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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Autonomous robot using infrared thermal camera to discriminate objects in outdoor scene

A complete autonomous legged robot is beig designed at Carnegie Mellon University to perform planetary exploration without human supervision. This robot must traverse unknown and geographically diverse areas in order to collect samples of materials. This paper describes how thermal imaging can be used to identify materials in order to find good footfall positions and collection sites of material. First, a model developed for determining the temperature of materials in an outdoor scene is presented. By applying this model, it is shown that it is possible to determine a physical characteristic of the material: thermal inertia. Second, experimental results are described that consist in recording thermal images of an outdoor scene constituted with sand and rock. Third, results and limitations of applying the model to experimental images are analyzed. Finally, the paper analyzes how basic segmentation algorithms can be combined with the thermal inertia segmentation in order to improve the discrimination of different kinds of materials.

Caillas, C.↗
NASA NTRS2019

Planetary Rover Simulation for Lunar Exploration Missions

When planning planetary rover missions it is useful to develop intuition and skills driving in, quite literally, alien environments before incurring the cost of reaching said locales. Simulators make it possible to operate in environments that have the physical characteristics of target locations without the expense and overhead of extensive physical tests. To that end, NASA Ames and Open Robotics collaborated on a Lunar rover driving simulator based on the open source Gazebo simulation platform and leveraging ROS (Robotic Operating System) components. The simulator was integrated with research and mission software for rover driving, system monitoring, and science instrument simulation to constitute an end-to-end Lunar mission simulation capability. Although we expect our simulator to be applicable to arbitrary Lunar regions, we designed to a reference mission of prospecting in polar regions. The harsh lighting and low illumination angles at the Lunar poles combine with the unique reflectance properties of Lunar regolith to present a challenging visual environment for both human and computer perception. Our simulator placed an emphasis on high fidelity visual simulation in order to produce synthetic imagery suitable for evaluating human rover drivers with navigation tasks, as well as providing test data for computer vision software development.In this paper, we describe the software used to construct the simulated Lunar environment and the components of the driving simulation. Our synthetic terrain generation software artificially increases the resolution of Lunar digital elevation maps by fractal synthesis and inserts craters and rocks based on Lunar size-frequency distribution models. We describe the necessary enhancements to import large scale, high resolution terrains into Gazebo, as well as our approach to modeling the visual environment of the Lunar surface. An overview of the mission software system is provided, along with how ROS was used to emulate flight software components that had not been developed yet. Finally, we discuss the effect of using the high-fidelity synthetic Lunar images for visual odometry. We also characterize the wheel slip model, and find some inconsistencies in the produced wheel slip behaviour.

Allan, Mark↗
NASA NTRS1996

Toward a Turbulence Constitutive Relation for Rotating Flows

In rapidly rotating turbulent flows the largest scales of the motion are in approximate geostrophic balance. Single-point turbulence closures, in general, cannot attain a geostrophic balance. This article addresses and resolves the possibility of constitutive relation procedures for single-point second order closures for a specific class of rotating or stratified flows. Physical situations in which the geostrophic balance is attained are described. Closely related issues of frame-indifference, horizontal nondivergence, Taylor-Proudman theorem and two-dimensionality are, in the context of both the instantaneous and averaged equations, discussed. It is shown, in the absence of vortex stretching along the axis of rotation, that turbulence is frame-indifferent. A derivation and discussion of a geostrophic constraint which the prognostic equations for second-order statistics must satisfy for turbulence approaching a frame-indifferent limit is given. These flow situations, which include rotating and nonrotating stratified flows, are slowly evolving flows in which the constitutive relation procedures are useful. A nonlinear non-constant coefficient representation for the rapid-pressure strain covariance appearing in the Reynolds stress and heat flux equations consistent with the geostrophic balance is described. The rapid-pressure strain model coefficients are not constants determined by numerical optimization but are functions of the state of the turbulence as parameterized by the Reynolds stresses and the turbulent heat fluxes. The functions are valid for all states of the turbulence attaining their limiting values only when a limit state is achieved. These issues are relevant to strongly vortical flows as well as flows such as the planetary boundary layers, in which there is a transition from a three-dimensional shear driven turbulence to a geostrophic or horizontal turbulence.

