Earth Observing-1 1 March 2, 2004

Dan Mandl, GSFC Dr. Steve Chien/JPL Sandra Grosvenor/SSAI/GSFC Stu Frye/Mitretek/GSFC

University of Arizona EO-1 Sensor Webs/GSFC System Engineering Seminar 1 Agenda Earth Observing-1 2 March 2, 2004 X Dan Mandl – EO-1 Overview – Sensor Web overview – EO-1 Testbed activities

X Steve Chien – Sensor webs experiments with floods and volcanoes – Continuous Activity Scheduling Planning Execution and Replanning (CASPER) system

X Sandra Grosvenor – Science Goal Monitor

X Stuart Frye – Warts, bumps and blemishes

EO-1 Sensor Webs/GSFC System Engineering Seminar 2 Introduction to EO1 Mission Earth Observing-1 3 March 2, 2004

X Key information: – Managed by GSFC – First Earth-Observing Mission sponsored by the New Millennium Program – A mission devoted entirely to the flight validation of 13 advanced technologies applicable to future land-imaging missions – Approved in March 1996 and launched in November 21, 2000 – All technologies were flight-validated by December 2001 and EO-1 is now in an Extended Mission – Sufficient fuel to operate through at least September 2004

EO-1 Sensor Webs/GSFC System Engineering Seminar 3 Introduction to EO1 Mission Earth Observing-1 4 March 2, 2004 X Payload: – Advanced Land Imager (ALI) (visible, 30 m & 10m resolution) – Hyperion (hyperspectral, 220 bands, 30m res.) – Atmospheric Corrector (hyperspectral, 242 bands, 250m res.)

X Two Mongoose V CPU’s (8 MIPS and 256 Mb RAM) – Flight control software on CDH CPU – Autonomy software (including cloud cover detection software) on Wideband Advanced Recorder and Processor (WARP) Mongoose CPU

EO-1 Sensor Webs/GSFC System Engineering Seminar 4 EO-1 Mission Phases Earth Observing-1 5 March 2, 2004 X After base mission, three more mission phases evolved as depicted in chart below

X Sensor Web/Testbed phase is active now

X Virtual observatory phase is the phase in which as much mission autonomy as possible will be implemented to reduce the cost as much as possible of running the EO-1 mission – Includes semi-autonomous tasking of EO-1

Phase 1 “Accelerated Phase 2 Mission” “Public Access” Phase 3 “Sensor Web/Test-Bed” Phase 4 “Virtual Observatory” Baseline Mission Extended Mission

Launch Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 Q4 Q1 Q2 Q3 2000 2001 2002 2003 2004

EO-1 Sensor Webs/GSFC System Engineering Seminar 5 Evolution Towards Integrated Earth Observing-1 6 Observations March 2, 2004

Landsat 7 Calipso Aura Aqua QuikScat Sage

CloudSat TRMM

Champ IceSat Aqua

Toms-EP SeaWinds Terra NMP-EO1

Terra Grace UARS Command high resolution NMP-EO1 closer viewing GOES-E Today: GOES-W “Stovepiped” Observing Systems

Near Term: Evolution Towards Distributed Space Systems for Integrated Observations

EO-1 Sensor Webs/GSFC System Engineering Seminar 6 The Future: A Vision for a Globally

Earth Observing-1 Integrated Sensor Web Observing System 7 March 2, 2004

A sensor web is a coherent set of distributed “nodes”, interconnected by a communications fabric, that collectively behave as a single, dynamically adaptive, observing system.

Commercial Communication Network Crosslink •Interoperating Measurement Systems (Space, Atmosphere, Surface)

Smart Antenna •Flexible Measurement Systems Network Architecture S,X, Ka •Direct Distribution of Derived Products

S, X, Ka •Network Computing- in-the-Sky •WiFi for satellites

Smart Antenna Metadata Comm Systems Data Mining/ Warehouse Gateway Date Fusion Sites

EO-1 Sensor Webs/GSFC System Engineering Seminar 7 Sensor Web Nodes & Interactions Earth Observing-1 8 March 2, 2004

Volcano Ash Plume

Hurricane

Forest Fire ental Phenomenon ronm Oil Spill Sensor Envi Nodes

Algal Bloom Communications Fabric

Information Computing Storage Nodes Nodes

Models & Data Assimilation Slide by Steve Talabac/586 Data Warehouses & Data Mining

EO-1 Sensor Webs/GSFC System Engineering Seminar 8 Benefits of Sensor Web Dynamic Measurement

