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NASA NTRS2003

Decision-Theoretic Control of Planetary Rovers

Planetary rovers are small unmanned vehicles equipped with cameras and a variety of sensors used for scientific experiments. They must operate under tight constraints over such resources as operation time, power, storage capacity, and communication bandwidth. Moreover, the limited computational resources of the rover limit the complexity of on-line planning and scheduling. We describe two decision-theoretic approaches to maximize the productivity of planetary rovers: one based on adaptive planning and the other on hierarchical reinforcement learning. Both approaches map the problem into a Markov decision problem and attempt to solve a large part of the problem off-line, exploiting the structure of the plan and independence between plan components. We examine the advantages and limitations of these techniques and their scalability.

Zilberstein, Shlomo↗
NASA NTRS2003

Self-Directed Cooperative Planetary Rovers

The project is concerned with the development of decision-theoretic techniques to optimize the scientific return of planetary rovers. Planetary rovers are small unmanned vehicles equipped with cameras and a variety of sensors used for scientific experiments. They must operate under tight constraints over such resources as operation time, power, storage capacity, and communication bandwidth. Moreover, the limited computational resources of the rover limit the complexity of on-line planning and scheduling. We have developed a comprehensive solution to this problem that involves high-level tools to describe a mission; a compiler that maps a mission description and additional probabilistic models of the components of the rover into a Markov decision problem; and algorithms for solving the rover control problem that are sensitive to the limited computational resources and high-level of uncertainty in this domain.

Zilberstein, Shlomo↗
NASA NTRS2003

Dynamics and Origin of Extra-solar Planetary Systems and Microlensing Detection of Extra-solar Planets

We compare a space-based microlensing search for planets, with a ground based microlensing search originally proposed by D. Tytler (Beichman, et al. 1996). Perturbations of microlensing light curves when the lens star has a planetary companion are sought by one wide angle survey telescope and an array of three or four followup narrow angle telescopes distributed in longitude that follow events with high precision, high time resolution photometry. Alternative ground based programs are considered briefly. With the four 2 meter telescopes distributed in longitude in the southern hemisphere in the Tytler proposal, observational constraints on a ground-based search for planets during microlensing events toward the center of the galaxy are severe. Probably less than 100 events could be monitored per year with high precision, high time resolution photometry with only about 42% coverage on the average regardless of how many events were discovered by the survey telescope. Statistics for the occurrence and properties for Jupiter-mass planets would be meaningful but relatively meager four years after the program was started, and meaningful statistics for Earth-mass planets would be non existent. In contrast, the 14,500 events in a proposed 4 year space based program (GEST = Galactic Exoplanet Survey Telescope) would yield very sound statistics on the occurrence, masses and separations of Jupiter-mass planets, and significant constraints on similar properties for Earth-mass planets. The significance of the Jupiter statistics would be to establish the frequency of planetary systems like our own, where terrestrial planets could exist inside the orbits of the giants.

Peale, S. J.↗
NASA NTRS2003

Planetary Protection Considerations for JIMO

Europa is the only body in the solar system besides Mars that is currently viewed as a body of significant interest relative to the process of chemical evolution and/or the origin of life or for which scientific opinion provides a significant chance of contamination which could jeopardize a future biological experiment. Thus, both NASA and COSPAR policy require that Europa be protected from biological contamination that could result from scientific exploration conducted by robotic spacecraft. In 2000, the Task Group on the Forward Contamination of Europa (Space Studies Board) published its report on Preventing the Forward Contamination of Europa recommending a limit of 10(exp -4) probability of contamination of Europa's ocean per mission (at any time in the future) by a single viable terrestrial microbe. While NASA guidelines do not yet explicitly reflect this new recommendation, it is likely that the SSB recommendation will be adopted by NASA planetary protection in the form of a sterility requirement or at least a stringent total microbial burden requirement. In our presentation, we will present an overview of the anticipated planetary protection requirements for both orbiters and landers destined for Europa and some of the challenges these requirements will present.

