Seeing in three dimensions : correlation and triangulation of Mars Exploration Rover imagery
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stereo↗
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Results for “feature exploration”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Fisk-Gloeckler Suprathermal Proton Spectrum in the Heliosheath and the Local Interstellar Medium
Convergence of suprathermal keV-MeV proton and ion spectra approximately to the Fisk-Gloeckler (F-G) form j(E) = j(sub 0) E(sup -1.5) in Voyager land 2 heliosheath measurements is suggestive of distributed acceleration in Kolmogorov turbulence which may extend well beyond the heliopause into the local interstellar medium (LISM). Turbulence of this type is already indicated by interstellar radio scintillation measurements of electron density power spectra. Previously published extrapolations (Cooper et al., 2003, 2006) of the LISM proton spectrum from eV to GeV energies are highly consistent with the F-G power-law and further indicative of such turbulence and LISM effectiveness of the F-G cascade acceleration process. The LISM pressure computed from this spectrum well exceeds that from current estimates for the LISM magnetic field, so exchange of energy between the protons and the magnetic field would likely have a strong role in evolution of the turbulence as per the F-G theory and as long ago proposed for cosmic ray energies by Parker and others. Pressure-dependent estimates of the LISM field strength should not ignore this potentially strong and even dominant contribution from the plasma. Presence of high-beta suprathermal plasma on LISM field lines could significantly affect interactions with the heliospheric outer boundary region and might potentially account for distributed and more discrete features in ongoing measurements of energetic neutral emission from the Interstellar Boundary Explorer (IBEX) mission.
Cooper, John F.↗
High Precision Thermal, Structural and Optical Analysis of an External Occulter Using a Common Model and the General Purpose Multi-Physics Analysis Tool Cielo
The efficient simulation of multidisciplinary thermo-opto-mechanical effects in precision deployable systems has for years been limited by numerical toolsets that do not necessarily share the same finite element basis, level of mesh discretization, data formats, or compute platforms. Cielo, a general purpose integrated modeling tool funded by the Jet Propulsion Laboratory and the Exoplanet Exploration Program, addresses shortcomings in the current state of the art via features that enable the use of a single, common model for thermal, structural and optical aberration analysis, producing results of greater accuracy, without the need for results interpolation or mapping. This paper will highlight some of these advances, and will demonstrate them within the context of detailed external occulter analyses, focusing on in-plane deformations of the petal edges for both steady-state and transient conditions, with subsequent optical performance metrics including intensity distributions at the pupil and image plane.
integrated modeling↗
Traverse Planning with Temporal-Spatial Constraints
We present an approach to planning rover traverses in a domain that includes temporal-spatial constraints. We are using the NASA Resource Prospector mission as a reference mission in our research. The objective of this mission is to explore permanently shadowed regions at a Lunar pole. Most of the time the rover is required to avoid being in shadow. This requirement depends on where the rover is located and when it is at that location. Such a temporal-spatial constraint makes traverse planning more challenging for both humans and machines. We present a mixed-initiative traverse planner which addresses this challenge. This traverse planner is part of the Exploration Ground Data Systems (xGDS), which we have enhanced with new visualization features, new analysis tools, and new automation for path planning, in order to be applicable to the Re-source Prospector mission. The key concept that is the basis of the analysis tools and that supports the automated path planning is reachability in this dynamic environment due to the temporal-spatial constraints.
temporal-spatial constraints↗
Intelligent Devices/Equipment/Instruments (IDEI) for Enabling Crew Health and Performance on Mars
The Moon to Mars eXploration Systems and Habitation (M2M X-Hab) 2024 Academic Innovation Challenge features a project titled “Intelligent Devices/Equipment/Instruments (IDEI) for Enabling Crew Health and Performance on Mars”. The project calls for the development of prototype IDEIs “that could be used for implementing integrated system health management for Crew Health and Performance (CHP) required for crew living on Mars for extended periods of time”. Thus, the deliverable for the project is not only a prototype exercise device, but also an ontology that provides insight into the best ways to exercise on Mars. To that end, we on the BLiSS team, supported by advisors from industry and academia, set out to ideate an exercise ontology and demonstrate its effectiveness through a functional prototype. To achieve the stakeholders’ requests, the device must operate semi-autonomously, must be an analog for an extant exercise device on Earth, and must provide quantitative information about the exercise and the device’s own state of health. Here, we define “semi-autonomous” as referring to the fact that while the system should be as autonomous as possible, there are some processes that the system cannot fulfill on its own. These include, but are not limited to, user identification, physical exercise reconfiguration, and wearable sensor placement.
