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At least 991 records · Page 55

Mobile Lid Convection Beneath Enceladus' South Polar Terrain

Enceladus' south polar region has a large heat flux, 55-110 milliwatts per square meter (or higher), that is spatially associated with cryovolcanic and tectonic activity. Tidal dissipation and vigorous convection in the underlying ice shell are possible sources of heat; however, prior predictions of the heat flux carried by stagnant lid convection range from F(sub conv) ~15 to 30 milliwatts per square meter, too low to explain the observed heat flux. The high heat flux and increased cryovolcanic and tectonic activity suggest that near-surface ice in the region has become rheologically and mechanically weakened enough to permit convective plumes to reach close to the surface. If the yield strength of Enceladus' lithosphere is less than ~1-10 kPa, convection may instead occur in the mobile lid" regime, which is characterized by large heat fluxes and large horizontal velocities in the near-surface ice. I show that model ice shells with effective surface viscosities between 10(exp 16) and 10(exp 17) Pa s and basal viscosities between 10(exp 13) and 10(exp 15) Pa s have convective heat fluxes comparable to that observed by the Cassini Composite Infrared Spectrometer. If this style of convection is occurring, the south polar terrain should be spreading horizontally with v~1-10 millimeter per year and should be resurfaced in ~0.1-10 Ma. On the basis of Cassini imaging data, the south polar terrain is ~0.5 Ma old, consistent with the mobile lid hypothesis. Maxwell viscoelastic tidal dissipation in such ice shells is not capable of generating enough heat to balance convective heat transport. However, tidal heat may also be generated in the near-surface along faults as suggested by Nimmo et al. and/or viscous dissipation within the ice shell may occur by other processes not accounted for by the canonical Maxwell dissipation model.

Barr, Amy C.↗

Reconfigurable Robust Routing for Mobile Outreach Network

The Reconfigurable Robust Routing for Mobile Outreach Network (R3MOO N) provides advanced communications networking technologies suitable for the lunar surface environment and applications. The R3MOON techn ology is based on a detailed concept of operations tailored for luna r surface networks, and includes intelligent routing algorithms and wireless mesh network implementation on AGNC's Coremicro Robots. The product's features include an integrated communication solution inco rporating energy efficiency and disruption-tolerance in a mobile ad h oc network, and a real-time control module to provide researchers an d engineers a convenient tool for reconfiguration, investigation, an d management.

Lin, Ching-Fang↗

ISRU Reactant, Fuel Cell Based Power Plant for Robotic and Human Mobile Exploration Applications

Three basic power generation system concepts are generally considered for lander, rover, and Extra-Vehicular Activity (EVA) assistant applications for robotic and human Moon and Mars exploration missions. The most common power system considered is the solar array and battery system. While relatively simple and successful, solar array/battery systems have some serious limitations for mobile applications. For typical rover applications, these limitations include relatively low total energy storage capabilities, daylight only operating times (6 to 8 hours on Mars), relatively short operating lives depending on the operating environment, and rover/lander size and surface use constraints. Radioisotope power systems are being reconsidered for long-range science missions. Unfortunately, the high cost, political controversy, and launch difficulties that are associated with nuclear-based power systems suggests that the use of radioisotope powered landers, rovers, and EVA assistants will be limited. The third power system concept now being considered are fuel cell based systems. Fuel cell power systems overcome many of the performance and surface exploration limitations of solar array/battery power systems and the prohibitive cost and other difficulties associated with nuclear power systems for mobile applications. In an effort to better understand the capabilities and limitations of fuel cell power systems for Moon and Mars exploration applications, NASA is investigating the use of in-Situ Resource Utilization (ISRU) produced reactant, fuel cell based power plants to power robotic outpost rovers, science equipment, and future human spacecraft, surface-excursion rovers, and EVA assistant rovers. This paper will briefly compare the capabilities and limitations of fuel cell power systems relative to solar array/battery and nuclear systems, discuss the unique and enhanced missions that fuel cell power systems enable, and discuss the common technology and system attributes possible for robotic and human exploration to maximize scientific return and minimize cost and risk to both. Progress made to date at the Johnson Space Center on an ISRU producible reactant, Proton Exchange Membrane (PEM) fuel cell based power plant project to demonstrate the concept in conjunction with rover applications will be presented in detail.

