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NASA NTRS2012

JPL Genesis and Rapid Intensification Processes (GRIP) Portal

Satellite observations can play a very important role in airborne field campaigns, since they provide a comprehensive description of the environment that is essential for the experiment design, flight planning, and post-experiment scientific data analysis. In the past, it has been difficult to fully utilize data from multiple NASA satellites due to the large data volume, the complexity of accessing NASA s data in near-real-time (NRT), as well as the lack of software tools to interact with multi-sensor information. The JPL GRIP Portal is a Web portal that serves a comprehensive set of NRT observation data sets from NASA and NOAA satellites describing the atmospheric and oceanic environments related to the genesis and intensification of the tropical storms in the North Atlantic Ocean. Together with the model forecast data from four major global atmospheric models, this portal provides a useful tool for the scientists and forecasters in planning and monitoring the NASA GRIP field campaign during the 2010 Atlantic Ocean hurricane season. This portal uses the Google Earth plug-in to visualize various types of data sets, such as 2D maps, wind vectors, streamlines, 3D data sets presented at series of vertical cross-sections or pointwise vertical profiles, and hurricane best tracks and forecast tracks. Additionally, it allows users to overlap multiple data sets, change the opacity of each image layer, generate animations on the fly with selected data sets, and compare the observation data with the model forecast using two independent calendars. The portal also provides the capability to identify the geographic location of any point of interest. In addition to supporting the airborne mission planning, the NRT data and portal will serve as a very rich source of information during the post-field campaign analysis stage of the airborne experiment. By including a diverse set of satellite observations and model forecasts, it provides a good spatial and temporal context for the high-resolution, but limited in space and time, airborne observations.

Knosp, Brian W.↗
NASA NTRS1991

VSTOL ground effects testing with flow visualization and image enhancement

A remotely controlled high-energy fiber-optic light delivery technique is employed to examine the implementation of a laser-light-sheet flow-visualization system. During testing, video data are enhanced in real time using digital image processing techniques. A summary of test results for an advanced VSTOL configuration in ground effect, and techniques for the generation of 3D reconstructions for the flowfield are outlined. The system performed well during all phases of the test and proved to be an extremely useful asset to the overall test program. The most useful application of the flow visualization system was the interactive real-time flow field analysis made during the actual testing.

Kegelman, Jerome T.↗
NASA NTRSDate not supplied

Global 3D Data Visualization and Analysis Platform with Advanced Machine Learning Capabilities in Support of Lunar Exploration

