Wednesday, December 29, 2021

Apolo 11 Mission Overview

 

Apolo 11 Mission Overview


 

 




Apollo 11 mission patch

Credits: NASA

"The Eagle has landed…"

Mission Objective
The primary objective of Apollo 11 was to complete a national goal set by President John F. Kennedy on May 25, 1961: perform a crewed lunar landing and return to Earth.

Additional flight objectives included scientific exploration by the lunar module, or LM, crew; deployment of a television camera to transmit signals to Earth; and deployment of a solar wind composition experiment, seismic experiment package and a Laser Ranging Retroreflector. During the exploration, the two astronauts were to gather samples of lunar-surface materials for return to Earth. They also were to extensively photograph the lunar terrain, the deployed scientific equipment, the LM spacecraft, and each other, both with still and motion picture cameras. This was to be the last Apollo mission to fly a "free-return" trajectory, which would enable a return to Earth with no engine firing, providing a ready abort of the mission at any time prior to lunar orbit insertion.

Mission Highlights



 

Apollo 11 launched from Cape Kennedy on July 16, 1969, carrying Commander Neil Armstrong, Command Module Pilot Michael Collins and Lunar Module Pilot Edwin "Buzz" Aldrin into an initial Earth-orbit of 114 by 116 miles. An estimated 650 million people watched Armstrong's televised image and heard his voice describe the event as he took "...one small step for a man, one giant leap for mankind" on July 20, 1969. 


 

Two hours, 44 minutes and one-and-a-half revolutions after launch, the S-IVB stage reignited for a second burn of five minutes, 48 seconds, placing Apollo 11 into a translunar orbit. The command and service module, or CSM, Columbia separated from the stage, which included the spacecraft-lunar module adapter, or SLA, containing the lunar module, or LM, Eagle.


 

 After transposition and jettisoning of the SLA panels on the S-IVB stage, the CSM docked with the LM. The S-IVB stage separated and injected into heliocentric orbit four hours, 40 minutes into the flight.

The first color TV transmission to Earth from Apollo 11 occurred during the translunar coast of the CSM/LM. Later, on July 17, a three-second burn of the SPS was made to perform the second of four scheduled midcourse corrections programmed for the flight. The launch had been so successful that the other three were not needed.

On July 18, Armstrong and Aldrin put on their spacesuits and climbed through the docking tunnel from Columbia to Eagle to check out the LM, and to make the second TV transmission.

On July 19, after Apollo 11 had flown behind the moon out of contact with Earth, came the first lunar orbit insertion maneuver. At about 75 hours, 50 minutes into the flight, a retrograde firing of the SPS for 357.5 seconds placed the spacecraft into an initial, elliptical-lunar orbit of 69 by 190 miles. Later, a second burn of the SPS for 17 seconds placed the docked vehicles into a lunar orbit of 62 by 70.5 miles, which was calculated to change the orbit of the CSM piloted by Collins. The change happened because of lunar-gravity perturbations to the nominal 69 miles required for subsequent LM rendezvous and docking after completion of the lunar landing. Before this second SPS firing, another TV transmission was made, this time from the surface of the moon.

On July 20, Armstrong and Aldrin entered the LM again, made a final check, and at 100 hours, 12 minutes into the flight, the Eagle undocked and separated from Columbia for visual inspection. At 101 hours, 36 minutes, when the LM was behind the moon on its 13th orbit, the LM descent engine fired for 30 seconds to provide retrograde thrust and commence descent orbit insertion, changing to an orbit of 9 by 67 miles, on a trajectory that was virtually identical to that flown by Apollo 10. At 102 hours, 33 minutes, after Columbia and Eagle had reappeared from behind the moon and when the LM was about 300 miles uprange, powered descent initiation was performed with the descent engine firing for 756.3 seconds. After eight minutes, the LM was at "high gate" about 26,000 feet above the surface and about five miles from the landing site.

The descent engine continued to provide braking thrust until about 102 hours, 45 minutes into the mission. Partially piloted manually by Armstrong, the Eagle landed in the Sea of Tranquility in Site 2 at 0 degrees, 41 minutes, 15 seconds north latitude and 23 degrees, 26 minutes east longitude.


 


 This was about four miles downrange from the predicted touchdown point and occurred almost one-and-a-half minutes earlier than scheduled. It included a powered descent that ran a mere nominal 40 seconds longer than preflight planning due to translation maneuvers to avoid a crater during the final phase of landing. Attached to the descent stage was a commemorative plaque signed by President Richard M. Nixon and the three astronauts.