Baird, Russell S.↗

Interference Analysis for an Aeronautical Mobile Airport Communications System

The next generation of aeronautical communications for airport surface applications has been identified through a NASA research program and an international collaborative future communications study. The result, endorsed by both the United States and European regulatory agencies is called AeroMACS (Aeronautical Mobile Airport Communications System) and is based upon the IEEE 802.16e mobile wireless standard. Coordinated efforts to develop appropriate aviation standards for the AeroMACS system are now underway within RTCA (United States) and Eurocae (Europe). AeroMACS will be implemented in a recently allocated frequency band, 5091- 5150 MHz. As this band is also occupied by fixed satellite service uplinks, AeroMACS must be designed to avoid interference with this incumbent service. The aspects of AeroMACS operation that present potential interference to the fixed satellite service are under analysis in order to enable the definition of standards that assure that such interference will be avoided. The NASA Glenn Research Center has been involved in this analysis, and the first results of modeling and simulation efforts directed at this analysis are the subject of this paper.12

Wilson, Jeffrey D.↗

Interference Analysis for an Aeronautical Mobile Airport Communications System

The next generation of aeronautical communications for airport surface applications has been identified through a NASA research program and an international collaborative future communications study. The result, endorsed by both the United States and European regulatory agencies is called AeroMACS (Aeronautical Mobile Airport Communications System) and is based upon the IEEE 802.16e mobile wireless standard. Coordinated efforts to develop appropriate aviation standards for the AeroMACS system are now underway within RTCA (United States) and Eurocae (Europe). AeroMACS will be implemented in a recently allocated frequency band, 5091-5150 MHz. As this band is also occupied by fixed satellite service uplinks, AeroMACS must be designed to avoid interference with this incumbent service. The aspects of AeroMACS operation that present potential interference to the fixed satellite service are under analysis in order to enable the definition of standards that assure that such interference will be avoided. The NASA Glenn Research Center has been involved in this analysis, and the first results of modeling and simulation efforts directed at this analysis are the subject of this presentation.

Wilson, Jeffrey D.↗

Determining Trends in Impervious Cover for the Mobile Bay, AL Region for 1974-2008, Based on a Landsat Time Series

This presentation will discuss the development and use of Landsat-based impervious cover products in conjunction with land use land cover change products to assess multi-decadal urbanization across the Mobile Bay region at regional and watershed scales. This nationally important coastal region has undergone a variety of ephemeral and permanent land use land cover change since the mid-1970s, including gradual but consequential increases in urban surface cover. This urban sprawl corresponds with increased regional percent impervious cover. The region s coastal zone managers are concerned about the increasing percent impervious cover, since it can negatively influence water quality and is an important consideration for coastal conservation and restoration work. In response, we processed multi-temporal Landsat data to compute maps of percent impervious cover for multiple dates from 1974 through 2008, roughly at 5-year intervals. Each year of product was classified using one single date of leaf-on and leaf-off Landsat data in conjunction with Cubist software. We are assessing Landsat impervious cover product accuracy through comparisons to available reference data, including available NLCD impervious cover products from the USGS, raw Landsat data, plus higher spatial resolution aerial and satellite data. In particular, we are quantitatively comparing the 2008 Landsat impervious cover products to those from QuickBird 2.4-meter multispectral data. Initial visual comparisons with the QuickBird impervious cover product suggest that the 2008 Landsat product tends to underestimate impervious cover for high density urban areas and to overestimate impervious cover in established residential subdivisions mixed with forested cover. Landsat TM and ETM data appears to produce more accurate impervious cover products compared to those using lower resolution Landsat MSS data. Although imperfect, these Landsat impervious cover products have helped the Mobile Bay National Estuary Program visualize basic urbanization trends for multiple HUC-12 watersheds of concern to them and their constituents

