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Smith, David E.

Publications and source records attributed to Smith, David E..

At least 55 records · Page 3
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NASA NTRS2012

Gravity Recovery and Interior Laboratory (GRAIL) Mission: Status at the Initiation of the Science Mapping Phase

The Gravity Recovery And Interior Laboratory (GRAIL) mission, a component of NASA's Discovery Program, launched successfully from Cape Canaveral Air Force Station on September 10, 2011. The dual spacecraft traversed independent, low-energy trajectories to the Moon via the EL-1 Lagrange point and inserted into elliptical, 11.5-hour polar orbits around the Moon on December 31, 2011, and January 1, 2012. The spacecraft are currently executing a series of maneuvers to circularize their orbits at 55-km mean altitude. Once the mapping orbit is achieved, the spacecraft will undergo additional maneuvers to align them into mapping configuration. The mission is on track to initiate the Science Phase on March 8, 2012.

Zuber, Maria T.↗
NASA NTRS2012

Distribution, Statistics, and Resurfacing of Large Impact Basins on Mercury

The distribution and geological history of large impact basins (diameter D greater than or equal to 300 km) on Mercury is important to understanding the planet's stratigraphy and surface evolution. It is also informative to compare the density of impact basins on Mercury with that of the Moon to understand similarities and differences in their impact crater and basin populations [1, 2]. A variety of impact basins were proposed on the basis of geological mapping with Mariner 10 data [e.g. 3]. This basin population can now be re-assessed and extended to the full planet, using data from the MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) spacecraft. Note that small-to- medium-sized peak-ring basins on Mercury are being examined separately [4, 5]; only the three largest peak-ring basins on Mercury overlap with the size range we consider here. In this study, we (1) re-examine the large basins suggested on the basis of Mariner 10 data, (2) suggest additional basins from MESSENGER's global coverage of Mercury, (3) assess the size-frequency distribution of mercurian basins on the basis of these global observations and compare it to the Moon, and (4) analyze the implications of these observations for the modification history of basins on Mercury.

Fassett, Caleb I.↗
NASA NTRS2012

New Morphometric Measurements of Peak-Ring Basins on Mercury and the Moon: Results from the Mercury Laser Altimeter and Lunar Orbiter Laser Altimeter

Peak-ring basins (large impact craters exhibiting a single interior ring) are important to understanding the processes controlling the morphological transition from craters to large basins on planetary bodies. New image and topography data from the MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) and Lunar Reconnaissance Orbiter (LRO) spacecraft have helped to update the catalogs of peak-ring basins on Mercury and the Moon [1,2] and are enabling improved calculations of the morphometric properties of these basins. We use current orbital altimeter measurements from the Mercury Laser Altimeter (MLA) [3] and the Lunar Orbiter Laser Altimeter (LOLA) [4], as well as stereo-derived topography [5], to calculate the floor depths and peak-ring heights of peak-ring basins on Mercury and the Moon. We present trends in these parameters as functions of rim-crest diameter, which are likely to be related to processes controlling the onset of peak rings in these basins.

Baker, David M. H.↗
NASA NTRS2012

Topographic Rise in the Northern Smooth Plains of Mercury: Characteristics from Messenger Image and Altimetry Data and Candidate Modes of Origin

MESSENGER observations from orbit around Mercury have revealed that a large contiguous area of smooth plains occupies much of the high northern latitudes and covers an area in excess of approx.6% of the surface of the planet [1] (Fig. 1). Smooth surface morphology, embayment relationships, color data, candidate flow fronts, and a population of partly to wholly buried craters provide evidence for the volcanic origin of these plains and their emplacement in a flood lava mode to depths at least locally in excess of 1 km. The age of these plains is similar to that of plains associated with and postdating the Caloris impact basin, confirming that volcanism was a globally extensive process in the post-heavy bombardment history of Mercury [1]. No specific effusive vent structures, constructional volcanic edifices, or lava distributary features (leveed flow fronts or sinuous rilles) have been identified in the contiguous plains, although vent structures and evidence of high-effusion-rate flood eruptions are seen in adjacent areas [1]. Subsequent to the identification and mapping of the extensive north polar smooth plains, data from the Mercury Laser Altimeter (MLA) on MESSENGER revealed the presence of a broad topographic rise in the northern smooth plains that is ~1,000 km across and rises more than 1.5 km above the surrounding smooth plains [2] (Fig. 2). The purpose of this contribution is to characterize the northern plains rise and to outline a range of hypotheses for its origin.

