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Target areas for sinking base holes, underground pipelines, etc., can be identified with the assistance of NASA Ames developed technology, by Airborne Pipeline Services, Inc. Subsurface features are computer processed; the system can cover 250 miles a day and was first developed by Applied Science, Inc.
Future lander missions will travel to ambitious, scientifically interesting locations near rough and dangerous terrain. They will need to operate with limited prior information about the terrain, and under varying lighting conditions. Landing safely and precisely in the face of these challenges is difficult for existing vision-based landing systems, which require detailed orbital reconnaissance, a priori hazard maps, and impose time-of-day restrictions on landing to ensure similar lighting conditions in orbital and descent imagery. Advanced 3D imaging LiDAR systems currently under development, and originally intended for single-scan hazard detection, have the potential to be operated continuously from altitudes of up to 5 km. Used together with existing inertial measurement units (IMUs), these sensors open a path-to-flight for a full navigation and mapping system, which could replace or augment a traditional landing sensor suite. A landing system based around these sensors can perform accurate altimetry, map-relative localization (MRL), LiDAR-inertial odometry, and map refinement in an illumination-insensitive manner, over unknown or partially known terrain. This paper outlines preliminary work on a LiDAR-inertial landing system that: estimates the spacecraft trajectory during entry, descent, and landing (EDL); and maps the topography of the terrain below, for future use in hazard detection and avoidance. An incremental, factor graph based, smoothing approach is used to solve for the maximum a posteriori trajectory of spacecraft states. Integrated IMU measurements and features tracked in adjacent range and intensity images are used to estimate motion (LiDAR-inertial odometry). LiDAR scans are binned into motion-corrected digital elevation models (DEMs), which are matched to an existing orbital topographic map to provide absolute position information (MRL). The estimated trajectory is then used to project the LiDAR scans into the map frame, creating a variable-resolution quadtree topographic map suitable for hazard detection and avoidance. Existing topographic maps from throughout the solar system (i.e., Earth, the Moon, Mars, Ceres, Vesta, Europa, Enceladus, and Eros) are upsampled for use in EDL simulations. The Mars 2020 Lander Vision System Simulator (LVSS) is extended to simulate LiDAR-inertial data for realistic EDL trajectories. Results of the algorithm operating on the simulated data are presented. Estimated spacecraft trajectory and refined map are compared to ground truth to assess estimation accuracy.
Five snow extent maps of the 5,601 sq km American River Basin were prepared using a Zoom Transfer Scope from ERTS-1 MSS band 4 imagery. The maps were generally completed within one hour. A snowmelt curve based on ERTS-1 imagery was used as a calibration standard or comparison for maps prepared from NOAA-2 VHRR imagery in the same manner. Cost comparisons with U-2 derived imagery indicate that ERTS-1 snow mapping of the basins is six times faster. Conservative estimates of comparable aircraft snow survey flights yields a cost figure 200 times that of the ERTS-1 snow map. Snow mapping attempts in the Lake Ontario Basin demonstrated that ERTS-1 is not well suited to large basins. Optimum size of basins for ERTS studies is believed to range from about 250 sq km to 30,000 sq km. The value of the ERTS-1 MSS for Great Lake ice evaluation was proved during the past winter on Lake Erie. Not only were ice features and types of ice identified, but melting ice was detected through the combined use of band 5 and band 7. Ice movement (direction and speed) was mapped by examining imagery from two successive days.
The methodology for mapping ricefields in Southern France is developed, using 1975 LANDSAT 2 and aircraft data and taking into account the features of the fields.
Doppler radio-tracking data have provided detailed measurements for a Martian gravity map extending from 30 deg S to 65 deg N in latitude and through 360 deg of longitude. The feature resolution is approximately 500 km, revealing a huge anomaly associated with Olympus Mons, a mascon in Isidis Planitia, and other anomalies correlated with volcanic structure. Olympus Mons has been modeled with a 600 km surface disk having a mass of 8.7 times 10 to the 21st grams.
Computer-generated character maps from LANDSAT data are compared to aerial photos for test sites in Florida. Report Describes extraction of ground features by two analytical techniques: unsupervised clustering algorithm, called LANDSAT Signature Development Program (LSDP), and interactive algorithm based on multispectral image analyzer. Study concluded that computer classification of digital LANDSAT multispectral data, supplemented with certain ground-cover information, is valuable tool for analysis of renewable resources.