Spruce, Joseph P.↗

Autonomous Navigation by a Mobile Robot

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Huntsberger, Terrance↗

Interference Analysis Status and Plans for Aeronautical Mobile Airport Communications System (AeroMACS)

Interference issues related to the operation of an aeronautical mobile airport communications system (AeroMACS) in the C-Band (specifically 5091-5150 MHz) is being investigated. The issue of primary interest is co-channel interference from AeroMACS into mobile-satellite system (MSS) feeder uplinks. The effort is focusing on establishing practical limits on AeroMACS transmissions from airports so that the threshold of interference into MSS is not exceeded. The analyses are being performed with the software package Visualyse Professional, developed by Transfinite Systems Limited. Results with omni-directional antennas and plans to extend the models to represent AeroMACS more accurately will be presented. These models should enable realistic analyses of emerging AeroMACS designs to be developed from NASA Test Bed, RTCA 223, and European results.

Kerczewski, Robert J.↗

Small, Untethered, Mobile Robots for Inspecting Gas Pipes

Small, untethered mobile robots denoted gas-pipe explorers (GPEXs) have been proposed for inspecting the interiors of pipes used in the local distribution natural gas. The United States has network of gas-distribution pipes with a total length of approximately 109 m. These pipes are often made of iron and steel and some are more than 100 years old. As this network ages, there is a need to locate weaknesses that necessitate repair and/or preventive maintenance. The most common weaknesses are leaks and reductions in thickness, which are caused mostly by chemical reactions between the iron in the pipes and various substances in soil and groundwater. At present, mobile robots called pigs are used to inspect and clean the interiors of gas-transmission pipelines. Some carry magnetic-flux-leakage (MFL) sensors for measuring average wall thicknesses, some capture images, and some measure sizes and physical conditions. The operating ranges of pigs are limited to fairly straight sections of wide transmission- type (as distinguished from distribution- type) pipes: pigs are too large to negotiate such obstacles as bends with radii comparable to or smaller than pipe diameters, intrusions of other pipes at branch connections, and reductions in diameter at valves and meters. The GPEXs would be smaller and would be able to negotiate sharp bends and other obstacles that typically occur in gas-distribution pipes.

Wilcox, Brian↗

Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures

A platform has been developed for two or more vehicles with one or more residing within the other (a marsupial pair). This configuration consists of a large, versatile robot that is carrying a smaller, more specialized autonomous operating robot(s) and/or mobile repeaters for extended transmission. The larger vehicle, which is equipped with a ramp and/or a robotic arm, is used to operate over a more challenging topography than the smaller one(s) that may have a more limited inspection area to traverse. The intended use of this concept is to facilitate the insertion of a small video camera and sensor platform into a difficult entry area. In a terrestrial application, this may be a bus or a subway car with narrow aisles or steep stairs. The first field-tested configuration is a tracked vehicle bearing a rigid ramp of fixed length and width. A smaller six-wheeled vehicle approximately 10 in. (25 cm) wide by 12 in. (30 cm) long resides at the end of the ramp within the larger vehicle. The ramp extends from the larger vehicle and is tipped up into the air. Using video feedback from a camera atop the larger robot, the operator at a remote location can steer the larger vehicle to the bus door. Once positioned at the door, the operator can switch video feedback to a camera at the end of the ramp to facilitate the mating of the end of the ramp to the top landing at the upper terminus of the steps. The ramp can be lowered by remote control until its end is in contact with the top landing. At the same time, the end of the ramp bearing the smaller vehicle is raised to minimize the angle of the slope the smaller vehicle has to climb, and further gives the operator a better view of the entry to the bus from the smaller vehicle. Control is passed over to the smaller vehicle and, using video feedback from the camera, it is driven up the ramp, turned oblique into the bus, and then sent down the aisle for surveillance. The demonstrated vehicle was used to scale the steps leading to the interior of a bus whose landing is 44 in. (.1.1 m) from the road surface. This vehicle can position the end of its ramp to a surface over 50 in. (.1.3 m) above ground level and can drive over rail heights exceeding 6 in. (.15 cm). Thus configured, this vehicle can conceivably deliver the smaller robot to the end platform of New York City subway cars from between the rails. This innovation is scalable to other formulations for size, mobility, and surveillance functions. Conceivably the larger vehicle can be configured to traverse unstable rubble and debris to transport a smaller search and rescue vehicle as close as possible to the scene of a disaster such as a collapsed building. The smaller vehicle, tethered or otherwise, and capable of penetrating and traversing within the confined spaces in the collapsed structure, can transport imaging and other sensors to look for victims or other targets.

