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Science Target Prioritization Framework for Remote Sensing

Behind the scenes of a remote sensing mission there are complex decision making and planning operations. Streamlining these operations, with a quantitative scientific value framework, aids efficient and optimized science data collection.While there have been previous efforts to quantify the science value for specific science scenarios, our work aims to develop a general framework which can be applied across different scenarios. We describe a pipeline of processes which combines model forecast and observation data, in computational forms, as dictated by the mission objectives set forth by subject matter experts. The framework is described with use cases involving the monitoring of nitrogen dioxide (NO2) concentrations over the Gulf of Mexico and methane concentrations over interior Alaska.

Remote Sensing↗

Some remarks on elastic crack-tip stress fields.

It is shown that if the displacement field and stress intensity factor are known as functions of crack length for any symmetrical load system acting on a linear elastic body in plane strain, then the stress intensity factor for any other symmetrical load system whatsoever on the same body may be directly determined. The result is closely related to Bueckner's (1970) weight function, through which the stress intensity factor is expressed as a sum of work-like products between applied forces and values of the weight function at their points of application. An example of the method is given wherein the solution for a crack in a remotely uniform stress field is used to generate the expression for the stress intensity factor due to an arbitrary traction distribution on the faces of a crack. A corresponding theory is developed in an appendix for three-dimensional crack problems, although this appears to be directly useful chiefly for problems in which there is axial symmetry.

Rice, J. R.↗

Laser-zone growth in a Ribbon-To-Ribbon (RTR) process, silicon sheet growth development for the large area silicon sheet task of the low cost silicon solar array project

The objective of this research is to fully investigate the Ribbon-To-Ribbon (R-T-R) approach to silicon ribbon growth. Initial work has concentrated on modification and characterization of an existing R-T-R apparatus. In addition, equipment for auxiliary heating of the melt is being evaluated and acquired. Modification of the remote viewing system and mechanical staging are nearly complete. Characterization of the laser and other components is in progress and several auxiliary heating techniques are being investigated.

Gurtler, R. W.↗

A comparison of control modes for time-delayed remote manipulation

Transmission time delay in the communication channel of a manual control system is investigated. A time delay can exist in remote manipulation systems, caused by long communication distances or bandwidth limitations. Ferrell 1 conducted the first research in time-delayed manipulation using a two degree-of-freedom manipulator. His subjects, working at time delays of 1.0, 2.1, and 3.2 s, could accomplish tasks even requiring great accuracy. The subjects spontaneously adopted a pattern of moving cautiously, then waiting to see the results of their actions. In experiments with a six degree-of-freedom master-slave manipulator system and time delays of 1.0 to 6 s, Black 2 saw that subjects tried to use the move-and-wait strategy; but there were often difficulties. The subjects seemed to have a problem in holding the master arm stationary while waiting for feedback. Any undesired drifting of the master arm introduced a discrepancy between the positions of the master and slave. This discrepancy was not perceived because of the time delay. The subject would then begin his next move with an inherent error. The difficulty of effectively using the move-and-wait strategy with a master-slave manipulator suggested that rate control might be a more effective control mode with time delay.

Starr, G. P.↗

Future remote sensing instruments and systems

Scientific requirements for terrestrial remote-sensing satellites in the 1990's and instrument packages to meet them are discussed, summarizing the results of a preliminary study conducted by the NASA System Z Science and Mission Requirements Working Group. Major questions regarding atmospheric chemistry and circulation, global climate, ocean dynamics, biogeochemical cycles, ice-budget and hydrological cycles, continental geology, biomass dynamics, and land cover and use are listed along with the observational frequency and resolution necessary to answer them, and an instrument use matrix is presented. Large essentially permanent man-tended arrays of instruments serving multiple functions and linked to the users via advanced information-processing networks and (possibly including expert systems) are recommended, and a basic payload and two supplemental packages are outlined.

