DELAY TOLERANT NETWORKING FOR CUBESAT TOPOLOGIES AND PLATFORMS By PAUL MURI A DISSERTATION PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTOR OF PHILOSOPHY UNIVERSITY OF FLORIDA 2013 1 © 2013 Paul Muri 2 To my beloved parents, Theresa Muri and David Muri; and to my colleagues, friends, and family who believe in me 3 ACKNOWLEDGMENTS I would like to express my sincerest gratitude to my academic advisor, Prof. Janise McNair, for her invaluable guidance and continuous support throughout my undergrad and graduate studies at the University of Florida. Her openness and encouragement of my ideas helped me become a better researcher. Without her excellent advice, patience, and support, this doctoral dissertation would not be possible. I would like to thank all of my committee members, Prof. Jenshan Lin, Prof. Jasmeet Judge, and Prof. Norman Fitz-Coy, for serving on my committee. The committee’s valuable comments and constructive criticism helped to improve this dissertation greatly. I also would like extend my appreciation to the Wireless and Mobile System laboratory colleagues. They always gave me valuable suggestions, generous support, and fruitful “jam sessions” during my graduate studies at the University of Florida. I thank all of my labmates, Gokul Bhat, Obul Challa, Max Xiang Mao, Sherry Xiaoyuan Li, Jing Qin, Jose Alomodovar, Krishna Chaitanya, Dante Buckley, Ritwik Dubey, Bom Leenhapat Navaravong, Dexiang Wang, Jing Jing Pan, Gustavo Vejarano, Seshupriya Alluru, Eric Graves, and Corey Baker, in no particular order. All of them made my days in the lab more enjoyable. This work was supported by a NASA Office of the Chief Technologist’s Space Technology Research Fellowship (NSTRF) grant number NNX11AM73H. I would like to thank Dave Israel, Tom Flatley, Gary Crum, Jane Marquart, Greg Menke, and Faith Davis at NASA Goddard Space Flight Center for providing equipment and expertise. 4 The work from Chapter 3, and Chapter 4 was partially supported by IRAD grants from Lockheed Martin's Information Systems & Global Services (LM IS&GS) group, and the Advance Space Technologies Research & Engineering Center (ASTREC). This work was also partially supported in part by the National Science Foundation (ECCS-0901706). Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation. Last, I would like to thank my parents, Theresa Simpson Muri and David Muri, for their love, support, and sacrifice. They have always been my role models of hard work and a constant source of inspiration and encouragement throughout my life. 5 TABLE OF CONTENTS page ACKNOWLEDGMENTS.............................................................................................................. 4 LIST OF TABLES ......................................................................................................................... 9 LIST OF FIGURES..................................................................................................................... 10 LIST OF ABBREVIATIONS ...................................................................................................... 13 ABSTRACT ................................................................................................................................. 17 CHAPTER 1 INTRODUCTION................................................................................................................. 19 Distributed Satellite Systems and CubeSats .................................................................. 19 List of Major Contributions ................................................................................................. 20 Radio Frequency Allocation ....................................................................................... 22 Application and Orbital Properties............................................................................. 23 Delay Tolerant Networking ......................................................................................... 24 Optical Communications ............................................................................................. 25 Organization......................................................................................................................... 25 Communication Sub-systems for Intersatellite Systems and CubeSats............. 26 Enhancing CubeSat Communication Through Antenna Design .......................... 26 Topology Design and Performance Analysis for Networked LEO Satellites ...... 27 Simulating Delay Tolerant Networking for CubeSats............................................. 28 Performance of DTN Protocols for Delay Space-based Optical Channels ........ 29 2 A TAXONOMY OF CUBESAT TRANSMITTERS, LINKS, AND LAUNCHES .......... 30 History of Intersatellite Linking Communication Sub-systems ..................................... 30 1972, 74, 78 OSCARs 6,7,8....................................................................................... 31 1976, LES-8 and LES-9 .............................................................................................. 32 1983, TDRSS ............................................................................................................... 33 1997, Iridium ................................................................................................................. 34 History of CubeSat Communication Sub-systems......................................................... 35 2003, Eurockot LV, Pletsak, Russia ......................................................................... 36 2005, SSeti Express, Pletsak, Russia ...................................................................... 39 2006, M-V-8, Uchinoura, Japan................................................................................. 41 2006, Minotaur-1, NASA Wallops, VA, USA ........................................................... 41 2007, DNEPR-2, Baikonur, Kazakhstan .................................................................. 42 2008, PSLV-C9, Satish Dhawan Space, India ........................................................ 43 2009, Minotaur-1, Wallops, MD ................................................................................. 44 2009, STS-127 Space Shuttle Endeavor ................................................................. 44 2009, ISI Launch 01, Satish Dawan Space Center, India ..................................... 46 6 2010, Japanese H-IIA F17, Tanegashima Space Center ..................................... 47 2010, PSLV-C15, Satish Dhawan Space Centre ................................................... 48 2010, STP-S26, Kodiak, Alaska ................................................................................ 48 2010, Falcon 9-002, Cape Canaveral, FL................................................................ 49 2011, Jugnu, Satish Dawan Space Center, India................................................... 50 2011, Elana, Vandenberg AFB, CA .......................................................................... 50 3 ENHANCING CUBESAT COMMUNICATION THROUGH EFFECTIVE ANTENNA SYSTEM DESIGN .......................................................................................... 53 CubeSat Antenna Trade Study ......................................................................................... 54 Multiple Antenna System Design...................................................................................... 55 Antenna Type Selection ..................................................................................................... 56 Theoretical Results for Commercial Direction Antennas .............................................. 56 Deployable Helical Antenna Design................................................................................. 60 Prototype Dimensions ................................................................................................. 60 Impedance Matching ................................................................................................... 61 Hemispherical Tapering .............................................................................................. 61 Performance ................................................................................................................. 62 Power Savings ............................................................................................................. 63 Antenna Testing .................................................................................................................. 64 Commercial Patch Antenna ....................................................................................... 64 Commercial Helical Antenna...................................................................................... 68 Prototype Helical Antenna .......................................................................................... 70 Experiment ........................................................................................................................... 73 Results .................................................................................................................................. 73 Summary .............................................................................................................................. 74 4 TOPOLOGY DESIGN AND PERFORMANCE ANALYSIS FOR NETWORK LEO SATELLITES.......................................................................................................................