Introduction: The science goals for NASA’s Artemis program include: a) Understanding the character and origin of lunar polar volatiles, b) Conducting experimental science in the lunar environment and c) Investigating and mitigating exploration risks. The permanently shadowed regions (PSRs) on the Lunar south pole are expected to host large quantities of water-ice and volatiles that are important for sustainable Lunar exploration. There are several missions such as onboard Korea Pathfinder Lunar Orbiter (KPLO: Korean name Danuri) with onboard ShadowCam camera, Astrobotic Peregrine Mission One [4], and other efforts underway to obtain high resolution topographic, minerals, volatiles and other information on the moon. We envision a need in immediate future for platforms to integrate these data sets, provide rendering and visualization capabilities in the context of a 3D Lunar globe for easier information access and analysis. NASA's Celestial Mapping System (CMS) is developed to address the need for 3D tools for planetary science investigations, mission planning, in-situ operations, in a 3D-first design constructed around a unified view of a planetary globe. At present CMS provides many critical functionalities that include: 1) equipment planning and optimized placement on Lunar surface 2) line-of-sight (LOS) analysis 3) powerful measurement tools based on 3D terrain with realistic 3D models to represent rovers, astronauts and equipment 4) visualization of derived mapping products (e.g. resource maps), and 5) a data engine for hosting new observations that are not available in other contemporary lunar data tools. Planetary Data Ingestion: CMS can consume and analyze data from locally hosted and external third party sources. It is compatible with Open Geospatial Consortium (OGC) data and file standards and currently integrates datasets from the Astrogeology Science Center of USGS. This includes global and local data acquired from NASA (LRO, Clementine, Lunar Orbiter) and JAXA (SELENE/Kaguya), with capability of integrating more datasets. In addition, users can specify other WMS-hosted data endpoints, which CMS can then query and stream data from automatically. To set-up an automated process for ingestion and accurate rendering, visualization and analysis of external 3rd party planetary datasets within CMS, we initiated the process of ingesting unique dataset of super-enhanced images of the permanently shadowed regions (PSRs) at the lunar poles which were produced by the Hyper-effective nOise Removal U-net Software (HORUS) tool. This tool was developed to enhance the extremely low-light images of the interior of PSRs and provide the ability to see within these regions at and discern surface features (i.e. boulders and craters) down to 3 meters in size. We focused on the Nobile region on the Lunar south pole, selected site for VIPER mission and stitched several images to create a high-resolution map within one of the PSR of Nobile crater. Figure 1 shows the dark PSR zone form the original NAC layer of LRO as the base layer (left image) and the illuminated areas within that crater (center) which was created by ingesting and merging several of HORUS generated images. At present we employ a semi-automated process to ensure spatial accuracy and merger of several overlapping zones. However, we are in the process of completely automating this process by employing AI based techniques that would rank, sort, and stack the images based on their information density. The georectification of the images would employ selected features. Analysis on Ingested Planetary Datasets: Once an external planetary data-set is successfully ingested, georectified and merged seamlessly as a data-layer; CMS’ numerous analysis tools can be used on this data. A Line of Sight (LOS) tool has been developed for CMS which analyzes terrain profiles and obstructions to determine visibility for remote observers. Figure 1 (right image) shows the viewshed analysis on the same PSR in the Nobile region. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. The Measurements tool allows the user to take area and distance measurements of features on the terrain using various shapes. Measurement type can be specified in a number of ways: Line, Path, Polygon, Circle, Ellipse, Square, Rectangle or Freehand. Once the shape is specified, elevation information can then be extracted along each of these shapes. Figure 2 (left) shows the measurements performed on a crater n illuminated PSR in Nobile region. The equipment placement tool allows the user to place a 3D equipment model at a desired location and analyze its coverage area. The equipment placement tool is coupled with LOS to determine the coverage. Figure 2 (right) shows an equipment placed on the Lunar terrain and it’s coverage area. The red rays are blocked sight lines and the green rays are non-obstructed sight lines with the cyan lines showing the point of intersection with the terrain. More details are provided in the video demonstrations in Reference 5. Overcoming Polar Distortions: 3D geospatial applications exhibit significant distortions in polar imagery due to several reasons: 1) distortions in the source imagery, 2) incompatible tessellation algorithms at the poles, and 3) map projections. We are leveraging new tessellation algorithms and reprojecting data using projections that are better suited for Lunar poles. The goal is to seamlessly switch to polar projections while maintaining 3D view and navigation.

Maps↗
NASA NTRS2021

LiDAR-Based Map Relative Localization Performance Analysis for Landing on Europa

This paper presents preliminary simulations andanalyses done to assess the feasibility of performing Map RelativeLocalization (MRL) with the Europa Lander LiDAR beingdeveloped for the Europa Lander Pre-Phase A concept. MapRelative Localization is the process of determining the horizontalposition of a lander with respect to an onboard, a-priori map,by comparing the map to sensor observations of the terrain duringdeorbit, descent, and landing (DDL). Although kilometerscaleposition knowledge is commonly available during DDL,landing in hazard-rich environments requires position errors of100 m or less. Prior knowledge in the case of Europa Landerwill be visual and topographic maps collected by the upcomingEuropa Clipper mission. The Mars 2020 Lander Vision System(LVS) uses images from a camera to localize with respect tovisual maps. This technology, as well as a 3D imaging LiDAR indevelopment for hazard detection, is currently baselined for theEuropa Lander Pre-Phase A concept. This paper investigatesthe potential use of the hazard detection LiDAR to performMRL with respect to a 3D digital elevation model (DEM)provided by the Europa Clipper mission, as an alternative orbackup solution to passive optical MRL. Compared to passiveoptical MRL, one advantage of LiDAR-based localization isthat it is insensitive to lighting conditions, potentially relaxingrequirements on synchronizing map acquisition and landingtime of day. To analyze LiDAR based MRL performance,six representative terrains are synthetically up-sampled fromGalileo-derived maps of Europa to a resolution of 0.5 m/pxand covering an area of 4 km by 4 km. These maps are usedas ground-truth to generate simulated noisy a-priori onboardtopographic maps expected from Europa Clipper as well assimulated LiDAR DEMs generated at an altitude of 5 km duringEuropa Lander DDL. The simulated LiDAR DEM is matchedagainst the simulated map via 2D normalized cross-correlation,exploiting the accurately known spacecraft attitude to avoidthe need for more computationally intensive algorithms such asIterative Closest Point (ICP). Two sources of measurement errorare identified for analysis: 1) additive Gaussian noise in therange measurements from the Europa Lander LiDAR and theEuropa Clipper derived maps and 2) errors in the LiDAR DEMinduced by errors in the Europa Lander state estimate which isused to de-warp the LiDAR scan data into a DEM format. Weassess the effect of each of these types of errors independently onmatching performance as well as the overall performance whenall types of error are introduced. Additionally, we present theresult of a sensitivity study to terrain frequency content.

