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At least 883 records · Page 49

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DOE OSTI2020

ATOMIC Simulations and Experimental Data for Sodium and Copper Mixtures

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2020

ATOMIC Simulations and Experimental Data for Basalt-like Compounds

This data consists of simulations and experimental measurements of laser-induced breakdown spectroscopy (LIBS). The simulations are produced by ATOMIC, a general purpose plasma modeling and kinetics code that has been designed to compute emission (or absorption) spectra from plasmas [2]. The makeup of the plasma was considered to be divided into some proportion water, some proportion Martian atmosphere (CO2), and some proportion target (from the rock or object impacted by the laser), where these proportions add to 1. Based on expert knowledge, the proportion of water was kept in the range [0.0,0.5] and the proportion of atmosphere was kept in the range [0.02, 0.9]. Our overall suite of simulations contains six sets of simulations that differ in which elements were considered to make up the target. Within each set, we used uniformly drawn temperatures and log mass densities within pre-specified ranges. The temperature range was [0.5,1.5] eV and the log (base 10) mass density range was [-7,-4]. The proportion of water, atmosphere, and target were drawn from a symmetric Dirichlet distribution, but draws in which the propor- tion of water or atmosphere exceeded the pre-specified limits were rejected from the design. Up to eleven constituent elements (Si, Al, Fe, Mg, Ca, O, Ti, Mn, Na, K, P) were considered for the target, as they are the most common elements found in basalt compounds and were used in [1]. For each run, the proportions of the constituent elements making up the target were drawn from a symmetric Dirichlet distribution. We ran 1,350 simulations that included nonzero proportions of all eleven elements. We also ran simulations which excluded some of these elements. In particular, we ran 1,000 simulations that only included nonzero proportions for the six most common elements (Si, Al, Fe, Mg, Ca, O). We also ran five sets, each with 500 simulations, that only included nonzero proportions for five of the six most common elements (but where all sets included O). Thus, we generated a total of 4,850 spectra representing basalt-like compounds in which the target was comprised of oxygen and between four and ten other elements. The ATOMIC code produced spectra over a range of 240nm - 880nm that roughly mimics the range collected by the ChemCam instrument on the Mars rover Curiosity. Each spectra had 32,000 wavelengths split across three spectrometer ranges (to mimic ChemCam). The experimental data, described in [1], measures a prepared basalt sample. All files are kept in directories whose names indicate the set of elements considered for the target with file names numbered to indicate the line in the design files used to produce the simulation. The designs are provided as text files with names indicating their purpose. The experimental data is provided as a CSV file which contains a header with measurement information, followed by a collection of 50 shots across a collection of wavelengths, along with the computed median and mean across shots.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

NASA NTRS1973

Design of a laser rangefinder for Martian terrain measurements

Three methods for using a laser for rangefinding are discussed: optical focusing, the phase difference method, and timed pulse. For application on a Mars Rover, the timed pulse method proves to be the better choice in view of the requirements set down. This is made possible by pulse expansion techniques described in detail. Initial steps taken toward building the range finder are given, followed by a conclusion.

Palumbo, D. L.↗

NASA NTRS1974

System design optimization for a Mars-roving vehicle and perturbed-optimal solutions in nonlinear programming

Work in two somewhat distinct areas is presented. First, the optimal system design problem for a Mars-roving vehicle is attacked by creating static system models and a system evaluation function and optimizing via nonlinear programming techniques. The second area concerns the problem of perturbed-optimal solutions. Given an initial perturbation in an element of the solution to a nonlinear programming problem, a linear method is determined to approximate the optimal readjustments of the other elements of the solution. Then, the sensitivity of the Mars rover designs is described by application of this method.

Pavarini, C.↗

NASA NTRS1973

Design of a laser rangefinder for Martian terrain measurements

Methods for using a laser for rangefinding are discussed. These are: (1) Optical Focusing, (2) the Phase Difference Method, and (3) Timed Pulse. For application on a Mars Rover, the Timed Pulse Method proves to be the better choice in view of the requirements set down. This is made possible by pulse expansion techniques described in detail. Initial steps taken toward building the range finder are given, followed by a conclusion which is actually a proposal for future steps.

