successfull! launched Japan's first hlars these contradictor> rcquire~uenls is to use expert probe "NOZOhlI" on JIII! 4. 1008 In order lo technique in the satellites/sp;~cccrirftoperation ISAS crrable tl~csafe operation of "NOZOhll" tutder the decided to take the expert Icclrruque at first for the sc\ ere c1enl;uncl of the cost reduction. ISAS pro\ ided geo1ll;lglletli obsen lion spacecraft "GEOTAIL" that an anonlal! dctecti\.e gro~undsupport s!stenl nan~ed nas la~ulched in 1092 xtd is still in operation at ISACS-DOC for "NOZOIblI'. operation. This s?stc~u Sag;~~nihar;lSpacecrilft Opcrai~o~lCenter (SSOC) IS the second application of espert technique to &ill This system is named "ISACS-'. jihich stands for operi~tiouof scientific spacecraft at ISAS. Man! Intelligent SAtellite Control Software. ISACS improt.ernents are achieved based on the experiences cor~sists of t~bofunctions: one 1s ISACS-PLaNner of the first expert application to the anomal! detective (ISAC'S-PLN) and the other is [SACS-DOCtor sro~~ndsupport s?stem for the geomagnetic ( [SACS-DOC). IS-4CS-PLN IS an autom;rtic obsen ation spacecraft "GEOT.4IL". Espcciall!. the con~~uandplanner nith expert technique. and ISACS- cor~~nu~~~icatio~~linh lewls can be el alunted nith111the DOC' is ;in anon~alydetecti\-e ground support s!stenI error of ii.OdB111. This perforr~uinceis expected to it d~agnostic functions. ISACS-DOC for be enough to operatc "NOZOh~ll" safel! in the hlars CiEOTAlL Ins bee11 used for 6 !cars III SSOC One tra11sli.r and orbiti~rg phase. Non [SAC'S-DOC of the important hings learned from ISACS-DOC for dngnoses "NOZObII" e\ ery operation. and it can GEOTAIL is that collectio~~of many kinds of \\am about 43) lands of "NOZOMI" abnorn~alit?to infor~uat~onfrom the t arioos kinds of grotmd support the spacecraft operator. s?slcnls like tracking systems. tr;llecton determination s! stem 2nd nttitltde/~nanc~~\~crcontrol s! stcu~s is csscnti;~l to Impro\.c the reliabil~t! of diagnos~s. I. INTRODUCTION ISAS co~~~plctedestabl~slli~~g a II~\\ ground operaliou s! stel11 based on clientiscux n.orkstation s\-stems and 15.4s operirtcs four s~telliles(AICEBONO. YOHKOH. started to use it from Japan's first Marlian probe .AS('A and HALCA) and tvo spacecraft (GEOTAIL "NOZOMI" at SSOC. Figure I shovs tl~coutlu~e of ;rud NOZOhll) on dail? bases at t11c preserlt. the lSAS net\ ground opccrt~on s~stcn~.In this Sc~ent~ficsatellitesispacccrfi ;Ire becoming more configr~ration. useful infor~n;rl~onfrom essential soph~st~cilt~d irccord~ng to morc ad\ awed sc~cutific ground s! stems can e;~sil!. be gatl~crcd through thc Inslrt~rllcntsonboard and the knonledge rcq~urcdlo netnork in real time. ISACS-DOC for "NOZOMI" operate tlle~~~1s also beco~l~ingdeeper and broader \\as det.eloped b!, takmg Ule abotc aduntagc as \\.ell

