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At least 955 records · Page 53
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NASA NTRS2008

Degradation of Victoria Crater, Mars

The $\sim$750 m diameter and $\sim$75 m deep Victoria crater in Meridiani Planum, Mars, presents evidence for significant degradation including a low, serrated, raised rim characterized by alternating alcoves and promontories, a surrounding low relief annulus, and a floor partially covered by dunes. The amount and processes of degradation responsible for the modified appearance of Victoria crater were evaluated using images obtained in situ by the Mars Exploration Rover Opportunity in concert with a digital elevation model created using orbital HiRISE images. Opportunity traversed along the north and northwest rim and annulus, but sufficiently characterized features visible in the DEM to enable detailed measurements of rim relief, ejecta thickness, and wall slopes around the entire degraded, primary impact structure. Victoria retains a 5 m raised rim consisting of 1-2 m of uplifted rocks overlain by 3 m of ejecta at the rim crest. The rim is $\sim$120 to 220 m wide and is surrounded by a dark annulus reaching an average of 590 m beyond the raised rim. Comparison between observed morphology and that expected for pristine craters 500 to 750 m across indicate the original, pristine crater was close to 600 m in diameter. Hence, the crater has been erosionally widened by approximately 150 m and infilled by about 50 m of sediments. Eolian processes are responsible for modification at Victoria, but lesser contributions from mass wasting or other processes cannot be ruled out. Erosion by prevailing winds is most significant along the exposed rim and upper walls and accounts for $\sim$50 m widening across a WNW-ESE diameter. The volume of material eroded from the crater walls and rim is $\sim$20% less than the volume of sediments partially filling the crater, indicating eolian infilling from sources outside the crater over time. The annulus formed when $\sim$1 m deflation of the ejecta created a lag of more resistant hematite spherules that trapped darker, regional basaltic sands.

Wilson, Sharon A.↗
NASA NTRS2005

Learning for Autonomous Navigation

Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

mixture of Gaussians↗
NASA NTRS2009

Channel Networks on Large Fans: Refining Analogs for the Ridge-forming Unit, Sinus Meridiani

Stream channels are generally thought of as forming within confined valley settings, separated by interfluves. Sinuous ridges on Mars and Earth are often interpreted as stream channels inverted by subsequent erosion of valley sides. In the case of the ridge-forming unit (RFU), this interpretation fails to explain the (i) close spacing of the ridges, which are (ii) organized in networks, and which (iii) cover large areas (approximately 175,000 km (exp 2)). Channel networks on terrestrial fans develop unconfined by valley slopes. Large fans (100s km long) are low-angle, fluvial features, documented worldwide, with characteristics that address these aspects of the RFU. Ridge patterns Channels on large fans provide an analog for the sinuous and elongated morphology of RFU ridges, but more especially for other patterns such as subparallel, branching and crossing networks. Branches are related to splays (delta-like distributaries are rare), whose channels can rejoin the main channel. Crossing patterns can be caused by even slight sinuosity splay-related side channels often intersect. An avulsion node distant from the fan apex, gives rise to channels with slightly different, and hence intersecting, orientations. Channels on neighboring fans intersect along the common fan margin. 2. Network density Channels are the dominant feature on large terrestrial fans (lakes and dune fields are minor). Inverted landscapes on subsequently eroded fans thus display indurated channels as networks of significantly close-spaced ridges. 3. Channel networks covering large areas Areas of individual large terrestrial fans can reach >200,000 km 2 (105-6 km 2 with nested fans), providing an analog for the wide area distribution of the RFU.

Wilkinson, Justin↗
NASA NTRS2009

Real-Time Assessment of Robot Performance During Remote Exploration Operations

To ensure that robots are used effectively for exploration missions, it is important to assess their performance during operations. We are investigating the definition and computation of performance metrics for assessing remote robotic operations in real-time. Our approach is to monitor data streams from robots, compute performance metrics, and provide Web-based displays of these metrics for assessing robot performance during operations. We evaluated our approach for measuring robot performance with the K10 rovers from NASA Ames Research Center during a field test at Moses Lake Sand Dunes (WA) in June 2008. In this paper we present the results of evaluating our software for robot performance and discuss our conclusions from this evaluation for future robot operations.

