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Lei Chen · Xian-Zong Bai

Yan-Gang Liang · Ke-Bo Li

Orbital Data Applications for Space Objects

Conjunction Assessment and Situation Analysis

OrbitalDataApplicationsforSpaceObjects

LeiChen • Xian-ZongBai

Yan-GangLiang • Ke-BoLi

OrbitalDataApplications forSpaceObjects

ConjunctionAssessmentandSituation Analysis

LeiChen NationalUniversityofDefenseTechnology

Changsha China

Xian-ZongBai NationalUniversityofDefenseTechnology

Changsha China

Yan-GangLiang NationalUniversityofDefenseTechnology

Changsha China

Ke-BoLi NationalUniversityofDefenseTechnology

Changsha China

ISBN978-981-10-2962-2ISBN978-981-10-2963-9(eBook) DOI10.1007/978-981-10-2963-9

JointlypublishedwithNationalDefenseIndustryPress,Beijing,China LibraryofCongressControlNumber:2016954628

© NationalDefenseIndustryPress,BeijingandSpringerNatureSingaporePteLtd.2017

Thisworkissubjecttocopyright.AllrightsarereservedbythePublishers,whetherthewholeorpart ofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations, recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped.

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Thepublishers,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthis bookarebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishersnorthe authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor foranyerrorsoromissionsthatmayhavebeenmade.

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Preface

Spaceobjectsgenerallyrefertoallin-orbitspacecrafts,rocketbodies,andspace debris,etc.Unlikemeteoroidfromthenaturalworld,allspaceobjectsaremadeby mankind.Nowadays,moreandmorespaceobjectsareproducedduetothefrequent spaceactivitiesperformedbyhumanbeings,resultinginagreaterpossibilityof spacecollision.TheChinesegovernmentiscontinuouslypromotingandforcefully implementingrelevantpoliciesandmeasuresforspaceenvironmentprotectionand maintenance,justasotherlargeandresponsiblespacefaringpowershavebeen doingallthetime.

However,thecontinuousincreasementofspaceobjectsisinevitable,andall mitigationmeasurestakencanonlygeardowntheincreaserateofthespaceobject. Conjunctionassessmentandcollisionavoidancemaneuversarethetopicsand countermeasureswhichoughttobefurtherstudiedandcarriedoutforeffective applicationsbyspacefaringpowers.Astheconjunctionassessmentstudyisbased onthespacecatalogdata(includingbasicinformation,orbitalinformation,and characteristicinformationofspaceobject)obtainedfromspacesurveillance network,howtotakegooduseofthesedataandhowtodothedatamining comprehensivelyarethekeytothestrengtheningoftheconjunctionassessment capacity.Furthermore,everyspaceobjectperformsin-orbitoperationinstrict accordancewithorbitaldynamics,butthesyntheticmovementofmostspace objectsisvirtuallydisordered.Howtopinpointtheinherentprinciplesofsuch motionsfromhugeamountofcatalogdataisachallengetous.

Thespaceobjectorbitaldata,asanimportantpartofspacecatalogdata,can comprehensivelybeappliedtoconjunctionassessment,orbitalanomalyandspace eventdetection,orbitalerroranalysisandprecisionoptimization,spacedebris environmentaland flowanalysis.Throughcomputationandanalysiswithreference toorbitaldata,wecanobtainthespatialpositionandvelocityinformationofthe spaceobjectatcurrenttimeandaperiodoftimeinexpectedfuture.Thus,the foundationcanbebuiltuponittoletusknowmoreaboutthespaceobjectdistribution,andastrongsupportcanbegiventotheconjunctionassessmentandcollisionavoidancemaneuversofin-orbitspacecrafts.Thespaceobjectcatalogdata accumulatedonalong-termbasiscanprovideusthehistoricalchangingprocess

ofspaceobjectorbits.Analysisofsuchdatacanleadtosomeintrinsicprinciples behindtheorbitaldata,forexample,thespacecraftorbitalmaneuverevents.The innovativeresearchesonsuchprincipleswillbeconducivetotheexpansionofthe depthandwidthofspacesituationalanalysisandimprovementoftheabilityto acquiretheorbitalcharacteristicsofspaceobjects.

Thisbookdiscussedtheapplicationsoforbitaldataofspaceobjectsintarget conjunctionassessmentandspacesituationalanalysisaswellasrelevanttheories andmethodologies.Therearetotally7chapters.Theorigins,types,andapplication purposesofspaceobjectorbitaldataareintroducedinChap. 1,wheretheapplicationsofspaceobjectorbitaldataintargetconjunctionassessmentsandspacesituationalanalysesareemphasized;anoverviewofthespaceobjectorbitprediction errorispresentedinChap. 2,thepropagationmethodsoforbitpredictionerrorbased onorbitmodelsaregiven,andsoarethepropagationmethodsbasedonrelative dynamictheories;anerroranalysismethodbasedonhistoricalorbitaldatais introducedinChap. 3,theperiodiccharacteristicsoftheorbitpredictionerrorare presented,andtheerror fittingisdonebybringinginthePoissonseries;anintroductiontotheanalyticalandnumericalmethodscommonlyappliedtothespace objectapproachinganalysisisunfoldedinChap. 4;derivationsofseveralexplicit expressionsofthecollisionprobabilityundercircularandordinaryorbitalconditions throughanalysisofapproachingdistancearepresentedinChap. 5,soastohavethe collisionprobabilityexpressedasexplicitfunctionsoftheapproachingdistanceor approachinggeometricrelationship,anderrorsandapplicationscopesoftheexplicit expressionsarealsoanalyzed;thesensitivityofcollisionprobability,maximum collisionprobability,falsedismissalprobabilityandfalsealarmprobabilityof conjunctionassessment,andmulti-factorconsideredgeneralcollisionriskassessmentmethodonthebasisofcollisionprobabilityexplicitexpressionsaredeeply studiedinChap. 6;orbitalanomalyandspaceeventdetectionmethodsbasedon historicalorbitaldataandassessmentsonsuchmethodsareillustratedinChap. 7. Hence,thisbookcanbeusedasareferencebookforengineersandtechnicalstaffs specializedinspacecraftdynamics,spacecraftobservationandcontrol,space surveillance,spacesituationalawareness,spacedebrisresearch,andotherrelated fields.Itcanalsobeusedasasupportingcoursematerialforpostgraduatestudentsin relevantmajors.

Itshouldbehonestlypointedoutthatthisbookisfarfromcompleteandperfect. Forauthor ’slimitedknowledge,theremustbesomesmalltyposoreventheoretical imperfectsinthisbook.Ifthereadershaveanycommentorsuggestionabout thisbook,wearereallygratefulforyourdirectcontactingwithusthrough chenl@nudt.edu.cn.Yourhelpwillbehighlyappreciated.

Changsha,ChinaLeiChen June2016Xian-ZongBai Yan-GangLiang Ke-BoLi

Acknowledgements

Thisbookisajointresearchproductmainlybasedontwonewdoctoraldissertationsofourresearchgroupandalsoaccreditedtotheresearchersofourreference source.Thisbookisattributabletothesecollaborators.Weareforeverindebtedto ourcolleaguesandstudents,withoutwhomthisbookandtheresearchonwhichitis basedcouldnotbecarriedon.

Firstly,wewanttoexpressourgratitudetoProf.ChenXiaoqianandProf.Tang Guojin,seniorofficialsofourcollege,whogivegreatsupportandcaretoour researchgroup.SpecialthanksshouldgotoMr.WangDongya,Mr.HuangJianyu, andMr.ZhangGuojun,whogivegreatsupportstoourresearchprograms.We wouldalsoliketopayourgratitudetoProf.ZhouBozhaoandProf.ZhaoYou,who providemanyenlighteningideasinouracademicdiscussions.Wearealsograteful toseveralinsightfulanddiligentstudents,includingChaiHua,ZhangTaotao, HaoJia,CaoYuhui,andHuYunpeng,whohavemadegreateffortsanddonemuch workduringthecompilationofthisbook.Finally,theworkinthisbookispartially supportedbytheNationalNaturalScienceFoundationofPRChina(Grant No.51405499)andNationalBasicResearchProgramofChina(“973” Project) (GrantNo.2013CB733100).

2.2.2Model-BasedOrbitalErrorPropagation

2.4.1InitialErrorPropagationBasedonAlgebraicModels

2.4.2CorrelationCharacterizationBasedonGeometrical

3.1OverviewofErrorAnalysisandApplicationBased

3.1.1InitialCovarianceAnalysisBasedonHistoricalData

3.1.2CovariancePropagationFunctionFittingBasedon

3.1.3PromotionofLong-TermPrecisionUsingHistorical

3.2GenerationofResidualDataConsideringPeriodicity

3.2.1SelectionofSpaceObjects

3.2.2GenerationofResidualData

3.4.1ErrorofOrbitalElementsandPositions

3.4.2ErrorPropagationResultsofC-WEquations

3.4.3PoissonSeries

5.2ExplicitExpressionofCollisionProbabilityinCircularOrbit ....

5.2.1ConjunctionGeometryandDistanceAnalysis...........

5.2.2TransformationandProjectionofErrorCovariance ......

5.2.3ExplicitExpressionofCollisionProbability ............

5.2.4Examples ......................................

