Engineering topics

Gulick, V. C.

Publications and source records attributed to Gulick, V. C..

31 records · Page 2

NASA NTRS1999

Autonomous Onboard Science Image Analysis for Future Mars Rover Missions

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these and other algorithms and demonstrate their performance during a recent rover field test.

Gulick, V. C.↗

NASA NTRS1999

Autonomous Image Analysis for Future Mars Missions

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to preferentially transmit "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high-resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. We are currently investigating the possibility of reconstructing a 3D surface from a sequence of images acquired by a robotic arm camera. This would then allow the return of a single completely in focus image constructed only from those portions of individual images that lie within the camera's depth of field. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these algorithms and their performance during a recent rover field test.

Gulick, V. C.↗

NASA NTRS1999

Autonomous Science Analyses of Digital Images for Mars Sample Return and Beyond

To adequately explore high priority landing sites, scientists require rovers with greater mobility. Therefore, future Mars missions will involve rovers capable of traversing tens of kilometers (vs. tens of meters traversed by Mars Pathfinder's Sojourner). However, the current process by which scientists interact with a rover does not scale to such distances. A single science objective is achieved through many iterations of a basic command cycle: (1) all data must be transmitted to Earth and analyzed; (2) from this data, new targets are selected and the necessary information from the appropriate instruments are requested; (3) new commands are then uplinked and executed by the spacecraft and (4) the resulting data are returned to Earth, starting the process again. Experience with rover tests on Earth shows that this time intensive process cannot be substantially shortened given the limited data downlink bandwidth and command cycle opportunities of real missions. Sending complete multicolor panoramas at several waypoints, for example, is out of the question for a single downlink opportunity. As a result, long traverses requiring many science command cycles would likely require many weeks, months or even years, perhaps exceeding rover design life or other constraints. Autonomous onboard science analyses can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands, for example acquiring and returning spectra of "interesting" rocks along with the images in which they were detected. Such approaches, coupled with appropriate navigational software, address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing algorithms to enable such intelligent decision making by autonomous spacecraft. Reflecting the ultimate level of ability we aim for, this program has been dubbed the "Grad Student on Mars Project". We envision, for example, an appropriately intelligent Athena-like rover at the Pathfinder landing site might be able to traverse over the ridge towards "Twin Peaks" to obtain better information on the stratigraphy of these "streamlined islands" or of the size, composition and morphology of boulders located on them. Along the traverse, the intelligent rover would collect and analyze images and obtain spectra of geologically interesting features or regions. The intelligent rover might also traverse further up Arcs Vallis, and find additional paleoflood stage indicators such as slackwater deposits. Recognizing additional regions where boulders are imbricated, noting changes in their size, distribution, morphology, composition and the associated changes in channel geometry would yield important information on the outflow channel's paleoflood history, Representative images and associated supporting data from these locations could be downlinked to Earth along with the data requested by scientists from the previous uplink opportunity. Our initial work has focused on recognizing geologically interesting portions of images. Here we summarize some of the algorithms to date.

Gulick, V. C.↗

NASA NTRS1998

Warrego Valles and Other Candidate Sites of Local Hydrothermal Activity Within The Thaumasia Region, Mars

We have previously demonstrated for the Thaumasia region of Mars that: (1) valley formation peaked during the Noachian and declined substantially during the Hesperian and Amazonian Periods and (2) valleys, many of which form networking systems, largely occur near volcanoes, highly faulted terrains, and large impact craters of similar age, thus suggesting hydrothermal activity. In Tanaka et al, the various hypotheses for valley formation on Mars are presented, and a geologic explanation for valley erosion in the Thaumasia region is given that "best fits" the region's geographic and geologic datasets. That comprehensive GIS-based investigation suggests that hydrothermal and seismic activity were the primary causes of valley formation in the Thaumasia region; the data make widespread precipitation less likely as a major factor in valley formation, except perhaps during the Early Noachian, for which much of the geologic record has been destroyed. Based on the reconstruction of the stratigraphic, tectonic, volcanic, and erosional histories and the close association of valleys in time and space with Noachian to Early Hesperian volcanoes and rift systems and Hesperian to Early Amazonian impact craters less than 50 km in diameter, we propose 13 sites of hydrothermal activity within the Thaumasia region; these are the best examples of valleys associated with these geologic features, but there are other less pronounced correlations elsewhere in the region.

