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All sourcesNASA NTRSDOE OSTI
NASA NTRS2004

Ancient Giant Basin/Aquifer System in the Arabia Region, Mars, and Its Influence on the Evolution of the Highland-Lowland Boundary

Ancient geologic and hydrologic phenomena on Mars observed through the magnetic data provide windows to the ancient past through the younger Argyre and Hellas impacts, the northern plains basement and the rock materials that mantle the basement, and the Tharsis and Elysium magmatic complexes (recently referred to as superplumes). These signatures, coupled with highly degraded macrostructures (tectonic features that energetic planet during its embryonic development (0.5 Ga or so of activity) with an active dynamo and magnetosphere. One such window into the ancient past occurs northwest of the Hellas impact basin in Arabia Tern. Arabia Terra is one of the few water-rich equatorial regions of Mars, as indicated I through impact crater and elemental information. This region records many unique characteristics, including predominately Noachian materials, a highland-lowland boundary region that is distinct from other boundary regions, the presence of very few macrostructures when compared to the rest of the cratered highlands, the largest region of fretted terrain on Mars, outflow channels such as Mamers Valles that do not have obvious origins, and distinct albedo, thermal inertia, gravity, magnetic, and elemental signatures.

Dohm, J. M.↗
NASA NTRS1976

Computer simulation and evaluation of edge detection algorithms and their application to automatic path selection

The construction of an autonomous roving vehicle requires the development of complex data-acquisition and processing systems, which determine the path along which the vehicle travels. Thus, a vehicle must possess algorithms which can (1) reliably detect obstacles by processing sensor data, (2) maintain a constantly updated model of its surroundings, and (3) direct its immediate actions to further a long range plan. The first function consisted of obstacle recognition. Obstacles may be identified by the use of edge detection techniques. Therefore, the Kalman Filter was implemented as part of a large scale computer simulation of the Mars Rover. The second function consisted of modeling the environment. The obstacle must be reconstructed from its edges, and the vast amount of data must be organized in a readily retrievable form. Therefore, a Terrain Modeller was developed which assembled and maintained a rectangular grid map of the planet. The third function consisted of directing the vehicle's actions.

Longendorfer, B. A.↗
NASA NTRS2014

Habitat Demonstration Unit (HDU) Vertical Cylinder Habitat

NASA's Constellation Architecture Team defined an outpost scenario optimized for intensive mobility that uses small, highly mobile pressurized rovers supported by portable habitat modules that can be carried between locations of interest on the lunar surface. A compact vertical cylinder characterizes the habitat concept, where the large diameter maximizes usable flat floor area optimized for a gravity environment and allows for efficient internal layout. The module was sized to fit into payload fairings for the Constellation Ares V launch vehicle, and optimized for surface transport carried by the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) mobility system. Launch and other loads are carried through the barrel to a top and bottom truss that interfaces with a structural support unit (SSU). The SSU contains self-leveling feet and docking interfaces for Tri-ATHLETE grasping and heavy lift. A pressurized module needed to be created that was appropriate for the lunar environment, could be easily relocated to new locations, and could be docked together in multiples for expanding pressurized volume in a lunar outpost. It was determined that horizontally oriented pressure vessels did not optimize floor area, which takes advantage of the gravity vector for full use. Hybrid hard-inflatable habitats added an unproven degree of complexity that may eventually be worked out. Other versions of vertically oriented pressure vessels were either too big, bulky, or did not optimize floor area. The purpose of the HDU vertical habitat module is to provide pressurized units that can be docked together in a modular way for lunar outpost pressurized volume expansion, and allow for other vehicles, rovers, and modules to be attached to the outpost to allow for IVA (intra-vehicular activity) transfer between them. The module is a vertically oriented cylinder with a large radius to allow for maximal floor area and use of volume. The modular, 5- m-diameter HDU vertical habitat module consists of a 2-m-high barrel with 0.6-mhigh end domes forming the 56-cubicmeter pressure vessel, and a 19-squaremeter floor area. The module has up to four docking ports located orthogonally from each other around the perimeter, and up to one docking port each on the top or bottom end domes. In addition, the module has mounting trusses top and bottom for equipment, and to allow docking with the ATHLETE mobility system. Novel or unique features of the HDU vertical habitat module include the nodelike function with multiple pressure hatches for docking with other versions of itself and other modules and vehicles; the capacity to be carried by an ATHLETE mobility system; and the ability to attach inflatable 'attic' domes to the top for additional pressurized volume.