Trawny, Nikolas↗
NASA NTRSDate not supplied

Global 3D Data Visualization and Analysis Platform With Advanced Machine Learning Capabilities in Support of Lunar Exploration

Introduction: The science goals for NASA’s Artemis program include: a) Understanding the character and origin of lunar polar volatiles, b) Conducting experimental science in the lunar environment and c) Investigating and mitigating exploration risks [1]. The permanently shadowed regions (PSRs) on the Lunar south pole are expected to host large quantities of water-ice and volatiles that are important for sustainable Lunar exploration [2]. There are several missions such as onboard Korea Pathfinder Lunar Orbiter (KPLO: Korean name Danuri) with onboard ShadowCam camera [3], Astrobotic Peregrine Mission One [4], and other efforts underway to obtain high resolution topographic, minerals, volatiles and other information on the moon. We envision a need in immediate future for platforms to integrate these data sets, provide rendering and visualization capabilities in the context of a 3D Lunar globe for easier information access and analysis. NASA's Celestial Mapping System (CMS) [5] is developed to address the need for 3D tools for planetary science investigations, mission planning, in-situ operations, in a 3D-first design constructed around a unified view of a planetary globe. At present CMS provides many critical functionalities that include: 1) equipment planning and optimized placement on Lunar surface 2) line-of-sight (LOS) analysis 3) powerful measurement tools based on 3D terrain with realistic 3D models to represent rovers, astronauts and equipment 4) visualization of derived mapping products (e.g. resource maps), and 5) a data engine for hosting new observations that are not available in other contemporary lunar data tools [5, 7]. Planetary Data Ingestion: CMS can consume and analyze data from locally hosted and external third party sources. It is compatible with Open Geospatial Consortium (OGC) data and file standards and currently integrates datasets from the Astrogeology Science Center of USGS. This includes global and local data acquired from NASA (LRO, Clementine, Lunar Orbiter) and JAXA (SELENE/Kaguya), with capability of integrating more datasets. In addition, users can specify other WMS-hosted data endpoints, which CMS can then query and stream data from automatically. To set-up an automated process for ingestion and accurate rendering, visualization and analysis of external 3rd party planetary datasets within CMS, we initiated the process of ingesting unique dataset of super-enhanced images of the permanently shadowed regions (PSRs) at the lunar poles which were produced by the Hyper-effective nOise Removal U-net Software (HORUS) tool [8]. This tool was developed to enhance the extremely low-light images of the interior of PSRs and provide the ability to see within these regions at and discern surface features (i.e. boulders and craters) down to 3 meters in size. We focused on the Nobile region on the Lunar south pole, selected site for VIPER mission and stitched several images to create a high-resolution map within one of the PSR of Nobile crater. Figure 1 shows the dark PSR zone form the original NAC layer of LRO as the base layer (left image) and the illuminated areas within that crater (center) which was created by ingesting and merging several of HORUS generated images. At present we employ a semi-automated process to ensure spatial accuracy and merger of several overlapping zones. However, we are in the process of completely automating this process by employing AI based techniques that would rank, sort, and stack the images based on their information density. The georectification of the images would employ selected features. Analysis on Ingested Planetary Datasets: Once an external planetary data-set is successfully ingested, georectified and merged seamlessly as a data-layer; CMS’ numerous analysis tools can be used on this data. A Line of Sight (LOS) tool has been developed for CMS which analyzes terrain profiles and obstructions to determine visibility for remote observers [5,6]. Figure 1 (right image) shows the viewshed analysis on the same PSR in the Nobile region. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. The Measurements tool allows the user to take area and distance measurements of features on the terrain using various shapes. Measurement type can be specified in a number of ways: Line, Path, Polygon, Circle, Ellipse, Square, Rectangle or Freehand. Once the shape is specified, elevation information can then be extracted along each of these shapes. Figure 2 (left) shows the measurements performed on a crater n illuminated PSR in Nobile region. The equipment placement tool allows the user to place a 3D equipment model at a desired location and analyze its coverage area. The equipment placement tool is coupled with LOS to determine the coverage. Figure 2 (right) shows an equipment placed on the Lunar terrain and it’s coverage area. The red rays are blocked sight lines and the green rays are non-obstructed sight lines with the cyan lines showing the point of intersection with the terrain. More details are provided in the video demonstrations in Reference 5. Overcoming Polar Distortions: 3D geospatial applications exhibit significant distortions in polar imagery due to several reasons: 1) distortions in the source imagery, 2) incompatible tessellation algorithms at the poles, and 3) map projections. We are leveraging new tessellation algorithms and reprojecting data using projections that are better suited for Lunar poles. The goal is to seamlessly switch to polar projections while maintaining 3D view and navigation.

