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At least 649 records · Page 36
All sourcesNASA NTRSDOE OSTI
NASA NTRS1998

Real-Time, Interactive Echocardiography Over High-Speed Networks: Feasibility and Functional Requirements

Real-time, Interactive Echocardiography Over High Speed Networks: Feasibility and Functional Requirements is an experiment in advanced telemedicine being conducted jointly by the NASA Lewis Research Center, the NASA Ames Research Center, and the Cleveland Clinic Foundation. In this project, a patient undergoes an echocardiographic examination in Cleveland while being diagnosed remotely by a cardiologist in California viewing a real-time display of echocardiographic video images transmitted over the broadband NASA Research and Education Network (NREN). The remote cardiologist interactively guides the sonographer administering the procedure through a two-way voice link between the two sites. Echocardiography is a noninvasive medical technique that applies ultrasound imaging to the heart, providing a "motion picture" of the heart in action. Normally, echocardiographic examinations are performed by a sonographer and cardiologist who are located in the same medical facility as the patient. The goal of telemedicine is to allow medical specialists to examine patients located elsewhere, typically in remote or medically underserved geographic areas. For example, a small, rural clinic might have access to an echocardiograph machine but not a cardiologist. By connecting this clinic to a major metropolitan medical facility through a communications network, a minimally trained technician would be able to carry out the procedure under the supervision and guidance of a qualified cardiologist.

Bobinsky, Eric A.↗
NASA NTRS2012

Mapping Impervious Surface Expansion using Medium-resolution Satellite Image Time Series: A Case Study in the Yangtze River Delta, China

Cities have been expanding rapidly worldwide, especially over the past few decades. Mapping the dynamic expansion of impervious surface in both space and time is essential for an improved understanding of the urbanization process, land-cover and land-use change, and their impacts on the environment. Landsat and other medium-resolution satellites provide the necessary spatial details and temporal frequency for mapping impervious surface expansion over the past four decades. Since the US Geological Survey opened the historical record of the Landsat image archive for free access in 2008, the decades-old bottleneck of data limitation has gone. Remote-sensing scientists are now rich with data, and the challenge is how to make best use of this precious resource. In this article, we develop an efficient algorithm to map the continuous expansion of impervious surface using a time series of four decades of medium-resolution satellite images. The algorithm is based on a supervised classification of the time-series image stack using a decision tree. Each imerpervious class represents urbanization starting in a different image. The algorithm also allows us to remove inconsistent training samples because impervious expansion is not reversible during the study period. The objective is to extract a time series of complete and consistent impervious surface maps from a corresponding times series of images collected from multiple sensors, and with a minimal amount of image preprocessing effort. The approach was tested in the lower Yangtze River Delta region, one of the fastest urban growth areas in China. Results from nearly four decades of medium-resolution satellite data from the Landsat Multispectral Scanner (MSS), Thematic Mapper (TM), Enhanced Thematic Mapper plus (ETM+) and China-Brazil Earth Resources Satellite (CBERS) show a consistent urbanization process that is consistent with economic development plans and policies. The time-series impervious spatial extent maps derived from this study agree well with an existing urban extent polygon data set that was previously developed independently. The overall mapping accuracy was estimated at about 92.5% with 3% commission error and 12% omission error for the impervious type from all images regardless of image quality and initial spatial resolution.

Gao, Feng↗
NASA NTRS2017

Learning More About Our Earth: An Exploration of NASA's Contributions to Earth Science Through Remote Sensing Technologies

NASA is commonly known for its pioneering work in space exploration and the technological advancements that made access to space possible. NASA is now increasingly known for the agency's research and technologies that support the Earth sciences. This is a presentation focusing on NASA's Earth science efforts told mostly through the technological innovations NASA uses to achieve a greater understanding of the Earth, making it possible to explore the Earth as a system. Enabling this science is NASA's fleet of over two dozen Earth science spacecraft, supported by aircraft, ships and ground observations. NASA's Earth Observing System (EOS) is a coordinated series of polar-orbiting and low inclination satellites for long-term global observations of the land surface, biosphere, solid Earth, atmosphere, and oceans. With the launching of the three flagship satellite missions, Terra, Aqua and Aura, beginning in 1999, NASA's initial Mission to Planet Earth made it possible to measure aspects of the environment that touch the lives of every person around the world. NASA harnessing the unique space-based platform means, fortunately, no planet is better studied than the one we actually live on.

