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NASA NTRS2006

Detection of Water Hazards for Autonomous Robotic Vehicles

Four methods of detection of bodies of water are under development as means to enable autonomous robotic ground vehicles to avoid water hazards when traversing off-road terrain. The methods involve processing of digitized outputs of optoelectronic sensors aboard the vehicles. It is planned to implement these methods in hardware and software that would operate in conjunction with the hardware and software for navigation and for avoidance of solid terrain obstacles and hazards. The first method, intended for use during the day, is based on the observation that, under most off-road conditions, reflections of sky from water are easily discriminated from the adjacent terrain by their color and brightness, regardless of the weather and of the state of surface waves on the water. Accordingly, this method involves collection of color imagery by a video camera and processing of the image data by an algorithm that classifies each pixel as soil, water, or vegetation according to its color and brightness values (see figure). Among the issues that arise is the fact that in the presence of reflections of objects on the opposite shore, it is difficult to distinguish water by color and brightness alone. Another issue is that once a body of water has been identified by means of color and brightness, its boundary must be mapped for use in navigation. Techniques for addressing these issues are under investigation. The second method, which is not limited by time of day, is based on the observation that ladar returns from bodies of water are usually too weak to be detected. In this method, ladar scans of the terrain are analyzed for returns and the absence thereof. In appropriate regions, the presence of water can be inferred from the absence of returns. Under some conditions in which reflections from the bottom are detectable, ladar returns could, in principle, be used to determine depth. The third method involves the recognition of bodies of water as dark areas in short-wavelength infrared (SWIR) images. This method is based on the fact, well known among experts in remote sensing, that water bodies of any appreciable depth appear very dark in near-infrared, overhead imagery. Even under a thick layer of marine fog, SWIR illumination is present. Hence, this method may work even in the presence of clouds, though it is unlikely to work at night. Snow and ice also exhibit very strong absorption at wavelengths greater than about 1.4 m. Hence, the wavelength range of about 1.5 to 1.6 m might be useable in this method for recognizing water, snow, and ice. One notable drawback of this method is that useful look-ahead distance could be limited by surface reflections. The fourth method, intended for use at night, involves the contrast between water and terrain in thermal-infrared (medium-wavelength infrared) imagery. This method is based on the fact that at night, water is usually warmer than the adjacent terrain. Look-ahead distance could be limited in this method because, for reasons not yet fully understood, water appears to darken in the thermal infrared with increasing distance.

Matthes, Larry↗

NASA NTRS2011

Submm-Wave Radiometry for Cloud/Humidity/Precipitation Sciences

Although active sensors can provide cloud profiles at good vertical resolution, clouds are often coupled with dynamics to form fast and organized structures. Lack of understanding of these organized systems leads to great challenge for numerical models. The deficiency is partly reflected, for example, in poorly modeled intraseasonal variations (e.g., MJD). Remote sensing clouds in the middle and upper troposphere has been challenging from space. Vis/IR sensors are sensitive to the topmost cloud layers whereas low-frequency MW techniques are sensitivity to liquid and precipitation at the bottom of cloud layers. The middle-level clouds, mostly in the ice phase, require a sensor that has moderate penetration and sensitivity to cloud scattering, in order to measure cloud water content. Sensors at submm wavelengths provide promising sensitivity and coverage with the spatial resolution needed to measure cloud water content floating in the upper air. In addition, submm-wave sensors are able to provide better measurements of upper-tropospheric humidity than traditional microwave instruments.

Wu, Dong L.↗

NASA NTRS2012

Modeling Radar Scatter from Icy and Young Rough Lunar Craters

For lunar orbital synthetic aperture radars, such as the Chandrayaan Mini-RF operating at S- band (13-cm) wavelength and the Lunar Reconnaissance Orbiter Mini-RF operating at S- band and X-band (3-cm) wavelengths, it is important to understand the radar backscattering characteristics of the icy and young, rough craters. Assuming a mixing model consisting of diffuse and quasi-specular scattering components, we have modeled the opposite-sense circular (OC) and same-sense circular (SC) backscattering characteristics. The specular component, consisting of only OC echoes, represents the echoes from the surface and subsurface layers that are oriented perpendicular to the radar's line-of-sight. The diffuse component, consisting of both SC and OC echoes, represents the echoes associated with either rocks or ice. Also, diffuse echoes have backscatter that is proportional to the cosine of the incidence angle. We modeled how these two (specular and diffuse) radar scattering components could be modulated by factors such as surface roughness associated with young craters. We also modeled how ice radar scattering components could be modulated by a thin regolith covering, and/or by the situation where ice occupies small patches within a larger radar pixel. We tested this modeling by examining 4 nonpolar craters and 12 polar craters using LRO Mini-RF data. Results indicate that icy and young rough craters can be distinguished based upon their SC enhancements (Alpha) and OC enhancements (Gamma). In addition, we also examined the craters that have unusual circular polarization ratios (CPRs) that likely result from a double bounce mode of scattering. Blocky fresh craters, icy craters, and craters exhibiting double bounce scattering can be separated based on the values of Alpha, Gamma, the ratio of Alpha/Gamma and the weighted sum of Alpha and Gamma.