SBIR TOPIC X7.02 PHASE 1↗
NASA NTRS2008

An Autonomy Architecture for Aerobot Exploration of the Saturnian Moon Titan

The Huygens probe arrived at Saturn's moon Titan on January 14, 2005, unveiling a world that is radically different from any other in the Solar system. The data obtained, complemented by continuing observations from the Cassini spacecraft, show methane lakes, river channels and drainage basins, sand dunes, cryovolcanos and sierras. This has lead to an enormous scientific interest in a follow-up mission to Titan, using a robotic lighter-than-air vehicle (or aerobot). Aerobots have modest power requirements, can fly missions with extended durations, and have very long distance traverse capabilities. They can execute regional surveys, transport and deploy scientific instruments and in-situ laboratory facilities over vast distances, and also provide surface sampling at strategic science sites. This paper describes our progress in the development of the autonomy technologies that will be required for exploration of Titan. We provide an overview of the autonomy architecture and some of its key components. We also show results obtained from autonomous flight tests conducted in the Mojave desert.

Titan↗
NASA NTRS2010

Geologic Map of the Olympia Cavi Region of Mars (MTM 85200): A Summary of Tactical Approaches

The 1:500K-scale geologic map of MTM 85200 - the Olympia Cavi region of Mars - has been submitted for peer review [1]. Physiographically, the quadrangle includes portions of Olympia Rupes, a set of sinuous scarps which elevate Planum Boreum ~800 meters above Olympia Planum. The region includes the high-standing, spiral troughs of Boreales Scopuli, the rugged and deep depressions of Olympia Cavi, and the vast dune fields of Olympia Undae. Geologically, the mapped units and landforms reflect the recent history of repeated accumulation and degradation. The widespread occurrence of both weakly and strongly stratified units implicates the drape-like accumulation of ice, dust, and sand through climatic variations. Similarly, the occurrence of layer truncations, particularly at unit boundaries, implicates punctuated periods of both localized and regional erosion and surface deflation whereby underlying units were exhumed and their material transported and re-deposited. Herein, we focus on the iterative mapping approaches that allowed not only the accommodation of the burgeoning variety and volume of data sets, but also facilitated the efficient presentation of map information. Unit characteristics and their geologic history are detailed in past abstracts [2-3].

Skinner, J. A., Jr.↗
NASA NTRS2010

Ice Sheet Change Detection by Satellite Image Differencing

Differencing of digital satellite image pairs highlights subtle changes in near-identical scenes of Earth surfaces. Using the mathematical relationships relevant to photoclinometry, we examine the effectiveness of this method for the study of localized ice sheet surface topography changes using numerical experiments. We then test these results by differencing images of several regions in West Antarctica, including some where changes have previously been identified in altimeter profiles. The technique works well with coregistered images having low noise, high radiometric sensitivity, and near-identical solar illumination geometry. Clouds and frosts detract from resolving surface features. The ETM(plus) sensor on Landsat-7, ALI sensor on EO-1, and MODIS sensor on the Aqua and Terra satellite platforms all have potential for detecting localized topographic changes such as shifting dunes, surface inflation and deflation features associated with sub-glacial lake fill-drain events, or grounding line changes. Availability and frequency of MODIS images favor this sensor for wide application, and using it, we demonstrate both qualitative identification of changes in topography and quantitative mapping of slope and elevation changes.

Bindschadler, Robert A.↗
NASA NTRS2011

A Herschel-Resolved Debris Disk Around the Nearby G Star HIP 32480

The Herschel Space Observatory is providing unprecedented sensitivity and angular resolution in the far-infrared. The DUNES Key Project (DUst around NEarby Stars, PI Carlos Eiroa) has finished its survey of 133 FGK stars within 25 pc of the Sun using the PACS photometer at 100 and 160 microns. We report the detection of a resolved debris ring around HIP 32480, a G0 star 16.5 parsecs distant. The ring is almost 300 AU in diameter and inclined 30 degrees from edge-on. We present a thermal emission model for the system that fits the Spitzer spectroscopy and Herschel images of the system. We find a minimum grainsize of approximately 4 microns in the main ring and a distinct warm dust population interior to it. Faint detached emission features just outside the ring may trace a separate, more distant ring in the system. The non-detection of the ring in archival HST/ACS coronagraphic images limits the dust grain albedo in the ring to be no more than 10%.

