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NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, help to guide the Morpheus autonomous, rocket-propelled, free-flying lander to that safe site on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging Flash Lidar is a second generation, compact, real-time, aircooled instrument developed from a number of components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The Flash Lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision (1-s). The Flash Lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Navigation Doppler Lidar (NDL) system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The NDLâ€"TM"s measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter (LA), also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the Flash Lidar, can provide range along a separate vector. The LA measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the ALHAT system and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. Guidance provided by the ALHAT system was impeded in portions of the trajectory and intermittent near the end of the trajectory due to optical effects arising from air heated by the rocket engine. The Flash Lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide; however, it was occasionally susceptible to an increase in range noise due to scintillation arising from air heated by the Morpheus rocket engine which entered its Field-of-View (FOV). The Flash Lidar was also susceptible to pre-triggering, during the HRN phase, on a dust cloud created during launch and transported down-range by the wind. The NDL provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The LA, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, V. Eric↗
NASA NTRS2016

3-D Flash Lidar Performance in Flight Testing on the Morpheus Autonomous, Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a 3-D imaging Flash Lidar instrument has been used in flight to scan a lunar-like hazard field, build a 3-D Digital Elevation Map (DEM), identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, help to guide the Morpheus autonomous, rocket-propelled, free-flying lander to that safe site on the hazard field. The flight tests served as the TRL 6 demo of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) system and included launch from NASA-Kennedy, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range. The ALHAT project developed a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar is a second generation, compact, real-time, air-cooled instrument. Based upon extensive on-ground characterization at flight ranges, the Flash Lidar was shown to be capable of imaging hazards from a slant range of 1 km with an 8 cm range precision and a range accuracy better than 35 cm, both at 1-delta. The Flash Lidar identified landing hazards as small as 30 cm from the maximum slant range which Morpheus could achieve (450 m); however, under certain wind conditions it was susceptible to scintillation arising from air heated by the rocket engine and to pre-triggering on a dust cloud created during launch and transported down-range by wind.

Roback, Vincent E.↗
NASA NTRS1972

An analysis of the expected eccentricity perturbations for the second Radio Astronomy Explorer (RAE B)

Analytical prediction of expected eccentricity perturbations for the RAE 2 lunar orbit shows that the eccentricity will grow linearly in time. Parametric inclination studies and analysis of perturbation equations establish a critical retrograde inclination of 116.565 at which the positive perturbation slope vanishes for a circular orbit about 1100 m above the lunar surface with an eccentricity constraint of less than 0.005 during a period of about one year.

Murphy, J. P.↗
NASA NTRS1993

Measuring and distinguishing compositional and maturity properties of lunar soils by remote VIS-NIR spectroscopy

Space weathering on the lunar surface affects the spectra/optical character of an exposed lunar soil in three ways: the reflectance is reduced, absorption band depths are reduced, and a red-sloped continuum is created and increased with exposure. As a result, the spectrum of a lunar soil is dependent upon both the degree of exposure at the lunar surface and the original composition. It is critical to the remote analysis of lunar soils to differentiate between the optical effects of maturity and the effects of composition. In the laboratory, it is possible to determine and consequently distinguish the degree of exposure, or soil maturity, as measured by parameters such as I(sub s)/FeO (e.g., 1; mature defined as I(sub s)/FeO greater than or equal to 60), and the composition, as measured by various chemical and petrographical techniques. Lunar soils returned by the Apollo missions provide important ground truth for developing methods for remotely measuring the maturity and the concentration of Fe-bearing minerals in lunar soil. The ground truth spectral data analyzed are from the John Adams lunar soil spectra collection. Soils collected from or near highland terrains are emphasized in the discussion. The mineralogical makeup of mare soils results in behavior somewhat different from highland soils.

Fischer, Erich M.↗
NASA NTRS2024

Morphometric Characterization of Lunar Landing Sites

As ambitious surface exploration of the Moon commences in the 2020s, it is important to develop reliable and objective metrics for understanding the quality of future landing sites. A key prerequisite for any exploration and utilization of the lunar surface is a safe landing. One of the most important methods to provide understanding of potential metrics for landing site safety in the lunar context is the systematic comparison of candidate and historic landing sites. The goal of this project is to determine the morphometric parameters of the lunar surface at 16 successful lunar landing sites where adequate data exists to execute a quantitative comparison using various parameters. Quantitative analysis of Lunar Reconnaissance Orbiter (LRO) data should inform mission planning activities by providing morphologic metrics for landing sites including slope, Terrain Ruggedness Index (TRI), and rock abundance. These comparisons will assist mission planners and exploration scientists by providing “calibration points” for using Lunar Reconnaissance Orbiter (LRO) data to successfully plan and execute lunar powered descents in the future. The metrics included in this analysis describe the form of the terrain and can be calculated for any potential future landing site. Another objective of this project is to determine how the derived morphologic parameters for the same landing site change between common pixel scales. In ideal lighting conditions, 2m/px Narrow Angle Camera Digital Terrain Models (NAC DTMs) can be assembled using stereoscopic imagery from two or more concentric orbits of the LRO. However, due to low light conditions near the lunar poles, the highest quality data for many potential lunar landing sites comes from the Lunar Orbiter Laser Altimeter (LOLA). Therefore, we seek to assess how the derived slope and TRI values change as a function of changes in the DTM postings from 2m/px to 5m/px.

