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NASA NTRS2011

Further Constraints and Uncertainties on the Deep Seismic Structure of the Moon

The Apollo Passive Seismic Experiment (APSE) consisted of four 3-component seismometers deployed between 1969 and 1972, that continuously recorded lunar ground motion until late 1977. The APSE data provide a unique opportunity for investigating the interior of a planet other than Earth, generating the most direct constraints on the elastic structure, and hence the thermal and compositional evolution of the Moon. Owing to the lack of far side moonquakes, past seismic models of the lunar interior were unable to constrain the lowermost 500 km of the interior. Recently, array methodologies aimed at detecting deep lunar seismic reflections found evidence for a lunar core, providing an elastic model of the deepest lunar interior consistent with geodetic parameters. Here we study the uncertainties in these models associated with the double array stacking of deep moonquakes for imaging deep reflectors in the Moon. We investigate the dependency of the array stacking results on a suite of parameters, including amplitude normalization assumptions, polarization filters, assumed velocity structure, and seismic phases that interfere with our desired target phases. These efforts are facilitated by the generation of synthetic seismograms at high frequencies (approx. 1Hz), allowing us to directly study the trade-offs between different parameters. We also investigate expected amplitudes of deep reflections relative to direct P and S arrivals, including predictions from arbitrarily oriented focal mechanisms in our synthetics. Results from separate versus combined station stacking help to establish the robustness of stacks. Synthetics for every path geometry of data were processed identically to that done with data. Different experiments were aimed at examining various processing assumptions, such as adding random noise to synthetics and mixing 3 components to some degree. The principal stacked energy peaks put forth in recent work persist, but their amplitude (which maps into reflector impedance contrast) and timing (which maps into reflector depth) depend on factors that are not well constrained -- most notably, the velocity structure of the overlying lunar interior. Thus, while evidence for the lunar core remains strong, the depths of imaged reflectors have associated uncertainties that will require new seismic data and observations to constrain. These results strongly advocate further investigations on the Moon to better resolve the interior (e.g., Selene missions), for the Moon apparently has a rich history of construction and evolution that is inextricably tied to that of Earth.

Lin, Pei-Ying Patty↗

NASA NTRS2001

An Investigation of Surge in a High-Speed Centrifugal Compressor Using Digital PIV

Compressor stall is a catastrophic breakdown of the flow in a compressor, which con lead to a loss of engine power, large pressure transients in the inlet/nacelle, and engine flameout. The implementation of active or passive strategies for controlling rotating stall and surge can significantly extend the stable operating range of a compressor without substantially sacrificing performance. It is crucial to identify the dynamic changes occurring in the flow field prior to rotating stall and surge in order to control these events successfully. Generally, pressure transducer measurements are made to capture the transient response of a compressor prior to rotating stall. In this investigation, Digital Particle Imaging Velocimetry (DPIV) is used in conjunction with dynamic pressure transducers to capture transient velocity and pressure measurements simultaneously in the nonstationary flow field during compressor surge. DPIV is an instantaneous, planar measurement technique that is ideally suited for studying transient flow phenomena in highspeed turbomachinery and has been used previously to map the stable operating point flow field in the diffuser of a high-speed centrifugal compressor. Through the acquisition of both DPIV images and transient pressure data, the time evolution of the unsteady flow during surge is revealed.

Wernet, Mark P.↗

NASA NTRS2017

A Minimal State Augmentation Algorithm for Vision-Based Navigation without Using Mapped Landmarks

This paper describes MAVeN (Minimal State Augmentation Algorithm for Vision-Based Navigation), which is a new algorithm for vision-based navigation that has only 21 states, yet is able to track features in successive camera images and use them to propagate estimates of the spacecraft position and velocity. The filter dimension drops to 12 if attitude information is already available. The low filter dimension makes MAVeN a very reliable and practical algorithm for real-time flight implementation. The main idea is to project observed features onto a rough shape model of the ground surface, which are then used by the filter as pseudo-landmarks. The shape model is assumed to be known beforehand, as would be obtained from prior surveillance of the landing site from orbit. MAVeN does not require pre-mapped landmarks, so it is able to navigate terrain that has not been previously observed up close. This property is especially important for close proximity operations in small body missions where ground surface features are being seen for the first time at close range. MAVeN is also able to hover motionless above the ground without position error growth, which is unusual for this class of vision-based navigation algorithms.