Palumbo, D. L.↗

NASA NTRS1974

Planetary mission summaries. Volume 1: Introduction and overview

Tabular synopses of twelve missions are presented along with the Mariner Jupiter/Saturn 1977 mission for comparison. Mission definitions considered include: Mars Polar Orbiter; Mars Surface Sample Return; Mars Rover; Marine Jupiter/Uranus 1979 with Uranus Entry Probe; Mariner Jupiter Orbiter; Mariner Mercury Orbiter 1978; Early Mariner Comet Flyby Solar Electric Encke Slow Flyby; Mariner Encke Ballistic Flyby; Solar Electric Encke Rendezvous 1981; Venus Orbital Imaging Radar; Solar Electric Out-of-the-Eliptic Probe 1979. Technical conclusions of mission studies are given in order that these results may interact with the broader questions of scope, pace, and priorities in the planetary exploration program.

Source record↗

NASA NTRS1975

Measurement scanning schemes for terrain modeling

A scanning scheme for the laser rangefinder aboard an autonomous Mars Rover is developed. The rover is expected to be able to traverse an incline of slope up to 25% deg positive or negative. The total azimuth angle of the rangefinder is calculated so that the rangefinder can scan a width of 3 m at a distance of 3 m. A combination of two approaches is considered: scanning the field with a data point spacing appropriate for the terrain modeling technique, followed by zoom scanning with reduced spacing aimed at an obstacle location indicated in a previous terrain scan. It is found that the scan time and total number of data points can be reduced by dividing the field into corridors. The scan is divided into two subscans: the initial scan covering the entire field, and a corridor scan. The corridor scan method reduces the core required in the on-board computer. Hardware changes are expected to be small since the parameters of the corridor are fixed and a continuously variable point spacing is not necessary.

Friedman, M.↗

NASA NTRS1976

Computer simulation and evaluation of edge detection algorithms and their application to automatic path selection

The construction of an autonomous roving vehicle requires the development of complex data-acquisition and processing systems, which determine the path along which the vehicle travels. Thus, a vehicle must possess algorithms which can (1) reliably detect obstacles by processing sensor data, (2) maintain a constantly updated model of its surroundings, and (3) direct its immediate actions to further a long range plan. The first function consisted of obstacle recognition. Obstacles may be identified by the use of edge detection techniques. Therefore, the Kalman Filter was implemented as part of a large scale computer simulation of the Mars Rover. The second function consisted of modeling the environment. The obstacle must be reconstructed from its edges, and the vast amount of data must be organized in a readily retrievable form. Therefore, a Terrain Modeller was developed which assembled and maintained a rectangular grid map of the planet. The third function consisted of directing the vehicle's actions.

Longendorfer, B. A.↗

NASA NTRS1977

The automation of remote vehicle control

The automation of remote vehicles is becoming necessary to overcome the requirement of having man present as a controller. By removing man, remote vehicles can be operated in areas where the environment is too hostile for man, his reaction times are too slow, time delays are too long, and where his presence is too costly, or where system performance can be improved. This paper addresses the development of automated remote vehicle control for nonspace and space tasks from warehouse vehicles to proposed Mars rovers. The state-of-the-art and the availability of new technology for implementing automated control are reviewed and the major problem areas are outlined. The control strategies are divided into those where the path is planned in advance or constrained, or where the system is a teleoperator, or where automation or robotics have been introduced.

Paine, G.↗

NASA NTRS1977

Terrain evaluation and route designation based on noisy rangefinder data

This paper discusses an approach to terrain evaluation and route designation for an autonomous Mars rover. The evaluation procedure simulates movement of the rover over a terrain model estimated from noisy range readings. During the simulated movement a potential path is analyzed for adverse gradients and minimum vehicle body clearance which could inhibit the rover's progress. The route designation scheme employs dynamic programming to select the optimal path based on the evaluation results.

Netch, A.↗

NASA NTRS1980

Design of a dynamic test platform for autonomous robot vision systems

The concept and design of a dynamic test platform for development and evluation of a robot vision system is discussed. The platform is to serve as a diagnostic and developmental tool for future work with the RPI Mars Rover's multi laser/multi detector vision system. The platform allows testing of the vision system while its attitude is varied, statically or periodically. The vision system is mounted on the test platform. It can then be subjected to a wide variety of simulated can thus be examined in a controlled, quantitative fashion. Defining and modeling Rover motions and designing the platform to emulate these motions are also discussed. Individual aspects of the design process are treated separately, as structural, driving linkages, and motors and transmissions.