5.3ExplicitExpressionofCollisionProbabilityinGeneralOrbit

5.3.1ExplicitExpressionof Pc inTermsofConjunction Geometries

5.3.2ExplicitExpressionof Pc inTerms ofNTWComponents

5.3.3Examples

5.4ExplicitExpression’sEccentricityBound

5.4.1Flight-PathAngleandVelocity’sMagnitude ofEccentricOrbit

5.4.2EffectsofNon-zeroFlight-PathandUnequalVelocity

5.4.3GeneralEffectsofEccentricOrbit

6.1SensitivityAnalysisofCollisionProbability

6.1.1De finitionofSensitivityofCollisionProbability

6.1.2SensitivityAnalysisBasedonExplicitExpression

6.2MaximumCollisionProbability

6.2.2FixedOrientation

6.2.3VariableOrientation

6.2.5Discussion

6.3Missing-andFalse-AlarmAnalysisofConjunction

6.3.1EssentialofConjunctionAssessment andMisjudgment

6.3.2Safety-andDanger-RegionofConjunction

6.3.3CalculationofProbabilityofMissingAlarm

6.3.4CalculationofProbabilityofFalseAlarm

6.4ComprehensiveAssessmentofCollisionRisk

6.4.1De finitionofthe F-Value ..........................

6.4.2Risk-andQuality-AssessmentParameters

6.4.3MembershipFunctionsofAssessmentParameters

6.4.4WeightingCoefficientsofAssessmentParameters

6.4.5Examples

7OrbitalAnomalyandSpaceEventsAnalysis

7.1OverviewofOrbitalAnomalyandSpaceEvents ..............

7.1.1OrbitalAnomalyandSpaceEvents

7.1.2OrbitalAnomalyDetectionBasedonHistoricalData .....

7.1.3BasicProcedureofDetectingOrbitAnomaly

7.2OrbitalAnomalyDetectionBasedonMWCF

7.2.1SelectionofCharacteristicOrbitElements

7.2.2GenerationofDispersionData

7.2.3DetectionofOutliersinDispersionData

7.3OrbitalAnomalyDetectionBasedonPredictionDispersion

7.3.1SecularModelofCharacteristicOrbitElements

7.3.2GenerationandOutlierDetectionofDispersionData

7.3.3Examples

7.4GEOOrbitAnomalyDetectionBasedonDispersion ofDriftRate

7.4.1CharacteristicOrbitParametersandVariationLaw

7.4.2GenerationofDispersionDataofDriftRate

7.4.3DetectionofOutliersinDispersionData

7.5AssessmentofDetectionMethodofOrbitalAnomaly ..........

7.5.1DiscriminantAnalysisandMisjudgmentProbability

7.5.2ProbabilityofFalseAlarm

7.5.3ProbabilityofMissingAlarm

7.5.4OrbitPrecisionRequirement

ListofFigures

Figure1.1DistributionofSpaceObjects......................2

Figure1.2TLEDataFormatDescription......................12

Figure2.1Satellite-basedRSWandNTWcoordinatesystems.......24

Figure2.2Schematicdiagramoferrorsduringspaceobjectorbital determinationandprediction.......................26

Figure2.3Propagationofinitialerrors.......................26

Figure2.4Orbitalmodelerrors............................27

Figure2.5Errorpropagationcurveofobject ① .................38

Figure2.6Errorpropagationcurveofobject ② .................39

Figure2.7Errorpropagationcurveofobject ③ .................40

Figure2.8Errorpropagationcurveofobject ④ (onedaylater)......41

Figure2.9Errorpropagationcurveofobject ④ (twodayslater).....42

Figure2.10Errorpropagationcurveofobject ③ inNTW coordinatesystem..............................43

Figure2.11Propagationcurveoferrorstandarddeviations ofobject ① ..................................53

Figure2.12Propagationcurveoferrorstandarddeviations ofobject ② ..................................53

Figure2.13Propagationcurveoferrorstandarddeviations ofobject ③ ..................................54

Figure2.14Relativeerrorcurveofstandarddeviationsofobject ① ....54

Figure2.15Relativeerrorcurveofstandarddeviationsofobject ② ....55

Figure2.16Relativeerrorcurveofstandarddeviationsofobject ③ ....55

Figure2.17Propagationcurveoferrorstandarddeviations ofobject ④ (inRSWcoordinationsystem)............59

Figure2.18Relativeerrorcurveofstandarddeviationsofobject ④ (inRSWcoordinationsystem).....................59

Figure2.19DistributionofvelocityerrorsusingMonte-Carlo methodat1290s...............................60

Figure2.20Modi ficationsoferrordatausingorbitcurvature.........60

Figure2.21Propagationcurveoferrorstandarddeviations ofobject ④ (inRSWcoordinationsystem withcurvaturemodifications)......................61

Figure2.22Relativeerrorcurveofstandarddeviations ofobject ④ (inRSWcoordinationsystem withcurvaturemodifications)......................62

Figure2.23Propagationcurveoferrorstandarddeviations ofobject ④ (inNTWcoordinationsystem)............63

Figure2.24Propagationcurveoferrorstandarddeviations ofobject ④ (inNTWcoordinationsystem)............63

Figure2.25Errorellipsoidofellipticalorbit....................64

Figure2.26Thechangingcurveofvelocityangle H ofobject ④ withitspassingthePerigeetime s ..................64

Figure2.27CorrelationcoefficientsofLEOobjectbased onC-Wequations..............................71

Figure2.28CorrelationcoefficientsofMEOobjectbased onC-Wequations..............................71

Figure2.29CorrelationcoefficientsofGEOobjectbased onC-Wequations..............................71

Figure2.30Propagationofinitialcovariance(1day)..............73

Figure2.31Propagationofinitialcovariance(10day).............73

Figure3.1Theschemeforincreasinglong-termprecision usinghistoricaldata.............................82

Figure3.2Generationofresidualsbetweenpredicted andreferencestateinwholeperiod..................84

Figure3.3Generationof ithTLE’spredictionresidual tosubsequentTLEs.............................85

Figure3.4Residualdatatwo-dimensionalbinning (a left ,beforebinning; b right,afterbinning)...........87

Figure3.5In-track(U)positionerrorstandarddeviations foreachdatabinsoffourobjects...................87

Figure3.6ErrorstandarddeviationcurvesderivedfromPoisson seriesonlyconsistsofpolynomialterms..............98

Figure3.7Errorstandarddeviationcurvesurfacederived fromPoissonseriesconsistsofbothpolynomial andtrigonometricterms..........................99

Figure3.8Profileofin-track,normal,andcross-trackerror standarddeviationscurvedsurfaceofHEOobject withrespecttomeananomalywhile Dt =5days........99

Figure3.93r errorellipsoidofCosmos-2251..................102

Figure3.103r errorellipsoidofIridium-33.....................102

Figure3.11CorrelationcoefficientcurvesofLEOobject............103

Figure3.12CorrelationcoefficientcurvesofMEOobject...........103

Figure3.13CorrelationcoefficientcurvesofGEOobject...........104

Figure4.1Relativedistancebetweentwoobjects................108

Figure4.2Geometricalprefilter............................110

Figure4.3Relativeorientationoforbitalplanes.................111

Figure4.4Satellitepositionsinorbitalplanes..................111

Figure4.5Angularwindows..............................115

Figure4.6Thevalueofthealertrange q ......................117

Figure4.7ResidualoftheSGP4modelincludingonly thesecularterms...............................118

Figure4.8ResidualoftheSDP4modelincludingonly thesecularterms...............................119

Figure4.9Pointsofintersectionofsphericalprojection oftwoorbits..................................120

Figure4.10Northernpointofintersectionofsphericalprojection oftwoorbits..................................121

Figure4.11Thetimedifferencesoftwoobjectscrossing thenorthernpointandsouthernpoint................123

Figure4.12Theorbitalelementstwoobjectscrossing thenorthernpointandsouthernpoint................123

Figure5.1Descriptionoftheproblemof Pc calculation............136

Figure5.2Parametersof Pc densityfunctionandradius ofcollisioncross-sectionareaontheconjunctionplane....141

Figure5.3Conjunctionalwaysoccursinthevicinityofpoints ofclosestapproachbetweenorbits..................144

Figure5.4Circularorbitassumptionandtheconjunction configuration.................................144

Figure5.5Theclosestapproachvectorbetweenorbits Drrad andtheclosestapproachvectoratTCA Drtca ...........145

Figure5.6De finitionoftheencountercoordinatesystem...........146

Figure5.7De finitionoftheRSWcoordinatesystem ofprimaryobject..............................147

Figure5.8Closestapproachdistanceinthehorizontalplane........147

Figure5.9Positionerrorcovarianceellipsoidsoftwoobjects whicharealignedwiththeradial,in-track andcross-trackdirections.........................148

Figure5.10Combinederrorvarianceinthehorizontalplane rSW versustheanglebetweentwovelocityvectors when rS [ rW and rS \rW .......................151

Figure5.113r combinederrorellipsoid.......................155

Figure5.12Thecombinederrorellipseandcombinedcollision cross-sectionontheconjunctionplane................156

Figure5.13 Pc versuserrorscalingfactorusingthreemethods........157

Figure5.14Collisionbetweenspaceobjectsalwaysoccurs inthevicinityoflineofintersectionoftheirorbitplanes...158

Figure5.15Thenecessaryconditionofclosestapproachbetween twoorbitsisthattherelativepositionvector isperpendiculartobothobjects’ velocityvectors.........159

Figure5.16Theclosestapproachvector Drmin betweenorbits andtheclosestapproachvectoratTCA Drtca ...........160

