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NASA NTRS1996

Fish Scale Evidence for Rapid Post Glacial Colonization of an Atlantic Coastal Pond

Fish scales from the sediment of Allamuchy Pond, New Jersey, USA, indicate that fishes were present in the pond within 400 years of the time of the first deposition of organic material, at approximately 12,600 yrs BP. The earliest of the scales, from a white sucker, Catostomus commersoni, appears in sediment dated 12,260 +/- 220 yrs BP. Presence of scales in sediment deposited before I 0,000 yrs BP indicates that Atlantic salmon, Salmo salar, sunfish, Lepomis sp., and yellow perch, Perca flavescens, also were early inhabitants of the pond. The timing of the arrival of each of these fishes suggests that they migrated out from Atlantic coastal refugia. A minnow scale, referred to Phoxininae, was also retrieved; it could not be matched to any cyprinid currently found in northeastern North America. The species present historically in this pond are from five families found currently in ponds throughout the Northeast and sugoest that the lentic palaeo-enviromnent was similar to present mid-elevation or high-latitude lentic systems.

Daniels, R. A.↗

NASA NTRS2002

My Big Wall

It was June and I was in Yosemite National Park in California, 2,000-feet off the ground. I was climbing El Capitan, a majestic 3,000-foot high, mile-wide granite monolith--one of the most sought after and spectacular rock climbs in the world. After three days of climbing on its sheer face, and having completed the most difficult part of the route, my partner and I were heading down. A thunderstorm lasting all night and into the morning had soaked our tiny perch and all our worldly possessions. We began rappelling down the vertical wall by sliding to the ends of two 50meter ropes tied together and looped through a set of fixed rings bolted into the rock. At the end of the ropes was another rappel station consisting of a set of rings, placed by previous climbers for retreating parties, which we used to anchor ourselves to the rock face. We then pulled the ropes down from the rings above, threaded the ones in front of our noses and started down another rope length. Everything we brought up for our five-day climb to the summit we had to bring back down with us: ropes, climbing gear of every sort, sleeping bags, extra clothes, food, water, and other essentials. All this we either stuffed into a haul bag (an oversized reinforced duffel bag) or slung over our shoulders. The retreat was slow and methodical, akin to a train backing down a mountain, giving me ample time to think. My situation made me think about my work, mostly, about all the projects I have managed, or been involved in managing. As a NASA project manager, I have worked on a number of successful projects. I have also been involved in a number of projects I never saw the end of. I thought about all the projects I transferred off of for other opportunities, projects that were in full stride and ran out of funding, and ones put on the shelf because they would not meet a flight date. Oh yes, I have had many success, to be sure, or I would have burned out years ago. Lessons from both the successful and not-so-successful projects have taught me valuable lessons, but it has always been the failures where I've learned the most.

Espinosa, Paul S.↗

NASA NTRS1998

Acronema sippewissettensis Gen. Nov. Sp. Nov., microbial mat bicosoecid (Bicosoecales = Bicosoecida)

A heterotrophic mastigote from the flat laminated Microcoleus-dominated intertidal microbial mat at the Sippewissett salt marsh, Cape Cod, Massachusetts, was isolated into monoprotist culture in the same anoxic medium that led to spirochete and other anaerobic bacterial enrichments. The protist grew vigorously and was transferred indefinitely in oxic marine medium. Videomicroscopy as well as scanning and transmission electron microscopy were used to document its features. The swimming and perching behavior, nutritional mode (bactivory) and morphology including ultra-structure identify it as an aloricate bicosoecid. The presence of heteromorphic acronematic undulipodia, bilateral bipartite tubular mastigonemes, absence of a cytostome, absence of extrusomes, and presence of "Dauerstadien" (duration stages) distinguish this from other Cafeteriaceae bicosoecids. Cell division involves a closed intranuclear spindle. The unspecialized bicosoecid morphology and behavior juxtaposed with oomycete-like vesicles and mastigonemes suggest that this protist may be an extant descendant of a common ancestor of bicosoecids and other stramenopiles (e.g. labyrinthulids, thraustochytrids and oomycetes). A new genus and species, Acronema sippewissettensis, are proposed.