- - I'roc I ~tthlnternatmnal Sympos~umon Art~fic~alIntelhgence, Robottc\ md Automat~onIn Space, 1-3 lune 1999 (ESA Sf'-440) ;IS A1 other cspcric~~cesobtained by ISACS-DOC 2.0UTLINE OF [SACS-DOC FOR "NOZOMI" opcr;rt~on for GEOTAIL. "NOZOMI" nas succcsslilll! laru~hedJul! -I. 19OX fro111 Kagoshima 2.1 Basic-t ~SE&UUDDLIL~Q~~~,> Space Cel~ter(KSC) in Japm and is no\\ flyng to Thc follonlngs ,Ire b,islc ~de,lsIII dwgnmg ISACS- Mars to stud! the stnlcture and d!lianlics of the DOC for "NOZOMI" Some of them ,Ire ~~~trodr~ccd Marfia~~upper atlnosphere \\it11 e~~~ptiasison its b~scd on lcssol~s lennied fro111 [SACS-DOC for Inicr;rctlotl \\it11 solar uind. This paper describes GEOTAIL ISA('S-DOC' ['or "NOZOhll" and reports somc of the (1) All ~nforn~,ir~onlo d~,lgnosc the sp,~cecr,lft1s fed ;~clr~i~loperallo11 results. on-l~nethrough the net\\orh of the IS4S ncn ground operdlon s\ stem she\\ 11 In F Igure 1 (2) Wholc m,is of illc spmxr,~ft Ire repcatodh

MA I NFRAME COMPUTER

S-TLM S-TLM g OEM SERVER #///////A

- ---~- .,% <-ILK I-TLM ,, ...... -~ . ,, - ~ - DEM : ' SERVER - ~ -~ - : s?: / UDSC64md R vn7znm/nn1 DATA 5 SERVER 4 ii CONTROL $ ilDSCF4m,$ 7/z7////7,/,?-, m////n//nA :: MD-E

DATA-- ~ STORAGE 7/-//m

I RWL TIME 9 ORBIT DETERM $ zzm-mrnd

STAT ION g CONTROL $ I 7/nnnn/,/n4

S-TLM , S-TLU p DEM SERIER / - 7,n/nm,/& ANT R

I - 4 CMD GEN COMMAND - E CONTROL $ m//nm//nA 8, I' :

I' ' -, : ORBIT y: : PLANNING % ' ; ;.... ~<<

Figure 1 ISAS New Ground Operation System d~ag~losed atdomaticall! during real-tin~c is a PC. The SPARC norkstat~onlla~~dles on-lme operatloll. data feeding f~~nction. The on-line data feeding (7) The dragnosis co\-ers almost all areas of the ftniction automaticall!- reads the latest real-time spacecrnft's conumtmication s!stem. electrical tclc~uctndata. orbit and attitude data. and some of the pouer systenl. thermal control system. data ground operation systems' data through the network as Ilandl~ngs! stem. attitude and orbit control s!stenl. shov 11 ul Figure 2. The s! stem configuration of ar~dall sc~entilicinstruments onboard. ISACS-DOC for "GEOTAIL is also slior\.n in Figure (4)Diagnostic results are restricted to higlil! confident 2 for reference. This function also decodes the abo\.e IICIIIS to a\-old conr~~singthe spacecraft operators at data to physical \.nlues if it is necessary. and outputs a SSOC Facts or actual phenomena are onl! diagnostic information file b! referring the Satellite s110\\11~f the infere~iceof the abnoriualit! 1s \-ague. Information Base (SIB) file \\-h~chdefines positions of ( i) Knon ledge database call be casil updated telemetry franics and vords. tl~rcsl~oldulucs. and accord~ngto the IK\\ situation of the sp;~cccr;ift. equations for decoding the dmto ph? sic;ll vAues. etc. (6)C'onl~~iruiicatio~~ links arc carefull! natchcd b! The diagnost~c inforn~ation file is autonlaticall! conipanng the real rccei\.ing le\ els of dou 11-links transferred to the diagnostic fiu~t~onon the PC. The and up-links nith the estinnted \dues which arc PC handles the diapostic function using a calculated fro111 antennas patterns. attit~ldeof the con11uerciall!. a\.;lilable diagnost~c expert tools spacecraft. distance betveen the spacecraft and the package n:uned APSHELL/DIAG 'Manadeshi-kun': ground tracking antenna. performance of the (n~eaninga fm.oritc pupil) n.hich nms in the Microsoft ground station. etc Windons NT en\ iro~unentto reduce the de\-elopnient (7)All data used for dingnosis arc sa\.ed in [SACS- cost. The APSHELLDIAG 'hlanadcshi-~IIII.1~1s DOC and can be used for cl~cck~ngthe past status three standard fi~nctions:knon ledge d:~(abaseed~tor. of the spacecraft. ~nfereocc engine. and knonledge database The S~ncc "NC)ZObII" is a deep space nliss~on. d~agnosticexpert knowledge is horted out as a trce co1111nunic;111onlinks are c\ nluatcd \I ~thhigh accurac! form E~et? condition to icr~l) ;I tree node is In real t~ie Furthermore. electrical current deter~ninedby questions and results. The execution ~nonitoringfor 311 onboard subs! stcnls is introduced 111 of diagnosis is conducted with the fonurd inference designing "NOZOMI" to nuke cllagosing easier. engine tracing the dagosis trce by checking the conditions (truth or falsehood) of each node. The 1.2 St- scale of knowledge database III ISACS-DOC for [SAC'S-DOC for "NOZOMI" conslsts of tno "NOZOMI'. is shown in Table 1 coluputers one 1s a SPARC uorkstat~onand the other

