Interactive Schedule Visualisation, Status Tracking and Execution Verification for Goal-Based Operation of Multi-Satellite Formations

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(1)Interactive Schedule Visualisation, Status Tracking and Execution Verification for Goal-Based Operation of Multi-Satellite Formations. Artur Gasparyan. Space Engineering, masters level (120 credits) 2017 Luleå University of Technology Department of Computer Science, Electrical and Space Engineering.

(2) Lehrstuhl für Informatik VII Robotik und Telematik. Master‘s thesis. Interactive Schedule Visualisation, Status Tracking and Execution Verification for Goal-Based Operation of Multi-Satellite Formations by. Artur Gasparyan Examiners:. Prof. Dr. rer. nat Klaus Schilling Prof. M. Reza Emami Supervisors:. Dr. Stephan Busch Tiago Nogueira. Würzburg, 8th December 2016.

(3) Acknowledgement * XPVME ੗STU MJLF UP UIBOL 1SPG %S 4DIJMMJOH GPS UIF QPTTJCJMJUZ UP XSJUF NZ UIFTJT BU UIF $FOUFS GPS 5FMFNBUJDT BOE UIF $IBJS PG $PNQVUFS 4DJFODF 7** 8PSLJOH PO UIF JOUFSTFDUJPO PG TQBDF UFDIOPMPHZ BOE IVNBO CFIBWJPVS IBT BMXBZT CFFO PG QBSUJDVMBS JOUFSFTU UP NF BOE UIVT * GFFM GPSUVOBUF UP IBWF IBE UIF PQQPSUVOJUZ UP DPOUSJCVUF UP UIJT UPQJD य़SPVHIPVU NZ BDBEFNJD DBSFFS 1SPG 4DIJMMJOH BMXBZT TVQQPSUFE NF GPS XIJDI * XBOU UP FYQSFTT NZ HSBUJUVEF य़BOL ZPV 1SPG %S &NBNJ GPS UBLJOH UIF UJNF UP BTTFTT NZ UIFTJT BT UIF FYBNJOFS GSPN -VMF¥ 6OJWFSTJUZ PG 5FDIOPMPHZ JO ,JSVOB * FYQSFTT NZ GVMMFTU HSBUJUVEF BOE BQQSFDJBUJPO UP %S #VTDI GPS IJT XBSN FODPVSBHFNFOU GSJFOEMZ NFOUPSJOH BOE DPOUJOVPVT IFMQ UISPVHIPVU NZ BDBEFNJD FEVDBUJPO 'PS NZ TJNVM UBOFPVT TUVEJFT PG IVNBO NFEJDJOF BOE UIF SFTVMUJOH VOVTVBM XPSLJOH IPVST IF TIPXFE IJT TZNQBUIZ XIJMF BMXBZT ੗OEJOH BEEJUJPOBM UJNF BOE FOFSHZ GPS JOWBMVBCMF BOE FMPOHBUFE EJT DVTTJPOT य़BOL ZPV 4UFQIBO 'VSUIFSNPSF * XPVME MJLF UP UIBOL 5JBHP /PHVFJSB GPS UIF JOTJHIUT JOUP TBUFMMJUF PQFSBUJPOT BOE HPBMCBTFE NJTTJPO QMBOOJOH BT XFMM BT IJT TVQQPSU BOE RVJDL SFQMJFT XIFOFWFS * OFFEFE IFMQ GPS NZ UIFTJT * XPVME MJLF UP UIBOL 7FBDFTMBW %PNCSPWTLJ GPS IJT BTTJTUBODF BOE BEWJDF .PSFPWFS UIBOL ZPV /BEJOF BOE 4JOBO GPS QSPPGSFBEJOH NZ UIFTJT य़BOL ZPV 'SBO[JTLB GPS CFJOH PQFOIFBSUFE BOE DBSJOH JO TQJUF PG NZ FYDFTTJWF XPSLJOH UJNFT * BN GPSUVOBUF UP IBWF ZPV CZ NZ TJEF 'JOBMMZ * XBOU UP UIBOL NZ GBUIFS UP XIPN * PXF NZ FOEVSBODF BOE EFUFSNJOBUJPO * BN HSBUFGVM GPS IF IBT OFWFS DFBTFE UP TVQQPSU NF. .

(4) ‫&ڦ‬WFSZUIJOH DPVME CF JNQMFNFOUFE BT B POFDMJDL TPMVUJPO ZPV KVTU IBWF UP NBLF UIF CVࡇPOT WFSZ TNBMM‫ڧ‬. .

(5) Declaration of Authorship * EFDMBSF UIBU * IBWF EFWFMPQFE BOE XSJ॒FO UIF FODMPTFE .BTUFS‫۝‬T य़FTJT DPNQMFUFMZ CZ NZTFMG BOE IBWF OPU VTFE TPVSDFT PS NFBOT XJUIPVU EFDMBSBUJPO JO UIF UFYU "OZ UIPVHIUT GSPN PUIFST PS MJUFSBM RVPUBUJPOT BSF DMFBSMZ NBSLFE * IBWF OPU TVCNJ॒FE UIJT UIFTJT BU BOZ PUIFS JOTUJUVUJPO JO PSEFS UP PCUBJO B EFHSFF. 8¼S[CVSH UI %FDFNCFS . ···························. "SUVS (BTQBSZBO. .

(6) Abstract य़F JODSFBTJOH OVNCFS PG VQDPNJOH NFHBDPOTUFMMBUJPOT BOE MBSHF GPSNBUJPO NJTTJPOT SBJTFT UIF RVFTUJPO PG IPX UP Fਖ਼DJFOUMZ PQFSBUF NBOZ DPPQFSBUJOH TQBDFDSBॏ &TQF DJBMMZ XIFO ੗OBODJBM BOE IVNBO SFTPVSDFT BSF MJNJUFE HPBMCBTFE PQFSBUJPO P੖FST USFNFOEPVT BEWBOUBHFT PWFS USBEJUJPOBM DPNNBOE TFRVFODJOH य़FSFGPSF JU GPSNT UIF GPVOEBUJPO PG UIF XPSL QSFTFOUFE JO UIJT SFQPSU य़JT UIFTJT QSFTFOUT B (ॵ१ॲ .१ॴ१७५ॳ५ॴॺ 4ॿॹॺ५ॳ XIJDI XBT EFWFMPQFE XJUI UIF BJN PG DSFBUJOH BO JNNFSTJWF BOE TUSFBNMJOFE PQFSBUJOH FYQFSJFODF GPS MBSHF GPSNB UJPO NJTTJPOT JO PSEFS UP JODSFBTF Fਖ਼DJFODZ XIJMF EFDSFBTJOH DPNQMFYJUZ *U JT CBTFE PO SFRVJSFNFOUT EFSJWFE UP JNQSPWF UIF DPMMFDUJWF PQFSBCJMJUZ PG NVMUJQMF TBUFMMJUFT PO UIF FYBNQMF PG UIF /५ॺ4१ॺ QSPKFDU BU UIF $FOUFS GPS 5FMFNBUJDT य़F TVHHFTUFE TZTUFN P੖FST B NPEFSO HSBQIJDBM VTFS JOUFSGBDF JOUFSBDUJWF TDIFE VMF WJTVBMJTBUJPO TUBUVT USBDLJOH BOE FYFDVUJPO WFSJ੗DBUJPO DBQBCJMJUJFT *U NFFUT BMM EFUFSNJOFE SFRVJSFNFOUT GPS Fਖ਼DJFOU NVMUJTBUFMMJUF PQFSBUJPO BOE IFODF P੖FST UIF /५ॺ4१ॺ PQFSBUPST B UPPM GPS GVUVSF UPQMFWFM DPNNBOEJOH PG TBUFMMJUF GPSNBUJPOT BOE BO FYQBOEBCMF GSBNFXPSL GPS UIF NBOBHFNFOU PG VQDPNJOH POCPBSE BVUPOPNZ BOE SFNPUF EFDJTJPONBLJOH. .

(7) Glossary "%$4 "॒JUVEF %FUFSNJOBUJPO BOE $POUSPM 4ZTUFN "14* "EWBODFE 1MBOOJOH BOE 4DIFEVMJOH *OJUJBUJWF '%*3 'BVMU %FUFDUJPO *TPMBUJPO BOE 3FDPWFSZ (.4 (PBM .BOBHFNFOU 4ZTUFN *44. *OUFSOBUJPOBM 4QBDF 4UBUJPO . +40/ +BWB4DSJQU 0CKFDU /PUBUJPO 0#%) 0O#PBSE %BUB )BOEMJOH 4&6 4JOHMF &WFOU 6QTFU ;G5 $FOUFS GPS 5FMFNBUJDT . .

(8) Contents Abstract. 4. Glossary. 5. 1 Introduction. 8. 2 Multi-Satellite Missions . 10. 0WFSWJFX PG 1BTU BOE 6QDPNJOH .JTTJPOT . . $POTUFMMBUJPOT . 7PTUPL BOE . . $MVTUFS ** . . $04.*$ . . 'MPDL . . 4QBDF9 BOE 0OF8FC . 'PSNBUJPOT . 5FDI4BU . . 13*4." . . 5BO%&.95FSSB4"39 . . ..4 . . 1SPCB . . /FU4BU 1SPKFDU BU UIF $FOUFS GPS 5FMFNBUJDT . . 0CKFDUJWFT PG &ਖ਼DJFOU .VMUJ4BUFMMJUF 0QFSBUJPO . 3 Satellite Operation. 17. . $POWFOUJPOBM 4QBDFDSBॏ $PNNBOEJOH . . (PBM#BTFE 0QFSBUJPO . . 1MBO (FOFSBUJPO . . "VUPOPNZ . . 'BVMU %FUFDUJPO *TPMBUJPO BOE 3FDPWFSZ . . 3FRVJSFNFOUT PO UIF .JTTJPO $POUSPM 4ZTUFN . .

(9) 4 Concept Design for a Multi-Satellite Mission Control System. 27. . /FUXPSL 4USVDUVSF . . (PBM 4UBUVT )BOEMJOH . . .JTTJPO 1MBO . . . 4DIFEVMFT BOE 5JNFMJOF $POEJUJPOT . . %FDJTJPO /FUXPSL3FHVMBUFE &YFDVUJPO . . 7FSJ੗DBUJPO . *OUFHSBUJPO PG %JSFDU $PNNBOEJOH . 5 Implementation of the NetSat Goal Management System. 44. . /FUXPSL *OEJDBUPS . . (PBM .BOBHFNFOU . 4UBUVT "XBSFOFTT . . 1MBOOFS #BTFE 4DIFEVMFT . . 5FMFDPNNBOE 4DSJQU )BOEMJOH . . 4DIFEVMF 0WFSWJFX . . 7FSJ੗DBUJPO PG 5JNFMJOF $POEJUJPOT . 6 Simulation and Operation. 70. . &YFNQMBSZ 4BUFMMJUF 'PSNBUJPO 4DFOBSJP . . )BSEXBSF 5FTUJOH PG %JSFDU $PNNBOET . 7 Discussion and Conclusion. 79. 8 Future Work. 84. Bibliography. 85. .

(10) 1 Introduction *U IBT CFFO PWFS ZFBST TJODF IVNBOT TFOU UIF ੗STU TBUFMMJUFT JOUP &BSUI‫۝‬T PSCJU 4QBDF DSBॏ MBVODIFT EVSJOH UIF T BOE T TVDI BT UIF 7ॵॹॺॵॱ BOE (५ॳ९ॴ९ NJTTJPOT XFSF QSFTUJHJPVT FOEFBWPVST XJUI JNNFOTF QPMJUJDBM BOE TDJFOUJ੗D JNQBDU *U DBO CF FBTJMZ VOEFSTUPPE UIBU TVDI NJTTJPOT XFSF PQFSBUFE XJUI TPQIJTUJDBUFE DSFXT JOTJEF TQFDJBMJTFE GBDJMJUJFT JO PSEFS UP JODSFBTF Fਖ਼DJFODZ EVSJOH DPOUSPM BOE UP EFDSFBTF SF TQPOTF UJNF JO DBTF PG VOFYQFDUFE FWFOUT &WFO OPXBEBZT BॏFS NPSF UIBO IBMG B EFDBEF PG BDDVNVMBUFE FYQFSJFODF JO UIF ੗FME PG TBUFMMJUF PQFSBUJPO FYQFOTJWF NJT TJPOT BSF TUJMM DPOEVDUFE CZ B QMFUIPSB PG FYQFSUT &BDI JOEJWJEVBM IBT EFEJDBUFE SF TQPOTJCJMJUJFT XJUI SFTQFDU UP EJ੖FSFOU BTQFDUT PG UIF UPUBM TZTUFN XIJDI JT DSVDJBM GPS DPOUSPMMJOH B DPNQMFY TZTUFN TVDI BT B TBUFMMJUF #Z OPX NBOZ NJTTJPOT TVDI BT $ॲॻॹॺ५ॸ BOE &१ॸॺ८ 0२ॹ५ॸॼ९ॴ७ং-१ॴ४ॹ१ॺ FT UBCMJTIFE NVMUJTBUFMMJUF PQFSBUJPOT JOTJEF UIF TQBDF DPNNVOJUZ BOE EFNPOTUSBUFE UIFJS TDJFOUJ੗D CFOF੗U "U ੗STU UFBN TJ[FT OBJWFMZ JODSFBTFE XJUI UIF OVNCFS PG QBSUJDJQBU JOH TBUFMMJUFT BT FBDI SFRVJSFE JUT PXO DSFX PG DPOUSPMMFST 8JUI UIF SJTJOH JOUFSFTU PG SFEVDJOH DPTUT UISPVHIPVU UIF TQBDF JOEVTUSZ UFBN TJ[FT TUBSUFE UP TISJOL "EEJUJPO BMMZ UIF HSPXJOH OVNCFS PG JOTUJUVUFT XJUI MJNJUFE ੗OBODJBM BOE IVNBO SFTPVSDFT MJLF GPS FYBNQMF VOJWFSTJUJFT XIJDI KPJO F੖PSUT UP PQFSBUF TNBMM TBUFMMJUFT MFBE UP B USFOE UPXBSET FWFS TNBMMFS OVNCFST PG BWBJMBCMF PQFSBUPST QFS TQBDFDSBॏ य़F MBUFTU EFWFMPQNFOUT JO UIF ੗FME PG NJOJBUVSF TBUFMMJUF PQFSBUJPOT TIPX BO FY QBOEJOH JNQPSUBODF PG NVMUJTBUFMMJUF GPSNBUJPOT BOE DPOTUFMMBUJPOT TFF DIBQUFS 1JPOFFSJOH QSPKFDUT JO UIJT ੗FME PG SFTFBSDI TVDI BT /५ॺ4१ॺ BU UIF $FOUFS GPS 5FMFNBUJDT TFF DIBQUFS SFQSFTFOU UIF QJOOBDMF PG UIJT POHPJOH JOWFSTJPO XIFSFBT ZFBST BHP FWFSZ TJOHMF TQBDFDSBॏ XBT PQFSBUFE CZ JUT PXO MBSHF UFBN UPEBZ‫۝‬T NJTTJPOT SF RVJSF UIBU B TXBSN PG FWFO IVOESFET PG TBUFMMJUFT DPVME CF DPOUSPMMFE CZ B TJOHMF QFSTPO. .

(11) *O PSEFS UP BDDPNQMJTI UIJT BWBOUHBSEF BQQSPBDI DPOUSPM QSPDFEVSFT NVTU CF DSF BUFE UIBU GBDJMJUBUF UIF PQFSBUJPO PG TBUFMMJUFT *U JT PG VUNPTU JNQPSUBODF UIBU UIF PQFS BUPS JT OPU SFRVJSFE UP TVQFSWJTF FWFSZ TJOHMF BTQFDU BOE TVCTUFQ PG B HJWFO PCKFDUJWF *O GBDU JU JT FTTFOUJBM UIBU TQBDFDSBॏ GPSNBUJPOT BSF DPOUSPMMFE PO B IJHIFS BCTUSBDUJPO MBZFS XJUI UIF PQFSBUPS‫۝‬T GPDVT PO UPQMFWFM NJTTJPO HPBMT JOTUFBE TFF HPBMCBTFE PQFS BUJPO DIBQUFS य़JT UIFTJT JMMVNJOBUFT UIF DPODFQUVBM EFTJHO BOE JNQMFNFOUBUJPO PG B (PBM .BOBHF NFOU 4ZTUFN GPS UIF /५ॺ4१ॺ QSPKFDU BU UIF $FOUFS GPS 5FMFNBUJDT य़JT TZTUFN‫۝‬T QVSQPTF JT UP BJE UIF PQFSBUPS JO TVQFSWJTJOH BVUPOPNPVT FYFDVUJPO TFF DIBQUFS PG NJTTJPO HPBMT BU UISFF NBJO DBUFHPSJFT 7JTVBMJTBUJPO PG VQDPNJOH HPBMT PS QMBOT DPNQSJTJOH JOUFSEFQFOEFOU HPBMT. 5SBDLJOH TUBUVT PG TDIFEVMFE HPBMT JOUFS BMJB GPS SFDFQUJPO DPO੗SNBUJPO 7FSJ੗DBUJPO PG QMBOOFE TZTUFN TUBUFT GPS EFUFDUJOH BOE MPDBUJOH QPJOUT PG GBJMVSF. "ॏFS BO PWFSWJFX PG NVMUJTBUFMMJUF NJTTJPOT PCKFDUJWFT GPS Fਖ਼DJFOU PQFSBUJPO PG GPSNBUJPOT XJMM CF QSFTFOUFE DIBQUFS य़JT UFYU XJMM UIFO IJHIMJHIU JNQPSUBOU BT QFDUT PG CPUI DPOWFOUJPOBM BOE GPSXBSEMPPLJOH PQFSBUJPO QBSBEJHNT DIBQUFS JO PSEFS UP EFEVDF SFRVJSFNFOUT GPS BO Fਖ਼DJFOU NVMUJTBUFMMJUF NJTTJPO DPOUSPM TZTUFN $IBQUFS BOE XJMM QSFTFOU BO JOEFQUI UFDIOJDBM EFTDSJQUJPO PG TFWFSBM DSVDJBM FMF NFOUT PG DPOUSPM TPॏXBSF GPS Fਖ਼DJFOU PQFSBUJPO PG NVMUJTBUFMMJUF GPSNBUJPOT GPMMPXFE CZ B EFUBJMFE QSFTFOUBUJPO PG B QSPQPTFE (PBM .BOBHFNFOU 4ZTUFN GPS /५ॺ4१ॺ 4VC TFRVFOUMZ DIBQUFS PVUMJOFT FYFNQMBSZ TDFOBSJPT BOE UFTUT XJUI SFBM 68&ং TBUFMMJUF IBSEXBSF य़F MBTU UXP DIBQUFST EJTDVTT XIFUIFS UIF SFRVJSFNFOUT PG DIBQUFS IBWF CFFO NFU CZ UIF QSPQPTFE TZTUFN JO UIJT UIFTJT BOE QSPWJEF BO PVUMPPL GPS QPUFOUJBM GVUVSF FYQBOTJPO. .