Radar imagery provides year around data acquisition of areas in the Arctic and the Subarctic. The foremost factor influencing the choice of radar imagery as the major data source was the demand for neotric data. The weather is so adverse in parts of Alaska that radar imagery was the only remote sensing technique which could meet the demand. The major map products derived from radar imagery are landform maps and lineament maps. These maps are used to make environmental assessments of areas and to reconstruct the geomorphic history of certain regions or features. Since radar imagery provides information about geologic structure and geomorphic features, it can be used to determine the relationship which exists between geologic structure and geomorphology. Important geologic information related to surface roughness can be obtained through a dry snow cover. Radar imagery is the only remote sensing technique which can provide information needed about sea ice through a cloud cover and dry snow, during strong wind conditions, and throughout the Arctic night.
Imaging of Togo in 1977 with SLAR provided the data required for the production of map controlled radar mosaics at a scale of 1:200,000 with 95 percent of all control points at that scale within + or - 4.0 millimeters of true positions. The moasics served as the base for the generation of a revised geologic map of Togo. Aided by two looks, numerous revisions resulted, not only with the addition of previously unknown structural features, a revision of age relationships, and the refinement of unit boundaries, but also with the repositioning of rock units and the reorientation of major faults.
Evaluation of information contained in data from the visible and near-IR channels of LANDSAT 4 TM and MSS for five agricultural scenes shows that the TM provides a significant advance in information gathering capability as expressed in terms of bits per pixel or bits per unit area. The six reflective channels of the TM acquire 18 bits of information per pixel out of a possible 48 bits, while the four MSS channels acquire 10 bits of information per pixel out of a possible 28 bits. Thus the TM and MSS are equally efficient in gathering information (18/48 to approximately 10/28), contrary to the expected tendency toward lower efficiency as spatial resolution is improved and spectral channels are added to an observing system. The TM thermal IR data appear to be of interest mainly for mapping water bodies, which do not change temperature during the day, for assessing surface moisture, and for monitoring thermal features associated with human activity.
Multiwavelength observations of the inner core of the M8 Hourglass region are presented, including VLA interferometric maps, 2-4 micron and 8-13 micron spectroscopy, photometric mapping in the K (2.2 micron) and L (3.45 micron) bands and in the 3.28 micron dust-emission feature, optical CCD imaging, and optical and infrared polarimetry. The compact H II region is excited by the O7 V star Herschel 36, and its apparent bipolar structure at optical wavelengths may be due to variable line-of-sight extinction and scattered light. Standard reddening laws are not applicable in the Hourglass region. A power law extinction lambda exp -0.78 yields consistent agreement between ultraviolet, optical, and infrared extinction estimates and suggests that one component of the total grain distribution is on the average larger than that found in the interstellar medium. The spatial distribution of the 3.28 micron dust-emission feature shows that the feature emission is associated with the boundary layer in the H II region/molecular cloud interface. The observations favor models in which feature emission comes from small refractory grains rather than from fluorescence or thermal emission from volatile mantles.
An overview of Magellan Mission requirements, radar system characteristics, and methods of data collection is followed by a description of the image data, mosaic formats, areal coverage, resolution, and pixel DN-to-dB conversion. The availability and sources of image data are outlined. Applications of the altimeter data to estimate relief, Fresnel reflectivity, and surface slope, and the radiometer data to derive microwave emissivity are summarized and illustrated in conjunction with corresponding SAR image data. Same-side and opposite-side stereo images provide examples of parallax differences from which to measure relief with a lateral resolution many times greater than that of the altimeter. Basic radar interactions with geologic surfaces are discussed with respect to radar-imaging geometry, surface roughness, backscatter modeling, and dielectric constant. Techniques are described for interpreting the geomorphology and surface properties of surficial features, impact craters, tectonically deformed terrain, and volcanic landforms. The morphologic characteristics that distinguish impact craters from volcanic craters are defined. Criteria for discriminating extensional and compressional origins of tectonic features are discussed. Volcanic edifices, constructs, and lava channels are readily identified from their radar outlines in images. Geologic map units are identified on the basis of surface texture, image brightness, pattern, and morphology. Superposition, cross-cutting relations, and areal distribution of the units serve to elucidate the geologic history.
