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NASA NTRS2008

The Telesupervised Adaptive Ocean Sensor Fleet (TAOSF) Architecture: Coordination of Multiple Oceanic Robot Boats

Earth science research must bridge the gap between the atmosphere and the ocean to foster understanding of Earth s climate and ecology. Ocean sensing is typically done with satellites, buoys, and crewed research ships. The limitations of these systems include the fact that satellites are often blocked by cloud cover, and buoys and ships have spatial coverage limitations. This paper describes a multi-robot science exploration software architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF supervises and coordinates a group of robotic boats, the OASIS platforms, to enable in-situ study of phenomena in the ocean/atmosphere interface, as well as on the ocean surface and sub-surface. The OASIS platforms are extended deployment autonomous ocean surface vehicles, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). TAOSF allows a human operator to effectively supervise and coordinate multiple robotic assets using a sliding autonomy control architecture, where the operating mode of the vessels ranges from autonomous control to teleoperated human control. TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for robotic asset tasking, control, and monitoring. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). We discuss the overall TAOSF architecture, describe field tests conducted under controlled conditions using rhodamine dye as a HAB simulant, present initial results from these tests, and outline the next steps in the development of TAOSF.

sensor web↗

NASA NTRS2016

Indigenous Carbonaceous Matter in the Nakhla Mars Meteorite

Detailed microanalysis of the Martian meteorite Nakhla has shown there are morphologically distinct carbonaceous features spatially associated with low-T aqueous alteration phases including salts and id-dingsite. A comprehensive suite of analytical instrumentation including optical microscopy, field emission scanning electron microscopy (FESEM), energy dispersive X-ray (EDX) spectroscopy, focused ion beam (FIB) microscopy, transmission electron microscopy (TEM), two-step laser mass spectrometry (mu-L(sup 2)MS), laser mu-Raman spectroscopy, Fourier transform infrared spectroscopy (FTIR), and nanoscale secondary ion mass spectrometry (NanoSIMS) are being used to characterize the carbonaceous matter and host mineralogy. The search for carbonaceous matter on Mars has proved challenging. Viking Landers failed to unambiguously detect simple organics at either of the two landing sites although the Martian surface is estimated to have acquired at least 10(exp15) kg of C as a consequence of meteoritic accretion over the last several Ga. The dearth of organics at the Martian surface has been attributed to various oxidative processes including UV photolysis and peroxide activity. Consequently, investigations of Martian organics need to be focused on the sub-surface regolith where such surface processes are either severely attenuated or absent. Fortuitously since Martian meteorites are derived from buried regolith materials they provide a unique opportunity to study Martian organic geochemistry.

Clemett, S. J.↗

NASA NTRS2017

Analysis of Mixed Aryl/Alkyl Esters by Pyrolysis Gas Chromatography-Mass Spectrometry in the Presence of Perchlorate

