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All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

FORTRAN programs to process Magsat data for lithospheric, external field, and residual core components

The FORTRAN programs supplied in this document provide a complete processing package for statistically extracting residual core, external field and lithospheric components in Magsat observations. To process the individual passes: (1) orbits are separated into dawn and dusk local times and by altitude, (2) passes are selected based on the variance of the magnetic field observations after a least-squares fit of the core field is removed from each pass over the study area, and (3) spatially adjacent passes are processed with a Fourier correlation coefficient filter to separate coherent and non-coherent features between neighboring tracks. In the second state of map processing: (1) data from the passes are normalized to a common altitude and gridded into dawn and dusk maps with least squares collocation, (2) dawn and dusk maps are correlated with a Fourier correlation efficient filter to separate coherent and non-coherent features; the coherent features are averaged to produce a total field grid, (3) total field grids from all altitudes are continued to a common altitude, correlation filtered for coherent anomaly features, and subsequently averaged to produce the final total field grid for the study region, and (4) the total field map is differentially reduced to the pole.

Alsdorf, Douglas E.↗
NASA NTRS2011

Nakhla: a Martian Meteorite with Indigenous Organic Carbonaceous Features

The Nakhla meteorite possesses discrete, well defined, structurally coherent morphologies of carbonaceous phases present within iddingsite alteration zones. Based upon both isotopic measurements and analysis of organic phases the presence of pre-terrestrial organics is now recognized. Within the microcrystalline layers of Nakhla s iddingsite, discrete clusters of salt crystals are present. These salts are predominantly halite (NaCl) with minor MgCl2 crystals. Some CaSO4, likely gypsum, appears to be partially intergrown with some of the halite. EDX mapping shows discrete C-rich features are interspersed among these crystals. A hollow semi-spherical bowl structure (~ 3 m ) has been identified and analyzed after using a focused ion beam (FIB) to cut a transverse TEM thin section of the feature and the underlying iddingsite. TEM/EDX analysis reveals that the feature is primarily carbonaceous containing C with lesser amounts of Si, S, Ca, Cl, F, Na, and minor Mn and Fe; additionally a small peak consistent with N, which has been previously seen in Nakhla carbonaceous matter, is also present. Selected area electron diffraction (SAED) shows that this C-rich material is amorphous (lacking any long-range crystallographic order) and is not graphite or carbonate. Micro-Raman spectra acquired from the same surface from which the FIB section was extracted demonstrate a typical kerogen-like D and G band structure with a weak absorption peak at 1350 and a stronger peak at 1600/cm. The C-rich feature is intimately associated with both the surrounding halite and underlying iddingsite matrix. Both iddingsite and salts are interpreted as having formed as evaporate assemblages from progressive evaporation of water bodies on Mars. This assemblage, sans the carbonaceous moieties, closely resembles iddingsite alteration features previously described which were interpreted as indigenous Martian assemblages. These distinctive macromolecular carbonaceous structures in Nakhla may represent one of the sources of the high molecular weight organic material previously identified in Nakhla. While we do not speculate on the origin of these unique carbonaceous structures, we note that the significance of such observations is that it may allow us to construct a C-cycle for Mars based on the C chemistry of the Martian meteorites with obvious implications for astrobiology and the prebiotic evolution of Mars. In any case, our observations strongly suggest that organic C exists as micrometersize, discrete structures on Mars.

McKay, D. S.↗
NASA NTRS2000

Topography of Small Volcanoes at the Margin of the Mars North Polar Cap

Putative volcanic craterforms have been observed in the north polar region of Mars since Mariner 9. Hodges and Moore described some of these features for the region they called the 'Borealis Volcanic Field', and suggested that several were formed as a consequence of magma-ice or magmawater interactions. Mars Orbiter Laser Altimeter (MOLA) topographic measurements confirm suggest that the features are unlikely to be of impact origin, and that there are many more of them present around the north polar cap than suspected from images alone. Analysis of one of the larger features--suggested by Hodges and Moore to represent a hydromagmatic explosion crater or maar--showed topographic characteristics more similar to a terrestrial small basaltic shield volcano, possibly of recent origins. Recent work with the MOLA topography has also suggested that the possible volcanic extent of the Borealis Field is substantially larger in both number and range than previously mapped. Since the majority of these features are within 100 km of the present edge of the northern residual polar cap, and several extend into the Chasma Boreale cap re-entrant, they are some of the best Mars candidates for possible magma-water or magma-ice interactions. However, so far, these features have not displayed the expected average slope or other characteristics predicted for martian hydrovolcanic features, or even martian explosive volcanic features. Here, we show some of the range of feature types observed in the topography, along with their characteristic topographic measurements, and compare them to terrestrial and martian volcanic features. Additional information is contained in the original extended abstract.