(12) 2 Multi-Satellite Missions य़JT SFQPSUT GPDVTTFT PO UXP UZQFT PG NVMUJTBUFMMJUF NJTTJPOT DPOTUFMMBUJPOT BOE GPS NBUJPOT *O MJUFSBUVSF CPUI UFSNT BSF PॏFO VTFE JOUFSDIBOHFBCMZ CVU NVMUJQMF TPVSDFT FH <4DIJMMJOH > BOE <'PMUB FU BM > DPOUSBEJDU BOE QSPWJEF UIF GPMMPXJOH EFG JOJUJPOT " DPOTUFMMBUJPO DBO CF EFTDSJCFE BT UXP PS NPSF TQBDFDSBॏ ۠੘ZJOH JO TJNJMBS PSCJUT ۪ XJUIPVU POCPBSE DPOUSPM PG UIFJS SFMBUJWF QPTJUJPOۡ <4DIJMMJOH > 4VDI TBUFM MJUFT IBWF UP CF DPOUSPMMFE GSPN HSPVOE JG SFMBUJWF USBKFDUPSZ DIBOHFT BSF EFTJSFE 0O UIF PUIFS IBOE TQBDFDSBॏ JOTJEF GPSNBUJPOT BSF BCMF UP BDUJWFMZ NBJOUBJO BOE BEKVTU UIFJS SFMBUJWF QPTJUJPO UISPVHI B DMPTFEMPPQ DPOUSPM TZTUFN <'PMUB FU BM > य़JT JT B OFDFTTJUZ GPS Fਖ਼DJFOU BOE BVUPNBUFE TFMGPSHBOJTBUJPO SFRVJSFE UP DPNQMFUF DPNQMFY NJTTJPO PCKFDUJWFT XJUIPVU JOUFSWFOUJPO GSPN UIF NJTTJPO DPOUSPM DFOUSF PO &BSUI य़F SFBEFS TIPVME LOPX UIBU NBOZ PG UIF JEFBT BOE TPMVUJPOT QSFTFOUFE UISPVHIPVU UIJT SFQPSU SFGFS UP TQBDFDSBॏ JO GPSNBUJPOT CVU EP MJLFXJTF BQQMZ GPS DPOTUFMMBUJPOT PS PUIFS GPSNT PG NVMUJTBUFMMJUF PSHBOJTBUJPOT *O UIF OFYU UXP TFDUJPOT OPUFXPSUIZ NJTTJPOT XJMM CF QSFTFOUFE JO PSEFS UP EFEVDF TJHOJ੗DBOU PCKFDUJWFT GPS UIF PQFSBUJPO PG NVMUJTBUFMMJUF GPSNBUJPOT DIBQUFS . 2.1 Overview of Past and Upcoming Missions /VNFSPVT NVMUJTBUFMMJUF NJTTJPOT IBWF CFFO MBVODIFE EVSJOH UIF MBTU EFDBEFT NBOZ PG XIJDI IBWF CFFO DPOTUFMMBUJPOT #VU BO JODSFBTJOH JOUFSFTU JO EJTUSJCVUFE TFMGDPPSEJOBUJOH TZTUFNT GPS EJWFSTF BQQMJDBUJPOT MFBE UP FYQBOEJOH SFTFBSDI JO UIF. .

(13) ੗FME PG BVUPOPNPVT TQBDFDSBॏ GPSNBUJPOT य़F GPMMPXJOH TIBMM QSPWJEF BO PWFSWJFX PG JOUFSFTUJOH NJTTJPOT EFNPOTUSBUJOH WBSJPVT PQFSBUJPOBM TDFOBSJPT. 2.1.1 Constellations य़F GPMMPXJOH FOEFBWPVST IJHIMJHIU TJHOJ੗DBOU BDIJFWFNFOUT JO UIF PQFSBUJPO PG UXP PS NPSF TBUFMMJUFT BU UIF TBNF UJNF 5SBKFDUPSJFT XFSF FJUIFS ੗YFE PS BMUFSFE CZ HSPVOE DPOUSPM WJB UFMFDPNNBOET. 2.1.1.1 Vostok 3 and 4 "SHVBCMZ UIF ੗STU TVDDFTTGVM DPOTUFMMBUJPO PG UXP NBOOFE TBUFMMJUFT ੘ZJOH JO DMPTF QSPYJNJUZ XJUIPVU NFBOT PG DIBOHJOH UIFJS SFMBUJWF QPTJUJPO BDUJWFMZ DPOTJTUFE PG UIF GPSNFS 4PWJFU 6OJPO‫۝‬T 7ॵॹॺॵॱ BOE 7ॵॹॺॵॱ TQBDFDSBॏ JO #PUI TQBDFDSBॏ ۠HBWF UIF MBVODI BOE HSPVOE DPOUSPM DSFXT QSBDUJDF JO MBVODIJOH BOE IBOEMJOH NPSF UIBO POF NBOOFE TQBDFDSBॏ BU B UJNFۡ <8BEF > .FSFMZ B GFX LJMPNFUSFT BQBSU UIJT ۠EPVCMF TQBDF ੘JHIUۡ TVDDFTTGVMMZ TIPXFE ۠TUBCMF UXPXBZ SBEJP DPNNVOJDBUJPO ۪ CFUXFFO UIF TQBDFTIJQTۡ <'MJHIU > य़JT EFNPOTUSBUFE JOUFSTBUFMMJUF MJOL DBO CF GPVOE JO NBOZ QSFTFOUEBZ NJTTJPOT JOWPMWJOH NVMUJQMF TBUFMMJUFT BT JU BMMPXT GPS BVUPNBUFE TFMGPSHBOJTBUJPO PG GPSNBUJPOT 4VDI DPOUBDU CFUXFFO TQBDFDSBॏ FOBCMFT UIFN UP CSPBEDBTU JOEJWJEVBM UFMFNFUSZ EBUB UP FBDI PUIFS BOE UP JOGPSN UIF OFUXPSL BCPVU QPUFOUJBM EFDJTJPOT UIBU IBWF CFFO NBEF. 2.1.1.2 Cluster II -BVODIFE JO BॏFS B DBUBTUSPQIJD GBJMVSF PG UIFJS ੗STU HFOFSBUJPO TJCMJOHT GPVS ZFBST FBSMJFS &4"‫۝‬T GPVS TBUFMMJUFT 4१ॲॹ१ 4१ॳ२१ 3ॻॳ२१ BOE 5१ॴ७ॵ FOUFSFE &BSUI‫۝‬T PSCJU PO B NJTTJPO UP DPOEVDU JOWFTUJHBUJPOT ۠JO LFZ QMBTNB SFHJPOTۡ PG PVS QMBOFU‫۝‬T NBHOFUPTQIFSF <&TDPVCFU FU BM > य़JT DPOTUFMMBUJPO LOPXO BT $ॲॻॹॺ५ॸং** JT ੘Z JOH JO B UFUSBIFESBM DPO੗HVSBUJPO XIFSFCZ BMM OFDFTTBSZ NBOPFVWSFT BSF QFSGPSNFE GSPN HSPVOE 0DDBTJPOBMMZ UIF EJTUBODF CFUXFFO UIF TBUFMMJUFT JT BMUFSFE JO PSEFS UP BEKVTU UIF QSFDJTJPO PG UIFJS EJTUSJCVUFE NFBTVSFNFOUT NBOPFVWSFT UIBU IBWF UP CF DBMDVMBUFE GPS FBDI TBUFMMJUFT VQGSPOU BOE VQMJOLFE UP UIF TBUFMMJUFT GSPN HSPVOE. .

(14) 2.1.1.3 COSMIC *O UIJT DPMMBCPSBUJPO PG 5BJXBO BOE UIF 6OJUFE 4UBUFT B ۠DPOTUFMMBUJPO PG TJY MPX &BSUI PSCJU -&0 NJDSPTBUFMMJUFTۡ <8V FU BM > XBT MBVODIFE JO $ॵॴॹॺ५ॲॲ१ॺ९ॵॴ 0२ॹ५ॸॼ९ॴ७ 4ॿॹॺ५ॳॹ ६ॵॸ .५ॺ५ॵॸॵॲॵ७ॿ *ॵॴॵॹॶ८५ॸ५ १ॴ४ $ॲ९ॳ१ॺ५ $04.*$ BMTP LOPXO BT '03.04"5ং IBT UIF PCKFDUJWF UP NPOJUPS &BSUI‫۝‬T XFBUIFS XIJMTU DPOEVDU JOH BUNPTQIFSJD JPOPTQIFSJD BOE HFPEFTZ SFTFBSDI 5BJXBO‫۝‬T /BUJPOBM 4QBDF 0SHBO JTBUJPO OPUFE UIBU JU XBT B ۠OFX FYQFSJFODF ۪ UP DPOEVDU JOUFHSBUJPO UFTUJOH BOE PQFSBUJPO PG TJY TQBDFDSBॏ TJNVMUBOFPVTMZۡ. 2.1.1.4 Flock 0OF PG UIF CJHHFTU DPOTUFMMBUJPOT UP EBUF JT 1MBOFU -BCT‫ॵॲ' ۝‬३ॱ $POTJTUJOH PG PWFS MBVODIFE USJQMF 6 $VCF4BUT DBMMFE %ॵॼ५T BOE NPSF UIBO B IVOESFE GVSUIFS VOJUT QMBOOFE <1MBOFU -BCT > UIJT NJTTJPO JOUFOET UP P੖FS SFHVMBSMZ VQEBUFE JNBHFSZ PG &BSUI‫۝‬T TVSGBDF XJUI BO JODSFBTJOH DPWFSBHF 1MBOFU -BCT PQFSBUFT ۠MBSHF DPOTUFMMBUJPOT PG OBOPTBUFMMJUFTۡ CPUI SFEVDJOH DPTUT BOE JODSFBTJOH UVSOPWFS GSFRVFODZ PG TQBDFDSBॏ SFBDIJOH UIFJS FOE PG MJGF BOE SFRVJSJOH SFQMBDFNFOU. 2.1.1.5 SpaceX and OneWeb XBT UIF ZFBS JO XIJDI UXP NBKPS QSPKFDUT CPUI DPODFSOJOH MBSHF TBUFMMJUF DPOTUFM MBUJPOT XFSF BOOPVODFE 0OF8FC GPSNFSMZ 8PSME7V JOUFOET UP EFQMPZ TQBDFDSBॏ JO XIFSFBT 4QBDF9 QMBOT UP MBVODI TBUFMMJUFT PWFS UIF OFYU ੗WF ZFBST JOUP PSCJU <#VDIFO > य़FTF NJTTJPOT‫ ۝‬NBJO PCKFDUJWF JT UP QSPWJEF UIF &BSUI XJUI JO UFSOFU BDDFTT GSPN TQBDF &TQFDJBMMZ QMBDFT XIJDI IBWF CFFO TV੖FSJOH GSPN B MBDL PG DPOOFDUJWJUZ TP GBS XPVME HSFBUMZ CFOF੗U GSPN UIJT TFSWJDF. 2.1.2 Formations य़F GPMMPXJOH PQFSBUJPOT BSF DIBSBDUFSJTFE CZ GPSNBUJPO ੘ZJOH F੖PSUT य़FTF NJTTJPO BSF DPOGSPOUFE XJUI TJHOJ੗DBOU DIBMMFOHFT BOE IB[BSEPVT SJTLT PSJHJOBUJOH GSPN UIFJS TQBDFDSBॏ‫۝‬T BCJMJUZ UP BDUJWFMZ DPOUSPM UIFJS SFMBUJWF QPTJUJPO. .

(15) 2.1.2.1 TechSat-21 0OF PG UIF FBSMJFTU EFTJHO QSPQPTBMT PG TNBMM TBUFMMJUF GPSNBUJPOT 5५३८4१ॺং XBT EFTDSJCFE JO <%BT FU $PCC > ۠5FDIOPMPHZ F੖PSUT BSF GPDVTTFE PO MJHIUXFJHIU MPX DPTU NJDSPTBUFMMJUFTۡ य़F "JS 'PSDF 3FTFBSDI -BCPSBUPSZ DPOTJEFSFE B ۠EJTUSJCVUFE TBUFMMJUF SBEBSۡ XIJDI XPVME SFRVJSF UIF QBSUJDJQBUJOH TBUFMMJUFT UP ۠BDDVSBUFMZ NBJOUBJO B ੗YFE TQBUJBM DPO੗HVSBUJPOۡ "ॏFS UIFJS JOWFTUJHBUJPOT BO FYQFSJNFOU XJUI UISFF PS GPVS NJDSPTBUFMMJUFT IBE CFFO TDIFEVMFE GPS CVU XFSF DBODFMMFE MBUFS <&4" >. 2.1.2.2 PRISMA ۠य़F 1SPUPUZQF 3FTFBSDI *OTUSVNFOUT BOE 4QBDF .JTTJPO UFDIOPMPHZ "EWBODFNFOU 13*4." SFQSFTFOUT UIF ੗STU &VSPQFBO UFDIOPMPHZ EFNPOTUSBUJPO PG GPSNBUJPO੘ZJOH BOE POPSCJUTFSWJDJOH UFDIOJRVFTۡ -BVODIFE JOUP PSCJU JO 13*4." CVJMU CZ UIF 4XFEJTI 4QBDF $PSQPSBUJPO DPOTJTUT PG UXP TBUFMMJUFT UIF BDUJWF .१ॴ७ॵ BOE UIF QBTTJWF 5१ॴ७ॵ य़F GPSNFS TQBDFDSBॏ JT FRVJQQFE XJUI UISFF QSPQVMTJPO TZTUFNT BMMPXJOH JU UP DPOUSPM UIF SFMBUJWF QPTJUJPO UP UIF TFDPOE TBUFMMJUF XIJDI IBT OP PSCJU NBOPFVWSF DBQBCJMJUZ CZ JUTFMG .VMUJQMF EJ੖FSFOU GPSNBUJPOT IBWF CFFO BDRVJSFE BOE NBJOUBJOFE XJUIPVU HSPVOEJOUFSWFOUJPO BOE UIF ۠OBWJHBUJPO TZTUFN IBT QSPWFO UP GVM੗MM UIF EFTJHO SFRVJSFNFOUTۡ BOE ۠UP CF BDDVSBUF BOE SFMJBCMF JO NPTU PG UIF DJSDVNTUBODFTۡ <%‫"۝‬NJDP FU "SEBFOT >. 2.1.2.3 TanDEM-X/TerraSAR-X *O 5१ॴ%&.ং9 KPJOFE UIJT GPSNBUJPO‫۝‬T PUIFS TQBDFDSBॏ 5५ॸॸ१4"3ং9 XIJDI XBT MBVODIFE UISFF ZFBST FBSMJFS 0QFSBUFE CZ UIF (FSNBO 4QBDF 0QFSBUJPOT $FOUFS CPUI TBUFMMJUFT‫ ۝‬TZOUIFUJD BQFSUVSF SBEBS JOTUSVNFOUT BSF DPNCJOFE BMMPXJOH B ۠UISFF EJNFO TJPOBM NPEFM PG UIF &BSUI‫۝‬T TVSGBDF UP CF NBEFۡ य़FTF UXP TBUFMMJUFT PSCJU UIF &BSUI PO TJNJMBS USBKFDUPSJFT XJUI 5१ॴ%&.ং9 EVQMJDBUJOH BOZ OFDFTTBSZ DPSSFDUJPO NBOPFV WSFT PG 5५ॸॸ१4"3ং9 *O BEEJUJPO UIF GPMMPXJOH TQBDFDSBॏ BEKVTUT JUT ੘JHIU QBUI BV UPOPNPVTMZ JO PSEFS UP HVBSBOUFF B DPIFSFOU GPMMPXVQ USBKFDUPSZ BU B NJOJNVN EJT UBODF PG m <.BVSFS FU BM >. .