Broome, D. R., Jr.↗

The space station tethered elevator system

The optimized conceptual engineering design of a space station tethered elevator is presented. The elevator is an unmanned mobile structure which operates on a ten kilometer tether spanning the distance between the Space Station and a tethered platform. Elevator capabilities include providing access to residual gravity levels, remote servicing, and transportation to any point along a tether. The potential uses, parameters, and evolution of the spacecraft design are discussed. Engineering development of the tethered elevator is the result of work conducted in the following areas: structural configurations; robotics, drive mechanisms; and power generation and transmission systems. The structural configuration of the elevator is presented. The structure supports, houses, and protects all systems on board the elevator. The implementation of robotics on board the elevator is discussed. Elevator robotics allow for the deployment, retrieval, and manipulation of tethered objects. Robotic manipulators also aid in hooking the elevator on a tether. Critical to the operation of the tethered elevator is the design of its drive mechanisms, which are discussed. Two drivers, located internal to the elevator, propel the vehicle along a tether. These modular components consist of endless toothed belts, shunt-wound motors, regenerative power braking, and computer controlled linear actuators. The designs of self-sufficient power generation and transmission systems are reviewed. Thorough research indicates all components of the elevator will operate under power provided by fuel cells. The fuel cell systems will power the vehicle at seven kilowatts continuously and twelve kilowatts maximally. A set of secondary fuel cells provides redundancy in the unlikely event of a primary system failure. Power storage exists in the form of Nickel-Hydrogen batteries capable of powering the elevator under maximum loads.

Anderson, Loren A.↗

1996 NASA-ASEE-Stanford Summer Faculty Fellowship Program

As is customary, the final technical report for the NASA-ASEE Summer Faculty Fellowship Program at the Ames Research Center, Dryden Flight Research Center and Stanford University essentially consists of a compilation of the summary technical reports of all the fellows. More extended versions done either as NASA publications, archival papers, or other laboratory reports are not included here. The reader will note that the areas receiving emphasis were the life sciences, astronomy, remote sensing, aeronautics, fluid dynamics/aerophysics, and computer science. Of course, the areas of emphasis vary somewhat from year to year depending on the interests of the most qualified applicants. Once again, the work is of especially high quality. The reports of the first and second year fellows are grouped separately and are arranged alphabetically within each group.

Source record↗

Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

Muscettola, Nicola↗

Test oracle automation for V&V of an autonomous spacecraft's planner

We built automation to assist the software testing efforts associated with the Remote Agent experiment. In particular, our focus was upon introducing test oracles into the testing of the planning and scheduling system component. This summary is intended to provide an overview of the work.

testing test oracles verification validation analy↗

Comparison of Satellite-Derived and In-Situ Observations of Ice and Snow Surface Temperatures over Greenland

The most practical way to get a spatially broad and continuous measurements of the surface temperature in the data-sparse cryosphere is by satellite remote sensing. The uncertainties in satellite-derived LSTs must be understood to develop internally-consistent decade-scale land-surface temperature (LST) records needed for climate studies. In this work we assess satellite-derived "clear-sky" LST products from the Moderate Resolution Imaging Spectroradiometer (MODIS) and the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER), and LSTs derived from the Enhanced Thematic Mapper Plus (ETM+) over snow and ice on Greenland. When possible, we compare satellite-derived LSTs with in-situ air-temperature observations from Greenland Climate Network (GC-Net) automatic-weather stations (AWS). We find that MODIS, ASTER and ETM+ provide reliable and consistent LSTs under clear-sky conditions and relatively-flat terrain over snow and ice targets over a range of temperatures from -40 to 0 C. The satellite-derived LSTs agree within a relative RMS uncertainty of approx.0.5 C. The good agreement among the LSTs derived from the various satellite instruments is especially notable since different spectral channels and different retrieval algorithms are used to calculate LST from the raw satellite data. The AWS record in-situ data at a "point" while the satellite instruments record data over an area varying in size from: 57 X 57 m (ETM+), 90 X 90 m (ASTER), or to 1 X 1 km (MODIS). Surface topography and other factors contribute to variability of LST within a pixel, thus the AWS measurements may not be representative of the LST of the pixel. Without more information on the local spatial patterns of LST, the AWS LST cannot be considered valid ground truth for the satellite measurements, with RMS uncertainty approx.2 C. Despite the relatively large AWS-derived uncertainty, we find LST data are characterized by high accuracy but have uncertain absolute precision.