Earth Observing-1 Techniques and Adaptive Observing Strategies 9 March 2, 2004

X Event driven observations – Improved system response (to catch transient events)

X Model-driven observations – Improved predictive capability

X Intelligent data collection – Improve efficiency of resource utilization

X Sensor data fusion – Improved science integration

EO-1 Sensor Webs/GSFC System Engineering Seminar 9 Experimenting with Following Capabilities (Under categories of event driven sensor webs and intelligent data Earth Observing-1 10 collection) March 2, 2004

X Automatic science product generation – Archives – Tasking “ad hoc” set of satellites automatically

X Ad Hoc constellations – Capability to rapidly combine data from heterogeneous sets of satellites on-orbit and other instrumentation such as in-situ instruments to create new science products not originally planned – “Ad hoc” constellation planning and scheduling for the sensor webs – Capability to rapidly reconfigure and schedule different groupings of “ad hoc” satellites – “Ad hoc” constellation planning and scheduling hidden from user

X User specifies high level goals and system takes care of details – Virtual observatory

X Make use of existing assets

X Enable radiometric crosswalk – Ability to rapidly mosaic and fill in images with different satellites and instrumentation

EO-1 Sensor Webs/GSFC System Engineering Seminar 10 Sensor Web Vision

Earth Observing-1 11 How we’d like it to be! March 2, 2004

Virtual Observatory Choose observation band and/or satellite and image will automatically be taken: Landsat AVHRR MODIS MISR ASTER Hyperion ALI

EO-1 Sensor Webs/GSFC System Engineering Seminar 11 Example of Recent Sensor Web Experiment, National Priority Wildfires, Performed 8-21-03 After ascertaining that the 12 Earth Observing-1 3 Robert fire is at lat 48.564 long –114.163, EO-1 is March 2, 2004 tasked to take closer high Large wild fires resolution look 1 tracked by National Interagency Fire Center (NIFC) 4 SGM causes MOPSS, CMS, 1 CASPER (ground version) to task EO-1 via command load

and causes EO-1 to 5 downlink the image to EROS Data Center (EDC) at Sioux Falls

SGM correlates selected wildfire (25 Robert) to exact present location using 2 data from Rapid Fire workstation in 6 MODIS Instrument Center which is EDC performs L0 updated every 5 minutes and L1 processing and FTP's image to NatuDr. Robral H Sohlbazardesrg , invUnivestig. ofator Md.s at UMD.

7

UMDDr. Rob team Sohlb tranesforgrms imtranagsfoe intorm sE iRDASmage formatinto ERDA and SF TformP’s atfile toand USFS/ FTP’Ssaltfile La toke MODIS CitFory ewshtryer eSe burnrvic e for Instrument on eevxtealunta prodution ct is Terra or Aqua derived. Result is sent to BAER team at EO-1 Sensor Webs/GSFC System Engineering SeminarMODIS Active Fire Detection Map Robert Fire. 12 MODIS Rapid Response Overview

Earth Observing-1 13 March 2, 2004 L1B Data

T+30min Direct Broadcast Receiving Station USDA Forest Service Terra Remote Sensing Backup Feed Application Center Active Fire Maps L1B Data http://activefiremaps.fs.fed.us Twice Daily 3am/pm MT Active Fire Locations Burn Severity Maps T+5hrs Handcrafted Imagery

Active Fire Locations Active Fire Rapid Response System EDOS Selected Imagery Locations MODIS NASA/GSFC L0 Data GOFC Fire Partners

T+2-5hrs T+5hrs University of Maryland Geography Dept

Active Fire and GES DAAC NOAA Corrected Reflectance NASA/GSFC http://rapidfire.sci.gsfc.nasa.gov NASA Earth Web Fire Maps and Fire Observatory MODIS home page Feature Server http://earthobservatory.nasa.gov http://modis.gsfc.nasa.gov http://firemaps.geog.umd.edu EO-1 Sensor Webs/GSFC System Engineering Seminar 13 Earth Observing-1 14 March 2, 2004

EO-1 Sensor Webs/GSFC System Engineering Seminar 14 Earth Observing-1 15 March 2, 2004

EO-1 Sensor Webs/GSFC System Engineering Seminar 15 Earth Observing-1 16 March 2, 2004

EO-1 Sensor Webs/GSFC System Engineering Seminar 16 Earth Observing-1 17 March 2, 2004