llyana Smith↗
Automating CapCom: Pragmatic Operations and Technology Research for Human Exploration of Mars
During the Apollo program, NASA and the scientific community used terrestrial analog sites for understanding planetary features and for training astronauts to be scientists. More recently, computer scientists and human factors specialists have followed geologists and biologists into the field, learning how science is actually done on expeditions in extreme environments. Research stations have been constructed by the Mars Society in the Arctic and American southwest, providing facilities for hundreds of researchers to investigate how small crews might live and work on Mars. Combining these interests-science, operations, and technology-in Mars analog field expeditions provides tremendous synergy and authenticity to speculations about Mars missions. By relating historical analyses of Apollo and field science, engineers are creating experimental prototypes that provide significant new capabilities, such as a computer system that automates some of the functions of Apollo s CapCom. Thus, analog studies have created a community of practice-a new collaboration between scientists and engineers-so that technology begins with real human needs and works incrementally towards the challenges of the human exploration of Mars.
Clancey, William J.↗
Erosion of Volatiles by Micro-Meteoroid Bombardment on Ceres, and Comparison to the Moon and Mercury
Ceres, the largest reservoir of water in the main-belt, was recently visited by the Dawn spacecraft that revealed several areas bearing H2O-ice features. Independent telescopic observations showed a water exosphere of currently unknown origin. We explore the effects of meteoroid impacts on Ceres considering the topography obtained from the Dawn mission using a (Replaced: full-fledged replaced with: widely-used) micro-meteoroid model and ray-tracing techniques. Meteoroid populations with 0.01-2 mm diameters are considered. We analyze the short-term effects Ceres experiences during its current orbit as well as long-term effects over the entire precession cycle. We find the entire surface is subject to meteoroid bombardment leaving no areas in permanent shadow with respect to meteoroid influx. The equatorial parts of Ceres produce 80% more ejecta than the polar regions due to the large impact velocity of long-period comets. Mass flux, energy flux, and ejecta production vary seasonally by a factor of (Replaced: a few replaced with: 3–7) due to the inclined eccentric orbit. Compared to Mercury and the Moon, Ceres experiences significantly smaller effects of micro-meteoroid bombardment, with a total mass flux of 4.5±1.2×10(exp −17)kg m(exp −2)s(exp −1). On average Mercury is subjected to a 50× larger mass flux and generates 700× more ejecta than Ceres, while the lunar mass flux is 10× larger, and the ejecta generation is 30× larger than on Ceres. For these reasons, we find that meteoroid impacts are an unlikely candidate for the production of a water exosphere or significant excavation of surface features. The surface turnover rate from the micro-meteoroid populations considered is estimated to be 1.25 Myr on Ceres.
minor planets↗
Volcanism on the Red Planet: Mars
Of all the planets in the Solar System, Mars is the most Earthlike in its geological characteristics. Like Earth, it has been subjected to exogenic processes, such as impact cratesing and erosion by wind and water, as well as endogenic processes, including tectonic deformation of the crust and volcanism. The effects of these processes are amply demonstrated by the great variety of surface features, including impact craters, landslides, former river channels, sand dunes, and the largest volcanoes in the Solar System. Some of these features suggest substantial changes in Mars' environment during its history. For example, as reviewed by Carr, today Mars is a cold, dry desert with an average atmospheric pressure of only 5.6 mbar which does not allow liquid water to exist on the surface. To some planetary scientists, the presence of the channels bespeaks a time when Mars was warmer and wetter. However, others have argued that these features might have formed under current conditions and that there might not have been a shift in climate. Could the morphology of volcanoes and related features provide clues to past Martian environments? What role is played by atmospheric density in the styles of eruptions on Mars and resulting landforms? If these and related questions can be answered, then we may have a means for assessing the conditions on Mars' surface in the past and comparing the results with models of Martian evolution. In this chapter, we outline the sources of information available for volcanism on Mars, explore the influence of the Martian environment on volcanic processes, and describe the principal volcanic features and their implications for understanding the general evolution of the Martian surface.