Howe, Alan↗
NASA NTRS1990

The impact cratering record on Triton

Impact craters on Triton are scarce owing to the relatively recent resurfacing by icy melts. The most heavily cratered surface has a crater density about the same as the lunar maria. The transition diameter from simple to complex craters occurs at a diameter of about 11 kilometers, and the depth-diameter relationship is similar to that of other icy satellites when gravity is taken into account. The crater size-frequency distribution has a differential -3 slope (cumulative -2 slope) and is the same as that for the fresh crater population on Miranda. The most heavily cratered region is on the leading hemisphere in Triton's orbit. Triton may have a leading-trailing asymmetry in its crater population. Based primarily on the similarity of size distributions on Triton and Miranda and the relatively young surface on Triton, the source of Triton's craters is probably comets. The very peculiar size distribution of sharp craters on the 'cantaloupe' terrain and other evidence suggests thay are volcanic explosion craters.

Strom, Robert G.↗
NASA NTRS2010

Lunar Pole Illumination and Communications Statistics Computed from GSSR Elevation Data

The Goldstone Solar System RADAR (GSSR) group at JPL produced a Digital Elevation Model (DEM) of the lunar south pole using data obtained in 2006. This model has 40-meter horizontal resolution and about 5-meter relative vertical accuracy. This paper uses that Digital Elevation Model to compute average solar illumination and Earth visibility near the lunar south pole. This data quantifies solar power and Earth communications resources at proposed lunar base locations. The elevation data were converted into local terrain horizon masks, then converted into selenographic latitude and longitude coordinates. The horizon masks were compared to latitude, longitude regions bounding the maximum Sun and Earth motions relative to the moon. Proposed lunar south pole base sites were examined in detail, with the best site showing multi-year averages of solar power availability of 92% and Direct-To-Earth (DTE) communication availability of about 50%. Results are compared with a theoretical model, and with actual sun and Earth visibility averaged over the years 2009 to 2028. Results for the lunar North pole were computed using the GSSR DEM of the lunar North pole produced in 1997. The paper also explores using a heliostat to reduce the photovoltaic power system mass and complexity.

Lunar base↗
NASA NTRS2009

Lunar Pole Illumination and Communications Maps Computed from GSSR Elevation Data

A Digital Elevation Model of the lunar south pole was produced using Goldstone Solar System RADAR (GSSR) data obtained in 2006.12 This model has 40-meter horizontal resolution and about 5-meter relative vertical accuracy. This Digital Elevation Model was used to compute average solar illumination and Earth visibility with 100 kilometers of the lunar south pole. The elevation data were converted into local terrain horizon masks, then converted into lunar-centric latitude and longitude coordinates. The horizon masks were compared to latitude, longitude regions bounding the maximum Sun and Earth motions relative to the moon. Estimates of Earth visibility were computed by integrating the area of the region bounding the Earth's motion that was below the horizon mask. Solar illumination and other metrics were computed similarly. Proposed lunar south pole base sites were examined in detail, with the best site showing yearly solar power availability of 92 percent and Direct-To-Earth (DTE) communication availability of about 50 percent. Similar analysis of the lunar south pole used an older GSSR Digital Elevation Model with 600-meter horizontal resolution. The paper also explores using a heliostat to reduce the photovoltaic power system mass and complexity.

lunar base↗
NASA NTRS2004

Adaptive Bio-Inspired Wireless Network Routing for Planetary Surface Exploration

Wireless mobile networks suffer connectivity loss when used in a terrain that has hills, and valleys when line of sight is interrupted or range is exceeded. To resolve this problem and achieve acceptable network performance, we have designed an adaptive, configurable, hybrid system to automatically route network packets along the best path between multiple geographically dispersed modules. This is very useful in planetary surface exploration, especially for ad-hoc mobile networks, where computational devices take an active part in creating a network infrastructure, and can actually be used to route data dynamically and even store data for later transmission between networks. Using inspiration from biological systems, this research proposes to use ant trail algorithms with multi-layered information maps (topographic maps, RF coverage maps) to determine the best route through ad-hoc network at real time. The determination of best route is a complex one, and requires research into the appropriate metrics, best method to identify the best path, optimizing traffic capacity, network performance, reliability, processing capabilities and cost. Real ants are capable of finding the shortest path from their nest to a food source without visual sensing through the use of pheromones. They are also able to adapt to changes in the environment using subtle clues. To use ant trail algorithms, we need to define the probability function. The artificial ant is, in this case, a software agent that moves from node to node on a network graph. The function to calculate the fitness (evaluate the better path) includes: length of the network edge, the coverage index, topology graph index, and pheromone trail left behind by other ant agents. Each agent modifies the environment in two different ways: 1) Local trail updating: As the ant moves between nodes it updates the amount of pheromone on the edge; and 2) Global trail updating: When all ants have completed a tour the ant that found the shortest route updates the edges in its path.