Hall, Dorothy K.↗

Fast Image Texture Classification Using Decision Trees

Texture analysis would permit improved autonomous, onboard science data interpretation for adaptive navigation, sampling, and downlink decisions. These analyses would assist with terrain analysis and instrument placement in both macroscopic and microscopic image data products. Unfortunately, most state-of-the-art texture analysis demands computationally expensive convolutions of filters involving many floating-point operations. This makes them infeasible for radiation- hardened computers and spaceflight hardware. A new method approximates traditional texture classification of each image pixel with a fast decision-tree classifier. The classifier uses image features derived from simple filtering operations involving integer arithmetic. The texture analysis method is therefore amenable to implementation on FPGA (field-programmable gate array) hardware. Image features based on the "integral image" transform produce descriptive and efficient texture descriptors. Training the decision tree on a set of training data yields a classification scheme that produces reasonable approximations of optimal "texton" analysis at a fraction of the computational cost. A decision-tree learning algorithm employing the traditional k-means criterion of inter-cluster variance is used to learn tree structure from training data. The result is an efficient and accurate summary of surface morphology in images. This work is an evolutionary advance that unites several previous algorithms (k-means clustering, integral images, decision trees) and applies them to a new problem domain (morphology analysis for autonomous science during remote exploration). Advantages include order-of-magnitude improvements in runtime, feasibility for FPGA hardware, and significant improvements in texture classification accuracy.

Thompson, David R.↗

A Strong Atmospheric River Responsible for the 2019 Record Floods in the Middle East

Atmospheric rivers (ARs) cause some of the weather-related disasters around the world. While many studies have shown the contribution of ARs to precipitation in the coastal regions such as western Europe and the U.S. West Coast, little is known about their mechanisms and impacts on flooding in the Middle East. This study shows that an AR was responsible for the record floods during March 2019 across the Middle East. Iran in particular was hit hardest with the floods that left a death toll of at least 76 and an early estimate of $2.5 billion (U.S. dollars) damage to its infrastructures. The heavy precipitation produced by this AR made the 2018/19 rainy season the wettest in the past four decades. By contrast, the prior year (2017/18) was the driest over the same period. This is a compelling example of rapid dry-to-wet transitions that may enhance the chance of landslides and impose challenges to water resources management. The AR originated in the Atlantic Ocean and propagated across North Africa and the Arabian Peninsula before its final landfall over the Zagros Mountains. On its nearly 9000 km journey, the AR received additional moisture from the Mediterranean, Red, and Arabian Seas, and the Persian Gulf. Moisture transport by this AR during 24-25 March 2019 is estimated at more than 150times the aggregated discharge of the four major rivers in the region, that is, the Tigris, Euphrates, Karun, and Karkheh. Anomalously warm sea surface temperatures in all surrounding basins and coincidence of a midlatitude system and a subtropical jet provided the necessary ingredients for formation of this strong AR. This work underlines the fact that the impacts of rain-producing ARs are not limited to the coastal regions. Such ARs can travel very long distances away from the oceans and affect remote arid and semi-arid regions like the Middle East. This study examined an individual AR, though one associated with record floods. However, it attempts to draw attention to the need for more AR-related research over the Middle East.