Greeley, Ronald↗
Search and Rescue under the Forest Canopy using Multiple UAS
We consider the problem of multi-robot search and rescue under the forest canopy. Forest is a particularly challenging environment for collaborative mapping and exploration, mainly due to the existence of severe perceptual aliasing, which hinders reliable mutual localization and map fusion. Our proposed system features unmanned aerial vehicles (UAVs) with onboard sensing and autonomy. Each UAV runs a lightweight filtering algorithm for local state estimation, and a dynamic-aware frontier selection algorithm for fast exploration. The essential and computationally intensive task of collaborative simultaneous localization and mapping (CSLAM) is performed at a central ground station. To handle perceptual aliasing, we make use of stable landmarks extracted from trees, which significantly improve precision and recall during place recognition. Furthermore, to recover from incorrect pairwise data associations during loop closure, we propose a novel procedure for global data association based on recently developed techniques on cycle consistent multiway matching. Our algorithm returns a global data association that is guaranteed to be cycle consistent, and is shown to significantly improve precision compared to the input pairwise associations. The overall multi-UAV system is extensively validated during real-world collaborative exploration missions in a forest at NASA Langley Research Center.
Multi-robot systems↗
Evidence Report: Risk of Injury and Compromised Performance due to EVA Operations
During future missions to the Moon and Mars, each crewmember will most likely perform up to 24 hours a week of extravehicular activity (EVA) in support of exploration, science, construction, and maintenance tasks. Achieving mission objectives will require EVA systems and operations concepts that maximize human performance and efficiency while minimizing health and safety risks for crewmembers. Currently, over 450 EVAs have been performed in microgravity using the Extravehicular Mobility Unit (EMU). The EMU space suit has enabled the successful assembly and maintenance of the International Space Station (ISS) for over 20 years, as well as deployment of payload experiments, solar arrays, satellite launches and repairs. This EVA work was accomplished at a slower cadence than is expected for Moon and Mars, with ISS crewmembers performing no more than 7 EVAs during a single mission and without any back-to-back EVAs. Despite their success, ISS EVAs have resulted in more injury to EVA crewmembers than may be acceptable for long-duration exploration missions. The Apollo astronauts completed EVA tasks in suits that were designed for their short-duration lunar missions, although suit mobility problems were evident. The more frequent EVAs and more varied EVA tasks that are anticipated during the future longer-duration exploration missions will require EVA suits and systems that are better oriented to human health and performance than those used during the Apollo Program. Many of the problems that were encountered with the Apollo EVA suits (e.g., limited mobility and dexterity, high and aft center of gravity, and other features requiring significant crew compensation) will need to be corrected or mitigated to optimize EVA objectives of exploration missions. It is critical that we understand how EVA system design variables such as suit pressure, weight/mass, center-of-gravity location, joint ranges of motion, and biomedical monitoring, affects the ability of astronauts to perform safe, efficient, and effective EVAs. To achieve this understanding, EVA researchers will need to develop and execute an integrated human testing program across multiple environments. The research will provide objective data that will enable informed design decisions and crewmember standards, thereby ensuring EVA systems that optimize crewmember health, safety, efficiency, and performance. This report describes the risks to crew health, safety, performance, and efficiency caused by EVA operations, and it provides the evidence base to substantiate the importance of the risk.
EVA↗
Applications and Benefits of GNSS for Lunar Exploration
This paper explores the role of Global Navigation Satellite Systems (GNSS) in NASA's lunar exploration plans. Robust position, navigation and timing (PNT) at the Moon will rely on a variety of measurement sources, each with its own advantages and disadvantages. The best navigation solution will depend on mission type, the phase within each mission, the state of lunar infrastructure development at the time and a host of other considerations. No single method will provide all PNT for all scenarios, but GNSS offers a continuously available, flight-proven source of navigation and timing with unique features that make it a valuable option. As NASA launches a new era of lunar exploration missions in 2021, development of the supporting navigation architecture is underway. This paper describes the role GNSS could or will play in the components of NASA's lunar exploration plans: the Artemis missions designed to return humans to the lunar surface, the Gateway platform orbiting near the Moon that will host astronauts as well as science and technology payloads, and the robotic lander missions administered by the Commercial Lunar Payload Services (CLPS) program. GNSS-based autonomous navigation has the potential to dramatically expand lunar exploration capabilities. Through the use of GNSS and GNSS-like augmentations, navigation performance could be improved while simultaneously reducing operational complexity relative to conventional, ground-based navigation methods. As NASA begins to implement its lunar exploration plans this year and assemble the enabling communications and navigation infrastructure, GNSS will provide an important part of the diverse measurements required for robust lunar PNT.
