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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.↗

NASA NTRS1989

Spectral mapping of Alaskan ophiolites using Landsat Thematic Mapper data

Ophiolites are sections of oceanic lithosphere that have been exposed by thrusting in mountain belts. Thematic Mapper three-band color composites have been used to differentiate the main rock types of the ophiolites of the western Brooks Range, Alaska, and to map mineralogic variations produced by processes that affect oceanic lithosphere, such as mantle partial melting, hydration of ultramafic rock, formation of cumulate layers, and hydrothermal alteration and metamorphism of basalt. Scaled composites of TM Bands 7, 3, 1 and 5, 4, 2, and 3, 2, 1, displayed in red, green, and blue are most useful for visually differentiating rocks of the ophiolites. Ternary diagrams of digital number values are used to evaluate color variations observed in the three-band composites. Geologic maps, interpreted from TM images and reconnaissance field studies, are presented for the Asik Mountain, Maiyumerak Mountains, Avan Hills, and Misheguk Mountain ophiolites. The mapping results are being used to guide additional studies of the tectonics of the Brooks Range ophiolites.

Harding, David J.↗

NASA NTRS1989

The Magellan Venus mapping mission

The April 1989 Magellan (MGN) Mission to Venus will initiate a new phase in the exploration of the solar system. In addition to being the first U.S. planetary mission in 10.5 years, it will also be the first such mission to use the Space Shuttle and IUS 2-Stage as launch vehicles. Upon arrival at Venus the spacecraft will begin a systematic mapping of the surface of that planet using side-looking SAR. This paper discusses some of the interesting trade-offs in mission design for this mission in the areas of launch and injection, interplanetary cruise, Venus Orbit insertion, and mapping. The Magellan mapping strategy is discussed briefly along with a few special experiments being considered for the MGN extended mission.

Cutting, E.↗

NASA NTRS1989

Accuracy of lineaments mapping from space

The use of Landsat and other space imaging systems for lineaments detection is analyzed in terms of their effectiveness in recognizing and mapping fractures and faults, and the results of several studies providing a quantitative assessment of lineaments mapping accuracies are discussed. The cases under investigation include a Landsat image of the surface overlying a part of the Anadarko Basin of Oklahoma, the Landsat images and selected radar imagery of major lineaments systems distributed over much of Canadian Shield, and space imagery covering a part of the East African Rift in Kenya. It is demonstrated that space imagery can detect a significant portion of a region's fracture pattern, however, significant fractions of faults and fractures recorded on a field-produced geological map are missing from the imagery as it is evident in the Kenya case.

Short, Nicholas M.↗

NASA NTRS1990

A high resolution CO map of M51

Observations of the CO (1-0) emission in two fields of M51 were taken with the Berkeley-Illinois-Maryland Array at Hat Creek, California from May 1988 to February 1989. When combined with two previously observed fields (Lo et al. 1988), a complete map of the central 5 minute x 4 minute at a resolution of 7 seconds x 10 seconds was obtained. The project is part of an ongoing high-resolution survey of the molecular, atomic, and ionized gas distributions in nearby spiral galaxies. The two recently observed fields can be compared to the results of the interferometric study of Vogel et al. (1988 - hereafter VKS). Since the shortest spacing in the current survey is shorter than that of VKS, researchers expect to see more of the extended emission. This is evident when comparing the width of the spiral arms in each survey; ours are a bit broader. While some of the peaks in this region correspond to the peaks in VKS, several of them do not. These discrepancies are probably because of the low signal to noise inherent in observations of this nature. Single-dish maps are currently being readied for inclusion with the interferometer data. These will help fill the short-spacing hole in the UV plane, and serve to recover the flux missing from the interferometer maps.