Lindsay, Francis↗
NASA NTRSDate not supplied

Real-Time Science Decisioning During High Tempo-High Intensity Mission Operations and the Role of Analogs

Introduction: NASA’s VIPER mission presents a unique operational paradigm within the history of robotic spaceflight. The proximity of the Moon to the Earth and the terrain elements (surface characteristics, light/shadow dynamics, communication links) of the lunar South Polar landing site create unprecedented operational conditions between these two planetary bodies. Apollo era lunar science and exploration included humans in situ to operate instruments and assimilate observational inputs in real-time. Previous lunar orbital missions have worked to operational timescales, e.g., decisional timelines and communication exchanges, that were weeks in length. Mars rover missions have worked to operational timescales, e.g., decisional timelines and communication exchanges between Mars and Earth, that were hours, days, and weeks in length. In the case of the VIPER mission, our operational decisioning for rover driving and instrument commanding will be compressed to minute-scale timeframes. These operational conditions directly impact the manner and speed with which the VIPER Science Team (VST) is required to synthesize and analyze data and produce timely science-driven decisions throughout surface mission operations. The VST shall provide mission enhancing scientific input to guide rover traverse planning and drill site confirmation and selection throughout surface operations. Further, the VST input will be of vital importance to the mission’s ability to maximize science return and to meet broader NASA objectives for future lunar in-situ resource utilization (ISRU)and exploration activities. The VST co-located in the Mission Science Center (MSC) will be responsive to the tactical operational cadence of the Mission Operations Center (MOC) and will provide further strategic and Long-Term Planning (LTP) guidance to the mission. The VIPER Science Operations & Integration(SO&I)team has developed an architecture that is focused on the infusion of science-decisioning into the operational framework and execution cadence of VIPER. NASA analog research has played a significant role in the construction of the VIPER science operations systems. As an example, the SO&I team has led analog missions that have focused on bringing together expertise in the sciences (natural, applied and social) and in operations in service of learning how to build and hold together interdisciplinary work environments and what tools are needed to support high tempo, high intensity integrated decisioning. These experiences have provided an essential foundation of knowledge to the VIPER team. Those analogs that specifically influenced the VIPER science operations construct were identified through a process of comparative analysis to prioritize those that offered relevance in whole or in part, and those that did not. The analog research output that provided extensibility to the VIPER science operations architecture included remote teams of humans and robots in cooperation (synchronous and asynchronous) with simulated earthbound systems, engineering and science teams, and the integrated assembly of tools that supported scientific analysis and data synthesis and provided infrastructure for the remote testing framework. Analogs which included real-time data monitoring, synthesis, visualization and access in a democratized and operationalized manner were of particular interest to the development of the VIPER MSC toolset both in terms of the technology and the processes used to develop the supporting infrastructure. We anticipate that each subsequent mission to the lunar south pole, whether with robots or humans, will be able to optimize science and exploration return by evolving strategies to infuse real-time collaborative science-decisioning. Furthermore, these efforts will result in a foundation for science operations development in support of human-robotic exploration of deep space and Mars. NASA analogs can continue to provide the opportunity to prepare, test and iterate on the operational concepts and tools that will support these ever-expanding space exploration efforts. Our presentation will include an overview of the VIPER Science Operations & Integration development process and specifics on what aspects of analog research have had a significant impact on our work systems.

D S S Lim↗
NASA NTRS2011

A Vision of Quantitative Imaging Technology for Validation of Advanced Flight Technologies