Sakimoto, S. E. H.↗
NASA NTRS2013

Thermal Analysis of Unusual Local-scale Features on the Surface of Vesta

At 525 km in mean diameter, Vesta is the second-most massive object in the main asteroid belt of our Solar System. At all scales, pyroxene absorptions are the most prominent spectral features on Vesta and overall, Vesta mineralogy indicates a complex magmatic evolution that led to a differentiated crust and mantle [1]. The thermal behavior of areas of unusual albedo seen on the surface at the local scale can be related to physical properties that can provide information about the origin of those materials. Dawn's Visible and Infrared Mapping Spectrometer (VIR) [2] hyperspectral images are routinely used, by means of temperature-retrieval algorithms, to compute surface temperatures along with spectral emissivities. Here we present temperature maps of several local-scale features of Vesta that were observed by Dawn under different illumination conditions and different local solar times.

Tosi, F.↗
NASA NTRS1989

First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Krotkov, E.↗
DOE OSTI2026

Automated Classification of Vehicle Movements at Signalized Intersections Using Vehicle Trajectories

Accurate vehicle movement classification through signalized intersections is of paramount importance to the analysis of intersection performance and the optimization of traffic control strategies. Conventional techniques for tracking vehicle turning movements depend on infrastructure-based strategies like human counts, loop detectors, and video analytics, all of which are costly, prone to errors, and spatially constrained. High-frequency trajectory data can be utilized to determine vehicle movement patterns in a scalable and infrastructure-independent method due to the adoption of connected vehicles (CVs). In recent years, several studies have utilized connected vehicle data to generate performance measures. Most of the trajectory-based performance measures approaches, however, require map matching-i.e., extracting geospatial references from maps to identify the movements that individual vehicles make at a signalized intersection. These approaches are often time-consuming and hinder scalability since geographic features need to be provided for an analysis to be conducted. Map matching methods are prone to errors as different map versions change these geographic features. This research presents a novel automatic classification pipeline that uses CV trajectory data to classify vehicle movements at signalized crossings, specifically pass-through left-turn and right-turn maneuvers. The process starts by filtering trips that cross a spatial bounding box that has been defined at the target intersection. Approach and departure headings for each trajectory crossing the boundary are computed and are clustered together to identify dominant movements. The proposed algorithm is used to classify the movement of vehicles at 10 intersections in the state of California, and the results indicate that the algorithm can classify movements at these intersections with varying traffic volumes and road network configurations, all in a map-less framework with no need for conflation of vehicle trajectories to a digital base map.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS2021

Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Motion approach into a local, robot-centric, multi-resolution elevation map of the overflown terrain, which fuses depth measurements according to their lateral surface resolution (pixel-footprint) in a probabilistic framework based on the concept of dynamic Level of Detail. Map aggregation only requires depth maps and the associated poses, which are obtained from an on-board Visual Odometry algorithm. An efficient landing site detection method then exploits the features of the underlying multi-resolution map to detect safe landing sites based on the slope, roughness, and quality of the reconstructed terrain surface. The evaluation of the performance of the mapping and landing site detection modules are analyzed independently and jointly in simulated and realworld experiments in order to establish the efficacy of the proposed approach.

Brockers, Roland↗
NASA NTRS2022

New Rover Conops with High-Performance Onboard Computing: Give Up Raw Data to Reduce Ops Cost and Do More Science