Non-NASA Center↗

NASA NTRS2006

Erosion Rates at the Mars Exploration Rover Landing Sites and Long-Term Climate Change on Mars

Erosion rates derived from the Gusev cratered plains and the erosion of weak sulfates by saltating sand at Meridiani Planum are so slow that they argue that the present dry and desiccating environment has persisted since the Early Hesperian. In contrast, sedimentary rocks at Meridiani formed in the presence of groundwater and occasional surface water, and many Columbia Hills rocks at Gusev underwent aqueous alteration during the Late Noachian, approximately coeval with a wide variety of geomorphic indicators that indicate a wetter and likely warmer environment. Two-toned rocks, elevated ventifacts, and perched and undercut rocks indicate localized deflation of the Gusev plains and deposition of an equivalent amount of sediment into craters to form hollows, suggesting average erosion rates of approx.0.03 nm/yr. Erosion of Hesperian craters, modification of Late Amazonian craters, and the concentration of hematite concretions in the soils of Meridiani yield slightly higher average erosion rates of 1-10 nm/yr in the Amazonian. These erosion rates are 2-5 orders of magnitude lower than the slowest continental denudation rates on Earth, indicating that liquid water was not an active erosional agent. Erosion rates for Meridiani just before deposition of the sulfate-rich sediments and other eroded Noachian areas are comparable with slow denudation rates on Earth that are dominated by liquid water. Available data suggest the climate change at the landing sites from wet and likely warm to dry and desiccating occurred sometime between the Late Noachian and the beginning of the Late Hesperian (3.7-3.5 Ga).

weathering↗

NASA NTRS2009

Feature Detection Systems Enhance Satellite Imagery

In 1963, during the ninth orbit of the Faith 7 capsule, astronaut Gordon Cooper skipped his nap and took some photos of the Earth below using a Hasselblad camera. The sole flier on the Mercury-Atlas 9 mission, Cooper took 24 photos - never-before-seen images including the Tibetan plateau, the crinkled heights of the Himalayas, and the jagged coast of Burma. From his lofty perch over 100 miles above the Earth, Cooper noted villages, roads, rivers, and even, on occasion, individual houses. In 1965, encouraged by the effectiveness of NASA s orbital photography experiments during the Mercury and subsequent Gemini manned space flight missions, U.S. Geological Survey (USGS) director William Pecora put forward a plan for a remote sensing satellite program that would collect information about the planet never before attainable. By 1972, NASA had built and launched Landsat 1, the first in a series of Landsat sensors that have combined to provide the longest continuous collection of space-based Earth imagery. The archived Landsat data - 37 years worth and counting - has provided a vast library of information allowing not only the extensive mapping of Earth s surface but also the study of its environmental changes, from receding glaciers and tropical deforestation to urban growth and crop harvests. Developed and launched by NASA with data collection operated at various times by the Agency, the National Oceanic and Atmospheric Administration (NOAA), Earth Observation Satellite Company (EOSAT, a private sector partnership that became Space Imaging Corporation in 1996), and USGS, Landsat sensors have recorded flooding from Hurricane Katrina, the building boom in Dubai, and the extinction of the Aral Sea, offering scientists invaluable insights into the natural and manmade changes that shape the world. Of the seven Landsat sensors launched since 1972, Landsat 5 and Landsat 7 are still operational. Though both are in use well beyond their intended lifespans, the mid-resolution satellites, which provide the benefit of images detailed enough to reveal large features like highways while still broad enough for global coverage, continue to scan the entirety of the Earth s surface. In 2012, NASA plans to launch the Landsat Data Continuity Mission (LDCM), or Landsat 8, to extend the Landsat program s contributions to cartography, water management, natural disaster relief planning, and more.

Source record↗

NASA NTRS2013

Robotic Ankle for Omnidirectional Rock Anchors

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a rotary DC motor that can drag the microspine arrays across the surface to engage them with asperities, as well as a linear actuator to disengage the hooks from the surface. Additionally, the ankle allows the gripper to rotate freely about all three axes so that when the robot takes a step, the gripper may optimally orient itself with respect to the wall or ground. Finally, the ankle contains some minimal elasticity, so that between steps, the gripper returns to a default position that is roughly parallel to the wall.

