Engineering topics

Roush, Ted L.

Publications and source records attributed to Roush, Ted L..

At least 37 records · Page 2

NASA NTRS2004

Automated Recognition of Geologically Significant Shapes in MER PANCAM and MI Images

Autonomous recognition of scientifically important information provides the capability of: 1) Prioritizing data return; 2) Intelligent data compression; 3) Reactive behavior onboard robotic vehicles. Such capabilities are desirable as mission scenarios include longer durations with decreasing interaction from mission control. To address such issues, we have implemented several computer algorithms, intended to autonomously recognize morphological shapes of scientific interest within a software architecture envisioned for future rover missions. Mars Exploration Rovers (MER) instrument payloads include a Panoramic Camera (PANCAM) and Microscopic Imager (MI). These provide a unique opportunity to evaluate our algorithms when applied to data obtained from the surface of Mars. Early in the mission we applied our algorithms to images available at the mission web site (http://marsrovers.jpl.nasa.gov/gallery/images.html), even though these are not at full resolution. Some algorithms would normally use ancillary information, e.g. camera pointing and position of the sun, but these data were not readily available. The initial results of applying our algorithms to the PANCAM and MI images are encouraging. The horizon is recognized in all images containing it; such information could be used to eliminate unwanted areas from the image prior to data transmission to Earth. Additionally, several rocks were identified that represent targets for the mini-thermal emission spectrometer. Our algorithms also recognize the layers, identified by mission scientists. Such information could be used to prioritize data return or in a decision-making process regarding future rover activities. The spherules seen in MI images were also autonomously recognized. Our results indicate that reliable recognition of scientifically relevant morphologies in images is feasible.

Morris, Robert↗

NASA NTRS2003

Essential Autonomous Science Inference on Rovers (EASIR)

Existing constraints on time, computational, and communication resources associated with Mars rover missions suggest on-board science evaluation of sensor data can contribute to decreasing human-directed operational planning, optimizing returned science data volumes, and recognition of unique or novel data. All of which act to increase the scientific return from a mission. Many different levels of science autonomy exist and each impacts the data collected and returned by, and activities of, rovers. Several computational algorithms, designed to recognize objects of interest to geologists and biologists, are discussed. The algorithms represent various functions that producing scientific opinions and several scenarios illustrate how the opinions can be used.

Roush, Ted L.↗

NASA NTRS2002

Estimated Optical Constants of Tagish Lake Meteorite

The visible, near-infrared, and mid-infrared (0.3-25 micron) real and imaginary indices of refraction are derived from reflectance measurements of the Tagish Lake meteorite. These are compared to some real and imaginary indices of refraction of the individual minerals composing the Tagish Lake meteorite. From this comparison it is clear that the imaginary indices of several individual minerals contribute to the estimated imaginary index of the Tagish Lake.

Roush, Ted L.↗

NASA NTRS2002

Robotic Exploration: The Role of Science Autonomy

Historical mission operations have involved: (1) commands transmitted to the craft; (2) execution of commands; (3) return of scientific data; (4) evaluation of these data by scientists; and (5) recommendations for future mission activity by scientists. This cycle is repeated throughout the mission with command opportunities once or twice per day. For a rover, this historical cycle is not amenable to rapid long range traverses or rapid response to any novel or unexpected situations.

Roush, Ted L.↗

NASA NTRS2002

Compositional Remote Sensing of Icy Planets and Satellites Beyond Jupiter

The peak of the solar energy distribution occurs at visual wavelengths and falls off rapidly in the infrared. This fact, improvements in infrared detector technology, and the low surface temperatures for most icy objects in the outer solar system have resulted in the bulk of telescopic and spacecraft observations being performed at visual and near-infrared wavelengths. Such observations, begun in the early 1970's and continuing to present, have provided compositional information regarding the surfaces of the satellites of Saturn and Uranus, Neptune's moon Triton, Pluto, Pluto's moon Charon, Centaur objects, and Kuiper belt objects. Because the incident sunlight penetrates the surface and interacts with the materials present there, the measured reflected sunlight contains information regarding the surface materials, and the ratio of the reflected to incident sunlight provides a mechanism of identifying the materials that are present.

