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NASA NTRSDate not supplied

OceanWATERS Lander Robotic Arm Operation

Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) is an open-source simulator for developing onboard autonomy software for robotic exploration of ocean worlds, such as Europa, Enceladus, and Titan, built on the Robot Operating System (ROS) and Gazebo simulation environment. Inevitable ground communication delays increase demand for a high degree of autonomy during excavation, collection and transfer of samples to scientific instruments for in-situ analysis. This paper offers a detailed discussion of the robotic arm design and operation for such autonomous surface exploration, taking as reference the Europa Lander mission. The lander arm, which is designed primarily to acquire icy surface and subsurface samples within the arm’s workspace, is a 6-degree-of-freedom manipulator with two end effectors: a sample excavation tool and a trenching end-effector. The robotic arm’s modes and operations can be summarized as follows: stowed arm, intended as the lander arm default configuration characterized by zero-power consumption; un-stowed arm, target arm configuration after its first deployment; selection and deployment of the end-effector to use next; guarded move, to detect ground level at the desired trenching location; drill ice using the grinder; dig trench at a particular location using the scoop; deliver sample to the sample transfer dock; discard redundant samples. The motion planning tool used for the lander arm is MoveIt, a ROS package. MoveIt uses sampling-based planning and collision checking libraries to determine safe paths. The Rapidly Exploring Random Trees* (RRT*) has been chosen as default planning algorithm as it provides optimal plans with an exponential speed and is guaranteed to find a solution, if feasible solutions exist. Furthermore, this work quantifies and discusses the energy requirements for excavating and collecting samples. In OceanWATERS, force feedback from the terrain, which influences the arm dynamics, is modelled using a discrete element method (DEM) simulation. The DEM and Gazebo software run in parallel and communicate through a co-simulation plugin. This paper presents an analysis and comparison of three DEM open source software (YADE, ESyS-Particle, Project Chrono) for implementation in OceanWATERS and motivates the choice of YADE as most suitable candidate.

Damiana Catanoso↗
NASA NTRS2017

Silicon Power MOSFETs

Recent work for the NASA Electronic Parts and Packaging Program Power MOSFET task is presented. The Task technology focus, roadmap, and partners are given. Recent single-event effect test results on commercial, automotive, and radiation hardened trench power MOSFETs are summarized with an emphasis on risk of using commercial and automotive trench-gate power MOSFETs in space applications.

trench-gate MOSFET↗
NASA NTRS1973

Iron-absorption band analysis for the discrimination of iron-rich zones

The author has identified the following significant results. Lineament analysis of the area was initiated on individual images and then expanded areally by the use of mosaics at the 1:1,000,000 scale. Principal trends are NE, NW, NNE-NNW, and ENE. Several previously unrecognized lineaments are mapped which may be the surface manifestations of major fault or fracture zones. Three lineaments are especially noteworthy. Two of these, the Walker Lane and the Midas Trench lineament system, transect the prediominantly NNE-NNW trending mountain ranges for more than 500 km. A third major lineament, formed by the alinement of several topographic escarpments 10-20 km long, is orthogonal to the Midas Trench lineament. This lineament is marked by a distinct positive magnetic anomaly for approximately 200 km. Further visual analysis of ERTS-1 images has resulted in the delineation of 50 circular or elliptical features which are presumed to be volcanic or intrusive centers. A comparison with the 78 Tertiary volcanic centers mapped in the study area in 1970 indicates some good agreement between the proposed and known volcanic centers. The coincidence of some major lineaments and productive ore bodies implies a genetic relationship.

Rowan, L. C.↗
NASA NTRS1974

Surface history of some Apollo 17 lunar soils

Cosmic ray track densities in Apollo 17 soil samples are used to infer surface exposure times of soils from a trench at Van Serg Crater, from on and near a boulder at Camelot Crater, and from the position of the heat flow and neutron flux experiments (the ALSEP site). The topmost 2 cm of soil at Van Serg was exposed for 11 m.y., the top cm at Camelot for 36 m.y. A layering chronology and average deposition rate are proposed for the trench. For all soils the median track densities imply predispositional irradiation in the top 15 cm of the lunar surface for times that were long compared with the actual residence in the stratigraphic positions from which the soils were collected. Van Serg crater is inferred to have been formed approximately 24 m.y. ago.