Krasowski, Michael J.↗

The Mobile Chamber

A document discusses a simulation chamber that represents a shift from the thermal-vacuum chamber stereotype. This innovation, currently in development, combines the capabilities of space simulation chambers, the user-friendliness of modern-day electronics, and the modularity of plug-and-play computing. The Mobile Chamber is a customized test chamber that can be deployed with great ease, and is capable of bringing payloads at temperatures down to 20 K, in high vacuum, and with the desired metrology instruments integrated to the systems control. Flexure plans to lease Mobile Chambers, making them affordable for smaller budgets and available to a larger customer base. A key feature of this design will be an Apple iPad-like user interface that allows someone with minimal training to control the environment inside the chamber, and to simulate the required extreme environments. The feedback of thermal, pressure, and other measurements is delivered in a 3D CAD model of the chamber's payload and support hardware. This GUI will provide the user with a better understanding of the payload than any existing thermal-vacuum system.

Scharfstein, Gregory↗

Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files can be altered in the respective text files. The rover model and terrain are viewed in Adams View, the GUI for ARTEMIS. The Adams dynamics solver calls terramechanics subroutines in FORTRAN containing the Bekker-Wong equations.

Trease, Brian P.↗

Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. One of our key functions is to help design engineers understand how a human will perform with new designs and all too often traditional use of Euler rotations becomes as much of a hindrance as a help. It is believed that using a spherical coordinate system will allow ABF personnel to more quickly and easily transmit important mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project is to establish new analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub‐projects, meant to validate and verify the method before it was implemented in the ABF's data analysis practices. The first stage was a proof of concept, where a mechanical test rig was built and instrumented with an inclinometer, so that its angle from horizontal was known. The test rig was tracked in 3D using an optical motion capture system, and its position and orientation were reported in both Euler and spherical reference systems. The rig was meant to simulate flexion/extension, transverse rotation and abduction/adduction of the human shoulder, but without the variability inherent in human motion. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder, to include the torso, knees, ankle, elbows, wrists and neck. Part of this update included adding a representation of 'roll' about an axis, for upper arm and lower leg rotations. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. This visualization method will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development.

Benson, Elizabeth↗

Common Web Mapping and Mobile Device Framework for Display of NASA Real-time Data

Scientists have strategic goals to deliver their unique datasets and research to both collaborative partners and more broadly to the public. These datasets can have a significant impact locally and globally as has been shown by the success of the NASA Short‐term Prediction Research and Transition (SPoRT) Center and SERVIR programs at Marshall Space Flight Center. Each of these respective organizations provides near real‐time data at the best resolution possible to address concerns of the operational weather forecasting community (SPoRT) and to support environmental monitoring and disaster assessment (SERVIR). However, one of the biggest struggles to delivering the data to these and other Earth science community partners is formatting the product to fit into an end user's Decision Support System (DSS). The problem of delivering the data to the end‐user's DSS can be a significant impediment to transitioning research to operational environments especially for disaster response where the deliver time is critical. The decision makers, in addition to the DSS, need seamless access to these same datasets from a web browser or a mobile phone for support when they are away from their DSS or for personnel out in the field. A framework has been developed for MSFC Earth Science program that can be used to easily enable seamless delivery of scientific data to end users in multiple formats. The first format is an open geospatial format, Web Mapping Service (WMS), which is easily integrated into most DSSs. The second format is a web browser display, which can be embedded within any MSFC Science web page with just a few lines of web page coding. The third format is accessible in the form of iOS and Android native mobile applications that could be downloaded from an "app store". The framework developed has reduced the level of effort needed to bring new and existing NASA datasets to each of these end user platforms and help extend the reach of science data.