Rich, G. C.↗

NASA NTRS1980

Real-time operating system for a multi-laser/multi-detector system

The laser-one hazard detector system, used on the Rensselaer Mars rover, is reviewed briefly with respect to the hardware subsystems, the operation, and the results obtained. A multidetector scanning system was designed to improve on the original system. Interactive support software was designed and programmed to implement real time control of the rover or platform with the elevation scanning mast. The formats of both the raw data and the post-run data files were selected. In addition, the interface requirements were selected and some initial hardware-software testing was completed.

Coles, G.↗

NASA NTRS1980

Control electronics for a multi-laser/multi-detector scanning system

The Mars Rover Laser Scanning system uses a precision laser pointing mechanism, a photodetector array, and the concept of triangulation to perform three dimensional scene analysis. The system is used for real time terrain sensing and vision. The Multi-Laser/Multi-Detector laser scanning system is controlled by a digital device called the ML/MD controller. A next generation laser scanning system, based on the Level 2 controller, is microprocessor based. The new controller capabilities far exceed those of the ML/MD device. The first draft circuit details and general software structure are presented.

Kennedy, W.↗

NASA NTRS1985

Mars landing sites

An intensive effort has been underway for the past two years to study possible landing sites for a future Mars rover and returned-sample mission. The task has been to identify and study nine sites, each of which is near a variety of representative geologic units. The choice of sites is independent of future decisions as to whether the rovers will be manned or unmanned, except that unmanned rover traverses may be shorter and more restricted. North and south polar locations, the Grand canyon that exposes layered terrain, two stream channels, two volcanic centers, and two upland sites are under consideration.

Masursky, H.↗

NASA NTRS1988

Autonomous image data reduction by analysis and interpretation

Image data is a critical component of the scientific information acquired by space missions. Compression of image data is required due to the limited bandwidth of the data transmission channel and limited memory space on the acquisition vehicle. This need becomes more pressing when dealing with multispectral data where each pixel may comprise 300 or more bytes. An autonomous, real time, on-board image analysis system for an exploratory vehicle such as a Mars Rover is developed. The completed system will be capable of interpreting image data to produce reduced representations of the image, and of making decisions regarding the importance of data based on current scientific goals. Data from multiple sources, including stereo images, color images, and multispectral data, are fused into single image representations. Analysis techniques emphasize artificial neural networks. Clusters are described by their outlines and class values. These analysis and compression techniques are coupled with decision making capacity for determining importance of each image region. Areas determined to be noise or uninteresting can be discarded in favor of more important areas. Thus limited resources for data storage and transmission are allocated to the most significant images.

Eberlein, Susan↗

NASA NTRS1987

Deep space optical communications

Preliminary concepts and designs of a deep space optical link for planetary and deep space science are described. As a mission application, attention is given to a spacecraft optical transceiver package (OPTRANSDAC) attached to a Mars rover vehicle. Also considered are a preliminary concept for a 1000-AU mission, and to a tentative long-range plan for NASA's deep space optical communications program.

Sokoloski, Martin M.↗

NASA NTRS1988

Optical communications for future deep-space missions

The development of key technologies for an optical communications system for deep-space probes is discussed. Aspects of the technology include the pulse-position modulation technique for data transmission, a solid-state laser with a Nd:YAG crystal end, nondiffraction-limited receivers, and the application of avalanche photodiodes to improve photon detection. Mission benefits and flight opportunities and applications are discussed. Experiments to test optical communication systems are being planned for the Space Shuttle and the Mars Rover Sample Return misson. Future missions which will probably use the system include Cassini and the Mariner Mark II.

Rayman, Marc D.↗

NASA NTRS1988

On a useful functional representation of control system structure

An alternative structure for control systems is proposed. The structure is represented by a three-element block diagram and three functional definitions. It is argued that the three functional elements form a canonical set. The set includes the functions description, estimation and control. General overlay of the structure on parallel state and nested-state control systems is discussed. Breakdown of two real nested-state control systems into the proposed functional format is displayed. Application of the process to the mapping of complex control systems R and D efforts is explained with the Mars Rover Sample and Return mission as an example. A previous application of this basic functional structure to Space Station performance requirements organization is discussed.

Malchow, Harvey L.↗