Figure5.17Closestapproachdistanceinthevelocityplane..........163

Figure5.18De finitionoftheencountercoordinatesystem andpositionerrorellipsoidsoftwoobjects.............164

Figure5.19Theconjunctiongeometryandcoordinatesystems........168

Figure5.20TransformationfrommodifiedNTWsystems totheencountersystem..........................171

Figure5.21 Pc versuserrorscalingfactorusingthreemethods (ISSevent)...................................175

Figure5.22Valuesforthe flight-pathangle h andtheratio ofvelocity’smagnitude g withrespecttotrue anomalywhen e ¼ 0:7...........................176

Figure5.23The Pc calculatedbyexplicitexpressionandmodi fied expressioniftheconjunctionoccursattheperigee (a)andapogee(b)ofsecondaryorbit................177

Figure5.24The Pc calculatedbyexplicitexpressionandmodi fied expressioniftheconjunctionoccursattheposition onsecondaryorbitwhere h ¼ sin 1 e ...............178

Figure5.25Thedifferencesbetween Pc calculatedbyexplicit expressionandmodifiedexpressionwithvarioustrue anomalies....................................179

Figure5.26Cumulativedistributionfunctionofeccentricity of12,043objectsinLEO(ha <5000km).............180

Figure5.27Therelativeerrorbetween Pc calculatedbyexplicit expressionandmodifiedexpressionwithvarious trueanomalies................................180

Figure6.1Curveofcombinederrorsinahorizontalplanevarying withorbitalplaneincludedanglesundertwoconditions....191

Figure6.2Curveof Pc anditssensitivitieschanging withR-directioncloseapproachdistance..............194

Figure6.3Curveof Pc anditssensitivitieschanging withS-directioncloseapproachdistance..............194

Figure6.4Curveof Pc anditssensitivitieschanging withW-directioncloseapproachdistance..............195

Figure6.5Curveof Pc anditssensitivitieschanging withthecombinederrorstandarddeviation inthedirectionR..............................196

Figure6.6Curveof Pc anditssensitivitieschanging withthecombinederrorstandarddeviation inthedirectionS..............................196

Figure6.7Curveof Pc anditssensitivitieschanging withthecombinederrorstandarddeviation inthedirectionW..............................197

Figure6.8Curveof Pc anditssensitivitieschanging withtheconjunctionangles.......................198

Figure6.9Curveof Pc anditssensitivitieschanging withtheconjunctionangles ðr 5Þ ..................199

Figure6.10Curveof Pc anditssensitivitieschanging withtheconjunctionangles ðr 10Þ .................199

Figure6.11Curveof Pc anditssensitivitieschanging withcombinedradius rA .........................200

Figure6.12Thevariationofellipse’s a size, b shape and c orientationintwo-dimensionsplane.............201

Figure6.13Eightcovariancesituationsformaximumcollision probabilityassessment...........................204

Figure6.14Collisionprobabilitydilutionassessment..............207

Figure6.15Parametersof Pc densityfunctionandradius ofcollisioncross-sectionareaintheconjunctionplane....209

Figure6.16Two-dimensionaldistribution(left) andthree-dimensionalmeshsurface(right)ofdenary logarithmof Pcmax withrespectto lx and ly when rA ¼ 10m...............................211

Figure6.17Themaximumandminimum Pc withrespect totheangle h .................................214

Figure6.18Thelimitcasewhen ry ! 0.......................216

Figure6.19The Pcmax andcorresponding k indicatethatthecurrent stateisnotintheprobabilitydilutionregion............220

Figure6.20Two-dimensional Pc distributionwithcolordetermined bymagnitudeof Pc .............................221

Figure6.21Three-dimensional Pc meshsurfacewithrespect tocombinederrorstandarddeviations rR and rSW observedfromdifferentdirection....................221

Figure6.22Thecurveof Pc withrespecttotheangle h (Situationno.5)...............................222

Figure6.23Thecurveof Pc withrespecttocombinederror standarddeviations rx (Situationno.6)...............223

Figure6.24Thecurveof Pc withrespecttocombinederror standarddeviations rx (Situationno.8)...............223

Figure6.25The Pc and Pcmax of fivesituations..................225

Figure6.26Ellipsesofconstantcollisionprobability..............229

Figure6.27Safety-anddanger-regionofconjunctionassessment......230

Figure6.28Curveofsizeofboundaryellipseversusprobability threshold PT ..................................230

Figure6.29Missingalarmregionofcollisionassessment...........231

Figure6.30Missingalarmregionwhenthetruevalue isintheorigin................................232

Figure6.31Curvesurfaceof Pm versus xtrue ; ytrue ðÞ ...............233

Figure6.32Falsealarmregionofcollisionassessment.............234

Figure6.33Curvesurfaceof Pfa versus xtrue ; ytrue ðÞ ...............235

Figure6.34Comprehensiveassessmentofcollisionriskbased onthe F-value................................238

Figure6.35Membershipfunctioncurveofmissdistance............239

Figure6.36Membershipfunctioncurveofcollisionprobability.......240

Figure6.37MembershipfunctioncurveoftimestoTCA...........241

Figure6.38Membershipfunctioncurveofqualityoforbit determination.................................241

Figure6.39EvolutioncurveofRSWmissdistance...............244

Figure6.40Evolutioncurveofcollisionprobability...............244

Figure6.41Evolutioncurveofthe f-valueofqualityassessment parameters...................................244

Figure6.42Evolutioncurveofthe f-valueofriskassessment parametersandthe F-value........................245

Figure7.1Basicprocedureofdetectingorbitanomaly............253

Figure7.2Curveofsemi-majoraxis,energy,angularmomentum, andinclinationversustime(SatelliteTerra)............255

Figure7.3Movingwindowcurve fi tting......................256

Figure7.4Flowchartofmovingwindowcurve fitting............258

Figure7.5Mahalanobisdistancebetweenthedispersiondata anddistributioncenterofsatelliteTerra...............261

Figure7.6Mahalanobisdistancebetweenthedispersiondata anddistributioncenterofsatelliteERS-2..............262

Figure7.7Detectionresultsoforbitoutliersbased onMahalanobisdistance(Terra)....................262

Figure7.8Detectionresultsoforbitoutliersbased onMahalanobisdistance(ERS-2)...................263

Figure7.9DetectionofTerraorbitanomaliesin2010.............263

Figure7.10DetectionofERS-2orbitanomaliesin2010............264

Figure7.11SchematicdiagramoforbitpredictionbasedonSGP4 seculartermmodel.............................267

Figure7.12Jitterofcharacteristicorbitparameters................267

Figure7.13Detection flowoforbitalanomaliesbasedonprediction dispersion....................................268

Figure7.14VariationsandmaneuversofTerra’ssemi-majoraxis andinclinationin2010..........................269

Figure7.15SmoothingofcatalogedandpredictedvaluesofTerra’s semi-majoraxisin2010..........................270

Figure7.16DetectionresultsofTerramaneuveringin2010.........270

Figure7.17DispersiondistributionofTerra’ssemi-majoraxis andinclinationin2010..........................271

Figure7.18De finitionandcomponentsofinclinationvector andeccentricityvector...........................273

Figure7.19Theoreticaldriftratesofmeanlongitude andinclinationofBeidou-1Bsatellite................277

Figure7.20Theoreticaldriftratesofmeanlongitudeandinclination ofSTTW-1satellite.............................278

Figure7.21Initialandsmootheddataofsemi-majoraxis ofBeidou-1Bsatellite...........................279

Figure7.22TheoreticaldriftrateofmeanlongitudeofBeidou-1B satellitecalculatedbasedoninitialandsmootheddata.....280

Figure7.23Detectionofoutliersindriftratedispersionbased onMahalanobisdistance(Beidou-1B)................280

Figure7.24Detectionofoutliersindriftratedispersionbased onMahalanobisdistance(STTW-1)..................281

Figure7.25Distributionofdriftratedispersionsatuncontrolled sectionsofSTTW-1satellite.......................282

Figure7.26Detectionresultsoforbitalmaneuvers ofBeidou-1Bsatellite...........................284

Figure7.27Detectionresultsoforbitalmaneuvers ofSTTW-1satellite.............................285

Figure7.28FlowchartofGEOorbitanomalydetectionbased ondispersionofdriftrate.........................286

Figure7.29CurveofPnandPfachangingwithMahalanobis distancethreshold..............................290

Figure7.30 dM Probabilitydensityfunctioninterms ofdifferent n values............................292

Figure7.31 dM Probabilitydistributionfunctioninterms ofdifferent n values............................292

Figure7.32Probabilitiesoffalseandmissingalarm...............294

Figure7.33Probabilitiesoffalseandmissingalarm (one-dimensionalcase)...........................294

Figure7.34Curveofmissingalarmprobabilitychanging withorbitalerrors..............................295

FigureC.1TLE’spredictionresidualstatecomponents inUNWcoordinatesystemversustemporal differenceforLEOobject.........................305

FigureC.2TLE’spredictionresidualstatecomponents inUNWcoordinatesystemversusmeananomaly forLEOobject................................306

FigureC.3TLE’spredictionresidualstatecomponents inUNWcoordinatesystemversustemporaldifference forMEOobject...............................306

FigureC.4TLE’spredictionresidualstatecomponents inUNWcoordinatesystemversusmeananomaly forMEOobject...............................307

FigureC.5TLE’spredictionresidualstatecomponents inUNWcoordinatesystemversustemporal differenceforHEOobject........................307