EO-1 Sensor Webs/GSFC System Engineering Seminar 17 Targeted EO-1 Earth Observing-1 Sensor Web Experiments 18 March 2, 2004

Target Space sensors Ground Coordination Partners Status Sensors

Wildfires EO-1 (ALI, Hyperion), N/A SGM and/or GSFC, JPL, UMD, ongoing Terra/Aqua (MODIS) ASE USFS,NOAA

Floods Quickscat, Delin’s Gnd SGM and/or JPL,GSFC ongoing Terra/Aqua (MODIS), Sensorweb ASE Dartmouth Flood EO-1 Observatory Volcanoes MODIS, GOES, TBD SGM and/or GSFC, JPL, Univ. ongoing ASTER, EO-1 ASE of Hawaii

Algal EO-1 Seahorse SGM and/or GSFC, ARL future Blooms ASE (Univ. of Penn.)

Dust EO-1, TBS SGM and/or JPL, GSFC, NRL future storms ASE

SGM = Science Goal Monitor ASE = Autonomous Sciencecraft Experiment (includes CASPER) CASPER = Continuous Activity Scheduling, Planning Execution and Replanning (software)

EO-1 Sensor Webs/GSFC System Engineering Seminar 18 Related Sensor Web Tasks Using EO-1 as a Testbed Earth Observing-1 19 On-board End-to-End Autonomous Operational March 2, 2004 Processing Communications Coordination Testbed

On-board Cloud Autonomous Science Cover Detection Experiment(ASE) Validation X Migration of ST6 onto complete EO-1

Preliminary EO-1 Autonomy Experiment EO-1, Terra, Aqua Sensor X On-board planning Web Demo 1 & 2 X On-board feature detection X Uses MODIS inst center to X Dynamic SW Bus detect fires and volcanoes X Uses SGM/ASE to coord image collect with various levels of autonomously Smart Antenna Science Goal Monitor(SGM) X Ground phased array X Semi-autonomous coordination of imaging X “Cell tower” com to sat EO-1/ Gnd Sensor Sensor Web X Sensors similar to ones at Huntington Botanical Garden Hyperspectral Livingstone On-board trigger EO-1 image Compression WG Model Based Diag Tool X On-board data mining X Autonomous anomaly X On-board intelligent diagnosis and image compression recommendations Intelligent Distributed Spacecraft Technology X Working group Testbed

Funded by ESTO Funded by NMP Funded by IS Proposed activity

EO-1 Sensor Webs/GSFC System Engineering Seminar Partially funded – rest of task proposal submitted to CICT IS NRA 19 Onboard Cloud Cover Assessment Earth Observing-1 20 March 2, 2004 X Flight validated an onboard cloud cover detection algorithm and determine the performance that is achieved on the Mongoose V – Used Hyperion sensor measurements – Algorithm developed by MIT / Lincoln Lab

X Final onboard cloud cover assessment of an EO-1 8 second (.75 Gbyte) Hyperion scene (taken March 4, 2003, El Mhamid) was expected to take hours but instead took less than 30 minutes

X Streamlined algorithm by: – Performing level 0 on all data and then selecting the needed 6 bands – Converted level 0 data to radiance (level 1R) one scan line (256 pixels) at a time – Performed pixel by pixel cloud assessment

X Determined that we could perform onboard cloud assessment faster with the following capabilities: – Subsampling of raw data (can get close to same results without processing all data) – User defined area of interest within image and only process that portion – Direct access to science recorder – Cloud assessment algorithm can be expanded since we had more margin than expected

X For 20 test cases on ground, performed cloud assessment within 5% for major test cases, final validation underestimated 5-10%

EO-1 Sensor Webs/GSFC System Engineering Seminar 20 Onboard Cloud Cover Assessment Earth Observing-1 21 March 2, 2004 First onboard test case March 4, 2003

Cheyenne, Wy Performed simulated cloud assessment on ground with real image El Mahmid: Path 201 Row 39 Algorithm produced a cloud amount value of 47.1% for this scene EO-1 Sensor Webs/GSFC System Engineering Seminar 21 Key Technology to Enable Sensor Web Framework: Middleware to enable “plug and play”! (GMSEC) Earth Observing-1 22 Self updating March 2, 2004 S/C Simulink Model Mission Planning Component