Flight-testing is traditionally an expensive but critical element in the development and ultimate validation and certification of technologies destined for future operational capabilities. Measurements obtained in relevant flight environments also provide unique opportunities to observe flow phenomenon that are often beyond the capabilities of ground testing facilities and computational tools to simulate or duplicate. However, the challenges of minimizing vehicle weight and internal complexity as well as instrumentation bandwidth limitations often restrict the ability to make high-density, in-situ measurements with discrete sensors. Remote imaging offers a potential opportunity to noninvasively obtain such flight data in a complementary fashion. The NASA Hypersonic Thermodynamic Infrared Measurements Project has demonstrated such a capability to obtain calibrated thermal imagery on a hypersonic vehicle in flight. Through the application of existing and accessible technologies, the acreage surface temperature of the Shuttle lower surface was measured during reentry. Future hypersonic cruise vehicles, launcher configurations and reentry vehicles will, however, challenge current remote imaging capability. As NASA embarks on the design and deployment of a new Space Launch System architecture for access beyond earth orbit (and the commercial sector focused on low earth orbit), an opportunity exists to implement an imagery system and its supporting infrastructure that provides sufficient flexibility to incorporate changing technology to address the future needs of the flight test community. A long term vision is offered that supports the application of advanced multi-waveband sensing technology to aid in the development of future aerospace systems and critical technologies to enable highly responsive vehicle operations across the aerospace continuum, spanning launch, reusable space access and global reach. Motivations for development of an Agency level imagery-based measurement capability to support cross cutting applications that span the Agency mission directorates as well as meeting potential needs of the commercial sector and national interests of the Intelligence, Surveillance and Reconnaissance community are explored. A recommendation is made for an assessment study to baseline current imaging technology including the identification of future mission requirements. Development of requirements fostered by the applications suggested in this paper would be used to identify technology gaps and direct roadmapping for implementation of an affordable and sustainable next generation sensor/platform system.

Horvath, Thomas J.↗
NASA NTRS1983

Investigation of the feasibility of temperature profiling optical diagnostics in the SSME fuel pre-burner

Results of an analytical investigation to determine the feasibility of temperature profiling in the space shuttle main engine (SSME) fuel preburner are presented. In this application it is desirable to measure temperature in the preburner combustor with a remote, nonintrusive optical technique. Several techniques using laser excitation were examined with a consideration of the constraints imposed by optical access in the fuel preburner and the problems associated with operation near the functioning space shuttle engine. The potential performance of practical diagnostic systems based on spontaneous Raman backscattering, laser induced fluorescence, and coherent anti-Stokes Raman spectroscopy were compared analytically. A system using collection of spontaneous Raman backscattering excited by a remotely located 5 to 10 watt laser propagated to the SSME through a small diameter optical fiber was selected as the best approach. Difficulties normally associated with Raman scattering: weak signal strength and interference due to background radiation are not expected to be problematic due to the very high density in this application, and the low flame luminosity expected in the fuel rich hydrogen oxygen flame.

Shirley, J. A.↗
NASA NTRSDate not supplied

Langley Automated Sensor Inter-calibration System (LASICS): Open Access Tools for Satellite Imager Inter-Calibration

Satellite imager calibration teams are tasked with maintaining stable measurement records to facilitate reliable monitoring of geophysical parameters and ensure dependable input for weather forecast models. Satellite imagers are neither uniformly calibrated nor radiometrically scaled to a common reference. Consistent inter-calibration between various earth-orbiting satellite imager pairs is a critical step in the creation of seamless earth-scene reflectance data records over time for input to higher level algorithms that retrieve earth system climate-sensitive properties. Each imager inherently by virtue of its optics (and associated properties like Spectral Response etc.) will have a unique measurement of the same earth-scene reflected signal. A key part of this is the identification and prediction of events where the imager pairs from their respective earth-orbits view the same stable terrestrial targets with nearly identical viewing and solar geometry. Langley Automated Sensor Inter-calibration System (LASICS) will provide the Earth remote sensing community with a foundation for the harmonization of these remote sensing records by the development of an intuitive, user-friendly, interactive web-based open access service that will leverage, an existing extensive and ever-growing database of earth-imager channel spectral response functions, on-demand capabilities for computation and visualization of spectral band adjustment factors using a variety of external hyper-spectral earth observation sources (e.g. SCIAMACHY, GOME-2 for VIS and IASI, AIRS for IR) and a variety of Solar Irradiance Spectra.

Arun Gopalan↗
NASA NTRS1985

NASA's Pilot Land Data System development program

The NASA Pilot Land Data System (PLDS) project is intended to enhance the effectiveness of data processing capabilities used by researchers applying remote sensing data in land science research. Two sites in the centerminous U.S. have been selected as study areas scanned by Landsat, Nimbus and GOES instruments. The data will be analyzed by teams of researchers representing different fields of expertise. The PLDS program will explore data management, networking and communications, system access capabilities, land analysis software, special processes and overall systems engineerng. The data will be processed by researchers working interactively through remote supermicrocomputer workstations using a variety of operating systems and on-site software capabilities.

