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At least 1,063 records · Page 59

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Laubach, Sharon L.↗

Lunar and Planetary Science XXXVI, Part 17

The following topics were discussed: A Model for the Formation of Paterae on Io; LIBS-based Detection of As, Br, C, Cl, P, and S in the VUV Spectral Region in a Mars Atmosphere; Mass Independent Sulfur in Achondrites: Possible Evidence of Photochemistry in the Solar Nebula; Grain Size-dependent Viscosity and Oceans in Icy Satellites; Claritas Paleolake Studied from the MEX HRSC Data; Mars Express HRSC Colors of White Rock, Arabia, Mars; Lava and Flows of the Arcadia Region of Mars; Isotopic Composition of Lunar Soils and the Early Differentiation of the Moon; Trace Element Analysis of Lunar Soils by ICP-MS; Highly Siderophile Elements and Osmium Isotope Systematics in Ureilites: Are the Carbonaceous Veins Primary Components?; Evaporative Evolution of Martian Brines Based on Halogens in Nakhlites and MER Samples; Io from High-Resolution Galileo PPR Data Taken Simultaneously with SSI or NIMS Observations; Loki, Io: Groundbased Observations and a Model for Periodic Overturn; Deconstructing a Few Myths in the Interpretation of Satellite-Altitude Crustal Magnetic Field: Examples from Mars Global Surveyor; Semi-Autonomous Rover Operations: A Mars Technology Program Demonstration; Rotational Studies of Asteroids with Small Telescopes; Mineralogy and Temperature-induced Spectral Investigations of A-type Asteroids 246 Asporina and 446 Aeternitas; and Thermal History Calculations Versus Full Convection Models: Application to the Thermal Evolution of Mercury. Recent Solar-Proton Fluxes

Source record↗

Inflatable robotics for planetary applications

Space Inflatable vehicles have been finding popularity in recent years for applications as varied as spacecraft antennas, space-based telescopes, solar sails, and manned habitats [1]. Another branch of space inflatable technology has also considered developing ambient gasfilled, solar balloons for Mars as well as ambient gasfilled inflatable rovers [2]. More recently, some other intriguing space-inflatable vehicles have been proposed for the gas planets and Pluto, as well as for Saturn's moon, Titan, Neptune's moon, Triton, and Jupiter's moon, Io [3].

Titan↗

Visual Feedback for Rover-based Coring

Technology for coring from a low-mass rover has been developed to enable core sample acquisition where a planetary rover experiences moderate slip during the coring operation. A new stereo vision technique, Absolute Motion Visual Odometry, is used to measure rover slip during coring and the slip is accommodated through corresponding arm pose updating. Coring rate is controlled by feedback of themeasured force of the coring tool against the environment. Test results in the JPL Marsyard show for the first time that coring from a low-mass rover with slip is feasible.

sampling↗

Qualification of Domestic Lyocell Based Phenolic Impregnated Carbon Ablator (PICA-D) for NASA Missions

Phenolic Impregnated Carbon Ablator (PICA) is a low-density ablator that has been used as the planetary entry heatshield for several NASA missions since the late 90’s. Its low density and efficient performance characteristics have proven effective for use from Discovery to Flag-ship class missions, from Sample Return missions such as Stardust, OSIRIS-REx to large Mars Lander missions such as Mars Science Lab (MSL) and Mars 2020. The rayon-based carbon precursor raw material used in PICA preform manufacturing has experienced multiple supply chain issues. The challenge involved in finding a replacement fiber source is in processing as well as in the final performance of the ablator. Each replacement necessitates the requalification of the PICA. This has happened at least twice in the past 25 years, and a third substitution is now needed. Due to the obsolescence of the input foreign rayon fiber source, a new variant of PICA has been developed using a domestic rayon-like fiber source, Lyocell. Due to its flight heritage and proven capability, PICA is baselined as the Thermal Protection System (TPS) for Dragonfly and Mars Sample Return Sample Retrieval Lander mission and is being considered for the backshell of the Mars Sample Return Earth Entry System. All three missions are due to be launched between 2026 and 2028. The challenge this time is to ensure the PICA made with domestic material is a suitable replacement to the heritage PICA used in MSL and Mars 2020 so that the design of the heatshield can be matured without much risk. Results are presented from the recent efforts of 22 PICA-D billets that were Lot Acceptance Tested. Thermal, mechanical, and representative environment arc-jet tests have been conducted. Testing of PICA-Domestic (PICA-D) indicates very comparable performance with respect to “heritage” PICA materials and thus PICA-D is expected to be a sustainable and nearly a “drop-in” replacement solution for future NASA missions.