San Martin, A. Miguel↗

NASA NTRS2007

Optical Measurements in a Combustor Using a 9-Point Swirl-Venturi Fuel Injector

This paper highlights the use of two-dimensional data to characterize a multipoint swirl-venturi injector. The injector is based on a NASA-conceived lean direct injection concept. Using a variety of advanced optical diagnostic techniques, we examine the flows resultant from multipoint, lean-direct injectors that have nine injection sites arranged in a 3 x 3 grid. The measurements are made within an optically-accessible, jet-A-fueled, 76-mm by 76-mm flame tube combustor. Combustion species mapping and velocity measurements are obtained using planar laser-induced fluorescence of OH and fuel, planar laser scatter of liquid fuel, chemiluminescence from CH*, NO*, and OH*, and particle image velocimetry of seeded air (non-fueled). These measurements are used to study fuel injection, mixedness, and combustion processes and are part of a database of measurements that will be used for validating computational combustion models.

Hicks, Yolanda R.↗

NASA NTRS2002

An Investigation of Surge in a High-Speed Centrifugal Compressor Using Digital PIV

Compressor stall is a catastrophic breakdown of the flow in a compressor, which can lead to a loss of engine power, large pressure transients in the inlet/nacelle and engine flameout. The implementation of active or passive strategies for controlling rotating stall and surge can significantly extend the stable operating range of a compressor without substantially sacrificing performance. It is crucial to identify the dynamic changes occurring in the flow field prior to rotating stall and surge in order to successfully control these events. Generally, pressure transducer measurements are made to capture the transient response of a compressor prior to rotating stall. In this investigation, Digital Particle Imaging Velocimetry (DPIV) is used in conjunction with dynamic pressure transducers to simultaneously capture transient velocity and pressure measurements in the non-stationary flow field during compressor surge. DPIV is an instantaneous, planar measurement technique which is ideally suited for studying transient flow phenomena in high speed turbomachinery and has been used previously to successfully map the stable operating point flow field in the diffuser of a high speed centrifugal compressor. Through the acquisition of both DPIV images and transient pressure data, the time evolution of the unsteady flow during surge is revealed.

Wernet, Mark P.↗

NASA NTRS1986

Long-term changes in reflectivity and larger scale motions in the atmospheres of Jupiter and Saturn

A multi-color, broad-band photographic program for monitoring atmospheric variability of Jupiter and Saturn with the 61-cm, f/75 telescope was continued. The archivial product consists of approximately 20 sequential images on 3 1/4 x 4 1/4 glass plates with a plate scale of 4.53 arc sec/mm. An eleven-step sensitometric wedge, recorded times of acquisition, and fiducial marks which determine the orientation of the plate, are recorded on each individual plate. This allows accurate positional measurements, as well as detailed relative surface brightness determinations. Detailed measurements of the Red Spot are being utilized in a study of zonal velocity variation and the ability to predict the longitude of the Red Spot during the Galileo mission. An ongoing 5-color series of Saturn has been maintained to map the seasonal changes in the belt-zone reflectivity. Digitization of a series of blue images containing the Red Spot and a series of red and blue images excluding the Red Spot are being processed and reduced to normalized surface brightness maps. This data is being utilized to map time-dependent brightness variations of selected features, belts, and ones.

Beebe, R. F.↗

NASA NTRS2016

Design and Analysis of Map Relative Localization for Access to Hazardous Landing Sites on Mars

Human and robotic planetary lander missions require accurate surface relative position knowledge to land near science targets or next to pre-deployed assets. In the absence of GPS, accurate position estimates can be obtained by automatically matching sensor data collected during descent to an on-board map. The Lander Vision System (LVS) that is being developed for Mars landing applications generates landmark matches in descent imagery and combines these with inertial data to estimate vehicle position, velocity and attitude. This paper describes recent LVS design work focused on making the map relative localization algorithms robust to challenging environmental conditions like bland terrain, appearance differences between the map and image and initial input state errors. Improved results are shown using data from a recent LVS field test campaign. This paper also fills a gap in analysis to date by assessing the performance of the LVS with data sets containing significant vertical motion including a complete data set from the Mars Science Laboratory mission, a Mars landing simulation, and field test data taken over multiple altitudes above the same scene. Accurate and robust performance is achieved for all data sets indicating that vertical motion does not play a significant role in position estimation performance.