Fleischer, R. L.↗
NASA NTRS1976

Space Shuttle noise suppression concepts for the Eastern Test Range

The basic objectives of the Space Shuttle noise suppression program for the Eastern Test Range were the definition of the acoustic environment of the Shuttle and the adjacent ground plane for both on-pad and liftoff conditions and the definition of realistic noise suppression techniques and modification of the launch facility that could reduce engine noise associated with supersonic flow. Scaling considerations for acoustic model testing based on the principle of dynamic similarity are detailed. Suppression approaches are described with emphasis placed on barriers and shields: exhaust flow trench covers, solid dividers between the SSME and SRB exhaust flows and a crossed pipe water injection system over the SSME exhaust flow trench. Graphs are presented summarizing noise data gathered for various noise sources and using different suppression approaches.

Guest, S. H.↗
NASA NTRS1977

Gravimetric geoid in the Northwest Pacific Ocean

A total of 3708 1 x 1 deg free-air gravity anomaly averages have been used to construct a new 1 x 1 deg gravimetric geoid of the Northwest Pacific Ocean. The 1 x 1 deg averages are based on a compilation of 147,000 surface ship and pendulum gravity measurements. Difference geoid undulations range from a maximum of +19 m over the Hawaiian ridge to a minimum of -31 m over the junction of the Kuril and Aleutian trenches. The Hawaiian swell is associated with a geoidal high of up to +15 m with wavelengths of about 2200 km and the topographic rises seaward of deep-sea trenches are associated with geoidal highs of up to 4 m with wavelengths of about 220-900 km. The agreement between the gravimetric geoid and Skylab-4 and Geos-3 altimeter data is close for wavelengths greater than about 300 km but poor for shorter wavelengths.

Watts, A. B.↗
NASA NTRS1978

Lunar breccias, petrology, and earth planetary structure

Topics covered include: (1) petrologic studies of poikiloblastic textured rocks; (2) petrology of aluminous mare basalts in breccia 14063; (3) petrology of Apollo 15 breccia 15459; (4) high-alumina mare basalts; (5) some petrological aspects of imbrium stratigraphy; (6) petrology of lunar rocks and implication to lunar evolution; (7) the crystallization trends of spinels in Tertiary basalts from Rhum and Muck and their petrogenetic significance; (8) the geology and evolution of the Cayman Trench; (9) The petrochemistry of igneous rocks from the Cayman Trench and the Captains Bay Pluton, Unalaska Island and their relation to tectonic processes at plate margins; and (10) the oxide and silicate mineral chemistry of a Kimberlite from the Premier Mine with implications for the evolution of kimberlitic magma.

Ridley, W. I.↗
NASA NTRS1978

Implications of cavity, topographic and geologic influences on tilt and strain observations

Tilt and strain observations are importantly (pathologically at the 100%, typically at the few 10s% level) affected by cavities, topography, and geological inhomogenities; gravity observation are practically unaffected. The traditional earth tide observatory and abandoned mine or tunnel is a very poor place to measure body tides because of the complicated cavities, topography and geology. Instead, the ideal site for observing the body tide is in flat terrain with horizontally layered, mechanically homogeneous geology. Strain will be measured with long surface- or trench-mounted laser strain meters and tilt with long, surface- or trench mounted liquid levels, or with borehole tiltmeters. Horizontal geological discontinuities can produce large perturbations of the tilt and strain tides, and these perturbations, using the known homogeneous tidal strains and tilts, can be used in exploring local structure in favorable cases and, through possible time variations of tidal admittances, in predicting earthquakes.

Harrison, J. C.↗
NASA NTRS1979

Gravity anomaly and geoid undulation results in local areas from GEOS-3 altimeter data

The adjusted GEOS-3 altimeter data, taken as averages within a data frame, have been used to construct free air anomaly and geoid undulation profiles and maps in areas of geophysical interest. Profiles were constructed across the Philippine Trench (at a latitude of 6 deg) and across the Bonin Trench (at a latitude of 28 deg). In the latter case an anomaly variation of 443 mgals in 143 km was derived from the altimeter data. These variations agreed reasonably with terrestrial estimates, considering the predicted point accuracy was about + or - 27 mgals. An area over the Patton Sea mounts was also investigated with the altimeter anomaly field agreeing well with the terrestrial data except for the point directly over the top of the sea mount. It is concluded that the GEOS-3 altimeter data is valuable not only for determining 5 deg and 1 deg x 1 deg mean anomalies, but also can be used to describe more local anomaly variations.