Ristorcelli, J. R.↗
NASA NTRS2000

Detection and Characterization of Martian Volatile-Rich Reservoirs: The Netlander Approach

Geological and theoretical modeling do indicate that, most probably, a significant part of the volatiles present in the past is presently stocked within the Martian subsurface as ground ice, and as clay minerals (water constitution). The detection of liquid water is of prime interest and should have deep implications in the understanding of the Martian hydrological cycle and also in exobiology. In the frame of the 2005 joint CNES-NASA mission to Mars, a set of 4 NETLANDERs developed by an European consortium is expected to be launched between 2005 and 2007. The geophysical package of each lander will include a geo-radar (GPR experiment), a magnetometer (MAGNET experiment), a seismometer (SEIS experiment) and a meteorological package (ATMIS experiment). The NETLANDER mission offers a unique opportunity to explore simultaneously the subsurface as well as deeper layers of the planetary interior on 4 different landing sites. The complementary contributions of all these geophysical soundings onboard the NETLANDER stations are presented.

Banerdt, B.↗
NASA NTRS2012

670-GHz Down- and Up-Converting HEMT-Based Mixers

A large category of scientific investigation takes advantage of the interactions of signals in the frequency range from 300 to 1,000 GHz and higher. This includes astronomy and atmospheric science, where spectral observations in this frequency range give information about molecular abundances, pressures, and temperatures of small-sized molecules such as water. Additionally, there is a minimum in the atmospheric absorption at around 670 GHz that makes this frequency useful for terrestrial imaging, radar, and possibly communications purposes. This is because 670 GHz is a good compromise for imaging and radar applications between spatial resolution (for a given antenna size) that favors higher frequencies, and atmospheric losses that favor lower frequencies. A similar trade-off applies to communications link budgets: higher frequencies allow smaller antennas, but incur a higher loss. All of these applications usually require converting the RF (radio frequency) signal at 670 GHz to a lower IF (intermediate frequency) for processing. Further, transmitting for communication and radar generally requires up-conversion from IF to the RF. The current state-of-the-art device for performing the frequency conversion is based on Schottky diode mixers for both up and down conversion in this frequency range for room-temperature operation. Devices that can operate at room temperature are generally required for terrestrial, military, and planetary applications that cannot tolerate the mass, bulk, and power consumption of cryogenic cooling. The technology has recently advanced to the point that amplifiers in the region up to nearly 1,000 GHz are feasible. Almost all of these have been based on indium phosphide pseudomorphic high-electron mobility transistors (pHEMTs), in the form of monolithic microwave integrated circuits (MMICs). Since the processing of HEMT amplifiers is quite differ en t from that of Schottky diodes, use of Schottky mixers requires separate MMICs for the mixers and amplifiers. Fabrication of all the down-/up-conversion circuitry on single MMICs, using a ll-HEMT circuits, would constitute a major advance in circuit simplicity.