ISACS-DOC for "GEO TAIL'' ISA CS-DOC for "NOZOMI "

CGWIhlUN/CA TW CONTROL d S C C~NTROL STA'TION REA; TIME ST4 TION CONTROL 0 THERS CONTROL DA 7A SER L'ER MA1 IAN I I BSC I I I

II,?INFRAME COMPU TER S C CONT,ROL /SACS-DOC /SACS-DOC DA T4 STORAGE ,A DS ,4D*L IDA TA SERVER) IDIAGNOSISI qllUit ff

6ws r&7 ---- - 0-1T4 MONITOR /SACS-DOC ISACSDOC ORBIT DE TERMINA TlON IDATA SERVERI (DIA GNOs/sI

Fimre 2 System Confi~urationof ISACS-DOC Table 1 Scale of Knowledge Database in ISACS-DOC for "NOZOMI"

- Conunon Ir~stnunents Sc~ent~ficInstnunents Total 11C'Ll BPS 0 DfIK otl1m 1 P\\.\ It hIIC I\[[ 1lr)C l'l'.\- hLtS (jr~zst~ons ji 80 97 j 6 42 04 52 34 17 16 25 13 590

As nient~oued:ibo\e. the contents of the d~;~g~iosis 7 4 Displa! of Biagnosti~.,RrsultS kno\ilcdge dntab;tsc are cllanged accord~ng to the Fl\ c standard nindo\\s on the screen of [SACS-DOC' \tatr~\of"NOZ0ILII" Tlic numbers of qr~estionsand fol- "NOZOhll" arc prepared to d~spl;~!the follo\\~~ig rcu~ltcxc :rpprournatel! i90 and 450 respecti\ el! at ~nfor~~iA~o~i. 1111' prcseltt Ab~torntalitenis. E\-planntion of each :~hnor~n;tlit!.

-.' . ; Pr~cc~sof DI;I~IIOSIS Norlunl a~id actr~al sl;tlus/~~lr~escausing ilic ISA('S-DCK' IS ;I full! auto~itatica~id oper;ttor-less abnonual~l!. ;~iio~ttal!detectne ground support s!stem. One of Related figr~resigraplUcdata. the fr~nct~onson the PC sho~tnin Figure 2 refers the Urgent lael. contact ~nforn~ationsuch as teleplto~re \tatus of tlic SPARC workstation e\.en 5 ~ninutes uunibers of senior erlglneers or scicnt~stswho call rcprdlcss of' the spacecraft operrttioll time. When a supen.ise the further contingent!. operation for the bet of necessan data for 10 miru~tes duration IS rtbnonndit!. prcp;tred 111 ihe SPARC \\orhstation. ISACS-DOC Urymt conumnnds to saw rhc probe from ;rutorn;rt~call! d~agnoses the \\hole areas of catastrophe (first-aid co~~umands).and NOZOhll'.. h'11c11the plural ~tuntbcrof nccessar! Some coninloll data like distance bcr\\eelt the probc data 15 ~~iclr~dcd111 10 milu~tcsduration. the stn11st1c;tl it1111 1115 earth process (calculatio~t of :I\-erage. ~ite;t~i.111;1~111111111. ~itrnt~iiruu.or elc ) is practiced according to the data cIi;tr;tctenst~csdolined in the d~agnostic~nformation lilc The ISACS-DOC narns the operators nhen it ti& soniething nbnor~ual. The operators can kno\\ ~lreclct;~~ls of the abnorlt~alit! as \\ell as the first aid 3. OPERATIN ST.4TCJS OF ISACS-DOC FOR ;ICIIOII to a\.oid li~laldaniage that ma! be c;tused b! ihc "NOZOMI" ;1bior111;111t The diaposis is repentedl! pracr~ccd abottt c\ 5 niinutes during "NOZOLLII" real-tme It is \en iniport;tnt to \,erifi- the delin~t~onsof the operritmi cscepting the duration of the recorded data knou ledge d;~t;tbasein order to actual~/ethe reliable rcprodr~cutg iVe forrnd the diagnosis rlslng the anornal! detccti1.c s\ stem The kno\\ ledge dat;thase recorded data \\as \en usefr~lto knon 11 hat happened has been checked atid ~iiai~itainedb! io~~ip;~ri~~gthe