Roush, Ted L.↗

NASA NTRS2002

Observations and Laboratory Data of Planetary Organics

Many efforts are underway to search for evidence of prebiotic materials in the outer solar system. Current and planned Mars missions obtain remote sensing observations that can be used to address the potential presence of prebiotic materials. Additional missions to, and continuing earth-based observations of, more distant solar system objects will also provide remote sensing observations that can be used to address the potential presence of prebiotic materials. I will present an overview of on-going observations, associated laboratory investigations of candidate materials, and theoretical modeling of observational data. In the past the room temperature reflectance spectra of many residues created from HC-bearing gases and solids have been reported. The results of an investigation of what effect temperatures more representative of outer solar system surfaces (50-140K) have on the reflectance spectra of these residues, and the associated interpretations, will be presented. The relatively organic-rich Tagish Lake Meteorite has been suggested as a spectral analog for Dtype asteroids. Using a new approach that relies upon iterative use of Hapke theory and Kraniers-Kronig analysis the optical constants of TLM were estimated. The approach and results of the analysis will be presented. Use of optical constants in scattering theories, such as the Hapke theory, provide the ability to determine quantitative estimates of the relative abundances and grain sizes of candidate surface components. This approach has been applied to interpret the reflectance spectra of several outer solar system surfaces. A summary will be provided describing the results of such modeling efforts.

Roush, Ted L.↗

NASA NTRS2001

Constraints on the Composition of Trojan Asteroid 624 Hektor

We present a composite spectrum of Trojan asteroid 624 Hektor, 0.3-3.6 microns, which shows that there is no discernible 3-micron absorption band. Such a band would indicate the presence of OH or H2O- bearing silicate minerals, or macromolecular carbon-rich organic material of the kind seen on the low-albedo hemisphere of Saturn's satellite Iapetus (Owen et al. 2000). The absence of spectral structure is itself indicative of the absence of the nitrogen-rich tholins (which show a distinctive absorption band attributed to N-H). The successful models in this study all incorporate the mineral pyroxene (Mg, Fe SiO3, the composition of hypersthene), which matches the red color of Hektor. Pyroxene is a mafic mineral common in terrestrial and lunar lavas, and is also seen in Main Belt asteroid spectra. An upper limit to the amount of crystalline H20 ice (30-micron grains) in the surface layer of Hektor is 3 weight percent. The upper limit for serpentine, as a representative of hydrous silicates, is much less stringent, at 40 percent, based on the shape of the spectral region around 3 gm. Thus, the spectrum at 3 gm does not preclude the presence of a few weight percent of volatile material in the surface layer of Hektor. All of the models we calculated require elemental carbon to achieve the low geometric albedo that matches Hektor. This carbon could be of organic or inorganic origin. By analogy, other D-type asteroids could achieve their red color, low albedo, and apparent absence of phyllosilicates, from compositions similar to the models presented here.

Cruikshank, Dale P.↗

NASA NTRS2001

Physical State of Ices in the Outer Solar System

Comparison of the identity and abundances of ices observed around protostars and those associated with comets clearly suggests that comets preserve the heritage of the interstellar materials that aggregated to form them. However, the ability to identify these same species on icy satellites in the outer solar system is a complex function of the composition of the original ices, their subsequent thermal histories, and their exposure to various radiation environments. Our ability to identify the ices currently present on objects in the outer solar system relies upon observational and laboratory, and theoretical efforts. To date there is ample observational evidence for crystalline water ice throughout the outer solar system. In addition, there is growing evidence that amorphous ice may be present on some bodies. More volatile ices, e.g. N2, CH4. CO, and other species, e.g. ammonia hydrate, are identified on objects lying at and beyond Uranus. Both photolysis and radiolysis play important roles in altering the original surfaces due to chemical reactions and erosion of the surface. Ultraviolet photolysis appears to dominate alteration of the upper few hundred Angstroms, although sputtering the surface can sometimes be a significantly competitative process; dominating on icy surfaces embedded in a strong planetary magnetospheric field. There is growing observational evidence that the by-products of photolysis and radiolysis, suggested on a theoretical basis, are present on icy surfaces.