Schlecht, Enrich T.↗
NASA NTRS2012

XHAB 2012 Final Report Habitat Demonstration Unit Lite

The University of Maryland Space Systems Laboratory (SSL) was awarded a NASA X-Hab 2012 grant for the design and construction of a new Earth analogue habitat for habitability research. This work builds on the past ECLIPSE and X-Hab projects at the SSL, by combining these elements with a new habitat module in order to create a single research platform for habitability studies. The “Crew Habitat Evaluator for Long-duration Orbital, Near-earth, and Interplanetary Applications” (CHELONIA) will deliver a much more flexible architecture than the previously developed mock-ups, allowing facilitating faster modification of the interior layouts and available total volume. This will enable the investigators to evaluate crew assessments and task performance as a function of the interior layout, functional area allocation and total available volume. This paper documents the design of this new infrastructure, and includes the details of the manufacturing of a new habitat mock-up module and modifications to the existing elements. The paper also includes a brief discussion of possible future research goals. Initial layouts are implemented using foam-core volumetric mock-ups for internal equipment and outfitting. These low fidelity mock-ups constitute a “library” that will allow a very rapid evaluation of a multitude of layouts. CHELONIA is also suitable for higher fidelity functional mock-ups, as well as short to medium-duration mission simulations. This new facility will enable the examination of habitat layouts for both partial gravity and microgravity environments. While partial gravity systems will be easily evaluated with the habitat currently in development, microgravity subsystems will be studied by utilizing low fidelity volumetric neutral buoyancy mock-ups in order to determine if commonality in the design for these two environments is appropriate. Finally, this new facility is being integrated into the SSL Moonyard planetary surface simulation center. The Moonyard simulates a planetary surface by means of a large sandbox, and is used primarily for rover field trials and suit systems evaluation. This new facility will be a prime element in future Earth analog simulations at the University of Maryland in support of NASA exploration objectives.

Kevin Davis↗
NASA NTRS2012

Mixed Layer Heights Derived from the NASA Langley Research Center Airborne High Spectral Resolution Lidar

The NASA airborne High Spectral Resolution Lidar (HSRL) has been deployed on board the NASA Langley Research Center's B200 aircraft to several locations in North America from 2006 to 2012 to aid in characterizing aerosol properties for over fourteen field missions. Measurements of aerosol extinction (532 nm), backscatter (532 and 1064 nm), and depolarization (532 and 1064 nm) during 349 science flights, many in coordination with other participating research aircraft, satellites, and ground sites, constitute a diverse data set for use in characterizing the spatial and temporal distribution of aerosols, as well as properties and variability of the Mixing Layer (ML) height. We describe the use of the HSRL data collected during these missions for computing ML heights and show how the HSRL data can be used to determine the fraction of aerosol optical thickness within and above the ML, which is important for air quality assessments. We describe the spatial and temporal variations in ML heights found in the diverse locations associated with these experiments. We also describe how the ML heights derived from HSRL have been used to help assess simulations of Planetary Boundary Layer (PBL) derived using various models, including the Weather Research and Forecasting Chemistry (WRF-Chem), NASA GEOS-5 model, and the ECMWF/MACC models.

Scarino, Amy J.↗
NASA NTRS2016

A Survey of Cost Estimating Methodologies for Distributed Spacecraft Missions

Satellite constellations present unique capabilities and opportunities to Earth orbiting and near-Earth scientific and communications missions, but also present new challenges to cost estimators. An effective and adaptive cost model is essential to successful mission design and implementation, and as Distributed Spacecraft Missions (DSM) become more common, cost estimating tools must become more representative of these types of designs. Existing cost models often focus on a single spacecraft and require extensive design knowledge to produce high fidelity estimates. Previous research has examined the limitations of existing cost practices as they pertain to the early stages of mission formulation, for both individual satellites and small satellite constellations. Recommendations have been made for how to improve the cost models for individual satellites one-at-a-time, but much of the complexity in constellation and DSM cost modeling arises from constellation systems level considerations that have not yet been examined. This paper constitutes a survey of the current state-of-theart in cost estimating techniques with recommendations for improvements to increase the fidelity of future constellation cost estimates. To enable our investigation, we have developed a cost estimating tool for constellation missions. The development of this tool has revealed three high-priority shortcomings within existing parametric cost estimating capabilities as they pertain to DSM architectures: design iteration, integration and test, and mission operations. Within this paper we offer illustrative examples of these discrepancies and make preliminary recommendations for addressing them. DSM and satellite constellation missions are shifting the paradigm of space-based remote sensing, showing promise in the realms of Earth science, planetary observation, and various heliophysical applications. To fully reap the benefits of DSM technology, accurate and relevant cost estimating capabilities must exist; this paper offers insights critical to the future development and implementation of DSM cost estimating tools.