Matt Gasch↗

Qualification of Domestic Lyocell Based Phenolic Impregnated Carbon Ablator (PICA-D) for NASA Missions

Phenolic Impregnated Carbon Ablator (PICA) is a low-density ablator that has been used as the planetary entry heatshield for several NASA missions since the late 90’s. Its low density and efficient performance characteristics have proven effective for use from Discovery to Flag-ship class missions, from Sample Return missions such as Stardust, OSIRIS-REx to large Mars Lander missions such as Mars Science Lab (MSL) and Mars 2020. The rayon-based carbon precursor raw material used in PICA preform manufacturing has experienced multiple supply chain issues. The challenge involved in finding a replacement fiber source is in processing as well as in the final performance of the ablator. Each replacement necessitates the requalification of the PICA. This has happened at least twice in the past 25 years, and a third substitution is now needed. Due to the obsolescence of the input foreign rayon fiber source, a new variant of PICA has been developed using a domestic rayon-like fiber source, Lyocell. Due to its flight heritage and proven capability, PICA is baselined as the Thermal Protection System (TPS) for Dragonfly and Mars Sample Return Sample Retrieval Lander mission and is being considered for the backshell of the Mars Sample Return Earth Entry System. All three missions are due to be launched between 2026 and 2028. The challenge this time is to ensure the PICA made with domestic material is a suitable replacement to the heritage PICA used in MSL and Mars 2020 so that the design of the heatshield can be matured without much risk. Results are presented from the recent efforts of 22 PICA-D billets that were Lot Acceptance Tested. Thermal, mechanical, and representative environment arc-jet tests have been conducted. Testing of PICA-Domestic (PICA-D) indicates very comparable performance with respect to “heritage” PICA materials and thus PICA-D is expected to be a sustainable and nearly a “drop-in” replacement solution for future NASA missions.

PICA↗

First Astronaut- Rover Interaction Field Test

The first Astronaut - Rover (ASRO) Interaction field test was conducted successfully on February 22-27, 1999, in Silver Lake, Mojave Desert, California in a representative planetary surface terrain. This test was a joint effort between the NASA Ames Research Center , Moffett Field, California and the NASA Johnson Space Center, Houston, Texas. As prototype advanced planetary surface space suit and rover technologies are being developed for human planetary surface exploration , it has been determined that it is important to better understand the potential interaction and benefits of an EVA astronaut interacting with a robotic rover . This interaction between an EVA astronaut and a robotic rover is seen as complementary and can greatly enhance the productivity and safety of surface excursions . This test also identified design requirements and options in an advanced space suit and robotic rover. The test objectives were: 1. To identify the operational domains where the EVA astronauts and rover are complementary and can interact and thus collaborate in a safe , productive and cost- effective way, 2. To identify preliminary requirements and recommendations for advanced space suits and rovers that facilitate their cooperative and complementary interaction, 3. To develop operational procedures for the astronaut-rover teams in the identified domains, 4. To test these procedures during representative mission scenarios during field tests by simulating the exploration of a planetary surface by an EVA crew interacting with a robotic rover, 5. To train a space suited test subject, simulated Earth-based and l or lander-based science teams, and robotic vehicle operators in mission configurations, and 6. To evaluate and understand socio-technical aspects of the astronaut - rover interaction experiment in order to guide future technologies and designs. Test results and areas for future research in the design of planetary space suits will be discussed .