Price, R. D.↗
NASA NTRS2000

Modeling a Wireless Network for International Space Station

This paper describes the application of wireless local area network (LAN) simulation modeling methods to the hybrid LAN architecture designed for supporting crew-computing tools aboard the International Space Station (ISS). These crew-computing tools, such as wearable computers and portable advisory systems, will provide crew members with real-time vehicle and payload status information and access to digital technical and scientific libraries, significantly enhancing human capabilities in space. A wireless network, therefore, will provide wearable computer and remote instruments with the high performance computational power needed by next-generation 'intelligent' software applications. Wireless network performance in such simulated environments is characterized by the sustainable throughput of data under different traffic conditions. This data will be used to help plan the addition of more access points supporting new modules and more nodes for increased network capacity as the ISS grows.

Alena, Richard↗
NASA NTRS2015

Noctis Landing: A Proposed Landing Site/Exploration Zone for Human Missions to the Surface of Mars

The proposed Noctis Landing Site/Exploration Zone (LS/EZ) is shown in Figure 1. Our preliminary study suggests that the proposed site meets all key Science and Resources (incl. Civil Engineering) requirements. The site is of significant interest, as the EZ not only offers a large number and wide range of regions of interest (ROIs) for short-term exploration, it is also located strategically at the crossroads between Tharsis and Valles Marineris, which are key for long-term exploration. The proposed site contains Regions of Interest (ROIs) that meet the following Science requirements: -­‐ Access to (1) deposits with a high preservation potential for evidence of past habitability and fossil biosignatures and (2) sites that are promising for present habitability. The site presents a wide variety of ROIs qith likely aqueous features and deposits, including sinous channels and valleys, slope gullies, lobate debris aprons, impact craters with lobate ejecta flows, and "bathtub ring" deposits. Neutron spectrometry also suggests hydrogen is present within the topmost 0.3 m or so of 4 to 10 wt% WEH (Water Equivalent Hydrogen). -­‐ Noachian and/or Hesperian rocks in a stratigraphic context that have a high likelihood of containing trapped atmospheric gases. Collapsed canyon rim material with preserved stratigraphy is abundantly present and accessible. -­‐ Exposures of at least two crustal units that have regional or global extents, that are suitable for radiometric dating, and that have relative ages that sample a significant range of martian geological time. Canyons floors in Ius Chasma, Tithonium Chasma, and plateau tops on Tharsis and in Sinai Planum offer access to distinct crustal units of regional extent. -­‐ Access to outcrops with linked morphological and/or geochemical signatures indicative of aqueous or groundwater/ mineral interactions. Iron and sulfur-bearing deposits on canyon floors in Noctis Labyrinthus, and in Ius Chasma (IC) and Tithonium Chasma (TC) offer many such outcrop options. -­‐ Identifiable stratigraphic contacts and cross-cutting relationships from which relative ages can be determined. In place and collapsed canyon walls in NL, TC, and IC offer such opportunities. -­‐ Other types of ROIs include access points to surrounding plateau top areas for longer term regional exploration. A key attribute of the proposed Noctic Landing site is its strategic location to allow the shortest possible surface excusions to Tharsis and Valles Marineris (VM). VM is the feature and region on Mars that exposes the longest record of Mars' geology and evolution through time. Tharsis is the region of Mars that has experienced the longest and most extensive volcanic history, and might still be volcanically active. Some of the youngest lava flows on Mars have been identified on the western flanks of the Tharsis Bulge, i.e., within driving range of future longrange (500 - 1000 km) pressurized rover traverses. The proposed site also contains ROIs that offer the following Resources (incl. Civil Engineering) characteristics: -­‐ Access to raw material that exhibits the potential to (1) be used as feedstock for water-generating in situ resource utilization (ISRU) processes and (2) yield significant quantities (greater than 100 MT) of water. The raw material is likely in the form of hydrated minerals, and possibly ice/regolith mix. The top of the raw material deposit is at the surface. -­‐ Access to a region where infrastructure can be emplaced or constructed. This region is less than 5 km from the LS and contains flat, stable terrain. The region exhibits evidence for an abundant source of loose regolith. Several deep pits in the area combined with the availability of sand suggests that some natural terrain features can be adapted for construction purposes. -­‐ Access to raw material that exhibits the potential to be used as metal feedstock for ISRU and construction purposes. Iron and sulfur-rich mineral surface deposits have been identified in CRISM data in many locations in this area. Noctis Landing is the lowest-altitude location on Mars that straddles both the Tharsis region (above average geothermal gradients) and Valles Marineris (minimal crustal thickness from surface (valley floor) to a subsurface liquid water table. Noctis Landing has the potential for being an ideal site for eventual deep drilling on Mars to access deep subsurface liquid water and potentially encountering extant life. Available data remains insufficient to fully qualify the Noctis Landing site. Additional remote sensing data (visible, Near and Mid-IR, and radar) and surface reconnaissance via a high-mobility robotic rover are recommended. In particular, it will be important to assess the trafficability of the site, and its potential for yielding water and metals as a resource. Access to plateau tops from the Noctis Landing site on the canyon floor should be demonstrated. Future exploration of the site would also be enhanced significantly by the availability of robotic (tele-operatable) surveying and sample-collecting drones. Testing of the use of such collaborative science and exploration technologies should be conducted at terrestrial sites such as the Haughton-Mars Project site on Devon Island, High Arctic, among others. Note: Noctis Landing is not an official Mars nomenclature name for this location. Because the area of the proposed LS/EZ had no name, and because it is close to Noctis Labyrinthus to the West while being distinct from it, the provisional name Noctis Landing is proposed. Noctis means night in Latin.