Evolve planning toolbox: - Port AMPS to Linux/Personal Oracle – EO-1/ST-5(funded) - Integrate scenario scheduler for near real-time replanning – EO-1/ST-5(funded) AIST-02-0065 Integrate SGM as component of AMPS to enable web based abstract planning (goal oriented mission planning) Develop cost-effective - EO-1(proposed) seamless, continuous Demonstrate operational loadable space to ground link onboard planning tool-EO- for low earth orbiting 1/CASPER(funded) satellites(funded): Integrate Simulink Model into - Like “cell tower” network planning toolbox (proposed Adapters enable new components on ST-5) to be easily plugged-in, Gnd & S/C Evolve “plug and play” flight SW capability: Target is to enable Sensor Web - Easily loadable new flight SW functionality – EO-1/CASPER –(funded, ongoing) framework: - Demonstrate “hot” plug and play flight SW through command link – proposed for EO-1, then LISA - Distributed collaborative planning components achieve goals - Build spec for flight SW “plug” – target LISA and Con-X to make operational (like USB for Flight SW) with increasing autonomy - Establish flight SW reuse library – in process by Flight SW Branch (in process Flight SW Branch) EO-1 Sensor Webs/GSFC System Engineering Seminar 22 Target Mission Messaging Architecture Earth Observing-1 23 March 2, 2004 X Create seamless messaging system across constellation/mission components using Dynamic Software Bus (DSB) & IP – Multi-protocol – Easy integration of heritage components to create “ad hoc” constellations – Components send each other messages similar to internet (URL) by knowing registered name, details taken care of by system – Once in place, “progressive” mission autonomy easy to create and integrate Dynamic Software Bus (DSB) Across Multiple Entities SW task within mission component

Internal DSB Internal DSB Constellation Resource Manager Registrar Name Registrar Name Assignment=“SC 1” Assignment=“GND 1” SGM used as first step Registrar Name Registrar Name Assignment=“SC 2” Bus I/F Task Assignment=“GND 2” Funded by CICT Registrar Name Registrar Name Example: This could be Assignment=“SC N” Assignment=“GND N” Alaska Ground Station, standalone antenna Funded by NMP Enable seamless space ground I/F system or Mission EO-1 Sensor Webs/GSFC System Engineering Seminar Operations Center 23 Example of how we are attempting to tie together Onboard and ground planning and scheduling tools Earth Observing-1 24 March 2, 2004 Science Goal Monitor(on ground) Science High Level Goals -response seconds to days Status (web-based) Sub-goals Observation Status CASPER Planner (in S/C) Goals Onboard Science – response in 10s of minutes Image Instrument Plans of Activities Data New High level S/C State Information (high level) Band Stripping SW

SCL – response in seconds with rules, scripts SCL is key adapter S/C State Commands (low level) to plug in our new EO-1 Conventional Flight Software reflexive response components Existing Control Signals Sensor Telemetry (very low level)

Spacecraft Hardware

2 On spacecraft EO-1 Sensor Webs/GSFC System Engineering Seminar 24 An Onboard Plug-in Model- Simple declarative model Based Diagnostic Tool to be used on EO-1 Earth Observing-1 25 March 2, 2004 SCL Components

Satellite/Experiment Status Satellite/Experiment Status

Feature RTI extraction Timed commands, monitors Livingstone Sensors commands,

S observations, SCL Adaptor

C observations diagnostic S1

L requests

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S1

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p WARP SSR

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- o 1 M-5 Processor

S r

1 1

7 RAM

7

3

D

a

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B SCL DB

u s SCL CASPER High-level Satellite commands Executive Satellite commands

Mission Operations Control (MOC) / Ground Processing Unit (GPU)

Satellite/Experiment Status

EO-1 Sensor Webs/GSFC System Engineering Seminar 25 WiFi for Satellites (Smart Antennas)

Earth Observing-1 26 March 2, 2004 PI: Dan Mandl, NASA/GSFC, Code 584 Description and Objectives

XValidate new antenna technologies that either used separately or in combination lower cost to purchase, maintain and operate ground antennas in the X and Ka-band for low earth orbiting satellites