Benjamin W Ashman↗
Formation and evolution of radial fracture systems on Venus
A survey of approximately 90 percent of the surface of Venus using Magellan data has been carried out to locate all radial fracture systems and to assess their association with other features such as volcanic edifices and coronae. Squyres et al. and Stofan et al. have discussed the association of radial fracture features in relation to coronae features, our approach was to assess the associations of all of the fracture systems. These fracture systems have two broad types of form - some fracture systems are associated with updomed topography, radiate from a point and have relatively uniform fracture lengths while others have a wider range of fracture lengths and radiate from the outer edge of a central caldera. Squyres et al. and Stofan et al. have interpreted both types of feature as reflecting tectonic fracturing resulting from uplift of the surface as a mantle plume impinges upon the crust. While it is true that a number of features are related to uplift and that such uplift will induce stresses consistent with radial fracturing, we explore the possibility that these fractures are not exclusively of tectonic origin. Purely tectonic fracturing will tend to generate a few main fractures/faults along which most of the stresses due to uplift will be accommodated leading to the triple-junction form common for terrestrial updoming. Though this type of feature is observed on Venus (e.g., feature located at 34S86), the majority of radial fracture systems display much more intensive fracturing than this through a full 360 degrees; this is difficult to explain by purely tectonic processes. The association of many of the fractures with radial lava flows leads us to interpret these fractures as reflecting dike emplacement: the form of the fractures being consistent with primarily vertical propagation from the head of a mantle plume. In the case of the second type of fracture system (those radiating from a central caldera), an even stronger case can be made that the fractures are not of tectonic origin. These features are not as commonly associated with updoming of the surface and where they are, the fractures extend out well beyond the edge of the topographic rise - an observation which is not consistent with the fractures being of tectonic uplift origin. Furthermore the fractures have a distribution of lengths (many short, fewer long) which is characteristic of dike swarms, and show direct associations with calderas and lava flows consistent with a volcanic origin. In addition, the longest fractures have a radial pattern only close to the center of the system but bend with distance to align themselves with the regional stress field - this behavior is very difficult to explain on purely tectonic grounds but is a pattern commonly seen for terrestrial dikes. For these reasons, we argue that many, if not the majority, of radial fracture systems found on Venus are the surface reflection of dike swarms, those associated with positive topography reflecting vertical emplacement and those radiating from calderas reflecting lateral propagation.
Parfitt, E. A.↗
Swarms: Optimum aggregations of spacecraft
Swarms are aggregations of spacecraft or elements of a space system which are cooperative in function, but physically isolated or only loosely connected. For some missions the swarm configuration may be optimum compared to a group of completely independent spacecraft or a complex rigidly integrated spacecraft or space platform. General features of swarms are induced by considering an ensemble of 26 swarms, examples ranging from Earth centered swarms for commercial application to swarms for exploring minor planets. A concept for a low altitude swarm as a substitute for a space platform is proposed and a preliminary design studied. The salient design feature is the web of tethers holding the 30 km swarm in a rigid two dimensional array in the orbital plane. A mathematical discussion and tutorial in tether technology and in some aspects of the distribution of services (mass, energy, and information to swarm elements) are included.
Mayer, H. L.↗
Design of a walking robot
Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.