Lee, Pascal↗
DOE OSTI2024

MDLoader: A Hybrid Model-Driven Data Loader for Distributed Graph Neural Network Training

Scalable data management is essential for processing large scientific dataset on HPC platforms for distributed deep learning. In-memory distributed storage is preferred for its speed, enabling rapid, random, and frequent data access required by stochastic optimizers. Processes use one-sided or collective communication to fetch remote data, with optimal performance depending on (i) dataset characteristics, (ii) training scale, and (iii) interconnection network. Empirical analysis shows collective communication excels with larger mini-batch sizes and/or fewer processes, whereas one-sided communication outperforms at larger scales. We propose MDLoader, a hybrid in-memory data loader for distributed graph neural network training. MDLoader features a model-driven performance estimator that dynamically selects between one-sided and collective communication at the beginning of training using Tree of Parzen Estimators (TPE). Evaluations on NERSC Perlmutter and OLCF Summit show MDLoader outperforms single-backend loaders by up to 2.83 × and predicts the suitable communication method with 96.3% (Perlmutter) and 94.3% (Summit) success rate.

Bae, Jonghyun↗
DOE OSTI2021

Remote Target Engagement System (RTES) Generation 4 ("Gen 4")

RTES is designed to provide teleoperation of remote weapon platform capability at defensive physical protection locations requiring active lethal capabilities for final access denial. Multiple operator consoles allow for coordinated engagement of many weapon platforms by one or more operator consoles. This results in faster response times, increased effectiveness, and increased survivability from removing response force from harm's way increasing survivability. This software is developed against DoD requirements and has been safety and functionally reviewed and approved for operational use. Sandia National Laboratories is a multimission laboratory managed and operated by National Technology & Engineering Solutions of Sandia, LLC, a wholly owned subsidiary of Honeywell International Inc., for the U.S. Department of Energy’s National Nuclear Security Administration under contract DE-NA0003525. SAND2021-1935 O

Klingler, KristopherR.↗
NASA NTRS1987

NASA's use of McIDAS technology - A data systems tool for meteorological research and applications

The Earth Science and Applications Division of the NASA Marshall Space Flight Center has been chartered to conduct research, and to develop and use space technology to gain a basic understanding of the earth processes with emphasis on atmospheric processes. An integral part of the research and development efforts has been the Man computer Interactive Data Access System (McIDAS). The McIDAS computer system has permitted integration of data from satellites, aircraft remote sensors, ground based meteorological data sources, and modeled atmospheric radiances. The result has been an increase in knowlege of mesoscale atmospheric processes and has enabled researchers to recommend improvements and suggestions for planned future remote sensing instruments.

