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Robinson, M.

Publications and source records attributed to Robinson, M..

14 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

Experimental observations of bifurcated power decay lengths in the near Scrape-Off Layer of ST40 High Field Spherical Tokamak

The scrape-off layer parallel heat flux decay lengths measured at ST40, a high field, low aspect ratio spherical tokamak, have been observed to bifurcate into two groups. The wide group follows established H-mode scalings (ranging between 2 to 8 mm) while the narrow group falls up to 10 times below these scalings (between 0.2 and 0.8 mm), being comparable to the ion total Larmor radius rather than the ion poloidal Larmor radius. The heat flux profiles of the latter group can only be described by a multi-exponential function, rather than the single exponential function convoluted with a Gaussian. The onset of the narrow scrape-off layer width is observed to be associated with suppressed magnetic fluctuations, suggesting reduced electromagnetic turbulence levels in the SOL.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS2013

Test and Validation of the Mars Science Laboratory Robotic Arm

The Mars Science Laboratory Robotic Arm (RA) is a key component for achieving the primary scientific goals of the mission. The RA supports sample acquisition by precisely positioning a scoop above loose regolith or accurately preloading a percussive drill on Martian rocks or rover-mounted organic check materials. It assists sample processing by orienting a sample processing unit called CHIMRA through a series of gravity-relative orientations and sample delivery by positioning the sample portion door above an instrument inlet or the observation tray. In addition the RA facilitates contact science by accurately positioning the dust removal tool, Alpha Particle X-Ray Spectrometer (APXS) and the Mars Hand Lens Imager (MAHLI) relative to surface targets. In order to fulfill these seemingly disparate science objectives the RA must satisfy a variety of accuracy and performance requirements. This paper describes the necessary arm requirement specification and the test campaign to demonstrate these requirements were satisfied.

manipulation↗
NASA NTRS2013

In-Situ Operations and Planning for the Mars Science Laboratory Robotic Arm: The First 200 Sols

The Robotic Arm (RA) has operated for more than 200 Martian solar days (or sols) since the Mars Science Laboratory rover touched down in Gale Crater on August 5, 2012. During the first seven months on Mars the robotic arm has performed multiple contact science sols including the positioning of the Alpha Particle X-Ray Spectrometer (APXS) and/or Mars Hand Lens Imager (MAHLI) with respect to rocks or loose regolith targets. The RA has supported sample acquisition using both the scoop and drill, sample processing with CHIMRA (Collection and Handling for In- Situ Martian Rock Analysis), and delivery of sample portions to the observation tray, and the SAM (Sample Analysis at Mars) and CHEMIN (Chemistry and Mineralogy) science instruments. This paper describes the planning and execution of robotic arm activities during surface operations, and reviews robotic arm performance results from Mars to date.

Mars surface operations↗
NASA NTRS2009

The 50 Constellation Priority Sites

The Constellation program (CxP) has developed a list of 50 sites of interest on the Moon which will be targeted by the LRO narrow angle camera. The list has also been provided to the M~ team to supplement their targeting list. This list does not represent a "site selection" process; rather the goal was to find "representative" sites and terrains to understand the range of possible surface conditions for human lunar exploration to aid engineering design and operational planning. The list compilers leveraged heavily on past site selection work (e.g. Geoscience and a Lunar Base Workshop - 1988, Site Selection Strategy for a Lunar Outpost - 1990, Exploration Systems Architecture Study (ESAS) - 2005). Considerations included scientific, resource utilization, and operational merits, and a desire to span lunar terrain types. The targets have been organized into two "tiers" of 25 sites each to provide a relative priority ranking in the event of mutual interference. A LEAG SAT (special action team) was established to validate and recommend modifications to the list. This SAT was chaired by Dr. Paul Lucey. They provided their final results to CxP in May. Dr. Wendell Mendell will organize an on-going analysis of the data as they come down to ensure data quality and determine if and when a site has sufficient data to be retired from the list. The list was compiled using the best available data, however, it is understood that with the flood of new lunar data, minor modifications or adjustments may be required.

Noble, S.↗
NASA NTRS2002

Limbed Excursion Mechanical Utility Rover: LEMUR II

The assembly inspection, and maintenance requirements of permanent installations in space demand robotic agents that provide a high level of operational flexibility relative to the mass and volume of the robotic system.

robot limb manipulation robot vision↗
NASA NTRS2000

Climatological Processing and Product Development for the TRMM Ground Validation Program

The Tropical Rainfall Measuring Mission (TRMM) satellite was successfully launched in November 1997.The main purpose of TRMM is to sample tropical rainfall using the first active spaceborne precipitation radar. To validate TRMM satellite observations, a comprehensive Ground Validation (GV) Program has been implemented. The primary goal of TRMM GV is to provide basic validation of satellite-derived precipitation measurements over monthly climatologies for the following primary sites: Melbourne, FL; Houston, TX; Darwin, Australia- and Kwajalein Atoll, RMI As part of the TRMM GV effort, research analysts at NASA Goddard Space Flight Center (GSFC) generate standardized rainfall products using quality-controlled ground-based radar data from the four primary GV sites. This presentation will provide an overview of TRMM GV climatological processing and product generation. A description of the data flow between the primary GV sites, NASA GSFC, and the TRMM Science and Data Information System (TSDIS) will be presented. The radar quality control algorithm, which features eight adjustable height and reflectivity parameters, and its effect on monthly rainfall maps, will be described. The methodology used to create monthly, gauge-adjusted rainfall products for each primary site will also be summarized. The standardized monthly rainfall products are developed in discrete, modular steps with distinct intermediate products. A summary of recently reprocessed official GV rainfall products available for TRMM science users will be presented. Updated basic standardized product results involving monthly accumulation, Z-R relationship, and gauge statistics for each primary GV site will also be displayed.