The flight plan called for the first EVA to begin after a four-hour rest period, but it was advanced to begin as soon as possible. Nonetheless, it was almost four hours later that Armstrong emerged from the Eagle and deployed the TV camera for the transmission of the event to Earth. At about 109 hours, 42 minutes after launch, Armstrong stepped onto the moon. About 20 minutes later, Aldrin followed him. The camera was then positioned on a tripod about 30 feet from the LM. Half an hour later, President Nixon spoke by telephone link with the astronauts.

Commemorative medallions bearing the names of the three Apollo 1 astronauts who lost their lives in a launch pad fire, and two cosmonauts who also died in accidents, were left on the moon's surface. A one-and-a-half inch silicon disk, containing micro miniaturized goodwill messages from 73 countries, and the names of congressional and NASA leaders, also stayed behind.

During the EVA, in which they both ranged up to 300 feet from the Eagle, Aldrin deployed the Early Apollo Scientific Experiments Package, or EASEP, experiments, and Armstrong and Aldrin gathered and verbally reported on the lunar surface samples. After Aldrin had spent one hour, 33 minutes on the surface, he re-entered the LM, followed 41 minutes later by Armstrong. The entire EVA phase lasted more than two-and-a-half hours, ending at 111 hours, 39 minutes into the mission.

Armstrong and Aldrin spent 21 hours, 36 minutes on the moon's surface. After a rest period that included seven hours of sleep, the ascent stage engine fired at 124 hours, 22 minutes. It was shut down 435 seconds later when the Eagle reached an initial orbit of 11 by 55 miles above the moon, and when Columbia was on its 25th revolution. As the ascent stage reached apolune at 125 hours, 19 minutes, the reaction control system, or RCS, fired so as to nearly circularize the Eagle orbit at about 56 miles, some 13 miles below and slightly behind Columbia. Subsequent firings of the LM RCS changed the orbit to 57 by 72 miles. Docking with Columbia occurred on the CSM's 27th revolution at 128 hours, three minutes into the mission. Armstrong and Aldrin returned to the CSM with Collins. Four hours later, the LM jettisoned and remained in lunar orbit.

Trans-Earth injection of the CSM began July 21 as the SPS fired for two-and-a-half minutes when Columbia was behind the moon in its 59th hour of lunar orbit. Following this, the astronauts slept for about 10 hours. An 11.2 second firing of the SPS accomplished the only midcourse correction required on the return flight. The correction was made July 22 at about 150 hours, 30 minutes into the mission. Two more television transmissions were made during the trans-Earth coast.


 

Astronauts recibed by president Nixon
 

Re-entry procedures were initiated July 24, 44 hours after leaving lunar orbit. The SM separated from the CM, which was re-oriented to a heat-shield-forward position. Parachute deployment occurred at 195 hours, 13 minutes. After a flight of 195 hours, 18 minutes, 35 seconds - about 36 minutes longer than planned - Apollo 11 splashed down in the Pacific Ocean, 13 miles from the recovery ship USS Hornet. Because of bad weather in the target area, the landing point was changed by about 250 miles. Apollo 11 landed 13 degrees, 19 minutes north latitude and 169 degrees, nine minutes west longitude July 24, 1969.

Crew
Neil Armstrong, Commander
Edwin E. Aldrin Jr., Lunar Module Pilot
Michael Collins, Command Module Pilot

Backup Crew
James A. Lovell, Commander
Fred W. Haise Jr., Lunar Module Pilot
William A. Anders, Command Module Pilot

Payload
Columbia (CSM-107)
Eagle (LM-5)

Prelaunch Milestones
11/21/68 - LM-5 integrated systems test
12/6/68 - CSM-107 integrated systems test
12/13/68 - LM-5 acceptance test
1/8/69 - LM-5 ascent stage delivered to Kennedy
1/12/69 - LM-5 descent stage delivered to Kennedy
1/18/69 - S-IVB ondock at Kennedy
1/23/69 - CSM ondock at Kennedy
1/29/69 - command and service module mated
2/6/69 - S-II ondock at Kennedy
2/20/69 - S-IC ondock at Kennedy
2/17/69 - combined CSM-107 systems tests
2/27/69 - S-IU ondock at Kennedy
3/24/69 - CSM-107 altitude testing
4/14/69 - rollover of CSM from the Operations and Checkout Building to the Vehicle Assembly Building
4/22/69 - integrated systems test
5/5/69 - CSM electrical mate to Saturn V
5/20/69 - rollout to Launch Pad 39A
6/1/69 - flight readiness test
6/26/69 - Countdown Demonstration Test