FigureC.6TLE’spredictionresidualstatecomponents inUNWcoordinatesystemversusmeananomaly forHEOobject................................308

FigureC.7TLE’spredictionresidualstatecomponents inUNWcoordinatesystemversustemporal differenceforGEOobject........................308

FigureC.8TLE’spredictionresidualstatecomponents inUNWcoordinatesystemversusmeananomaly forGEOobject................................309

FigureC.9In-track(U),normal(N),andcross-track(W) errorstandarddeviation’sPoissonseries fitting curvedsurfacesofLEOobjects(n=2,m=4)..........310

FigureC.10In-track(U),normal(N),andcross-track(W) errorstandarddeviation’sPoissonseries fitting curvedsurfacesofMEOobjects(n=2,m=4).........311

FigureC.11In-track(U),normal(N),andcross-track(W) errorstandarddeviation’sPoissonseries fitting curvedsurfacesofHEOobjects(n=2,m=4)..........312

FigureC.12In-track(U),normal(N),andcross-track(W) errorstandarddeviation’sPoissonseries fittingcurved surfacesofGEOobjects(n=2,m=4)...............313

FigureC.13TLE’spredictionresidualstatecomponents inRSWcoordinatesystemversustemporal differenceforLEOobject(20days)..................314

FigureC.14TLE’spredictionresidualstatecomponents inRSWcoordinatesystemversustemporal differenceforMEOobject(20days).................314

FigureC.15TLE’spredictionresidualstatecomponents inRSWcoordinatesystemversustemporal differenceforGEOobject(20days).................315

ListofTables

Table2.1Typesofobjectsandorbits........................37

Table2.2Orbitalelementsofobjects.........................38

Table2.3Typesofobjectsandorbits........................51

Table2.4Orbitalelementsofobjects.........................51

Table2.5PositionandvelocitycoordinatesinECIcoordinate system.......................................52

Table2.6Epochandinitialorbitalelements....................72

Table2.7Initialpositionandvelocitycovariancematrix...........72

Table3.1Listofspaceobjectsselectedforthestudy..............83

Table3.2Poissoncoefficientmatrixofin-track(U)errorstandard deviationforfourobjects..........................97

Table3.3ThetemporalandangularparametersofU.S.-Russian satellitecollision................................101

Table3.4Positionerrorstandarddeviationsoftwosatellites........101

Table4.1Orbitaltypesandparametersofobjects................117

Table4.2TLEsoftwospaceobjects.........................123

Table5.1PositionandvelocitycoordinatesintheECIsystem andeccentricities...............................154

Table5.2ConjunctiongeometryoftheU.S.andRussiansatellite collisionevent.................................155

Table5.3Positionalerrorstandarddeviationsinradial,in-track, cross-trackdirectionandthecombinederror.............155

Table5.4CollisionprobabilitiesfromChan’smethod andexplicitexpressions...........................156

Table5.5PositionandvelocitycoordinatesintheECIsystem andeccentricities(ISSevent).......................173

Table5.6ConjunctiongeometryoftheISSevent................174

Table5.7Positionalerrorstandarddeviationsinnormal,tangential, cross-trackdirectionandthecombinederror(ISSevent)....174

Table5.8CollisionprobabilitiesfromChan’smethodandexplicit expressions(ISSevent)...........................174

Table5.9Relativeerrorfortwocasesinvariouseccentricorbits.....180

Table6.1Twotypesofsensitivitiesto R, S and W ...............188

Table6.2Twotypesofsensitivitiestostandarddeviations oferrorsindirectionsR,SandW...................189

Table6.3Twotypesofsensitivitiestoconjunctionangle...........190

Table6.4Determinationofthesignofsensitivitytoconjunction angles.......................................192

Table6.5Expressionsofsensitivitiesof Pc tovariousinfluencing factors.......................................193

Table6.6 Pc sensitivitiesvaluetocomponents R, S and W ..........195

Table6.7 Pc sensitivityvaluetocombinederrorstandard deviationsindirectionsR,SandW..................197

Table6.8 Pc sensitivityvaluetotheconjunctionangle u ...........199

Table6.9 Pc sensitivityvaluetocombinedradius rA ..............200

Table6.10The Pcmax calculatedusingdifferentrelativeposition.......211

Table6.11Themaximumandminimum Pc withrespect totheangle h ..................................214

Table6.12Summaryoftheresults...........................219

Table6.13 Pcmax andcorrespondingerrorscalingfactor andstandarddeviations(Situationno.2)...............220

Table6.14The Pcmax andcorrespondingcombinederrorstandard deviations(Situationno.4)........................220

Table6.15 Pcmax andcorrespondingcombinederrorstandard deviationsinarbitraryerrorellipseshapecasecomputed usingempiricalmeshsurface,explicitexpression, andapproximateexpression........................221

Table6.16The Pcmax andcorrespondingcombinederrorstandard deviations(Situationno.6)........................222

Table6.17The Pcmax andcorrespondingcombinederrorstandard deviations(Situationno.8)........................223

Table6.18Summaryoftheresulted Pcmax andcorresponding errorcovarianceof fivesituations....................224

Table6.19Judgmentmatrixofriskassessmentparameters...........243

Table6.20Judgmentmatrixofqualityassessmentparameters........243

Table6.21Weightingcoeffi cientofeachparameter................243

Table6.22Riskassessmentparametersandqualityassessment parametersofUS-Russiansatellitecollisionevent.........243

Table7.1OrbitalmaneuversofsatelliteTerraIn2010.............269

Table7.2Orbitalparametersofspaceobjects...................272

Chapter1 Introduction

Thenotionofspaceobjectgenerallyreferstoallartificialobjectsoperatingand travelinginouterspace,includingman-madeearthsatellite,spacestation,space shuttle,andspacedebrisproducedfromthemortheirwastes.Amajorityofspace objectsarespacedebrisinquantitativeterms.Inaccordancewiththedefinition concludedatthe32ndConferenceofUNCOPUOS,STSC,thespacedebris(alias: theorbitaldebris)aretheartificialobjectsanditsfragments,debris,andcomponentsandparts,whichareoutofservice,cannotberetainedorcannothavethe originalfunctionsresumed,travelingalongearthorbitsorreenteringthecondensed atmosphericlayer.

Alongwithmankind’scontinuousstridesmadeinaerospaceindustryandfrequentandintensivelaunchingofspaceactivities,thequantityofin-orbitspace objects(spacecrafts,rocketbodies,andspacedebris)isincreasing,showingthesign ofaggravationofspacedebrisenvironment.AsinJanuary2014,thetotalnumber oftrackablespaceobjectscataloguedinU.S.SpaceSurveillanceNetwork (SSN)hasreached16655,amongwhich3715arewithpayload(includingthe operatingonesanddisabledones),12940arerocketbodiesandspacedebris,taking up3/4ofthetotalandsuchnumberisstillontheincrease[1].Itisestimatedthat morethan300,000spaceobjectswithadiameterofgreaterthan1cmaredoing orbitaltravelandmillionsmorewithadiametersmallerthanorequalto1cmare stilloutinthespace.SeeFig. 1.1 forthedistributionofthebiggerspaceobjects withdefinitiveorbits.

Theincreaseofspaceobjectsmarkedlyenlargesthepossibilityofcollisions betweenspacecraftandspaceobjects,puttingthenormaloperationsofspacecraft, sustainabledevelopmentofaerospaceindustryandterrestrialspaceenvironment intogreatjeopardywithalong-lastingandextensivethreat.Thereareseveralspace objectscollisionsinhistory.Forinstance,ESAArianerocketdebrisranuponthe gravitygradientstabilizingarm[2, 3]ofFrenchCerisesatelliteonJuly24th1996; thelaststageofU.S.ThorBurner2Arocketcollidedwiththelaststagedebrisof ChineseCZ-4carrierrocketinthesky885kmtotheAntarctic[4]onJanuary17th 2005.Allthesecollisionsweretakenplacebetweendebrisorbetweendebrisand

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L.Chenetal., OrbitalDataApplicationsforSpaceObjects, DOI10.1007/978-981-10-2963-9_1

Fig.1.1 DistributionofSpaceObjects

satellites.OnFebruary10th2009,forthe firsttimeinhumanhistory,thecollision betweentwounbrokenin-orbitsatellites(theU.S.Iridium-33satellite(SSNNO. 24946,internationaldesignator1997-051C)andRussiandisabledcommunication satelliteCosmos-2251(SSNNO.22675,internationaldesignator1993-036A)was happenedinthesky790kmtoSiberia[5].Plentyofspacedebrispieceswere producedduringcollision.Duetohigheraltitudeofcollisionpoint,thedebriswill beinorbitforalongtime,constantlydeterioratingthespaceenvironment.Thus,the in-orbitcollisionbetweentheU.S.andRussiansatelliteshassoundedanalarmbell tomankindforthespacesafety.

