Pointing, Acquisition, and Tracking for Small Satellite Laser Communications

The CubeSat Laser Infrared CrosslinK (CLICK) mission is a technology demonstrator for a 2U inter-satellite link laser communications terminal deployed on a 6U CubeSat. The pointing, acquisition, and tracking (PAT) system has a full-cone, half-power pointing requirement of 14.6 arcsec to achieve full-duplex laser communications at 20 Mbps at ranges up to 580 km or more. The corresponding single-axis pointing requirement is ±5.18 arcsec (3σ). The PAT system utilizes the satellite’s attitude control system for coarse relative pointing and a fine pointing system (FPS) within the payload to mitigate residual pointing error and maintain the link under environmental and spacecraft-induced disturbances. The FPS uses a MEMS fast steering mirror (FSM) to maintain alignment of the transmit (Tx) and receive (Rx) laser signals. This paper presents a simulation of the FPS control system, which is being used to identify improvements in pointing margins and prototype the flight-level control system. The initial results give an improvement in fine pointing error due to the FPS control error of 28%: from ±2.27 arcsec (3σ) to ±1.63 arcsec (3σ) and an increase in overall fine pointing margin, including optomechanical error, from 0.06% to 5.4%

Optomechanical Design and Analysis for Nanosatellite Laser Communications

The CubeSat Laser Infrared CrosslinK (CLICK) mission is a technology demonstration of a 1.5U laser communications terminal for an intersatellite link. The terminal is deployed on a pair of 3U CubeSats in Low Earth Orbit (LEO). The pointing, acquisition, and tracking (PAT) approach includes both coarse and fine systems. The coarse tracking system uses a beacon laser transmitter and receiver camera. The fine tracking system uses a fast steering mirror and quadrant photodiode. The communications transmit and receive paths include a refractive telescope, transmit laser collimator, and avalanche photodetector (APD) receiver. The communications laser full-width, half maximum (FWHM) beam divergence angle is 14.6 arcseconds, and the beacon laser FWHM divergence is 0:75° (2700 arcseconds). The opto-mechanical design process includes prediction & verification of assembly alignment & calibration, thermoelastic effects, structural modes & static loading, and fastener analysis. The opto-mechanical assembly has the sensors and laser transmitters kinematically mounted to enable on-ground calibration to less than 25.4 mm decenter, or 0.1° tip/tilt. The thermoelastic alignment error between the payload and bus star tracker is estimated via finite element analysis to be less than 9 arcseconds. The payload optical bench is designed with custom thermal isolation and control to maintain 20 ± 10 ° C. The thermal modeling of the payload is described in detail. Structural static loading and fastener analyses of the CLICK payload under launch loads of 30 G verify margins of safety are greater than 10 and above the recommended values. Modal analyses predict the first resonant frequency to be 888 Hz, above typical vehicle structural vibration ranges with a factor of safety greater than 3.5

The impact of policing and homelessness on violence experienced by women who sell sex in London: a modelling study

Street-based sex workers experience considerable homelessness, drug use and police enforcement, making them vulnerable to violence from clients and other perpetrators. We used a deterministic compartmental model of street-based sex workers in London to estimate whether displacement by police and unstable housing/homelessness increases client violence. The model was parameterized and calibrated using data from a cohort study of sex workers, to the baseline percentage homeless (64%), experiencing recent client violence (72%), or recent displacement (78%), and the odds ratios of experiencing violence if homeless (1.97, 95% confidence interval 0.88-4.43) or displaced (4.79, 1.99-12.11), or of experiencing displacement if homeless (3.60, 1.59-8.17). Ending homelessness and police displacement reduces violence by 67% (95% credible interval 53-81%). The effects are non-linear; halving the rate of policing or becoming homeless reduces violence by 5.7% (3.5-10.3%) or 6.7% (3.7-10.2%), respectively. Modelled interventions have small impact with violence reducing by: 5.1% (2.1-11.4%) if the rate of becoming housed increases from 1.4 to 3.2 per person-year (Housing First initiative); 3.9% (2.4-6.9%) if the rate of policing reduces by 39% (level if recent increases had not occurred); and 10.2% (5.9-19.6%) in combination. Violence reduces by 26.5% (22.6-28.2%) if half of housed sex workers transition to indoor sex work. If homelessness decreased and policing increased as occurred during the COVID-19 pandemic in 2020, the impact on violence is negligible, decreasing by 0.7% (8.7% decrease-4.1% increase). Increasing housing and reducing policing among street-based sex workers could substantially reduce violence, but large changes are needed. [Abstract copyright: © 2024. The Author(s).