(16) 2.1.2.4 MMS /"4"‫۝‬T .१७ॴ५ॺॵॹॶ८५ॸ९३ .ॻॲॺ९ॹ३१ॲ५ .९ॹॹ९ॵॴ ..4 MBVODIFE JO DBO CF TFFO BT B SFTQPOTF UP &4"‫۝‬T $ॲॻॹॺ५ॸ QSPKFDU 'PVS TBUFMMJUFT BSF TUVEZJOH PVS 1MBOFU‫۝‬T NBH OFUPTQIFSF CVU UIJT UJNF UIFZ BSF ੘ZJOH JO GPSNBUJPO य़F ..4 TQBDFDSBॏ LFFQ B UFUSBIFESPO DPO੗HVSBUJPO CVU NJTTJPO DPOUSPM DBO TQFDJGZ ۠BOZ GPSNBUJPO TJ[F JO UIF SBOHF PG UP LNۡ 0OF TBUFMMJUF JT TFMFDUFE BT B OPONPWJOH SFGFSFODF PॏFO UIF POF XJUI UIF TNBMMFTU BNPVOU PG GVFM BOE UIF PUIFST NPWF SFMBUJWFMZ UP JU य़PVHI UIF POCPBSE %FMUB7 DPOUSPMMFS ۠BVUPOPNPVTMZ QVMTFT UIF SBEJBM UISVTUFST ۪ BT SF RVJSFE UP QSPEVDF UIF OFU EFMUBWۡ UIF OFDFTTBSZ NBOPFVWSFT TUJMM IBWF UP CF QSFQBSFE PO HSPVOE CZ B QMBOOJOH BMHPSJUIN /FWFSUIFMFTT CVSOT DBO POMZ CF BCPSUFE CZ BO BV UPNBUFE GBVMU EFUFDUJPO BOE DPSSFDUJPO TZTUFN PO FBDI TBUFMMJUF <8JMMJBNT FU BM >. 2.1.2.5 Proba-3 ۠130#" JT UIF NJTTJPO VOEFS EFWFMPQNFOU BU &4" GPS JO੘JHIU GPSNBUJPO ੘ZJOH EFNPOTUSBUJPOۡ य़FTF UXP TBUFMMJUFT BDU BT POF MBSHF WJSUVBM DPSPOPHSBQIZ JOTUSVNFOU XIJMTU UIF MBSHFS POF DBSSJFT UIF EFUFDUPS UIF TFDPOE POF IPMET FRVJQNFOU UP PDDMVEF UIF 4VO ۠0DDVMUFSۡ *O POF PG NBOZ GPSNBUJPO DPO੗HVSBUJPOT UIF TNBMMFS TQBDFDSBॏ QPTJUJPOT JUTFMG BVUPOPNPVTMZ CFUXFFO UIF 4VO BOE UIF EFUFDUPS PO UIF PUIFS TBUFMMJUF BMMPXJOH B QSFDJTF BOBMZTJT PG UIF 4VO‫۝‬T DPSPOB <-MPSFOUF FU BM >. 2.2 NetSat Project at the Center for Telematics य़F /५ॺॽॵॸॱ५४ 1९३ॵং4१ॺ५ॲॲ९ॺ५ %९ॹॺॸ९२ॻॺ५४ 4ॿॹॺ५ॳ $ॵॴॺॸॵॲ /५ॺ4१ॺ NJTTJPO QMBOOFE CZ UIF $FOUFS GPS 5FMFNBUJDT ;ࣉ5 BOE TDIFEVMFE GPS B MBVODI JO JT BOPUIFS QSPNJTJOH QSPKFDU UP EFNPOTUSBUF BVUPOPNPVT GPSNBUJPO ੘ZJOH $POTJTU JOH PG GPVS QJDPTBUFMMJUFT /५ॺ4१ॺ ۠QSFQBSFT DPOUSJCVUJPOT JO UIF BSFBT PG POCPBSE BVUPOPNZ EJTUSJCVUFE GPSNBUJPO DPOUSPM SFMBUJWF OBWJHBUJPO JOUFSTBUFMMJUF DPNNV OJDBUJPO BOE QSPUPDPMT BT XFMM BT NJOJBUVSJTFE B॒JUVEF BOE PSCJU EFUFSNJOBUJPO BOE DPOUSPM TZTUFNTۡ 5XP EJ੖FSFOU NJTTJPO TDFOBSJPT IBWF CFFO JOWFTUJHBUFE /५ॺ4१ॺং 41( 4UFSFP1IPUP(SBNNFUSZ GPDVTTJOH PO BDRVJTJUJPO PG % JNBHF EBUB GSPN &BSUI‫۝‬T TVSGBDF BOE /५ॺ4१ॺং( (MPCBM (FPNB(OFUJD (SBEJPNFUSZ B NJTTJPO GPS GVMM EJSFDUJPOBM NFBTVSFNFOUT PG PVS QMBOFU‫۝‬T NBHOFUJD ੗FME <4DIJMMJOH FU BM >. .

(17) 2.3 Objectives of Efficient Multi-Satellite Operation य़F MBTU UXP DIBQUFST HBWF BO PWFSWJFX PWFS TFWFSBM TFMFDUFE NVMUJTBUFMMJUF FO EFBWPVST 'PS JOGPSNBUJPO PO GVSUIFS NJTTJPOT UIF SFBEFS JT FODPVSBHFE UP SFGFS UP <#BOEZPQBEIZBZ FU BM > &TQFDJBMMZ XJUIJO DPOTUFMMBUJPO PQFSBUJPOT BO JNQPSUBOU USFOE JT PCTFSWBCMF XIFSFBT UIF TQBDF JOEVTUSZ XBT GPDVTTFE PO HSPVQT PG TFWFSBM MBSHF TBUFMMJUFT KVTU B GFX ZFBST BHP UIFZ OPX FYQSFTT B QSPOPVODFE JOUFSFTU UPXBSET NFHBDPOTUFMMBUJPOT XJUI IVOESFET PS FWFO UIPVTBOET PG TNBMM TBUFMMJUFT 'JHVSF TIPXT BO PWFSWJFX PG JNQFOEJOH TNBMM TBUFMMJUF NJTTJPOT JO IJHIMJHIUJOH UXP OPUFXPSUIZ NPUJPOT 'JSTU UIFSF JT BEEJUJPOBM FWJEFODF UIBU MBSHF DPOTUFMMBUJPOT XJUI NPSF UIBO UFO TQBDFDSBॏ BSF CFDPNJOH BO JODSFBTJOHMZ B॒SBDUJWF FOEFBWPVS 4FDPOE OVNFSPVT GPSNBUJPO ੘ZJOH NJTTJPOT BSF FNFSHJOH BT UFDIOPMPHZ EFNPOTUSBUJPOT CVU UFOE UP CF MJNJUFE UP NFSFMZ B GFX TNBMM TBUFMMJUFT )PXFWFS JU DBO CF BTTVNFE UIBU PQFSBUJPOT XIJDI FNQMPZ BDUJWF DPOUSPM PG SFMB UJWF QPTJUJPO CFUXFFO TBUFMMJUFT XJMM BMTP CFHJO UP JODSFBTF JO TJ[F EVSJOH UIF OFYU ZFBST. 'JHVSF "O PWFSWJFX PG JNQFOEJOH TNBMM TBUFMMJUF NJTTJPOT DBUFHPSJTFE CZ GPSNBUJPO UZQF BOE TJ[F JT TIPXO <#BOEZPQBEIZBZ FU BM >. *U JT PCWJPVT UIBU B DPOWFOUJPOBM TBUFMMJUF PQFSBUJPO QB॒FSO XIFSF FWFSZ TJOHMF TQBDFDSBॏ JT DPOUSPMMFE JOEJWJEVBMMZ BOE XIFSF DPNQMFY QSPDFEVSFT IBWF UP CF DPN NBOEFE TUFQ CZ TUFQ DBO CF JOFਖ਼DJFOU JO OFUXPSLT XJUI B MBSHF OVNCFS PG TBUFM MJUFT TFF <;FUPDIB FU BM > 'VSUIFSNPSF ੗OBODJBMMZ SFTUSJDUJWF FOUJUJFT TVDI BT. .

(18) TNBMMFS DPNQBOJFT PS VOJWFSTJUJFT XIJDI XBOU UP QBSUJDJQBUF JO TVDI PQFSBUJPOT TFM EPN QPTTFTT UIF OFDFTTBSZ SFTPVSDFT SFHBSEJOH CPUI UJNF BOE QFSTPOOFM य़VT JU JT DSVDJBM UP SFWJFX UIF PQFSBUJPO PG NVMUJTBUFMMJUF NJTTJPOT BOE UP EFMJCFSBUF IPX JU DPVME CF JNQSPWFE य़F NJTTJPOT TVNNBSJTFE BCPWF BT XFMM BT UIF FWJEFOU NPNFOUVN UPXBSET FWFS MBSHFS DPOTUFMMBUJPOT BOE GPSNBUJPOT EFNPOTUSBUF UIBU UIF GPMMPXJOH PCKFDUJWFT BSF FT TFOUJBM GPS Fਖ਼DJFOU NVMUJTBUFMMJUF PQFSBUJPO O1 "CJMJUZ UP JTTVF UPQMFWFM DPNNBOET GPS DPOUSPMMJOH B TFU PG TBUFMMJUFT DPMMFDUJWFMZ O2 $PNQSFIFOTJWF TVQQPSU GPS POCPBSE BVUPOPNZ BOE SFNPUF EFDJTJPOT. य़F GPMMPXJOH QBSBHSBQIT FMBCPSBUF PO UIFTF PCKFDUJWFT UP EF੗OF BOE DPOTPMJEBUF UIFJS TJHOJ੗DBODF *U JT BQQBSFOU UIBU JO PSEFS UP FOBCMF GFX PQFSBUPST UP DPNNBOE NBOZ TBUFMMJUFT BU UIF TBNF UJNF JU NVTU CF WJBCMF UP EJSFDU DPNNBOET UP TFWFSBM TQBDFDSBॏ BU PODF *EFBMMZ POF PQFSBUPS DPVME DPNNBOE TJOHMFIBOEFEMZ B GPSNBUJPO PG NVMUJQMF TBUFMMJUFT XJUI TJNQMF BOE BCTUSBDU JOTUSVDUJPOT *U JT FTTFOUJBM UP EJTCVSEFO UIF NJTTJPO DPPSEJOBUPST GSPN TQFDJGZJOH SFRVJSFNFOUT BOE TVQFSWJTJOH FYFDVUJPO PG JOEJWJEVBM UFMFDPNNBOET BU UIF MPXFTU DPOUSPMMJOH MFWFMT *OTUFBE UIFZ TIPVME CF GPDVTTFE PO UPQ MFWFM NJTTJPO HPBMT BOE GBJMVSF IBOEMJOH 0OCPBSE BVUPOPNZ JT BO JODSFBTJOHMZ JNQPSUBOU BOE DPOUJOVPVTMZ GFBTJCMF BTQFDU PG NVMUJTBUFMMJUF NJTTJPOT TFF DIBQUFS %FEVDJOH SFNPUF NPEJ੗DBUJPOT PG TZT UFN TUBUFT UISPVHI JOFਖ਼DJFOU BOE UFEJPVT UFMFNFUSZ BOBMZTJT JT PॏFO DPOTJEFSFE UP CF TDBSDFMZ TVQFSJPS UP NFSF HVFTT XPSL .JTTJPO TBGFUZ BOE SPCVTUOFTT DBO CF TVC TUBOUJBMMZ JODSFBTFE JG TVQQPSU GPS POCPBSE BVUPOPNZ BOE SFNPUF EFDJTJPONBLJOH JT EFFQMZ JOUFHSBUFE JOUP UIF UFMFDPNNBOE BOE UFMFNFUSZ TZTUFN. .

(19) 3 Satellite Operation "ॏFS UIF EF੗OJUJPO PG PCKFDUJWFT PG F੖FDUJWF NVMUJTBUFMMJUF PQFSBUJPO JO TFDUJPO UIJT DIBQUFS XJMM JEFOUJGZ SFRVJSFNFOUT PO UIF NJTTJPO DPOUSPM TZTUFN JO UIF PQFSBUJPO PG NVMUJTBUFMMJUF GPSNBUJPOT TFDUJPO *O PSEFS UP SFDPHOJTF UIF DPOOFDUJPO CFUXFFO UIF PCKFDUJWFT BOE UIF SFRVJSFNFOUT CFMPX JNQPSUBOU BTQFDUT PG UIF PQFSBUJPO PG TBUFMMJUFT XJMM CF JMMVNJOBUFE ੗STU $PO WFOUJPOBM TQBDFDSBॏ DPNNBOEJOH TFDUJPO SFGFST UP EJSFDU BOE UJNF UBHHFE UFMFDPN NBOET XIJDI BSF VTFE GPS FWFSZ TJOHMF TUFQ SFRVJSFE UP SFBDI B DFSUBJO TZTUFN TUBUF "O JNQPSUBOU BMUFSOBUJWF HPBMCBTFE PQFSBUJPO JT QSFTFOUFE JO TFDUJPO GPMMPXFE CZ B EFTDSJQUJPO PG TVCTFRVFOU NJTTJPO QMBOOJOH 4FDUJPO QSPWJEFT BO PWFSWJFX PG WBSJPVT UZQFT PG NJTTJPO BVUPOPNZ XIJMTU UIF TFDUJPO UIFSFBॏFS FMBCPSBUFT PO 'BVMU %FUFDUJPO *TPMBUJPO BOE 3FDPWFSZ '%*3 FSSPS NJUJHBUJPO UFDIOJRVFT XIJDI TIPVME CF JODPSQPSBUFE JOUP UIF TVCTZTUFNT PG B TQBDFDSBॏ. 3.1 Conventional Spacecraft Commanding 5SBEJUJPOBM TQBDFDSBॏ DPNNBOEJOH PS DPNNBOE TFRVFODJOH XIJDI JT TUJMM FNQMPZFE JO NPTU NJTTJPOT UISPVHIPVU UIF JOEVTUSZ GPS FYBNQMF CZ UIF *OUFSOBUJPOBM 4QBDF 4UBUJPO *44 NJTTJPO QMBOOJOH JNQMJFT NBOVBM DPODFQUVBMJTJOH PG TZTUFN TUBUF USBOTJUJPOT PS PUIFS BDUJPOT JODMVEJOH BMM OFDFTTBSZ JOUFSNFEJBUF TUFQT UP SFBDI B QBSUJDVMBS HPBM <%WPSBL FU BM >. 'VSUIFSNPSF TJODF JU GPMMPXT BO PQFOMPPQ. BQQSPBDI UIFSF XBT TFMEPN BOZ GFFECBDL BCPVU XIFUIFS B DFSUBJO DPNNBOE XBT FYFDVUFE TVDDFTTGVMMZ य़FSFGPSF UIF TVQFSWJTJPO PG FWFSZ TJOHMF TZTUFN QBSBNFUFS CZ IVNBOT JT PॏFO B DSVDJBM QSFSFRVJTJUF *U NVTU CF VOEFSTUPPE UIBU UIF MBSHFS QBSU PG BQQMJDBUJPOT GPS UIF TQBDF JOEVTUSZ DPNQSJTF DPNQMJDBUFE BOE FYUFOTJWF HPBMT XIJDI NBZ SFRVJSF QMFOUJGVM BEKVTUNFOUT BOE USBOTJUJPOBM DIBOHFT UP UIF TZTUFN TUBUF य़JT PॏFO BSJTFT GSPN B DPNQMFY TQBDFDSBॏ NPEFM EFTJHO XIJDI OFDFTTJUBUFT FYUFOTJWF. .

(20) GBNJMJBSJTBUJPO BOE DPNQSFIFOTJPO CZ UIF PQFSBUPST *O NJTTJPOT XJUI DPOWFOUJPOBM DPNNBOEJOH QSFQBSFE QMBOT JO GPSN PG B 4FRVFODF PG &WFOUT <6IMJH FU BM Q > BSF VQMJOLFE EVSJOH DPNNVOJDBUJPO XJOEPXT य़FTF UJNFMJOFT DBO POMZ CF DIBOHFE DPOTJEFSBCMZ CZ SFWJTJOH TVCTUBOUJBM TFDUJPOT XIJDI DBO CF CPUI B UJNF DPOTVNJOH BOE FSSPSQSPOF UBTL GPS UIF PQFSBUPST $PNNBOE TFRVFODJOH DBO CF BQQMJFE TVDDFTTGVMMZ XIFO NJTTJPO DJSDVNTUBODFT DBO CF BOUJDJQBUFE #VU GPS TDFOBSJPT XIFSF LFZFWFOUT BSF OPU EFUFSNJOJTUJD UIJT USBEJ UJPOBM XBZ PG TBUFMMJUF DPOUSPMMJOH JT OPU ੘FYJCMF FOPVHI BOE PQFSBUPST TUSVHHMF UP SFBDU JO UJNF 8IFO DPOTJEFSJOH UIF EFDMBSFE PCKFDUJWFT PG Fਖ਼DJFOU NVMUJTBUFMMJUF PQFSB UJPO TFF JU DBO CF FBTJMZ TFFO UIBU CPUI DPNNBOEJOH PG NVMUJQMF TQBDFDSBॏ BOE POCPBSE BVUPOPNZ TVQQPSU JT B EJਖ਼DVMU VOEFSUBLJOH XIFO VTJOH DPOWFOUJPOBM DPN NBOE TFRVFODJOH 4VQFSWJTJOH NPSF UIBO POF TQBDFDSBॏ TJNVMUBOFPVTMZ SFRVJSFT OPU POMZ QSPQPSUJPOBMMZ NPSF F੖PSU UP EF੗OF BMM OFDFTTBSZ BDUJPOT GPS FBDI TBUFMMJUF CVU BMTP BEEJUJPOBM XPSL UP HVBSBOUFF DPIFSFOU DPPQFSBUJPO CFUXFFO UIFN 'VSUIFSNPSF SFNPUF EFDJTJPOT DBO IBSEMZ CF Fਖ਼DJFOUMZ TVQQPSUFE FTQFDJBMMZ CFDBVTF UIF PQFSBUPST ۠NVTU FYBNJOF MPOH TUSFBNT PG MPXMFWFM UFMFNFUSZ BOE JOUFSQSFU JU JOUP TUBUFۡ B QSP DFTT XIJDI PॏFO EFQFOET PO HVFTT XPSL <%WPSBL FU BM > *U DBO CF TFFO UIBU UIFSF JT B OFFE GPS B NPSF TPQIJTUJDBUFE BQQSPBDI UP DPOUSPM TQBDF DSBॏ GPSNBUJPOT FTQFDJBMMZ EVSJOH PQQPSUVOJTUJD TDJFODF PCTFSWBUJPOT XIFSF GPS FYBN QMF OPUFXPSUIZ FWFOUT PO &BSUI TIPVME CF JEFOUJ੗FE BOE NPOJUPSFE BVUPOPNPVTMZ " DPNNBOEJOH UFDIOJRVF JT SFRVJSFE XIJDI BMMPXT PQFSBUPST UP GPDVT PO XIBU IBT UP CF EPOF JOTUFBE PG PO BENJOJTUSBUJOH IPX JU TIBMM CF EPOF 0OF QSPNJTJOH TPMVUJPO GPS UIJT QSPCMFN JT JMMVNJOBUFE JO UIF OFYU TFDUJPO. 3.2 Goal-Based Operation *O PSEFS UP NFFU UIF PCKFDUJWFT EFTDSJCFE JO DIBQUFS HPBMCBTFE PQFSBUJPO DBO CF FNQMPZFE य़JT DPNNBOEJOH BQQSPBDI DPNQSJTFT BO BCTUSBDUJPO PG UIF TQBDFDSBॏ DPO USPM PQFSBUPST DBO SBUIFS DPODFOUSBUF PO EFDJEJOH XIBU UP EP JOTUFBE PG EF੗OJOH IPX UP EP JU य़JT JT EPOF CZ DSFBUJOH HPBMT XIJDI BSF EFTJSFE TZTUFN TUBUFT ۠MJOLFE UP HFUIFS UISPVHI EFQFOEFODJFT BOE UFNQPSBM DPOTUSBJOUTۡ <%WPSBL FU BM > 8JUI UIJT BQQSPBDI B DMPTFEMPPQ DPOUSPM JT GFBTJCMF JO XIJDI HPBM DPOEJUJPOT DBO CF WFSJ੗FE. .