Stapelfeldt, K.↗
NASA NTRS2011

SKARPS: The Search for Kuiper Belts around Radial-Velocity Planet Stars

The Search for Kuiper belts Around Radial-velocity Planet Stars - SKARPS -is a Herschel survey of solar-type stars known to have orbiting planets. When complete, the 100-star SKARPS sample will be large enough for a meaningful statistical comparison against stars not known to have planets. (This control sample has already been observed by Herschel's DUst around NEarby Stars - DUNES - key program). Initial results include previously known disks that are resolved for the first time and newly discovered disks that are fainter and colder than those typically detected by Spitzer. So far, with only half of the sample in hand, there is no measured correlation between inner RV planets and cold outer debris. While this is consistent with the results from Spitzer, it is in contrast with the relationship suggested by the prominent debris disks in imaged-planet systems.

Bryden, Geoffrey↗
NASA NTRS2011

An Evaluation of Antarctica as a Calibration Target for Passive Microwave Satellite Missions with Climate Data Record Applications

Passive microwave remote sensing at L-band (1.4 GHz) is sensitive to soil moisture and sea surface salinity, both important climate variables. Science studies involving these variables can now take advantage of new satellite L-band observations. The first mission with regular global passive microwave observations at L-band is the European Space Agency's Soil Moisture and Ocean Salinity (SMOS), launched November, 2009. A second mission, NASA's Aquarius, was launched June, 201 I. A third mission, NASA's Soil Moisture Active Passive (SMAP) is scheduled to launch in 2014. Together, these three missions may provide a decade-long data record-provided that they are intercalibrated. The intercalibration is best performed at the radiance (brightness temperature) level, and Antarctica is proving to be a key calibration target. However, Antarctica has thus far not been fully characterized as a potential target. This paper will present evaluations of Antarctica as a microwave calibration target for the above satellite missions. Preliminary analyses have identified likely target areas, such as the vicinity of Dome-C and larger areas within East Antarctica. Physical sources of temporal and spatial variability of polar firn are key to assessing calibration uncertainty. These sources include spatial variability of accumulation rate, compaction, surface characteristics (dunes, micro-topography), wind patterns, and vertical profiles of density and temperature. Using primarily SMOS data, variability is being empirically characterized and attempts are being made to attribute observed variability to physical sources. One expected outcome of these studies is the potential discovery of techniques for remotely sensing--over all of Antarctica-parameters such as surface temperature.

Kim, Edward↗
NASA NTRS2012

Herschel Discovery of a New class of Cold, Faint Debris Discs

We present Herschel PACS 100 and 160 micron observations of the solar-type stars alpha Men, HD 88230 and HD 210277, which form part of the FGK stars sample of the Herschel Open Time Key Programme (OTKP) DUNES (DUst around NEarby Stars). Our observations show small infrared excesses at 160 micron for all three stars. HD 210277 also shows a small excess at 100 micron. while the 100 micron fluxes of a Men and HD 88230 agree with the stellar photospheric predictions. We attribute these infrared excesses to a new class of cold, faint debris discs. alpha Men and HD 88230 are spatially resolved in the PACS 160 micron images, while HD 210277 is point-like at that wavelength. The projected linear sizes of the extended emission lie in the range from approximately 115 to <= 250 AU. The estimated black body temperatures from the 100 and 160 micron fluxes are approximately < 22 K, while the fractional luminosity of the cold dust is L(dust)/ L(star) approximates 10(exp -6), close to the luminosity of the Solar-System's Kuiper belt. These debris discs are the coldest and faintest discs discovered so far around mature stars and cannot easily be explained by invoking "classical" debris disc models.

Eiroa, C.↗
NASA NTRS2011

Herschel Discovery of a New Class of Cold, Faint Debris Discs

We present Herschel PACS 100 and 160 micron observations of the solar-type stars alpha Men, HD 88230 and HD 210277, which form part of the FGK stars sample of the Herschel Open Time Key Programme (OTKP) DUNES (DUst around NEarby Stars). Our observations show small infrared excesses at 160 m for all three stars. HD 210277 also shows a small excess at 100 micron, while the 100 micron fluxes of alpha Men and HD 88230 agree with the stellar photospheric predictions. We attribute these infrared excesses to a new class of cold, faint debris discs. alpha Men and HD 88230 are spatially resolved in the PACS 160 m images, while HD 210277 is point-like at that wavelength. The projected linear sizes of the extended emission lie in the range from approx 115 to <= 250 AU. The estimated black body temperatures from the 100 and 160 micron fluxes are approx < 22 K, while the fractional luminosity of the cold dust is L(sub dust) / L(*) approx 10 (exp 6) close to the luminosity of the Solar-System's Kuiper belt. These debris discs are the coldest and faintest discs discovered so far around mature stars and cannot easily be explained by invoking "classical" debris disc models.