J M McCallion↗
NASA NTRS1993

Optical effects of space weathering: The role of the finest fraction

The optical properties of lunar soils are different than those of rocks which they are derived. As a consequence of lunar space weathering, soils are darker and exhibit a distinctive red-sloped continuum and weaker mineral absorption bands. The accumulation of dark glass-welded aggregates (agglutinates) has been thought to account for these optical effects of space weathering on lunar soils. Spectroscopic analyses of agglutinate separates and size fractions for a suite of lunar soils presented here indicate that the agglutinate paradigm is insufficient to fully account for lunar optical alteration. It is the finest fraction of lunar soils (less than 25 microns which constitute approximately 25% wt.) that dominates the optical properties of the bulk soil. Unlike size fractions of most silicates for which the finest fraction is the brightest, the lunar soil size fractions all have comparable albedos in the short-wavelength visible. In the near infrared, however, it is the finest fraction that exhibits the steep red continuum and weak absorption bands. The properties of the finest fraction cannot be duplicated by preparing a fine fraction by grinding larger agglutinate-rich soil particles. These results suggest space weathering on airless bodies is dominated by surface correlated processes (perhaps associated with the developement of fine-grained Fe(dot) on or near the surface of grains), and the accumulation of the large agglutinates is not necessarily required to account for lunar optical alteration.

Pieters, C. M.↗
NASA NTRS1995

Block distributions on the lunar surface: A comparison between measurements obtained from surface and orbital photography

Among the hazards that must be negotiated by lunar-landing spacecraft are blocks on the surface of the Moon. Unfortunately, few data exist that can be used to evaluate the threat posed by such blocks to landing spacecraft. Perhaps the best information is that obtained from Surveyor photographs, but those data do not extend to the dimensions of the large blocks that would pose the greatest hazards. Block distributions in the vicinities of the Surveyor 1, 3, 6, and 7 sites have been determined from Lunar Orbiter photography and are presented here. Only large (i.e., greater than or equal to 2.5 m) blocks are measurable in these pictures, resulting in a size gap between the Surveyor and Lunar Orbiter distributions. Nevertheless, the orbital data are self-consistent, a claim supported by the similarity in behavior between the subsets of data from the Surveyor 1, 3, and 6 sites and by the good agreement in position (if not slopes) between the data obtained from the Surveyor 3 photography and those derived from the Lunar Orbiter photographs. Confidence in the results is also justified by the well-behaved distribution of large blocks at the surveyor site. Comparisons between the Surveyor distributions and those derived from the orbital photography permit these observations: (1) in all cases but that for Surveyor 3, the density of large blocks is overestimated by extrapolation of the Surveyor-derived trends; (2) the slopes of the Surveyor-derived distributions are consistently lower than those determined for the large blocks; and (3) these apparent disagreements could be mitigated if the overall shapes of the cumulative lunar block populations were nonlinear, allowing for different slopes over different size intervals. The relatively large gaps between the Surveyor-derived and Orbiter-derived data sets, however, do not permit a determination of those shapes.

Cintala, Mark J.↗
NASA NTRS2006

Estimating and Modeling S-Band Lunar Radar Backscatter

This viewgraph presentation reviews the estimates and modeling for S-band Lunar radar backscatter. By way of basic review it shows the average lunar radar behavior, the average lunar radar cross-section at 3.8-cm, 23-cm and 68-cm wavelengths. It also reviews the equations for estimating 13 cm scattering from 3.8 and 23 cm data. Charts show the inferred 13-cm average scattering derived from interpolation of the 1960's observations and the modeled 13-cm average scattering. It also reviews the scattering differences: between linear polarizations from slopes from roughness.

lunar↗
NASA NTRS1973

Avalanche mode of motion - Implications from lunar examples.

A large avalanche (21 square kilometers) at the Apollo 17 landing site moved out several kilometers over flat ground beyond its source slope. If not triggered by impacts, then it was as 'efficient' as terrestrial avalanches attributed to air-cushion sliding. Evidently lunar avalanches are able to flow despite the lack of lubricating or cushioning fluid.