Lander Vision System↗

NASA NTRS1995

Full field gas phase velocity measurements in microgravity

Measurement of full-field velocities via Particle Imaging Velocimetry (PIV) is common in research efforts involving fluid motion. While such measurements have been successfully performed in the liquid phase in a microgravity environment, gas-phase measurements have been beset by difficulties with seeding and laser strength. A synthesis of techniques developed at NASA LeRC exhibits promise in overcoming these difficulties. Typical implementation of PIV involves forming the light from a pulsed laser into a sheet that is some fraction of a millimeter thick and 50 or more millimeters wide. When a particle enters this sheet during a pulse, light scattered from the particle is recorded by a detector, which may be a film plane or a CCD array. Assuming that the particle remains within the boundaries of the sheet for the second pulse and can be distinguished from neighboring particles, comparison of the two images produces an average velocity vector for the time between the pulses. If the concentration of particles in the sampling volume is sufficiently large but the particles remain discrete, a full field map may be generated.

Griffin, Devon W.↗

NASA NTRS1999

Ultrasound Thermal Field Imaging of Opaque Fluids

We have initiated an experimental program to develop an ultrasound system for non-intrusively imaging the thermal field in opaque fluids under an externally imposed temperature gradient. Many industrial processes involve opaque fluids, such as molten metals, semiconductors, and polymers, often in situations in which thermal gradients are important. For example, one may wish to understand semiconductor crystal growth dynamics in a Bridgman apparatus. Destructive testing of the crystal after the process is completed gives only indirect information about the fluid dynamics of the formation process. Knowledge of the coupled thermal and velocity fields during the growth process is then essential. Most techniques for non-intrusive velocity and temperature measurement in fluids are optical in nature, and hence the fluids studied must be transparent. In some cases (for example, LDV (laser Doppler velocimetry) and PIV (particle imaging velocimetry)) the velocities of small neutrally buoyant seed particles suspended in the fluid, are measured. Without particle seeding one can use the variation of the index of refraction of the fluid with temperature to visualize, through interferometric, Schlieren or shadowgraph techniques, the thermal field. The thermal field in turn gives a picture of the pattern existing in the fluid. If the object of study is opaque, non-optical techniques must be used. In this project we focus on the use of ultrasound, which propagates easily through opaque liquids and solids. To date ultrasound measurements have almost exclusively relied on the detection of sound scattered from density discontinuities inside the opaque material of interest. In most cases it has been used to visualize structural properties, but more recently the ultrasound Doppler velocimeter has become available. As in the optical case, it relies on seed particles that scatter Doppler shifted sound back to the detector. Doppler ultrasound techniques are, however, not useful for studying convective fluid flow in crystal growth, because particle seeding is unacceptable and flow velocities are typically too low to be resolved, and may be even lower in microgravity conditions where buoyancy forces are negligible. We will investigate a different use of ultrasound to probe the flows of opaque fluids non-intrusively and without the use of seed particles: our goal is to ultrasonically visualize the thermal field of opaque fluids with relatively high spatial resolution. The proposed technique relies upon the variation of sound speed with temperature of the fluid. A high frequency ultra-sound pulse passing through a fluid-filled chamber will traverse the chamber in a time determined by the relevant chamber dimension and the temperature of the fluid through which the pulse passes. With high time-resolution instrumentation that compares the excitation signal with the received pulse we can detect the influence of the fluid temperature on the pulse travel time. This is effectively an interferometric system, which in its optical form is an extremely sensitive approach to measuring thermal fields in fluids. Moreover, the temperature dependence of sound velocity in liquid metals is comparable to the temperature dependence of the speed of light required for accurate interferometric thermal images in transparent fluids. With an array of transducers scanned electronically a map of the thermal field over the chamber could be produced. An alternative approach would be to use the ultrasound analog of the shadowgraph technique. In the optical version, collimated light passes through the fluid, where it is focused or defocused locally by temperature field induced variations of the index of refraction. The resulting image reveals the thermal field through the spatial pattern of light intensity variations. By analogy, an ultrasound plane wave traversing an opaque fluid sample would be also locally focused or defocused depending on the speed of sound variations, giving rise to spatial variations in sound intensity that will reveal the thermal field pattern. These approaches could be applied to any situation in which temperature differences are expected to occur, and will rapidly provide information about the flow that simply cannot be obtained by any current intrusive or non-intrusive diagnostic technique. As materials processing in microgravity matures it will become increasingly important to have available simple and versatile diagnostic tools, such as we will develop, for studying the flows of opaque fluids under thermal forcing.