Atmospheric Rivers↗

Safety Case for Small Uncrewed Aircraft Systems (sUAS) Beyond Visual Line of Sight (BVLOS) Operations at NASA Langley Research Center

This Technical Memorandum (TM) is written to provide for dissemination of the methods and safety considerations for operations of small Uncrewed Aerial Systems (sUAS) Beyond Visual Line-of-Sight (BVLOS)at NASA Langley Research Center. It includes the Safety Case used to acquire a BVLOS Certificate of Authorization (COA) from the FAA and is being published to enable others to benefit from this work. The intended operations, subject to approval from the Federal Aviation Administration (FAA) and the National Aeronautics and Space Administration (NASA), will include a combination of Within Visual Line of Sight (WVLOS) and Beyond Visual Line of Sight (BVLOS) flights, comprising of at most five sUAS operating concurrently, with no more than three operating BVLOS. Flights will occur in a subset of the Langley Air Force Base (LAFB) Class D airspace (KLFI) at a maximum altitude of 400 ft AGL. Most operations within this subset will take place in the City Environment Range Testing for Autonomous Integrated Navigation (CERTAIN) Range. The CERTAIN Range includes airspace inside the borders of NASA Langley Research Center (LaRC). Additional airspace over the northern section of CERTAIN will be requested as part of the Certificate of Authorization (COA). NASA LaRC BVLOS operations on the CERTAIN Range can be broken down into five critical components needed to meet the 14 CFR § 91.113 see and avoid requirement: 1) procedural deconfliction with LAFB for UAS operations at or below 400 ft and manned aircraft at or above 900’ AGL; 2) ground equipment for detection of intruder aircraft and to support communications between crewmembers ; 3) sUAS vehicles with advanced onboard automation capable of autonomously maintaining safe separation; 4) BVLOS standardized operating procedures (SOPs); 5) and personnel to execute the flight operations in accordance with the SOPs and respond to airborne contingencies. The introduction of new ground equipment includes the use of the Remote Operations for Autonomous Missions (ROAM) UAS Operations Center, development and use of an Integrated Airspace Display (IAD), use of the L-STAR and GA-9120 radars, and the incorporation of standardized Vertiports. The ROAM Operations Center will be the central point for all BVLOS sUAS operations. All command and control (C2), voice communications and airspace awareness displays will reside inside ROAM. The IAD will provide raw data from ADS-B, FLARM, radar tracks and telemetered GPS vehicle positions for interpretation by an Airspace Monitor. The radars will search the class D airspace around the CERTAIN Range and serve as a backup to procedural deconfliction procedures coordinated with LAFB. In the event of a procedural deconfliction breakdown, radar detections of non-participating aircraft will be available so that the 91.113 see and avoid requirement can still be safely met. Finally, the incorporation of Vertiports will have video and network connectivity that enables large numbers of sUAS launches and recoveries from a single location. This is a continuation of the remote command and control of unpiloted aircraft component focused on evaluating unpiloted aircraft flight crew roles and responsibilities, control interfaces and the associated data links needed to operate a fleet of aircraft within a UAM Ecosystem. This work supports the development of future aviation operational concepts based on an Urban Air Mobility Maturity Level (UML) 4 environment (Patterson, 2020). It is assumed that future airspace will include hundreds of simultaneous aircraft operations within the airspace, therefore scalable operations are essential for enabling this future airspace to become a reality. Follow on work includes envisioned flights that expand operations beyond the CERTAIN range and lead to an effective Maritime Surveillance capability.