A major portion of time during the tactical operation of Mars rovers is spent for selecting, prioritizing, and coordinating sciences and engineering activities such that they fit within resource constraints, including the downlink data volume, energy, and time. In particular, the downlink data volume constraint is getting particularly tighter in recent missions because modern instruments produce increasingly high data volume while the communication bandwidth is essentially bounded by the law of physics. Tactical operation would be substantially simplified, hence the operation cost could be reduced, if the data volume constraint is relaxed or even removed. In this abstract, we propose a new operation paradigm for achieving this goal. The key observation is that, both in science and engineering applications, the bit size of raw data is typically much greater than the volume of processed information that is needed for scientific or engineering analysis. For example, a full-resolution image from Mastcam-Z, the main science camera on Perseverance, is about 700 kB in volume and we downlinked 29,685 images up to Sol 243, totaling ~20 GB of data. But of course, scientists do not use every pixel of these images; what they really look for in the images are geological features, typically represented by specific geometric configurations or textures. An end product after processing hundreds of Mascam-Z images could be a single geological map summarizing the spatial distribution of the features. For another example, a 100-meter drive of Perseverance produces 7-12 MB of drive telemetry, which records every detail of the rover's motion at 8 Hz, including position, attitude, steering angles, encoder readings, motor currents and many other information. But what the ground engineers eventually pay attention to is the signs of anomaly, such as excessive motor currents or high slip; if a drive is nominal, the vast majority of this data is unused. What if, then, we process the raw data onboard and only downlink the processed data that is relevant to scientific or engineering analyses, such as a list of detected science features (with cropped images) or a list of potential signs of anomaly while driving? A major roadblock for such onboard, high-level information processing has been the onboard computational resource. RAD750, the main onboard computer of Perseverance, is obviously not sufficient for performing complex image or signal processing such as object detection, semantic segmentation, or anomaly detection. Interestingly, RAD750 is not the best processor that Perseverance has; Qualcomm's Snapdragon 801, a modern mobile processor, is on her Heli Base Station, a device for communicating with Mars Helicopter Ingenuity; also, Intel's Atom E3845 processors are on engineering cameras. In the reminder of this paper, we will introduce two particular uses cases of these high-performance co-processors (meaning auxiliary CPU, GPU, or other types of processors that are separate from the main processor that runs the main flight software) for lowering operation cost and accommodating more science activities for a given communication constraint.

Didier, A.↗
NASA NTRS1973

Preliminary albedo map of the south polar region

A preliminary albedo map of the Martian south polar region in stereographic projection was prepared mainly from mission test video system (MTVS) prints before rectified and gridded prints were received, but some adjustments were made to conform with a semi-controlled photomosaic. Wherever possible, use also was made of crater coordinates. Two versions of the map are presented: one with a coordinate grid overlay and one without it. The precision of the coordinates is generally within 1 deg in latitude and the corresponding are in longitude. The maps show both the albedo markings and, with subdued contrast, the craters and topographic features that are necessary to locate the former. The map covers the range of latitudes from - 65 deg to the south pole.

Devaucouleurs, G.↗
NASA NTRS1976

Martian albedo feature variations with season - Data of 1971 and 1973

A qualitative and quantitative study of some recent seasonal and secular albedo variations on Mars is presented, based on improved red-filter photographs obtained during the 1971 and 1973 apparitions. The measurement of albedo features showing significant changes and uncommonly bright areas is described in detail. Photographic differential photometry of 21 albedo features in three longitude regions is also discussed. The major findings are: (1) seasonal differences of the mean brightness ratios for most features were consistent with contrast changes shown on photographic maps, (2) seasonal variations of brightness with latitude and region occurred, (3) most albedo features were more variable during southern spring than summer, (4) a general loss of relative contrast was experienced during southern summer, and (5) no systematic dependence on solar phase angle was detected within the range spanned by both sets of photographs. Possible causes of the variations are considered.

Capen, C. F., Jr.↗
NASA NTRS1971

Geological features in Wyoming from Nimbus 1

The identification of ground features in Nimbus photography by comparisons with geology, soils, and vegetation maps is discussed for the Wyoming-Colorado area. It is concluded that in a semiarid region, high topographic relief shows good coassociation with exposed geology and with vegetation and, to a lesser degree, with soils types. In lower, flatter basins, most tonal patterns are related to subtle variations in soil color and vegetation cover. It is thought that maps based on spectral parameters as the proper descriptor of surface features may be required.

Short, N. M.↗
NASA NTRS1998

New Insights into Coronae Evolution: Mapping on Venus

Coronae are geologically and geophysically important features on Venus, since they are thought to contribute to planetary heat loss. It is thus necessary to understand their role in space and time in the evolution of Venus. We show that the formation of corona annuli can be multistaged and that the position of the annulus does not always coincide with the main topographic ridges and troughs that outline the feature. We demonstrate that coronae do not all have the same relative ages with respect to adjacent units.

coronae↗
NASA NTRS1991

Naming the newly found landforms on Venus

The mapping of Venus is unique in the history of cartigraphy; never has so much territory been discovered and mapped in so short a period of time. Therefore, in the interest of international scientific communication, there is a unique urgency to the development of a system of names for surface features on Venus. The process began with the naming of features seen on radar images taken from Earth and continued through mapping expeditions of the U.S. and U.S.S.R. However, the Magellan Mission resolves features twenty-five times smaller than those mapped previously, and its radar data will cover an area nearly equivalent to that of the continents and the sea-floors of the Earth combined. The International Astronomical Union (IAU) was charged with the formal endorsement of names of features on the planets. Proposed names are collected, approved, and applied through the IAU Working Group for Planetary System Nomenclature (WGPSN) and its task groups, prior to IAU approval by the IAU General Assembly. Names approved by the WGPSN and its task groups, prior to final approval may be used on published maps and articles, provided that their provisional nature is stipulated. The IAU has established themes for the names to be used on each of the planets; names of historical and mythological women are used on Venus. Names of political entities and those identified with active religions are not acceptable, and a person must have been deceased for three years or more to be considered. Any interested person may propose a name for consideration by the IAU.