Effect of police enforcement and extreme social inequalities on violence and mental health among women who sell sex: findings from a cohort study in London, UK

OBJECTIVES: To examine legal and social determinants of violence, anxiety/depression among sex workers. METHODS: A participatory prospective cohort study among women (inclusive of transgender) ≥18 years, selling sex in the last 3 months in London between 2018 and 2019. We used logistic generalised estimating equation models to measure associations between structural factors on recent (6 months) violence from clients or others (local residents, strangers), depression/anxiety (Patient Health Questionnaire-4). RESULTS: 197 sex workers were recruited (96% cisgender-women; 46% street-based; 54% off-street) and 60% completed a follow-up questionnaire. Street-based sex workers experienced greater inequalities compared with off-street in relation to recent violence from clients (73% vs 36%); police (42% vs 7%); intimate partner violence (IPV) (56% vs 18%) and others (67% vs 17%), as well as homelessness (65% vs 7%) and recent law enforcement (87% vs 9%). Prevalence of any STI was 17.5% (17/97). For street-based sex workers, recent arrest was associated with violence from others (adjusted OR (aOR) 2.77; 95% CI 1.11 to 6.94) and displacement by police was associated with client violence (aOR 4.35; 95% CI 1.36 to 13.90). Financial difficulties were also associated with client violence (aOR 4.66; 95% CI 1.64 to 13.24). Disability (aOR 3.85; 95% CI 1.49 to 9.95) and client violence (aOR 2.55; 95% CI 1.10 to 5.91) were associated with anxiety/depression. For off-street sex workers, financial difficulties (aOR 3.66; 95% CI 1.64 to 8.18), unstable residency (aOR 3.19; 95% CI 1.36 to 7.49), IPV (aOR 3.77; 95% CI 1.30 to 11.00) and alcohol/drug use were associated with client violence (aOR 3.16; 95% CI 1.26 to 7.92), while always screening and refusing clients was protective (aOR 0.36; 95% CI 0.15 to 0.87). Disability (aOR 5.83; 95% CI 2.34 to 14.51), unmet mental health needs (aOR 3.08; 95% CI 1.15 to 8.23) and past eviction (aOR 3.99; 95% CI 1.23 to 12.92) were associated with anxiety/depression. CONCLUSIONS: Violence, anxiety/depression are linked to poverty, unstable housing and police enforcement. We need to modify laws to allow sex workers to work safely and increase availability of housing and mental health services

CLICK-A: Optical Communication Experiments From a CubeSat Downlink Terminal

The CubeSat Laser Infrared CrosslinK (CLICK) mission is a technology demonstration of low size, weight, and power (SWaP) CubeSat optical communication terminals for downlink and crosslinks. The mission is broken into two phases: CLICK-A, which consists of a downlink terminal hosted in a 3U CubeSat, and CLICK-B/C, which consists of a pair of crosslink terminals each hosted in their own 3U CubeSat. This work focuses on the CLICK-A 1.2U downlink terminal, whose goal was to establish a 10 Mbps link to a low-cost portable 28 cm optical ground station called PorTeL. The terminal communicates with M-ary pulse position modulation (PPM) at 1550 nm using a 200 mW Erbium-doped fiber amplifier (EDFA) with a 1.3 mrad FWHM beam divergence. CLICK-A ultimately serves as a risk reduction phase for the CLICK-B/C terminals, with many components first being demonstrated on CLICK-A. CLICK-A was launched to the International Space Station on July 15th, 2022 and was deployed by Nanoracks on September 6th, 2022 into a 51.6° 414 km orbit. We present the results of experiments performed by the mission with the optical ground station located at MIT Wallace Astrophysical Observatory in Westford, MA. Successful acquisition of an Earth to space 5 mrad FWHM (5 Watts at 976 nm) pointing beacon was demonstrated by the terminal on the second experiment on November 2nd, 2022. First light on the optical ground station tracking camera was established on the third experiment on November 10th, 2022. The optical ground station showed sufficient open, coarse, and fine tracking performance to support links with the terminal with a closed-loop RMS tracking error of 0.053 mrad. Results of three optical downlink experiments that produced beacon tracking results are discussed. These experiments demonstrated that the internal microelectromechanical system (MEMS) fine steering mirror (FSM) corrected for an average blind spacecraft pointing error of 8.494 mrad and maintained an average RMS pointing error of 0.175 mrad after initial blind pointing error correction. With these results, the terminal demonstrated the ability to achieve sufficient fine pointing of the 1.3 mrad FWHM optical communication beam without pointing feedback from the terminal to improve the nominal spacecraft pointing. Spacecraft drag reduction maneuvers were used to extend mission life and inform the mission operations of the CLICK-B/C phase of the mission. Results from the spacecraft drag maneuvers are also presented