Maps↗
NASA NTRS2023

Three Eruptions Observed by Remote Sensing Instruments Onboard Solar Orbiter

On February 21 and March 21 – 22, 2021, the Extreme Ultraviolet Imager (EUI) onboard Solar Orbiter observed three prominence eruptions. The eruptions were associated with coronal mass ejections (CMEs) observed by Metis, Solar Orbiter’s coronagraph. All three eruptions were also observed by instruments onboard the Solar–TErrestrial RElations Observatory (Ahead; STEREO-A), the Solar Dynamics Observatory (SDO), and the Solar and Heliospheric Observatory (SOHO). Here we present an analysis of these eruptions. We investigate their morphology, direction of propagation, and 3D properties. We demonstrate the success of applying two 3D reconstruction methods to three CMEs and their corresponding prominences observed from three perspectives and different distances from the Sun. This allows us to analyze the evolution of the events, from the erupting prominences low in the corona to the corresponding CMEs high in the corona. We also study the changes in the global magnetic field before and after the eruptions and the magnetic field configuration at the site of the eruptions using magnetic field extrapolation methods. This work highlights the importance of multi-perspective observations in studying the morphology of the erupting prominences, their source regions, and associated CMEs. The upcoming Solar Orbiter observations from higher latitudes will help to constrain this kind of study better.

Coronal mass ejections↗
NASA NTRSDate not supplied

Bi-axial Strain Measurement of Woven-Webbing Inflatable Structures Using Digital Image Correlation with RGB Filtering

Crewed inflatable softgoods structures can significantly reduce launch volume for habitable pressure vessels. To ensure the operational safety of these structures, NASA has developed an extensive testing program to evaluate the structural capability on ground test articles. This paper will discuss a current challenge faced by test engineers evaluating the strain of large-scale inflatable space structures during ground testing. Namely, the difficulty that arises using monochrome digital image correlation (DIC) to evaluate bi-axial strain for woven-webbing restraint layers. This report provides insight into a novel method of photogrammetry using red-green-blue (RGB) filtering in conjunction with DIC to evaluate the strain in each direction on a test article experiencing bi-directional strain. To evaluate this concept, a uniaxial tensile test was performed that represented a biaxial woven architecture using orthogonally interfaced straps. The resulting analysis demonstrates promise for this novel approach for isolating a specific region and direction of strain, reducing the effects of straps not in the area of interest, while allowing for a larger region of analysis. Moreover, it was shown that the application of a white basecoat prior to applying photogrammetry patterns significantly reduced data loss while performing RGB filtered DIC.

inflatable↗
NASA NTRSDate not supplied

In-Space Inspection Needs: Opportunities for advanced NDE tools such as x-ray CT for additively manufactured parts, in-situ resource utilization, geological applications, and more