Parness, Aaron↗

NASA NTRS2009

Power Sources for Micro-Autonomous Vehicles- Challenges and Prospects

Micro-autonomous vehicle systems are expected to have expanded role in military missions by providing full spectrum intelligence, surveillance and reconnaissance support on the battlefield, suppression of enemy defenses, and enabling co-operative (swarm-like) configurations. Of the numerous demanding requirements of autonomy, sensing, navigation, mobility, etc., meeting the requirement of mission duration or endurance is a very challenging one. This requirement is demanding because of the constraints of mass and volume that limit the quantity of energy that can be stored on-board. Energy is required for mobility, payload operation, information processing, and communication. Mobility requirements typically place an extraordinary demand on the specific energy (Wh/kg) and specific power (W/kg) of the power source; the actual distribution of the energy between mobility and other system functions could vary substantially with the mission type. The power requirements for continuous mobility can vary from 100-1000 W/kg depending on the terrain, ground speed and flight speed. Even with the power source accounting for 30% of the mass of the vehicle, the best of rechargeable batteries can provide only up to 1-2 hours of run-time for a continuous power demand at 100W/kg. In the case of micro-aerial vehicles with flight speed requirements in the range of 5-15 m s-1, the mission times rarely exceed 20 minutes [2]. Further, the power required during take-off and hover can be twice or thrice that needed for steady level flight, and thus the number and sequence of such events is also limited by the mass and size of the power source. For operations such as "perch and stare" or "silent watch" the power demand is often only a tenth of that required during continuous flight. Thus, variation in power demand during various phases of the mission importantly affects the power source selection.

fuel cells↗

NASA NTRS2016

Sublimation as a Landform-Shaping Process on Pluto

Several icy-world surfaces in the solar system exhibit sublimation-driven landform modification erosion, condensation, and mass wasting [1]. In addition to the obvious role of gravity, mass wasting can work in conjunction with internal disaggregation of a landform's relief-supporting material through the loss (or deteriorating alteration) of its cohesive matrix. To give a conspicuous example, Callisto's landscape exhibits widespread erosion from sublimation erosion of slopes, which results in smooth, undulating, low albedo plains composed of lag deposits, with isolated high albedo pinnacles perched on remnants of crater rims due to the re-precipitation of ice on local cold traps [2, 3, 4]. Sublimation-driven mass wasting was anticipated on Pluto prior to the encounter (see refs in [5]). Here we report on several landscapes on Pluto we interpret to be formed, or at least heavily modified, by sublimation erosion.

Properties of Ice at Pluto↗

NASA NTRS2017

Hydrological Modeling of the Jezero Crater Outlet-Forming Flood

Abundant evidence exists for lakes on Mars both from orbital observations [e.g., 1-3] and in situ exploration [e.g., 4-5]. These lakes can be divided into two classes: those that were hydrologically closed, so their source valley(s) terminated at the basin [3], and those that were hydrologically open, where there was sufficient flow from inlet valley(s) to cause the lake to breach and form an outlet valley [2]. It is easier to be confident from orbital data alone that a standing body of water must have existed in open basins, because there is no other way for their perched outlet valleys to form. The majority of basins fed by valley networks, rather than by isolated inlet valleys, are open [6], with some important exceptions (e.g., Gale Crater). Jezero crater (Fig. 1) is one of the most well-studied open basin paleolakes on Mars, with a breach that re-mains well above the lowest part of the crater floor, and two sedimentary fans at its northwestern margin that are likely deltaic in origin [7-9]. CRISM observations of these sediments indicate they host a variety of alteration minerals [9-11], including smectite and carbonate, and both the mineralogy of the sediments and their settings suggest they have a strong potential for preserving organic materials [10]. As a result, Jezero is a strong candidate landing site for the Mars 2020 rover. Approximate formative discharges have been estimated for its well-preserved western fan (Q approximately 500m3/s) [7], but to our knowledge, no estimates for the dis-charges associated with formation and incision of its outlet valley have been presented. Indeed, only a few studies [e.g., 12-14] have attempted to reconstruct the formation of outlet breaches broadly similar to Jezero anywhere on Mars, despite the apparent commonality of basins with large outlets [e.g., 2]. The outlet valley formed as a dam breach when the lake overflowed. In such an event, the growth and incision of the breach is directly coupled to flood discharge. In the case of Jezero, the discharge through the breach eventually lacked the energy needed to erode through the dam further, preventing complete drainage of the lake. After the initial flood, further incision can take place if additional water flows into, and thus out of, the hydrologically open lake, though the rate of this erosion occurs under more typical fluvial conditions. Despite this qualitative understanding of the process, it is useful to explore numerically what range of model parameters are potentially consistent with obser-vations of the outlet. We ultimately seek to address questions that include: (1) What was the flood hydro-graph?, (2) What sediment transport processes were involved and what can we infer about the erosion process? (3) Can most or all of the Jezero outlet's morphology be explained as a consequence of catastrophic formation, or is additional longer-term erosion required?

geology↗

NASA NTRS2018

Astrobee Robot Software: A Modern Software System for Space

Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This paper presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot. The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). The software runs on three interconnected smart phone class processors. We present the software approach, infrastructure required, and main software components. The Astrobee Robot Software embrace modern software practices while respecting flight constraints. The paper concludes with the lessons learned, including examples usage of the software. Several research teams are already using the Astrobee Robot Software to develop novel projects that will fly on Astrobee.