Kosmo, Joseph J.↗

Automatic Feature Extraction from Planetary Images

With the launch of several planetary missions in the last decade, a large amount of planetary images has already been acquired and much more will be available for analysis in the coming years. The image data need to be analyzed, preferably by automatic processing techniques because of the huge amount of data. Although many automatic feature extraction methods have been proposed and utilized for Earth remote sensing images, these methods are not always applicable to planetary data that often present low contrast and uneven illumination characteristics. Different methods have already been presented for crater extraction from planetary images, but the detection of other types of planetary features has not been addressed yet. Here, we propose a new unsupervised method for the extraction of different features from the surface of the analyzed planet, based on the combination of several image processing techniques, including a watershed segmentation and the generalized Hough Transform. The method has many applications, among which image registration and can be applied to arbitrary planetary images.

Troglio, Giulia↗

ACCESS: Confirmation of No Potassium in the Atmosphere of WASP-31b

We present a new optical (400–950 nm) transmission spectrum of the hot Jupiter WASP-31b (M = 0.48 M {sub J}; R = 1.54 R {sub J}; P = 3.41 days), obtained by combining four transit observations. These transits were observed with IMACS on the Magellan Baade Telescope at Las Campanas Observatory as part of the ACCESS project. We investigate the presence of clouds/hazes in the upper atmosphere of this planet, as well as the contribution of stellar activity on the observed features. In addition, we search for absorption features of the alkali elements Na i and K i, with particular focus on K i, for which there have been two previously published disagreeing results. Observations with Hubble Space Telescope (HST)/STIS detected K i, whereas ground-based low- and high-resolution observations did not. We use equilibrium and nonequilibrium chemistry retrievals to explore the planetary and stellar parameter space of the system with our optical data combined with existing near-IR observations. Our best-fit model is that with a scattering slope consistent with a Rayleigh slope (α=5.3{sub −3.1}{sup +2.9}), high-altitude clouds at a log cloud top pressure of −3.6{sub −2.1}{sup +2.7} bars, and possible muted H{sub 2}O features. We find that our observations support other ground-based claims of no K i. Clouds are likely why signals like H{sub 2}O are extremely muted and Na or K cannot be detected. We then juxtapose our Magellan/IMACS transmission spectrum with existing VLT/FORS2, HST/WFC3, HST/STIS, and Spitzer observations to further constrain the optical-to-infrared atmospheric features of the planet. We find that a steeper scattering slope (α = 8.3 ± 1.5) is anchored by STIS wavelengths blueward of 400 nm and only the original STIS observations show significant potassium signal.

79 ASTRONOMY AND ASTROPHYSICS↗

Advanced Design and Implementation of a Control Architecture for Long Range Autonomous Planetary Rovers

An advanced design and implementation of a Control Architecture for Long Range Autonomous Planetary Rovers is presented using a hierarchical top-down task decomposition, and the common structure of each design is presented based on feedback control theory. Graphical programming is presented as a common intuitive language for the design when a large design team is composed of managers, architecture designers, engineers, programmers, and maintenance personnel. The whole design of the control architecture consists in the classic control concepts of cyclic data processing and event-driven reaction to achieve all the reasoning and behaviors needed. For this purpose, a commercial graphical tool is presented that includes the mentioned control capabilities. Messages queues are used for inter-communication among control functions, allowing Artificial Intelligence (AI) reasoning techniques based on queue manipulation. Experimental results show a highly autonomous control system running in real time on top the JPL micro-rover Rocky 7 controlling simultaneously several robotic devices. This paper validates the sinergy between Artificial Intelligence and classic control concepts in having in advanced Control Architecture for Long Range Autonomous Planetary Rovers.