lunar craters↗

NASA NTRS2015

Spatial and Temporal Variability of Carbon Dioxide Using Structure Functions in Urban Areas: Insights for Future Active Remote CO2 Sensors

High resolution in-situ CO2 measurements were recorded onboard the NASA P-3B during the DISCOVER-AQ (Deriving Information on Surface Conditions from Column and Vertically Resolved Observations Relevant to Air Quality) Field Campaigns during July 2011 over Washington DC/Baltimore, MD; January-February 2013 over the San Joaquin Valley, CA; September 2013 over Houston, TX; and July-August 2014 over Denver, CO. Each of these campaigns have approximately two hundred vertical soundings of CO2 within the lower troposphere (surface to about 5 kilometers) at 6-8 different sites in each of the urban areas. In this study, we used structure function analysis, which is a useful way to quantify spatial and temporal variability, by displaying differences with average observations, to evaluate the variability of CO2 in the 0-2 kilometers range (representative of the planetary boundary layer). These results can then be used to provide guidance in the development of science requirements for the future ASCENDS (Active Sensing of CO2 Emissions over Nights, Days, and Seasons) mission to measure near-surface CO2 variability in different urban areas. We also compare the observed in-situ CO2 variability with the variability of the CO2 column-averaged optical depths in the 0-1 kilometer and 0-3.5 kilometers altitude ranges in the four geographically different urban areas, using vertical weighting functions for potential future ASCENDS lidar CO2 sensors operating in the 1.57 and 2.05 millimeter measurement regions. In addition to determining the natural variability of CO2 near the surface and in the column, radiocarbon method using continuous CO2 and CO measurements are used to examine the variation of emission quantification between anthropogenic and biogenic sources in the DC/Maryland urban site.

Choi, Yonghoon↗

NASA NTRS2017

Multi-Layer RF Tissue Phantoms for Mimicking a Human Core

Biomedical Microwave Sensing↗

NASA NTRS2017

Multi-Layer RF Tissue Phantoms for Mimicking a Human Core

This work presents the design recipe, fabrication process and characterization of tissue-simulating materials, configured as a physical model to mimic the electrical and some physical properties of an abdominal cavity. The complete three layer design is called the human core model (HCM). To our knowledge, presented is the first hybrid skin-muscle phantom developed to mimic the electrical properties of the intervening tissue layers of an abdominal cavity within the frequency band of 1 GHz 2 GHz, a band of interest for human body sensing due to its deep detection depth. To complete the model, a liquid blood phantom was also developed and characterized in this frequency band. The phantoms were characterized with respect to complex dielectric constant using the Agilent 85070E dielectric probe kit, and the results compared to the Gabriel model, which is used as the standard for human tissue characterization. Since the tissue impedance is an important parameter for characterizing on-body sensors and near field antenna performance, the impedance of the phantoms were also calculated and presented in the analysis.

Bonds, Quenton↗

NASA NTRS2021

Determining Planetary Boundary Layer Height by Micro-pulse Lidar with Validation by UAV Measurements

Planetary boundary layer height (PBLH) is often used to characterize the structure of the lower atmosphere. Aerosol lidar, a ground-based remote sensing method, provides the vertical distribution of aerosol at a high temporal resolution observation data, from which, the PBL structure and the position of the PBL top can be comprehensively studied. PBLH determination with lidar data depends primarily on the characteristic turbulent motions in the atmosphere and the geophysical location. However, lidar determination of PBLH over densely populated subtropical locations has rarely been discussed; thus, developing retrieval techniques suitable to these areas is necessary. In this study, four PBLH determination methods (Gradient, δ–threshold, Haar wavelet transform, and hybrid image processing) are applied to estimate the PBLH from lidar observations over an urban area in East Asia, and one—the Gradient method—relied on potential temperature measurements from an unmanned aerial vehicle (UAV) flights to validate our results. Our results indicate that a combination of the gradient method and δ-threshold method can provide better results, in terms of diurnal pattern, than using either method individually. Furthermore, the Haar wavelet and the Hybrid image processing can detect the PBL development comparably well, but both methods are dependent on their initial conditions and optimized algorithm settings. In addition, the accompanying UAV observations are conclusively shown to have a high degree of efficacy for validating the lidar data. This research highlights that a combination of PBLH determination methods can better describe the PBLH evolution throughout a day in some cases, while in others less common determination methods are proving useful, and a suite of retrieval methods should still be explored for precisely mapping the PBL in densely populated subtropical areas.