(21) BOE JO DBTF PG B GBJMVSF QPUFOUJBMMZ SFTUBSUFE "MTP JU BMMPXT HPBMT UP CF BVUPNBUJDBMMZ FWBMVBUFE FH BT B TVDDFTT XIJDI DBO CF B USFNFOEPVT BJE GPS PQFSBUPST FTQFDJBMMZ JO B NVMUJTBUFMMJUF TDFOBSJP *U JT JNQPSUBOU UP EJTUJOHVJTI CFUXFFO UIF GPMMPXJOH UXP UFSNT 0O UIF POF IBOE B DPNNBOE JT B TJOHVMBS JOTUBOUBOFPVT BDUJPO XIJDI USJHHFST B TZTUFN TUBUF DIBOHF 0O UIF PUIFS IBOE B HPBM EF੗OFT UIF JOUFOU UP LFFQ UIF TZTUFN BU B EFTJSFE TUBUF GPS B DFSUBJO BNPVOU PG UJNF <%WPSBL FU BM > य़FSFGPSF HPBMT BMMPX UP WFSJGZ UIF JO UFOU PG UIF PQFSBUPS DPNNBOET PO UIF PUIFS IBOE BSF DPNQMFUFMZ EFDPVQMFE GSPN UIF QVSQPTF UIFZ XFSF DSFBUFE GPS 'JHVSF WJTVBMJTFT UIF BGPSFNFOUJPOFE EJ੖FSFODF XJUI UIF IFMQ PG BO FYBNQMF UIF UISVTUFS PG B TBUFMMJUF TIBMM CF UVSOFE PO GPS B QFSJPE PG UXP NJOVUFT BOE TXJUDIFE P੖ BHBJO BॏFSXBSET 'PS UIJT QVSQPTF DPNNBOE $ TIBMM UVSO PO UIF UISVTUFS BU QN BOE DPNNBOE $ JT NFBOU UP TXJUDI P੖ UIF UISVTUFS BU QN #PUI DPNNBOET DBO CF DPOTJEFSFE BT TVDDFTTGVMMZ FYFDVUFE FWFO JO DBTF PG B NBMGVODUJPO XIJDI MFBE UP BO FSSPOFPVT QSFNBUVSF TXJUDIP੖ PG UIF UISVTUFS य़JT JT CFDBVTF UIFJS UBTL XBT NFSFMZ UP DIBOHF UIF TUBUF PG UIF UISVTUFS )PXFWFS HPBM ( XBT EF੗OFE BT ۠LFFQ UIF UISVTUFS UVSOFEPO GSPN QN GPS NJOVUFTۡ B SFRVJSFNFOU XIJDI JNQMJFT UXP BDUJPOT " BOE ". TJNJMBS UP UIF DPNNBOET $ BOE $ )PXFWFS JO DBTF PG UIF BGPSFNFOUJPOFE GBJMVSF HPBM ( DBO CF JEFOUJ੗FE BT B GBJMVSF CFDBVTF UIF TQFDJ੗FE DPOTUSBJOU PO UIF EVSBUJPO PG NJOVUFT IBT OPU CFFO TBUJT੗FE य़JT IBT UXP DPOTFRVFODFT 'JSTU UIF PQFSBUPS DBO CF BVUPNBUJDBMMZ JOGPSNFE BCPVU B NBMGVODUJPO *O DBTF PG DPNNBOE TFRVFODJOH UIF TZTUFN XPVME OPU CF BXBSF PG BOZ JOUFOU CFUXFFO UIF UXP DPNNBOET BOE UIVT NFSFMZ JOEJDBUF UXP TVDDFTTGVM DPNNBOET EFTQJUF B GBJMVSF JO CFUXFFO "OE TFDPOE XJUI UIF IFMQ PG B GBVMU EFUFDUJPO JTPMBUJPO BOE SFDPWFSZ TZTUFN PO CPBSE UIJT GBJMVSF DPVME CF IBOEMFE BVUPOPNPVTMZ य़JT JT B DSVDJBM SFRVJSFNFOU JO GPSNBUJPO NJTTJPOT XIFSF TVDI B UISVTUFS GBJMVSF DPVME FYQPTF BMM QBSUJDJQBUJOH TQBDFDSBॏ UP DPOTJEFSBCMF EBOHFS FTQFDJBMMZ JG OP DPNNVOJDBUJPO UP UIF PQFSBUPST JT BWBJMBCMF. .

(22) Plan:. !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_àbcdefghijklmnopqrstuvwxyz{|}~. Thruster state. Off. Off. On 7:00 p.m.. 7:02 p.m.. Command C1. Command C2. turnOn(). turnOff(). time. Command sequencing:. malfunction Thruster state. Off. On 7:00 p.m.. Off 7:02 p.m.. time. Goal-based operation:. Goal G. Thruster: On. Action A2 turnOff(). Action A1 turnOn() malfunction Thruster state. Off. On 7:00 p.m.. Off 7:02 p.m.. time. 'JHVSF " TDIFNB EFQJDUJOH B QMBO UP ੗SF B TBUFMMJUF UISVTUFS UPQ *O UIF NJEEMF JU DBO CF TFFO UIBU DPNNBOE TFRVFODJOH EPFT OPU EFUFDU GBJMVSFT CFUXFFO TZTUFN TUBUF USBOTJUJPOT BT JU NFSFMZ QFSDFJWFT UXP TVDDFTTGVM DPNNBOET $ BOE $ (PBMCBTFE PQFSBUJPO CP॒PN BMMPXT UP EFDMBSF B TQFDJ੗D JOUFOU HPBM ( CZ EF੗OJOH B TQFDJ੗D QFSJPE PG UJNF EVSJOH XIJDI UIF TZTUFN IBT UP CF JO B EFTJSFE TUBUF %FTQJUF UXP TVDDFTTGVM USBOTJUJPO BDUJPOT " BOE " HPBM ( GBJMT BMMPXJOH UIF TZTUFN UP EFUFDU UIF NBMGVODUJPO. .

(23) 0QFSBUPST VTJOH HPBMCBTFE DPNNBOEJOH TIPVME EF੗OF EFTJSFE TUBUFT PG ۠UIF TZT UFN VOEFS DPOUSPM OPU UIF DPOUSPM TZTUFNۡ <%WPSBL FU BM > य़JT NFBOT UIBU B HPBM SFRVFTU TIPVME SBUIFS EFNBOE ۠BDUJWBUF UIF UISVTUFSۡ JOTUFBE PG ۠TFU UIF PQFSBUJPO NPEF PG UIF QSPQVMTJPO TZTUFN UP .0%& ۡ XIFSF .0%& SFQSFTFOUT BO BSCJUSBS JMZ DIPTFO NPEF GPS UIF BDUJWBUJPO PG UIJT QBSUJDVMBS UZQF PG QSPQVMTJPO TZTUFN #VU HPBMT BMMPX DPNNBOEJOH PO BO FWFO NPSF BCTUSBDU MFWFM EJSFDUJPOT MJLF ۠NBJOUBJO PS CJUۡ DPVME CF JTTVFE CZ PQFSBUPST BOE QPUFOUJBMMZ SFRVJSFE BDUJWBUJPOT PG UIF UISVTUFST BT XFMM BT PUIFS BDUJPOT XPVME CF QMBOOFE BVUPOPNPVTMZ 5P BDIJFWF UIJT VTVBMMZ B NPEFM PG UIF TQBDFDSBॏ JT EFTJHOFE XIJDI IPMET BMM JNQMFNFOUBUJPOTQFDJ੗D SVMFT DPO TUSBJOUT BOE EFQFOEFODJFT BT XFMM BT JOGPSNBUJPO PO IPX UP USBOTJU GSPN POF TUBUF UP BOPUIFS 'VSUIFSNPSF TVDI NPEFMT BMMPX UIF PQFSBUPS UP BMXBZT VTF UIF TBNF DPN NBOE GPS BMM TBUFMMJUFT JO B GPSNBUJPO FWFO JG TPNF TBUFMMJUFT IBWF EJ੖FSFOU IBSEXBSF PS FWFO TPॏXBSF BT MPOH BT UIF NPEFM TVQQPSUT JEFOUJDBM TZTUFN TUBUFT UIF PQFSBUPS EPFT OPU IBWF UP DPOTJEFS IPX UP FYFDVUF B QBSUJDVMBS UBTL 'VSUIFSNPSF B GPSNBUJPO JO UPUBM DBO BMTP CF NPEFMMFE XIJDI BMMPXT GPS DPNNBOEJOH NJTTJPOHPBMT MJLF NBJO UBJOJOH B DFSUBJO DPO੗HVSBUJPO PS PCTFSWJOH B TQFDJ੗D SFHJPO PO &BSUI (PBMCBTFE PQFSBUJPO IBT CFFO TVDDFTTGVMMZ FNQMPZFE PO B GFX NJTTJPOT BOE QSPWFO UP CF BO Fਖ਼DJFOU XBZ PG DPNNBOEJOH TBUFMMJUFT. 0OF PG UIF ੗STU VTFT. XBT PO CPBSE UIF %५५ॶ 4ॶ१३५ 0ॴ५ TQBDFDSBॏ JO UIF TPDBMMFE 3FNPUF "HFOU &YQFSJNFOU DPNQSJTFE BO BSUJ੗DJBM JOUFMMJHFODF TZTUFN DBQBCMF PG IBOEMJOH UPQMFWFM HPBMT TFOU GSPN UIF HSPVOETUBUJPO BOE EFUFSNJOJOH ۠B QMBO PG BDUJPO UIBU BDIJFWFT UIPTF HPBMTۡ <#FSOBSE FU BM > य़F BVUPOPNPVT TPॏXBSF BHFOU "4& PO CPBSE &१ॸॺ८ 0२ॹ५ॸॼ९ॴ७ং JT BOPUIFS FYBNQMF JU JODMVEFT ۠POCPBSE DPOUJOVPVT QMBOOJOH SPCVTU UBTL BOE HPBMCBTFE FYFDVUJPO BOE POCPBSE NBDIJOF MFBSOJOH BOE QB॒FSO SFDPHOJUJPOۡ XIJMF IBWJOH ۠DPOUSJCVUFE PQFSBUJPOBM TBWJOHT PG BQQSPYJNBUFMZ . QFS ZFBSۡ <%WPSBL FU BM > य़F PCKFDUJWFT GSPN DIBQUFS DBO CF TVQQPSUFE NVDI FBTJFS XJUI UIF VTF PG HPBM CBTFE PQFSBUJPOT $PNNBOEJOH PG NVMUJQMF TQBDFDSBॏ JT NVDI NPSF GFBTJCMF FTQF DJBMMZ GPS B TNBMM DSFX TJ[F XIFO JU JT EPOF PO TZTUFN MFWFM SBUIFS UIBO NFUJDVMPVTMZ TUFQ CZ TUFQ 'JSTU CFDBVTF JU JT NVDI NPSF UJNF Fਖ਼DJFOU BOE TFDPOE CFDBVTF JOUFS TBUFMMJUF EFQFOEFODJFT DBO CF JODPSQPSBUFE JO B NJTTJPOXJEF NPEFM UIFPSFUJDBMMZ FO BCMJOH UIF PQFSBUJPO PG B NVMUJTBUFMMJUF GPSNBUJPO CZ B TJOHMF PQFSBUPS POMZ. .

(24) य़F TFDPOE PCKFDUJWF JT BMTP BTTJTUFE CZ HPBMCBTFE DPNNBOEJOH CFDBVTF JU DPOUSJCVUFT BO JNQPSUBOU QBSU UP UIF EFTJSFE POCPBSE BVUPOPNZ TVQQPSU CZ QSPWJEJOH B DPNQSF IFOTJCMF BCTUSBDUJPO MBZFS GPS NPSF Fਖ਼DJFOU NVMUJTBUFMMJUF PQFSBUJPO. 3.3 Plan Generation 8IFO VTJOH B HPBMCBTFE BQQSPBDI GPS TQBDFDSBॏ DPOUSPM B QMBO IBT UP CF DSFBUFE 4VDI QMBOT IPME BMM JOUFOEFE DPVSTFT PG SFMFWBOU TBUFMMJUF DPNQPOFOUT PS TVCTZTUFNT JO B DISPOPMPHJDBM PSEFS य़F HFOFSBUJPO PG TVDI BO BHFOEB DBO IBQQFO CPUI PO HSPVOE GPS FYBNQMF BT QBSU PG UIF .JTTJPO $POUSPM 4ZTUFN PS PO CPBSE B TBUFMMJUF FH JO BO BVUPOPNPVT GPSNBUJPO TF॒JOH " HPBM DBO IBWF JNQMJDBUJPOT PO B QMFUIPSB PG GBDUPST B EFTJSFE DIBOHF PG B॒JUVEF NBZ SFRVJSF NVMUJQMF ੗SJOH PG WBSJPVT UISVTUFST DPO੗HVSBUJPO DIBOHFT PG NBHOFUPS RVFST BEKVTUNFOU PG BOUFOOBT PS EJWFSTF PUIFS FMFNFOUT य़F QMBOOJOH TZTUFN NVTU CF BCMF UP EFEVDF UIF JO੘VFODF PG B HPBM‫۝‬T EF੗OJUJPO PO BMM DPNQPOFOUT PG B TBUFMMJUF PS FWFO UIF GPSNBUJPO BT B XIPMF य़JT DBO CF BDIJFWFE CZ EFTJHOJOH NPEFMT GPS BMM TQBDFDSBॏ XIJDI JODMVEF BMM DPOUSPMMBCMF PS PCTFSWBCMF DPNQPOFOUT BOE DIBSBDUFSJTF CFIBWJPVST GPS USBOTJUJPOT GSPN WBSJPVT TUBUFT UP PUIFST 8JUI UIF IFMQ PG UIJT NPEFM SBUIFS BCTUSBDU HPBMT DBO CF USBOTMBUFE JOUP BDUVBM UJNFMJOFT GPS FBDI JOWPMWFE DPNQP OFOU TQFDJGZJOH SFRVJSFE TVC TZTUFN TUBUFT JO BGPSFNFOUJPOFE DISPOPMPHJDBM PSEFS #Z BEFRVBUFMZ BOE QSPQFSMZ EFTDSJCJOH UIF NJTTJPO JUTFMG JOTJEF TVDI B NPEFM UIF XIPMF GPSNBUJPO UIFPSFUJDBMMZ DPVME CF DPOUSPMMFE CZ TJOHMF HPBMT .PSF JOGPSNBUJPO PO NJTTJPO QMBOOJOH BOE UJNFMJOF HFOFSBUJPO DBO CF GPVOE JO <6IMJH FU BM Q > XIJMTU TFDUJPO FMBCPSBUFT PO EFUBJMT PG NJTTJPO QMBOT VTFE GPS /५ॺ4१ॺ. .