Alena, Richard I.↗
NASA NTRS1978

Laser Surveying

NASA technology has produced a laser-aided system for surveying land boundaries in difficult terrain. It does the job more accurately than conventional methods, takes only one-third the time normally required, and is considerably less expensive. In surveying to mark property boundaries, the objective is to establish an accurate heading between two "corner" points. This is conventionally accomplished by erecting a "range pole" at one point and sighting it from the other point through an instrument called a theodolite. But how do you take a heading between two points which are not visible to each other, for instance, when tall trees, hills or other obstacles obstruct the line of sight? That was the problem confronting the U.S. Department of Agriculture's Forest Service. The Forest Service manages 187 million acres of land in 44 states and Puerto Rico. Unfortunately, National Forest System lands are not contiguous but intermingled in complex patterns with privately-owned land. In recent years much of the private land has been undergoing development for purposes ranging from timber harvesting to vacation resorts. There is a need for precise boundary definition so that both private owners and the Forest Service can manage their properties with confidence that they are not trespassing on the other's land.

Source record↗
NASA NTRS1974

Tectonic analysis of Baja California and Parras shear belt in Mexico

The author has identified the following significant results. Geological correlation of terrain across the Gulf of California using ERTS-1 imagery revealed significant similarities between Isla Tiburon, Isla Angel de la Guarda, and the San Carlos Range in mainland Mexico. ERTS-1 imagery was used to check the validity of the existence of major trans-Baja fault zones. ERTS-1 imagery also shows that high albedo sediments similar to known late Tertiary marine sediments are widespread in southern and middle Baja and extend in places to the eastern side of the Peninsula. Major faults in northern Mexico and across the border in the United States were mapped, and ample evidence was found that the Parras and parts of the Texas lineament are belts of major transverse shear faults in areas outside the supposed limit of the Texas and Parras lineaments. A fundamental concept which may help explain many complexities in the tectonic development is beginning to emerge: The southwestern part of North America was torn by massive left-lateral shear of transverse trend (east-west) during the compressive stage of the late Mesozoic and early Cenozoic. This tectonic style has changed into tensional rifting (Basin and Range) and right-lateral shear later in the Cenozoic and Quaternary.

Abdel-Gawad, M.↗
NASA NTRS1983

A simulation study of scene confusion factors in sensing soil moisture from orbital radar

Simulated C-band radar imagery for a 124-km by 108-km test site in eastern Kansas is used to classify soil moisture. Simulated radar resolutions are 100 m by 100 m, 1 km by 1km, and 3 km by 3 km. Distributions of actual near-surface soil moisture are established daily for a 23-day accounting period using a water budget model. Within the 23-day period, three orbital radar overpasses are simulated roughly corresponding to generally moist, wet, and dry soil moisture conditions. The radar simulations are performed by a target/sensor interaction model dependent upon a terrain model, land-use classification, and near-surface soil moisture distribution. The accuracy of soil-moisture classification is evaluated for each single-date radar observation and also for multi-date detection of relative soil moisture change. In general, the results for single-date moisture detection show that 70% to 90% of cropland can be correctly classified to within +/- 20% of the true percent of field capacity. For a given radar resolution, the expected classification accuracy is shown to be dependent upon both the general soil moisture condition and also the geographical distribution of land-use and topographic relief. An analysis of cropland, urban, pasture/rangeland, and woodland subregions within the test site indicates that multi-temporal detection of relative soil moisture change is least sensitive to classification error resulting from scene complexity and topographic effects.

Ulaby, F. T.↗
NASA NTRS2012

An Inter-Comparison of Two Independent Site Test Interferometers Located in Goldstone, California: Initial Study Results