Dohm, J. M.↗

NASA NTRS1997

Mars 2005 Sample Return Workshop

Convened at the request of Dr. Jurgen Rahe of the NASA Office of Space Science, the purpose of this workshop was to reexamine the science issues that will determine how an optimum sample return mission would be carried out in 2005 given the new context that has emerged for Mars exploration since the last such workshop was held (in 1987). The results and summary of discussion that took place at the meeting are contained in this volume. The community was invited to participate in the preparation of the final written report by browsing through the agenda and reading the text and viewgraphs provided by workshop participants and submitting comments for that section.

Gulick, V. C.↗

NASA NTRS1997

Episodic Ocean-Induced CO2 Greenhouse on Mars: Implications for Fluvial Valley Formation

Pulses of CO2 injected into the martian atmosphere more recently than 4 Ga can place the atmosphere into a stable, higher pressure, warmer greenhouse state. One to two bar pulses of CO2 added to the atmosphere during the past several billion years are sufficient to raise global mean temperatures above 240 or 250 K for tens to hundreds of millions of years, even when accounting for CO2 condensation. Over time, the added CO2 is lost to carbonates, the atmosphere collapses and returns to its buffered state. A substantial amount of water could be transported during the greenhouse periods from the surface of a frozen body of water created by outflow channel discharges to higher elevations, despite global temperatures well below freezing. This water, precipitated as snow, could ultimately form fluvial valleys if deposition sites are associated with localized heat sources, such as magmatic intrusions or volcanoes. Thus, if outflow channel discharges were accompanied by the release of sufficient quantities of CO2, a limited hydrological cycle could have resulted that would have been capable of producing geomorphic change sufficient for fluvial erosion and valley formation. Glacial or periglacial landforms would also be a consequence of such a mechanism.

Gulick, V. C.↗

NASA NTRS1993

Evolution of the global water cycle on Mars: The geological evidence

The geological evidence for active water cycling early in the history of Mars (Noachian geological system or heavy bombardment) consists almost exclusively of fluvial valley networks in the heavily cratered uplands of the planet. It is commonly assumed that these landforms required explanation by atmospheric processes operating above the freezing point of water and at high pressure to allow rainfall and liquid surface runoff. However, it has also been documented that nearly all valley networks probably formed by subsurface outflow and sapping erosion involving groundwater outflow prior to surface-water flow. The prolonged ground-water flow also requires extensive water cycling to maintain hydraulic gradients, but is this done via rainfall recharge, as in terrestrial environments?

Baker, V. R.↗

NASA NTRS1993

Fluvial valleys in the heavily cratered terrains of Mars: Evidence for paleoclimatic change?

Whether the formation of the Martian valley networks provides unequivocal evidence for drastically different climatic conditions remains debatable. Recent theoretical climate modeling precludes the existence of a temperate climate early in Mars' geological history. An alternative hypothesis suggests that Mars had a globally higher heat flow early in its geological history, bringing water tables to within 350 m of the surface. While a globally higher heat flow would initiate ground water circulation at depth, the valley networks probably required water tables to be even closer to the surface. Additionally, it was previously reported that the clustered distribution of the valley networks within terrain types, particularly in the heavily cratered highlands, suggests regional hydrological processes were important. The case for localized hydrothermal systems is summarized and estimates of both erosion volumes and of the implied water volumes for several Martian valley systems are presented.