TheU.S.NationalSpacePolicyIntersectorGuideline[6]includes7articles,as prescribedinArticle3of “PreservingtheSpaceEnvironmentandtheResponsible UseofSpace”:

PreservetheSpaceEnvironment. Forthepurposesofminimizingdebrisand preservingthespaceenvironmentfortheresponsible,peaceful,andsafeuseofall users,theUnitedStatesshall:

• Leadthecontinueddevelopmentandadoptionofinternationalandindustry standardsandpoliciestominimizedebris,suchastheUnitedNationsSpace DebrisMitigationGuidelines;

• Develop,maintain,andusespacesituationalawareness(SSA)informationfrom commercial,civil,andnationalsecuritysourcestodetect,identify,andattribute actionsinspacethatarecontrarytoresponsibleuseandthelong-termsustainabilityofthespaceenvironment;

• ContinuetofollowtheUnitedStatesGovernmentOrbitalDebrisMitigation StandardPractices,consistentwithmissionrequirementsandcosteffectiveness, intheprocurementandoperationofspacecraft,launchservices,andtheconduct oftestsandexperimentsinspace;

• Pursueresearchanddevelopmentoftechnologiesandtechniques,throughthe AdministratoroftheNationalAeronauticsandSpaceAdministration(NASA) andtheSecretaryofDefense,tomitigateandremoveon-orbitdebris,reduce hazards,andincreaseunderstandingofthecurrentandfuturedebrisenvironment;and

• Requiretheheadofthesponsoringdepartmentoragencytoapproveexceptions totheUnitedStatesGovernmentOrbitalDebrisMitigationStandardPractices andnotifytheSecretaryofState.

FostertheDevelopmentofSpaceCollisionWarningMeasures. TheSecretary ofDefense,inconsultationwiththeDirectorofNationalIntelligence,the AdministratorofNASA,andotherdepartmentsandagencies,maycollaboratewith industryandforeignnationsto:maintainandimprovespaceobjectdatabases; pursuecommoninternationaldatastandardsanddataintegritymeasures;and provideservicesanddisseminateorbitaltrackinginformationtocommercialand internationalentities,includingpredictionsofspaceobjectconjunction.

Whatspeci fiedaboveneedtobeaidedwithSpaceSituationalAwarenesswhich isabletoacquirespaceobjectsandspaceenvironmentinformationthroughcontinuousobservationofthespaceandinformationgatheringtostrengthenin-orbit safetyofspacecrafts,spaceeventanalysisandassessment,andthreatforecastand assessment.Satellitemaneuver,anticipatedandunanticipatedlaunchandreentry andtask-hinderedspaceenvironmentalchangearemainlydescribedinthespace events.

Itisimperativethatonlybygroundingonreal-timeandvalidspaceobjectdata canthespacesituationbemoreexplorableandcontrollablethroughSpace SituationalAwareness.Buthowtoacquirespaceobjectdata,whatkindofspace objectdatacanbeobtained,andhowtousesuchdataaretheissuestobefurther focusedoninSpaceSituationalAwarenessstudies.

1.1DataSource SpaceSurveillanceSystem

Theresponsibilityofdiscoveringanddetectingallspaceobjectsandtheirorbitsare undertakeninSpaceSurveillanceasakeycomponentofSpaceSituational Awareness.Byvariousobservationalmeans,motionparametersofspaceobjectin realtimeareabletobediscovered,trackedandmeasuredbySpaceSurveillance network,sothatitsorbitalcharacteristicscanbedetermined.Cataloginglargespace objectsandupdatingtheirorbitaldatafromtimetotimeaccordingtotheobserved anddeterminedorbitaldata,thedynamicdatabaseofspaceobjectscanbecreated.

1.1.1SpaceSurveillance

ThetasksofSpaceSurveillancearetodetect,track,identify,andcatalogueall in-orbitspaceobjectsaswellastoprovidetargetcatalogdatabaseandreal-time orbitalandprecisecharacteristicsinformation.Thespaceobjectindicatedinthis bookreferstothespaceobjectwhichhasitsorbitdeterminedbycataloguing.Space Surveillanceisoneofmainmeasurestoobtainthespacesituationalinformation;the CapacityofSpaceSurveillanceistherockuponwhichthespacesuperiorityin futureisbuiltandthekeybasisforthespacecontrol.Moreover,theSpace Surveillanceisalsotakenasanimportantaerospaceinfrastructureandbasic capability,playingsignificantrolesinbothmilitaryandcivilsectors.

SpaceSurveillanceisconsistedof4taskscategorizedasbelow[7]:

(1)Tomaintainthespaceobjectcataloganddetectnewlaunchesinatimely mannerandtomonitororbitalmaneuvers,deorbitanddisintegrationof existingobjects;

(2)Toidentifyspaceobjects,evaluatetaskloadandanalyzethreatlevel;

(3)Toinitiatespacecontrolsupport,overseetheperformanceofspacecontrol relatedtermsandconditionsandprovidesatelliteattackwarning;

(4)Toprovidekeyspacecraftswithcollision-proofsupport.

Amongthosefourtaskslistedabove,theSpaceObjectCataloguingisthebasic taskwhichmustbecompletedwiththeSpaceSurveillanceSystem.TheSpace Surveillancesystemshallbecapableofacquiringspaceobjectorbital(trajectory) dataandprovidingnecessarymeasureddatafororbitaldeterminationsoasto presenttheorbitalparameterstoreflecttarget’smotiontrackandservetheSpace ObjectCataloguing.

TheSpaceObjectCatalogMaintenanceiswiththreeimplications[7]:

(1)Updatecatalogtargetorbitalelement;

(2)Promptdetectionofnewlaunch;

(3)Promptdetectionofexistingtarget’sorbitalvariation,i.e.,orbitaltransfer, deorbitordisintegration.

Orbitalobservation,orbitaldetermination,orbitalprediction,anderroranalysis areincludedintheorbit-relatedtasksinSpaceSurveillance.Thesetasksshallbe completedbasedonaspaceobjectdynamiccatalogdatabaseandacompletesetof forecastingmethodswhichshallbedeemedasacompletesetintegratedwith hardwaresystemandsoftwaresystemcoveringobservationdataacquisitionstrategy,observationdataprocessingmethod,orbitaldeterminationmethod,orbitpredictionmethod,targethistory,andcurrentdatabase.

1.1.2SpaceSurveillanceSystem

TheSpaceSurveillancesystemisanationalstrategicinformationacquisitionsystem[7]appliedtomonitorandobservetheprocessesofartifi cialcelestialbody entering,operatingandexistinginthespaceinordertoacquiretheorbital,functionalandstatusinformationofsuchartificialcelestialbody.Themankindhas undergonethephasesoftravelingintothespace,spaceutilization,andspace observationandisstridingforwardtoanagewhenpeoplehavecontroloverthe outerspacewiththepurposeofpreventinghostileforcesfromenteringandtaking advantagesoftheouterspacewhileensuringitsownforcesandalliancesbeing capableofenteringandusingtheouterspace.Asoneofindispensablefoundations forspacecontrol,theSpaceSurveillanceSystemisdeemedasastrategicforceofa nation.

Thespacesurveillancenetwork,spacesurveillancecenter,andtimingand communicationauxiliarysystemsaregenerallyassembledintheSpaceSurveillance system.Thespacesurveillancenetworkisthebasisforspacesurveillancewithdata acquisitionfunction.Thespacesurveillancecenter,thecorepartforspace surveillance,undertakesthemissionsliketasksplanning,dataprocessingfororbital determination,identification,cataloguing,assessmentanddatabasebuilding.

Theprocessoftrackingandorbitaldeterminationofaspaceobjectisaprocedure ofestimationtothestatusofthespaceobjectoritsorbitalelementsbasedonthe measureddatawitherrorsobtainedfromground-basedandspace-basedobservatoriesandimpreciseastrodynamicsequations.Thespaceobjectorbitalestimation wasdividedintotwoconditions:oneisforone’ sownsatellitebymeansof collaborativeworkingmechanism,generallyknownasSpacecraftObservationand Control;theotheristheacquisitionoforbital,status,andfunctionalinformationof non-collaborativesatelliteandspacedebrisbymeansofmonitoringorspace surveillance.

AsrequiredinSpaceSurveillancetasks,datafromallobjectswithinthe designedscopeshouldbeindependently,reliably,andperiodicallycollectiblewith spacesurveillancenetwork,sothatallobjectswithinthescopecanbecatalogedand updatedtodiscovernewlaunchesandorbitalvariationsofexistingobjects.The independent,reliable,andperiodicaldataacquisitionofthespacesurveillance networkisknownastheessentialrequirement.

Inordertotrackandmeasureallobjectsmeetingthecriterionscope,themeasuringequipmentsforspacesurveillanceshouldbeoperatedbasedon non-collaborativeworkingmechanism.Fornow,theSpaceSurveillanceequipmentsbasedonnon-collaborativeworkingmechanismincluderadarapparatuses andopticaldevices,whichoperatebasedonactivereflectivetrackingandpassive receivinginrespective.Duetothedifferenttypesandfeaturesofthesetwokindsof equipment,theyplaydifferentrolesinthespacesurveillancemissions.

Theradarapparatusesmainlyrefertolarge-sizemechanicalradarorphased arrayradar.Theadvantagesofradarapparatuses:

(1)Widerangeofcontinuoussearch:singlephasedarrayisabletocoverasearch areaof120 80 andabove;

(2)Multi-targetreal-timetacking:beingabletotrackmorethan100objects simultaneously;

(3)All-weatherservice:beingabletooperateatalltimesinanyillumination conditionorunderanyweathercondition;

(4)Completelymeasureddata:multipletypesofdatasuchasdistancemeasurement,anglemeasurement,speedmeasurement,andechosignal;

(5)Highmeasurementaccuracy:generaldistancemeasurementiswithaccuracy of30m,generalanglemeasurementiswithaccuracyoflmradandspeed measurementiswithaccuracyof0.1m/s.

(6)Goodreal-timeperformance:directoutputoftrackingdataforrapid processing.