It is now 50 years since the first human presence on the surface of the Moon and as we strive to return with women and men in the next few years, we embrace new technical challenges, goals, and innovative solutions to address 21st century objectives. These new ambitions carry fresh challenges and risks, with the field of NDE playing an increasingly more relevant role towards meeting these essential goals. In recent years, more advanced NDE tools have triggered a rapid expansion of applications for the space industry. In particular, x-ray Computed Tomography (CT) has proven to be a trusted and powerful asset for spaceflight hardware inspection, as well as applied geotechnical analysis for natural materials (e.g., rocks, soils) for NASA and across industry. However, such methods have yet to be extended to “deep space” applications such as those that are now part of the US National Space Policy Directive (SPD-1) and the accelerated push to return humans to the Moon (i.e., Artemis). For this reason, advancing these powerful Earth-based laboratory methods via new technologies, integrated computational solutions, and creative engineering approaches is directly aligned with national space policies, as well as with multiple NASA Strategic Plan priorities. The use of x-ray CT at scales as fine as a few microns or smaller can identify spacecraft part failure modes relevant to quality assurance for flight hardware and AM parts such as those recently developed for ISS. This technology could also identify valuable metallic phases within geological materials (i.e., rocks or drill cores), enabling resource-relevant triage of samples for In-Situ Resource Utilization (ISRU) and high science value sample return to Earth laboratories. There is also significant application for 3D imaging tools for medical use such as inspecting protective gear as well as bone density degradation studies which are critical in establishing a sustained presence in space. Timing for development of these tools for space use is advantageous as we prepare for new opportunities in the next few years and recognize recent commercial technology advancements which make it feasible. Moreover, as NASA strives to take full advantage of developments in AM technologies, including In-Space Manufacturing (ISM), it is widely recognized that NDE tools such as CT will play an essential role in acceptance of these parts for widespread use. New in-space 3D inspection tools with complimentary technology such as AI-based automated feature recognition (accelerated by machine learning), rapid compositional analysis, and advanced sample manipulation, would be a game-changing step toward a new class of crew-based laboratory sensors once human outposts on the Moon are established.

In-Space Non-Destructive Evaluation↗
NASA NTRS1995

A Unified Air-Sea Visualization System: Survey on Gridding Structures

The goal is to develop a Unified Air-Sea Visualization System (UASVS) to enable the rapid fusion of observational, archival, and model data for verification and analysis. To design and develop UASVS, modelers were polled to determine the gridding structures and visualization systems used, and their needs with respect to visual analysis. A basic UASVS requirement is to allow a modeler to explore multiple data sets within a single environment, or to interpolate multiple datasets onto one unified grid. From this survey, the UASVS should be able to visualize 3D scalar/vector fields; render isosurfaces; visualize arbitrary slices of the 3D data; visualize data defined on spectral element grids with the minimum number of interpolation stages; render contours; produce 3D vector plots and streamlines; provide unified visualization of satellite images, observations and model output overlays; display the visualization on a projection of the users choice; implement functions so the user can derive diagnostic values; animate the data to see the time-evolution; animate ocean and atmosphere at different rates; store the record of cursor movement, smooth the path, and animate a window around the moving path; repeatedly start and stop the visual time-stepping; generate VHS tape animations; work on a variety of workstations; and allow visualization across clusters of workstations and scalable high performance computer systems.

Anand, Harsh↗
NASA NTRS1992

A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging

A new method of analyzing the kinematics of joint motion is developed. Magnetic Resonance Imaging (MRI) offers several distinct advantages. Past methods of studying anatomic joint motion have usually centered on four approaches. These methods are x-ray projection, goniometric linkage analysis, sonic digitization, and landmark measurement of photogrammetry. Of these four, only x-ray is applicable for in vivo studies. The remaining three methods utilize other types of projections of inter-joint measurements, which can cause various types of error. MRI offers accuracy in measurement due to its tomographic nature (as opposed to projection) without the problems associated with x-ray dosage. Once the data acquisition of MR images was complete, the images were processed using a 3D volume rendering workstation. The metacarpalphalangeal (MCP) joint of the left index finger was selected and reconstructed into a three-dimensional graphic display. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones were obtained and processed by analyzing the screw motion of the MCP joint. Landmark positions were chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily two dimensional planar motion of this joint was then studied using a method of constructing coordinate systems using three (or more) points. A transformation matrix based on a world coordinate system described the location and orientation of a local target coordinate system. Future research involving volume rendering of MRI data focusing on the internal kinematics of the hand's individual ligaments, cartilage, tendons, etc. will follow. Its findings will show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove (power assisted) design for extravehicular activity (EVA).