Eiroal, C.↗
NASA NTRS2012

A Resolved Debris Disk Around the Nearby G Star HIP 32480

The Herschel Space Observatory is providing unprecedented sensitivity and angular resolution in the far-infrared. The DUNES Key Project (DUst around NEarby Stars, PI Carlos Eiroa) has finished its survey of 133 FGK stars within 25 pc of the Sun using the PACS photometer at 100 and 160 microns. We report the detection of a resolved debris ring around HIP 32480, a GO star 16.5 parsecs distant. The ring is almost 300 AU in diameter and inclined 30 degrees from edge-on. We present a thermal emission model for the system that fits the Spitzer spectroscopy and Herschel images of the system. We find a minimum grain-size of 4 microns in the main ring and a distinct warm dust population interior to it. Faint detached emission features just outside the ring may trace a separate, more distant ring in the system. The non-detection of the ring in archival HST/ACS coronagraphic images limits the dust grain albedo in the ring to be no more than 10%.

Stapelfeldt, K. R.↗
NASA NTRS2012

A Peculiar Class of Debris Disks from Herschel/DUNES: A Steep Fall Off in the Far Infrared

Context. The existence of debris disks around old main sequence stars is usually explained by continuous replenishment of small dust grains through collisions from a reservoir of larger objects. Aims. We present photometric data of debris disks around HIP 103389 (HD199260), HIP 100350 (HN Peg, HD206860), and HIP 114948 (HD 219482), obtained in the context of our Herschel Open TIme Key Program DUNES (DUst around NEarby Stars). Methods. We used Herschel/PACS to detect the thermal emission of the three debris disks with a 30 sigma sensitivity of a few mJy at l00 micron and 160 micron. In addition, we obtained Herschel/PACS photometric data at 70 micron for HIP 103389. These observations are complemented by a large variety of optical to far-infrared photometric data. Two different approaches are applied to reduce the Herschel data to investigate the impact of data reduction on the photometry. We fit analytical models to the available spectral energy distribution (SED) data using the fitting method of simulated therma1 annealing as well as a classical grid search method. Results. The SEDs of the three disks potentially exhibit an unusually steep decrease at wavelengths >= 70 micron. We investigate the significance of the peculiar shape of these SEDs and the impact on models of the disks provided it is real. Using grain compositions that have been applied successfully for modeling of many other debris disks, our modeling reveals that such a steep decrease of the SEDs in the long wavelength regime is inconsistent with a power-law exponent of the grain size distribution -3.5 expected from a standard equilibrium collisional cascade. In contrast, a steep grain size distribution or, alternatively an upper grain size in the range of few tens of micrometers are implied. This suggests that a very distinct range of grain sizes would dominate the thermal. emission of such disks. However, we demonstrate that the understanding of the data of faint sources obtained with Herschel is still incomplete and that the significance of our results depends on the version of the data reduction pipeline used. Conclusions. A new mechanism to produce the dust in the presented debris disks, deviations from the conditions required for a standard equilibrium collisional cascade (grain size exponent of -3.5), and/or significantly different dust properties would be necessary to explain the potentially steep SED shape of the three debris disks presented.

Ertel, S.↗
NASA NTRS2012

Landscape Evolution of Titan

Titan may have acquired its massive atmosphere relatively recently in solar system history. The warming sun may have been key to generating Titan's atmosphere over time, starting from a thin atmosphere with condensed surface volatiles like Triton, with increased luminosity releasing methane, and then large amounts of nitrogen (perhaps suddenly), into the atmosphere. This thick atmosphere, initially with much more methane than at present, resulted in global fluvial erosion that has over time retreated towards the poles with the removal of methane from the atmosphere. Basement rock, as manifested by bright, rough, ridges, scarps, crenulated blocks, or aligned massifs, mostly appears within 30 degrees of the equator. This landscape was intensely eroded by fluvial processes as evidenced by numerous valley systems, fan-like depositional features and regularly-spaced ridges (crenulated terrain). Much of this bedrock landscape, however, is mantled by dunes, suggesting that fluvial erosion no longer dominates in equatorial regions. High midlatitude regions on Titan exhibit dissected sedimentary plains at a number of localities, suggesting deposition (perhaps by sediment eroded from equatorial regions) followed by erosion. The polar regions are mainly dominated by deposits of fluvial and lacustrine sediment. Fluvial processes are active in polar areas as evidenced by alkane lakes and occasional cloud cover.