Howard, K. A.↗
NASA NTRS1976

Characterization of lunar mare basalt types. I - A remote sensing study using reflection spectroscopy of surface soils

Telescopic reflection spectra of mature mare surfaces are used to identify and characterize major basalt types on the frontside of the moon. The spectra are classified according to (1) continuum slope and (2) near-infrared features. This study indicates that there are major lunar basalt types that are unlikely to have been sampled during the landing missions. Regions of basalt exist in the western maria with a TiO2 content comparable to that of Apollo 11 but with infrared characteristics that indicate a distinctly different composition. Samples from two landing sites, Apollo 12 and Luna 16, may contain fragments of a nearby basalt unit compositionally different from the dominant basalt type of the landing area.

Pieters, C.↗
NASA NTRS1996

A Glass Spherule of Questionable Impact Origin from the Apollo 15 Landing Site: Unique Target Mare Basalt

A 6 mm-diameter dark spherule, 15434,28, from the regolith on the Apennine Front at the Apollo 15 landing site has a homogeneous glass interior with a 200 microns-thick rind of devitrified or crystallized melt. The rind contains abundant small fragments of Apollo 15 olivine-normative mare basalt and rare volcanic Apollo 15 green glass. The glass interior of the spherule has the chemical composition, including a high FeO content and high CaO/Al2O3, of a mare basalt. Whereas the major element and Sc, Ni, and Co abundances are similar to those of low-Ti mare basalts, the incompatible elements and Sr abundances are similar to those of high-Ti mare basaits. The relative abundance patterns of the incompatible trace elements are distinct from any other lunar mare basalts or KREEP; among these distinctions are a much steeper slope of the heavy rare earth elements. The 15434,28 glass has abundances of the volatile element Zn consistent with both impact glasses and crystalline mare basalts, but much lower than in glasses of mare volcanic origin. The glass contains siderophile elements such as Ir in abundances only slightly higher than accepted lunar indigenous levels, and some, such as Au, are just below such upper limits. The age of the glass, determined by the Ar-40/Ar-39 laser incremental heating technique, is 1647 +/- 11 Ma (2 sigma); it is expressed as an age spectrum of seventeen steps over 96% of the Ar-38 released, unusual for an impact glass. Trapped argon is negligible. The undamaged nature of the sphere demonstrates that it must have spent most of its life buried in regolith; Ar-38 cosmic ray exposure data suggest that it was buried at less than 2m but more than a few centimeters if a single depth is appropriate. That the spherule solidified to a glass is surprising; for such a mare composition, cooling at about 50 C/s is required to avoid crystallization, and barely attainable in such a large spherule. The low volatile abundances, slightly high siderophile abundances, and the young age are perhaps all most consistent with an impact origin, but nonetheless not absolutely definitive.

Ryder, Graham↗
NASA NTRS1972

The linear polarization of lunar thermal emission at 3.1 mm wavelength

Several observations of the distribution of linearly polarized lunar thermal emission were made at a wavelength of 3.1 mm with 4.88 m parabolic reflector from February to March 1971. A shadow corrected rough surface thermal emission model was least squares fitted to the data. Results indicate an effective lunar dielectric constant of 1.34 + or -.08 with surface roughness characterized by a standard deviation of surface slopes of 18 deg + or - 2 deg. A comparison of these results with previously published values at other wavelengths suggests that the effective lunar dielectric constant decreases with decreasing wavelength.

White, T. L.↗
NASA NTRS1990

Terrestrial analogs to lunar sinuous rilles - Kauhako Crater and channel, Kalaupapa, Molokai, and other Hawaiian lava conduit systems

Two source vents, one explosive and one effusive erupted to form a cinder cone and low lava shield that together compose the Kalaupapa peninsula of Molokai, Hawaii, A 50-100-m-wide channel/tube system extends 2.3 km northward from kauhako crater in the center of the shield. Based on modeling, a volume of up to about 0.2 cu km of lava erupted at a rate of 260 cu m/sec to flow through the Kauhako conduit system in one of the last eruptive episodes on the peninsula. Channel downcutting by thermal erosion occurred at a rate of about 10 micron/sec to help form the 30-m-deep conduit. Two smaller, secondary tube systems formed east of the main lava channel/tube. Several other lava conduit systems on the islands of Oahu and Hawaii were also compared to the Kauhako and lunar sinuous rille systems. These other lava conduits include Whittington, Kupaianaha, and Mauna Ulu lava tubes. Morphologically, the Hawaiian tube systems studied are very similar to lunar sinuous rilles in that they have deep head craters, sinuous channels, and gentle slopes. Thermal erosion is postulated to be an important factor in the formation of these terrestrial channel systems and by analogy is inferred to be an important process involved in the formation of lunar sinuous rilles.