Dickson, James L.↗
NASA NTRS2012

Topography of the Lunar Poles and Application to Geodesy with the Lunar Reconnaissance Orbiter

The Lunar Orbiter Laser Altimeter (LOLA) [1] onboard the Lunar Reconnaissance Orbiter (LRO) [2] has been operating continuously since July 2009 [3], accumulating approx.5.4 billion measurements from 2 billion on-orbit laser shots. LRO s near-polar orbit results in very high data density in the immediate vicinity of the lunar poles, which are each sampled every ~2h. With more than 10,000 orbits, high-resolution maps can be constructed [4] and studied [5]. However, this requires careful processing of the raw data, as subtle errors in the spacecraft position and pointing can lead to visible artifacts in the final map. In other locations on the Moon, ground tracks are subparallel and longitudinal separations are typically a few hundred meters. Near the poles, the track intersection angles can be large and the inter-track spacing is small (above 80 latitude, the effective resolution is better than 50m). Precision Orbit Determination (POD) of the LRO spacecraft [6] was performed to satisfy the LOLA and LRO mission requirements, which lead to a significant improvement in the orbit position knowledge over the short-release navigation products. However, with pixel resolutions of 10 to 25 meters, artifacts due to orbit reconstruction still exist. Here, we show how the complete LOLA dataset at both poles can be adjusted geometrically to produce a high-accuracy, high-resolution maps with minimal track artifacts. We also describe how those maps can then feedback to the POD work, by providing topographic base maps with which individual LOLA altimetric measurements can be contributing to orbit changes. These direct altimetry constraints improve accuracy and can be used more simply than the altimetric crossovers [6].

Mazarico, Erwan↗
NASA NTRS2012

Constraints on the Volatile Distribution Within Shackleton Crater at the Lunar South Pole

Shackleton crater is nearly coincident with the Moon's south pole. Its interior receives almost no direct sunlight and is a perennial cold trap, making Shackleton a promising candidate location in which to seek sequestered volatiles. However, previous orbital and Earth-based radar mapping and orbital optical imaging have yielded conflicting interpretations about the existence of volatiles. Here we present observations from the Lunar Orbiter Laser Altimeter on board the Lunar Reconnaissance Orbiter, revealing Shackleton to be an ancient, unusually well-preserved simple crater whose interior walls are fresher than its floor and rim. Shackleton floor deposits are nearly the same age as the rim, suggesting that little floor deposition has occurred since the crater formed more than three billion years ago. At a wavelength of 1,064 nanometres, the floor of Shackleton is brighter than the surrounding terrain and the interiors of nearby craters, but not as bright as the interior walls. The combined observations are explicable primarily by downslope movement of regolith on the walls exposing fresher underlying material. The relatively brighter crater floor is most simply explained by decreased space weathering due to shadowing, but a one-micrometre-thick layer containing about 20 per cent surficial ice is an alternative possibility.

Zuber, Maria T.↗
NASA NTRS2011

Thickness of Proximal Ejecta from the Orientale Basin from Lunar Orbiter Laser Altimeter (LOLA) Data: Implications for Multi-Ring Basin Formation

Quantifying the ejecta distribution around large lunar basins is important to understanding the origin of basin rings, the volume of the transient cavity, the depth of sampling, and the nature of the basin formation processes. We have used newly obtained altimetry data of the Moon from the Lunar Orbiter Laser Altimeter (LOLA) instrument to estimate the thickness of ejecta in the region surrounding the Orientale impact basin, the youngest and best preserved large basin on the Moon. Our measurements yield ejecta thicknesses of approx.2900 m near the Cordillera Mountains, the topographic rim of Orientale, decaying to approx.1 km in thickness at a range of 215 km. These measurements imply a volume of ejecta in the region from the Cordillera ring to a radial range of one basin diameter of approx.2.9 x 10(exp 6)cu km and permit the derivation of an ejecta-thickness decay model, which can be compared with estimates for the volume of excavation and the size of the transient cavity. These data are consistent with the Outer Rook Mountains as the approximate location of the transient cavity s rim crest and suggest a volume of approx.4.8 x 10(exp 6)cu km for the total amount of basin ejecta exterior to this location.

Fassett, Caleb I.a↗
NASA NTRS2011

The Emergency Landing Planner Experiment

In previous work, we described an Emergency Landing Planner (ELP) designed to assist pilots in choosing the best emergency landing site when damage or failures occur in an aircraft. In this paper, we briefly describe the system, but focus on the integration of this system into the cockpit of a 6 DOF full-motion simulator and a study designed to evaluate the ELP. We discuss the results of this study, the lessons learned, and some of the issues involved in advancing this work further.