Martin-Alvarez, A.↗

High-Resolution Optical and Near-Infrared Imaging of Young Circumstellar Disks

In the past five years, observations at optical and near-infrared wavelengths obtained with the Hubble Space Telescope and ground-based adaptive optics have provided the first well-resolved images of young circumstellar disks which may form planetary systems. We review these two observational techniques and highlight their results by presenting prototype examples of disks imaged in the Taurus-Auriga and Orion star-forming regions. As appropriate, we discuss the disk parameters that may be typically derived from the observations, as well as the implications that the observations may have on our understanding of, for example, the role of the ambient environment in shaping the disk evolution. We end with a brief summary of the prospects for future improvements in space- and ground-based optical/IR imaging techniques, and how they may impact disk studies.

McCaughrean, Mark↗

Operational Implications from Field Test Results: Sensorimotor Guidelines for Exploration Missions

Two key sensorimotor objectives of the joint NASA-Russian Field Test (FT) study were (1) to quantify functional performance on long duration crewmembers as close to landing as possible, and (2) to develop a recovery timeline back to preflight baseline. The purpose of this presentation is to provide an overview of the FT results and discuss the operational implications for future exploration missions. The NASA and Russian teams conducted a total of 48 Field Tests, including 18 using a reduced Pilot FT (PFT) protocol. The combined PFT/FT cohort included 14 first-time fliers, 4F, and nine cosmonauts who repeated FT during a second mission. The mission durations were 185 ± 42 days, mean ± std. Nominally, the initial postflight session was performed in the medical test at the Soyuz landing site or at the nearby airport (R+2.2 ± 1.3 hrs, mean ± std), and then repeated multiple times throughout the postflight recovery. The common tasks performed across PFT and full FT protocols included sit-to-stand, recovery from fall (prone to stand) and tandem walk, performed in that order of increasing difficulty. The full FT protocol also included seated tasks (eccentric gaze, dysmetria finger to nose, eye-hand coordination on a tablet, grip force discrimination), a standing posture test with an upper body perturbation, a timed up and go mobility test with obstacles, and a dynamic visual acuity task during vertical oscillations. While there was considerable variability in the postflight outcome measures across crewmembers, the level of vestibular/cerebellar and sensorimotor impairment was greater than previously observed during shorter spaceflight missions. Most striking was the higher incidence of motion sickness even without constraining the standard medical interventions. Motion sensitivity prevented some crewmembers from attempting and/or completing the early testing. The recovery timeline varied with task complexity, generally taking longer when either the basis of support was limited (e.g., tandem walk) or visual cues were deprived (eyes closed). Based on this evidence, mission planners need to expect a range of response across individuals and tasks following G-transitions. Individual health assessments are recommended along with development of pre-worked, prioritized content and timelines, with the ability to change roles depending on crew readiness. Handholds and balance aids are recommended to help stabilize the crewmembers to perform specific tasks (e.g., touch screen selection) or to allow the crewmember the ability to rest with onset of symptoms. Based on anecdotal reports and performance on computerized dynamic posturography, multiple testing on landing day appeared to be beneficial for some participants, while others may have pushed beyond their motion tolerance limit in an effort to complete more FT objectives. Instead of delaying planetary surface operations to allow for recovery, our results suggest that early mobility may be important. Early active self-administered retraining, individualized based on the level of initial impairment and motion sensitivity, will enable a more efficient motor learning and enhance crew performance.

S J Wood↗

Numerical simulations of a transverse indirect circulation and low-level jet in the exit region of an upper-level jet

A numerical study was performed of a severe weather event (tornado) which occurred on May 10, 1973 in the Ohio region. The situation was modeled with a primitive equation mesoscale dynamic formulation. Account was taken of precipitation, the planetary boundary layer parameters as bulk quantities, the vertical pressure gradient, and lateral boundary conditions based on radiosonde data. Two 12-hr simulations, adiabatic and nondivergent, respectively, were analyzed for relationships between upper and lower level jets. In the adiabatic formulation, a transverse circulation with a low level jet formed at the exit region of the upper level jet. The nondivergent situation led to similar, but weaker, phenomena. Both forms suggest that indirect circulation in the exit zone of an upper level jet is strongly influenced by the initial structure of the jet.