Dickenson, Rueben D.↗
NASA NTRS2007

Atmospheric Radiative Transfer for Satellite Remote Sensing: Validation and Uncertainty

My presentation will begin with the discussion of the Intercomparison of three-dimensional (3D) Radiative Codes (13RC) project that has been started in 1997. I will highlight the question of how well the atmospheric science community can solve the 3D radiative transfer equation. Initially I3RC was focused only on algorithm intercomparison; now it has acquired a broader identity providing new insights and creating new community resources for 3D radiative transfer calculations. Then I will switch to satellite remote sensing. Almost all radiative transfer calculations for satellite remote sensing are one-dimensional (1D) assuming (i) no variability inside a satellite pixel and (ii) no radiative interactions between pixels. The assumptions behind the 1D approach will be checked using cloud and aerosol data measured by the MODerate Resolution Imaging Spectroradiometer (MODIS) on board of two NASA satellites TERRA and AQUA. In the discussion, I will use both analysis technique: statistical analysis over large areas and time intervals, and single scene analysis to validate how well the 1D radiative transfer equation describes radiative regime in cloudy atmospheres.

Marshak, Alexander↗
NASA NTRSDate not supplied

NASA’s Moon Trek Portal: New Capabilities Supporting Mission Planning and Engagement

Introduction: NASA’s Moon Trek (https://trek.nasa.gov/moon/) is one of a growing number of interactive, browser-based, online portals for planetary data visualization and analysis produced by NASA’s Solar System Treks Project (SSTP). Moon Trek continues to be enhanced with new data and new capabilities enabling it to facilitate the planning and conducting of upcoming lunar missions by NASA, its commercial partners, and its international partners, as well as advancing its role as a valuable outreach tool. A Comprehensive Online Web Portal: Developed at NASA’s Jet Propulsion Laboratory (JPL) and managed as a project of NASA’s Solar System Exploration Research Virtual Institute (SSERVI) at NASA Ames Research Center, Moon Trek is a browser-based web portal. The portal provides easy-to-use tools for browsing, data layering, data product blending, and feature search among thousands of data products covering topography, mineralogy, elemental abundance, geology, and much more. Visualizations are provided in var-ious map projections, interactive 3D viewing, and in virtual reality. Using an in-house stereo workflow, SSTP is able to produce new NAC-based high-resolution mosaics and DEMs. Diverse Applications for Lunar Exploration: Baseline analytic tools available to all users include dis-tance measurement, elevation profiling, sun angle calculation, and 3D print file generation. More advanced account-level tools allow users to perform more computationally intensive analyses. These include ray-traced lighting analysis for user-specified areas over user-specified time/date ranges and time intervals, electro-static surface potential analysis, subsetting of large data products, slope analysis, and Lunar Laser Ranging geometry calculation. Artificial intelligence (AI) and ma-chine learning (ML) based tools have been implemented for crater detection and hazard analysis, boulder detection and hazard analysis, and rockfall detection. New Tools Facilitating Exploration: Additional, new tools have recently been added and others are in development, offering even greater functionality in con-ducting analyses of potential landing sites and areas of surface operations. The new Line-of-Sight tool facilitates communications planning between locations on the lunar surface, between any given site on the lunar surface and a specified ground station on the Earth, and between a site on the lunar surface and a relay asset in lunar orbit, all taking into account local lunar topography. The new Data Plotter tool provides both tabular and graphical representations of pixel values along a user specified path for a growing number of data products. The new NAC Finder tool will identify and pro-vide access to NAC images that intersect a user-defined path or bounded area. The SSTP development team is looking to leverage the capabilities of its existing AI and ML crater, boulder, and rockfall detection and analysis tools, and extend that technology to a generalized feature detector that can be trained on instances of specific types of landforms and then search the lunar surface for more examples of such features. New traverse planning tools are being developed with use cases in generalized concept studies and specific mission planning in mind. These will facilitate finding optimal traverse paths based on constraints such as slope, lighting, hazard avoidance, and communications. These will be complemented by new traverse visualization capabilities. Users will be able to interactively ride along with a rover, examining 3D views of the terrain while adjusting camera height and viewing angle along with selecting different data layer overlays to drape across the terrain. Engaging the Public: The capabilities being developed for mission planning are being leveraged to further enhance Moon Trek’s proven utility as a valuable public outreach resource. This includes providing multiple lev-els of engagement with different points of entry. At its simplest level, promoting understanding through visualization, media and the public will be able to easily visualize and conduct their own exploration of lunar sites targeted by NASA and its partners. For a more in-depth experience, we are working with our stakeholders to promote understanding through interaction by extend-ing our current landing site and traverse analysis capabilities, making simplified access to these tools available to those who want to explore more deeply key factors in planning a mission through interactive and possibly even gamified experiences. The highest degree of public outreach, focusing on engagement through scientific participation, could be achieved through our work with missions and the NASA Office of the Chief Scientist on Moon Trek’s extension as a tool with specialized capabilities for facilitating citizen science. In such scenarios, participants become members of extended mis-sion science teams, using dedicated and integrated interfaces to analyze mission data to help answer questions key to lunar science and exploration. We are work-ing with NASA’s Office of Communications, museums, planetariums, and the media to help them easily integrate accurate, detailed visualizations of NASA’s lunar destinations and exploration into their content/productions and to engage diverse audiences in diverse venues.