(25) 3.4 Autonomy 'PSNBUJPO NJTTJPOT VTVBMMZ TVQQPSU TPNF MFWFM PG BVUPOPNZ य़FSF BSF NBOJGPME BT QFDUT PG GPSNBUJPO ੘ZJOH XIJDI SFRVJSF BDUJPOT XJUIPVU UIF JOUFSWFOUJPO PG IVNBO PQFSBUPST GPS FYBNQMF UIF PQQPSUVOJTUJD PCTFSWBUJPO PG &BSUI‫۝‬T TVSGBDF PS UIF NB OPFVWSJOH OFDFTTBSZ GPS DPOUSPMMJOH UIF SFMBUJWF QPTJUJPO PG TBUFMMJUFT SFMZ PO BEBQUJWF BOE BVUPOPNPVT EFDJTJPONBLJOH )PXFWFS OPU BMM NJTTJPOT FNQMPZ UIF TBNF BNPVOU PG BVUPOPNZ य़F &VSPQFBO $P PQFSBUJPO 'PS 4QBDF 4UBOEBSEJ[BUJPO EF੗OFE GPVS MFWFMT PG NJTTJPO FYFDVUJPO BVUPOPNZ XIJDI BSF EFTDSJCFE JO <&$44&" Q > E1 "MNPTU FYDMVTJWF SFBMUJNF PQFSBUJPO XJUI POMZ B MJNJUFE BNPVOU PG QSFEF੗OFE QSPDFEVSFT GPS TBGFUZ SFBTPOT E2 4VQQPSU GPS UJNFUBHHFE UFMFDPNNBOET BOE DPNQMFY QSFQBSFE QSPDFEVSFT GPS QMBOOFE NJTTJPO PQFSBUJPO E3 &WFOUCBTFE EFDJTJPONBLJOH E4 "VUPOPNPVT FYFDVUJPO PG HPBMT JODMVEJOH SFQMBOOJOH DBQBCJMJUJFT. 8IJMTU & UP & SFQSFTFOU UIF DPOWFOUJPOBM XBZ PG TBUFMMJUF DPNNBOEJOH TFDUJPO & SFMZ PO HPBMCBTFE PQFSBUJPO BT EFTDSJCFE JO TFDUJPO )FODF B TPQIJT UJDBUFE POCPBSE DPOUSPM TZTUFN TIPVME TVQQPSU EFQFOEFODJFT GPS HPBM EF੗OJUJPOT DFSUBJO BDUJPOT DBO BOE TIBMM POMZ CF FYFDVUFE JG TPNF DPOEJUJPOT BSF NFU $IFDLT GPS EFDJTJPONBLJOH DBO JODMVEF UFMFNFUSZ MPPLVQT FWFO PG PUIFS TQBDFDSBॏ JO UIF GPSNBUJPO PS FWFO QBZMPBE TQFDJ੗D FWBMVBUJPOT MJLF JNBHF QSPDFTTJOH 'VSUIFSNPSF BO & POCPBSE TZTUFN XJUI BVUPOPNPVT QMBOOJOH BOE TDIFEVMJOH DBQBCJMJUJFT DPVME EFUFDU BO VOTVDDFTTGVM B॒FNQU PG FYFDVUJOH B HPBM BOE SFTDIFEVMF JU ੗OEJOH BOPUIFS VQDPNJOH PQQPSUVOJUZ XJOEPX XJUIPVU UIF IFMQ PG PQFSBUPST PO HSPVOE 3FQMBOOJOH PG HPBMT SFRVJSFT UIF BDUVBM EFUFDUJPO PG BO VOTVDDFTTGVMMZ FYFDVUFE HPBM $POTFRVFOUMZ JG B GBJMVSF XBT FODPVOUFSFE UIF TQBDFDSBॏ OFFET UP SFDPWFS GSPN JU CFGPSF UIF POCPBSE TZTUFN DBO TDIFEVMF B SFUSZ 0OF DPNNPOMZ VTFE UFDIOJRVF XIJDI DBO CF BMTP VTFE GPS UIJT JT EFTDSJCFE JO UIF OFYU TFDUJPO. .

(26) 3.5 Fault Detection, Isolation and Recovery 0O CPBSE FWFSZ TBUFMMJUF GBJMVSFT PS EFWJBUJPOT GSPN FYQFDUFE CFIBWJPVS EP IBQQFO य़FZ DBO CF SFMBUFE UP QIZTJDBM SFBTPOT FH 4JOHMF &WFOU 6QTFUT 4&6T IBSEXBSF NBM GVODUJPOT PS TPॏXBSF FSSPST *U JT WFSZ JNQPSUBOU UIBU TBUFMMJUFT DBO IBOEMF TVDI GBJMVSFT BVUPOPNPVTMZ JO QBSUJDVMBS XIFO UIFZ EP OPU IBWF DPOTUBOU DPOUBDU UP UIF HSPVOE TFH NFOU &TQFDJBMMZ JO GPSNBUJPOT 'BVMU %FUFDUJPO *TPMBUJPO BOE 3FDPWFSZ '%*3 JT WFSZ JNQPSUBOU BT JU JT B DSVDJBM DPNQPOFOU PG POCPBSE BVUPOPNZ <&$44&" > EFTDSJCFT UIJT GBVMU NBOBHFNFOU QBSBEJHN BT GPMMPXT Detection 5P EFUFDU POCPBSE GBJMVSFT BOE UP SFQPSU UIFN UP UIF SFMFWBOU POCPBSE VOJUT PS TVCTZTUFNT BOE UP UIF HSPVOE TFHNFOU Isolation 5P JTPMBUF UIF GBJMVSF JF UP BWPJE UIF QSPQBHBUJPO PG UIF GBJMVSF BOE UIF EFUFSJPSBUJPO PG FRVJQNFOU Recovery 5P SFDPWFS UIF POCPBSE GVODUJPOT B੖FDUFE CZ UIF GBJMVSF TVDI UIBU NJT TJPO PQFSBUJPOT DBO DPOUJOVF. 8IFOFWFS B GBJMVSF JT EFUFDUFE UIF TPVSDF PG UIF NBMGVODUJPO TIBMM CF JTPMBUFE PO UIF TBNF MFWFM PG UIF TZTUFN 0OMZ JO UIF DBTF UIBU UIF B॒FNQU XBT GVUJMF UIF GBJMVSF JT FTDBMBUFE UP UIF OFYU IJHIFS MBZFS य़JT IFMQT SFEVDJOH UIF DPNQMFYJUZ PG BOZ EJBHOP TJT BOE SFDPWFSZ QSPDFEVSFT UIBU BSF OFDFTTBSZ BT EFTDSJCFE JO <,FMMOFS FU BM > B SFQPSU BCPVU $ॵॲॻॳ२ॻॹ‫۝‬T POCPBSE (५ॴ५ॸ९३ &ॲ५ॳ५ॴॺ .१ॴ१७५ॳ५ॴॺ 4ॵ६ॺॽ१ॸ५ XJUI '%*3 TVQQPSU 'VSUIFSNPSF <&$44&" > MJTUT UXP MFWFMT PG POCPBSE GBVMU NBOBHFNFOU ' EFTDSJCFT B TZTUFN XIJDI JG B GBJMVSF JT EFUFDUFE JTPMBUFT JUT PSJHJO CZ BQQSPQSJBUF SFDPO੗HVSBUJPOT "ॏFSXBSET JU QMBDFT UIF TQBDFDSBॏ JOUP TBGFNPEF B TZTUFN TUBUF XIJDI TXJUDIFT UIF FOUJSF TBUFMMJUF UP JUT SFEVOEBOU DPNQPOFOUT य़F TFDPOE MFWFM ' DIBSBDUFSJTFT GBJMVSF IBOEMJOH XIJDI JO BEEJUJPO UP UIF SFRVJSFNFOUT PG ' JODPSQP SBUFT UIF BTQFDU PG SFDPWFSZ UIF TQBDFDSBॏ TIBMM CF SFDPO੗HVSFE TVDI UIBU UIF NJTTJPO DBO DPOUJOVF VOEFS OPNJOBM PQFSBUJPO " DPNQSFIFOTJWF JOUSPEVDUJPO PG '%*3 XJUI BEEJUJPOBM JOGPSNBUJPO PO EFTJHO BOE JNQMFNFOUBUJPO DBO CF GPVOE JO <&JDLIP੖ > *O UIJT SFGFSFODF NBOZ DIBMMFOHFT. .

(27) FH UIF USBOTJUJPO UP TBGFNPEF XIJDI JO JUTFMG NVTU OPU FOEBOHFS UIF TQBDFDSBॏ BSF QVU JOUP QFSTQFDUJWF GPS B CF॒FS VOEFSTUBOEJOH *U DBO CF TFFO UIBU '%*3 JT B DSVDJBM DPOUSJCVUJPO UP B NVMUJTBUFMMJUF GPSNBUJPO NJT TJPO NBMGVODUJPOT EVSJOH BVUPNBUFE NBOPFVWSFT XJUIPVU UIF QPTTJCJMJUZ UP JOUFSWFOF GSPN HSPVOE DBO PUIFSXJTF IBWF DBUBTUSPQIJD DPOTFRVFODFT XJUI B QPUFOUJBM MPTT PG TFWFSBM TQBDFDSBॏT. 3.6 Requirements on the Mission Control System य़F TFDUJPOT BCPWF EFTDSJCFE NBKPS DPNQPOFOUT PG BVUPOPNPVT GBVMUUPMFSBOU BOE Fਖ਼DJFOU NVMUJTBUFMMJUF PQFSBUJPO )PXFWFS JO PSEFS UP BDUVBMMZ BENJOJTUSBUF TVDI B NJTTJPO UIF PQFSBUPST OFDFTTJUBUF QPXFSGVM UPPMT BT QBSU PG B TPQIJTUJDBUFE .JTTJPO $POUSPM 4ZTUFN 5BLJOH JOUP BDDPVOU UIF OFDFTTBSZ DBQBCJMJUJFT PG B GPSNBUJPO BOE UIFJS TBUFMMJUFT‫ ۝‬TZTUFNT UP NFFU UIF PCKFDUJWFT EFDMBSFE JO TFDUJPO BT XFMM BT DSVDJBM BT QFDUT PG NPEFSO Fਖ਼DJFOU TQBDFDSBॏ PQFSBUJPO JO HFOFSBM UIF GPMMPXJOH SFRVJSFNFOUT PO UIF .JTTJPO $POUSPM 4ZTUFN BSF QSPQPTFE R1. .JTTJPO PQFSBUJPO TIBMM CF DPOEVDUFE UISPVHI B UPPM XJUI B NPEFSO JOUVJUJWF DPNQSFIFOTJWF BOE JOUFSBDUJWF HSBQIJDBM VTFS JOUFSGBDF UP GBDJMJUBUF RVJDL SF TQPOTF UJNFT QMBOOJOH Fਖ਼DJFODZ BOE FYFDVUJPO SPCVTUOFTT " TUSFBNMJOFE FY QFSJFODF TIBMM CF DSFBUFE GPDVTTJOH UIF PQFSBUPS‫۝‬T B॒FOUJPO PO SFMFWBOU JOGPSNB UJPO BOE FWFOUT TVDI BT GBJMVSFT PS QMBO EJTDPOUJOVJUJFT. R2. 8FMMBSSBOHFE TDIFEVMF WJTVBMJTBUJPO TIBMM CF BWBJMBCMF GPS SFWJFXJOH QBTU BOE VQDPNJOH HPBMT. R3. (PBMCBTFE PQFSBUJPO TIBMM CF TVQQPSUFE GPS CF॒FS USBDFBCJMJUZ BOE DPIFSFOU NJTTJPOXJEF QMBOOJOH. R4. य़F PSJHJOT PG DPNQVUFS HFOFSBUFE PS VTFS DSFBUFE HPBMT TIBMM CF JOEJDBUFE GPS PQFSBUPST UP EJTDFSO BOE SFQSPEVDF SFNPUF EFDJTJPOT BOE BVUPNBUJPO PVUDPNFT. R5. 4UBUVT USBDLJOH PG HPBMT TIBMM CF JNQMFNFOUFE GPS CF॒FS DPO੗SNBCJMJUZ PG FYFDV UJPO DJSDVNTUBODFT. R6. %FQFOEFODJFT CFUXFFO HPBMT TIBMM CF USBDFBCMF GPS SFQSPEVDUJPO PG GBJMVSF DIBJOT BOE DPNQSFIFOTJPO PG BVUPHFOFSBUFE TDIFEVMFT. .

(28) R7. &YFDVUFE NJTTJPO QMBOT TIBMM CF WFSJ੗FE UP DPO੗SN TVDDFTT PS EFUFDU GBJMVSFT BVUPNBUJDBMMZ. R8. .BOVBM BOBMZTJT TIBMM CF WJBCMF UISPVHI UPPMT GPS EFUBJMFE BTTFTTNFOU PG FYFDVUFE HPBMT BOE QMBOOFE TDIFEVMFT. R9. 7JTVBMJTBUJPO WFSJ੗DBUJPO BOBMZTJT BOE DPNNBOEJOH TIBMM CF GFBTJCMF GPS NVMUJ TBUFMMJUF GPSNBUJPOT BT XFMM BT JOEJWJEVBM TQBDFDSBॏ GPS UIPSPVHI NJTTJPO FWBMV BUJPO BOE DPOUSPM. R10 %PXOXBSE DPNQBUJCJMJUZ GPS DPOWFOUJPOBM DPNNBOEJOH TIBMM CF BTTVSFE JO PS EFS UP FYQBOE JOUFSWFOUJPO DBQBCJMJUJFT. .

(29) 4 Concept Design for a Multi-Satellite Mission Control System य़JT DIBQUFS TQFDJ੗FT B .JTTJPO $POUSPM 4ZTUFN XIJDI EF੗OFT UIF GPVOEBUJPO PG UIF QSPQPTFE /५ॺ4१ॺ (PBM .BOBHFNFOU 4ZTUFN PVUMJOFE JO DIBQUFS 'PVS BSFBT XJMM CF IJHIMJHIUFE JO UIF GPMMPXJOH TFDUJPOT 'JSTU B QPUFOUJBM NJTTJPO OFUXPSL JT JOUSPEVDFE 4FDPOE USBDLJOH BOE IBOEMJOH PG HPBM TUBUVT XJMM CF JMMVNJ OBUFE TFDUJPO /FYU UIF SFQSFTFOUBUJPO PG UIF NJTTJPO QMBO BOE JUT WFSJ੗DBUJPO BॏFS FYFDVUJPO XJMM CF DIBSBDUFSJTFE TFDUJPO य़F MBTU TFDUJPO QSPWJEFT EFUBJMFE JO GPSNBUJPO PO IPX DPOWFOUJPOBM DPNNBOEJOH DBO CF JODPSQPSBUFE JOUP UIF HPBMCBTFE OBUVSF PG UIF QSPQPTFE TZTUFN. 4.1 Network Structure *O UIF QSPQPTFE .JTTJPO $POUSPM 4ZTUFN B NJTTJPO OFUXPSL JT SFRVJSFE JO PSEFS UP TVQ QPSU PCKFDUJWF 0 3FNPUF EFDJTJPOT CBTFE PO POCPBSE BVUPOPNZ DBO MFBE UP BMUFS BUJPOT PG UIF NJTTJPO QMBO OFX HPBMT NBZ CF DSFBUFE BOE PME POFT NJHIU CF DBODFMMFE PS TIJॏFE UP B OFX FYFDVUJPO UJNF *O BOZ DBTF UIF PQFSBUPS NVTU LOPX XIJDI FOUJUZ CF JU BO POCPBSE TZTUFN PS TJNQMZ BOPUIFS PQFSBUPS JTTVFE UIF DIBOHF य़F NJTTJPO OFUXPSL CBDLFE CZ B SFNPUF EBUBCBTF FODPNQBTTFT UIF FOUJSFUZ PG HSPVOETUBUJPOT TBUFMMJUFT BOE UIFJS TVCTZTUFNT *U GPMMPXT B UISFFMFWFM IJFSBSDIZ QB॒FSO BOE DPOTJTUT PG UIF GPMMPXJOH /FUXPSL/PEFT System. "OZ TBUFMMJUF PS HSPVOETUBUJPO DBO CF DPOTJEFSFE B TZTUFN. Subsystem य़JT HSPVQ DPNQSJTFT BMM IBSEXBSF TVCTZTUFNT PO CPBSE PG FBDI TBUFM MJUF CVU BMTP FWFSZ XPSLTUBUJPO DPNQVUFS SPPN PS BOZ PUIFS BSCJUSBSZ QBSUJUJPOJOH PG B HSPVOETUBUJPO *U JT VQ UP UIF EFTJHOFS PG UIF OFUXPSL UP TFMFDU UIF EFTJSFE CSFBLEPXO. .

(30) .PEVMFT DBO CF VTFE GPS BTTPDJBUJOH B MPHJDBM TPॏXBSF FOUJUZ XJUI B. Module. SFNPUF EFDJTJPO UIBU IBT CFFO NBEF PS XJUI B SFHJTUFSFE TUBUVT JO PSEFS UP EPDVNFOU JUT PSJHJO "O FYBNQMF PG B OFUXPSL GPMMPXJOH UIF TVHHFTUFE IJFSBSDIZ DBO CF TFFO JO *O UIF SFNPUF EBUBCBTF VTFE UP TZODISPOJTF UIF OFUXPSL TUSVDUVSF CFUXFFO BMM PQFSBUPST FBDI TZTUFN IBT UP MJTU BMM JUT TVCTZTUFNT BOE NPEVMFT FWFO JG NVMUJQMF TZTUFNT FH TBUFMMJUFT BSF JEFOUJDBM JO DPOTUSVDUJPO BOE TPॏXBSF EFTJHO. Systems: !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_àbcdefghijklmnopqrstuvwxyz{|}~. NetSat 1. Mission Control Centre. NetSat 2. Subsystems:. Payload. Workstation 1. Workstation 2. OBDH. Payload. OBDH. Data Manager. Science Module A. Data Manager. Science Module A. Goal Manager. Goal Manager. Logging System. Science Module B. Logging System. Science Module B. Planner. Planner. Modules:. 'JHVSF " OFUXPSL PG B IZQPUIFUJDBM NJTTJPO DPOTJTUJOH PG UISFF TZTUFNT CMVF JT WJTV BMJTFE B NJTTJPO DPOUSPM DFOUSF XJUI UXP XPSLTUBUJPOT BOE UXP TBUFMMJUFT FBDI XJUI TFWFSBM TVCTZTUFNT 0O FBDI TVCTZTUFN ZFMMPX NVMUJQMF TPॏXBSF FOUJUJFT FYJTU TPNF PG XIJDI BSF EFQJDUFE JO UIJT ੗HVSF HSFFO 0#%) 0OCPBSE EBUB IBOEMJOH. .