Andereck, C. David↗

NASA NTRS2002

Magnetic TRAnsition Region Probe (MTRAP)

MTRAP (Magnetic Transition Region Probe) will reveal the fine-scale physical processes in the Sun's magnetic transition region, the complex layer from the upper photosphere to the upper chromosphere/lower transition region. In the magnetic transition region plasma forces and magnetic forces are of comparable strength, which results in complex interplay of the two, which interplay governs the coupling of the convectively-driven deeper layers to the magnetically-driven upper transition region and inner corona. The fine-scale magnetic structure, processes, and events in the magnetic transition region are key to the genesis of the Sun's entire hot, dynamic outer atmosphere and to the initiation of large eruptive events. MTRAP will be a single spacecraft in Sun-synchronous Earth orbit. Because MTRAP will probe and measure the 3-D structure and dynamics of the magnetic field and plasma in the chromosphere and transition region with unprecedented resolution, the required telescope size and telemetry rates dictate that MTRAP be in Earth orbit, not in deep space. The observations will feature visible and infrared maps of vector magnetic and velocity fields in the magnetic transition region and photosphere. These will have large field of view (greater than 100,000 km), high resolution (greater than 100 km), and high sensitivity (greater than 30 G in transverse field). These observations of the lower atmosphere will be complemented by UV maps of the structure, velocity, and magnetic field (including the full vector field if technically feasible) higher up, in the upper chromosphere and lower transition region. MTRAP will also have an EUV imaging spectrograph observing coronal structure and dynamics in the same field of view with comparable resolution. Specific phenomena to be analyzed include spicules, bright points, jets, the base of plumes, and the triggering of eruptive flares and coronal mass ejections. Additional information is included in the original extended abstract.

Moore, R. L.↗

NASA NTRS2024

Three-Dimensional Atmospheric Dynamics of Jupiter from Ground-Based Doppler Imaging Spectroscopy in the Visible

We present three-dimensional (3D) maps of Jupiter’s atmospheric circulation at cloud-top level from Doppler-imaging data obtained in the visible domain with JIVE, the second node of the JOVIAL network, which is mounted on the Dunn Solar Telescope at Sunspot, New Mexico. We report on 12 nights of observations between May 4 and May 30, 2018, representing a total of about 80 hours. Firstly, the average zonal wind profile derived from our data is compatible with that derived from cloud-tracking measurements performed on Hubble Space Telescope images obtained in April 2018 from the Outer Planet Atmospheres Legacy (OPAL) program. Secondly, we present the first ever two-dimensional maps of Jupiter’s atmospheric circulation from Doppler measurements. The zonal velocity map highlights well-known atmospheric features, such as the equatorial hot spots and the Great Red Spot (GRS). In addition to zonal winds, we derive meridional and vertical velocity fields from the Doppler data. The motions attributed to vertical flows are mainly located at the boundary between the equatorial belts and tropical zones, which could indicate active motion in these regions. Qualitatively, these results compare well to recent Juno data that have unveiled the three-dimensional structure of Jupiter’s wind field. To the contrary, the motions attributed to meridional circulation are very different from what is obtained by cloud tracking, except at the GRS. Because of limitations with data resolution and processing techniques, we acknowledge that our measurement of vertical or meridional flows of Jupiter are still to be confirmed.

Francois-Xavier Schmider↗

NASA NTRS2000

The 3-Dimensional Inner and Outer Structure of Ejecta Around Eta Carinae as Detected by the STIS