Foreman, Veronica L.↗
NASA NTRS2016

A Survey of Cost Estimating Methodologies for Distributed Spacecraft Missions

Satellite constellations present unique capabilities and opportunities to Earth orbiting and near-Earth scientific and communications missions, but also present new challenges to cost estimators. An effective and adaptive cost model is essential to successful mission design and implementation, and as Distributed Spacecraft Missions (DSM) become more common, cost estimating tools must become more representative of these types of designs. Existing cost models often focus on a single spacecraft and require extensive design knowledge to produce high fidelity estimates. Previous research has examined the shortcomings of existing cost practices as they pertain to the early stages of mission formulation, for both individual satellites and small satellite constellations. Recommendations have been made for how to improve the cost models for individual satellites one-at-a-time, but much of the complexity in constellation and DSM cost modeling arises from constellation systems level considerations that have not yet been examined. This paper constitutes a survey of the current state-of-the-art in cost estimating techniques with recommendations for improvements to increase the fidelity of future constellation cost estimates. To enable our investigation, we have developed a cost estimating tool for constellation missions. The development of this tool has revealed three high-priority weaknesses within existing parametric cost estimating capabilities as they pertain to DSM architectures: design iteration, integration and test, and mission operations. Within this paper we offer illustrative examples of these discrepancies and make preliminary recommendations for addressing them. DSM and satellite constellation missions are shifting the paradigm of space-based remote sensing, showing promise in the realms of Earth science, planetary observation, and various heliophysical applications. To fully reap the benefits of DSM technology, accurate and relevant cost estimating capabilities must exist; this paper offers insights critical to the future development and implementation of DSM cost estimating tools.

0↗
NASA NTRS1995

A Science Strategy for Space Physics

This report by the Committee on Solar and Space Physics and the Committee on Solar-Terrestrial Research recommends the major directions for scientific research in space physics for the coming decade. As a field of science, space physics has passed through the stage of simply looking to see what is out beyond Earth's atmosphere. It has become a 'hard' science, focusing on understanding the fundamental interactions between charged particles, electromagnetic fields, and gases in the natural laboratory consisting of the galaxy, the Sun, the heliosphere, and planetary magnetospheres, ionospheres, and upper atmospheres. The motivation for space physics research goes far beyond basic physics and intellectual curiosity, however, because long-term variations in the brightness of the Sun virtually affect the habitability of the Earth, while sudden rearrangements of magnetic fields above the solar surface can have profound effects on the delicate balance of the forces that shape our environment in space and on the human technology that is sensitive to that balance. The several subfields of space physics share the following objectives: to understand the fundamental laws or processes of nature as they apply to space plasmas and rarefied gases both on the microscale and in the larger complex systems that constitute the domain of space physics; to understand the links between changes in the Sun and the resulting effects at the Earth, with the eventual goal of predicting the significant effects on the terrestrial environment; and to continue the exploration and description of the plasmas and rarefied gases in the solar system.

Source record↗
NASA NTRS1988

Photochemistry of biogenic emissions over the Amazon forest

The boundary layer chemistry over the Amazon forest during the dry season is simulated with a photochemical model. Results are in good agreement with measurements of isoprene, NO, ozone, and organic acids. Photochemical reactions of biogenic isoprene and NOx can supply most of the ozone observed in the boundary layer. Production of ozone is very sensitive to the availability of NOx, but is insensitive to the isoprene source strength. High concentrations of total odd nitrogen (NOy) are predicted for the planetary boundary layer, about 1 ppb in the mixed layer and 0.75 ppb in the convective cloud layer. Most of the odd nitrogen is present as PAN-type species, which are removed by dry deposition to the forest. The observed daytime variations of isoprene are explained by a strong dependence of the isoprene emission flux on sun angle. Nighttime losses of isoprene exceed rates of reaction with NO3 and O3 and appear to reflect dry-deposition processes. The 24-hour averaged isoprene emission flux is calculated to be 38 mg/sq m per day. Photooxidation of isoprene could account for a large fraction of the CO enrichment observed in the boundary layer under unpolluted conditions and could constitute an important atmospheric source of formic acid, methacrylic acid, and pyruvic acid.