Roush, Ted L.↗

NASA NTRS2001

Science Autonomy in Robotic Exploration

Historical mission operations have involved: (1) return of scientific data; (2) evaluation of these data by scientists; (3) recommendations for future mission activity by scientists; (4) commands for these transmitted to the craft; and (5) the activity being undertaken. This cycle is repeated throughout the mission with command opportunities once or twice per day. For a rover, this historical cycle is not amenable to rapid long range traverses or rapid response to any novel or unexpected situations. In addition to real-time response issues, imaging and/or spectroscopic devices can produce tremendous data volumes during a traverse. However, such data volumes can rapidly exceed on-board memory capabilities prior to the ability to transmit it to Earth. Additionally, the necessary communication band-widths are restrictive enough so that only a small portion of these data can actually be returned to Earth. Such scenarios suggest enabling some science decisions to be made on-board the robots. These decisions involve automating various aspects of scientific discovery instead of the electromechanical control, health, and navigation issues associated with robotic operations. The robot retains access to the full data fidelity obtained by its scientific sensors, and is in the best position to implement actions based upon these data. Such an approach would eventually enable the robot to alter observations and assure only the highest quality data is obtained for analysis. Additionally, the robot can begin to understand what is scientifically interesting and implement alternative observing sequences, because the observed data deviate from expectations based upon current theories/models of planetary processes. Such interesting data and/or conclusions can then be prioritized and selectively transmitted to Earth; reducing memory and communications demands. Results of Ames' current work in this area will be presented.

Roush, Ted L.↗

NASA NTRS2001

Robotic Exploration: The Role of Science Autonomy

Historical mission operations have involved: (1) return of scientific data; (2) evaluation of these data by scientists; (3) recommendations for future mission activity by scientists; (4) commands for these transmitted to the craft; and (5) the activity being, undertaken. This cycle is repeated throughout the mission with command opportunities once or twice per day. For a rover, this historical cycle is not amenable to rapid long range traverses or rapid response to any novel or unexpected situations. In addition to real-time response issues, imaging and/or spectroscopic devices can produce tremendous data volumes during a traverse. However, such data volumes can rapidly exceed on-board memory capabilities prior to the ability to transmit it to Earth. Additionally, the necessary communication band-widths are restrictive enough so that only a small portion of these data can actually be returned to Earth. Such scenarios suggest enabling some science decisions to be made on-board the robots. These decisions involve automating various aspects of scientific discovery instead of the electromechanical control, health, and navigation issues associated with robotic operations. The robot retains access to the full data fidelity obtained by its scientific sensors, and is in the best position to implement actions based upon these data. Such an approach would eventually enable the robot to alter observations and assure only the highest quality data is obtained for analysis. Additionally, the robot can begin to understand what is scientifically interesting and implement alternative observing sequences, because the observed data deviate from expectations based upon current theories/models of planetary processes. Such interesting data and/or conclusions can then be prioritized and selectively transmitted to Earth; reducing memory and communications demands. Results of Ames' current work in this area will be presented.

Roush, Ted L.↗

NASA NTRS2000

Evidence for a Trapped Radical (OH) on Ariel, Oberon, and Titania from Hubble Space Telescope Ultraviolet Spectra

The moons Ariel, Titania, and Oberon have orbits lying within the magnetosphere of Uranus, exposing them to particle irradiation from trapped Ions. This Is similar to the situation experienced by the jovian moons Europa, Ganymede, and Callisto, as well as the saturnian satellites Enceladus, Tethys, Dione, and Rhea. Identification of SO2 on Europa, Ganymede and Callisto, and O3 on Ganymede, Rhea, and Dione has supported suggestions that chemical modifications occur on icy bodies due to ion bombardment associated with the particles entrained within the magnetospheric fields of Jupiter and Saturn. Similar to the Jovian and saturnian satellites mentioned above, water ice is a major component on the larger uranian satellites", thus one might anticipate chemical modification to he an important process in the uranian system. Laboratory studies or the interaction of ultraviolet (uv) and charged-particle radiation with water ice show that in addition to molecular species, a variety of radicals are also produced. We report here evidence for an uv absorption feature in the spectra of Ariel, Titania, and Oberon that we identify as due, in part, to OH; providing the first evidence of a radical produced and trapped on an icy moon within our solar system.