(31) 4.2 Goal Status Handling *O BO BVUPOPNPVT GPSNBUJPO ੘ZJOH NJTTJPO XJUI SFQMBOOJOH DBQBCJMJUJFT BVUPOPNZ MFWFM & TFDUJPO UIF NJTTJPO DPOUSPM TZTUFN NVTU TVQQPSU SFNPUF EFDJTJPONBLJOH TFF PCKFDUJWF 0 TFDUJPO य़JT JNQMJFT UIBU UIF PQFSBUPS JT BCMF UP EJTDFSO JG B HPBM IF DSFBUFE IBT CFFO SFQMBOOFE )F NVTU CF BCMF UP TQPU OFX HPBMT BT XFMM BT UP JEFO UJGZ UIFJS PSJHJO TFF SFRVJSFNFOU 3 0OF XBZ UP EP UIJT JT UP USBDL BMM TUBUVT GPS FWFSZ TJOHMF HPBM य़F GPMMPXJOH JT B QSPQPTBM GPS B WFSTBUJMF BOE TPQIJTUJDBUFE TUBUVT USBDLJOH TZTUFN " TUBUVT EF੗OFT UIF TUBUF PG B HPBM BU B TQFDJ੗D QPJOU JO UJNF &WFSZ HPBM IPMET B MJTU PG DISPOPMPHJDBMMZ SFHJTUFSFE TUBUVT UIF MBUFTU PG XIJDI DBO CF DPOTJEFSFE UP CF UIF DVSSFOU HPBM TUBUVT &WFSZ HPBM TUBUVT EF੗OFT JUT PSJHJO VOBNCJHVPVTMZ CZ SFGFSFODJOH POF .PEVMF PG UIF NJTTJPO OFUXPSL 'JHVSF JMMVTUSBUFT BMM SFRVJSFE B॒SJCVUFT PG B TUBUVT XIJDI XJMM CF FYQMBJOFE JO NPSF EFUBJM CFMPX. 'JHVSF " 6.- EJBHSBN TIPXJOH UIF QSPQPTFE B॒SJCVUFT PG B HPBM TUBUVT. य़F UZQF PG B TUBUVT DIBSBDUFSJTFT UIF OBUVSF PG UIF HPBM‫۝‬T DVSSFOU TUBUF य़F GPMMPX JOH UZQFT TIPVME CF TVQQPSUFE Database Storing य़JT UZQF PG TUBUVT HFUT SFHJTUFSFE GPS B HPBM XIFO JU IBT CFFO TUPSFE UP UIF SFNPUF EBUBCBTF य़JT NPNFOU NBSLT UIF BWBJMBCJMJUZ PG UIF HPBM XJUIJO UIF XIPMF NJTTJPO. .

(32) OFUXPSL BT JU IBT CFFO TBWFE QFSTJTUFOUMZ य़F DSFBUJPO UJNF PG B HPBM TUBUVT PG UIJT UZQF DBO CF DPOTJEFSFE UP CF UIF DSFBUJPO UJNF PG UIF HPBM JUTFMG #FGPSF UIF SFHJTUSBUJPO PG UIJT TUBUVT UIF HPBM POMZ FYJTUT JO WPMBUJMF NFNPSZ BOE IBT UIFSFGPSF CZ EF੗OJUJPO OPU ZFU CFFO DSFBUFE JOTJEF UIF NJTTJPO Scheduling 8IFO B HPBM IBT CFFO USBOTMBUFE CZ B QMBOOFS JOUP UIF TZTUFNTQFDJ੗D BDUJPOT BOE BॏFS BMM EFQFOEFODJFT IBWF CFFO MBJE PVU UIF TDIFEVMJOH TUBUVT GPS UIF HPBM JT SFHJTUFSFE Release " HPBM IBT UP CF SFMFBTFE CZ BO PQFSBUPS JO PSEFS UP CF DMFBS GPS USBOTNJTTJPO UP UIF TBUFMMJUFT 8IFO UIJT IBQQFOT B SFMFBTF UZQF TUBUVT HFUT DSFBUFE Transmission 0ODF B SFMFBTFE HPBM IBT CFFO USBOTNJ॒FE UIJT TUBUVT UZQF JT SFDPSEFE Acceptance "O BDDFQUBODF TUBUVT JT MJTUFE GPS B HPBM XIFO JU IBT CFFO SFDFJWFE BOE BDDFQUFE CZ UIF UBSHFU TBUFMMJUF Execution य़JT TUBUVT JT VTFE GPS MPHHJOH JOUFSNFEJBUF TUFQT EVSJOH FYFDVUJPO PG B HPBM Start 8IFO UIF FYFDVUJPO PG B HPBM DPNNFODFT UIJT UZQF PG TUBUVT JT SFHJTUFSFE End "ॏFS UIF FYFDVUJPO PG B HPBM UIJT TUBUVT JT TFU JO PSEFS UP JOEJDBUF JUT UFSNJOBUJPO. *U JT JNQPSUBOU UP OPUF UIBU B SFHJTUFSFE TUBUVT EPFT OPU BVUPNBUJDBMMZ JNQMZ UIBU B DFSUBJO TUBHF JO UIF MJGFDZDMF PG B HPBM XBT TVDDFTTGVM 'PS UIJT FBDI TUBUVT DBSSJFT BEEJUJPOBM JOGPSNBUJPO UIF MFWFM य़FSF BSF GPVS QPTTJCMF TUBUVT MFWFMT 4VDDFTT *O GPSNBUJPO 8BSOJOH BOE 'BJMVSF "O JOGPSNBUJPO TUBUVT EPFT JNQMZ OFJUIFS TVDDFTT OPS GBJMVSF " XBSOJOH TUBUVT TZNCPMJTFT B TVDDFTT VOEFS VOFYQFDUFE DJSDVNTUBODFT य़JT BMMPXT UIF (PBM .BOBHFNFOU 4ZTUFN UP JTTVF NVMUJQMF TUBUVT XJUI UIF TBNF UZQF JO PSEFS UP PWFSXSJUF UIF QSFWJPVT TUBUF PG UIF HPBM "T BO FYBNQMF ੗HVSF TIPXT IPX UIF HSPVOETUBUJPO SFHJTUFST NVMUJQMF 5SBOTNJTTJPO TUBUVT FWFSZ UJNF BO. .

(33) B॒FNQUFE USBOTNJTTJPO GBJMT JU MPHT B 'BJMVSF TUBUVT 0ODF UIF USBOTNJTTJPO TVDDFFEFE B 4VDDFTT TUBUVT JT SFDPSEFE य़F DPEF BMMPXT UIF SFHJTUSBS PG B TUBUVT UP QSPWJEF BEEJUJPOBM JOGPSNBUJPO BCPVU UIF HPBM‫۝‬T DVSSFOU TUBUF TJNJMBS UP BO FSSPS DPEF 3FRVJSFNFOU 3 JT BEFRVBUFMZ NFU CZ UIF EFTDSJCFE TZTUFN CFDBVTF JU BMMPXT UIF PQ FSBUPS UP DPNQSFIFOE UIF DPVSTF PG FWFOUT JOWPMWJOH B HPBM BOE IFODF EFUFDU BOPNBMJFT PS DPO੗SN TVDDFTTGVM FYFDVUJPO "O JOUFMMJHFOU BVUPNBUFE HPBM BOE TUBUVT NBOBHF NFOU TZTUFN PO CPBSE UIF TBUFMMJUFT PG B GPSNBUJPO DPVME SFMZ PO UIF TBNF JOGPSNBUJPO UP BJE UIF EFUFDUJPO PG GBJMVSFT UIFJS JTPMBUJPO BOE QPUFOUJBMMZ UIFJS SFDPWFSZ TFF '%*3 JO TFDUJPO . .

(34) !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_àbcdefghijklmnopqrstuvwxyz{|}~. Database. Workstation. 1. Stored to database. Status: Database Storing. 2. Scheduled by planner. Status: Scheduling. 3. Released by operator. Status: Release. Groundstation. 4. Error during transmission. Status: Transmission. 5. Error during transmission. Status: Transmission. 6. Transmitted to satellite. Status: Transmission. time. 'JHVSF य़F TJY ੗STU TUBUVT PG B HPBM JO DISPOPMPHJDBM PSEFS BSF TIPXO GSPN UPQ UP CP॒PN "ॏFS EBUBCBTF TUPSBHF TDIFEVMJOH BOE SFMFBTF SFTQFDUJWFMZ BO BQQSPQSJBUF TVDDFTT GVM TUBUVT JT SFHJTUFSFE य़F HSPVOETUBUJPO UIFO GBJMT UXJDF JO USBOTNJ॒JOH UIF HPBM UP JUT EFTUJOBUJPO XIJDI MFBET UP UXP JEFOUJDBM GBJMFE 5SBOTNJTTJPO TUBUVT *O B UIJSE B॒FNQU UIF USBOTNJTTJPO TVDDFFET BOE B UIJSE TUBUVT PG UIF TBNF UZQF JT JTTVFE UIJT UJNF BT B 4VDDFTT. .

(35) 4.3 Mission Plan य़F FOUJSFUZ PG BMM DISPOPMPHJDBMMZ PSEFSFE JOUFOEFE TZTUFN TUBUFT SFQSFTFOUT UIF NJT TJPO QMBO य़JT TFDUJPO JMMVNJOBUFT DPODFQUVBM FMFNFOUT XIJDI DPOTUJUVUF BO BEFRVBUF NJTTJPO QMBO BT XFMM BT EFQFOEFODJFT CFUXFFO NVMUJQMF HPBMT 'VSUIFSNPSF B EFUBJMFE JOTJHIU PO B SFMJBCMF WFSJ੗DBUJPO TZTUFN XJMM CF QSPWJEFE UP GPSN B TPMJE GPVOEBUJPO GPS FYFDVUJPO BOBMZTJT. 4.3.1 Schedules and Timeline Conditions 4PNF DPODFQUT OFFE UP CF JOUSPEVDFE JO PSEFS UP EFTDSJCF B NJTTJPO QMBO‫۝‬T SFQSFTFO UBUJPO 4FDUJPO NFOUJPOFE UJNFMJOFT XIJDI BSF BMTP QBSU PG UIF NJTTJPO QMBO B UJNFMJOF EF੗OFT UIF DISPOPMPHJDBM PSEFS PG WBMVFT GPS POF JOEJWJEVBM NPEFM DPNQP OFOU XIJDI DBO CF B TVCTZTUFN TUBUF PS UIF QIZTJDBM TUBUF PG B QJFDF PG IBSEXBSF PS FWFO B TZOUIFUJD WBSJBCMF 4JNJMBSMZ UP UIF 5JNFMJOF &OUSZ PG UIF (40$ .PEFMJOH -BO HVBHF EFTDSJCFE JO <6IMJH FU BM > B UJNFMJOF DPOEJUJPO EF੗OFT XIJDI WBMVF UIF DPNQPOFOU PG B QBSUJDVMBS UJNFMJOF TIBMM UBLF BU B TQFDJ੗D QPJOU JO UJNF BOE GPS IPX MPOH .PSF QSFDJTFMZ JU IPMET BO FBSMJFTU TUBSU UJNF BOE B MBUFTU TUBSU UJNF BT XFMM BT B NJOJNVN EVSBUJPO BOE B NBYJNVN EVSBUJPO GPS FYFDVUJPO TFF ੗HVSF . !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_àbcdefghijklmnopqrstuvwxyz{|}~. Timeline condition A. Timeline condition B time. Latest Earliest. start time. Start window Earliest start time + minimum duration Earliest start time + maximum duration. Latest start time + minimum duration Latest start time + maximum duration. 'JHVSF " TDIFNB JMMVTUSBUJOH UIF JNQPSUBOU QPJOUT JO UJNF FBSMJFTU BOE MBUFTU TUBSU UJNF. BOE EVSBUJPOT NJOJNVN BOE NBYJNVN PG B UJNFMJOF DPOEJUJPO. .

(36) *U JT JOUFSFTUJOH UP OPUF UIBU UIF EFTJSFE TUBUF PG B DPNQPOFOU UIBU JT UIF WBMVF PG B UJNFMJOF DPOEJUJPO DBO CF TQFDJ੗FE JO NPSF EFUBJM CZ BEEJOH QBSBNFUFST 'PS FY BNQMF B UJNFMJOF DPOEJUJPO DBO EFNBOE UIF B॒JUVEF NPEF UP CF 'JOF 1PJOUJOH .PEF XIJDI CFHT UIF RVFTUJPO XIFSF UIF TQBDFDSBॏ TIPVME QPJOU UP य़JT DPVME CF TQFDJ੗FE CZ QSPWJEJOH B RVBUFSOJPO BT B QBSBNFUFS UP UIF EFTJSFE WBMVF PG UIF B॒JUVEF NPEF DPNQPOFOU UIF UJNFMJOF DPOEJUJPO DPVME UIFO SFBE ۠"॒JUVEF NPEF TIBMM CF 'JOF1PJOU JOH.PEF 2 ۡ XIFSF 2 JT UIF EFTJSFE PSJFOUBUJPO RVBUFSOJPO &WFSZ HPBM IPMET FYBDUMZ POF UJNFMJOF DPOEJUJPO XIJDI JT JO BDDPSEBODF XJUI UIF EF੗OJUJPO PG B HPBM NFOUJPOFE JO य़JT SFMBUJPOTIJQ QSPWJEFT POF JNQPSUBOU QPTTJ CJMJUZ UP EFUFDU B GBJMVSF PG B HPBM B HPBM DBOOPU CF TVDDFTTGVM JG JUT UJNFMJOF DPOEJUJPO‫۝‬T JOUFOU XBT OPU GVM੗MMFE 4FDUJPO PVUMJOFT IPX UJNFMJOF DPOEJUJPOT DBO CF WFSJ੗FE JO PSEFS UP FWBMVBUF UIF NJTTJPO QMBO 'VSUIFSNPSF UJNFMJOF DPOEJUJPOT DBO BMTP CF UIF SFTVMU PG UIF PWFSBMM QMBOOJOH UIF VTFSEF੗OFE HPBM ( ۠SPUBUF UP GBDF UIF 4VO BU OPPO GPS UXP IPVSTۡ XIJDI SFTVMUT JO B UJNFMJOF DPOEJUJPO TJNJMBS UP ۠"॒JUVEF .PEF TIBMM CF 4VO1PJOUJOH.PEF CFHJOOJOH BU OPPO MBTUJOH GPS UXP IPVSTۡ NJHIU IBWF JNQMJDBUJPOT PO PUIFS DPNQPOFOUT PG UIF TBUFMMJUF PS GPSNBUJPO CBTFE PO UIF NPEFM BWBJMBCMF UISVTUFST FBDI ZJFMEJOH UIFJS PXO UJNFMJOF XJMM IBWF UP CF UVSOFE PO JO B TQFDJ੗D PSEFS XIJDI USBOTMBUFT UP BEEJUJPOBM UJNFMJOF DPOEJUJPOT 1BZMPBE JOTUSVNFOUT MJLF GPS FYBNQMF B DBNFSB NJHIU OFFE UP CF TXJUDIFE P੖ UP BWPJE EBNBHF XIJDI DPSSF TQPOET UP GVSUIFS UJNFMJOF DPOEJUJPOT BOE TP PO "MM UIFTF EFSJWFE UJNFMJOF DPOEJUJPOT EP IBWF B EFQFOEFODZ PO UIF PSJHJOBM PQFSBUPSEF੗OFE HPBM TFF %FDJTJPO /FUXPSL JO TFDUJPO CVU BSF OPU EJSFDUMZ BTTPDJBUFE XJUI JU 0OMZ UIF JNNFEJBUF UJNFMJOF DPOEJUJPO XIJDI FMBCPSBUFT UIF BDUVBM JOUFOU PG UIF HPBM JT EJSFDUMZ DPOOFDUFE UP JU TFF ੗HVSF य़JT BMTP JNQMJFT UIBU B UJNFMJOF DPOEJUJPO DBO CF SFRVJSFE CZ NPSF UIBO POF HPBM UIF BEEJUJPOBM HPBM ( ۠VQEBUF QBZMPBE TPॏXBSF BU OPPOۡ NJHIU BMTP SFRVJSF UP TXJUDI P੖ UIF DBNFSB ZJFMEJOH B EFQFOEFODZ PO UIF TBNF UJNFMJOF DBNFSB TUBUF BT UIF BGPSFNFOUJPOFE HPBM य़VT UIF UJNFMJOF DPOEJUJPO ۠य़F DBNFSB TUBUF TIBMM CF 0'' BU OPPO GPS UXP IPVSTۡ JT SFRVJSFE CZ CPUI HPBM ( BOE HPBM ( 'JHVSF WJTVBMJTFT UIJT FYBNQMF " TDIFEVMF JT B TFDUJPO PG UIF NJTTJPO QMBO XIJDI IPMET UIF JOUFOEFE TZTUFN TUBUF DISPOPMPHZ XIJDI IBT CFFO TQFDJ੗DBMMZ EFSJWFE GSPN B TFU PG POF PS NPSF HPBMT *O PUIFS XPSET XIFO UIF PQFSBUPS BEET B CBUDI PG OFX HPBMT XIJDI OFFE UP CF MBJE PVU. .

