NASA Technical Reports Server (NTRS) 20070032723: Initial Results from the Floating Potential Measurement Unit aboard the International Space Station

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by  NASA Technical Reports Server (NTRS)

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INITlAL RESULTS FROM THE FLOATING POTENTlAL MEASUREMENT
UNIT ABOARD THE INTERNATIONAL SPACE STATlON
Kenneth H. WRIGHT, Jr.
CSPAR, UniversityofAlabama-Huntsville, 301 Sparkman Dr., Huntsville, AL 35899
Phone: [phone]; Email: [email protected]
Charles SWENSO ,Don THOMPSO ,Aroh BARJATYA
Utah State University
Steven L. KOONTZ
NASA/Johnson Space Center
Todd SCHNEIDER, Jason VAUGHN, Joseph MINOW
Paul CRAVEN, Victoria COFFEY
NASA/MarshallSpace Flight Center
Linda PARKER
JacobsEngineering
ThemBUl
AlliedAerospace
ABSTRACT: The Floating Potential Measurement Unit (FPMU) is a
multi-probe package designed to measure the floating potential oj the
1nternationalSpaceStation (/SS) as well as thedensity andtemperature oj
the local ionospheric plasma environment. The role ojthe FPMU is to
provide direct measurements oj ISS spacecraft charging as continuing
construction leads to dramatic changes in ISS size and configuration.
FPMU data are usedJor refinement and validation ojthe ISS spacecraft
charging models usedto evaluate theseverityandJrequency ojoccurrence
ojISS charging hazards. The FPMUdata andthe models are also usedto
evaluate the effectiveness ojproposedhazardcontrols.
The FPMUconsists ojJour probes: afloating potentialprobe, two
Langmuirprobes. anda plasma impedanceprobe. These probes measure
thefloating potentialojthe1SS, plasma density, andelectron temperature.
Redundant measurements using different probes support data validation
by inter-probe comparisons.
The FPMU was installed by ISS crewmembers, during an
ExtraVehicular Activity, on the starboard (Sl) truss ojthe ISS in early
August 2006, when the ISS incorporated only one 160V US photovoltaic
(PV) array module. The first data campaign began a Jew hours after
installation and continuedJor overfive days. Additional data campaigns
were completed in 2007 after a second I60V US PV array module was
addedto the ISS.
This paper discusses the general perJormance characteristics ojthe
FPMUas integratedon ISS, theJunctionalperJormanceojeachprobe, the
charging behavior ojthe ISS beJore and after the addition oja second
160VUSPVarray module, and initialresultsjrom modelcomparisons.
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1- INTRODUCTION
The International Space Station (ISS) is and will continue to be the largest structure in Earth
orbit for the indefinite future. The photovoltaic (PV) solar array modules used to power the ISS
operate at 160 volts with the negative side of the array tied to ISS ground. These facts along
with a minimal amount of exposed conductive surface area contribute to the possibility of the
ISS structure charging to significant negative voltages (l]. To mitigate the hazard that high
voltages might pose to the crew on ExtraVehicular Activities (EVA) or to the surface treatments
providing thermal control of the ISS structure, two Plasma Contactor Units (PCUs), developed
by Glenn Research Center (GRC), were placed on the ISS preceding any installation ofPV array
modules.
As the first PV array module was delivered to ISS in December 2000, a plasma measurement
package was delivered as well. This package, called the Floating Potential Probe (FPP) and also
developed by GRC, was installed atop the Zl truss. The GRC/FPP verified that the PCUs were
controlling the floating potential ofthe ISS and that when the PCUs were off, the ISS did indeed
charge to more negative values. The magnitude of ISS charging measured was less than
expected due to lower electron collection by the PV module and due to a larger amount of ion
collection surfaces than was fust thought [2][3][4][5][6]. The paper by Ferguson [7] presented at
this conference summarizes the results from the GRC/FPP. The GRC/FPP acquired data from
December 2000 through April 200I.
As the ISS continues its build sequence, most notably with the addition ofPV array modules, the
need to measure ISS charging and its real-time ionospheric environment is ofgreat importance.
A total of four 160 volt PV array modules are planned for the ISS assembly complete
configuration. The Floating Potential Measurement Unit (FPMU), developed by Utah State
University (USU), is the follow-on plasma probe package to the GRC/FPP that will provide
measurements of the ISS floating potential as well as the density and temperature of the local
ionospheric plasma environment. The role of the FPMU is to provide measurements for
validation of the existing ISS charging model (the Boeing/Science Applications International
Corporation Plasma interaction Model or PIM) [4] that is used in the hazard characterization and
development ofcontrol processes ofthe vehicle and in particular for the crew when performing
an EVA [8].