Astrobee↗

NASA NTRS2018

Source Characteristics, Chemical Weathering, and Lithification of the Stimson Sandstone and Lessons for the Martian Sedimentary Record

The Stimson formation is a basaltic eolian sandstone perched unconformably above the Mount Sharp group rocks in Gale crater, and it is exposed in a number of plateaus observed by the Mars Science Laboratory Curiosity rover. Despite being one of the least geochemically and mineralogically diverse units observed by the Curiosity rover, the Stimson formation is uniquely positioned to offer significant information about sand weathering and lithification processes on Mars because of two factors: (1) the Stimson formation is the only lithologic formation on Mars for which we have a modern analog, the basaltic eolian Bagnold dunes, and (2) Curiosity obtained 33 chemistry analyses of 18 unique targets with the Alpha-Particle X-ray Spectrometer and 2 mineralogical samples of unaltered Stimson sandstone (discounting samples of Stimson altered by late-stage fluid events). Comparison between the Stimson sandstone and the Bagnold sands yields clues to source rock and lithification processes on Mars, and differences between different Stimson samples reveal weathering trends affecting the ancient dune field.

Siebach, Kirsten↗

NASA NTRS2013

Calibration of the Mid-Infrared Tully-Fisher Relation

Distance measures on a coherent scale around the sky are required to address the outstanding cosmological problemsof the Hubble constant and of departures from the mean cosmic flow. The correlation between galaxy luminositiesand rotation rates can be used to determine the distances to many thousands of galaxies in a wide range ofenvironments potentially out to 200 Mpc. Mid-infrared (3.6m) photometry with the Spitzer Space Telescope isparticularly valuable as a source of luminosities because it provides products of uniform quality across the sky.From a perch above the atmosphere, essentially the total magnitude of targets can be registered in exposures ofa few minutes. Extinction is minimal and the flux is dominated by the light from old stars, which is expected tocorrelate with the mass of the targets.In spite of the superior photometry, the correlation between mid-infrared luminosities and rotation rates extractedfrom neutral hydrogen profiles is slightly degraded from the correlation found with I-band luminosities. A colorcorrection recovers a correlation that provides comparable accuracy to that available at the I band (20 1in an individual distance) while retaining the advantages identified above. Without color correction, the relationbetween linewidth and [3.6] magnitudes is Mb,i,k,a [3.6] 20.34 9.74(logWimx 2.5). This description is foundwith a sample of 213 galaxies in 13 clusters that define the slope and 26 galaxies with Cepheid or tip of the red giant branch distances that define the zero point. A color-corrected parameter MC[3.6] is constructed that has reduced scatter: MC[3.6] 20.34 9.13(logWimx 2.5). Consideration of the seven calibration clusters beyond 50 Mpc, outside the domain of obvious peculiar velocities, provides a preliminary Hubble constant estimate of H0 74 4 km s1 Mpc1.

Mid-Infrared↗

NASA NTRS2018

Modeling and Observations of Outlet Canyons from Lake Overflow Floods on Early Mars

Numerous observations from both orbital remote sensing [1-3] and Mars Curiosity [4] suggest that lakes were once part of the martian landscape. From orbital data, one of the key lines of evidence for past paleolakes is the existence of several hundred valley network-fed basins – usually craters – that have outlet valleys that remain perched above their floors. The existence of outlets requires that water ponded to the point that it overflowed confining topography. Beyond recognizing these landforms, there has been only limited work reconstructing the morphometry, formative hydrology, and incision history for these outlets. Here, we describe our recently published observations of outlets and ongoing numerical modeling looking at these factors.

Fassett, Caleb I.↗

NASA NTRS2019

Astrobee Robot Software: Enabling Mobile Autonomy on the ISS

Fluckiger, Lorenzo↗

NASA NTRS2019

Astrobee Free Flyers: Integrated and Tested. Ready for Launch!