(37) CZ B QMBOOJOH BMHPSJUIN CFDBVTF PG QPUFOUJBM JOUFSBDUJPOT PS DPO੘JDUT BMM SFTVMUJOH UJNFMJOF DPOEJUJPOT SFQSFTFOU B OFX TDIFEVMF य़JT JNQMJFT UIBU JG UIFSF FYJTUFE BO PME TDIFEVMF B੖FDUJOH UIF TBNF UJNFMJOFT XIJDI BU MFBTU QBSUMZ PWFSMBQQFE XJUI UIF OFX POF JU JT JOWBMJEBUFE BOE SFQMBDFE .PSF UIBO POF TDIFEVMF DBO FYJTU BU UIF TBNF UJNF JG UIF DPOUBJOFE UJNFMJOF DPOEJUJPOT EP OPU DPOUSBEJDU FBDI PUIFS XIJDI JNQMJFT NPEFMCBTFE JOEFQFOEFODZ PG UIF PSJHJOBUJOH HPBMT "EEJUJPOBMMZ B TDIFEVMF DBO CF BT TNBMM BT POF UJNFMJOF DPOEJUJPO. Goals:. !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_àbcdefghijklmnopqrstuvwxyz{|}~. Face towards Sun. Update Payload Software. Components:. Attitude Mode. Thruster A. Thruster B. Camera. Payload Software Version. Earth Pointing. Off. On. On. 1.0. Sun Pointing. On. Off. Off. 2.0. Timeline conditions:. 'JHVSF य़F EFDPNQPTJUJPO PG UXP FYFNQMBSZ HPBMT CMVF JOUP TPNF B੖FDUFE DPNQPOFOUT JT TIPXO UIF UJNFMJOF DPOEJUJPOT HSFFO PG UIF PSBOHF DPNQPOFOUT BSF UIF EJ SFDUMZ JOUFOEFE DIBOHFT EFNBOEFE CZ UIF HPBMT य़F ZFMMPX DPNQPOFOUT BOE UIFJS UJNFMJOF DPOEJUJPOT BSF BEEJUJPOBM EFSJWFE SFRVJSFNFOUT UP BDIJFWF UIFJS SFTQFD UJWF HPBM य़F ੗HVSF EFNPOTUSBUFT IPX POF UJNFMJOF IFSF UIF DBNFSB BOE JUT UJNFMJOF DPOEJUJPOT DBO CF B੖FDUFE CZ UXP HPBMT TJNVMUBOFPVTMZ CPUI HPBMT OFFE UIF DBNFSB UP CF UVSOFE P੖ BU UIF TBNF UJNF. .

(38) 'JHVSF JMMVTUSBUFT UIF WBSJPVT SFMBUJPOTIJQT CFUXFFO UIF NJTTJPO QMBO FMFNFOUT EFTDSJCFE BCPWF. 'JHVSF " 6.- EJBHSBN TIPXJOH UIF GPMMPXJOH SFMBUJPOTIJQT B HPBM IBT POF UJNFMJOF DPO EJUJPO &BDI UJNFMJOF DPOEJUJPO BMXBZT CFMPOHT UP B TJOHMF UJNFMJOF " UJNFMJOF DPOEJUJPO DBO CF DPOOFDUFE UP FJUIFS POF PS OP HPBM " TDIFEVMF JT B DPMMFDUJPO PG UJNFMJOF DPOEJUJPOT XIJDI EP OPU BMM IBWF UP CF EJSFDUMZ DPOOFDUFE UP B HPBM. 4.3.2 Decision Network-Regulated Execution 0ODF B TDIFEVMF IBT CFFO QMBOOFE VQMJOLFE BOE EJTUSJCVUFE UP JUT EFTUJOBUJPO JU XJMM CF BENJOJTUSBUFE CZ BO JOUFMMJHFOU FYFDVUPS )PXFWFS TJNQMZ DIBOHJOH DPNQPOFOUT‫۝‬ TUBUFT JO UIF EFTJHOBUFE PSEFS JT OPU TVਖ਼DJFOU CFDBVTF UIF FYFDVUJPO PG TPNF UJNF MJOF DPOEJUJPOT DBO SFTVMU JO TFWFSF FNFSHFODJFT VOEFS DFSUBJO DJSDVNTUBODFT 'PS FY BNQMF BTTVNJOH B QJFDF PG IBSEXBSF XIJDI OFFET UP CF TXJUDIFE P੖ TIPSUMZ CFGPSF FDMJQTF SFNBJOT BDUJWBUFE BOE DPOOFDUFE UP UIF CB॒FSJFT EVF UP TPNF NBMGVODUJPOJOH PG UIF DPOUSPMMJOH TPॏXBSF UIF BVUPNBUJD BDUJWBUJPO PG B QBZMPBE TZTUFN XJUI IJHI QPXFS DPOTVNQUJPO EVSJOH FDMJQTF BDDPSEJOH UP QMBO NJHIU MFBE UP SBQJE VOFYQFDUFE ESBJOBHF PG POCPBSE CB॒FSJFT BOE UP UIF TVCTFRVFOU MPTT PG UIF TQBDFDSBॏ 5P BWPJE UIJT UIF FYFDVUPS JT SFRVJSFE UP DIFDL XIFUIFS FOPVHI QPXFS JT BWBJMBCMF CFGPSF UVSO JOH PO UIF SFMFWBOU JOTUSVNFOU. .

(39) *U DBO CF FBTJMZ TFFO UIBU B DPNQMFY OFUXPSL PG EFQFOEFODJFT BOE JOUFSDPOOFDUJPOT JT PCMJHBUPSZ GPS SPCVTU FYFDVUJPO PG NJTTJPO QMBOT TFF SFRVJSFNFOU 3 8JUI SFTQFDU UP UIF TDIFEVMFE UJNFMJOFT JU JT JNQPSUBOU UP EFUFSNJOF BOE PCFZ ۠RVBOUJUBUJWF UFNQPSBM SFMBUJPOT BNPOH UJNF QPJOUT BOE UJNF JOUFSWBMT BT XFMM BT DPOTUSBJOUT PO UIF QBSBNF UFST PG UIF SFMBUFE WBMVFTۡ </PHVFJSB FU BM > " EFDJTJPO OFUXPSL DPNCJOFT BMM UIFTF EFQFOEFODJFT CZ EF੗OJOH BMM DPOTUSBJOUT FEHFT CFUXFFO BMM UJNFMJOF DPOEJUJPOT WFSUJDFT 'JHVSF JMMVTUSBUFT B TJNQMF EFDJTJPO OFUXPSL 8IFOFWFS UIF FYFDVUPS JOUFOET UP QFSGPSN UIF EFTJSFE TUBUF DIBOHF PG BO VQDPNJOH UJNFMJOF DPOEJUJPO JU DIFDLT GPS JUT OBUVSBM UJNFSFMBUFE DPOEJUJPOT TFF ੗HVSF *U DIFDLT XIFUIFS UIF DVSSFOU UJNF JT FRVBM PS BॏFS UIF FBSMJFTU TUBSU UJNF य़F MBUFTU TUBSU UJNF NVTU CF FJUIFS OPX PS MJF JO UIF GVUVSF य़F BDUVBM EVSBUJPO PG UIF DPNQPOFOU TUBUF CFGPSF NVTU CF MBSHFS UIBO JUT UJNF MJOF DPOEJUJPO‫۝‬T NJOJNVN SFRVJSFE EVSBUJPO य़F FBSMJFS UJNFMJOF DPOEJUJPO NVTU OPU IBWF FYDFFEFE JUT NBYJNVN EVSBUJPO ZFU. 'VSUIFSNPSF EFQFOEFODJFT PO PUIFS UJNFMJOF DPOEJUJPOT BSF SFTQFDUFE XJUI UIF IFMQ PG UIF BGPSFNFOUJPOFE EFDJTJPO OFUXPSL FWFSZ DPOTUSBJOU FEHF QPJOUJOH UPXBSET PS BXBZ GSPN UIF UJNFMJOF DPOEJUJPO JO RVFTUJPO WFSUFY NVTU CF TBUJT੗FE *G BOZ PG UIFTF DPOTUSBJOUT GBJM GBVMU JTPMBUJPO BOE SFDPWFSZ NVTU CF JOJUJBUFE QPUFO UJBMMZ MFBEJOH UP SFQMBOOJOH PG BMM VQDPNJOH UJNFMJOF DPOEJUJPOT FJUIFS PO HSPVOE PS BVUPOPNPVTMZ PO CPBSE. .

(40) !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_àbcdefghijklmnopqrstuvwxyz{|}~. Attitude Mode. Camera. Thruster A. Thruster B. Earth Pointing. On. Off. Off. Meets Before. During Meets On. During. Meets. Before. During. On. Off. Meets Meets. Before Off Off. Sun Pointing. Meets. 'JHVSF "O FYFNQMBSZ EFDJTJPO OFUXPSL JT JMMVTUSBUFE NBLJOH TVSF UIBU UIF UISVTUFST BSF POMZ ੗SFE JG UIF DBNFSB IBT CFFO TXJUDIFE P੖ 'VSUIFSNPSF UISVTUFS " JT ੗SFE CFGPSF # BOE UIF EFTJSFE FOE TUBUF OBNFMZ 4VO 1PJOUJOH .PEF JT SFBDIFE PODF UISVTUFS # JT UVSOFE P੖ य़F DPOTUSBJOUT #FGPSF %VSJOH BOE .FFUT BSF CBTFE PO "MMFO‫۝‬T SFMBUJPOT </PHVFJSB FU BM > $PNQPOFOUT ZFMMPX BSF TIPXO XJUI UIFJS UJNFMJOF DPOEJUJPOT HSFFO CFMPX. 4.3.3 Verification *O PSEFS UP GSFF UIF PQFSBUPS GSPN UFEJPVT NBOVBM UFMFNFUSZ BOBMZTJT UP EFEVDF TZTUFN TUBUFT BOE DPO੗SN FYFDVUJPO TVDDFTT JU JT FTTFOUJBM UP WFSJGZ UIF NJTTJPO QMBO SFUSP TQFDUJWFMZ य़JT QSPWJEFT UIF PQFSBUPS XJUI BO BVUPNBUFE FWBMVBUJPO PG BMM TDIFEVMFT UJNFMJOF DPOEJUJPOT 3FRVJSFNFOU 3 JT NFU XJUI UIF IFMQ PG UIF GPMMPXJOH WFSJ੗DBUJPO QSPDFEVSF. .

(41) 5JNFMJOF DPOEJUJPOT IBWF WBSJPVT DPOEJUJPOBM DPOTUSBJOUT .PTU EFQFOEFODJFT GSPN UIF EFDJTJPO OFUXPSL DBO CF FYDMVEFE GSPN UIF WFSJ੗DBUJPO CFDBVTF UIFZ IBWF CFFO SFTQFDUFE EVSJOH FYFDVUJPO य़F WFSJ੗DBUJPO PG B NJTTJPO QMBO SFQSFTFOUT UXP TUFQT 'JSTU UIF BOBMZTJT PG FWFSZ LJOE PG BWBJMBCMF JOGPSNBUJPO NPTU QSPNJOFOUMZ UFMFNFUSZ. UP EFEVDF UIF DISPOPMPHJDBM DPVSTF PG BMM DPNQPOFOUT‫ ۝‬TUBUFT JT OFFEFE 4FDPOE UIF FTUJNBUFE TUBUFT BSF DPNQBSFE UP UIF FMBQTFE QBSU PG UIF NJTTJPO QMBO JO PSEFS UP DPO ੗SN TVDDFTTGVM FYFDVUJPO PS UP EFUFDU BOPNBMJFT य़JT DBO CF BDIJFWFE XJUI UIF IFMQ PG PCTFSWFST BOE WFSJ੗FST ۠"O PCTFSWFS JT BOZ WBMJE FYQSFTTJPO BOE XSBQT UIF MPHJD SFRVJSFE UP EFSJWF UIF TUBUF PG B DPNQPOFOU GSPN UFMFNFUSZۡ </PHVFJSB FU BM > य़JT EF੗OJUJPO FYQMBJOT XIZ BO PCTFSWFS JT QBSU PG UIF NPEFM EFTJHO PG B TQBDFDSBॏ PS GPSNBUJPO य़F TJNQMFTU JNQMFNFOUBUJPO DPVME NFSFMZ DIFDL BO BEFRVBUF UFMFNFUSZ WBMVF UP EFEVDF UIF TUBUF PG B DPNQPOFOU TFF MJTU JOH " DPNQMFY PCTFSWFS DPVME FYFDVUF FYUFOTJWF DBMDVMBUJPOT UP EFSJWF UIF DVSSFOU DPO੗HVSBUJPO PG B NVMUJTBUFMMJUF GPSNBUJPO " WFSJ॑FS JT BOPUIFS FYQSFTTJPO XIJDI FWBMVBUFT UIF SFTVMU PG BO PCTFSWFS BOE SFUVSOT USVF JG UIF DPNQPOFOU JO RVFTUJPO IFME UIF TUBUF XIJDI XBT EFNBOEFE CZ UIF WFSJ੗FS‫۝‬T UJNFMJOF DPOEJUJPO TFF ੗HVSF *U ZJFMET GBMTF JG UIF TUBUF FTUJNBUFE CZ UIF PCTFSWFS EJ੖FST GSPN UIF JOUFOEFE POF -JTUJOH TIPXT B TJNQMF WFSJ੗FS XIJDI DIFDLT XIFUIFS B DBNFSB IBT CFFO TXJUDIFE PO. . CameraMode CameraMode ( ) {. . r e t u r n g e t T e l e m e t r y ( CAMERA_MODE ) ;. . }. -JTUJOH " TJNQMF DBNFSB NPEF PCTFSWFS XIJDI SFUVSOT UIF FTUJNBUFE DBNFSB NPEF CBTFE PO UIF EFTJHOBUFE UFMFNFUSZ. . CameraMode ( ) == CameraMode . On ;. -JTUJOH " WFSJ੗FS SFUVSOJOH USVF JG UIF PCTFSWFS GSPN MJTUJOH SFUVSOT XIJDI JO UIJT FYBNQMF FRVBMT UP $BNFSB.PEF0O . *U JT JOUFSFTUJOH UP OPUF UIBU VODFSUBJOUJFT JO TUBUF FTUJNBUJPOT DBO CF FBTJMZ TVQQPSUFE UISPVHI UIJT TZTUFN 'PS FYBNQMF BTTVNJOH B HPBM XIJDI EFNBOET B TBUFMMJUF UP GBDF UIF 4VO BO B॒JUVEF NPEF PCTFSWFS XPVME QSPCBCMZ OFWFS FTUJNBUF 4VO 1PJOUJOH .PEF. .

(42) JG JU FYQFDUFE QFSGFDU PSJFOUBUJPO UPXBSET UIF 4VO XJUI [FSP EFHSFF EFWJBUJPO य़JT NBLFT BVUPNBUJD WFSJ੗DBUJPO PG UIF BTTPDJBUFE UJNFMJOF DPOEJUJPO ۠B॒JUVEF NPEF TIBMM CF 4VO 1PJOUJOH .PEFۡ BMNPTU JNQPTTJCMF य़JT DBO CF FBTJMZ TPMWFE CZ JOUSPEVDJOH BDDFQUBCMF VODFSUBJOUJFT UP UIF FYQSFTTJPO UIF B॒JUVEF NPEF PCTFSWFS DPVME FTUJNBUF 4VO 1PJOUJOH .PEF XIFO UIF PSJFOUBUJPO EFWJBUJPO JT CFMPX B DFSUBJO BMMPXFE BOHMF %FQFOEJOH PO PUIFS GBDUPST MJLF GPS FYBNQMF UIF HFOFSBM TZTUFN NPEF UIJT BDDFQUFE EFWJBUJPO BOHMF DPVME FWFO CF BEKVTUFE EVSJOH 4BGF .PEF PG B TQBDFDSBॏ B MFTT BDDV SBUF PSJFOUBUJPO UPXBSET 4VO DPVME CF TVਖ਼DJFOU GPS FYBNQMF UP SFEVDF SJTL EVSJOH NBOPFVWSFT XIJMTU GPS TDJFOUJ੗D HPBMT UIF SFRVJSFE BDDVSBDZ DPVME CF JODSFBTFE " UJNFMJOF DPOEJUJPO DBO CF DPOTJEFSFE TVDDFTTGVM JG JUT WFSJ੗FS JT USVF GPS B DFSUBJO QFSJPE PG UJNF XIJDI NVTU CF MPOHFS UIBO PS FRVBM JUT NJOJNVN EVSBUJPO BOE TIPSUFS UIBO PS FRVBM UP JUT NBYJNVN EVSBUJPO BOE GSPN B DFSUBJO QPJOU JO UJNF PO OPU FBSMJFS UIBO UIF FBSMJFTU TUBSU UJNF BOE OPU MBUFS UIBO UIF MBUFTU TUBSU UJNF 4PNFUJNFT JEFOUJGZJOH UIF BDUVBM TUBSUJOH QPJOU PG UIF FYFDVUPS‫۝‬T B॒FNQU UP DIBOHF B DFSUBJO TUBUF DBO CF EJਖ਼DVMU *O PSEFS UP QSPWJEF FYBDU JOGPSNBUJPO BCPVU UIJT NP NFOU UIF FYFDVUPS MPHT TQFDJBM TUBUVT GPS UJNFMJOF DPOEJUJPOT XIJDI DBO CF VTFE UP QJOQPJOU UIF FYBDU TUBSU UJNF 'VSUIFSNPSF UIF GPMMPXJOH FEHF DBTFT BSF PG QBSUJDVMBS JOUFSFTU B WFSJ੗FS DPVME CF TBUJT੗FE BMSFBEZ CFGPSF UIF FBSMJFTU TUBSU UJNF PS GPS B MPOHFS QFSJPE UIBO UIF NBYJNVN EFTJSFE EVSBUJPO *O UIFTF TJUVBUJPOT UIF DPNQPOFOU VOEFS DPOUSPM BDUVBMMZ IFME UIF TUBUF JU XBT TVQQPTFE UP BU MFBTU JO UIF UJNF JU XBT JOUFOEFE UP )PXFWFS TPNFUJNFT JU JT OPU CFOF੗DJBM UP LFFQ B DPNQPOFOU BU B DFSUBJO TUBUF GPS B MPOHFS UJNF UIBO FY QFDUFE PS UP DIBOHF UIF TUBUF UPP FBSMZ य़JT JT XIZ TVDI DBTFT TIPVME CF WFSJ੗FE BT B XBSOJOH UP JOGPSN UIF PQFSBUPS BCPVU B QPUFOUJBM TVDDFTT CVU XJUI UJNF DPOTUSBJOUT XIJDI IBWF OPU GVMMZ CFFO NFU 'JHVSF EFNPOTUSBUFT WBSJPVT DBTFT XJUI EJ੖FSFOU UFNQPSBM DPVSTFT UP DPOTPMJEBUF UIF QSPQPTFE DPODFQU PG WFSJ੗DBUJPO. .