Burks, Jason E.↗

Common Web Mapping and Mobile Device Framework for Display of NASA Real-time Data

Scientists have strategic goals to deliver their unique datasets and research to both collaborative partners and more broadly to the public. These datasets can have a significant impact locally and globally as has been shown by the success of the NASA Short‐term Prediction Research and Transition (SPoRT) Center and SERVIR programs at Marshall Space Flight Center. Each of these respective organizations provides near real‐time data at the best resolution possible to address concerns of the operational weather forecasting community (SPoRT) and to support environmental monitoring and disaster assessment (SERVIR). However, one of the biggest struggles to delivering the data to these and other Earth science community partners is formatting the product to fit into an end user's Decision Support System (DSS). The problem of delivering the data to the end‐user's DSS can be a significant impediment to transitioning research to operational environments especially for disaster response where the deliver time is critical. The decision makers, in addition to the DSS, need seamless access to these same datasets from a web browser or a mobile phone for support when they are away from their DSS or for personnel out in the field. A framework has been developed for MSFC Earth Science program that can be used to easily enable seamless delivery of scientific data to end users in multiple formats. The first format is an open geospatial format, Web Mapping Service (WMS), which is easily integrated into most DSSs. The second format is a web browser display, which can be embedded within any MSFC Science web page with just a few lines of web page coding. The third format is accessible in the form of iOS and Android native mobile applications that could be downloaded from an "app store". The framework developed has reduced the level of effort needed to bring new and existing NASA datasets to each of these end user platforms and help extend the reach of science data.

Burks, Jason↗

A Novel Method for Characterizing Spacesuit Mobility Through Metabolic Cost

Historically, spacesuit mobility has been characterized by directly measuring both range of motion and joint torque of individual anatomic joints. The work detailed herein aims to improve on this method, which is often prone to uncertainly, lack of repeatability, and a general lack of applicability to real-world functional tasks. Specifically, the goal of this work is to characterize suited mobility performance by directly measuring the metabolic performance of the occupant. Pilot testing was conducted in 2013, employing three subjects performing a range of functional tasks in two different suits prototypes, the Mark III and Z-1. Cursory analysis of the results shows the approach has merit, with consistent performance trends toward one suit over the other. Forward work includes the need to look at more subjects, a refined task set, and another suit in a different mass/mobility regime to validate the approach.

McFarland, Shane M.↗

Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

Introduction: When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. It has been shown that using a spherical coordinate system allows Anthropometry and Biomechanics Facility (ABF) personnel to increase their ability to transmit important human mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project was to use innovative analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub‐projects, meant to validate and verify a new method before it was implemented in the ABF's data analysis practices. A mechanical test rig was built and tracked in 3D using an optical motion capture system. Its position and orientation were reported in both Euler and spherical reference systems. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder to include the rest of the joints of the body. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. These visualization methods will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development. Results: Initial results demonstrated that a spherical coordinate system is helpful in describing and visualizing the motion of a space suit. The system is particularly useful in describing the motion of the shoulder, where multiple degrees of freedom can lead to very complex motion paths.

Benson, Elizabeth↗

Mobile In Vivo Infrared Data Collection and Diagnoses Comparison System

Described is a mobile in vivo infrared brain scan and analysis system. The system includes a data collection subsystem and a data analysis subsystem. The data collection subsystem is a helmet with a plurality of infrared (IR) thermometer probes. Each of the IR thermometer probes includes an IR photodetector capable of detecting IR radiation generated by evoked potentials within a user's skull. The helmet is formed to collect brain data that is reflective of firing neurons in a mobile subject and transmit the brain data to the data analysis subsystem. The data analysis subsystem is configured to generate and display a three-dimensional image that depicts a location of the firing neurons. The data analysis subsystem is also configured to compare the brain data against a library of brain data to detect an anomaly in the brain data, and notify a user of any detected anomaly in the brain data.

Mintz, Frederick W.↗