Jacob, Daniel J.↗
NASA NTRS2016

Campaign 9 of the K2 Mission: Observational Parameters, Scientific Drivers, and Community Involvement for a Simultaneous Space- and Ground-based Microlensing Survey

K2ʼs Campaign 9 (K2C9) will conduct a approximately 3.7 sq. deg survey toward the Galactic bulge from 2016 April 22 through July 2 that will leverage the spatial separation between K2 and the Earth to facilitate measurement of the microlens parallax Pi(sub E) for approximately greater than 170 microlensing events. These will include several that are planetary in nature as well as many short-timescale microlensing events, which are potentially indicative of free-floating planets (FFPs). These satellite parallax measurements will in turn allow for the direct measurement of the masses of and distances to the lensing systems. In this article we provide an overview of the K2C9 space- and ground-based microlensing survey. Specifically, we detail the demographic questions that can be addressed by this program, including the frequency of FFPs and the Galactic distribution of exoplanets, the observational parameters of K2C9, and the array of resources dedicated to concurrent observations. Finally, we outline the avenues through which the larger community can become involved, and generally encourage participation in K2C9, which constitutes an important pathfinding mission and community exercise in anticipation of WFIRST.

K2s Campaign 9 (K2C9)↗
NASA NTRS2006

Field Immune Assessment during Simulated Planetary Exploration in the Canadian Arctic

Dysregulation of the immune system has been shown to occur during space flight, although the detailed nature of the phenomenon and the clinical risks for exploration class missions has yet to be established. In addition, the growing clinical significance of immune system evaluation combined with epidemic infectious disease rates in third world countries provides a strong rationale for the development of field-compatible clinical immunology techniques and equipment. In July 2002 NASA performed a comprehensive field immunology assessment on crewmembers participating in the Haughton-Mars Project (HMP) on Devon Island in the high Canadian Arctic. The purpose of the study was to evaluate mission-associated effects on the human immune system, as well as to evaluate techniques developed for processing immune samples in remote field locations. Ten HMP-2002 participants volunteered for the study. A field protocol was developed at NASA-JSC for performing sample collection, blood staining/processing for immunophenotype analysis, wholeblood mitogenic culture for functional assessments and cell-sample preservation on-location at Devon Island. Specific assays included peripheral leukocyte distribution; constitutively activated T cells, intracellular cytokine profiles and plasma EBV viral antibody levels. Study timepoints were L-30, midmission and R+60. The protocol developed for immune sample processing in remote field locations functioned properly. Samples were processed in the field location, and stabilized for subsequent analysis at the Johnson Space Center in Houston. The data indicated that some phenotype, immune function and stress hormone changes occurred in the HMP field participants that were largely distinct from pre-mission baseline and post-mission recovery data. These immune changes appear similar to those observed in Astronauts following spaceflight. The sample processing protocol developed for this study may have applications for immune assessment during exploration-class space missions or in remote terrestrial field locations. The data validate the use of the HMP as a ground-based spaceflight/planetary exploration analog for some aspects of human physiology.

Crucian, Brian↗
NASA NTRS1996

Planetary protection, legal ambiguity and the decision making process for Mars sample return

As scientists and mission planners develop planetary protection requirements for future Mars sample return missions, they must recognize the socio-political context in which decisions about the mission will be made and pay careful attention to public concerns about potential back contamination of Earth. To the extent that planetary protection questions are unresolved or unaddressed at the time of an actual mission, they offer convenient footholds for public challenges in both legal and decision making realms, over which NASA will have little direct control. In this paper, two particular non-scientific areas of special concern are discussed in detail: 1) legal issues and 2) the decision making process. Understanding these areas is critical for addressing legitimate public concerns as well as for fulfilling procedural requirements regardless whether sample return evokes public controversy. Legal issues with the potential to complicate future missions include: procedural review under National Environmental Policy Act (NEPA); uncertainty about institutional control and authority; conflicting regulations and overlapping jurisdictions; questions about international treaty obligations and large scale impacts; uncertanities about the nature of the organism; and constitutional and regulatory concerns about quarantine, public health and safety. In light of these important legal issues, it is critical that NASA consider the role and timing of public involvement in the decision making process as a way of anticipating problem areas and preparing for legitimate public questions and challenges to sample return missions.