Launch
July 16, 1969; 9:32 a.m. EDT
Launch Pad 39A
Saturn-V AS-506
High Bay 1
Mobile Launcher Platform-1
Firing Room 1

Orbit
Altitude: 118.65 miles
Inclination: 32.521 degrees
Orbits: 30 revolutions
Duration: eight days, three hours, 18 min, 35 seconds
Distance: 953,054 miles
Lunar Location: Sea of Tranquility
Lunar Coordinates: .71 degrees north, 23.63 degrees east

Landing
July 24, 1969; 12:50 p.m. EDT
Pacific Ocean
Recovery Ship: USS Hornet

Nasa

National Aeronautics and Space Administration Page Last Updated May 15, 2019 Page Editor: Sarah Loff NASA Official: Brian Dunbar 


Ticker tape parade in New York City

 


July 16 1969

 

 

 

 

With affection,

Ruben

 

Monday, December 27, 2021

Margaret Hamilton


Margaret Hamilton

(software engineer)

 
 
 
 

 
 
  The free encyclopedia
Hamilton in 1995
Born
Margaret Elaine Heafield

August 17, 1936 (age 85)
EducationEarlham College
University of Michigan
OccupationSoftware engineer
Spouse(s)
  • James Cox Hamilton
    (m. 1958; div. 1967)
  • (m. 1969)
Children1 daughter, Lauren Hamilton
RelativesJames Cox Chambers (former son-in-law)
AwardsPresidential Medal of Freedom

Margaret Heafield Hamilton (born August 17, 1936) is an American computer scientist, systems engineer, and business owner. She was director of the Software Engineering Division of the MIT Instrumentation Laboratory, which developed on-board flight software for NASA's Apollo program. She later founded two software companies—Higher Order Software in 1976 and Hamilton Technologies in 1986, both in Cambridge, Massachusetts.

Hamilton has published more than 130 papers, proceedings, and reports, about sixty projects, and six major programs. She is one of the people credited with coining the term "software engineering".[1]

On November 22, 2016, Hamilton received the Presidential Medal of Freedom from president Barack Obama for her work leading to the development of on-board flight software for NASA's Apollo Moon missions.

Early life and education

Margaret Elaine Heafield was born August 17, 1936, in Paoli, Indiana,[2] to Kenneth Heafield and Ruth Esther Heafield (née Partington).[3][4] The family later moved to Michigan,[5] where Margaret graduated from Hancock High School in 1954.[3] She studied mathematics at the University of Michigan in 1955 before transferring to Earlham College, where her mother was a student;[6][7] she earned a BA in mathematics with a minor in philosophy in 1958.[6][8] She cites Florence Long, the head of the math department at Earlham, as helping with her desire to pursue abstract mathematics and become a mathematics professor.[9] She says her poet father and headmaster grandfather inspired her to include a minor in philosophy in her studies.[10]

Career

In Boston, Hamilton initially intended to enroll in graduate study in abstract mathematics at Brandeis.[3] However, in mid-1959, Hamilton began working for Edward Norton Lorenz, in the meteorology department at MIT.[11] She developed software for predicting weather, programming on the LGP-30 and the PDP-1 computers at Marvin Minsky's Project MAC.[12][13][14] Her work contributed to Lorenz's publications on chaos theory. At the time, computer science and software engineering were not yet established disciplines; instead, programmers learned on the job with hands-on experience.[15] She moved on to another project in the summer of 1961, and hired and trained Ellen Fetter as her replacement.[11]

SAGE Project

From 1961 to 1963, Hamilton worked on the Semi-Automatic Ground Environment (SAGE) Project at the MIT Lincoln Lab,[13] where she was one of the programmers who wrote software for the prototype AN/FSQ-7 computer (the XD-1), used by the U.S. Air Force to search for possibly unfriendly aircraft.[2] She also wrote software for a satellite tracking project at the Air Force Cambridge Research Laboratories.[13] The SAGE Project was an extension of Project Whirlwind, started by MIT to create a computer system that could predict weather systems and track their movements using simulators. SAGE was soon developed for military use in anti-aircraft air defense. Hamilton said:

What they used to do when you came into this organization as a beginner, was to assign you this program which nobody was able to ever figure out or get to run. When I was the beginner they gave it to me as well. And what had happened was it was tricky programming, and the person who wrote it took delight in the fact that all of his comments were in Greek and Latin. So I was assigned this program and I actually got it to work. It even printed out its answers in Latin and Greek. I was the first one to get it to work.[16]