\\ h~letltc spacecraft \\as ill\-isiblc from SSOC. This diagnosing rcsulls of ISACS-DOC \\1t1i the actn:tl rrlnct~onis strongl! required to nctualix more useful spacecraft status si~tce "NOZOMI" I;tu~~clring. ;tno~ital!dctectiw ground support s!sk111. Add~tionall!. Il~e "NOZOMI" ~nitul orbit plau arri\.ing III the Martla11 orbit on October I090 \\as changed to am\.ing at the end of 200.3 b! a Window 1 Results of D la,~~l1OSIS

-Window 2 Actual St,~tus/Vnl~~es

111a1Sunct1onof the propnlsioa s!.stenl In December has almost bee11 cornplctcd and th~ss!stcu~ will be 1098 The tuning of ISACS-DOC 113s been al111os1 used to keep the safer operatio11 of "NOZOhlI" on co~~~plelctl;111tl is alrexl! used to assist the duil! dnil! bas~st~ll the end of "NOZOb11" mission The operatloll oS "NOZOhlI" This system rill1 be full! cfSect~\.c~iessof ISACS-DOC' has already been sl~o\\11 operated regul;lrl! from June 1000 at SSOC For by finding sonie ;~b~~ornl;ilitiesof "NOZOPI.11" during :ibot~r ten 1uont11s of test-nouung. ISACS-DOC has its test-nu~~ung.Espec~ally the conu~u~nicationlink been relined on the following po~nts: lelels are evaluated ~ithven lugh accwacy after (I i The conln1unication link levels car1 be e\alu:~ted three times revision of the calculation algorithm of the n 1th111*.?.OdBln accuracy. estimution. Ttus accLuacv will be sufficient enough (2) SI\ d~fferent kinds of trend graphs to monitor to operate "NOZOMI" safel! in the trans Mars orbit colllmunlcatlon links. pol\ cr s! ste~u.propulsion and also in the Mars orbiting phase after the end of s!ster11. and solar flare can be a1na.s referred 700; It is strongly required to append the diagnosis regardless of the d~ngnosisresults. fi~nctionfor the reproduced data HI order to perfor~n ( :I The important \.alues/stnh~s rele\unt to the more reliable anon~uil! detection We :Ire co~isicleri~~g :~b~ror~nal~t!can be referred at a glance on ISACS- the \\a! to add this function n ~tl~out~uahug IIILICII DOC' screen. ;~lter;~t~onto the present ersion of ISACS-DOC' (4) The definition of diagnosis knonledge database has been modified according to the actrlal s~tuatio~~of "NOZOMI". ACKNOWLEDGMENT ( 5 i Tlic c\-pl;lnat~o~~of the abnor~nalit! has bee11 ~llodtliedreflecting the actual satellite operation The author vould 11ke to thank all of the people for Table 1 sho\\s so~wesan~ples of "NOZOhll" gi\ing us precious infor~nation of each onboard ;rbnon~~;~l~t!that [SACS-DOC found in the ;1ctl1;11 it~strtui~entof "NOZOMI" and ground support system. operat 1011 This infor~nation is essential to construct the kno\\lcdge database of the ISACS-DOC. The authors also \\odd like to ;~cknowledgeProfessors Ichiro N;~katani. Toshiftmi hlukai. and Hajime Halakana of lSAS for their trc~~~endoossupport of The de\ elopn~c~~tand ~IIIIIII~of the ;IIIOIII;I~\ dctectn e this de\.elopment. ~rouudsupport sJsten1 Tor Muus probe "NOZOhll" DIAGNOSIS RESULT: Radiation Count of Solar Particle High (TCI-SPM-OVER-CNT)