(7)Strongorbitaldeterminationability:orbitaldeterminationwithprecisionof kilometermagnitudecanbeobtainedbasedonshort-arcdatafromasingle station.

Thedisadvantagesofradarapparatuses:

(1)Limitedoperatingrange:beingdiffi culttotracktargetfromadistanceofover 5000km.

(2)Highcost:asinglesetofequipmentswithanoperatingrangeofover3000km costsnolessthanRMB200million.

(3)Limitedcontinuousworkinghours:duetohighertransmissionpower,the continuousworkinghoursoftheequipmentwillbeshortenediftheheat generatedfromthetransmitterfailstobeemitted.

(4)Weakimagingcapability:spacesurveillanceradarisunabletoprovidea quality-provenimagingserviceatpresent.

Theopticaldevicesmainlyrefertotheelectro-opticalelectro-opticaltelescope whichisendowedwithfollowingadvantages:

(1)Highangularaccuracy:thepointingaccuracycanreach5″ –10″ whichis1–2 ordersofmagnitudehigherthantheangularaccuracybyradar;

(2)Wideoperatingrange:small-sizeoptoelectronicdeviceisabletotracktarget withluminanceofstellarmagnitudeover11,whilelarge-sizeoptoelectronic deviceisabletotracktargetwithluminanceofstellarmagnitude17above, thus,itisapplicabletodeep-spacetracking;

(3)Strongimagingability:theangularresolutioncanreach0.1″ –0.2″;

(4)Lowercost,easyoperationandmaintenanceandlongservicelife.

Thedisadvantagesofopticaldevices:

(1)Thedevicemaybeaffectedbyilluminationenvironmentandweathers;its actualworkinghourislimited;

(2)Small fieldrangeandguidanceisrequired;

(3)Onlyangularmeasurementabilityisavailable.

Asradarapparatusesandoptionaldeviceshavebothmeritsanddrawbacks,both typesofequipmentareusedandtheiradvantagesareintegratedwhenconstructing theSpaceSurveillancenetwork,forinstance:

(1)radarapparatusesaremainlyappliedforregularsurveillanceonlow-orbit spaceobjectswithsupplementaryfunctionsofopticaldevices;

(2)opticaldevicesaremainlyappliedforsurveillanceonmediumandhigh-orbit spaceobjects;

(3)opticaldevicesaremainlyappliedforimagingidenti fication.

TheplatformsforSpaceSurveillancesystemaregenerallyground-basedand space-based.Theground-basedsurveillancenetworkisconsistedofground-based radarandground-basedelectro-opticaltelescope.Theproventechnologies,lower costofinvestmentandunrestrictedsizeandmasslimitations,big-caliberspace antennawithhighertransmissionpowercanbeadoptedtosearchandtrackspace objectsmoreefficiently.However,theground-basedsurveillanceissubjectto weatherconditionsandlackofmaneuveringcapability.Besides,Thevisualrange andtimearelimitedbyearthcurvature,soglobalstationplacementisrequired[8, 9].Itisachallengetosetupstationbeyondtheborders.

Thespace-basedSpaceSurveillancecanbeconstruedasopticalobservationor otherformsofsurveillanceonspaceobjectsbytakingadvantageofspace-based platforms.Thespace-basedobservationplatformoperatesinorbitwhichisfree fromtheatmosphericrestriction.Geosynchronousearthorbit(GEO)satelliteonthe othersideoftheearthcanbeobserved.The “opticalvisibilityperiod” effectcan alsobeminimizedtoincreasethechanceforobservationandprolongtheobservationtime.Itsobservationsensitivitycanbeenhancedbydefyingtheearth’s atmosphericeffectsandunderthecircumstanceofunavailabilityofearth’satmosphere,theclose-rangeandhigh-resolutionimagingofspaceobjectcanbeachieved toobtaintheimagefeatureinordertofurtherstrengthenthespaceobjectobservationalandidentifi cationcapacities.Inspiteofthis,thespace-basedSpace Surveillancesystemiswiththedisadvantageslikehighcostandcomplicated technologies,anditsonboardprocessing(OBP)capabilityandpowerarealsofar lesscomparablethantheground-basedsurveillancesystem.

1.1.3SpaceSurveillanceNetworks

TheUnitedStates,Russia,andEuropehaveestablishedSpaceSurveillancesystems characterizedbyabroadobservationalareaandscope.Theyconductbothperiodicalandcontinuousobservations.

TheU.S.hasestablishedefficientground-basedSpaceSurveillancesystemand isundergoingthedevelopmentofspacethreatwarningtechnology.TheU.S.space surveillancesystemisevolvedprogressivelyfromtheendofthe1950s.Sofar,the SpaceSurveillancesystemincludingground-basedelectro-opticaldevicesandradar

devicesbasedinhomelandandcoverstheworldhasbeenestablished.Thesystem consistsofover30setsofradiosensors,opticalsensors,space-basedsensorsof morethan20typesdistributedin16differentlocationsaroundtheworld,and2 controlcenters(1mastercontroland1backup).Functionallyspeaking,bothspace surveillanceandmissileearly-warningareputintoaccountinthecourseofthe systemdevelopmentbycombinationofgroundandspacedistributions,andthe observationstationshavebeendeployedallovertheworld.

ThesensorsappliedtotheU.S.SpaceSurveillancenetscanbesubdividedinto threetypes:exclusivesensors,compatiblesensorsandavailablesensors.Majority ofthesensorsareownedbytheAirForceSpaceCommand(AFSPC)andArmy SpaceCommandsubordinatedtotheAFSPC,andnon-governmentinstitutionsonly ownminorityofthem.Themissiondivision,coordination,command,andcontrol ofspacesurveillancetasksareperformedandcompletedattheCheyenneMountain SpaceControlCenterco-ownedbyNorthAmericanAerospaceDefenseCommand (NORAD)andAFSPC.Informationobtainedbysensorsissenttothecenterfor fusion,processing,cataloguing,anddistribution.Atpresent,spaceobjectssized 10cmonlowearthorbitsandspaceobjectssized30cmongeosynchronousorbits canbeobservedrespectivelyandover16,000man-madespaceobjectshavebeen trackedandcatalogued.Thecenterisnowwiththeabilitytoidentifymajorityof satellitesinorbit.

Thespace-basedvisible(SBV)sensoronboardtheU.S.MidcourseSpace Experiment(MSX)satellitehashadthespace-basedspacesurveillancetechnologiesandfunctionsverified.TheSBVisabletocovertheentiregeosynchronousbelt withtheprimarymissionofcollectingorbitalmeasurementsandluminosity informationfromallkindsofspaceobjects.ItwaslaunchedinApril1996,andafter that,theprevious18monthsweremainlyspentinaffirmationofspace-basedspace surveillanceconceptandassessmentofSBVsensor ’sperformance.InOctober 1997,SBVsensorstartedtooperateasacriticalsensorinsteadofanexperimental oneinthespacesurveillancenetwork.Itofficiallybecameaconstituentpartof SpaceSurveillancenetworkoftheUnitedStatesinOctober2000,havingthekey objectrevisitrateincreasedby50%.

Russiahasalsoestablisheda “CosmicSpaceSurveillanceSystem ”,includinga CosmicSpaceSurveillancecenter,forobservingandtrackingthespaceenvironment.However,theequipmentsadoptedbyRussiaforSpaceSurveillanceare mainlytheelectro-opticaltelescopes.The “skywindow” system,atypicalactive groundelectro-opticalspacesurveillanceandtrackingsystemownedbythe Russianspaceforce,islocatedinthemountainousareaatthebordersof Tajikistan.

TheSpaceSurveillancenetworkwhicharedevisedinEuropecomprisea GRAVESelectromagneticfencesystemforlow-orbitspaceobjectobservationand measurementand3telescopesforobservationofspacedebrisingeosynchronous orbits.TheFrenchAeronautics&AstronauticsResearchInstitutehasbeenengaged intheresearchanddevelopmentofGRAVESspacesurveillanceradarsince1992.

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XIII.

SPECIFICATIONS.

Specifications should cover three principal points:

Physical properties: Elastic limit; ultimate tensile strength; elongation; reduction of area.

Chemical constituents: Limiting silicon, phosphorus, sulphur, manganese, and copper; all other elements to be absent or mere traces in quantity, except carbon.

Finish and general condition: Fixing limit of variation in size from a given standard; conditions as to pipes, seams, laps, uniformity of grain, and other defects; no red-shortness.

PHYSICAL PROPERTIES.

It has been shown in Chap. V that tensile strength may be had from 46,800 lbs. per square inch to 248,700 lbs. per square inch.

There are published in many transactions and technical periodicals thousands of tests giving elastic and ultimate strength, ductility, etc., so that every engineer can find easily what has been done to guide him as to what he can get.

In almost every case the engineer must be the judge as to the requirements in each; therefore it would be useless to attempt to lay down any fixed rules or limits.

Many engineers adhere to low tenacity and high ductility in the belief that they are securing that material which will be safest against sudden shocks and violent accidental strains.

Theoretically this appears to be correct, but if the statements made in the preceding chapters are credible it is plain that the limit to

such safety can be passed, and that in insisting upon too low tenacity and high ductility the engineer may be getting simply a rotten, microscopically unsound material, through no fault of the manufacturer, who has been compelled to overmelt or overblow his steel to meet the requirements, and so reducing the quality of otherwise good material at no saving in cost to himself, and at a considerable cost in quality to the consumer.

Any manufacturer would rather check his melt between 10 and 15 carbon, or stop his blow so as to be sure not to overblow, if he were asked to do so, because it would save him time and expense, and it would yield sounder, better, and easier working steel.