It was her efforts on this project that made her a candidate for the position at NASA as the lead developer for Apollo flight software.[3]

Draper Laboratory


Hamilton in 1969, standing next to listings of the software she and her MIT team produced for the Apollo project[17]

Hamilton during her time as lead Apollo flight software 

 
designer[18]

Hamilton then joined the Charles Stark Draper Laboratory at MIT, which worked on the Apollo Space Mission. Hamilton was initially hired as a programmer for this process but moved on into system designs. Eventually,[when?] she was in charge of all Command Module software, which was all the software for navigation and lunar landing guidance.[19] She eventually[when?] led a team credited with developing the software for Apollo and Skylab.[20] Hamilton's team was responsible for developing in-flight software,[21] which included algorithms designed by various senior scientists for the Apollo command module, lunar lander and the subsequent Skylab.[22][15] Another part of her team designed and developed the systems software.[23] This included error detection and recovery software such as restarts and the Display Interface Routines (also known as the Priority Displays), which Hamilton designed and developed.[24] She worked to gain hands-on experience during a time when computer science courses were uncommon and software engineering courses did not exist.[15] Hamilton also served as Director of the Software Engineering Division.[25]

Her areas of expertise include: systems design and software development, enterprise and process modeling, development paradigm, formal systems modeling languages, system-oriented objects for systems modeling and development, automated life-cycle environments, methods for maximizing software reliability and reuse, domain analysis, correctness by built-in language properties, open-architecture techniques for robust systems, full life-cycle automation, quality assurance, seamless integration, error detection and recovery techniques, human-machine interface systems, operating systems, end-to-end testing techniques, and life-cycle management techniques.[15][17] These made her code incredibly reliable because they helped programmers identify and fix anomalies before they became major problems.[26]

Apollo program



Hamilton during her time as lead Apollo flight software designer
 

In one of the critical moments of the Apollo 11 mission, the Apollo Guidance Computer, together with the on-board flight software, averted an abort of the landing on the Moon. Three minutes before the lunar lander reached the Moon's surface, several computer alarms were triggered. The on-board flight software captured these alarms with the "never supposed to happen displays" interrupting the astronauts with priority alarm displays.[27] Hamilton had prepared for just this situation years before:

There was one other failsafe that Hamilton likes to remember. Her "priority display" innovation had created a knock-on risk that astronaut and computer would slip out of synch just when it mattered most. As the alarms went off and priority displays replaced normal ones, the actual switchover to new programmes behind the screens was happening "a step slower" than it would today.

Hamilton had thought long and hard about this. It meant that if Aldrin, say, hit a button on the priority display too quickly, he might still get a "normal" response. Her solution: when you see a priority display, first count to five.[28]

Under some accounts, the astronauts had inadvertently left the rendezvous radar switch on, causing these alarms to be triggered (whether the radar was left on inadvertently by the astronauts is disputed by Robert Wills with the National Museum of Computing[29]). The computer was overloaded with interrupts caused by incorrectly phased power supplied to the lander's rendezvous radar.[30][31][32] The program alarms indicated "executive overflows", meaning the guidance computer could not complete all of its tasks in real time and had to postpone some of them.[33] The asynchronous executive designed by J. Halcombe Laning[34][30][35] was used by Hamilton's team to develop asynchronous flight software:

Because of the flight software's system-software's error detection and recovery techniques that included its system-wide "kill and recompute" from a "safe place" restart approach to its snapshot and rollback techniques, the Display Interface Routines (AKA the priority displays) together with its man-in-the-loop capabilities were able to be created in order to have the capability to interrupt the astronauts' normal mission displays with priority displays of critical alarms in case of an emergency. This depended on our assigning a unique priority to every process in the software in order to ensure that all of its events would take place in the correct order and at the right time relative to everything else that was going on.[36]

Hamilton's priority alarm displays interrupted the astronauts' normal displays to warn them that there was an emergency "giving the astronauts a go/no go decision (to land or not to land)".[37] Jack Garman, a NASA computer engineer in mission control, recognized the meaning of the errors that were presented to the astronauts by the priority displays and shouted, "Go, go!" and they continued.[38] Paul Curto, senior technologist who nominated Hamilton for a NASA Space Act Award, called Hamilton's work "the foundation for ultra-reliable software design".[23]

Hamilton later wrote of the incident:

The computer (or rather the software in it) was smart enough to recognize that it was being asked to perform more tasks than it should be performing. It then sent out an alarm, which meant to the astronaut, 'I'm overloaded with more tasks than I should be doing at this time and I'm going to keep only the more important tasks'; i.e., the ones needed for landing ... Actually, the computer was programmed to do more than recognize error conditions. A complete set of recovery programs was incorporated into the software. The software's action, in this case, was to eliminate lower priority tasks and re-establish the more important ones ... If the computer hadn't recognized this problem and taken recovery action, I doubt if Apollo 11 would have been the successful moon landing it was.