Rapp, R. H.↗
NASA NTRS1981

Effects of lateral resolution on the identification of volcanotectonic provinces on earth and Venus

In an attempt to learn what volcanotectonic features can still be discerned in continental and oceanic areas of the earth when topographic data are degraded to simulate the data sampled by the Pioneer-Venus altimeter, two digital topographic data sets (the 30-second continental U.S. altitude data and the 30 x 30 nautical mile bathymetry data for the North Pacific) were degraded and displayed in the same way as the altimeter data from Venus. The Appalachians were reduced to a gentle swell, with a wavelength of 300 km, and a height of 500 m. The Cordillera was seen as a broad swell, 2500 km wide, and about 2 km high. The east Pacific rise, east Pacific fractures, seamount chains, the Hawaiian swell, and most trenches were discernible in the degraded Pacific data; whereas rises, transforms, seamount chains, and trenches were not seen in the Venus data, even after corrections were made for the higher surface temperature and the absence of oceans on Venus. It was concluded that a plate tectonic regime, similar to earth's does not currently appear to exist on Venus. As shown by the Cordillera data, the Pioneer-Venus information is not of sufficiently high quality to discern whether the highlands of Venus preserve evidence for orogenic events related to plate tectonics.

Arvidson, R. E.↗
NASA NTRS1982

The Apollo 14 regolith - Petrology of cores 14210/14211 and 14220 and soils 14141, 14148, and 14149

New modal data are presented for continuous polished thin sections from double drive tube 14210/14211, and single drive tube 14220, and for polished grain mounts of four soils from the double drive tube, one from the single drive tube, and the soils 14148 (trench top), 14149 (trench bottom), and 14141 (Cone Crater). Modal data show that the Cone Crater soil is immature, whereas the 'smooth plains' soils are mature and rich in agglutinates and breccias. Neither core exhibits any major variations with depth. Microprobe analyses of mineral and glass fragments are consistent with derivation of the soils predominantly from the local rocks, with about 5-11% exotic mare component indicated by the modal data. About 4% of the glasses are SiO2- and K2O-rich granitic glasses which are comminuted mesostasis from the local melt rocks. The soils are depleted in feldspar relative to the source rocks. The preferred explanation for this depletion is that feldspar is concentrated in the less than 10 microns fines and is consumed in the formation of agglutinates, regolith breccias, and feldspathic glass.

Simon, S. B.↗
NASA NTRS1984

Evolution of oceanic lithosphere - A driving force study of the Nazca plate

The role of the evolution of oceanic lithosphere in driving oceanic plates is tested with elastic and viscous finite element modelling of the Nazca plate. The results indicate that ridge-push forces, when distributed over that portion of the oceanic lithosphere giving rise to the force, predict a stress state that varies more spatially than does previous modelling with ridge forces concentrated at the ridge crest. In particular, the component of stress normal to the ridge vanishes near the ridge for the new modelling. Stress states have also been calculated for a variety of slab-pull models, which include possible dependence on age, rate, and angle of subduction. The predicted stresses vary substantially near the trench among the models with less variation farther from the trench.

Richardson, R. M.↗
NASA NTRS1986

Plate motion controls on back-arc spreading

The motions of the subducting and the overriding plates influence the spatial and temporal distribution of back-arc spreading. Cenozoic plate motions in hot spot-fixed and no-net-rotation reference frames were studied with attention to correlations between changes in motion and episodes of back-arc spreading in the western Pacific. The results suggest that major back-arc opening occurs when both the overriding plate retreats from the trench in an absolute sense and the subducting plate undergoes a significant speed-up. Neither phenomenon alone is sufficient to initiate spreading. Three major plate velocity increases can be identified in the Cenozoic: (1) the Pacific plate 5-9 Ma; (2) the Indian plate at 27 Ma; and (3) the Pacific plate at 43 Ma, due to its shift from northerly to more westerly motion. At the present time, the Indian and Philippine are the only overriding plates that are retreating from their Pacific trenches and back-arc spreading occurs only on these two retreating plates. Although the Indian plate has been retreating for at least 25 Ma, back-arc spreading began only following the Pacific plate speed-up 5-9 Ma. Earlier, during the Indian plate speed-up, no overriding plates were retreating strongly and no back-arc spreading epsiodes are preserved from this time. For the earliest Pacific plate shift at 43 Ma, the Eurasian plate was not advancing, thus creating the only favorable plate kinematic conditions in the Cenozoic for back-arc basin formation in this region. It is unclear whether extension in the Japan Sea is a result of these conditions.