Adler, D. S.↗

NASA NTRS1990

Near-infrared mapping of spiral barred galaxies

In external galaxies, near-infrared emission originates from stellar populations, hot dust, free-free emission from H+ regions, gaseous emission, non-thermal nucleus if any. Because of the low extinction compared to the visible, infrared wavelengths are useful to probe regions obscured by dust such as central parts where starburst phenomena can occur because of the large quantity of matter. The results presented were obtained with a 32 x 32 InSb charge injection device (CID) array cooled at 4K, at the f/36 cassegrain focus of the 3m60 Canada-France-Hawaii telescope with a spatial resolution of 0.5 inches per pixel. The objects presented are spiral barred galaxies mapped at J(1.25 microns), H(1.65 microns) and K(2.2 microns). The non-axisymetric potential due to the presence of a bar induces dynamical processes leading to the confinement of matter and peculiar morphologies. Infrared imaging is used to study the link between various components. Correlations with other wavelengths ranges and 2-colors diagrams ((J-H), (H-K)) lead to the identification of star forming regions, nucleus. Maps show structures connected to the central core. The question is, are they flowing away or toward the nucleus. Observations of M83 lead to several conclusions. The star forming region, detected in the visible and the infrared cannot be very compact and must extend to the edge of the matter concentration. The general shape of the near-infrared emission and the location of radio and 10 micron peaks suggest the confinement of matter between the inner Linblad resonances localized from CO measurements about 100 and 400 pc. The distribution of color indices in the arc from southern part to the star forming region suggests an increasing amount of gas and a time evolution eventually triggered by supernova explosions. Close to the direction of the bar, a bridge-like structure connects the arc to the nucleus with peculiar color indices. Perhaps, this structure can be linked to a height velocity component seen in UV and we can attribute it to a jet and/or a matter flow along the bar toward the nucleus, fuelling it. NGC 1068 is the nearest Seyfert 2 galaxy. It has been a subject of many studies at all wavelengths. This object was mapped at J, H, K, L and M, and in polaro-imagery. Results are given.

Gallais, P.↗

NASA NTRS1989

The 100 and 160 micron maps of the dust reemission from the nucleus and inner-arm regions of NGC 6946

Dust reemission from the Scd galaxy NGC 6946 has been measured at 100 and 160 microns with the 32-channel University of Chicago Far-Infrared Camera. Researchers present fully sampled maps of the nucleus and inner spiral arms at 45 seconds resolution. The far-infrared morphology of the galaxy is a bright peak centered on a diffuse disk, where the peak occurs about 24 seconds NE of the Dressel and Condon optical center. The 100/160 micron color temperature is correlated with the H alpha surface brightness. Assuming the distance from Earth to the galaxy is 10.1 Mpc, researchers determine that Tc is 32 K at the nucleus and at radius 5.4 kpc, where there is a concentration of H II regions. In the intermediate annulus of relatively low H alpha surface brightness, the temperature drops to a local minimum of 25 K at radius 3 kpc. The ratio of reradiated to transmitted stellar luminosity is approx. 3.0 at the nucleus and approx. 0.9 for the disk. The optical depth at 100 micron increases from .0005 at the edges of our map to .0035 at the far infrared radiation (FIR) peak. Combining our observations with a fully sampled map of similar spatial extent in CO(1 greater than 0), researchers determine that the ratio F sub IR/I sub CO at the center of the galaxy is almost twice that for the disk, where the value is more or less constant.

Engargiola, Gregory↗

NASA NTRS1991

Improved disparity map analysis through the fusion of monocular image segmentations

The focus is to examine how estimates of three dimensional scene structure, as encoded in a scene disparity map, can be improved by the analysis of the original monocular imagery. The utilization of surface illumination information is provided by the segmentation of the monocular image into fine surface patches of nearly homogeneous intensity to remove mismatches generated during stereo matching. These patches are used to guide a statistical analysis of the disparity map based on the assumption that such patches correspond closely with physical surfaces in the scene. Such a technique is quite independent of whether the initial disparity map was generated by automated area-based or feature-based stereo matching. Stereo analysis results are presented on a complex urban scene containing various man-made and natural features. This scene contains a variety of problems including low building height with respect to the stereo baseline, buildings and roads in complex terrain, and highly textured buildings and terrain. The improvements are demonstrated due to monocular fusion with a set of different region-based image segmentations. The generality of this approach to stereo analysis and its utility in the development of general three dimensional scene interpretation systems are also discussed.

Perlant, Frederic P.↗

NASA NTRS1991

Mars Observer: A global mapping mission

Mars Observer will be launched in September 1991, arrive at Mars in August 1993, and begin mapping in December 1993. Mapping will be conducted from a low-altitude (400 km) polar orbit over a period of one Martian year (687 days). Each of the seven instruments will be able to observe Mars continuously over this period. The scientific mission centers on global Geoscience and Climatology observations of the Mars atmosphere, surface, and interior. The seven experiments involve gamma-ray and neutron spectroscopy, magnetometry, surface and atmospheric imaging, atmospheric sounding, laser altimetry, gravity mapping, and thermal emission spectroscopy.