The HST/STIS instrument was used successfully to perform a complete mapping of the Homunculus nebula at two wavelength ranges including H-alpha and H-beta with a spectral resolving power of about 5000 and a spatial resolution of 0.1". The individual spectra were merged to synthesize three-dimensional data cubes that contain a set of images of Eta Car with spatial resolution of 0.10 to 0.251, sliced at velocity increment of 10 -- 30 km/s. For the first time this unique method allows us to diagnose the origin of intrinsic narrow emission structure of the nebula with high spatial and velocity resolution. Our initial analysis revealed the inner emission structure appeared to trace an elongated bipolar shell (possibly other shells as well) with a scale size of an arcsecond (i.e., "little homunculus in the Homunculus"). Furthermore, the mapping data cube revealed that the "fan" or "paddle" -- often referred as the source of peculiar blue-shifted intrinsic emissions including the Strontium cloud -- is not the source of intrinsic emissions. The fan is not even a part of the equatorial disk, but is spatially separated from the peculiar emission structure. Indeed we suggest that the fan is a surface of the Northwest lobe, possibly revealed by a blowout of the equatorial disk. We will use a number of visualization techniques (tomographic animations and simple 3-D models) to show these structures. These new results have strong impact upon future numerical modelings of the Homunculus nebula and of understanding of the evolution of the ejecta powered by the central source(s).

Ishibashi, Kazunori↗

NASA NTRS2016

Statistical Correlation of Low-Altitude ENA Emissions with Geomagnetic Activity from IMAGE MENA Observations

Plasma sheet particles transported Earthward during times of active magnetospheric convection can interact with exospheric/thermospheric neutrals through charge exchange. The resulting Energetic Neutral Atoms (ENAs) are free to leave the influence of the magnetosphere and can be remotely detected. ENAs associated with low-altitude (300-800 km) ion precipitation in the high-latitude atmosphere/ionosphere are termed low-altitude emissions (LAEs). Remotely observed LAEs are highly nonisotropic in velocity space such that the pitch angle distribution at the time of charge exchange is near 90deg. The Geomagnetic Emission Cone of LAEs can be mapped spatially, showing where proton energy is deposited during times of varying geomagnetic activity. In this study we present a statistical look at the correlation between LAE flux (intensity and location) and geomagnetic activity. The LAE data are from the MENA imager on the IMAGE satellite over the declining phase of solar cycle 23 (2000-2005). The SYM-H, AE, and Kp indices are used to describe geomagnetic activity. The goal of the study is to evaluate properties of LAEs in ENA images and determine if those images can be used to infer properties of ion precipitation. Results indicate a general positive correlation to LAE flux for all three indices, with the SYM-H showing the greatest sensitivity. The magnetic local time distribution of LAEs is centered about midnight and spreads with increasing activity. The invariant latitude for all indices has a slightly negative correlation. The combined results indicate LAE behavior similar to that of ion precipitation.

Mackler, D. A.↗

NASA NTRSDate not supplied

Evaluating Rock Pool Hydroperiod Fluctuation using Climate Variables to Inform Habitat Monitoring and Protection in the Western Sonoran Desert

As warming and drying trends continue to impact the greater American Southwest, effective ecosystem management increasingly relies upon understanding the relationships between climate and water resources. Ephemeral freshwater rock pools, known as tinajas, have great ecological and cultural importance as some of the only sources of surface water in the western Sonoran Desert (WSD). Tinaja flooding and drying cycles, known as hydroperiods, vary based on meteorologic and climatologic conditions; however, a lack of extensive research relating climatic impacts to tinajas puts these critical ecosystems further at risk. Tinajas throughout the WSD are monitored by the National Park Service (NPS) using resource intensive strategies including in situ trail camera observation and direct measurement. To aid NPS monitoring efforts, this research used remotely sensed climate data to analyze spatiotemporal climate trends and relationships between climate variables and tinaja hydroperiods in the WSD between 1979–2022. Using Aqua and Terra Moderate Resolution Imaging Spectroradiometers (MODIS), University of Idaho Gridded Surface Meteorological Dataset (gridMET), and OpenET data, the project analyzed land surface temperature, evapotranspiration, precipitation, wind velocity, and solar radiation. The team generated climate anomaly time series and climate normal maps for the WSD, identifying statistically significant spatial and temporal trends. These data were then compared to daily, qualitative in situ hydroperiod observations taken between 2019–2022. This work will be used by the NPS to inform the monitoring and protection of tinajas in the WSD. Findings contribute to a limited body of research concerning climate and tinajas, which are often overlooked despite their disproportionate ecological importance.