Coombs, C. R.↗
NASA NTRS1987

Prediction of physical workload in reduced gravity environments

The background, development, and application of a methodology to predict human energy expenditure and physical workload in low gravity environments, such as a Lunar or Martian base, is described. Based on a validated model to predict energy expenditures in Earth-based industrial jobs, the model relies on an elemental analysis of the proposed job. Because the job itself need not physically exist, many alternative job designs may be compared in their physical workload. The feasibility of using the model for prediction of low gravity work was evaluated by lowering body and load weights, while maintaining basal energy expenditure. Comparison of model results was made both with simulated low gravity energy expenditure studies and with reported Apollo 14 Lunar EVA expenditure. Prediction accuracy was very good for walking and for cart pulling on slopes less than 15 deg, but the model underpredicted the most difficult work conditions. This model was applied to example core sampling and facility construction jobs, as presently conceptualized for a Lunar or Martian base. Resultant energy expenditures and suggested work-rest cycles were well within the range of moderate work difficulty. Future model development requirements were also discussed.

Goldberg, Joseph H.↗
NASA NTRS1988

Prediction of physical workload in reduced gravity

The background, development, and application of a methodology to predict human energy expenditure and physical workload in low gravity environments, such as a Lunar or Martian base, is described. Based on a validated model to predict energy expenditures in earth-based industrial jobs, the model relies on an elemental analysis of the proposed job. Because the job itself need not physically exist, many alternative job designs may be compared in their physical workload. The feasibility of using the model for prediction of low gravity work was evaluated by lowering body and load weights, while maintaining basal energy expenditure. Comparison of model results was made both with simulated low gravity energy expendiure studies and with reported Apollo 14 Lunar EVA expenditure. Prediction accuracy was very good for walking and for cart pulling on slopes less than 15 deg, but the model underpredicted the most difficult work conditions. This model was applied to example core sampling and facility construction jobs, as presently conceptualized for a Lunar or Martian base. Resultant energy expenditures and suggested work-rest cycles were well within the range of moderate work difficulty. Future model development requirements were also discussed.

Goldberg, Joseph H.↗
NASA NTRS1988

The ridged plains as a possible landing site for the Mars sample return mission

Differences in the shape and density of crater size-frequency distribution curves have been interpreted as indicators of different impactor populations. Within the inner solar system two production populations are seen. The signature of the first is recorded in the heavily cratered regions of the Moon, Mercury, and Mars and displays a multi-sloped distribution curve which cannot be described by a power law function at all crater diameters. The signature of the second population is seen in the lightly cratered lunar and Martian plains, where the size-frequency distribution curve can be approximated by a power law function of -3 differential slope in the 8- to 70-km diameter range. Based on data obtained from the Apollo lunar samples and crater flux estimates, the first population is believed to have been emplaced during the period of heavy bombardment which, at least on the Moon, ended about 3.8 BY ago. The second population has dominated the cratering record since that time and is commonly assumed to be due to comets and asteroids.

Barlow, Nadine G.↗
NASA NTRS1979

Properties of microcraters and cosmic dust of less than 1000 A dimensions

Microcraters from about 100-200 A to larger than 1000 A true diameter have been measured by SEM at magnifications of 100,000x on lunar samples 76015,24,9003 and 76015,28,9004. The cumulative size frequency distribution has a slope of approximately -2.5 for craters larger than or equal to 1000 A, approximately -1.3 between 1000 A and 400 A diameters, and approaches zero at the smallest diameters. Distributions from lunar soil grains exposed during ancient epochs have the same form. Ninety-six of ninety-seven craters observed are equidimensional, indicating equidimensional dust particles with masses as low as 10 to the -20th grams. No lower limit on cosmic dust grain sizes was established. The flux and the crater production rate derived are consistent with 12054 measurements.

Morrison, D. A.↗
NASA NTRS1973

Equations of motion of the lunar roving vehicle.

Equations of motion have been formulated for a four-wheel vehicle as it traverses a terrain characterized by slopes, craters, bumps, washboards, or a power spectrum. Independent suspension and electric motor propulsion are considered. These equations were programmed on the UNIVAC 1108 digital computer. Results are given for the steerability of the Lunar Roving Vehicle (LRV) which was found to be satisfactory for normal operating speeds and turning radii. The vehicle was also found to be satisfactory against overturning in both the pitch and roll mode, and results are presented for various speeds as the LRV engages a bump on meter in diameter and of varying heights. Speed, power consumption, and load characteristics are presented for the LRV traversing a simulated lunar soil at full throttle. Comparisons are given against data compiled from the Apollo 15 mission.

Kaufman, S.↗