Meuleau, Nocolas F.↗
NASA NTRS2011

Finding Mutual Exclusion Invariants in Temporal Planning Domains

We present a technique for automatically extracting temporal mutual exclusion invariants from PDDL2.2 planning instances. We first identify a set of invariant candidates by inspecting the domain and then check these candidates against properties that assure invariance. If these properties are violated, we show that it is sometimes possible to refine a candidate by adding additional propositions and turn it into a real invariant. Our technique builds on other approaches to invariant synthesis presented in the literature, but departs from their limited focus on instantaneous discrete actions by addressing temporal and numeric domains. To deal with time, we formulate invariance conditions that account for both the entire structure of the operators (including the conditions, rather than just the effects) and the possible interactions between operators. As a result, we construct a technique that is not only capable of identifying invariants for temporal domains, but is also able to find a broader set of invariants for non-temporal domains than the previous techniques.

Bernardini, Sara↗
NASA NTRS2009

A Comparison of Risk Sensitive Path Planning Methods for Aircraft Emergency Landing

Determining the best site to land a damaged aircraft presents some interesting challenges for standard path planning techniques. There are multiple possible locations to consider, the space is 3-dimensional with dynamics, the criteria for a good path is determined by overall risk rather than distance or time, and optimization really matters, since an improved path corresponds to greater expected survival rate. We have investigated a number of different path planning methods for solving this problem, including cell decomposition, visibility graphs, probabilistic road maps (PRMs), and local search techniques. In their pure form, none of these techniques have proven to be entirely satisfactory - some are too slow or unpredictable, some produce highly non-optimal paths or do not find certain types of paths, and some do not cope well with the dynamic constraints when controllability is limited. In the end, we are converging towards a hybrid technique that involves seeding a roadmap with a layered visibility graph, using PRM to extend that roadmap, and using local search to further optimize the resulting paths. We describe the techniques we have investigated, report on our experiments with these techniques, and discuss when and why various techniques were unsatisfactory.

Meuleau, Nicolas↗
NASA NTRS2009

Time Variations of Mars' Gravitational Field and Seasonal Changes in the Masses of the Polar Ice Caps

Tracking of the Mars Global Surveyor spacecraft has been used to measure changes in the long-wavelength gravity field of Mars and to estimate the seasonal mass of carbon dioxide that is deposited in the polar regions each fall and winter and sublimed back into the atmosphere every spring and summer. Observations spanning 4 Mars years have been analyzed. A clear and well-defined seasonal signal, composed of annual and semiannual periods, is seen in the lowest odd degree 3 coefficient but with less confidence in the lowest even degree 2, which is expected to be smaller and is also much more difficult to observe. Direct estimation of the seasonal mass exchange employing a simple, seasonally varying model of the size and height of each cap provides values that indicate some systematic departures from the deposition predicted by a general circulation model. Estimates are also obtained for the precession and nutation of the pole of rotation of Mars, the degree 2 tidal Love number, k2, and the mass of Phobos, the larger of Mars' two natural satellites.

Smith, David E.↗
NASA NTRS2008

ATHLETE's Feet: Mu1ti-Resolution Planning for a Hexapod Robot

ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently with a single command, any motion involving steps is cumbersome - walking a few meters through difficult terrain can take hours. Our goal is to improve operator efficiency by automatically generating sequences of motion commands. There is increasing uncertainty regarding ATHLETE s actual configuration over time and decreasing quality of terrain data farther away from the current position. This, combined with the complexity that results from 36 degrees of kinematic freedom, led to an architecture that interleaves planning and execution at multiple levels, ranging from traditional configuration space motion planning algorithms for immediate moves to higher level task and path planning algorithms for overall travel. The modularity of the architecture also simplifies the development process and allows the operator to interact with and control the system at varying levels of autonomy depending on terrain and need.

Smith, Tristan B.↗
NASA NTRS2008

Emergency Landing Planning for Damaged Aircraft

Considerable progress has been made over the last 15 years on building adaptive control systems to assist pilots in flying damaged aircraft. Once a pilot has regained control of a damaged aircraft, the next problem is to determine the best site for an emergency landing. In general, the decision depends on many factors including the actual control envelope of the aircraft, distance to the site, weather en route, characteristics of the approach path, characteristics of the runway or landing site, and emergency facilities at the site. All of these influence the risk to the aircraft, to the passengers and crew, and to people and property on the ground. We describe an ongoing project to build and demonstrate an emergency landing planner that takes these various factors into consideration and proposes possible routes and landing sites to the pilot, ordering them according to estimated risk. We give an overview of the system architecture and input data, describe our preliminary modeling of risk, and describe how we search the space of landing sites and routes.

Meuleau, Nicolas↗
NASA NTRS2008

First Laser Altimeter Measurements of Mercury from the MESSENGER Flyby

The Mercury Laser Altimeter performed the first laser ranging measurements to Mercury during the Mercury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) flyby in January 2008. The instrument successfully ranged to 600 km at an off-nadir angle >60 and to >1600 km in the nadir direction.