Batson, R. M.↗
NASA NTRS2005

The Atmospheres of Saturn and Titan in the Near-Infrared: First Results of Cassini/VIMS

The wide spectral coverage and extensive spatial, temporal, and phase-angle mapping capabilities of the Visual Infrared Mapping Spectrometer (VIMS) onboard the Cassini-Huygens Orbiter are producing fundamental new insights into the nature of the atmospheres of Saturn and Titan. For both bodies, VIMS maps over time and solar phase angles provide information for a multitude of atmospheric constituents and aerosol layers, providing new insights into atmospheric structure and dynamical and chemical processes. For Saturn, salient early results include evidence for phosphine depletion in relatively dark and less cloudy belts at temperate and mid-latitudes compared to the relatively bright and cloudier Equatorial Region, consistent with traditional theories of belts being regions of relative downwelling. Additional Saturn results include (1) the mapping of enhanced trace gas absorptions at the south pole, and (2) the first high phase-angle, high-spatial-resolution imagery of CH4 fluorescence. An additional fundamental new result is the first nighttime near-infrared mapping of Saturn, clearly showing discrete meteorological features relatively deep in the atmosphere beneath the planet's sunlit haze and cloud layers, thus revealing a new dynamical regime at depth where vertical dynamics is relatively more important than zonal dynamics in determining cloud morphology. Zonal wind measurements at deeper levels than previously available are achieved by tracking these features over multiple days, thereby providing measurements of zonal wind shears within Saturn's troposphere when compared to cloudtop movements measured in reflected sunlight. For Titan, initial results include (1) the first detection and mapping of thermal emission spectra of CO, CO2, and CH3D on Titan's nightside limb, (2) the mapping of CH4 fluorescence over the dayside bright limb, extending to approximately 750 km altitude, (3) wind measurements of approximately 0.5 ms(exp -1), favoring prograde, from the movement of a persistent (multiple months) south polar cloud near 88 deg S latitude, and (4) the imaging of two transient mid-southern-latitude cloud features.

Cassini Mission↗
NASA NTRS1993

Pargo Chasma and its relationship to global tectonics

Pargo Chasma was first identified on Pioneer Venus data as a 10,000 km long lineation extending from Atla Regio in the north terminating in the plains south of Phoebe Regio. More recent Magellan data have revealed this feature to be one of the longest chains of coronae so far identified on the planet. Stofan et al have identified 60 coronae and 2 related features associated with this chain; other estimates differ according to the classification scheme adopted, for example Head et al. identify only 29 coronae but 43 arachnoids in the same region. This highlights one of the major problems associated with the preliminary mapping of the Magellan data: there has been an emphasis on identifying particular features on Venus without a universally accepted scheme to classify those features. Nevertheless, Pargo Chasma is clearly identified as a major tectonic belt of global significance. Together with the Artemis-Atla-Beta tectonic zone and the Beta-Phoebe rift belt, Pargo Chasma defines a region on Venus with an unusually high concentration of tectonic and volcanic features. Thus, an understanding of the processes involved in the formation of Pargo Chasma may lend significant insight into the evolution of the region and the planet as a whole. I have produced a detailed 1 to 10 million scale map of Pargo Chasma and the surrounding area from preliminary USGS controlled mosaiced image maps of Venus constructed from Magellan data. In view of the problems highlighted above in relation the efforts already made at identifying a particular set of features I have mapped the region purely on the basis of the geomorphology visible in the magellan data without any attempt at identifying a particular set or class of features. Thus, the map produced distinguishes between areas of different brightness and texture. This has the advantage of highlighting the tectonic fabric of Pargo Chasma and clearly illustrates the close inter-relationship between individual coronae and the surrounding tectonic belts.