Palluconi, Frank K.↗

NASA NTRS1990

Mapping unstructured grid problems to the connection machine

We present a highly parallel graph mapping technique that enables one to solve unstructured grid problems on massively parallel computers. Many implicit and explicit methods for solving discretizated partial differential equations require each point in the discretization to exchange data with its neighboring points every time step or iteration. The time spent communicating can limit the high performance promised by massively parallel computing. To eliminate this bottleneck, we map the graph of the irregular problem to the graph representing the interconnection topology of the computer such that the sum of the distances that the messages travel is minimized. We show that, in comparison to a naive assignment of processors, our heuristic mapping algorithm significantly reduces the communication time on the Connection Machine, CM-2.

Hammond, Steven W.↗

NASA NTRS1991

Combined use of visible, reflected infrared, and thermal infrared images for mapping Hawaiian lava flows

The weathering of Hawaiian basalts is accompanied by chemical and physical changes of the surfaces. These changes have been mapped using remote sensing data from the visible and reflected infrared and thermal infrared wavelength regions. They are related to the physical breakdown of surface chill coats, the development and erosion of silica coatings, the oxidation of mafic minerals, and the development of vegetation cover. These effects show systematic behavior with age and can be mapped using the image data and related to relative ages of pahoehoe and aa flows. The thermal data are sensitive to silica rind development and fine structure of the scene; the reflectance data show the degree of oxidation and differentiate vegetation from aa and cinders. Together, data from the two wavelength regions show more than either separately. The combined data potentially provide a powerful tool for mapping basalt flows in arid to semiarid volcanic environments.

Abrams, Michael↗

NASA NTRS1991

Synoptic maps constructed from brightness observations of Thomson scattering by heliospheric electrons

Observations of the Thomson scattering brightness by electrons in the inner heliosphere provide a means of probing the heliospheric electron distributions. An extensive data base of Thomson scattering observations, stretching over many years, is available from the zodiacal light photometers on board the two Helios spacecraft. A survey of these data is in progress, presenting these scattering intensities in the form of synoptic maps for successive Carrington rotations. The Thomson scattering maps reflect conditions at typically several tenths of an astronomical unit from the sun. Some representative examples from the survey in comparison with other solar/heliospheric data, such as in situ observations of the Helios plasma experiment and synoptic maps constructed from magnetic field, H alpha and K-coronameter data are presented. The comparison will provide some information about the extension of solar surface features into the inner heliosphere.

Hick, P.↗

NASA NTRS1991

The design of electronic map displays

This paper presents a cognitive analysis of a pilot's navigation task and describes an experiment comparing a new map display that employs the principle of visual momentum with the two traditional approaches, track-up and north-up. The data show that the advantage of a track-up alignment is its congruence with the egocentered forward view; however, the inconsistency of the rotating display hinders development of a cognitive map. The stability of a north-up alignment aids the acquisition of a cognitive map, but there is a cost associated with the mental rotation of the display to a track-up alignment for tasks involving the ego-centered forward view. The data also show that the visual momentum design captures the benefits and reduces the costs associated with the two traditional approaches.

Aretz, Anthony J.↗

NASA NTRS1991

Far-ultraviolet mapping of the Cygnus Loop with the Voyager 2 Ultraviolet Spectrometer

FUV maps of the Cygnus Loop made using spectroscopic data from the Voyager 2 Ultraviolet Spectrometer are presented. Emission line features at about 980 and about 1035 A dominate the 500-1700 A spectra of the Cygnus Loop as observed with Voyager. Maps were generated in the light of these two features. The 980 and 1035 A maps are compared with X-ray and optical images of the Cygnus Loop that have been sampled in the same manner. From this comparison it is clear that the 980 A feature arises mainly from regions of bright optical emission, whereas the 1035 A emission more closely resembles the X-ray emission. This general impression can be confirmed by inspection of the spectra as a function of position. Spectra extracted from positions corresponding to the primary shock front show the 1035 A feature to be relatively strong, while the 980 A feature is brighter when substantial optical emission is present within the aperture.