Roush, Ted L.↗

NASA NTRS1999

Water Ice on Triton

We report the spectroscopic detection of H2O ice on Triton, evidenced by the broad absorptions in the near infrared at 1.55 and 2.04 micron. The detection on Triton confirms earlier preliminary studies (D. P. Cruikshank, R. H. Brown, and R. N. Clark, Icarus 58, 293-305, 1984). The spectra support the contention that H2O ice on Triton is in a crystalline (cubic or hexagonal) phase. Our spectra (1.87-2.5 micron) taken over an interval of nearly 3.5 years do not show any significant changes that might relate to reports of changes in Triton's spectral reflectance (B. Buratti, M. D. Hicks, and R. L. Newburn, Jr., Nature 397, 219, 1999), or in Triton's volatile inventory (J. L. Elliot et al., Nature 393, 765-767, 1998).

Cruikshank, Dale P.↗

NASA NTRS1999

Autonomous Science Decision Making for Mars Sample Return

In the near future NASA intends to explore Mars in preparation for a sample return mission using robotic devices such as landers, rovers, orbiters, airplanes, and/or balloons. Such platforms will likely carry imaging devices to characterize the surface morphology, and a variety of analytical instruments intended to evaluate the chemical and mineralogical nature of the environment(s) that they encounter. Historically, mission operations have involved the following sequence of activities: (1) return of scientific data from the vehicle; (2) evaluation of the data by space scientists; (3) recommendations of the scientists regarding future mission activity; (4) transmission of commands to the vehicle to achieve this activity; and (5) new activity by the vehicle in response to those commands. This is repeated for the duration of the mission, with command opportunities once or perhaps twice per day. In a rapidly changing environment, such as might be encountered by a rover traversing hundreds of meters a day or an airplane soaring over several hundred of kilometers, this traditional cycle of data evaluation and commands is not amenable to rapid long range traverses, discovery of novelty, or rapid response to any unanticipated situations. In addition, to issues of response time, the nature of imaging and/or spectroscopic devices are such that tremendous data volumes can be acquired, for example during a traverse. These data volumes can rapidly exceed on-board memory capabilities prior to an opportunity to transmit it to Earth.

Roush, Ted L.↗

NASA NTRS1999

Composition, Physical State, and Distribution of Ices at the Surface of Triton

This paper presents the analysis of near-infrared observations of the icy surface of Triton, recorded on 1995 September 7, with the cooled grating spectrometer CGS4 at the United Kingdom Infrared Telescope (Mauna Kea, HI). This analysis was performed in two steps. The step consisted of identifying the molecules composing Triton's surface by comparing the observations with laboratory transmission spectra (direct spectral analysis ); this also gives information on the physical state of the components.

deBergh, Catherine↗

NASA NTRS1999

Thermal Emission Spectroscopy of 1 Ceres: Evidence for Olivine

Thermal emission spectra of the largest asteroid, 1 Ceres, obtained from the Kuiper Airborne Observatory display features that may provide information about its surface mineralogy. The emissivity, obtained by dividing the spectra by a standard thermal model, is compared with emissivity spectra of olivines and phyllosilicates deduced via Kirchoff's law from reflectivity measurements. The spectra provide a fairly good match to fine grained olivines (0 to 5 micrometer size range). The smoothness of the spectrum beyond 18 micrometers is an indication of particles smaller than 50 micrometers. While the abrupt rise in emissivity near 8 micrometers matches many silicates, the distinct emissivity minimum centered near 12.8 micrometers is consistant with iron-poor olivines, but not with phyllosilicates. It suggests the presence of opaques and does not exclude a mixture with organics and fine-grained phyllosilicates.