FPMU data acquisition must occur during time periods when the PCUs are both on and off. The
FPMU data can provide a "calibration" between PCU currents and the corresponding PCU-off
floating potentials that can be incorporated in the PIM. This activity allows PIM to provide
accurate global characterization of hazard conditions to support hazard forecasting and
contingency operations planning as ISS construction continues, without being driven to worst
case assumptions [8].
The FPMU was installed on the ISS in August 2006 and this paper provides initial results from
the FPMU Data Sessions conducted during and since that time. The paper is structured as
follows: a briefdescription ofthe various FPMU components is given, the data recovery process
is discussed, and flight data ofISS charging behavior is illustrated. The flight data is compared
to model results for both the one and two PV array module configurations ofthe ISS. The flight
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data shown in this paper is for the PCU-offcondition to focus on the PY array module collection
behavior.
2- INSTRUMENT DESCRIPTION
The FPMU is a package offour plasma instruments designed and built by USU under contract to
the NASA/Johnson Space Center (JSC). Its purpose is to measure the local potential ofthe ISS
relative to the plasma and to measure the local plasma properties of density and electron
temperature. The four probes are: a Floating Potential Probe (FPP), a Plasma Impedance Probe
(PIP), a Wide-sweep Langmuir Probe (WLP), and a Narrow-sweep Langmuir Probe (NLP) with
associated electronics. The operation is autonomous with either an on or off state. The only
control is over the operation ofa heater in the WLP. Figure I shows a diagram ofthe deployed
instrument with indicated dimensional data. Interference or cross-talk between the individual
instruments ofthe FPMU was a concern. Distances between the probe surfaces have been set to
avoid overlapping sheaths. The FPMU has been described elsewhere [9][10][11] but a brief
description ofeach probe is given below.
FPP
/
1
00m 1
aOem
NLP 150 em
130em
PIP
ElectronicsBox
Figure 1- DiagramofFPMU in its deployed state with indicated dimensions.
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2.1 - Floating Potential Probe (FPP)
The FPP is a gold-plated sphere of radius 5.08 em. The sphere is isolated from chassis ground
n.
by a high impedance circuit, approximately 1011 The sphere "floats" at a floating potential
determined by local plasma conditions, which is within a few kT of the plasma potential and
e
=
provides a good reference for measuring the potential ofthe ISS (k Boltzmann's constant and
T = electron temperature). Data is sampled as a 12-bit word with 100 mV resolution. The FPP
e
is sampled at 128 Hz.
2.2 - Wide-Sweep Langmuir Probe (WLP)
The WLP is a gold-plated sphere of radius 5.08 em. A voltage sweep from -20 V to 80 V
relative to chassis ground, ISS structure, is applied to the probe, and the resulting currents to the
probe are measured. Sweeps are accomplished each second, with the potential sweeping from
low to high voltage in one second and back down from high to low in the next second. The
sweep is comprised of three parts: steps of- 250 mV from -20 V to 0 V, steps of- 25 mV
from 0 V to 50 V, and steps of- 250 mV from 50 V to 80 V. This pattern was chosen as a
balance between available telemetry space and the amount of data necessary to derive the
required parameters. The small step size from 0 V to 50 V provides sufficient resolution for a
determination of Te (which requires several samples in the electron retarding portion of the
sweep). The floating potential can be obtained over the full -20 V to 80 V range, within the
uncertainty requirement of +/- 2V. The current resulting from the applied voltage sweep is
measured on two different 12-bit channels. The low-gain channel has a resolution of 700
nA/count and the high gain channel has a resolution of3.5 nA/count. The high-gain channel has
sufficient sensitivity to observe both photo emission and ion collection currents whereas the low
gain channel is suited for observing ambient electron currents.
Measurement of ionospheric electron temperature by Langmuir probes is subject to significant
error ifthe probe surface material does not have a uniform work function, or ifthe probe is not
clean. Gold was chosen as the surface coating for the WLP owing to its nearly uniform work
function when properlyapplied and cleaned and its stability in the atomic oxygen environment of
low Earth orbit. The WLP can be cleaned on orbit by internal heating through activation of a
small halogen lamp inside the hollow sensorsphere.