Design and Prototyping of a Nanosatellite Laser Communications Terminal for the Cubesat Laser Infrared CrosslinK (CLICK) B/C Mission

The CubeSat Laser Infrared CrossLink (CLICK) mission goal is to demonstrate a low cost, high data rate optical transceiver terminal with fine pointing and precision time transfer in aleq1.5U form factor. There are two phases to the technology demonstration for the CLICK mission: CLICK-A downlink, and then CLICK-B/C crosslink and downlink. The topic of this paper is the design and prototyping of the laser communications (lasercom) terminal for the CLICK-B/C phase. CLICK B/C consists of two identical 3U CubeSats from Blue Canyon Technologies that will be launched together in Low Earth Orbit to demonstrate crosslinks at ranges between 25 km and 580 km with a data rate of ≥20 Mbps and a ranging capability better than 0.5 m. Downlinks with data rates of ≥10 Mbps will also be demonstrated to the Portable Telescope for Lasercom (PorTeL) ground station. Link analysis using current parameters & experimental results predicts successful crosslink & downlink communications and ranging. Moreover, closed-loop 3σ fine pointing error is predicted to be less than 39.66 μrad of the 121.0 μrad 1/e² transmit laser divergence. The status of the payload EDU and recent developments of the optomechanical and thermal designs are discussed

Testing of the CubeSat Laser Infrared CrosslinK (CLICK-A) Payload

The CubeSat Laser Infrared CrosslinK (CLICK-A) is a risk-reduction mission that will demonstrate a miniaturized optical transmitter capable of ≥10 Mbps optical downlinks from a 3U CubeSat to aportable 30 cm optical ground telescope. The payload is jointly developed by MIT and NASA ARC, and is on schedule for a 2020 bus integration and 2021 launch. The mission purpose is to reduce risk to its follow-up in 2022, called CLICK-B/C, that plans to demonstrate ≥20 Mbps intersatellite optical crosslinks and precision ranging between two 3U CubeSats. The 1.4U CLICK-A payload will fly on a Blue Canyon Technologies 3U bus inserted into a 400 km orbit. The payload will demonstrate both the transmitter optoelectronics and the fine-pointing system based on a MEMS fast steering mirror, which enables precision pointing of its 1300 μrad full-width half-maximum (FWHM) downlink beam with anestimated error of 136.9 μrad (3-σ) for a pointing loss of -0.134 dB (3-σ) at the time of link closure. We present recent test results of the CLICK-A payload, including results from thermal-vacuum testing, beam characterization, functional testing of the transmitter, and thermal analyses including measurement of deformation due to the thermal loading of the MEMS FSM

The Effect of Systemic Racism and Homophobia on Police Enforcement and Sexual and Emotional Violence among Sex Workers in East London:Findings from a Cohort Study