Blair, William P.↗

NASA NTRS1991

Restoration of distorted depth maps calculated from stereo sequences

A model-based Kalman estimator is developed for spatial-temporal filtering of noise and other degradations in velocity and depth maps derived from image sequences or cinema. As an illustration of the proposed procedures, edge information from image sequences of rigid objects is used in the processing of the velocity maps by selecting from a series of models for directional adaptive filtering. Adaptive filtering then allows for noise reduction while preserving sharpness in the velocity maps. Results from several synthetic and real image sequences are given.

Damour, Kevin↗

NASA NTRS1991

Geologic mapping of MTM quads 40292 and 40297: In the Utopian lowlands north of the Nilosyrtis Mensae, Mars

Geologic mapping at 1:500,000 scale of the Mars transverse Mercator (MTM) quads 40292 and 40297 is being conducted under the auspices of the Mars Geologic Mapping Program. The study area is located in the southwestern portion of Utopia Planitia immediately north of the Nilosyrtis Mensae, between latitudes 37.5 and 42.5 degrees and longitudes 290 and 300 degrees. The goals of the mapping are to identify the major geologic features in the study area and to determine the sequence and scope of the geologic events that have modified the lowland side of the global dichotomy boundary in this region in order to at least partially constrain models of dichotomy boundary origin and evolution. The progress made towards achieving these goals is reported.

Williams, Steven H.↗

NASA NTRS1991

Mars geologic mapping program: Review and highlights

The Mars Geologic Mapping (MGM) Program was introduced by NASA in 1987 as a new initiative in the Planetary Geology and Geophysics (PGG) Program. The overall purpose of the program is to support research on topical science problems that address specific questions. Among the objectives of the project are: (1) to produce highly detailed geologic maps that will greatly increase the knowledge of the materials and processes that have contributed to the evolutionary history of Mars; (2) to define areas of special interest for possible future investigation by planned missions (Mars Observer, Mars Sample Return); and (3) to maintain the interest of the planetary community in the development of new concepts and the re-evaluation of Martian geology as new data in usable form become available. Some interesting highlights of the geologic mapping indicate that multiple flood episodes occurred at different times during the Hesperian Period in both Kasei and Maja Valles. Studies of small channels in the Memnonia, Mangala, and Tharsis regions show that fluvial events appear to have occurred during the Amazonian Period at equatorial latitudes. Flood waters occurred during the Amazonian Period at equatorial latitudes. Flood waters from Mangala Valles may have seeped into surficial materials with the subsequent development of numerous sapping channels and debris flows; this suggests that the ancient highland terrain consists of relatively unconsolidated materials. Multiple layers were observed for the first time in the ridged plains lava flows covering large areas of Lunae Planum; some wrinkle ridges in this area are associated with grabens and collapse volcanic units at Hadriaca and Tyrrhena Paterae indicates that the units may have been emplaced by gravity-driven pyroclastic flows. Unlike the north polar layered deposits, those in the south polar region show no angular unconformities or evidence of faulting and folding. Water ice in the south polar layered deposits may be protected from solar heating and sublimation by a weathering rind or lag deposit on the surface.

Scott, David H.↗

NASA NTRS1991

Preliminary 1:500,000-scale geologic mapping of Claritas Fossae, Mars

The Claritas Fossae system is a complex, linear fracture zone that extends from its northern intersection with Noctis Labyrinthus 1800 km south-southeast to its southern intersection with Thaumasia Fossae. The width of the fracture zone varies from 150 km in the north to 550 km in the south; topographic relief, based on radar data from Earth, is 1.0 to 1.5 km. Claritas Fossae and its coincident ridge or rise have been interpreted to be a horst with more than 8 km of vertical uplift, the greatest such uplift on Mars. Viking orbital images of sufficiently high resolution exist to provide the basis only for two 1:500,000 scale photomosaic base maps of Claritas Fossae. They extend en in echelon east and west, i.e., the southeast corner of the northern and western quadrangle (MTM-30102) is coincident with the northwest corner of the eastern and southern quadrangle (MTM-25107). Preliminary geologic maps of the two quadrangles were prepared. Materials in the quadrangles are Noachian and Hesperian age, and the quadrangles are characterized by the widespread occurrence of fractured and cratered plateau material, the oldest material in the map areas. Other information about the quadrangles is presented.

Underwood, James R., Jr.↗