(43) Plan:. !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_àbcdefghijklmnopqrstuvwxyz{|}~. Timeline condition A. Timeline condition B time. Scenario 1:. Timeline condition A. Timeline condition B time Minimum duration. Scenario 2:. Timeline condition A. Timeline condition B time. Latest start time Scenario 3:. Timeline condition A. Timeline condition B time. Earliest start time Scenario 4:. Timeline condition A. Timeline condition B time Maximum duration. 'JHVSF 'PVS TDFOBSJPT JO DPNQBSJTPO XJUI UIF QMBOOFE DPVSTF PG FWFOUT BSF TIPXO *O TDFOBSJP UJNFMJOF DPOEJUJPO " XBT UPP TIPSU XIJMTU JO TDFOBSJP JU TUBSUFE UPP MBUF #PUI DBTFT SFTVMU JO B GBJMVSF BT UIF NJOJNVN SFRVJSFNFOUT XFSF OPU NFU *O TDFOBSJP BOE UIF WFSJ੗FS PG UJNFMJOF DPOEJUJPO " SFUVSOFE USVF FJUIFS CFGPSF UIF FBSMJFTU TUBSU UJNF PS BॏFS UIF MBUFTU BDDFQUFE FOE UJNF XIJDI DBO QPUFOUJBMMZ CF QSPCMFNBUJD य़JT JT XIZ B XBSOJOH JT JTTVFE. .

(44) 4.4 Integration of Direct Commanding य़FSF BSF DFSUBJO NPNFOUT XIFO HPBMCBTFE PQFSBUJPO DBO CF IJOEFSJOH BOE DPNQMJ DBUJOH TQBDFDSBॏ DPNNBOEJOH 'PS FYBNQMF EVSJOH UIF -BVODI BOE &BSMZ 0SCJU 1IBTF UIF PQFSBUPST NJHIU XBOU UP DBMM FNCFEEFE QSPDFEVSFT EJSFDUMZ XIJDI NJHIU OPU CF DPWFSFE JO BO JTPMBUFE XBZ CZ B TJOHMF HPBM &NFSHFODJFT BSF BOPUIFS DBTF XIFSF NJT TJPO DPOUSPM NJHIU FWFO OFFE UP EF੗OF OFX QSPDFEVSFT UP EFCVH TPNFUIJOH JOPSCJU *O TVDI B DBTF XJUIPVU SFXSJUJOH UIF VOEFSMZJOH NPEFM XIJDI TIPVME OPU CF EPOF IBTUJMZ HPBMT DBOOPU TVਖ਼DF BOE EJSFDU DPNNBOEJOH JT SFRVJSFE य़JT JT XIZ SFRVJSF NFOU 3 FNQIBTJTFT UIF OFFE GPS EPXOXBSE DPNQBUJCJMJUZ य़F QSPQPTFE TZTUFN JO UIJT DIBQUFS DBO JODPSQPSBUF TVQQPSU GPS EJSFDU DPNNBOEJOH XJUIPVU BCBOEPOJOH UIF BGPSFNFOUJPOFE DPODFQUT 3VOOJOH QSPDFEVSFT DBO CF DPOTJE FSFE UP CF UIF TUBUF PG B DFSUBJO FYFDVUJPO UJNFMJOF य़FZ IBWF B TQFDJ੗D TUBSU UJNF BOE B DFSUBJO EVSBUJPO य़VT EJSFDU UJNFUBHHFE UFMFDPNNBOET DBO CF JOUFHSBUFE CZ IBO EMJOH UIFN BT SFHVMBS UJNFMJOF DPOEJUJPOT 4FDUJPO JMMVNJOBUFE UIBU UIF EFTJSFE WBMVF PG B UJNFMJOF DPOEJUJPO DBO IPME QBSBNFUFST UP TQFDJGZ UIF SFRVJSFE DPNQPOFOU TUBUF JO NPSF EFUBJM य़JT BQQFBST UP CF DPOHSVFOU XJUI UIF OFFE UP QBTT BSHVNFOUT UP B DVTUPN QSPDFEVSF य़F NBJO UIJOH SFNBJOJOH UP JOUFHSBUF EJSFDU DPNNBOEJOH UP UIF HPBMCBTFE PQFS BUJPO QB॒FSO JT UP NBOBHF UJNFMJOFT BOE QSPDFEVSFT PVUTJEF UIF NPEFM GPS FYBNQMF JOTJEF B SFNPUF EBUBCBTF "EEJUJPOBMMZ UIF FYFDVUPS OFFET UP CF JOTUSVDUFE UP IBOEMF TVDI QSPDFEVSFT EJ੖FSFOUMZ TJNQMJGZJOH FYFDVUJPO CFDBVTF OP DPOTUSBJOUT JO UIF EF DJTJPO OFUXPSL IBWF UP CF DIFDLFE य़F QSFDPNQJMFE QSPDFEVSF DBO CF VQMJOLFE BOE XJUIJO UIF UFNQPSBM DPOEJUJPOT EJDUBUFE CZ UIF UJNFMJOF DPOEJUJPO JUTFMG EJSFDUMZ FYF DVUFE 7FSJ੗DBUJPO PG UIF NJTTJPO QMBO JT TVQQPSUFE BT XFMM UIF BGPSFNFOUJPOFE WFSJ੗FS PG B UJNFMJOF DPOEJUJPO OFFET UP CF BCMF UP FWBMVBUF TVDDFTTGVM FYFDVUJPO PG UIF QSPDF EVSF XJUIPVU UIF IFMQ PG PCTFSWFST 4JODF UIFSF JT OP NPEFM JOGPSNBUJPO GPS DVTUPN DPNNBOET EFTJHOBUFE PCTFSWFST BSF OPU BWBJMBCMF 0OF VTFGVM BQQSPBDI JT UP MPH FY FDVUJPO TUBUVT JOGPSNBUJPO PO CPBSE BOE UP VTF B UJNFMJOF DPOEJUJPO WFSJ੗FS XIJDI DIFDLT XIFUIFS 4UBSU BOE &OE TUBUVT FYJTU BOE XIFUIFS UIFZ XFSF SFHJTUFSFE BU UIF SJHIU UJNF BOE XJUI B WBMJE JOUFSWBM CFUXFFO UIFN. .

(45) /FWFSUIFMFTT FWFO UIPVHI EJSFDU DPNNBOEJOH DBO CF JOUFHSBUFE RVJUF FBTJMZ BOE VTFE XJUI UIF TBNF BNPVOU PG DPOWFOJFODF BOE Fਖ਼DJFODZ BT HPBMCBTFE PQFSBUJPO JU NVTU CF DBVUJPOFE BHBJOTU VTJOH UIJT DPOUSPM QB॒FSO /P QMBOOFS JT VTFE JO UIJT DBTF XIJDI NFBOT UIBU OP BVUPNBUJD DIFDLT XJMM CF NBEF JO PSEFS UP JEFOUJGZ SJTLZ BDUJPOT 'VSUIFSNPSF B DVTUPN DPNNBOE DBO QPUFOUJBMMZ JOUFSGFSF XJUI B SVOOJOH TDIFEVMF BOE JO UIF XPSTU DBTF DBVTF B DSJUJDBM TZTUFN GBJMVSF )PXFWFS EJSFDU DPNNBOEJOH DBO CF BO FOPSNPVTMZ QPXFSGVM UPPM XIFO VTFE XJTFMZ BOE VOEFS VUNPTU B॒FOUJPO. .

(46) 5 Implementation of the NetSat Goal Management System य़F PVUMJOFE BTQFDUT PG UIF DPODFQU JOUSPEVDFE JO DIBQUFS IBWF CFFO JNQMFNFOUFE BT BO FOIBODFNFOU GPS UIF NJTTJPO DPOUSPM TZTUFN VTFE GPS UIF MBUFTU 68& QSPKFDUT BOE UIF VQDPNJOH /५ॺ4१ॺ NJTTJPOT य़JT (࢛ࢍ࢘ .ࢍ࢚ࢍ࢓࢑࢙࢑࢚ࢠ 4ࢥ࢟ࢠ࢑࢙ (.4 BEET B MJOF PG OFX UPPMT UP UIF HSPVOETUBUJPO DPOUSPM TPॏXBSF NPTU PG XIJDI BSF QSFTFOUFE JO UIJT DIBQUFS 4DSFFOTIPUT PG UIF BDUVBM BQQMJDBUJPO BSF TIPXO BOE EFUBJMT PO UIF VOEFS MZJOH JNQMFNFOUBUJPO BSF QSPWJEFE XIFSFWFS UIFZ DBO IFMQ DPOTPMJEBUF BOE BVHNFOU UIF DPNQSFIFOTJPO PG UIF SFTQFDUJWF GVODUJPOBMJUJFT 8IFOFWFS IFMQGVM FYBNQMFT DBO CF HJWFO DPNQBSJTPOT CFUXFFO UIF QSFTFOUFE NJTTJPO DPOUSPM TZTUFN BOE &4"‫۝‬T XFMM FTUBCMJTIFE 4$04 XJMM CF NBEF. 5.1 Network Indicator य़F NJTTJPO DPOUSPM TZTUFN VTFE BU UIF ;৐5 GPS UIF VQDPNJOH /५ॺ4१ॺ NJTTJPO IBT CFFO TVDDFTTGVMMZ UFTUFE EVSJOH UIF PQFSBUJPO PG 68&ং *U JT CBTFE PO UIF 3JDI $MJFOU 1MBU GPSN PG &DMJQTF XIJDI BMMPXT UIF VTFS PG UIF DSPTTQMBUGPSN BQQMJDBUJPO UP BSCJUSBSJMZ BEE NPWF SFTJ[F PS SFNPWF QSFEF੗OFE WJFXT %FWFMPQFST PG WJFXT XIJDI TIPX JOGPS NBUJPO PS QSPWJEF DPOUSPMT XJUI SFTQFDU UP TQBDFDSBॏ PQFSBUJPO BSF VTVBMMZ DPOGSPOUFE XJUI UIF GPMMPXJOH QSPCMFN JO UIF ੗FME PG NVMUJTBUFMMJUF PQFSBUJPO UIFZ FJUIFS PWFS MPBE UIF TDSFFO XJUI EBUB GPS FBDI TBUFMMJUF PS UIFZ IBWF UP CVJME UIFJS PXO TFMFDUJPO UPPM UP FOBCMF UIF PQFSBUPS UP ੗MUFS UIF DPOUFOU CZ TBUFMMJUF 0O UIF POF IBOE UIJT MFBET UP B DMV॒FSFE HSBQIJDBM VTFS JOUFSGBDF SFEVDJOH Fਖ਼DJFODZ JNNFOTFMZ 0O UIF PUIFS IBOE DVTUPN TBUFMMJUF TFMFDUPST DPOGVTF UIF PQFSBUPS FTQFDJBMMZ OFX USBJOFFT BT UIFZ EJ੖FS GSPN WJFX UP WJFX. .

(47) 5P TPMWF UIJT JTTVF B /FUXPSL 1JDLFS IBT CFFO DSFBUFE XIJDI DBO CF FNCFEEFE JO FWFSZ WJFX XJUI POMZ B GFX MJOFT PG DPEF *U QSPWJEFT B QFSTJTUFOU BOE VOJ੗FE OFUXPSL TFMFDUJPO UPPM BDSPTT BMM WJFXT XIJDI BMMPXT UIF PQFSBUPS UP QJDL OPU POMZ B TBUFMMJUF CVU BDUVBMMZ BOZ TZTUFN PO UIF OFUXPSL TVDI BT HSPVOETUBUJPOT PS FWFO TJOHMF XPSLTUB UJPOT TFF TFDUJPO *O BEEJUJPO UP UIF DIPTFO 4ZTUFN B 4VCTZTUFN DBO CF TQFDJ੗FE UP ੗MUFS UIF DPOUFOU FWFO GVSUIFS *U JT VQ UP UIF EFWFMPQFS UP IBOEMF UIF ੗MUFS TFMFD UJPO PG UIF VTFS GPS FYBNQMF UIF -ॵ७ 7९५ॽ XIJDI PO EFGBVMU TIPXT BMM MPHT BDSPTT UIF XIPMF OFUXPSL DBO CF TFU UP TIPX FYDMVTJWFMZ MPH NFTTBHFT GSPN POF QBSUJDVMBS TVCTZTUFN PG B TQFDJ੗D TBUFMMJUF य़F DVSSFOU TFMFDUJPO PG B WJFX JT IJHIMJHIUFE CZ UIF /FUXPSL *OEJDBUPS JO UIF UPQ TFDUJPO PG FBDI WJFX *U TIPXT UIF OBNF PG UIF DIPTFO TVCTZTUFN JG BOZ BT XFMM BT UIF OBNF BOE UIF QSFEF੗OFE DPMPVS GPS B TZTUFN JO PSEFS UP FBTJMZ SFDPHOJTF UIF PSJHJO PG B WJFX‫۝‬T DPOUFOU 'JHVSF JMMVTUSBUFT BO FYFNQMBSZ BQQMJDBUJPO XJOEPX XJUI NVMUJQMF EJ੖FSFOU /FUXPSL *OEJDBUPST. 'JHVSF "O BQQMJDBUJPO XJOEPX XJUI UISFF WJFXT FBDI XJUI JUT PXO /FUXPSL *OEJDBUPS JO UIF UPQ SJHIU DPSOFS UIF (ॵ१ॲ 7९५ॽ JT SFRVFTUFE UP TIPX HPBMT GSPN "OZ TZTUFN )FSF UIF 5९ॳ५ 7९५ॽ TIPXT UJNFMJOF DPOEJUJPOT POMZ GSPN UIF "%$4 PG /५ॺ4१ॺং XIJMF UIF -ॵ७ 7९५ॽ TIPXT BMM MPHT PG BOZ 8PSLTUBUJPO PG .JTTJPO $POUSPM. &TQFDJBMMZ XIFO XPSLJOH XJUI B TNBMM GPSNBUJPO HJWJOH FBDI TBUFMMJUF B TQFDJBM DPMPVS JNQSPWFT EFDJTJPONBLJOH BOE Fਖ਼DJFODZ BT JU BJET JO HPBM UBSHFUJOH BOE UFMFNF USZ BOBMZTJT &BDI PQFSBUPS JT GSFF JO DPO੗HVSJOH IJT XPSLTQBDF BDDPSEJOH UP IJT QSFG FSFODF 0OF XBZ JT UP DIBOHF UIF OFUXPSL TFMFDUJPO XIFOFWFS JU JT OFFEFE UP BEBQU UP. .

(48) UIF DVSSFOU TJUVBUJPO "OPUIFS XBZ JT UP QSFQBSF TFQBSBUFE XJOEPXT GPS FBDI TBUFMMJUF BOE QPTTJCMZ QMBDF UIFN PO EJ੖FSFOU EJTQMBZT 4$04 GFBUVSFT B TJNJMBS BQQSPBDI FBDI TBUFMMJUF IBT JUT PXO EFEJDBUFE XPSLTQBDF XIFSF FWFSZ XJOEPX JT ੗MUFSFE UP UIJT POF TQBDFDSBॏ POMZ $VTUPNJTBCMF WJFX BSSBOHFNFOUT FBDI XJUI B EJ੖FSFOU OFUXPSL ੗MUFS BSF OPU TVQQPSUFE. 5.2 Goal Management य़F BENJOJTUSBUJPO PG HPBMT JT BO FTTFOUJBM BTQFDU PG UIF (.4 य़F (ॵ१ॲ 7९५ॽ IBT CFFO DSFBUFE UP IFMQ UIF PQFSBUPS CZ QSPWJEJOH UIF GPMMPXJOH GVODUJPOBMJUJFT "MM HPBMT DBO CF MJTUFE ੗MUFSFE CZ UBSHFU BOE TPSUFE CZ EBUF %FUBJMFE TUBUVT JOGPSNBUJPO PG FWFSZ HPBM DBO CF SFWJFXFE (PBMT DBO CF DSFBUFE SFMFBTFE PS DBODFMMFE. 'JHVSF EFQJDUT BO FYFNQMBSZ (ॵ१ॲ 7९५ॽ XJUI UISFF FYJTUJOH HPBMT. 'JHVSF य़F (ॵ१ॲ 7९५ॽ MJTUJOH UISFF HPBMT XIJUF UJMFT "EEJUJPOBM CV॒POT DBO CF TFFO UP DSFBUF B OFX HPBM MPBE PMEFS HPBMT GSPN UIF EBUBCBTF SFMFBTF BMM TDIFEVMFE VQDPNJOH HPBMT BOE UP ੗MUFS UIF DPOUFOU UP POMZ TIPX GVUVSF HPBMT. .

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