Moon Trek↗
NASA NTRS1997

STRIPE: Remote Driving Using Limited Image Data

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

REMOTE CONTROL↗
NASA NTRS2016

Application of Scanning-Imaging X-Ray Microscopy to Fluid Inclusion Candidates in Carbonates of Carbonaceous Chondrites

In order to search for such fluid inclusions in carbonaceous chondrites, a nondestructive technique using x-ray micro-absorption tomography combined with FIB sampling was developed and applied to a carbonaceous chondrite. They found fluid inclusion candidates in calcite grains, which were formed by aqueous alteration. However, they could not determine whether they are really aqueous fluids or merely voids. Phase and absorption contrast images can be simultaneously obtained in 3D by using scanning-imaging x-ray microscopy (SIXM). In refractive index, n=1-sigma+i(beta), in the real part, 1-sigma is the refractive index with decrement, sigma, which is nearly proportional to the density, and the imaginary part, beta, is the extinction coefficient, which is related to the liner attenuation coefficient, mu. Many phases, including water and organic materials as well as minerals, can be identified by SIXM, and this technique has potential availability for Hayabusa-2 sample analysis too. In this study, we examined quantitative performance of d and m values and the spatial resolution in SIXM by using standard materials, and applied this technique to carbonaceous chondrite samples. We used POM ([CH2O]n), silicon, quartz, forsterite, corundum, magnetite and nickel as standard materials for examining the sigma and mu values. A fluid inclusion in terrestrial quartz and bi-valve shell (Atrina vexillum), which are composed of calcite and organic layers with different thickness, were also used for examining the spatial resolution. The Ivuna (CI) and Sutter's Mill (CM) meteorites were used as carbonaceous chondrite samples. Rod- or cube-shaped samples 20-30 micron in size were extracted by using FIB from cross-sectional surfaces of the standard materials or polished thin sections of the chondrites, which was previously observed with SEM. Then, the sample was attached to a thin W-needle and imaged by SIXM system at beamline BL47XU, SPring-8, Japan. The slice thickness was 109.3 nm and the pixel size was mostly 100 nm.

Tsuchiyama, Akira↗
NASA NTRSDate not supplied

Visualizing UPSP Data with Python

The Unsteady Pressure-Sensitive Paint (uPSP) projects uses Pressure-Sensitive paint applied over aerospace models during wind tunnel testing to collect pressure data with high spatial and temporal resolution in order to inform unsteady aerodynamics studies. For each of the 800+ experimental runs, four cameras generate up to 50 GB of video data, which must then be processed, analyzed, and visualized on the NASA Advanced Supercomputing system (NAS) to assess the result. One of the final data analysis products is the dynamic modal decomposition (DMD) results, which decomposes the pressure reading signals by their frequency component. The goal of this project is to visualize the DMD results over a 3D rendering of the model, using efficient and parallelized python routines. The software uses the pytecplot library, a high-level API that connects python scripting to a Tecplot 360 engine. Tecplot is an industry standard high-performance visualization tool that can handle large datasets and workflow. Various animation, rendering, and image-combination techniques were investigated to generate the final videos using OpenCV on the NAS. The final result is a software tool that takes in data products from the uPSP processing chain and generates high resolution visualization videos in parallel for every data file, allowing researchers to view their results efficiently and at an unprecedentedly detailed level.