Annie Britton↗

NASA NTRS2002

Application of DPIV to Enhanced Mixing Heated Nozzle Flows

Digital Particle Imaging Velocimetry (DPIV) is a planar velocity measurement technique that continues to be applied to new and challenging engineering research facilities while significantly reducing facility test time. DPIV was used in the GRC Nozzle Acoustic Test Rig (NATR) to characterize the high temperature (560 C), high speed (is greater than 500 m/s) flow field properties of mixing enhanced jet engine nozzles. The instantaneous velocity maps obtained using DPIV were used to determine mean velocity, rms velocity and two-point correlation statistics to verify the true turbulence characteristics of the flow. These measurements will ultimately be used to properly validate aeroacoustic model predictions by verifying CFD input to these models. These turbulence measurements have previously not been possible in hot supersonic jets. Mapping the nozzle velocity field using point based techniques requires over 60 hours of test time, compared to less than 45 minutes using DPIV, yielding a significant reduction in testing time. A dual camera DPIV configuration was used to maximize the field of view and further minimize the testing time required to map the nozzle flow. The DPIV system field of view covered 127 by 267 mm. Data were acquired at 19 axial stations providing coverage of the flow from the nozzle exit to 2.37 in downstream. At each measurement station, 400 image frame pairs were acquired from each camera. The DPIV measurements of the mixing enhanced nozzle designs illustrate the changes in the flow field resulting in the reduced noise signature.

Wernet, Mark P.↗

NASA NTRS1993

The Grand Banks ERS-1 SAR wave spectra validation experiment

As part of the ERS-1 validation program, the ERS-1 Synthetic Aperture Radar (SAR) wave spectra validation experiment was carried out over the Grand Banks of Newfoundland (Canada) in Nov. 1991. The principal objective of the experiment was to obtain complete sets of wind and wave data from a variety of calibrated instruments to validate SAR measurements of ocean wave spectra. The field program activities are described and the rather complex wind and wave conditions which were observed are summarized. Spectral comparisons with ERS-1 SAR image spectra are provided. The ERS-1 SAR is shown to have measured swell and range traveling wind seas, but did not measure azimuth traveling wind seas at any time during the experiment. Results of velocity bunching forward mapping and new measurements of the relationship between wind stress and sea state are also shown.

Vachon, P. W.↗

NASA NTRS1997

Ice velocity at the ice front of the Filchner-Ronne Ice Shelf, Antarctica, as observed with ERS interferometry

ERS images of the two ends of the ice front of the Filchner-Ronne ice shelf (Antarctica) were utilized interferometrically to study the deformation rate of the ice shelf in response to viscous creep. On the western bank of Berkner Island (BI), near Hemmen Ice Rise (HIR), a time series of ERS data acquired in February 1992, in both ascending and descending mode, and with a three-day time interval, were utilized to map the ice velocity in two dimensions. Finite-element ice-shelf flow simulations are compared with the ERS interferograms to interpret the ice motion in terms of the physical constraints on ice-shelf flow. The efforts to fit artificial interferograms generated with model velocity output suggest that the flow regime is strongly influenced by three processes. First, a void-creation process responsible for rifts at coastal margins tends to uncouple the ice shelf from the ice rise and neighboring coast of BI. Secondly, sea ice within the void space appears to act as a binding agent between discrete ice-shelf fragments, allowing rigid-body rotations of these fragments. Third, strain rates appear to be enhanced in a narrow zone adjacent to HIR, implying significant strain softening along the boundary. It is believed that synthetic aperture radar (SAR) interferogram/model intercomparison represents a powerful impetus towards the development of better, more physically realistic ice-shelf flow models.

Rignot, Eric↗

NASA NTRS2022

Velocimeter LIDAR Based Bulk Velocity Estimation for Terrain Relative Navigation Applications

A novel batch state estimation approach to estimate the translational and angular velocity states of a vehicle using a state-of-the-art velocimeter Light Detection and Ranging (LIDAR) sensor for use in Terrain and Hazard Relative Navigation (TRN/HRN) applications is presented in this paper. The velocimeter LIDAR is capable of measuring three dimensional position and line-of-sight (LOS) velocity associated with every pixel in the field-of-view (FOV). This new batch state estimation methodology is shown to provide accurate and statistically consistent velocity estimates with no a priori information. In contrast to traditional computer vision approaches for TRN, the proposed technique is not dependent on image features. This feature alleviates the need for accurate feature detection and correspondence to a predefined map making it suitable for unknown operating environments. Following a detailed development of the mathematical details associated with the batch state estimation methodology, the efficacy and utility of the proposed algorithms are evaluated through emulation robotics experiments performed at Texas A&M’s Land, Air, and Space Robotics (LASR) laboratory.

Skulsky, Eli↗