Yueh-Chen Wang↗

NASA NTRS2008

The Origin of the Terra Meridiani Sediments: Volatile Transport and the Formation of Sulfate Bearing Layered Deposits on Mars

The chemistry, sedimentology, and geology of the Meridiani sedimentary deposits are best explained by eolian reworking of the sublimation residue of a large scale ice/dust deposit. This large ice deposit was located in close proximity to Terra Meridiani and incorporated large amounts of dust, sand, and SO2 aerosols generated by impacts and volcanism during early martian history. Sulfate formation and chemical weathering of the initial igneous material is hypothesized to have occurred inside of the ice when the darker mineral grains were heated by solar radiant energy. This created conditions in which small films of liquid water were created in and around the mineral grains. This water dissolved the SO2 and reacted with the mineral grains forming an acidic environment under low water/rock conditions. Subsequent sublimation of this ice deposit left behind large amounts of weathered sublimation residue which became the source material for the eolian process that deposited the Terra Meridiani deposit. The following features of the Meridiani sediments are best explained by this model: The large scale of the deposit, its mineralogic similarity across large distances, the cation-conservative nature of the weathering processes, the presence of acidic groundwaters on a basaltic planet, the accumulation of a thick sedimentary sequence outside of a topographic basin, and the low water/rock ratio needed to explain the presence of very soluble minerals and elements in the deposit. Remote sensing studies have linked the Meridiani deposits to a number of other martian surface features through mineralogic similarities, geomorphic similarities, and regional associations. These include layered deposits in Arabia Terra, interior layered deposits in the Valles Marineris system, southern Elysium/Aeolis, Amazonis Planitia, and the Hellas basin, Aram Chaos, Aureum Chaos, and Ioni Chaos. The common properties shared by these deposits suggest that all of these deposits share a common formation process which must have acted over a large area of Mars. The results of this study suggest a mechanism for volatile transport on Mars without invoking an early greenhouse. They also imply a common formation mechanism for most of the sulfate minerals and layered deposits on Mars, which explains their common occurrence.

Niles, P.B.↗

NASA NTRS1992

Parameterization of surface heat fluxes above a forest with satellite thermal sensing

The authors discuss the feasibility of determining the surface flux of sensible heat from forests with surface temperatures measured by satellites together with temperature soundings in the unstable atmospheric boundary layer (ABL). The latent heat flux is derived from the sensible heat flux by means of the energy budget. The study makes use of data collected during HAPEX-MOBILHY (Hydrologic Atmospheric Pilot Experiment-Modelization du Bilan Hydrique). The methodology is based on turbulence similarity for the unstable ABL. The surface temperature data were derived from measurements by the advanced very high resolution radiometer (AVHRR) aboard the NOAA-9 satellite; the atmospheric profiles were obtained by radiosondes.

Brutsaert, Wilfried↗

NASA NTRS1977

Remote sensing and geographically based information systems

The incorporation of remotely sensed digital data in a computer based information system is seen to be equivalent to the incorporation of any other spatially oriented layer of data. The growing interest in such systems indicates a need to develop a generalized geographically oriented data base management system that could be made commercially available for a wide range of applications. Some concepts that distinguish geographic information systems were reviewed, and a simple model which can serve as a conceptual framework for the design of a generalized geographic information system was examined.