Koukol, R. C.↗
NASA NTRS2003

Laser Remote Sensing and Lidar Measurements for Planetary Bodies

Laser Remote Sensing and lidar have been used for earth remote sensing for a number of years however the inefficiency of laser devices has limited their application to planetary sensing where power is at a premium. The potential availability of a large amount of power for the Jupiter Icy Moons Orbiter (JIMO) opens up the potential to implement laser remote sensing for planetary bodies. Lidars have been and can be used to map terrain, measure atmospheric and surface parameters including velocity and composition. In this paper we will provide an overview of the lidar capabilities at the Jet Propulsion Laboratory and address the types of lidar measurements that could be relevant to JIMO science investigations.

Spiers, G. D.↗
NASA NTRS2003

Non-Migrating Diurnal Tides Generated with Planetary Waves in the Mesosphere

We report here the results from a modeling study with our Numerical Spectral Model (NSM) that extends from the ground into thermosphere. The NSM incorporates Hines Doppler Spread Parameterization for small-scale gravity waves (GWs) and describes the major dynamical features of the atmosphere, including the wave driven equatorial oscillations (QBO and SAO), and the seasonal variations of tides and planetary waves. Accounting solely for the solar migrating tidal excitation sources, the NSM generates through dynamical interactions also non-migrating tides in the mesosphere that have amplitudes comparable to those observed. The model produces the diurnal (and semidiurnal) oscillations of the zonal mean (m = 0), and eastward and westward propagating tides for zonal wave numbers m = 1 to 4. To identify the mechanism of excitation for these tides, a numerical experiment is performed. The NSM is run without the heat source for the zonal-mean circulation and temperature variation, and the amplitudes of the resulting nonmigrating tides are then negligibly small. This leads to the conclusion that the planetary waves, which normally are excited in the NSM by instabilities but are suppressed in this case, generate the nonmigrating tides through nonlinear interactions with the migrating tides.

Mayr, H. G.↗
NASA NTRS2002

A Ground-Based Profiling Differential Absorption LIDAR System for Measuring CO2 in the Planetary Boundary Layer

Ground-based LIDAR observations can potentially provide continuous profiles of CO2 through the planetary boundary layer and into the free troposphere. We will present initial atmospheric measurements from a prototype system that is based on components developed by the telecommunications industry. Preliminary measurements and instrument performance calculations indicate that an optimized differential absorption LIDAR (DIAL) system will be capable of providing continuous hourly averaged profiles with 250m vertical resolution and better than 1 ppm precision at 1 km. Precision increases (decreases) at lower (higher) altitudes and is directly proportional to altitude resolution and acquisition time. Thus, precision can be improved if temporal or vertical resolution is sacrificed. Our approach measures absorption by CO2 of pulsed laser light at 1.6 microns backscattered from atmospheric aerosols. Aerosol concentrations in the planetary boundary layer are relatively high and are expected to provide adequate signal returns for the desired resolution. The long-term goal of the project is to develop a rugged, autonomous system using only commercially available components that can be replicated inexpensively for deployment in a monitoring network.

Andrews, Arlyn E.↗
NASA NTRS2003

Comparative Planetary Mineralogy: Basaltic Plagioclase from Earth, Moon, Mars and 4 Vesta

Major, minor and trace element analysis of silicates has allowed for the study of planetary basalts in a comparative planetary mineralogy context. We continue this initiative by exploring the chemistry of plagioclase feldspar in basalts from the Earth, Moon, Mars and 4 Vesta. This paper presents new data on plagioclase from six terrestrial basalt suites including Keweenawan, Island Arc, Hawaiian, Columbia Plateau, Taos Plateau, and Ocean Floor; six lunar basalt suites including Apollo 11 Low K, Apollo 12 Ilmenite, Apollo 12 Olivine, Apollo 12 Pigeonite, Apollo 15 Olivine, and Apollo 15 Pigeonite; two basaltic martian meteorites, Shergotty and QUE 94201; and one unequilibrated eucrite, Pasamonte.

Karner, J. M.↗
NASA NTRS2003

Determination of Planetary Basalt Parentage: A Simple Technique Using the Electron Microprobe

Previous studies have demonstrated the usefulness of major and minor elements in silicate phases to understand differences among basaltic systems and the influence of different planetary environments on basalt chemistry (e.g., Papike [1]). Intriguing data displays presented by Papike [1] include a plot of Mn vs. Fe (atoms per formula unit, afu) for pyroxene and olivine and a plot showing the anorthite content of plagioclase from different planetary basalts. Here we combine portions of these plots (Fig. 4) and provide all new data for olivine and plagioclase.