It may not be wise yet for an engineer to fix limits as to blowing or melting, for the reason that neither he nor his assistants would know how to insure compliance, and in attempting to do it they might interfere too far with manufacturing operations and so involve themselves in responsibilities which they ought not to assume.

On the other hand, if they will let the carbon and tensile strength run up a little and reduce ductility slightly, it is safe to say that any manufacturer will be glad of the chance to help them to get the best results, which involve no extra cost.

Boiler-steel and rivet-steel usually suffer the most in this respect. A boiler should be tough, yet it is the belief of the author that boilers made of the 46,800-lb. steel of which the analysis is given in Chap. V would not last half as long as boilers made of 65,000-lb. to 70,000-lb. steel when the increased strength was gained by added carbon and no overmelting was allowed.

In the same table the “Crucible-sheet” column gives a mean of 24 tests, and a mean analysis, of boiler-steel which has been in use in 12 boilers for nearly 16 years. The boilers are in perfectly good condition; they have been subjected to severe and very irregular usage, and they have been in every way satisfactory. Only one testpiece of the 24 was mild enough to stand the ordinary bending test after quenching.

That 46,800-lb. steel is remarkably pure chemically; it is unusually red-short. It would appear to some to be an ideal rivetsteel; it would stand a very high heat, it would head well and finish beautifully under a button-set. There is every probability that the majority of rivets driven of that steel would be cracked on the under side of the head, where the cracks would never be discovered until in service the heads flew off.

Rails are usually made of 40 to 45 carbon, tires from .65 up to 80 carbon, crank-pins as high as 70 carbon, with 85,000 lbs. to 95,000 lbs. tensile strength and 12% to 15% elongation.

It is difficult to see how a bridge or a boiler is to be subjected to any such violent usage as these receive daily; and while it is not advised that even 40 carbon should be used in boilers or bridges, although it would be perfectly safe, it does seem to be unreasonable to run to the other extreme to the injury of the material.

For steel for springs, and for all sorts of tools that are to be tempered, there is no need of a specification of physical properties as they are indicated by testing-machines.

The requirement that they shall harden safely and do good work afterwards involves necessarily, high steel of suitable quality.

CHEMICAL CONSTITUENTS.

No engineer should, unless he be an expert steel-maker, attempt to specify an exact chemical formula and a corresponding physical requirement; in doing so he would probably make two requirements which could not be obtained in one piece of steel, and so subject himself to a back down or to ridicule, or both.

On the other hand, he may properly, and he should fix, a limit beyond which the hurtful elements would not be tolerated. Notwithstanding satisfactory machine tests, successful shop-work, and a liberal margin of safety, no steel can be relied upon that is overloaded with phosphorus, sulphur, manganese, oxygen, antimony, arsenic, or nitrogen.

In regard to silicon, it is common to have as much as 20 to 25 points in tires, with 55 to 80 carbon; such tires are made by the best manufacturers, and they endure well. But it is certain that good, sound steel can be made for any purpose with silicon not exceeding 10.

Structural steel can be made cheaply within the following limits:

Silicon < .10

Phosphorus < .05

Sulphur < .02

Manganese < .50 or even < .30

Copper < .03

Carbon to meet the physical requirements.

Steel made within these limits and not overblown or overmelted must be better in every way than steel of

Silicon > .20

Phosphorus > .08

Sulphur > .05

Manganese > .60

Carbon to meet the same requirements

A steel of the latter composition, or with no fixed limits, may be made cheaper than the first by a dollar or two a ton; but for any large lot it is believed that the first specification would be bid to at as low a price as if there were no specification; competition among manufacturers would fix that. At any rate there is no reason why an engineer should refuse to demand fairly pure material when he can do so at little or no extra cost.

Arsenic, antimony, or any other elements should be absent, or < .005.

FINISH AND GENERAL CONDITIONS.

As there can be no such thing as exact work done, there must be some tolerance as to variation in size. In standard sections, sheets, and plates this is usually covered by a percentage of weight; in forgings or any pieces that are to be machined the consumer should allow enough to insure a clean, sound surface. But it would be unwise to lay down any rule here, because conditions vary; a rolled round bar may finish nicely by a cut of from ¹/₃₂ to ¹/₁₆ of an inch, and so also a neatly dropped forging; an ordinary hammered forging might require a cut of ¼ or ⅜ of an inch; such a forging might be made closer to size at a cost for extra time at the hammer far exceeding the saving of cost in the lathe. These are cases where common-sense and good judgment must govern.

Pipes should not be tolerated if they can be discovered; because a pipe appears small in the end of a bar it is no evidence that it is not larger farther in.

Seams should not be allowed in any steel that is to be hardened; they should be a minimum in any steel, as they are of no possible use; small seams when not too numerous may do no harm in structural or machinery steel, and consumers should be reasonable in regard to them, or else they may have too high prices put upon their work, or too high heat used in efforts to close the last few harmless seams.

Burns, rough, ragged holes in the faces or on the corners, are inexcusable and should be rejected; the steel has been abused, or it is red-short; in either case the ragged breaks are good startingpoints for final rupture.

Laps should not be permitted; they are evidences of carelessness; there can be no excuse for them.

Fins are sometimes unavoidable in a difficult shape; for instance, if a trapezoid is wanted, it may be rolled in this form:

or in this:

The consumer must decide which; if he wants sharp angles he must accept the fin and cut it off, or have it cut off by the manufacturer.

Rivet-steel should be tested rigidly for red-shortness, because red-short steel may crack under the head as the steel cools.

Emphasis is laid upon this because engineers will insist upon excessive ductility in rivet-steel, not realizing that they may be

requiring the manufacturer to overdose his steel with oxygen to its serious injury.

No sharp re-entrant angles should be allowed under any circumstances where there is a possibility of vibrations running through the mass. All re-entrant angles should be filleted neatly.

No deep tool-marks should be allowed; a fine line scored around a piece by a lathe-tool, or a sharp line cut in a surface by a planingtool will fix a line of fracture as neatly as a diamond-scratch will do it on a piece of glass.

Indentations by hammers or sledges should be avoided; they may not be as dangerous as lathe-cuts, but they can do no good, and therefore they are of no use.

XIV. HUMBUGS.

Steel is of such universal use and interest in all of the arts that it attracts the attention of would-be inventors perhaps more than any other one material.

Half-informed, or wholly uninformed, men get a smattering of knowledge of some one or more of the well-known properties of steel, make an experiment which produces a result that is new and startling to them, and at once imagine that they have made a discovery; this they proceed to patent and then offer it to the world with a great flourish of trumpets.

Many steel-workers, even men of skill, who know something of the difficulties that follow irregular work, or who are not quite fully informed as to the properties of steel, seize upon these discoveries in the hope that they have found a royal road to success where all old pitfalls are removed and their path is made easy.

Not wishing to discourage pioneers in legitimate efforts to improve, it is the object of this chapter to warn them against being too ready to spend their money because of flaming circulars or glib tongues. It is the duty and the interest of a steel-maker to examine and test every apparently new suggestion, for the reason that there is still room for improvement, and he should let no opportunity for a betterment slip past him.

As a rule the steel-maker does test every claim that is laid before him, unless it be a repetition of some old plan long since tried and found worthless. This is the bane of the steel-maker’s life, and yet he must keep at this work so that he may know for himself whether anything of value has been discovered, and also that he may advise his clientage properly.

Inventions relating to the manufacture of steel have no interest for steel-users except as lively manufacturers may adopt the mistaken plan of flourishing trumpets to attract trade, not always giving a corresponding benefit to the consumer.

Examples of this sort of thing may be illustrated by so-called phosphorus steel, silicon steel, and aluminum steel; also the case mentioned before of parties recommending seams as evidences of excellence in high steel. Such efforts are sometimes costly to consumers until active competitive manufacturers expose the humbug.

Among the most absurd of such claims are those where a nostrum is used to convert ordinary Bessemer or open-hearth steel into the finest of tool-steel, equal to the best crucible-steel; for example, a patent to convert mild Bessemer steel into the finest toolsteel by merely carbonizing it by the old cementation process; this takes no account of the silicon, manganese, oxygen, and nitrogen in the mild Bessemer, makes no provision for their removal, and involves a costly method of putting carbon into poor stock in face of the fact that a Bessemer steel maker can put the same amount of carbon there at practically no cost, and so produce a better material.

Among the humbugs that do not involve the manufacturer, the pet one is a nostrum for restoring burnt steel; these have been evolved by the dozen, in face of the fact that burned steel cannot be restored except by smelting, and that overheated steel, coarse-grained steel, can be restored by merely heating it to the right temperature, a process which has been explained fully in Chapter VI.

Another pet is some greasy compound for toughening high steel so as to make it do more work. This is done by heating the steel to about recalescence and plunging it into the grease, perhaps once, or possibly two or three times; then working it into a tool and proceeding in the ordinary way. This will make a good tool; it is the partial annealing plan explained in a previous chapter Now take a similar piece of steel, heat it the same way, lay it down in a warm, dry place alongside the forge-fire, and let it cool; then heat it and work it into a tool and it will beat the greased tool.

When all of these operations of restoring, partial annealing, annealing, etc., depend merely upon temperature and rate of cooling, why spend money for nostrums that add no possible benefit?

There is room for improvement in steel, great room for great improvements; they will come in time as science and knowledge advance, and great benefits to the consumers will come with them.

