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Transmitter, radiating at a right angle to the spacecraft trajectory and intersecting the surface at a shallow angle, yields accurate radar maps of lunar or planetary surfaces. Earth based station receives the signal reflected from the planetary surface. Mapping coordinates and signal strength are produced by earth based transmitter.
Under the direction of NASA's Exploration Technology Development Program, robots and space suited subjects from several NASA centers recently completed a very successful demonstration of coordinated activities indicative of base camp operations on the lunar surface. For these activities, NASA chose a site near Meteor Crater, Arizona close to where Apollo Astronauts previously trained. The main scenario demonstrated crew returning from a planetary EVA (extra-vehicular activity) to a temporary base camp and entering a pressurized rover compartment while robots performed tasks in preparation for the next EVA. Scenario tasks included: rover operations under direct human control and autonomous modes, crew ingress and egress activities, autonomous robotic payload removal and stowage operations under both local control and remote control from Houston, and autonomous robotic navigation and inspection. In addition to the main scenario, participants had an opportunity to explore additional robotic operations: hill climbing, maneuvering heaving loads, gathering geo-logical samples, drilling, and tether operations. In this analog environment, the suited subjects and robots experienced high levels of dust, rough terrain, and harsh lighting.
This is a technical report summarizing our progress in our program of contributing high quality Earth-based occultation observations to NASA's Planetary Data System (PDS) Rings Node. During our first year of funding, we selected five data sets for eventual inclusion in the PDS Rings Node. These were Uranus occultation observations obtained by the PI and co-workers from the IRTF of event stars U34 (26 April 1986), U1052 (5 May 1988), U65 (21 June 1990), U7872 (25 June 1991), and U7808 (28 June 1991). In our original proposal, we described four tasks: data sets to a common format; documentation of the occultation observations and associated calibrations; calculation of the occultation geometry for each event; establish prototype PDS templates. As discussed in our renewal proposal, submitted 8 June 1993, we have completed the first three tasks, and are working on the fourth. As an indication of our progress to date, we provide information about each of the data sets, their formats, the documentation, and the method used for reconstructing the occultation geometry.
Based on an examination of the planetary missions in the 1980s and their related objectives, a broad assessment of the automatic control capabilities required for these missions is presented. The ten outer-planet, terrestrial-planet, and small-body missions considered involve various operations encompassing a complex series of modes including cruise, maneuver, and powered flight control. In addition to routine navigation and attitude control, onboard control is required to point scientific instruments and antennas with respect to the vehicle and to maneuver the spacecraft in time-constrained or hazardous environments. These 1980 missions aimed at exploring new areas of the solar system will be more demanding. New design philosophies and increased performance capabilities will be required to meet the constraints imposed by science requirements and mission-cost effectiveness.
Direct sensing and processing at the nanometer scale offer NASA the opportunity to expand its capabilities in deep space exploration, particularly for the search for signatures of life, the analysis of planetary oceans and atmospheres, and communications systems. Carbon nanotubes, with their unique mechanical, electrical, and radiation-tolerant properties, are a promising tool for this exploration. We are developing devices based on carbon nanotubes, including sensors, actuators, and oscillators. Additional information is contained in the original extended abstract.
Ground control of space station robotics systems, unmanned space platform servicing, earth-based control of lunar and planetary rover missions, and planetary balloon missions.
The Image Retrieval and Processing System (IRPS) is a software package developed at Washington University and used by the NASA Regional Planetary Image Facilities (RPIF's). The IRPS combines data base management and image processing components to allow the user to examine catalogs of image data, locate the data of interest, and perform radiometric and geometric calibration of the data in preparation for analysis. Version 1.0 of IRPS was completed in Aug. 1989 and was installed at several IRPS's. Other RPIF's use remote logins via NASA Science Internet to access IRPS at Washington University. Work was begun on designing and population a catalog of Magellan image products that will be part of IRPS Version 2.0, planned for release by the end of calendar year 1991. With this catalog, a user will be able to search by orbit and by location for Magellan Basic Image Data Records (BIDR's), Mosaicked Image Data Records (MIDR's), and Altimetry-Radiometry Composite Data Records (ARCDR's). The catalog will include the Magellan CD-ROM volume, director, and file name for each data product. The image processing component of IRPS is based on the Planetary Image Cartography Software (PICS) developed by the U.S. Geological Survey, Flagstaff, Arizona. To augment PICS capabilities, a set of image processing programs were developed that are compatible with PICS-format images. This software includes general-purpose functions that PICS does not have, analysis and utility programs for specific data sets, and programs from other sources that were modified to work with PICS images. Some of the software will be integrated into the Version 2.0 release of IRPS. A table is presented that lists the programs with a brief functional description of each.