Sun, Xiaoli↗
NASA NTRS2006

Using Correlation to Compute Better Probability Estimates in Plan Graphs

Plan graphs are commonly used in planning to help compute heuristic "distance" estimates between states and goals. A few authors have also attempted to use plan graphs in probabilistic planning to compute estimates of the probability that propositions can be achieved and actions can be performed. This is done by propagating probability information forward through the plan graph from the initial conditions through each possible action to the action effects, and hence to the propositions at the next layer of the plan graph. The problem with these calculations is that they make very strong independence assumptions - in particular, they usually assume that the preconditions for each action are independent of each other. This can lead to gross overestimates in probability when the plans for those preconditions interfere with each other. It can also lead to gross underestimates of probability when there is synergy between the plans for two or more preconditions. In this paper we introduce a notion of the binary correlation between two propositions and actions within a plan graph, show how to propagate this information within a plan graph, and show how this improves probability estimates for planning. This notion of correlation can be thought of as a continuous generalization of the notion of mutual exclusion (mutex) often used in plan graphs. At one extreme (correlation=0) two propositions or actions are completely mutex. With correlation = 1, two propositions or actions are independent, and with correlation > 1, two propositions or actions are synergistic. Intermediate values can and do occur indicating different degrees to which propositions and action interfere or are synergistic. We compare this approach with another recent approach by Bryce that computes probability estimates using Monte Carlo simulation of possible worlds in plan graphs.

Bryce, Daniel↗
NASA NTRS2006

Lunar Geodetic Opportunities with the Laser Altimeter on LRO

The Lunar Reconnaissance Orbiter (LRO) is to be launched at the end of 2008 and will carry 7 instruments, one of which is a laser altimeter (LOLA), and obtain observations of the Moon for a period of 1 year. The orbit will be near polar and approximately circular at 50 km altitude with monthly orbital adjustments to maintain the mean altitude. The LOLA instrument has a -10 cm single-shot accuracy, with 5 beams, and operates at 28 Hz. It provides 5 adjacent profiles, each approximately 12 to 15 meters apart with a swath of approximately 65 meters. The 5 beams are arranged in a cross-shaped pattern that provides simultaneous along and cross track altimetry and providing slopes in 2 orthogonal directions every 50 meters along track. In combination with the LRO tracking data LOLA will be used to improve the model of the lunar gravity by using the altimeter on both the lunar near-side and far-side as an additional tracking system to enable precise positioning of the LRO spacecraft at about the 50 meter level rms. The instrument is expected to provide full polar coverage at very high northern and southern latitudes with spatial resolutions of 25 meters or better. In addition to the range to the surface LOLA measures the surface roughness from the spreading of the laser pulse and also the reflectance of the surface at 1064 nm. These measurements in conjunction with the altimetry will assist in the selection of future landing sites for future robotic and human missions to the Moon.

Zuber, Maria T.↗
NASA NTRS2006

Geodesy at Mercury with MESSENGER

In 2011 the MESSENGER (MErcury Surface, Space ENvironment, GEochemistry, and Ranging) spacecraft will enter Mercury orbit and begin the mapping phase of the mission. As part of its science objectives the MESSENGER mission will determine the shape and gravity field of Mercury. These observations will enable the topography and the crustal thickness to be derived for the planet and will determine the small libration of the planet about its axis, the latter critical to constraining the state of the core. These measurements require very precise positioning of the MESSENGER spacecraft in its eccentric orbit, which has a periapsis altitude as low as 200 km, an apoapsis altitude near 15,000 km, and a closest approach to the surface varying from latitude 60 to about 70 N. The X-band tracking of MESSENGER and the laser altimetry are the primary data that will be used to measure the planetary shape and gravity field. The laser altimeter, which has an expected range of 1000 to 1200 km, is expected to provide significant data only over the northern hemisphere because of MESSENGER's eccentric orbit. For the southern hemisphere, radio occultation measurements obtained as the spacecraft passes behind the planet as seen from Earth and images obtained with the imaging system will be used to provide the long-wavelength shape of the planet. Gravity, derived from the tracking data, will also have greater resolution in the northern hemisphere, but full global models for both topography and gravity will be obtained at low harmonic order and degree. The limiting factor for both gravity and topography is expected to be knowledge of the spacecraft location. Present estimations are that in a combined tracking, altimetry, and occultation solution the spacecraft position uncertainty is likely to be of order 10 m. This accuracy should be adequate for establishing an initial geodetic coordinate system for Mercury that will enable positioning of imaged features on the surface, determination of the planet's obliquity, and detection of the librational motion of the planet about its axis.

Smith, David E.↗