Gulick, V. C.↗

NASA NTRS1992

Channels and valleys on Venus - Preliminary analysis of Magellan data

A preliminary survey of Magellan imagery reveals more than 200 newly discovered relic channel and valley landform complexes. For purposes of discussion the channels can be classed as simple, complex, and compound. Integrated valleys also occur. Simple channels include: (1) sinuous rilles that closely resemble their lunar counterparts and (2) a newly recognized long sinuous form of high width-to-depth ratio and remarkably constant width. Herein designated canali, the most spectacular of these channels is 6800 km long. One of the compound channels, an outflow complex in Lada Terra, extends over 1200 km and is up to 30 km wide. Streamlined hills and spill relationships at a cross-axial ridge are similar to features in flood channels. Venusian channels have a global distribution with most of the large canali-type channels developed on volcanic plains. Alternative hypotheses for the channel-forming processes include genesis by the following erosive fluids: ultramafic silicate melts, sulfur, and carbonate lavas. Each of these causative agents has profound implications for Venusian planetology. The remote possibility of an aqueous origin, indicated by apparent regime behavior of the active channeling process, cannot be excluded with absolute certainty.

Baker, V. R.↗

NASA NTRS1992

Magmatic intrusions and hydrothermal systems on Mars

We are continuing our investigation of Martian hydrothermal systems and the formation of fluvial valleys on Mars. Here we present our initial numerical modeling results of hydrothermal systems associated with magmatic intrusions on Mars. To model such hydrothermal systems, we consider single, cylindrical intrusions of 4 km height 2 km below the surface. Our preliminary results of modeling hydrothermal systems associated with magmatic intrusions in the Martian environment suggest that such systems, if associated with intrusions of several 10(exp 2) km(exp 3) or larger, in the presence of permeable, water-rich subsurface should be able to provide adequate discharges of water over the time periods needed to form fluvial valleys. However, it is important to note that the amount of water ultimately available for erosion also depends on the surface and subsurface lithology.

Gulick, V. C.↗

NASA NTRS1992

Erosional landforms on the layered terrains in Valles Marineris

Many investigators have proposed potential lakes in Valles Marineris based on the relationship with outflow channels, and a proposed lacustrine origin of layered deposits. We have investigated the erosional style of the layered terrains and evaluated their potential origins as sedimentation in and erosional modification by these lakes. The erosional features that will be discussed are distributed in the central canyon area and classified into terraces and layered depressions. Many terraces can be explained by coastal erosion in lakes as well as by eolian erosion. The lack of terraces on the canyon walls is probably due to more recent sapping and mass wasting of materials with different mechanical response to erosion than the layered terrains. Catastrophic water discharges in Valles Marineris as hypothesized by an ocean model may have been the source of the lakes and the eventual catastrophic release of water from the canyons.

Komatsu, G.↗

NASA NTRS1991

Ancient oceans, ice sheets and the hydrological cycle on Mars

A variety of anomalous geomorphological features on Mars can be explained by a conceptual scheme involving episodic ocean and ice-sheet formation. The formation of valley networks early in Mars' history is evidence for a long-term hydrological cycle, which may have been associated with the existence of a persistent ocean. Cataclysmic flooding, triggered by extensive Tharsis volcanism, subsequently led to repeated ocean formation and then dissipation on the northern plains, and associated glaciation in the southern highlands until relatively late in Martian history.

Baker, V. R.↗

NASA NTRS1991

Water resources and hydrology of Mars

The surface of Mars has been extensively modified by a large variety of water erosional and depositional processes. Although liquid water is presently unstable on the planet's surface, in its cold, hyperarid climate, there is abundant geomorphological evidence of past fluvial valley development multiple episodes of catastrophic flooding, periglacial landforms, ice-related permafrost, lake deposits, eroded impact craters and possible glacial landforms throughout much of Mars' geological history. The amount of water required to form such features is estimated to be equivalent to a planet-wide layer approximately 50 meters deep. Some of this water undoubtedly was removed from the planet by atmospheric escape processes, but much probably remains in the subsurface of Mars. Jakosky summarized the present partitioning of water on Mars, expressed as an average global depth, as follows: in the polar caps, 30 meters; in the megaregolith, 500 to 1000 meters; structurally bound in clays, 10 meters; and in high latitude regolith, a few meters. However, most of this water is probably in the form of ice, except in anomalous areas of possible near surface liquid water, and in regions where hydrothermal systems are still active. The best locations for prospecting are those areas where water or ice is sufficiently concentrated at shallow enough depths to make it feasible to pump out or mine.

Baker, V. R.↗