Matthew W Coldsnow↗

A Partnership for Global Impact and Resiliency

Many researchers, particularly in the development sector, struggle with connecting their work with on-the-ground users who will benefit from their research. SERVIR, a National Aeronautics and Space Administration (NASA)/ United States Agency for International Development (USAID) joint program strives to “connect space to village” and to reduce through the use of geospatial technology and data. Partnerships with organizations, such as Mercy Corps, are important for connecting to the village level and ensuring that our work is benefiting the most vulnerable communities. Mercy Corps is a global non-governmental, humanitarian and development organization operating in transitional contexts that have undergone, or have been undergoing, various forms of economic, environmental, social and political instabilities. Through the Mercy Corps and SERVIR partnership, we are able to bring together the remote sensing and geospatial technology expertise of SERVIR and the on-the-ground expertise of Mercy Corps. In this talk we will provide additional background of this partnership as well as provide examples of how we have collaborated thus far in the partnership. The partnership spans engagement from connecting one another with our various partners to in-depth collaboration on specific projects. Additionally, we will discuss some of the various goals and outcomes of the partnership that help frame our work together in the present and future.

Muench, Rebekke↗

Establishing Cleaning Methods for Cleanroom and Safety Suits at Remote Sites with Available Resources

"The James Webb Space Telescope (JWST) spent considerable time in multiple clean facilities during its launch campaign at the Centre Spatial Guyanais (CSG) in French Guiana. Throughout this time, it was imperative that personnel wear approved cleanroom or safety suits when working in proximity to the JWST observatory. This proved to be challenging for two reasons: 1) A large quantity of NASA cleanroom suits needed to be shipped to CSG to account for the heavy volume of NASA and ESA personnel requiring access to the clean facilities. It became evident that shipping clean suits from the US to CSG in a timely fashion during the launch campaign would be challenging. Consequently, a backup plan needed to be established to avoid running out. 2) For safety purposes, Self-Contained Atmospheric Protection Ensemble (SCAPE) and Splash suits were required for hazardous operations. Neither type of suit was cleanroom compatible; therefore, a viable cleaning process needed to be developed to ensure both types of suits met JWST’s approved cleanliness standards. The NASA Contamination Control (CC) team partnered with CSG’s S5E cleanroom and suit processing team. The teams were able to make modifications to the S5E facility to create a NASA approved makeshift clean environment where NASA cleanroom suits and CSG Splash suits were inspected, folded, and bagged for cleanroom use once they were washed and dried. Since SCAPE suits could not be cleaned using conventional methods, a procedure was developed to clean and inspect the suits by the CC team in a temporary clean environment prior to fueling. "

James Webb Space Telescope↗

Establishing Cleaning Methods For Cleanroom And Safety Suits At Remote Sites With Available Resources

The James Webb Space Telescope (JWST) spent considerable time in multiple clean facilities during its launch campaign at the Centre Spatial Guyanais (CSG) in French Guiana. Throughout this time, it was imperative that personnel wear approved cleanroom or safety suits when working in proximity to the JWST observatory. This proved to be challenging for two reasons: 1) A large quantity of NASA cleanroom suits needed to be shipped to CSG to account for the heavy volume of NASA and ESA personnel requiring access to the clean facilities. It became evident that shipping clean suits from the US to CSG in a timely fashion during the launch campaign would be challenging. Consequently, a backup plan needed to be established to avoid running out. 2) For safety purposes, Self-Contained Atmospheric Protection Ensemble (SCAPE) and Splash suits were required for hazardous operations. Neither type of suit was cleanroom compatible; therefore, a viable cleaning process needed to be developed to ensure both types of suits met JWST’s approved cleanliness standards. The NASA Contamination Control (CC) team partnered with CSG’s S5E cleanroom and suit processing team. The teams were able to make modifications to the S5E facility to create a NASA approved makeshift clean environment where NASA cleanroom suits and CSG Splash suits were inspected, folded, and bagged for cleanroom use once they were washed and dried. Since SCAPE suits could not be cleaned using conventional methods, a procedure was developed to clean and inspect the suits by the CC team in a temporary clean environment prior to fueling.