Moore, Jeffrey↗
NASA NTRS2012

An Evaluation of Antarctica as a Calibration Target for Passive Microwave Satellite Missions

Passive microwave remote sensing at L-band (1.4 GHz) is sensitive to soil moisture and sea surface salinity, both important climate variables. Science studies involving these variables can now take advantage of new satellite L-band observations. The first mission with regular global passive microwave observations at L-band is the European Space Agency's Soil Moisture and Ocean Salinity (SMOS), launched November, 2009. A second mission, NASA's Aquarius, was launched June, 201l. A third mission, NASA's Soil Moisture Active Passive (SMAP) is scheduled to launch in 2014. Together, these three missions may provide a decade-long data record -- provided that they are intercalibrated. The intercalibration is best performed at the radiance (brightness temperature) level, and Antarctica is proving to be a key calibration target. However, Antarctica has thus far not been fully characterized as a potential target. This paper will present evaluations of Antarctica as a microwave calibration target for the above satellite missions. Preliminary analyses have identified likely target areas, such as the vicinity of Dome-C and larger areas within East Antarctica. Physical sources of temporal and spatial variability of polar firn are key to assessing calibration uncertainty. These sources include spatial variability of accumulation rate, compaction, surface characteristics (dunes, micro-topography), wind patterns, and vertical profiles of density and temperature. Using primarily SMOS data, variability is being empirically characterized and attempts are being made to attribute observed variability to physical sources. One expected outcome of these studies is the potential discovery of techniques for remotely sensing--over all of Antarctica--parameters such as surface temperature.

Kim, Edward↗
NASA NTRS2012

Appropriate Simulants are a Requirement for Mars Surface Systems Technology Development

To date, there are two simulants for martian regolith: JSC Mars-1A, produced from palagonitic (weathered) basaltic tephra mined from the Pu'u Nene cinder cone in Hawaii [1] by commercial company Orbitec, and Mojave Mars Simulant (MMS), produced from Saddleback Basalt in the western Mojave desert by the Jet Propulsion Laboratory [2]. Until numerous recent orbiters, rovers, and landers were sent to Mars, weathered basalt was surmised to cover every inch of the martian landscape. All missions since Viking have disproven that the entire martian surface is weathered basalt. In fact, the outcrops, features, and surfaces that are significantly different from weathered basalt are too numerous to realistically count. There are gullies, evaporites, sand dunes, lake deposits, hydrothermal deposits, alluvium, etc. that indicate sedimentary and chemical processes. There is no one size fits all simulant. Each unique area requires its own simulant in order to test technologies and hardware, thereby reducing risk.

Edmunson, Jennifer E.↗
NASA NTRS2011

Modelling the Huge, Herschel-Resolved Debris Ring around HD 207129

Debris disks, which are inferred from the observed infrared excess to be ensembles of dust, rocks. and probably planetesimals, arc common features of stellar systems. As the mechanisms of their fonnation and evolution are linked to those of planetary bodies, they provide valuable infonnation. The few well-resolved debris disks are even more valuable because they can serve as modelling benchmarks and help resolve degeneracies in modelling aspects such as typical grain sizes and distances. Here, we present an analysis of the HD 207129 debris disk, based on its well-covered spectral energy distribution and Herschel/PACS images obtained in the framework of the DUNES (DUst around NEarby Stars) programme. We use an empirical power-law approach to the distribution of dust and we then model the production and removal of dust by means of collisions, direct radiation pressure, and drag forces. The resulting best-fit model contains a total of nearly 10(sup -2) Earth masses in dust, with typical grain sizes in the planetesimal beh ranging from 4 to 7 micrometers. We constrain the dynamical excitation to be low, which results in very long collisional lifetimes and a drag that notably fills the inner gap, especially at 70 micrometers. The radial distribution stretches from well within 100 AU in an unusual, outward-riSing slope towards a rather sharp outer edge at about 170-190 AU. The inner edge is therefore smoother than that reported for Fomalhaut, but the contribution from the extended halo of barely bound grains is similarly small. Both slowly self-stirring and planetary perturbations could potentially have formed and shaped this disk.

Lohne, T.↗