Site Test Interferometers (STIs) have been deployed at two different locations at the NASA Deep Space Network (DSN) tracking complex in Goldstone, California. An STI measures the difference in path length between a geostationary satellite and two antennas on the Earth, producing a measure of atmospheric phase fluctuations over spatial distances comparable to those between elements of possible microwave phased arrays. The purposes of the Goldstone STIs are to assess the suitability of Goldstone as an array site and to statistically characterize atmospheric induced delay fluctuations for application to future array scenarios.The two STI's are separated by 13 km across the Goldstone complex. Each instrument is composed of two small-diameter antennas and associated electronics separated by approx. 200 meters in a principally east-west configuration. The antennas continuously observe signals emitted by geo-stationary satellites and produce data that contain information on the phase difference between signals received by both antennas. The fluctuation in delay (or path length difference) statistics derived from these data sets can be used to infer power loss for particular array configurations.We report on a comparison of the root mean square (RMS) phase delay statistics estimated over 10-minute intervals between the two Goldstone STIs. We have achieved good statistical agreement between the data acquired from the two STIs, given that each instrument is observing different satellites, at different frequencies, over different baseline lengths, with very different implementations, and are located 13 km apart in widely separated terrain at different geodetic altitudes.

propagation↗
NASA NTRS1989

Evidence for volcanism in NW Ishtar Terra, Venus

Venera 15/16 radar data for an area in NW Ishtar Terra, Venus, show an area with moderate radar return and a smooth textured surface which embays low lying areas of the surrounding mountainous terrain. Although this unit may be an extension of the lava plains of Lakshmi Planum to the southeast, detailed study suggests a separate volcanic center in NW Ishtar Terra. Lakshmi Planum, on the Ishtar Terra highland, exhibits major volcanic and tectonic features. On the Venera radar image radar brightness is influenced by slope and roughness; radar-facing slopes (east-facing) and rough surfaces (approx. 8 cm average relief) are bright, while west-facing slopes and smooth surfaces are dark. A series of semi-circular features, apparently topographic depressions, do not conform in orientation to major structural trends in this region of NW Ishtar Terra. The large depression in NW Ishtar Terra is similar to the calderas of Colette and Sacajawea Paterae, as all three structures are large irregular depressions. NW Ishtar Terra appears to be the site of a volcanic center with a complex caldera structure, possibly more than one eruptive vent, and associated lobed flows at lower elevations. The morphologic similarity between this volcanic center and those of Colette and Sacajawea suggests that centralized eruptions have been the dominant form of volcanism in Ishtar. The location of this volcanic center at the intersection of two major compressional mountain belts and the large size of the calders (with an inferred larg/deep magma source) support a crustal thickening/melting rather than a hot-spot origin for these magmas.

Gaddis, L.↗
NASA NTRS2011

Development and Field Testing of the FootFall Planning System for the ATHLETE Robots

The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

SunSpiral, Vytas↗
NASA NTRS1988

Structural patterns in high grade terrain in parts of Tamil Nadu and Karnataka

Detailed geological mapping in parts of Tamil Nadu and Karnataka has brought out vast areas occupied by highly deformed charnockite and high grade gneisses. These areas, similar to high grade shield terrains in other parts of the world have the impress of extensive tectonic reworking multideformation and polymetamorphism and are closely associated with layered ultramafics, shelf type sediments and different igneous events. In North Arcot and Charmapuri districts of Tamil Nadu and Kollegal taluk in Mysore district in Karnataka, charnockite is intensely cofolded with a supracrustal succession of layered ultramafics, pyroxene granulite, pink granolites, magnetite quartzite and khondalites. These areas have undergone five phases of deformation, five generations of basic dyke activities, four phases of migmatisation and two periods of metallogeny. Geochronological data ranges from 2900 m.y. to 750 m.y. In working out the tectanostratigraphy of the above areas the basic dykes of different generations have served as major time markers. In addition, the persistent strike continuity of linear bands of pyroxene granulite, pink granolite and magnetite quartzite has been of great utility in using them as structural markers for bringing out the complex structural history in these areas.

Sugavanam, E. B.↗
NASA NTRS2013

AGATE: Adversarial Game Analysis for Tactical Evaluation

AGATE generates a set of ranked strategies that enables an autonomous vehicle to track/trail another vehicle that is trying to break the contact using evasive tactics. The software is efficient (can be run on a laptop), scales well with environmental complexity, and is suitable for use onboard an autonomous vehicle. The software will run in near-real-time (2 Hz) on most commercial laptops. Existing software is usually run offline in a planning mode, and is not used to control an unmanned vehicle actively. JPL has developed a system for AGATE that uses adversarial game theory (AGT) methods (in particular, leader-follower and pursuit-evasion) to enable an autonomous vehicle (AV) to maintain tracking/ trailing operations on a target that is employing evasive tactics. The AV trailing, tracking, and reacquisition operations are characterized by imperfect information, and are an example of a non-zero sum game (a positive payoff for the AV is not necessarily an equal loss for the target being tracked and, potentially, additional adversarial boats). Previously, JPL successfully applied the Nash equilibrium method for onboard control of an autonomous ground vehicle (AGV) travelling over hazardous terrain.