James Webb Space Telescope↗

Large Ka-Band Slot Array for Digital Beam-Forming Applications

This work describes the development of a large Ka Band Slot Array for the Glacier and Land Ice Surface Topography Interferometer (GLISTIN), a proposed spaceborne interferometric synthetic aperture radar for topographic mapping of ice sheets and glaciers. GLISTIN will collect ice topography measurement data over a wide swath with sub-seasonal repeat intervals using a Ka-band digitally beamformed antenna. For technology demonstration purpose a receive array of size 1x1 m, consisting of 160x160 radiating elements, was developed. The array is divided into 16 sticks, each stick consisting of 160x10 radiating elements, whose outputs are combined to produce 16 digital beams. A transmit array stick was also developed. The antenna arrays were designed using Elliott's design equations with the use of an infinite-array mutual-coupling model. A Floquet wave model was used to account for external coupling between radiating slots. Because of the use of uniform amplitude and phase distribution, the infinite array model yielded identical values for all radiating elements but for alternating offsets, and identical coupling elements but for alternating positive and negative tilts. Waveguide-fed slot arrays are finding many applications in radar, remote sensing, and communications applications because of their desirable properties such as low mass, low volume, and ease of design, manufacture, and deployability. Although waveguide-fed slot arrays have been designed, built, and tested in the past, this work represents several advances to the state of the art. The use of the infinite array model for the radiating slots yielded a simple design process for radiating and coupling slots. Method of moments solution to the integral equations for alternating offset radiating slots in an infinite array environment was developed and validated using the commercial finite element code HFSS. For the analysis purpose, a method of moments code was developed for an infinite array of subarrays. Overall the 1x1 m array was found to be successful in meeting the objectives of the GLISTIN demonstration antenna, especially with respect to the 0.042deg, 1/10th of the beamwidth of each stick, relative beam alignment between sticks.

Rengarajan, Sembiam↗

NASA's Design and Development of a Field Goniometer Instrument Using Solid Works

With NASA suffering severe funding cutbacks, engineers at NASA are required to produce state-of-the-art hardware with limited personnel and financial resources. In light of these constraints, the new NASA mandate is to build better, faster and cheaper. In April of 1998, Stennis Space Center's Commercial Remote Sensing Program contracted to the Systems Engineering Division at NASA Ames Research Center to develop a device known as a Field Goniometer. A Field Goniometer is a device that measures bi-directional reflectance of a target, such as vegetation, relative to the sun and an imaging system in an aircraft or spacecraft. The device is able to provide a spectral fingerprint of the surface it is measuring in wavelengths from 350nm-2500nm using a hyperspectral imager. To accomplish this project, several obstacles had to be overcome. First, the design had to be completed in less than four months. Second, due to the complexity of the design, the use of solid modeling was highly desirable but most of the group's solid modelers were assigned to other jobs. Third, the amount of funding available from the customer was one half to one third the funding typically expended for a job of this nature. Our choices for this project were to design with standard 2-D CAD systems currently used in-house or train additional engineers on our existing solids package or purchase a new solid model package. The use of a 2D CAD system was very undesirable due to the complexity of the design. Using our existing solids modeler would have required a learning curve for our engineers that would be incompatible with our schedule. Prior to this project, a member of our design group researched the solid modeling industry and decided to purchase SolidWorks. After examining the product for ease of use, modeling capability, training time required and cost, we decided our highest probability of success would be to design with Solidworks. During the design phase, our fabrication group was able to provide input at the very early stages, which added significant benefit to the final product. Fabrication cost and schedule savings have been realized by having complex part geometries translated directly from the SolidWorks design models to Surfcam and other computer-aided manufacturing (CAM) software. This direct model translation capability optimized the fabrication processes. The end result was that we were able to successfully complete the project on time and on budget. Other advantages of using SolidWorks, as cited by the design team, include a rapid negotiation of the initial learning curve, the ability to develop solid model hardware prototypes (used to communicate the design intent to both the customer and the fabricator), and the ability to work as a team collaborating on a large, complex model. These types of tools and efforts represent our response to NASA's challenge to produce higher quality products within shorter design and fabrication times.

Turner, Mark↗