Mars is an important target for Astrobiology. A key goal of the MSL mission was to determine whether Mars was habitable in the past, a que-tion that has now been definitely determined to be yes. Another key goal for Mars exploration is to understand the origin and distribution of organic material on Mars; this question is being addressed by the SAM instrument on MSL, and will also be informed by two upcoming Mars exploration missions, ExoMars and Mars 2020. These latter two missions have instrumentation capable of detecting and characterize organic molecules. Over the next decade, these missions will analyze organics in surface, near-surface and sub-surface samples. Each mission has the capability to analyze organics by different methods (pyrolysis gas chromatography-mass spectrometry [py-GC-MS]; laser desorption and thermal volatilization GC-MS; and Raman spectroscopy). Plausibly extraterrestrial organics were recently discovered by the Mars Science Laboratory (MSL), providing an important first step towards understanding the organic inventory on Mars [1]. The compounds detected were chlorobenzenes and chloroalkanes, but it was argued that chlorination of these compounds occurred during pyrolysis of samples containing unchlorinated organics in the presence of perchlorate. A recent report analyzed a suite of aromatic (benzene, toluene, benzoic acid, phthalic acid, and mellitic acid) and aliphatic (acetic acid, propane, propanol, and hexane) by pyrolysis under SAM-like conditions in the presence of perchlorate to attempt to constrain possible precursor molecules for the organic molecules detected on Mars. For aromatic compounds, the aromatic acids all readily produced SAM-relevant chlorobenzes, whereas benzene and toluene did not. This observation suggests that the chlorobenzene detected on Mars could have derived from compounds like mellitic acid, consistent with the previous hypothesis by Benner et al. [3]. Among the aliphatic molecules, it was shown that pyrolysis of alkanes and alcohols in the presence of perchlorates produced polychlorine containing chloro-alkanes similar to what was observed on Mars. Surpris-ingly, however, similar treatment of acetic acid pro-duced chloroketones, instead, and no chloroalkanes were reported. This suggests that the chloroalkanes detected in the Sheepbed mudstone were not derived from aliphatic carboxylic acids, but instead were from more reduced alcohols or even alkanes, or perhaps were degradation products of more complicated organic material. Because organics analyses on mars will rely heavily on py-GC-MS of perchlorate-containing samples over the next decade, it is important to understand the fate of organic molecules of biotic and abiotic origin under such conditions. In this work we begin a series of experiments to improve our understanding of products generated during py-GC-MS of increasingly complex organic molecules (esters, amides, peptides, nucleic acids, fatty acids) in the presence of perchlorate.

Burton, A. S.↗

NASA NTRS2023

Assessing High Resolution Thermal Monitoring of Complex Intertidal Environments From Space: the Case of ECOSTRESS at Rias Baixas, NW Iberia

Currently, thermal sensors on satellites and other orbital platforms with high spatial resolution designed to monitor the oceans are often insufficient to assess the surface temperature of small bodies of water or within the coastal boundary layer. As the accuracy and sensitivity of remote sensing satellites improve, the demand for more accurate and up-to-date basic data sets for calibration increases. The quality of the thermal data collected by ECOSTRESS on the International Space Station allows the characterization of thermal stress levels in coastal ecosystems with a high spatial resolution of 70 m and a return time from hours to 5 days. This study focused on the calibration of ECOSTRESS estimates with in situ surface temperature data from sensors installed at 3 cm depth in the sediment on the intertidal muddy sandflats of three of the Rías Baixas in Galicia, NW Iberian Peninsula, from 2019 to 2021. A final number of 45 ECOSTRESS temperature images were analyzed. From these, 20% contained substantial georeferencing errors which had to be corrected manually with GIS software tools. We applied the Fourier's law of Heat Conduction to derive surface estimates from loggers sub-surface measurements that could be directly compared with ECOSTRESS data. Overall, a good calibration which explained more than 80% of ECOSTRESS temperature estimates for the whole dataset was obtained, but with an intrinsic cold bias around 1.39 °C. When temperatures at a depth of 3 cm were used, the linear fit became worse and the negative bias increased to 1.49 °C. Closer inspection revealed that night measurements were responsible for this larger deviation, as ECOSTRESS estimates became much colder compared to within sediment measurements because of the combined effect of the instrument intrinsic bias and nocturnal surface cooling. The best calibration was obtained when surface estimates were calculated just for the nighttime, as the cold bias decreased to 0.93 °C. More importantly, during hot daytime conditions in emersion above 20 °C, ECOSTRESS data matched surface temperature estimates, probably because of a better performance of ECOSTRESS algorithm at dry surfaces with lower emissivity. Thus, during the most ecologically relevant periods when high temperatures could drive thermal stress in many commercially-important bivalve species, ECOSTRESS provides accurate surface estimates that can be used to derive sub surface temperatures at the depths at which the different burrowing organisms live. We thus conclude that this instrument constitutes an important global tool to examine thermal stress at an unprecedented spatial scale for complex sea-land boundary systems.

ECOSTRESS↗