— Letter from Margaret H. Hamilton, Director of Apollo Flight Computer Programming MIT Draper Laboratory, Cambridge, Massachusetts, titled "Computer Got Loaded", published in Datamation, March 1, 1971[39]

Businesses

In 1976, Hamilton co-founded with Saydean Zeldin a company called Higher Order Software (HOS)[40] to further develop ideas about error prevention and fault tolerance emerging from their experience at MIT working on the Apollo program.[19][41] They created a product called USE.IT, based on the HOS methodology they developed at MIT.[42][43][44] It was successfully used in numerous government programs[45][46] including a project to formalize and implement C-IDEF, an automated version of IDEF, a modeling language developed by the U.S. Air Force in the Integrated Computer-Aided Manufacturing (ICAM) project.[47] In 1980, British-Israeli computer scientist David Harel published a proposal for a structured programming language derived from HOS from the viewpoint of and/or subgoals.[48] Others have used HOS to formalize the semantics of linguistic quantifiers,[49] and to formalize the design of reliable real-time embedded systems.[50]

Hamilton was the CEO of HOS through 1984[19] and left the company in 1985. In March 1986, she founded Hamilton Technologies, Inc. in Cambridge, Massachusetts. The company was developed around the Universal Systems Language (USL) and its associated automated environment, the 001 Tool Suite, based on her paradigm of development before the fact for systems design and software development.[32][51][52]

Legacy


 


Official photo for NASA
 
1989

Anthony Oettinger,[53] Barry Boehm and Hamilton have been credited with naming the discipline of "software engineering".[54][55][56] Hamilton details how she came to make up the term "software engineering":

When I first came up with the term, no one had heard of it before, at least in our world. It was an ongoing joke for a long time. They liked to kid me about my radical ideas. It was a memorable day when one of the most respected hardware gurus explained to everyone in a meeting that he agreed with me that the process of building software should also be considered an engineering discipline, just like with hardware. Not because of his acceptance of the new 'term' per se, but because we had earned his and the acceptance of the others in the room as being in an engineering field in its own right.[36]

When Hamilton started using the term "software engineering" during the early Apollo missions,[57] software development was not taken seriously compared to other engineering,[58] nor was it regarded as a science. Hamilton was concerned with legitimizing software development as an engineering discipline.[59] Over time the term "software engineering" gained the same respect as any other technical discipline.[54][60] The IEEE Software September/October 2018 issue celebrates the 50th anniversary of software engineering.[61] Hamilton talks about "Errors" and how they influenced her work related to software engineering and how her language, USL, could be used to prevent the majority of "Errors" in a system.[62] Writing in Wired, Robert McMillan noted: "At MIT she assisted in the creation of the core principles in computer programming as she worked with her colleagues in writing code for the world's first portable computer".[63] Hamilton's innovations go beyond the feats of playing an important role in getting humans to the Moon. According to Wired's Karen Tegan Padir: "She, along with that other early programming pioneer, CoBOL [sic] inventor Grace Hopper, also deserve tremendous credit for helping to open the door for more women to enter and succeed in STEM fields like software."[64][65]

In 2019, to celebrate 50 years to the Apollo landing, Google decided to make a tribute to Hamilton. The mirrors at the Ivanpah plant were configured to create a picture of Hamilton and the Apollo 11 by moonlight.[66]

Awards


 


Barack Obama awards the Presidential Medal of Freedom to Hamilton in 2016


 
Honoris Causa ceremony of Margaret Hamilton, 2018

Publications

Personal life

Hamilton has two younger siblings: David[78][79] and Kathryn.[80]

She met her first husband, James Cox Hamilton,[81] in the mid 1950's while attending college. They were married on June 15, 1958, the summer after she graduated from Earlham.[82][81] She briefly taught high school mathematics and French at a public school in Boston, Indiana.[82][13] The couple then moved to Boston, Massachusetts,[13] where they had a daughter, Lauren, born on November 10, 1959.[3] They divorced in 1967 and Margaret married Dan Lickly two years later.


 

 

 With affection,

Ruben

[81][83]