XKey objectives include increased reliability by eliminating moving parts, simultaneous users on one antenna system, wider and more flexible total coverage than present GN coverage, auto-detect of satellites entering the field –of-view of antennas and auto- adjust of Gain over Noise Temperature (G/T) depending on Conceptual Antenna System Architecture based on needed gain to receive data from satellite small dishes (left) and alternative concept based on Space Fed Lens Array (right), placed on backdrop of tennis court to visualize size. Approach Schedule and Deliverables • Explore three technologies; adaptive beamforming 3/15/04 – Complete S-Band antenna demo using DSP using Digital Signal Processing (DSP) as backend and 3/15/05- Complete X-Band antenna demo using DSP/SpaceFed Lens Space Fed Lens and Reflectarray as front end 3/15/06 – Complete X-band antenna demo using DSP/Reflectarray & • Manipulate following parameters to minimize cost: if possible, Ka-Band antenna demo using DSP aperture size, number of apertures, aperture efficiency and selection of beam forming algorithm Co-I’s/Partners Application/Mission • Dr. Mary Ann Ingram, Georgia Institute of Technology • EO-1 and similar missions that • Dr. Felix Miranda, Dr. Richard Lee, Dr. Robert have S, X and Ka-Band Romanofsky, Dr, Afroz Zaman, Glenn Research Center TRL=4in communications • Dr. John Langley, Saquish Group Ongoing research to use Smart Antennas to shape antenna patterns to enable efficient use of the space to ground communications spectrum for constellations. EO-1 Sensor Webs/GSFC System Engineering Seminar 26 Vision for Smart Antennas for Satellites Earth Observing-1 27 March 2, 2004 Antenna patterns adjusted electronically thousands of times per second to follow users and avoid interference Data rates vary per link according to the configuration of the adaptive array

Antenna directional sensitivity

EO-1 Sensor Webs/GSFC System Engineering Seminar 27 Georgia Tech Task: Initial Setup of Test Element for Smart Antenna in July 2003 Earth Observing-1 28 March 2, 2004

X Helical antenna element being setup for pass with EO-1 in July 2003

X Final test for year 1 will be four element system, adaptively combining the signal to enable capturing S-Band data from EO-1 – Year 2 will work with X-Band data – Year 3 will work with Ka-Band data if possible EO-1 Sensor Webs/GSFC System Engineering Seminar 28 Georgia Tech:Successful Smart Antenna Tests at Georgia Tech 11-19-03 and 11-25-03 Earth Observing-1 29 March 2, 2004

System noise floor Analyzer noise floor

Sirius and XM Radio interference, 10,000 times stronger than EO-1 signal.

1. Prior to the pass: antenna with cement blocks to prevent it from blowing over. Atlanta skyline in the background. The antenna had a In test 1, 11-19-03: significant vertical wobble (ground EO-1 spectrum plane) due to wind. detected on analyzer

2. Students observing EO-1 signal spectrum. In test 2, 11-25-03: EO-1 signal digitized, 3. Prior to pass, checking spectra of fast fourier transform know interference. performed and EO-1 spectrum observed 4. Detected EO-1 spectrum during on computer screen. pass

EO-1 Sensor Webs/GSFC System Engineering Seminar 29 Target Full Test System to be Built by

Earth Observing-1 Georgia Tech by End of First Year 30 Field of view of the March 2, 2004 array (approx 45 degrees)

X Card cage holds APCOM receivers, A-to-D RF converters, and digital down-converters Front

RFFE RFFE RFFE RFFE Ends

APCOM APCOM APCOM APCOM Receiver Receiver Receiver Receiver

A/D A/D A/D A/D

Digital Digital Digital Digital Card Receiver Receiver Receiver Receiver cage FPDP FPDP FPDP FPDP Interface Interface Interface Interface Board Board Board Board

Memory Memory Memory Memory Buffer Buffer Buffer Buffer

EO-1 Sensor Webs/GSFC System Engineering Seminar 30 How it will probably look on roof at Georgia Tech Earth Observing-1 31 March 2, 2004

EO-1 Sensor Webs/GSFC System Engineering Seminar 31 Space Fed Lens Element Being

Earth Observing-1 Developed at Glenn Research Center 32 March 2, 2004

θ Feed antenna

feed radiating side optical axis z FEEDS side Lens α FOCAL ARC

LENS ARRAY

Ka-band dual-beam space-fed lens array

Lens array

Measured patterns Rotating stage Feed antenna Test setup EO-1 Sensor Webs/GSFC System Engineering Seminar 32 How Space Fed Lens Element Will Look Earth Observing-1 33 March 2, 2004

Feed antenna 1 Feed antenna 2

Radome Multilayer lens antenna Var Var array gain gain amp amp

Feed

Feed antenna Mechanical subarrays support

Digital Beam Control (switch matrix)

EO-1 Sensor Webs/GSFC System Engineering Seminar 33 Another Element Being Developed

Earth Observing-1 at Glenn: Reflectarray 34 March 2, 2004

EO-1 Sensor Webs/GSFC System Engineering Seminar 34