Huntsberger, Terrance L.↗
NASA NTRS1974

Stratigraphy of the Descartes region /Apollo 16/ - Implications for the origin of samples

Analysis of terrain in the Apollo 16 Descartes landing region shows a series of features that form a stratigraphic sequence which dominates the history and petrogenesis at the site. An ancient 150-km diam crater centered on the Apollo 16 site is one of the earliest recognizable major structures. Nectaris ejecta was concentrated in a regional low at the base of the back slope of the Nectaris basin to form the Descartes Mountains. Subsequently, a 60-km diam crater formed in the Descartes Mountains centered about 25 km to the west of the site. This crater dominates the geology and petrogenetic history of the site. Stone and Smoky Mountains represent the degraded terraced crater walls, and the dark matrix breccias and metaclastic rocks derived from North and South Ray craters represent floor fallback breccias from this cratering event. The interpretation is developed that the stratigraphy of the Cayley and Descartes, and thus the historical record of the Apollo 16 region, documents the complex interaction of deposits and morphology of local and regional impact cratering events. Large local 60- to 150-km diam craters have had a dramatic and previously unrecognized effect on the history and petrology of the Apollo 16 site.

Head, J. W.↗
NASA NTRS1986

Preliminary report on the geology and gold mineralization of the South Pass granite-greenstone terrain, Wind River Mountains, western Wyoming (US)

The South Pass granite-greenstone terrain lies near the southern tip of the Wind River Mountains of western Wyoming. This Archean supracrustal pile has been Wyoming's most prolific source of gold and iron ore. From 1962 to 1983, more than 90 million tons of iron ore were recovered from oxide-facies banded iron formation, and an estimated 325,000 ounces of gold were mined from metagreywacke-hosted shears and associated placers. Precambrian rocks at South Pass are unconformably overlain by Paleozoic sediments along the northeast flank, and a Tertiary pediment buries Archean supracrustals on the west and south. To the northwest, the supracrustals terminate against granodiorite of the Louis Lake batholith; to the east, the supracrustals terminate against granite of the Granite Mountains batholith. The Louis Lake granodiorite is approximately 2,630 + or - 20 m.y. old, and the Granite Mountains granite averages 2,600 m.y. old. The geometry of the greenstone belt is best expressed as a synform that has been modified by complex faulting and folding. Metamorphism is amphibolite grade surrounding a small island of greenschist facies rocks. The younger of the Archean supracrustal successions is the Miners Delight Formation. This unit yielded a Rb-Sr isochron of 2,800 m.y. A sample of galena from the Snowbird Mine within the Miners Delight Formation yielded a model age averaging 2,750 m.y. The Snowbird mineralization appears to be syngenetic and is hosted by metavolcanics of calc-alkaline affinity. Discussion follows.

Hausel, W. D.↗
NASA NTRS2004

Constructing an Educational Mars Simulation

Working in the Educational Programs Office, my task this summer is to model a 3D habitat that will be part of a future Mars base. With the President's charge to further explore mars by way of robotic-led and human-led missions, there has been a surge in the activity regarding the "red planet". Since all present designs are merely conjecture, I have some creative freedom in deciding what the habitat will look like. To get ideas for what a Mars habitat might be like, I looked at several references including websites and NASA documents. One of these was a NASA Technical Memorandum about Space Transportation Systems that I looked at to get insight on spaceship design. Information about the planet's environment, such as the gravity and the weather, is useful as well when designing the structure. The main software that I am using is Lightwave 3D and Modeler 7.5 that comes along with it. Lightwave is very complex in that it lets you model, surface, and animate so there was a lot to learn. To learn the software I watched a series of instructional videos, looked at online tutorials, and referenced several books. Modeling is like shaping clay with a computer. Every item modeled is made of smaller shapes called polygons. For example, each side of a box would be a different polygon. Modelers must be careful to design with users' systems in mind. Having a model made with too many polygons can slow down a walk-through, but it usually improves the small details on a model. Getting speed and quality proved tricky. An important thing for me to remember when modeling the habitat was to save space. Also, I must consider that technology in the future will be much different than now, so I must be especially creative. My project will be used in an educational walkthough simulation in which users can interact with the environment. I worked closely with intern Stephen Henke who built a Mars Rover, terrain and programmed code for the simulation. This summer's project will help me with future aspirations in computer graphics. Modeling is a valuable skill that I appreciate having the chance to learn and practice.

Henke, Stephen A.↗