NASA Discipline Number 59-10↗
NASA NTRS2002

Atmospheres of the Giant Planets

The giant planets, Jupiter, Saturn, Uranus, and Neptune, are fluid objects. They have no solid surfaces because the light elements constituting them do not condense at solar-system temperatures. Instead, their deep atmospheres grade downward until the distinction between gas and liquid becomes meaningless. The preceding chapter delved into the hot, dark interiors of the Jovian planets. This one focuses on their atmospheres, especially the observable layers from the base of the clouds to the edge of space. These veneers arc only a few hundred kilometers thick, less than one percent of each planet's radius, but they exhibit an incredible variety of dynamic phenomena. The mixtures of elements in these outer layers resemble a cooled-down piece of the Sun. Clouds precipitate out of this gaseous soup in a variety of colors. The cloud patterns are organized by winds, which are powered by heat derived from sunlight (as on Earth) and by internal heat left over from planetary formation. Thus the atmospheres of the Jovian planets are distinctly different both compositionally and dynamically from those of the terrestrial planets. Such differences make them fascinating objects for study, providing clues about the origin and evolution of the planets and the formation of the solar system.

Ingersoll, Andrew P.↗
NASA NTRS1976

Nonlinear coupling between pulsation and convection in late type stars

A simple idealized nonlinear model applicable to long-period variable stars has been formulated which assumes that the convective envelope of M giants is composed of giant convection cells comparable in size to the stellar radius. The simplicity of this model essentially constitutes a physical analog to the strong dynamic coupling that occurs if the convective envelope of the star undergoes both modes of motion. As shown implicitly in the time scales associated with these motions, the coupling produces asymmetrical fluctuations of the entire star, the mean velocity of which is comparable to the escape velocity of the star at particular values of the ratio of the pulsation and convection time scales. It is suggested that this can account for the mass loss from late-type stars and the circumstellar dust shells that are associated extensively with long-period variables. For critical values of the pulsation and convection time scales, the solutions correspond to the rapid expansion of the entire convective envelope and are the basis of a mechanism that simulates the manner in which pulsating stars ballistically accelerate their convective shells to form planetary nebulae.

Anand, S. P. S.↗
NASA NTRS2000

Robustness via Run-Time Adaptation of Contingent Plans

In this paper, we discuss our approach to making the behavior of planetary rovers more robust for the purpose of increased productivity. Due to the inherent uncertainty in rover exploration, the traditional approach to rover control is conservative, limiting the autonomous operation of the rover and sacrificing performance for safety. Our objective is to increase the science productivity possible within a single uplink by allowing the rover's behavior to be specified with flexible, contingent plans and by employing dynamic plan adaptation during execution. We have deployed a system exhibiting flexible, contingent execution; this paper concentrates on our ongoing efforts on plan adaptation, Plans can be revised in two ways: plan steps may be deleted, with execution continuing with the plan suffix; and the current plan may be merged with an "alternate plan" from an on-board library. The plan revision action is chosen to maximize the expected utility of the plan. Plan merging and action deletion constitute a more conservative general-purpose planning system; in return, our approach is more efficient and more easily verified, two important criteria for deployed rovers.

Bresina, John L.↗
NASA NTRS2002

Brahms Mobile Agents: Architecture and Field Tests

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, rover/All-Terrain Vehicle (ATV), robotic assistant, other personnel in a local habitat, and a remote mission support team (with time delay). Software processes, called agents, implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system (e.g., return here later and bring this back to the habitat ). This combination of agents, rover, and model-based spoken dialogue interface constitutes a personal assistant. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a run-time system.

Clancey, William J.↗