Witteborn, Fred. C.↗

NASA NTRS1998

Titania and Oberon: Surface Composition from New Near-Infrared Observations and Reflectance Models

Here we report the combination of new near-ir spectra (1.45-2.48 micrometers), of Titania and Oberon obtained in September 1995 at a resolving power of approx. 800, with older near-ir observations (0.5- 1.44 micrometers), and recent UV (0.22-0.48 micrometers) observations obtained with HST. Previous interpretations suggest these surfaces are chiefly composed of water ice and varying amounts of spectrally neutral material. The new near-ir data provide the opportunity to search for absorption bands that could be attributable to surface materials other than water ice and because the combined spectra include such a broad wavelength region, to undertake improved models of water and neutral components on the surface. The calculated near-ir geometric albedos clearly exhibit three broad spectral features. Two (1.52- & 2.05 micrometer) have previously been used to demonstrate the presence of water ice on these satellites. The third (approx. 1.65 micrometer), suggests the presence of hexagonal water ice at low temperatures, and may provide a mechanism of estimating the surface temperature. There is no spectral evidence for ices of CO2, CO, NH3 or CH4. At UV wavelengths there is a broad absorption near 0.27-0.28 micrometer previously attributed to OH formed by magnetospheric-surface interactions and retained at the low surface temperatures of these satellites. Surface components used in a Hapke scattering models include values for a combination of irradiated water ice in the UV and hexagonal water ice at 100k in the near-ir (IR), amorphous carbon (AC), and tholins (T) (produced from gas and solid). Results of these models suggest the surfaces of Titania/Oberon are composed of IW (-77/52%) with AC the next most abundant component (approx. 19/52%) and finally T (approx. 4/7%).

Roush, Ted L.↗

NASA NTRS1998

On-board Science Understanding: NASA Ames' Efforts

In the near future NASA intends to explore various regions of our solar system using robotic devices such as rovers, spacecraft, airplanes, and/or balloons. Such platforms will likely carry imaging devices, and a variety of analytical instruments intended to evaluate the chemical and mineralogical nature of the environment(s) that they encounter. Historically, mission operations have involved: (1) return of scientific data from the craft; (2) evaluation of the data by space scientists; (3) recommendations of the scientists regarding future mission activity; (4) commands for achieving these activities being transmitted to the craft; and (5) the activity being undertaken. This cycle is then repeated for the duration of the mission with command opportunities once or perhaps twice per day. In a rapidly changing environment, such as might be encountered by a rover traversing hundreds of meters a day or a spacecraft encountering an asteroid, this historical cycle is not amenable to rapid long range traverses, discovery of novelty, or rapid response to any unexpected situations. In addition to real-time response issues, the nature of imaging and/or spectroscopic devices are such that tremendous data volumes can be acquired, for example during a traverse. However, such data volumes can rapidly exceed on-board memory capabilities prior to the ability to transmit it to Earth. Additionally, the necessary communication band-widths are restrictive enough so that only a small portion of these data can actually be returned to Earth. Such scenarios clearly require the enabling of some crucial decisions to be made on-board by these robotic explorers. These decisions transcend the electromechanical control, health, and navigation issues associated with robotic operations. Instead they focus upon a long term goal of automating scientific discovery based upon data returned by sensors of the robot craft. Such an approach would eventually enable it to understand what is interesting because the data deviates from expectations generated by current theories/models of planetary processes that could have resulted in the observed data. Such interesting data and/or conclusions can then be selectively transmitted to Earth thus reducing memory and communications demands.

Roush, Ted L.↗

NASA NTRS1996

The Detection of Water Ice in Comet Hale-Bopp

We present spectra of Comet Hale-Bopp (C/1995 01) covering the range 1.4-2.5 micron that were recorded when the comet was 7 AU from the Sun. These show I)road absorption features at 1.5 and 2.05 micron. We show that some, but not all, of this absorption could be matched by an intimate mixture of water ice and a low albedo material such as carbon on the nucleus. However, we recognize that it is more likely that the ice features are produced by scattering from icy grains in the coma. The absence of absorption at 1.65 micron suggests that this ice is probably in the amorphous state. An unidentified additional component may be required to account for the downward slope at the longwavelength end of the spectrum.

Davies, John K.↗