COMMON INFORMATION: 0 PASS No: 9905060 I00 0 TILIE- 1999/05/06/ 12 52 56 0 EARTH-PROBE RANGE: 43707066 1 Km 0 ECLIPSE RATE: 0 0 % 0 TRANSMISSION DELAY: 04 5 l 0 H c(ADS). +3 13 74 degree 0 H s (ADS): +45 600 degree 0 SPIN RATE (ADS): 7 804 rp111

EXPLANATION OF ABNORMALITY

STATUS: CAUTION! TCI-SPM-OVER-CNT= Hish 5Phl (War Part~clehlonltor) slio\\s h~ghcounts Watch latcli~ngup of each ~nstrumentcareSdl! Sonic mstrumcnts nia! be tumed ol't' b! the autonomous Siuict~onof DHU Report to the persons In charge of todm s operat1011 False dlaglios~sresrlltr ma! be output \\~tlilo\\ rad~ationlael t~lladlustnient of 5PM threshold Ic\ cls 1s co~iiplctcd

REFERENCED D,-\TA: TCI-SPILl-UAT.4 = I D I'CSPAI-ON OF = ON fC 1-SPhl-OVER-C'NT = 2 D TC'I- SPLITHK = ***

REFERENCE GRAPH:

Fi~ure4 Exam~leof Abnormalities Found and Printed out bv 1SACS-DOC Table 2 Examples of "NOZOMI" Abnormality

I I TMS Temperature Out of Upper Limit Oct. 1998 Required range = -20 -4- (' li occrurrcd during near-earth orbit I 'PMS ten~perat~~re\\us careli~ll! natchcd. 2 / Latching V~i11.eStatus Error (LV-2 = CLOSE) Ikc .I998 // + Malfunction of the propulsion s!stem occrurrcd during maneuver operation. 1 Orbit plan of "NOZOMI" \\as cl~anped. 3 MPM ECC I-BIT Error I W'bl EC'C' I-hit er~orocc~~r-r-ed I + It \\us recovered t)! sentl111gco~u~~~ands. , I BAT-A Temperature Out of Upper Caution Limit Mar .I 000 Iicqu~redrally = i - l i ( ' It occurred tluuiu~gnear-earth orb~t 13aLteq-A teniperature nns careli~ll!natclletl. .\pr. 1999 1 + Lhst in~puctcounter nwunop \\;IS ftdl 1111pactd;~t;~ \\ere ~10\~i11o;1~1~~1. 11 1 TMS-BASEBAND S1N Out of Lower Limit bkn. I 909 + C'onu~lr~nicationlink 111i1r:in nas snlnll I kle~netr?but rate itas lowered. 7 1 Solar-Particle-Counter High MI>.I 999 + It \\as caused b! Solar lug11 actlkut! , Activit! level \\ as carefully \I atclietl.

REFERENCES (2) Hashinloto. M.. Nishigori. N . and Mizutani. hl.: ( 1 ) tIashin~oto.bl.. Nishigori. N.. and Mtzutani. b1: Operating Status of Monitoring and Diagnostic Expert hlon~toru~gand D~ugnostic Expert Systenr for S!ste~n for Cieomagnetic Salelllte GEOTAIL. Sclcntific SpacecrxfT: E\olution for PLANET-B Probe. Proceed~ngsof the 2"" Intcrnat~onal Symposiun~on Proceedings of the tventt-first International Reducing the Cost of Spacecraft Ground Systems and Symposiun~ on Space Technology and Science. Operations'. Oxford. UK. RAL.GS2.73. pp.73.1-73.8. OILIIYA. J:ipan. Volume 1. ISTS98-e-12, pp. 1033- 1997. 10.38, 1998.