Emma Dolores McMillian↗
NASA NTRS1998

VR for Mars Pathfinder

Virtual reality (VR) technology has played an integral role for Mars Pathfinder mission, operations Using an automated machine vision algorithm, the 3d topography of the Martian surface was rapidly recovered fro -a the stereo images captured. by the Tender camera to produce photo-realistic 3d models, An advanced, interface was developed for visualization and interaction with. the virtual environment of the Pathfinder landing site for mission scientists at the Space Flight Operations Facility of the Jet Propulsion Laboratory. The VR aspect of the display allowed mission scientists to navigate on Mars in Bud while remaining here on Earth, thus improving their spatial awareness of the rock field that surrounds the lenders Measurements of positions, distances and angles could be easily extracted from the topographic models, providing valuable information for science analysis and mission. planning. Moreover, the VR map of Mars has also been used to assist with the archiving and planning of activities for the Sojourner rover.

Blackmon, Theodore↗
NASA NTRS2010

Analysis of TRMM-LIS Lightning and Related Microphysics Using a Cell-Scale Database

Previous studies of tropical lightning activity using Tropical Rainfall Measurement Mission (TRMM) Lightning Imaging Sensor (LIS) data performed analyses of lightning behavior over mesoscale "feature" scales or over uniform grids. In order to study lightning and the governing ice microphysics intrinsic to thunderstorms at a more process-specific scale (i.e., the scale over which electrification processes and lightning occur in a "unit" thunderstorm), a new convective cell-scale database was developed by analyzing and refining the University of Utah's Precipitation Features database and retaining precipitation data parameters computed from the TRMM precipitation radar (PR), microwave imager (TMI) and LIS instruments. The resulting data base was to conduct a limited four-year study of tropical continental convection occurring over the Amazon Basin, Congo, Maritime Continent and the western Pacific Ocean. The analysis reveals expected strong correlations between lightning flash counts per cell and ice proxies, such as ice water path, minimum and average 85GHz brightness temperatures, and 18dBz echo top heights above the freezing level in all regimes, as well as regime-specific relationships between lighting flash counts and PR-derived surface rainfall rates. Additionally, radar CFADs were used to partition the 3D structure of cells in each regime at different flash counts. The resulting cell-scale analyses are compared to previous mesoscale feature and gridded studies wherever possible.

Leroy, Anita↗
NASA NTRSDate not supplied

Mineralogical, Elemental and Tomographic Reconnaissance Investigation for CLPS (“METRIC”)

METRIC comprises a suite of two instruments in a Lunar lander that perform X-ray diffraction (XRD) for mineral structure, X-ray fluorescence (XRF) for elemental composition, and X-ray Micro Computed Tomography (XCT) for 3D internal micromorphology. The instruments are accompanied by optical-near IR cameras to provide local geologic context. The Honeybee Robotics PlanetVac pneumatic sampling and transfer system [1],positioned on a lander footpad, will deliver sieved regolith to the X-ray instruments for analysis. The instrument suite is intended for delivery to the lunar surface on a Commercial Lunar Payload Services (CLPS) lander. The METRICXRD/F instrument draws on heritage from the Mars Science Laboratory CheMin instrument [2] and improves upon the design in multiple ways [3]. Like CheMin, Rietveld refinement and full-pattern fitting of METRIC XRD data can identify minerals at a detection limit of ~1 wt.%, quantify their abundances when present at >3 wt.%, and determine mineral composition (e.g., Fo#in olivine) from lattice parameters for minerals present at >5 wt.%[4,5]. An optimized XRF geometry provides for improved detection and quantification of major, minor and trace elements. The METRIC XCT instrument is a miniaturized X-ray Computed Tomography scanner[6]. Lunar regolith is delivered to a 3 mm diameter, 10 mm long graphite tube inside the instrument. The tube is rotated through 360°in 0.9deg.incrementsand a divergent point source X-ray beam is directed through the material. A Charge Coupled Device (CCD)records attenuation images whose brightness and contrast area function of average atomic number and density. Quantitative data, including particle and void sizes, 3D particle shape parameters, modal volumes and pore geometry can be derived from the resulting 3D reconstructions(voxel resolution: 30 μm). Crystal morphologies derived from METRIC XCT data complement the bulk mineralogy determined by the METRIC XRD/F and provide a measure of grain size distribution for the different phases. Taken together, the METRIC instrument suite determines crystal structure, elemental composition and morphology, three principal characteristics of geological materials that are highly useful in determining the origin and subsequent processing of lunar regolith.

Moon↗