This paper describes recent developments in the ROAMS physics-based simulator for planetary surface exploration rover vehicles. ROAMS includes models for various subsystems and components of the robotic vehicle including its mechanical subsystem, sensors, on-board resources, on-board control software, the terrain environment and terrain/vehicle interactions. The ROAMS simulator can be used for stand-alone simulation, closed-loop simulations with on-board software or for operator-in-the-loop simulations.
The Planetary Data System (PDS) information model is a mature but complex model that has been used to capture over 30 years of planetary science data for the PDS archive. As the de-facto information model for the planetary science data archive, it is being adopted by the International Planetary Data Alliance (IPDA) as their archive data standard. However, after seventeen years of evolutionary change the model needs refinement. First a formal specification is needed to explicitly capture the model in a commonly accepted data engineering notation. Second, the core and essential elements of the model need to be identified to help simplify the overall archive process. A team of PDS technical staff members have captured the PDS information model in an ontology modeling tool. Using the resulting knowledge-base, work continues to identify the core elements, identify problems and issues, and then test proposed modifications to the model. The final deliverables of this work will include specifications for the next generation PDS information model and the initial set of IPDA archive data standards. Having the information model captured in an ontology modeling tool also makes the model suitable for use by Semantic Web applications.
This paper describes the ongoing development of the ROAMS physics-based simulator for planetary surface exploration rover vehicles.
This paper describes wheel-terrain contact modeling in the ROAMS physics-based simulator for planetary surface exploration rover vehicles.
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The National Radio Astronomy Observatory's proposed Millimeter Array (MMA) will bring unprecedented sensitivity, angular resolution, and image dynamic range to the millimeter wavelength region of the spectrum. An obvious question is whether such an instrument could be used to detect planets orbiting nearby stars. The techniques of aperture synthesis imaging developed for centimeter wavelength radio arrays are capable of producing images whose dynamic ranges greatly exceed the brightness ratio of a solar-type star and a Jupiter-like planet at sub-millimeter or millimeter wavelengths. The angular resolution required to separate a star and planet at a few pc distance can be obtained with baselines of several km. The greatest challenge is sensitivity. At the highest possible observing frequencies (approximately 300 GHz for typical high, dry sites, and approximately 900 GHz from the Antarctic plateau), the proposed MMA will be unable to detect the thermal emission from a Jupiter-like planet a few pc away. An upgraded MMA operating near 300 GHz with twice the currently proposed number of antennas, a 20% fractional bandwidth, and improved receivers could detect Jupiter at 4 pc in a few months. Building such an array on the Antarctic plateau and operating at approximately 900 GHz would allow Jupiter at 4 pc to be detected in approximately one day of observing time.
The background and motivation for this presentation is the Advanced Nuclear Power named in Energy Policy Act of 2005 (Gen IV Nuclear Systems Initiative), Thorium Energy Independence & Security Act of 2008 (S.3680), Gen IV Candidate Advanced Nuclear Power Plants, and high temperature gas turbine power plants offer large thermal efficiency improvement over steam plants.
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A range of aerospace application related to planetary exploration and aeronautic engine operations require Smart Sensor System technologies operational in harsh environments. A Smart Sensor System as described here implies the use of sensors combined with electronics and other supporting technologies. For example, missions to the surface of planets like Venus or Mercury are challenged by extreme temperatures and environments, e.g., extended Venus operation 465°C [1]. In response, NASA has been developing capabilities for a small lander that is designed to operate for months in the extreme temperatures. These capabilities span electronics, sensors, communications, and power. Such a lander would enable new revolutionary science. Similar game changing capabilities are enabled by the introduction of high temperature smart systems into aeronautic engine applications to enable distributed intelligence within the engine system [2]. Core to meeting these applications is operational harsh environment electronics, corresponding sensor systems, and their integration. This presentation concentrates on the status of Smart System technologies emphasizing the role of Silicon Carbide (SiC) electronics and sensors. For example, SiC integrated circuit (IC) electronics have matured to a state where a simple long-life scientific probe is feasible for extended Venus surface operations [1, 3]. Maturation of these high temperature electronics and other technologies has been part of NASA projects to provide an operational system for in situ exploration of the Venus surface for up to 60 days [1,3-4]. This is in parallel to work expanding the capabilities of the sensor technology to provide science measurements on the Venus surface. This technology development, as well as that for other planetary applications and intelligent high temperature engine operations, will be discussed.
Ground-based and spacecraft observations of planets, satellites, and asteroids in the thermal infrared have provided a wealth of information on planetary temperatures, dimensions, and surface properties. Internal heat sources have been revealed for Jupiter, Saturn, and Neptune, and active volcanism on Io has been discovered and monitored. The thermophysical properties of Mars have been mapped for nearly all the surface by spacecraft, and ground-based observations have given similar information for the Galilean satellites of Jupiter. Infrared radiometry thus sheds important light on significant problems of dynamics, interiors, and surfaces of solar system bodies.