This chapter is not written to place difficulties in the way of legitimate improvement, but to warn unsuspecting people against quackery Some of the humbugs are honest productions of wellmeaning ignorance, and some that come from designing manufacturers are not entitled to such charitable designation. A knowledge of the simplest properties of steel will enable a thoughtful man to judge as to whether a proposed improvement is likely to be of any value or not, and the warnings given are intended as a protection to the unsuspecting and credulous.

XV.

CONCLUSIONS.

After perusal of the preceding chapters the reader may form a hasty conclusion that if steel be so sensitive as it is stated to be its use may be difficult and precarious, and that it must be handled in fear and trembling, lest the result should be a dangerous structure, and the builder must be in doubt as to its safety.

The conveyance of any such impressions is not intended at all; emphasis has been laid upon practices that are hurtful in order that every steel-user may know what to avoid, solely that he may then be sure that he has the best, the most reliable, and most useful material that is known to man.

WHAT TO AVOID.

He should avoid uneven heat, excessive heat, or too low heat. The range between orange red and the heat that will granulate is so great that no one who is not a bungler or indifferent need ever get outside of it.

The uniformity of temperature that is insisted upon is so easily seen that any person who is not color-blind should have no trouble in securing it by the simplest manipulations of the furnace.

Practical uniformity of the work put on a piece is readily secured by any mechanic of ordinary skill.

Red-short, cold-short, or honeycombed steel are easily detected, and, under reasonable specifications, the steel-makers can as easily avoid them.

Steel a little higher than most engineers favor in their specifications is certainly as safe as, and likely to be sounder than,

extremely ductile steel.

Wild steel, resulting almost certainly in micro-honeycombs, if not worse, can only be avoided by the co-operation of the manufacturer, and engineers should impress this point with energy.

Such micro-unsoundness as is shown in Mr. Andrews’s report upon a broken rail and propeller-shaft can be reduced to a minimum by insisting upon reasonably pure steel.

If sulphur, phosphorus, silicon, and oxygen are kept at a reasonable minimum, sulphides, phosphides, silicides or silicates, and oxides must be at a corresponding minimum.

That there is much room for improvement in the manufacture of steel is evident, and when means of getting rid of oxygen, nitrogen, and all other undesirable elements have been found the steel of the future will be very different in kindliness of working and in endurance of strains than that with which we are familiar.

It is believed, however, that no matter how perfect the manufacture may become, nor what the final theories of hardening, etc., may be, the properties stated in these pages will remain the same as long as steel continues to be essentially a union of iron and carbon.

Some other alloy or compound may displace carbon steel, and present an entirely new set of properties, but there is nothing of the kind in sight now, and engineers need have no fear of having a new art to learn very soon.

To one who has spent an ordinary business lifetime in making steel, studying it, and working with it it becomes a subject of absorbing interest, if not of love; and steel when handled reasonably is so true that “true as steel” ceases to be a metaphor, it is then a fact which fills him with the most entire confidence.

Once more, steel highly charged with sulphur, phosphorus, arsenic, oxygen, and nitrogen is certainly highly charged with so many elements of disintegration; it takes more serious harm from ordinary deviations from good practice, such little irregularities as

occur inevitably in daily working, than steel does which is more free from these elements.

Reasonably pure, sound, reliable steel can be had at moderate cost, and all consumers should insist upon having it.

Regular, uniform, reliable working can be had where it is required, and there should be no excuse for irregular grain, overheated work, uneven work, or any other bungling. Where skill is required and reasonable discipline is enforced, good work will not cost any more than bad work.

Many people still hold to the idea that there are many mysteries connected with steel, and that many unaccountable breaks occur which make it an unreliable material. It is hoped that what has been set down in these pages will go far to dissipate these supposed mysteries, and to give confidence to steel-users.

Many breaks are unaccounted for, but it is not within the author’s experience that any fracture ever occurred that could not have been explained if it had been examined thoroughly in the light of what we know now. There is much to be learned, but there are no mysteries.

GLOSSARY.

There are many shop terms used in this book which may not be familiar to all steel-users.

They are in common use in steel-manufactories, and definitions of them will enable a steel-user to understand more clearly the common talk he will hear in the shops.

Blow-holes.—Blow-holes are the small cavities, usually spherical, which are formed in ingots as the steel congeals by bubbles of gas which cannot escape through the already frozen surface.

Burned.—Burned steel is steel that is reduced to oxide in part by excessive heating.

Check.—A check is a small rupture caused by water; it may run in any direction; it is usually not visible until steel is ruptured.

Chemical Numeration.—Chemical quantities are almost universally expressed in hundredths of one per cent, as explained in the body of the work. It is a very convenient numeration; any steelworker, melter, hammerman, etc., will talk of 20, or 50, or 130 carbon; or 8 phosphorus; or 10, 15, or 25 silicon, etc.; and will talk intelligently, although he may not know the exact mathematical value of these points.

Dead-melting; synonym, killing.—Dead-melting—killing— means melting steel in the crucible or open hearth until it ceases to boil or evolve gases; it is then dead, it lies quiet in the furnace, and killed properly it will set in the moulds without rising or boiling.

Dry.—Steel is called dry when its fracture is sandy-looking, without lustre or sheen, and without a proper blue cast. There is more of a shade of yellowish sandstone. It is an evidence of impurity and weakness.

Fiery.—Fiery steel has a brilliant lustre; it is an evidence of high heat.

If the grain be fairly fine and of bluish cast, it is not necessarily bad in mild steel; in high steel or in toolsteel it should not be tolerated.

If the grain be large and of brassy cast, it is sure evidence of bad condition; the grain should be restored before the steel is used.

In hardened steel it is always bad, except in dies to be used under the impact of drop-hammers; in this case steel must be so hard as to be slightly fiery.

Grade.—Grade applies to quality, as crucible, Bessemer, or open-hearth grade. Or in the crucible, common, spring, machinery, tool, special tool, etc., etc. It does not indicate temper or relative hardness.

Honeycombed.—Unsound from many blow-holes. Usually applied to ingots. It is a bad condition.

Lap.—A lap is caused by careless hammering, or by badly proportioned grooves in rolls, or by careless rolling. A portion of the steel is folded over on itself, the walls are oxidized and cannot unite. A lap generally runs clear along a bar, practically parallel with its axis; it may be seen by a novice. Lapped steel should be rejected always.

Overblown.—Steel that has been blown in a Bessemer converter after the carbon is all burned; then there is nothing but steel to burn, and the result is bad.

Overheated.—Steel that has been heated too hot, and not quite burned; its fiery fracture exposes it. The grain of overheated steel may be restored, but restored steel is never as reliable as steel that has not been overheated. Overheating is a disintegrating operation.

Overmelted.—Steel that has been kept too long in fusion. The finest material may be ruined in a crucible by being kept in the furnace any considerable time after it has been killed. Open-hearth

steel may be injured seriously in the same way. Prompt teeming after killing should be the rule.

Pipe.—A pipe is the cavity formed in an ingot when it cools; the walls chill first and nearly to the full size of the mould, then the shrinking mass separates in the middle, forming a pipe. A pipe should be at the top of the ingot; it may occur anywhere by bad teeming.

Point.—One hundredth of one per cent of any element. You have say 10 points of carbon, or 10 carbon; you want it raised a few points to 15 or 18 carbon.

Recalescence.—When a piece of steel is heated above medium orange color and cools slowly, at about medium orange—1100° to 1200° F.—the change of color ceases, then the color rises sometimes to bright orange, and afterwards the cooling goes on; this phenomenon is called recalescence. This is not yet a common shop term.

Restoring.—When a piece of overheated steel is re-heated to recalescence, kept there a few minutes, and then cooled slowly, its grain becomes fine and its fiery lustre disappears; this is called restoring. No nostrums are necessary.

Sappy.—Well-worked, good steel has a bluish cast, a fine grain, and a silky sheen. It is sappy; it is as good as it can be made.

Seam.—A seam is a longer or shorter defect, caused by a blowhole which working has brought out to the surface and not eliminated. It usually, or always, runs in the direction of working. Seams are distinguished from laps by not being continuous; they are usually only an inch or two in length.

Short (Cold, Red, Hot).—Cold-short steel is weak and brittle when cold.

Red-short steel is brittle at dark orange or medium orange heat or at the common cherry red heat. It may forge well at a lemon heat, and be reasonably tough when cold.

Hot-short steel is brittle and friable above a medium orange color; it may forge well from medium orange down to black heat.

Star.—A brilliant spot in mid-section showing that the pipe is not all cut away. It should be removed from tool-steel especially, as it may have considerable depth. It is of no use in any steel.

Temper.—Used by the steel-maker it means the quantity of carbon present. It is low temper, medium, or high; or number so and so by his shop numbers.

Used by the steel-user or the temperer it means the color to which hardened steel is drawn: straw, brown, pigeon-wing, blue, etc., etc.

Or, it is the steel-maker’s measure of initial hardness; and it is the steel-user’s measure of final hardness.

Water-crack.—A crack caused in hardening; it may run in any direction governed by lines of stress in the mass. It is distinguished from a check by being larger, and usually plainly visible.

Wild Steel.—Steel in fusion that boils violently, and acts in the moulds like lively soda-water or beer does when poured into a glass.

Transcriber’s Notes:

New original cover art included with this eBook is granted to the public domain.

The illustrations have been moved so that they do not break up paragraphs and so that they are next to the text they illustrate.

Typographical and punctuation errors have been silently corrected.

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