This paper describes the building of a corn disease diagnostic expert system using CLIPS, and the development of a neural expert system using the fact representation method of CLIPS for automated knowledge acquisition. The CLIPS corn expert system diagnoses 21 diseases from 52 symptoms and signs with certainty factors. CLIPS has several unique features. It allows the facts in rules to be broken down to object-attribute-value (OAV) triples, allows rule-grouping, and fires rules based on pattern-matching. These features combined with the chained inference engine result to a natural user query system and speedy execution. In order to develop a method for automated knowledge acquisition, an Artificial Neural Expert System (ANES) is developed by a direct mapping from the CLIPS system. The ANES corn expert system uses the same OAV triples in the CLIPS system for its facts. The LHS and RHS facts of the CLIPS rules are mapped into the input and output layers of the ANES, respectively; and the inference engine of the rules is imbedded in the hidden layer. The fact representation by OAC triples gives a natural grouping of the rules. These features allow the ANES system to automate rule-generation, and make it efficient to execute and easy to expand for a large and complex domain.
The Mars Reconnaissance Orbiter (MRO) is expected to launch in August 2005, arrive at Mars in March 2006, and begin the primary science phase in November 2006. MRO will carry a suite of remote-sensing instruments and is designed to routinely point off-nadir to precisely target locations on Mars for high-resolution observations. The mission will have a much higher data return than any previous planetary mission, with 34 Tb of returned data expected in the first Mars year in the mapping orbit. The mapping orbit is nearly polar, 255 x 320 km above the surface, 12 orbits per day. The HiRISE camera, features a 0.5 m telescope, 12 m focal length, and 14 CCDs. Basic capabilities are summarized.
Galileo images of bright lava flows surrounding Emakong Patera have bee0 analyzed and numerical modeling has been performed to assess whether these flows could have resulted from the emplacement of sulfur lavas on Io. Images from the solid-state imaging (SSI) camera show that these bright, white to yellow Emakong flows are up to 370 km long and contain dark, sinuous features that are interpreted to be lava conduits, -300-500 m wide and >lo0 km lorig. Neiu-Infrared Mapping S estimate of 344 K f 60 G131'C) within the Bmakong caldera. We suggest that these bright flows likely resulted from either sulfur lavas or silicate lavas that have undergone extensive cooling, pyroclastic mantling, and/or alteration with bright sulfurous materials. The Emakoag bright flows have estimated volume of -250-350 km', similar to some of the smaller Columbia River Basalt flows, If the Emakong flows did result from effusive sulfur eruptions, then they are orders of magnitude reater in volume than any terrestrial sulfur flows. Our numerical modeling capable of traveling tens to hundreds of kilometers, consistent with the predictions of Sagan. Our modeled flow distances are also consistent with the measured lengths of the Emakong channels and bright flows.
The CubeSat Constellation Cloud Winds (C3Winds) is a NASA Earth Venture Instrument (EV-I) concept with the primary objective to better understand mesoscale dynamics and their structures in severe weather systems. With potential catastrophic damage and loss of life, strong extratropical and tropical cyclones (ETCs and TCs) have profound three-dimensional impacts on the atmospheric dynamic and thermodynamic structures, producing complex cloud precipitation patterns, strong low-level winds, extensive tropopause folds, and intense stratosphere-troposphere exchange. Employing a compact, stereo IR-visible imaging technique from two formation-flying CubeSats, C3Winds seeks to measure and map high-resolution (2 km) cloud motion vectors (CMVs) and cloud geometric height (CGH) accurately by tracking cloud features within 5-15 min. Complementary to lidar wind observations from space, the high-resolution wind fields from C3Winds will allow detailed investigations on strong low-level wind formation in an occluded ETC development, structural variations of TC inner-core rotation, and impacts of tropopause folding events on tropospheric ozone and air quality. Together with scatterometer ocean surface winds, C3Winds will provide a more comprehensive depiction of atmosphere-boundary-layer dynamics and interactive processes. Built upon mature imaging technologies and long history of stereoscopic remote sensing, C3Winds provides an innovative, cost-effective solution to global wind observations with potential of increased diurnal sampling via CubeSat constellation.