Brill, K. F.↗

Lunar paleointensities via the IRMs normalization method and the early magnetic history of the moon

A method for determining a planetary body's magnetic field environment over time is proposed. This relative paleointensity method is based on the normalization of natural remanence to saturation remanence magnetization as measured after each sample is exposed to a strong magnetic field. It is shown that this method is well suited to delineating order-of-magnitude changes in magnetizing fields.

Cisowski, S. M.↗

Geometry of the Hubble Space Telescope Wide Field/Planetary Camera field

We present a solution for the relative positions and orientations of the four charge coupled device (CCD) chips on the Hubble Space Telescope (HST) Planetary Camera (PC). An accurate solution is required when matching HST images with ground-based images or with one another. The solution is accurate to about 2/3 PC pixel or about .03 sec, a tenfold improvement over the best previous solution. The CCDs are rotated relative to one another by up to 1 deg. The solution is based on images taken between December 1990 and June 1992 and is stable over that entire period. We also present a solution for the relative positions and orientations of the four CCD chips on the HST Wide Field Camera (WFC). This solution is accurate to about 1/2 WFC pixel or about .05 sec.

Gould, Andrew↗

Exploration of Venus and Mars Atmospheres; Symposium C2 and Symposium C5 of the COSPAR Plenary Meeting, 29th, Washington DC, 28 August - 5 September, 1992

Two symposia related to the exploration of the Venus and Mars atmospheres produced papers which described the results of spacecraft-based and ground-based observations of these two planets. The topics addressed included solar wind interactions, molecular ions, planetary magnetospheres, planetary ionospheres, planetary thermospheres, gravity waves, the homopause, radiative transfer, radiative balance, atmospheric water, planetary lightning, very low frequency bursts, cosmic-ray ionization, planetary loss, and future missions to study Mars aeronomy, energetic particles near Mars, radar exploration of Mars, and the Mars Environmental Survey (MESUR) mission.

Keating, G. M.↗

Bounds on Lithospheric Thickness on Venus from Magellan Gravity and Topography Data

The primary objective of the work executed under NAGW-4784 is to provide constraints on the thermal and tectonic evolution of Venus. Establishing thermal and tectonic evolution models requires not only geological, but geophysical constraints, in particular the nature of temporal and spatial variations in crustal and lithospheric thickness. The major topics of study completed under NAGW-4784 (described more fully below) are: (1) detailed analyses of the resolution of Magellan Line-Of-Site (LOS) Doppler data to establish the minimum resolvable wavelength in the gravity data; (2) calculations of the global strain field in the venusian lithosphere and comparisons with global strain patterns from geological mapping; (3) study of the geological history of coronae at E. Eistla Regio; (4) estimation of crustal and lithospheric thickness by modeling of topography at asymmetric and symmetric rift-like chasmata; (5) preliminary investigations of spatial versus temporal variations in lithospheric thickness. Both the PI and Co-I have presented papers based on these topics at national and international meetings (American Geophysical Union Meetings, Lunar and Planetary Science Conferences, Chapman Conference on the Geodynamics of Venus).

Johnson, Catherine L.↗

Interferometer Designs for the Terrestrial Planet Finder

The Terrestrial Planet Finder (TPF) is a space-based infrared interferometer that will combine high sensitivity and spatial resolution to detect and characterize planetary systems within 15 pc of our sun. TPF is a key element in NASA's Origins Program and is currently un- der study in its Pre-Project Phase. We review some of the interferometer designs that have been considered for starlight nulling, with particular attention to the architecture and subsystems of the central beam-combiner.

Lawson, P. R.↗