Papike, J. J.↗
NASA NTRS2004

Lunar and Planetary Science XXXV: Education Programs Demonstrations

Reports from the session on Education Programs Demonstration include:Hands-On Activities for Exploring the Solar System in K-14; Formal Education and Informal Settings;Making Earth and Space Science and Exploration Accessible; New Thematic Solar System Exploration Products for Scientists and Educators Engaging Students of All Ages with Research-related Activities: Using the Levers of Museum Reach and Media Attention to Current Events; Astronomy Village: Use of Planetary Images in Educational Multimedia; ACUMEN: Astronomy Classes Unleashed: Meaningful Experiences for Neophytes; Unusual Guidebook to Terrestrial Field Work Studies: Microenvironmental Studies by Landers on Planetary Surfaces (New Atlas in the Series of the Solar System Notebooks on E tv s University, Hungary); and The NASA ADS: Searching, Linking and More.

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NASA NTRS2004

Lunar and Planetary Science XXXV: Outer Solar System

The session 'Outer Solar System" inlcuded:Monte Carlo Modeling of [O I] 630 nm Auroral Emission on Io; The Detection of Iron Sulfide on Io; Io and Loki in 2003 as Seen from the Infrared Telescope Facility Using Mutual Satellite and Jupiter Occultations; Mapping of the Zamama-Thor Region of Io; First Solar System Results of the Spitzer Space Telescope; Mapping the Surface of Pluto with the Hubble Space Telescope; Experimental Study on Fischer-Tropsch Catalysis in the Circum-Saturnian Subnebula; New High-Pressure Phases of Ammonia Dihydrate; Gas Hydrate Stability at Low Temperatures and High Pressures with Applications to Mars and Europa; Laboratory UV Photolysis of Planetary Ice Analogs Containing H2O + CO2 (1:1); The OH Stretch Infrared Band of Water Ice and Its Temperature and Radiation Dependence; Band Position Variations in Reflectance Spectra of the Jovian Satellite Ganymede; Comparison of Porosity and Radar Models for Europa s Near Surface; Combined Effects of Diurnal and Nonsynchronous Surface Stresses on Europa; Europa s Northern Trailing Hemisphere: Lineament Stratigraphic Framework; Europa at the Highest Resolution: Implications for Surface Processes and Landing Sites; Comparison of Methods to Determine Furrow System Centers on Ganymede and Callisto; Resurfacing of Ganymede by Liquid-Water Volcanism; Layered Ejecta Craters on Ganymede: Comparisons with Martian Analogs; Evaluation of the Possible Presence of CO2-Clathrates in Europa s Icy Shell or Seafloor; Geosciences at Jupiter s Icy Moons: The Midas Touch; Planetary Remote Sensing Science Enabled by MIDAS (Multiple Instrument Distributed Aperture Sensor); and In Situ Surveying of Saturn s Rings.

Source record↗
NASA NTRS2004

Lunar and Planetary Science XXXV: Education

The session "Education" includes the following topics: 1) Convection, Magnetism, Orbital Resonances, Impacts, and Volcanism: Energies and Processes in the Solar System: Didactic Activities; 2) Knowledge Management in Aerospace-Education and Training Issues; 3) Creating Easy-to-Understand Planetary Maps; 4) Planetary Environment comparison in the Education of Astrobiology; and 5) Design and Construction of a Mechanism for the Orbital Resonances Simulation.

Source record↗
NASA NTRS2004

Design of Hybrid Mobile Communication Networks for Planetary Exploration

The Mobile Exploration System Project (MEX) at NASA Ames Research Center has been conducting studies into hybrid communication networks for future planetary missions. These networks consist of space-based communication assets connected to ground-based Internets and planetary surface-based mobile wireless networks. These hybrid mobile networks have been deployed in rugged field locations in the American desert and the Canadian arctic for support of science and simulation activities on at least six occasions. This work has been conducted over the past five years resulting in evolving architectural complexity, improved component characteristics and better analysis and test methods. A rich set of data and techniques have resulted from the development and field testing of the communication network during field expeditions such as the Haughton Mars Project and NASA Mobile Agents Project.