2.3 - Narrow-Sweep Langmuir Probe (NLP)
The LP is a gold-plated cylinder with radius 1.43 cm and length 5.08 cm. The NLP is placed
mid-way on the boom supporting the FPP. The probe surface ofthe NLP is surrounded on each
side by a gold-plated guard cylinder with radius 1.43 cm and length 10.2 cm, which are swept in
synchrony with the NLP. A sweep from - 4.9 V to + 4.9 V, in steps of-12 mY, is applied to the
NLP during one second, followed by a sweep down from 4.9 V to - 4.9 V in the next second.
This sweep voltage is referenced to the floating potential measured by the FPP. Hence, even
though the sweep range ofthe NLP is small compared to the possible range ofISS potentials, the
electron and ion retarding regions of the plasma current-voltage profile will be seen, as the
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region sampled will move through the - 180 V to + 180 V range ofthe FPP to match the current
conditions, This configuration will allow the density and electron temperature to be determined
at I Hz. In addition, the ISS potential measured by the FPP will be verified, since if it is
incorrect, the NLP will not be referenced to the proper potential and the transition from ion
collection to electron collection will not be seen in the +/- 4.9 V sweep.
The current resulting from the applied voltage sweep is measured on two different 12-bit
channels, The low-gain channel has a resolution of87.5 nAlcount and the high gain channel has
a resolution of0.44 nAlcount. Like the WLP, the high gain channel has sufficient sensitivity to
observe both photo-emission and ion saturation currents where as the low-gain channel is suited
for observing electron currents, The surface ofthe NLP is gold for the same reason as the WLP,
the desire for a uniform work function and stability in atomic oxygen. However, there is no
heating lamp within the NLP, so there is no active cleaning mode for this probe.
2.4 - Plasma Impedance Probe (PIP)
The PIP consists of a short dipole antenna electrically isolated from the ISS. The dipole is
normally oriented perpendicular to the ram flow direction and away from the ISS wake. The PIP
measures the electrical impedance (magnitude and phase) ofthe antenna at 256 frequencies over
a 100 KHz to 20 MHz range. Electron density, electron-neutral collision frequency, and
magnetic field strengthcan potentially be deduced from these impedance measurements. The PIP
will also track the frequency at which an electrical resonance associated with the upper-hybrid
frequency occurs using a technique known as the Plasma Frequency Probe (PFP). From this
resonance the absolute plasma density can be determined at a 512 Hz rate with great accuracy.
Although not formally required by NASA, the PIP was added to the FPMU instrument suite per
agreement between USU and NASA.
Table I summarizes the performance ofthe FPMU instruments to measure the ISS floating
potential, Vr, the local plasmadensity, N, and electron temperature, Te.
Table I - The measured parameters, rates, and effective ranges for the FPMU,
Sensor Measured Rate Effective Range
Parameter (Hz)
FPP V 128 -180 V to +180 V
F
WLP N I 10'm'; to 5·1O'Lm';
T, 500 K to 3000 K
VF -20 V to 80 V
NLP N I 10'm-;to 5,lO'Lm-;
T 500 K to 3000 K
VF -180V to +180 V
PIP N, 512 1.1·IO'um-, t04'1014m-'
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3 - FLIGHT OPERATIONS
The FPMU was carried to the ISS on STS-121 in July 2006. On August 3, 2006, it was installed
on external camera port 2 at the end ofthe SI truss during an EVA performed by JeffWilliams
and Thomas Reiter. The FPMU interface is with tbe TV Camera Interface Controller (TVCIC)
which is attached to a camera stanchion that places the FPMU a few meters above the SI truss
surface. The FPMU makes use ofthe TVCIC interface for power and formats its data as a video
signal for Ku-band transmission to the ground. Details ofhow the FPMU integrates its data with
the ISS video system can be found in Swenson et al. [9).
Figure 2 shows a picture ofthe FPMU as installed on the ISS. While tbe crew members returned
to the airlock to obtain additional items for other EVA activities, the instrument was powered-on
briefly for 15 minutes to confirm proper integration At approximately GMT 215/23:00 the
FPMU was powered on and remained powered until approximately GMT 220/14:00.
Figure 2- FPMU as installed on the starboard SI truss.