We describe results from a new technique for the prediction of complete, self-consistent X-ray spectra from three-dimensional general relativistic magnetohydrodynamic (GRMHD) simulations of black hole accretion flows. Density and cooling rate data from a harm3d GRMHD simulation are post-processed by an improved version of the Monte Carlo radiation transport code pandurata (in the corona) and the Feautrier solver PTRANSX (in the disk), with xstar subroutines. The codes are run in a sequential, iterative fashion to achieve globally energy-conserving and self-consistent radiation fields, temperature maps, and photoionization equilibria. The output is the X-ray spectrum as seen by a distant observer, including features, such as the Fe Kα emission line and corresponding K-edge absorption trough, due to disk reprocessing of coronal power. For the example cases we consider—a non-rotating 10 M(sub ⊙) black hole with solar abundances, accreting at 0.01, 0.03, 0.1, or 0.3 Eddington—we find spectra resembling actual observations of stellar-mass black holes in the soft or steep power-law state: broad thermal peaks (at 1–3 keV), steep power laws extending to high energy (Γ = 2.7–4.5), and prominent, asymmetric Fe Kα emission lines with equivalent widths in the range 40–400 eV (larger EW at lower accretion rates). By starting with simulation data, we obviate the need for parameterized descriptions of the accretion flow geometry—no a priori specification of the corona's shape or flux, or the disk temperature or density, etc., is needed. Instead, we apply the relevant physical principles to simulation output using appropriate numerical techniques; this procedure allows us to calculate inclination-dependent spectra after choosing only a small number of physically meaningful parameters: black hole mass and spin, accretion rate, and elemental abundances.
Distributed Spacecraft Systems are a type of multi-spacecraft mission architecture that can not only provide improved resolution, coverage, and availability of existing missions, but also enable missions that would be previously infeasible using traditional approaches. Distributed Spacecraft Autonomy (DSA) is a project developed by the National Aeronautics and Space Administration that enables distributed spacecraft systems. In previous science swarm missions, the spacecraft involved have not been able to communicate with each other without utilizing a ground station. Now that the spacecraft can perform inter-satellite communication, the spacecraft can be treated as a collective. Swarm autonomy is critical for a growing number of satellites which means novel ways of displaying swarm data needs to be implemented. Such systems introduce unique challenges to traditional approaches for command and control of these spacecraft, due to the large number of spacecraft and the complexity of the interactions between them. The ground data system for DSA addresses these challenges through the creation of a custom user interface that allows a single operator to orchestrate a multi-spacecraft swarm in a scalable way. This plenary describes the details of the autonomy demonstration being performed, the requirements of those using the interface to analyze the spacecraft telemetry to assess demonstration success, and the approach taken by the ground systems team to create an interface that satisfies these requirements. This approach involves the creation of several distinct components that correspond to the level of detail presented to the user. These components are based on conventional user roles in human-robot interaction, including supervisor, operator, and mechanic, extended to accommodate the additional overhead of coordinating actions between agents. One main feature of the interface is the listenability matrix component which will represent inter-satellite communications in a heat mapped matrix. The above work described will enable users to command and interact with the spacecraft as a collective.
The author has identified the following significant results. It was found that based on resolution, the Skylab S190A products were superior to LANDSAT images. Based on measurements of shoreline features in Lake Mead S190A images had 1.5 - 3 times greater resolution than LANDSAT. In general, the higher resolution of the Skylab data yielded better discrimination among rock units, but in the case of structural features, lower sun angle LANDSAT images (50 deg) were superior to higher sun angle Skylab images (77 deg). The most valuable advantage of the Skylab over the LANDSAT image products is the capability of producing stereo images. Field spectral reflectance measurements on the Coconino Plateau were made in an effort to determine the best spectral band for discrimination of the six geologic units in question, and these bands were 1.3, 1.2, 1.0, and 0.5 microns. The EREP multispectral scanner yielded data with a low signal to noise ratio which limited its usefulness for image enhancement work. Sites that were studied in Arizona were Shivwits Plateau, Verde Valley, Coconino Plateau, and Red Lake. Thematic maps produced by the three classification algorithms analyzed were not as accurate as the maps produced by photointerpretation of composites of enhanced images.