As of March 2019, four Astrobee free-flying robots have been integrated, tested and shipped to NASA’s Johnson Space Center, Texas, ready to be launched to space. Two of these Astrobee units (Honey and Bumble) will be launched to the International Space Station (ISS) on April 17, 2019, on the Cygnus NG-11 (Northrop Grumman) cargo resupply spacecraft from the Mid-Atlantic Regional Spaceport (MARS) launch facility, at NASA's Wallops Flight Facility, in Virginia, while the third unit (Queen) will be launched in mid-July 2019, with the cargo resupply mission Space-X 18, from Cape Canaveral, at NASA’s Kennedy Space Center. The primary purpose of the Astrobee system is to provide an autonomous and flexible platform for research on zero-g free-flying robotics, with the ability to accommodate guest researchers looking to utilize the unique capabilities of this platform in the microgravity of low earth orbit, and to advance the state of the art of guest science software and research payloads, which range from gecko-inspired adhesives for perching on smooth surfaces, to augmented reality interfaces to help astronauts and robots work together effectively, to RFID reader, performing inventory of RFID tagged items inside the ISS. Astrobee will also serve utility functions, such as free-flying cameras to record video and provide assistance during astronaut activities, and as mobile sensor platforms to conduct surveys of the ISS. In this paper we will give an overview of the status of the Astrobee system, which includes the docking station already launched and mounted in the JAXA JEM module of the ISS, the Astrobee robots, the Astrobee robotic arms, the ground data system (GDS) and the development of the several guest science payloads.

Carlino, Roberto↗

NASA NTRSDate not supplied

Astrobee On-Orbit Commissioning

The Astrobee free flying robots operate in the interior of the International Space Station (ISS) under supervisory control of a ground operator or ISS crew. They replace the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES) as research platforms for zero-g free-flying robotics. Astrobee also provides a tool for improving the efficiency of ISS operations as a mobile camera/sensor platform available to flight and payload controllers. The Astrobee system consists of three robots with perching arms, a docking station, and a ground data system. Development began in late-2014, and flight hardware has been deployed to ISS on several launches starting in November 2018 and concluding in October 2019. Shortly after the first two robots arrived on ISS in April, we began a series of "commissioning" activities to validate both space and ground segments. We plan to complete commissioning and become an operational facility available to guest scientists by the end of 2019. This paper provides an overview of the Astrobee system, a description of the on-orbit activities, and commissioning results.

ISS↗

NASA NTRSDate not supplied

Astrobee On-Orbit Commissioning

The Astrobee free flying robots operate in the interior of the International Space Station (ISS) under supervisory control of a ground operator or ISS crew. They replace the Synchronized Position Hold Engage and Reorient Experimental Satellites (SPHERES) as research platforms for zero-g free-flying robotics. Astrobee also provides a tool for improving the efficiency of ISS operations as a mobile camera/sensor platform available to flight and payload controllers. The Astrobee system consists of three robots with perching arms, a docking station, and a ground data system. Development began in late-2014, and flight hardware has been deployed to ISS on several launches starting in November 2018 and concluding in October 2019. Shortly after the first two robots arrived on ISS in April, we began a series of “commissioning” activities to validate both space and ground segments. This paper provides an overview of the Astrobee system, a description of the on-orbit activities, and commissioning results.

Astrobee↗

NASA NTRSDate not supplied

Astrobee: Completed, Current, and Future Research using Free Flying Robots on the International Space Station

After four years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 130 Test Sessions logging over 1000 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team maintains three identical free-flying Astrobee robots for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Astrobee, propelled by battery-operated fans, is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be teleoperated from the ground or by astronauts. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. Guest Scientists can participate in this research opportunity following the Guest Science Lifecycle (GSL) shown in Figure 1: Guest Science Lifecycle below. The Astrobee Team and Guest Scientists have complete research including Gecko materials studies, RFID and sound sensing capabilities, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots includes Free Flyer self-toss studies, new docking capabilities, advanced mapping resolution capabilities, and high resolution panoramic imagery. Future Guest scientists and Astrobee Team research will focus on robotics applications for future NASA missions such as Gateway and Artemis and potential experiments involving human-robot interactions. This presentation will focus on four main subjects, 1) completed, current, and future planned research using the Astrobee robots, 2) how Guest Scientist get from conception to the ISS, 3) Astrobee Facility resources available for Guest Science ground testing and real-time ISS operations support, and 4) lessons learned from four years of ISS operations.

Astrobee↗