Ghail, R. C.↗
NASA NTRS2011

Object-Based Mapping of the Circumpolar Taiga-Tundra Ecotone with MODIS Tree Cover

The circumpolar taiga tundra ecotone was delineated using an image-segmentation-based mapping approach with multi-annual MODIS Vegetation Continuous Fields (VCF) tree cover data. Circumpolar tree canopy cover (TCC) throughout the ecotone was derived by averaging MODIS VCF data from 2000 to 2005 and adjusting the averaged values using linear equations relating MODIS TCC to Quickbird-derived tree cover estimates. The adjustment helped mitigate VCF's overestimation of tree cover in lightly forested regions. An image segmentation procedure was used to group pixels representing similar tree cover into polygonal features (segmentation objects) that form the map of the transition zone. Each polygon represents an area much larger than the 500 m MODIS pixel and characterizes the patterns of sparse forest patches on a regional scale. Those polygons near the boreal/tundra interface with either (1) mean adjusted TCC values from5 to 20%, or (2) mean adjusted TCC values greater than 5% but with a standard deviation less than 5% were used to identify the ecotone. Comparisons of the adjusted average tree cover data were made with (1) two existing tree line definitions aggregated for each 1 degree longitudinal interval in North America and Eurasia, (2) Landsat-derived Canadian proportion of forest cover for Canada, and (3) with canopy cover estimates extracted from airborne profiling lidar data that transected 1238 of the TCC polygons. The adjusted TCC from MODIS VCF shows, on average, less than 12% TCC for all but one regional zone at the intersection with independently delineated tree lines. Adjusted values track closely with Canadian proportion of forest cover data in areas of low tree cover. A comparison of the 1238 TCC polygons with profiling lidar measurements yielded an overall accuracy of 67.7%.

Ranson, K. J.↗
DOE OSTI2024

AXI4MLIR: User-Driven Automatic Host Code Generation for Custom AXI-Based Accelerators

Tensor algebra operations represent an important class of algorithms used across many applications, including machine learning, scientific computing, and data analytics. As a result, the efficient generation of custom accelerators for tensor operations has received increased attention. Previous efforts have produced automated tools enabling users to prototype and explore optimized accelerators. However, little effort has been focused on the host-accelerator interaction in these tools. Efficient use of hardware accelerators requires knowledge about the accelerator's capabilities (operations, data formats, and opcode support), the host CPU microarchitecture (e.g., memory hierarchy), the host-accelerator interface, and the application's features (which code regions should be mapped onto an accelerator). Manually rewriting the original applications to facilitate improved custom accelerator mapping is an error-prone and time-consuming endeavor. To cope with this, we propose AXI4MLIR, a new framework to automatically generate and optimize the communication between the host CPU and arbitrary accelerators that implement linear algebra algorithms. AXI4MLIR extends the MLIR compiler framework to automatically generate efficient host-accelerator driver code for accelerators with AXI-based interfaces. Our compiler extensions enable automatic driver code generation while carefully considering the host's memory hierarchy and target accelerator features. To demonstrate the flexibility and utility of AXI4MLIR, we test it with diverse use cases that include different types of accelerators, tiling scenarios, and dataflow schemes. We compare our experimental results to manual implementations of host-accelerator driver code and find that our approach can reduce CPU cache references by 56% and deliver up to a 1.65x speedup.

Bohm Agostini, Nicolas↗
DOE OSTI2021

Field validation of an actuated convergent-beam acoustic Doppler profiler for high resolution flow mapping

Abstract Energetic river and tidal flow environments feature complex hydrodynamic conditions. Conventional acoustic Doppler profiling instrumentation typically requires assumptions of flow homogeneity over the spatial scales of the divergent beam separation. This removes the ability to measure spatio-temporal variability within the flow. However, velocity variability within these spatial scales is often important in the design of structures and devices exposed to such flow, informing dynamic and peak hydrodynamic load predictions. The research presented outlines the development and testing of a flow measurement instrument consisting of multiple spatially-separated single beam acoustic Doppler profilers converging on a remote focal point, the location of which can be programmatically adjusted through actuation. This increases the spatial resolution at which remote field measurements can be made in energetic flow environments. Field testing of the instrument was conducted in a tidal channel at Sequim Bay Inlet, WA, USA. Results are compared with independent reference measurements made by a co-located, motion-corrected acoustic Doppler velocimeter. This comparison, across tidal velocities of 0.4–0.7 m s −1 , showed a mean velocity error of 0.5%–13.2% across nine sample locations within a 3.00 m × 2.25 m plane. To the authors’ knowledge, this is the first publication of flow velocity results from non-intrusive acoustic measurements at an off-axis, focal point location that features 3D positional control.

13 HYDRO ENERGY↗