Cicone, R. C.↗

NASA NTRS1986

Simulation experiments for gamma-ray mapping of planetary surfaces: Scattering of high-energy neutrons

The concentration and distribution of certain elements in surface layers of planetary objects specify constraints on models of their origin and evolution. This information can be obtained by means of remote sensing gamma-ray spectroscopy, as planned for a number of future space missions, i.e., Mars, Moon, asteroids, and comets. To investigate the gamma-rays made by interactions of neutrons with matter, thin targets of different composition were placed between a neutron-source and a high-resolution germanium spectrometer. Gamma-rays in the range of 0.1 to 8 MeV were accumulated. In one set of experiments a 14-MeV neutron generator using the T(d,n) reaction as neutron-source was placed in a small room. Scattering in surrounding walls produced a spectrum of neutron energies from 14 MeV down to thermal. This complex neutron-source induced mainly neutron-capture lines and only a few scattering lines. As a result of the set-up, there was a considerable background of discrete lines from surrounding materials. A similar situation exists under planetary exploration conditions: gamma-rays are induced in the planetary surface as well as in the spacecraft. To investigate the contribution of neutrons with higher energies, an experiment for the measurement of prompt gamma radiation was set up at the end of a beam-line of an isochronous cyclotron.

Brueckner, J.↗

NASA NTRS1986

The NCAR Airborne Infrared Lidar System (NAILS)

A planned airborne lidar system is presented which is intended to provide a remote sensing facility for a variety of applications. The eventual goal of the system development is a Doppler wind measurement capability for boundary layer dynamics and cloud physics applications. The first stage of development is focused initially on a direct detection lidar to measure aerosol profiles and depolarization from cloud backscatter. Because of the Doppler goal, interest in larger particles to define the top of the mixed layer, and eye safety, the first stage of the system is based on a pulsed CO2 laser. A compact, relatively simple and inexpensive system that achieves flexibility to meet the data requirements of a variety of investigators by being easily modified rather than having many different capabilities built in is the goal. Although the direct detection sensitivity is less than that for heterodyne detection, the simpler system allows the achievement of useful scientific results and operating experience towards more complex lidars while staying within budget and time constraints.

Schwiesow, R. L.↗

NASA NTRS1997

Microfabricated Ice-Detection Sensor

Knowledge of ice conditions on important aircraft lift and control surfaces is critical for safe operation. These conditions can be determined with conventional ice-detection sensors, but these sensors are often expensive, require elaborate installation procedures, and interrupt the airflow. A micromachined, silicon-based, flush-mounted sensor which generates no internal heat has been designed, batch fabricated, packaged, and tested. The sensor is capable of distinguishing between an ice-covered and a clean surface. It employs a bulk micromachined wafer with a 7 micrometer-thick, boron-doped, silicon diaphragm which serves as one plate of a parallel-plate capacitor. This is bonded to a second silicon wafer which contains the fixed electrodes, one to drive the diaphragm by application of a voltage, the other to measure the deflection by a change in capacitance. The diaphragm sizes ranged from 1x1 mm to 3x3 mm, and the gap between parallel-plate capacitors is 2 micrometers. A 200 V d.c. was applied to the driving electrode which caused the capacitance to increase approximately 0.6pf, from a nominal capacitance of 0.6pf, when the surface was ice free. After the sensor was cooled below the freezing point of water, the same voltage range was applied to the drive electrode. The capacitance increased by the same amount. Then a drop of water was placed over the diaphragm and allowed to freeze. This created an approximately 2mm-thick ice layer. The applied 200V d.c. produced no change in capacitance, confirming that the diaphragm was locked to the ice layer. Since the sensor uses capacitive actuation, it uses very little power and is an ideal candidate for inclusion in a wireless sensing system.

DeAnna, Russell G.↗

NASA NTRS1994

Navier-Stokes Calculations For a Venus Composition Probe With Ablation And Wake Radiation

A numerical investigation is carried out to determine the magnitude of wake radiation for a proposed Venus composition probe. One of the scientific goals of the mission is to determine the atmospheric composition of Venus by examining the intensity of scattered sunlight through the wake of the vehicle during planetary entry. In the wake of the vehicle, excited particles generated in the bow shock and boundary layers absorb and emit radiation. Thus, the purpose of this study is to determine if the radiation sensor will be able to sense the incoming solar radiative flux relative to the radiative flux generated in the wake. During portions of the entry trajectory the incident surface heat flux will be high enough to produce significant ablation. Ablation products such as CN are known to be strong radiators. Also, the ablation will be driven by strong radiation emanating from the bow shock. Thus, radiation and ablation will be coupled into the Navier-Stokes flow solutions.