(Modified NASA photo S116E06645)
The FPMU telemetry is routed to a workstation located in the Mission Control Center building at
JSC. The workstation shows a real-time display of key values from each I-second telemetry
frame as well as archives the data. In June 2006, tbe data path through JSC was verified by
flowing FPMU Functional Test data through the system. Beginning with the flight data in
August 2006, tbe telemetry as captured by the workstation is marred by noise. Each telemetry
frame is divided into 7 sections and a checksum value calculated for each section. For perfect
data capture, checksums calculated by tbe workstation for each telemetry frame would agree
=
with those calculated on orbit and stored in the telemetry. A checksum value 0 for the whole
telemetry frame implies complete agreement between the values calculated on orbit and those
calculated on the ground. Checksum values can be in the range 0 to 7 to indicate degrees of
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telemetry frame conuption. For example, Fig. 3 shows a histogram ofthe checksum values for
all ofday 2006/217. Only about 10% ofthe telemetry frames received had checksums equal to 0
for the August 2007 Data Session. Some limited troubleshooting has been performed to isolate
where the noise is introduced, but nothing definitive has been determined at the writing of this
paper. To the FPMU's advantage, the video system provides a unique high bandwidth channel
for its data. As will be discussed in Sections 3.1 - 3.3, the large volume ofdata per telemetry
frame (6,776 16-bitwords) can be filtered and smoothed to recover the vast majority ofit.
2006217
300---.-,---,--'''-'1-'-'--,---,-----,--,
..tbu,.Ie4: UA2J8
.S. 20
g
~
} 10
o
'-----L_--'--_'----L_--'--_'-----'_--'
o 2 3 4 5 678
checksumvalues
Figure3- Histogram ofthe checksum values for day 2006/217. Achecksum value=0
designates uncorrupted data for atelemetry frame.
Table 2 contains a list ofthe days for 2006 and 2007 to-date that the FPMU was powered and
transmitted data. The Ku-band downlink from the ISS is not continuous. For the August 2006
Data Session, the Ku-band efficiency (percentage of received transmissions relative to the total
FPMU operation time) was in the range of45% - 50%. For the 2007 Data Sessions to-date, the
Ku-band efficiency is close to 60%. Additional Data Sessions are planned in 2007 and 2008.
Table 2-FPMU Operation Days.
Year GMT Day Calendar Day
2006 21S - 220 Aug. 3-8
2007 022 - 030 Jan. 22 - 30
060 - 062 Mar. I - 3
103 - 104 Apr. 13 - 14
123 May 3
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3.1 - FPP data processing
The straightforward approach to analyzing FPP data is to simply find the mean (fpv) and
standard deviation (fp_vdev) of the 128 sample points. However, the noise present in the
telemetry frame causes the mean and standard deviation to fail an acceptance test of
Ifp_vdev/fpvl ~ 0.10. Examining the values ofthe FPP measurements in many telemetry frames
shows that the noise is basically "salt-and-pepper"-type (bit shifts) that can be easily eliminated
and/or smoothed. Based on the location ofthe FPMU and the ISS flight attitude, FPP values of
< -10 V can be considered as outlier points and discarded. Values> + 150 V are considered as
outliers for this polarity and are discarded as well. Median filters ofvarious widths are applied
to the remaining data points. These points.are finally subjected to an iterative process that
excludes values that are > 20 standard deviations from the mean.
To illustrate the analysis technique, FPP data from the January 2007 Data Session is chosen
because of the large amount of noise observed during this period. Figure 4 shows data from a
one-second FPP acquisition. All 128 points are shown as well as the -10 V and 150 V exclusion
boundaries. The red line indicates the mean of the 66 points that survive the algorithm. The
acceptance criteria remains the same at Ifp_vdev/fpvl ~ 0.10 and an additional criteria of the
number ofsurviving points must be;:::50.
"FloatingPotential
200...-~.-,-~~--.-~~r-.-~.-,-~~--.-~~,.,.,
2007 27 0 12 IK
160 fp_v,rp.vdev,opts: 5.03663 0.0105309 66
120
80
40
o --.--.---~------."j
40
·80 . ....- . ... . . -
-120
·160
·200L....~........~~.L....~"--'-~~--'---'~........~~...L..J
o 20 100 120
Figure4 - ExampleofFPP analysis ofdata from 2007/027/00:12:18.
Recovery rates for the FPP data are: (I) August 2006 > 99% per day; (2) January 2007 > 90%
perday; (3) March 2007 > 98% perday; (4) April 2007 > 98% perday; and (5) May 2007 > 98%
perday.