Whittaker, William↗
Clinical Decision Support Project
As NASA plans for exploration missions into deep space, significant challenges are realized due to the distance from Earth. Beside the effects of microgravity and radiation exposure, the astronauts face the additional constraints of isolation, lack of resupply, increasingly difficult evacuation, and delayed and disrupted communication with ground-based medical care providers. These constraints require a paradigm shift from current medical care where crews rely on the real-time communications with ground-based medical care providers toward Earth-independent medical operations for astronaut medical care. Medical expertise and decision-making are ground-based for current International Space Station and planned Lunar missions. However, a deep space exploration crew will need to autonomously perform the detection, diagnosis, treatment, and prevention of medical conditions. One approach to provide Earth-independent medical operations is to augment the requisite knowledge, skills, and abilities (KSAs) of a time-constrained crew—operating under stressful conditions, combatting fatigue, and facing a potential medical crisis—with a robust clinical decision support system (CDSS). The CDSS is envisioned as an integrated, software-based tool deployed on a laptop computer or handheld device. The CDSS will assist the crew and ground support when interacting with knowledge/data bases (e.g. records, pharmacy, schedule), instrumentation (e.g. imaging, physiological monitoring devices), and habitat (e.g. wellness system, task performance system) and vehicle systems (e.g. environmental system, communication system). In addition, the human interface will employ a context-based approach that accounts for the crew’s situation. Thus, extraneous and clinically/operationally non-relevant information are reduced to avoid an increase in cognitive load. The framework of an ideal spaceflight CDSS is to include core and advanced analytical features that maintain a flexible platform for integrating new technology in the future. The Exploration Medical Capability (ExMC) Element of the Human Research Program (HRP) is expanding the boundaries of space medical systems to advance the care of astronauts on future exploration missions beyond low Earth orbit by actively identifying and testing next-generation medical care and crew health maintenance technologies. The Clinical Decision Support (CDS) project addressed ap Medical-701 within the Inflight Medical Conditions risk: “We need to increase inflight medical capabilities and identify new capabilities that (a) maximize benefit and/or (b) reduce “costs” on human system/mission/vehicle resources.” Though mass, volume, and power will face increasing constraints, the projected computational capabilities of spacecraft systems will increase exponentially as information technology advances in this decade and beyond. Hence, data, software, and computational resources will play an essential and synergistic role in maintaining crew health, wellness, and performance in deep space missions. The focus of the CDS project was to develop recommended requirements for an in-vehicle CDSS that acts as a ‘virtual assistant’ for delivering optimal health, performance, and medical care during exploration missions. In fiscal year 2022 (FY22), the CDS project was chartered to baseline and/or revise all CDS project related documentation and update the CDS project model to include the revised CDSS Concept of Operations, revised systems-based modeling language (SysML) activity diagrams, and baseline requirements. The focus of this presentation will be an overview of the CDS products and CDS model content.
Decision Support↗
Electron microscopic and optical studies of prism faces of synthetic quartz
Application of electron and optical microscopic techniques to the study of growth spirals on quartz crystal faces is described. Attention is centered on the centers of the spirals and on screw ledges; overhanging kinks are revealed on one side of the spiral centers. The possibility that these special features may have developed after growth of the crystals went to completion is explored. The conjecture is raised that such structures might result from adsorption of growth-inhibiting impurities at the center of the growth spiral on the quartz habit faces.
Buzek, B. C.↗
Computer image processing in marine resource exploration
Pictographic data or imagery is commonly used in marine exploration. Pre-existing image processing techniques (software) similar to those used on imagery obtained from unmanned planetary exploration were used to improve marine photography and side-scan sonar imagery. Features and details not visible by conventional photo processing methods were enhanced by filtering and noise removal on selected deep-sea photographs. Information gained near the periphery of photographs allows improved interpretation and facilitates construction of bottom mosaics where overlapping frames are available. Similar processing techniques were applied to side-scan sonar imagery, including corrections for slant range distortion, and along-track scale changes. The use of digital data processing and storage techniques greatly extends the quantity of information that can be handled, stored, and processed.
Paluzzi, P. R.↗
A study of the tolerance block approach to special stratification
The author has identified the following significant results. Twelve winter wheat LACIE segments in Kansas were used to compare the performance of three clustering methods: (1) BCLUST, which uses a spectral distance function to accumulate clusters; (2) blocks-alone, which divides spectral space into equally populated blocks; and (3) block-seeds, which uses spectral means of blocks-alone as seeds for accumulating distance-type clusters. Both BCLUST and block-seeds performed equally well and outperformed blocks-alone significantly. Their average variance ratio of about 0.5 showed imperfect separation of wheat from non-wheat. This result points to the need to explore the achievable crop separability in the spectral/temporal domain, and suggest evaluating derived features rather than data channels as a means to achieve purer spectral strata.
Richardson, W.↗