There is extensive qualitative evidence of violence and enforcement impacting sex workers who are ethnically or racially minoritized, and gender or sexual minority sex workers, but there is little quantitative evidence. Baseline and follow-up data were collected among 288 sex workers of diverse genders (cis/transgender women and men and non-binary people) in London (2018–2019). Interviewer-administered and self-completed questionnaires included reports of rape, emotional violence, and (un)lawful police encounters. We used generalized estimating equation models (Stata vs 16.1) to measure associations between (i) ethnic/racial identity (Black, Asian, mixed or multiple vs White) and recent (6 months) or past police enforcement and (ii) ethnic/racial and sexual identity (lesbian, gay or bisexual (LGB) vs. heterosexual) with recent rape and emotional violence (there was insufficient data to examine  the association with transgender/non-binary identities). Ethnically/racially minoritized sex workers (26.4%) reported more police encounters partly due to increased representation in street settings (51.4% vs 30.7% off-street, p = 0.002). After accounting for street setting, ethnically/racially minoritized sex workers had higher odds of recent arrest (adjusted odds ratio 2.8, 95% CI 1.3–5.8), past imprisonment (aOR 2.3, 95% CI 1.1–5.0), police extortion (aOR 3.3, 95% CI 1.4–7.8), and rape (aOR 3.6, 95% CI 1.1–11.5). LGB-identifying sex workers (55.4%) were more vulnerable to rape (aOR 2.4, 95% CI 1.1–5.2) and emotional violence. Sex workers identifying as ethnically/racially minoritized (aOR 2.1, 95% CI 1.0–4.5), LGB (aOR 2.0, 95% CI 1.0–4.0), or who use drugs (aOR 2.0, 95% CI 1.1–3.8) were more likely to have experienced emotional violence than white-identifying, heterosexual or those who did not use drugs. Experience of any recent police enforcement was associated with increased odds of rape (aOR 3.6, 95% CI 1.3–8.4) and emotional violence (aOR 4.9, 95% CI 1.8–13.0). Findings show how police enforcement disproportionately targets ethnically/racially minoritized sex workers and contributes to increased risk of rape and emotional violence, which is elevated among sexual and ethnically/racially minoritized workers

Development of CubeSat Spacecraft-to-Spacecraft Optical Link Detection Chain for the CLICK B/C Mission

The growing interest in and expanding applications of small satellite constellation networks necessitates effective and reliable high-bandwidth communication between spacecraft. The applications of these constellations (such as navigation or imaging) rely on the precise measurement of timing offset between the spacecraft in the constellation. The CubeSat Laser Infrared CrosslinK (CLICK) mission is being developed by the Massachusetts Institute of Technology (MIT), the University of Florida (UF), and NASA Ames Research Center. The second phase of the mission (CLICK-B/C) will demonstrate a crosslink between two CubeSats (B and C) that each host a \u3c 2U laser communication payload. The terminals will demonstrate full-duplex spacecraft-to-spacecraft communications and ranging capability using commercial components. As part of the mission, CLICK will demonstrate two-way time-transfer for clock synchronization and data transfer at a minimum rate of 20 Mbps over separation distances ranging from 25 km to 580 km. The payloads of CLICK B and C include a receiver chain with a custom photodetector board, a Time-to-Digital Converter (TDC), a Microchip Chip-Scale Atomic Clock (CSAC), and a field-programmable gate array (FPGA). The payloads can measure internal propagation delays of the transmitter and the receiver, and cancel environmental effects impacting timing accuracy. The photodetector board is 2.5 cm x 2.5 cm and includes an avalanche photodiode (APD) and variable-gain amplifiers through which the detected signal is conditioned for the TDC to be time-stamped. This design has been developed from the UF and NASA Ames CubeSat Handling Of Multisystem Precision Time Transfer (CHOMPTT) project and associated MOCT (Miniature Optical Communication Transceiver) demonstration. The TDC samples the signal at four points: twice on the rising edge at set thresholds, and twice at the falling edge at those same thresholds. These four time-offset samples are sent to the FPGA, which combines the measurements for a reported timestamp of the detected laser pulse. These timestamps can then be used in a pulse-position modulation (PPM) demodulation scheme to receive data at up to 50 Mbps, to calculate range down to 10 cm, and for precision time-transfer with \u3c 200 ps resolution. In this paper, we will discuss the designed capabilities and noise performance of the CLICK TDC-based optical receiver chain