Olynick, David R.↗

NASA NTRS2002

Quadratic Optimization in the Problems of Active Control of Sound

We analyze the problem of suppressing the unwanted component of a time-harmonic acoustic field (noise) on a predetermined region of interest. The suppression is rendered by active means, i.e., by introducing the additional acoustic sources called controls that generate the appropriate anti-sound. Previously, we have obtained general solutions for active controls in both continuous and discrete formulations of the problem. We have also obtained optimal solutions that minimize the overall absolute acoustic source strength of active control sources. These optimal solutions happen to be particular layers of monopoles on the perimeter of the protected region. Mathematically, minimization of acoustic source strength is equivalent to minimization in the sense of L(sub 1). By contrast. in the current paper we formulate and study optimization problems that involve quadratic functions of merit. Specifically, we minimize the L(sub 2) norm of the control sources, and we consider both the unconstrained and constrained minimization. The unconstrained L(sub 2) minimization is certainly the easiest problem to address numerically. On the other hand, the constrained approach allows one to analyze sophisticated geometries. In a special case, we call compare our finite-difference optimal solutions to the continuous optimal solutions obtained previously using a semi-analytic technique. We also show that the optima obtained in the sense of L(sub 2) differ drastically from those obtained in the sense of L(sub 1).

Loncaric, J.↗

NASA NTRS2010

Flexible thin metal film thermal sensing system

A flexible thin metal film thermal sensing system is provided. A self-metallized polymeric film has a polymeric film region and a metal surface disposed thereon. A layer of electrically-conductive metal is deposited directly onto the self-metallized polymeric film's metal surface. Coupled to at least one of the metal surface and the layer of electrically-conductive metal is a device/system for measuring an electrical characteristic associated therewith as an indication of temperature.

Thomsen, Donald L.↗

NASA NTRS2010

Experimental Study of an Inclined Jet-In-Cross-Flow Interacting with a Vortex Generator

An experiment is conducted on the effectiveness of a vortex generator (VG) in preventing lift-off of a jet-in-cross-flow (JICF), with film-cooling application in mind. The jet issues into the boundary layer at an angle of 20 to the free-stream. The effect of a triangular ramp-shaped VG is studied while varying its geometry and location. Detailed flow-field properties are documented for a specific case in which the height of the VG and the diameter of the orifice are comparable to the approach boundary layer thickness. This combination of VG and JICF produce a streamwise vortex pair with vorticity magnitude three times larger (and of opposite sense) than that found in the JICF alone. Such a VG appears to be most effective in keeping the jet attached to the wall. While most of the data are taken at a jet-to-freestream momentum flux ratio (J) of 2, limited surveys are done for varying J. The VG is found to have a significant effect even at the highest J (=11) covered in the experiment. Effect of parametric variation is studied mostly from surveys ten diameters downstream from the orifice. When the VG height is halved there is a lift-off of the jet. On the other hand, when the height is doubled, the jet core is dissipated due to larger turbulence intensities. Varying the location of the VG, over a distance of three diameters from the orifice, is found to have little impact. Rounding off the edges of the VG with increasing radius of curvature progressively diminishes the effect. However, a small radius of curvature may be quite tolerable in practice.

Zaman, K. B. M. Q.↗

NASA NTRS2018

A13H-2537: Above Cloud Aerosol Optical Properties in the South East Atlantic from airborne observations during ORACLES

Aerosol overlying marine stratocumulus clouds is a persistent feature in the southeast Atlantic during the biomass burning season, July through November. We sampled aerosol and cloud from an airborne research platform, the NASA P3, during the deployments of ObseRvations of CLouds above Aerosols and their intEractionS (ORACLES) encompassing the peak biomass burning season. We used the Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR) to quantify the aerosol’s optical properties, notably the aerosol optical depth (AOD) by directly measuring the amount of light attenuation. We present an overview of very recent AOD measurements and contrast those to previous deployments. We observed an average AOD at 500 nm of 0.33 (0.30) in September 2016 (August 2017), with similar spatial dependence as observed by the MODIS instrument on board the TERRA and AQUA satellites. We also show full spectral vertical dependence of AOD from flight profiles, which compares favorably to the integrated aerosol extinction profile obtained by the active remote sensing High Spectral Resolution Lidar-2 (HSRL-2). We also present a quantification of the gap extent separating cloud top and aerosol layer bottom. Using hyperspectral transmitted light measurements from 4STAR, in conjunction with hyperspectral hemispheric irradiance measurements from the Solar Spectral Flux Radiometers (SSFR), we retrieved aerosol intensive properties (asymmetry parameter, single scattering albedo), aerosol size distributions, cloud optical depth (COD), cloud particle effective radius, and cloud thermodynamic phase. Cloud properties, also presented here, are obtained from 4STAR measurements of scattered light below clouds.

Samuel E LeBlanc↗