Goodman, H. Michael↗
NASA NTRS2002

High-Resolution Spectroscopic Database for the NASA Earth Observing System Program

The purpose of this project is to develop and enhance the HITRAN molecular spectroscopic database and associated software to support the observational programs of the Earth Observing System (EOS). In particular, the focus is on the EOS projects: the Atmospheric Infrared Sounder (AIRS), the High-Resolution Dynamics Limb Sounder (HIRDLS), Measurements of Pollution in the Troposphere (MOPITT), the Tropospheric Emission Spectrometer (TES), and the Stratospheric Aerosol and Gas Experiment (SAGE III). The data requirements of these programs in terms of spectroscopy are varied, but usually call for additional spectral parameters or improvements to existing molecular bands. In addition, cross-section data for heavier molecular species must be expanded and made amenable to modeling in remote sensing. The effort in the project also includes developing software and distribution to make access, manipulation, and use of HITRAN functional to the EOS program.

Rothman, Laurence S.↗
NASA NTRS2003

High-Resolution Spectroscopic Database for the NASA Earth Observing System Program

The purpose of this project is to develop and enhance the HITRAN molecular spectroscopic database and associated software to support the observational programs of the Earth Observing System (EOS). In particular, the focus is on the EOS projects: the Atmospheric Infrared Sounder (AIRS), the High-Resolution Dynamics Limb Sounder (HIRDLS), Measurements of Pollution in the Troposphere (MOPITT), the Tropospheric Emission Spectrometer (TES), and the Stratospheric Aerosol and Gas Experiment (SAGE III). The HITRAN program is also involved in the Ozone Monitoring Experiment (OMI). The data requirements of these programs in terms of spectroscopy are varied with respect to constituents being observed, required remote-sensing parameters, and spectral coverage. A general requisite is for additional spectral parameters and improvements to existing molecular bands sufficient for the simulation of the observations leading to retrieval of the atmospheric state. In addition, cross-section data for heavier molecular species must be expanded and made amenable to modeling in remote sensing. The effort in the project also includes developing software and distribution to make access, manipulation, and use of HITRAN functional to the EOS program.

Rothman, Laurence↗
NASA NTRS2004

High-Resolution Spectroscopic Database for the NASA Earth Observing System Program

The purpose of this project is to develop and enhance the HITRAN molecular spectroscopic database and associated - software to support the observational programs of the Earth observing System (EOS). In particular, the focus is on the EOS projects: the Atmospheric Infrared Sounder (AIRS), the High-Resolution Dynamics Limb Sounder (HIRDLS), Measurements of Pollution in the Troposphere (MOPITT), the Tropospheric Emission Spectrometer (TES), and the Stratospheric Aerosol and Gas Experiment (SAGE III). The HITRAN program is also involved in the Ozone Monitoring Experiment (OMI). The data requirements of these programs in terms of spectroscopy are varied with respect to constituents being observed, required remote-sensing parameters, and spectral coverage. A general requisite is for additional spectral parameters and improvements to existing molecular bands sufficient for the simulation of the observations leading to retrieval of the atmospheric state. In addition cross-section data for heavier molecular species must be expanded and made amenable to modeling in remote sensing. The effort in the project also includes developing software and distribution to make access, manipulation, and use HITRAN functional to the EOS program.

Rothman, Laurence S.↗
NASA NTRS2004

High Resolution Spectroscopic Database for the NASA Earth Observing System Program

The purpose of this project has been to develop and enhance the HITRAN molecular spectroscopic database and associated software to support the observational programs of the Earth Observing System (EOS). Emphasis has been on the EOS projects: the Atmospheric Infrared Sounder (AIRS), the High-Resolution Dynamics Limb Sounder (HIRDLS), Measurements of Pollution in the Troposphere (MOPITT), the Tropospheric Emission Spectrometer (TES), and the Stratospheric Aerosol and Gas Experiment (SAGE III). The HITRAN program is also involved in the Ozone Monitoring Experiment (OMI). The data requirements of these programs in terms of spectroscopy are varied with respect to constituents being observed, required remote-sensing parameters, and spectral coverage. A general requisite is for additional spectral parameters and improvements to existing molecular bands sufficient for the simulation of the observations leading to retrieval of the atmospheric state. In addition, cross-section data for heavier molecular species must be expanded and made amenable to modeling in remote sensing. The effort in the project also includes developing software and distribution to make access, manipulation, and use of HITRAN functional to the EOS program.

Rothman, Laurence↗
NASA NTRS2007

Robot Would Climb Steep Terrain

This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

Kennedy, Brett↗