Alena, Richard L.↗
NASA NTRS2004

Planetary-Scale Inertio Gravity Waves in the Numerical Spectral Model

In the polar region of the upper mesosphere, horizontal wind oscillations have been observed with periods around 10 hours. Waves with such a period are generated in our Numerical Spectral Model (NSM), and they are identified as planetary-scale inertio gravity waves (IGW). These IGWs have periods between 9 and 11 hours and appear above 60 km in the zonal mean (m = 0), as well as in zonal wavenumbers m = 1 to 4. The waves can propagate eastward and westward and have vertical wavelengths around 25 km. The amplitudes in the wind field are typically between 10 and 20 m/s and can reach 30 m/s in the westward propagating component for m = 1 at the poles. In the temperature perturbations, the wave amplitudes above 100 km are typically 5 K and as large as 10 K for m = 0 at the poles. The IGWs are intermittent but reveal systematic seasonal variations, with the largest amplitudes occurring generally in late winter and spring. In the NSM, the IGW are generated like the planetary waves (PW). They are produced apparently by the instabilities that arise in the zonal mean circulation. Relative to the PWs, however, the IGWs propagate zonally with much larger velocities, such that they are not affected much by interactions with the background zonal winds. Since the IGWs can propagate through the mesosphere without much interaction, except for viscous dissipation, one should then expect that they reach the thermosphere with significant and measurable amplitudes.

Mayr, H. G.↗
NASA NTRS2004

Comparative Planetary Mineralogy: V/(Cr+Al) Systematics in Chromites as an Indicator of Relative Oxygen Fugacity

As our contribution to the new "Oxygen in the Solar System" initiative of the Lunar and Planetary Institute and the NASA Cosmochemistry Program, we have been developing oxygen barometers based largely on behavior of V which can occur in four valence states V2+, V3+, V4+, and V5+, and record at least 8 orders of magnitude of fO2. Our first efforts in measuring these valence proportions were by XANES techniques in basaltic glasses from Earth, Moon, and Mars. We now address the behavior of V valence states in chromite in basalts from Earth, Moon, and Mars. We have been looking for a "V in chromite oxybarometer" that works with data collected by the electron microprobe and thus is readily accessible to a large segment of the planetary materials community. This paper describes very early results that will be refined over the next two years.

Papike, J. J.↗
NASA NTRS2004

Scaling Up Decision Theoretic Planning to Planetary Rover Problems

Because of communication limits, planetary rovers must operate autonomously during consequent durations. The ability to plan under uncertainty is one of the main components of autonomy. Previous approaches to planning under uncertainty in NASA applications are not able to address the challenges of future missions, because of several apparent limits. On another side, decision theory provides a solid principle framework for reasoning about uncertainty and rewards. Unfortunately, there are several obstacles to a direct application of decision-theoretic techniques to the rover domain. This paper focuses on the issues of structure and concurrency, and continuous state variables. We describes two techniques currently under development that address specifically these issues and allow scaling-up decision theoretic solution techniques to planetary rover planning problems involving a small number of goals.

Meuleau, Nicolas↗
NASA NTRS2003

Planetary protection and the search for life beneath the surface of Mars

The search for traces of extinct and extant life on Mars will be extended to beneath the surface of the planet. Current data from Mars missions suggesting the presence of liquid water early in Mars' history and mathematical modeling of the fate of water on Mars imply that liquid water may exist deep beneath the surface of Mars. This leads to the hypothesis that life may exist deep beneath the Martian surface. One possible scenario to look for life on Mars involves a series of unmanned missions culminating with a manned mission drilling deep into the Martian subsurface (approximately 3Km), collecting samples, and conducting preliminary analyses to select samples for return to earth. This mission must address both forward and back contamination issues, and falls under planetary protection category V. Planetary protection issues to be addressed include provisions stating that the inevitable deposition of earth microbes by humans should be minimized and localized, and that earth microbes and organic material must not contaminate the Martian subsurface. This requires that the drilling equipment be sterilized prior to use. Further, the collection, containment and retrieval of the sample must be conducted such that the crew is protected and that any materials returning to earth are contained (i.e., physically and biologically isolated) and the chain of connection with Mars is broken. c2002 COSPAR. Published by Elsevier Science Ltd. All rights reserved.

NASA Discipline Exobiology↗