Fein, J. B.↗
NASA NTRS1988

Diapirs of the Mediterranean ridge: The tectonic regime of an incipient accreted terrane

The occurrence of diapirs in the Mediterranean ridge stems mostly from the massive deposition of salt and gypsum in the Mediterranean basin during the late Miocean. The diapiric emplacement of the evaporitic sequence is not obvious, because the mobilization of the salt beds and the initiation of the diapiric upward flow are constrained by the relatively shallow thickness of the Plio-Pleistocene sedimentary overburden and by the low heat flow that prevails in the eastern Mediterranean. The diapirs consist also of early Cretaceous shales as well as other gravitationally metastable strata which are less mobile than salt. Studies of subduction trenches and their surroundings show that shallow ridges occur seaward of the trenches in many places. The collisional motion between the African and the Eurasian plates would further enhance accretion of sediments in the Mediterranean ridge, which would attain subaerial exposure, and eventually would become a mountain range accreted to southern Europe. The numerous diapirs of salt and shales that occur in the ridge would be common features in the future accreted terrane, indicating an intermediate extensional phase in the tectonic history of the development of crustal growth.

Mart, Y.↗
NASA NTRS1987

The evolution of topography on a comet

The evolution of cometary surface topography is presently modeled in terms of a focusing of thermal energy due to topographical concavity. The model encompasses incident sunlight, shadowing, molecular sublimation, and mutual radiative heating by the walls of a circle-segment cross section trench, which has a 'lensing' effect. After a large number of perihelion passages, the net effect of trench bottom sublimation losses will be the accentuation of topographical concavities. The comet surface sublimation, comet-splitting, and comet surface jet-formation consequences of this model are discussed.

Colwell, Joshua E.↗
NASA NTRS1989

Reduction Of Stresses In Growing Silicon Webs

New trenched lid intercepts less radiation from edges of growing silicon ribbon, giving rise to faster growth and temperature distribution resulting in lower residual stress. Cutting trench in susceptor lid allows edges of growing ribbon of silicon to cool more rapidly. Edges cool and solidify nearly same rate as center of ribbon, and thermal stress in ribbon reduced. Because of more-effective edge cooling, wider ribbon grown, and withdrawn at faster rate. Productivity of dendritic-web growth furnace increased.

Duncan, C. S.↗
NASA NTRS1988

Primary sedimentary structures and the internal architecture of a Martian sand body in search of evidence for sand transport and deposition

Lunar experiences show that unmanned sample return missions, despite limitations on sample size, can produce invaluable data to infer crustal processes, regolith processes, regolith-atmosphere/ionosphere interaction processes, etc. Drill cores provide a record of regolith evolution as well as a more complete sample of the regolith than small scoops and/or rakes. It is proposed that: (1) a hole be drilled in a sand body to obtain continuous oriented cores; a depth of about 10 m would be compatible with what we know of bed form hierarchy of terrestrial stream deposits; (2) two trenches, at right angles to each other and close to the drill-hole, be dug and the walls scraped lightly such that primary/internal sedimentary structures of the sand body become visible; (3) the walls of the trenches be made gravitationally stable by impregnation techniques; (4) acetate or other peels of a strip on each wall be taken; and (5) appropriately scaled photographs of the walls be taken at different sun-angles to ensure maximum ease of interpretation of sedimentary structures; and, to correlate these structural features with those in the core at different depth levels of the core.

Basu, Abhijit↗
NASA NTRS1989

A continuum model of continental deformation above subduction zones - Application to the Andes and the Aegean

A continuum model of continental deformation above subduction zones was developed that combines the viscous sheet and the corner flow models; the continental lithosphere is described by a two-dimensional sheet model that considers basal drag resulting from the viscous asthenosphere flow underneath, and a corner flow model with a deforming overlying plate and a rigid subducting plate is used to calculate the shear traction that acts on the base of the lithosphere above a subduction zone. The continuum model is applied to the Andes and the Aegean deformations, which represent, respectively, compressional and extensional tectonic environments above subduction zones. The models predict that, in a compressional environment, a broad region of uplifted topography will tend to develop above a more steeply dippping slab, rather than above a shallower slab, in agreement with observations in the various segments of the central Andes. For an extensional environment, the model predicts that a zone of compression can develop near the trench, and that extensional strain rate can increase with distance from the trench, as is observed in the Aegean.

Wdowinski, Shimon↗