Marks, D. A.↗
NASA NTRS2000

Evolving Improvements to TRMM Ground Validation Rainfall Estimates

The primary function of the TRMM Ground Validation (GV) Program is to create GV rainfall products that provide basic validation of satellite-derived precipitation measurements for select primary sites. Since the successful 1997 launch of the TRMM satellite, GV rainfall estimates have demonstrated systematic improvements directly related to improved radar and rain gauge data, modified science techniques, and software revisions. Improved rainfall estimates have resulted in higher quality GV rainfall products and subsequently, much improved evaluation products for the satellite-based precipitation estimates from TRMM. This presentation will demonstrate how TRMM GV rainfall products created in a semi-automated, operational environment have evolved and improved through successive generations. Monthly rainfall maps and rainfall accumulation statistics for each primary site will be presented for each stage of GV product development. Contributions from individual product modifications involving radar reflectivity (Ze)-rain rate (R) relationship refinements, improvements in rain gauge bulk-adjustment and data quality control processes, and improved radar and gauge data will be discussed. Finally, it will be demonstrated that as GV rainfall products have improved, rainfall estimation comparisons between GV and satellite have converged, lending confidence to the satellite-derived precipitation measurements from TRMM.

Robinson, M.↗
NASA NTRS2000

Rainfall Product Evaluation for the TRMM Ground Validation Program

Evaluation of the Tropical Rainfall Measuring Mission (TRMM) satellite observations is conducted through a comprehensive Ground Validation (GV) Program. Standardized instantaneous and monthly rainfall products are routinely generated using quality-controlled ground based radar data from four primary GV sites. As part of the TRMM GV program, effort is being made to evaluate these GV products and to determine the uncertainties of the rainfall estimates. The evaluation effort is based on comparison to rain gauge data. The variance between the gauge measurement and the true averaged rain amount within the radar pixel is a limiting factor in the evaluation process. While monthly estimates are relatively simple to evaluate, the evaluation of the instantaneous products are much more of a challenge. Scattegrams of point comparisons between radar and rain gauges are extremely noisy for several reasons (e.g. sample volume discrepancies, timing and navigation mismatches, variability of Z(sub e)-R relationships), and therefore useless for evaluating the estimates. Several alternative methods, such as the analysis of the distribution of rain volume by rain rate as derived from gauge intensities and from reflectivities above the gauge network will be presented. Alternative procedures to increase the accuracy of the estimates and to reduce their uncertainties also will be discussed.

Amitai, E.↗
NASA NTRS1998

Multispectral Mapping of the Moon by Clementine

One of the chief scientific objectives of the Clementine mission at the Moon was to acquire global multispectral mapping. A global digital map of the Moon in 11 spectral bandpasses and at a scale of 100 m/pixel is being produced at the U.S. Geological Survey in Flagstaff Arizona Near-global coverage was acquired with the UVVIS camera (central wavelengths of 415, 750, 900, 950, and 1000 nm) and the NIR camera (1102, 1248, 1499, 1996, 2620, and 2792 nary). We expect to complete processing of the UVVIS mosaics before the fall of 1998, and to complete the NIR mosaics a year later. The purpose of this poster is to provide an update on the processing and to show examples of the products or perhaps even a wall-sized display of color products from the UVVIS mosaics.

Eliason, Eric M.↗
NASA NTRS1996

The Clementine Bistatic Radar Experiment

During the Clementine 1 mission, a bistatic radar experiment measured the magnitude and polarization of the radar echo versus bistatic angle, beta, for selected lunar areas. Observations of the lunar south pole yield a same-sense polarization enhancement around beta = 0. Analysis shows that the observed enhancement is localized to the permanently shadowed regions of the lunar south pole. Radar observations of periodically solar-illuminated lunar surfaces, including the north pole, yielded no such enhancement. A probable explanation for these differences is the presence of low-loss volume scatterers, such as water ice, in the permanently shadowed region at the south pole.

Nozette, S.↗
NASA NTRS1995

COMET Progresses Toward First Mission

The COMmercial Experiment Transporter (COMET) is a set of hardware and related infrastructure used to support orbital experiments of the CDD's and their industrial partners. During this year major support contracts were signed, preliminary design reviews conducted, experiments selected for the first mission, and long lead items place on order. The Program Office and CCDS Monitors took an active role in guiding COMET through the activation maze. Launch and recovery sites were selected and licenses for the launch vehicle, recovery system, and recovery operations were filed by the contractors with the Department of Transportation. As the period closed, COMET was preparing for Critical Design Reviews on all major systems and a target launch data was selected. This report deals primarily with the programmatic issues which were resolved as the program matured. At times is is impossible to disassociate the technical from the programmatic and, in such cases the technical material is presented to provide insight into the paths selected by both CCDS and Contractor Management.

Pawlick, J.↗