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3.2 - WLP and NLP data processing
The initial approach to recovery of the plasma properties from the WLP and the LP current
voltage characteristic is through the so-called "graphical method". In this method, the different
regions of the probe characteristic, i.e., the ion saturation region, the electron retarding region,
and the electron saturation region, are treated separately (see call-outs in Fig. Sa). This approach
was recently used by Lebreton et a1. [12] to process data from the Detection ofElectro-Magnetic
Emission Transmitted from Earthquake Regions (DEMETER) satellite Langmuir probe.
Because of the existence of noise in the FPMU telemetry frame, various filtering techniques
must be performed as each region ofthe probe characteristic is analyzed.
The basic relationships between voltage and current in the different regions for the data
processing are given below. For the ion saturation region, a linear dependence ofcurrent (Ii) as a
function ofapplied probe voltage (V) is assumed:
[I.]
where al and bl are determined from curve-fitting. For the electron retarding regIOn, a
Boltzmann relation (Maxwellian electrons) is assumed for the electron current Ie:
[2·1
19 23
where q = electron charge 1.609x10· coulombs; k = Boltzmann's constant 1.38xI0. joules/K;
= = =
V plasma space potential; Te electron temperature; and 1 the random electron thermal
sp 00
current given by
[3.]
= = = = 31
where e electron density; A area of probe; and me electron mass 9.1 x 10- kg.
p
Equation [2] can be re-written as
[4.[
where a2 and b2 are determined from curve-fitting. ote that b2is the slope ofthe data in semi
log space and is proportional to lITe. For the electron saturation region, the current is estimated
as a second order polynomial
[5.)
where a3, b3, C3 are determined from curve-fitting. Further discussion about the electron
saturation region occurs later in this section.
The basic steps in the analysis routine are as follows:
I. Find the floating potential (VF) by locating the voltage at which the current changes
polarity. The polarity of the measured current for each probe is the "Langmuir
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convention" where ion current is recorded as negative and electron current is recorded as
positive.
2. Correct for photoelectron current, Iph. For the spherical WLP, this is a constant value of
Iph = 29 I!Nm2 . WLP-cross-section = 0.24!lA. For the cylindrical LP, Iph depends on
the sun-angle relative to the probe axis, i.e., Iph = 29 IlNm2 . NLP-cross-section . sines =
4.21x 10-2 IlA . sines, where es is the angle between the NLP-sun vector and the FPP
mast axis.
3. Isolate a region ofthe ion saturation current more negative than the floating potential and
curve-fit to Eq. [I].
4. Subtract the ion current baseline as determined by the fit to Eq. [I] to derive the electron
onlycurrent.
5. Obtain the first derivative of the electron current and locate the voltage at which a
maximum occurs in the derivative. This voltage serves as the initial estimate ofthe space
potential, Vsp .
6. Based on the value of Vsp select a range of voltage more negative than Vsp but more
positive than VFto capture the electron retardation region. The logarithm ofthe electron
current in this selected voltage range is curve-fit to Eq. [4], i.e., a linear fit in semi-log
space.
7. Select a range ofvoltage a few volts more positive than the estimate for Vsp and curve-fit
these points to Eq. [5].
8. Solve for a new Vsp through the intersection ofcurves determined from the curve-fits of
Steps (6) and (7).
9. Use the new Vsp and perform one iteration by repeatingSteps (6) - (8).
The plasma properties are determined in the following manner for each Langmuir probe. The
ion current from Eq. [I] is evaluated at the space potential and assumed to be the ion ram current
since the probes are in the mesothermal flow regime, i.e., electron thermal speed> ISS speed>
ion thermal speed, and the dominant ion at ISS altitude is 0+. The ion ram current to the probe is
given by
[6.]
= = = =
where q electronic charge, N; ion density, V1SS magnitude of the ISS velocity, and ALP
cross-section ofthe probe. For the spherical WLP, the cross-section is a constant value. For the
cylindrical NLP, a cosine ofthe angle between the probe normal and velocity vector must also be
included. The ion density is found by inverting Eq. [6]. The electron temperature (in Kelvin)
is derived by using the slope from the curve-fit to Eq. [4] in the relation
= =
Te(K) (q .10gIOe)1(k . b2) 50421 h [7·1
The electron density is found by inverting Eq. [3], using the T value from Eq. [7], and using the
e
measured electron current at Vsp. The floating potential and space potential are determined
from Steps (I) and (9) in the analysis routine.
To illustrate the Langmuir probe data processing, an analysis ofa single WLP and LP voltage
current curve for each probe for a common time is featured. Figure 5 shows the WLP result
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