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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS2021

Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Motion approach into a local, robot-centric, multi-resolution elevation map of the overflown terrain, which fuses depth measurements according to their lateral surface resolution (pixel-footprint) in a probabilistic framework based on the concept of dynamic Level of Detail. Map aggregation only requires depth maps and the associated poses, which are obtained from an on-board Visual Odometry algorithm. An efficient landing site detection method then exploits the features of the underlying multi-resolution map to detect safe landing sites based on the slope, roughness, and quality of the reconstructed terrain surface. The evaluation of the performance of the mapping and landing site detection modules are analyzed independently and jointly in simulated and realworld experiments in order to establish the efficacy of the proposed approach.

Brockers, Roland↗
NASA NTRS1974

A design for a Venus orbital imaging radar mission

A planetary exploration mission to map the surface of Venus is discussed. A review of the Venus exploration program provides a basis for determining the probable scientific requirements for resolution, planetary coverage, etc., for such a mission. From these requirements, the range of possible mission, radar, and spacecraft functional requirements is determined and a single 'point' design is investigated in some detail. This point design, which provides full planet mapping at resolutions better than 200 meters, is based on Mariner-class spacecraft technology, including a conventional bipropellant propulsion system, currently under development, capable of delivering the required payload into a 500-km circular Venus orbit.

Rose, J. R.↗
NASA NTRS1986

Spaceborne imaging radar research in the 90's

The imaging radar experiments on SEASAT and on the space shuttle (SIR-A and SIR-B) have led to a wide interest in the use of spaceborne imaging radars in Earth and planetary sciences. The radar sensors provide unique and complimentary information to what is acquired with visible and infrared imagers. This includes subsurface imaging in arid regions, all weather observation of ocean surface dynamic phenomena, structural mapping, soil moisture mapping, stereo imaging and resulting topographic mapping. However, experiments up to now have exploited only a very limited range of the generic capability of radar sensors. With planned sensor developments in the late 80's and early 90's, a quantum jump will be made in our ability to fully exploit the potential of these sensors. These developments include: multiparameter research sensors such as SIR-C and X-SAR, long-term and global monitoring sensors such as ERS-1, JERS-1, EOS, Radarsat, GLORI and the spaceborne sounder, planetary mapping sensors such as the Magellan and Cassini/Titan mappers, topographic three-dimensional imagers such as the scanning radar altimeter and three-dimensional rain mapping. These sensors and their associated research are briefly described.

Elachi, Charles↗
NASA NTRS1975

The 1973 dust storm on Mars: Maps from hourly photographs

The hourly progress of the 1973 major Martian storm was mapped using photographic images from the International Planetary Patrol. Two series of 20 daily maps show the semi-hourly positions of the storm brightenings in red light and blue light. The maps indicate that the 1973 storm had many similarities to the 1971 storm.

Martin, L. J.↗
NASA NTRS2013

Geologic Interpretation of Data Sets Collected by Planetary Analog Geology Traverses and by Standard Geologic Field Mapping: A Comparison Study - Part 1

Geologic maps integrate the distributions, contacts, and compositions of rock and sediment bodies as a means to interpret local to regional formative histories. Applying terrestrial mapping techniques to other planets is challenging because data is collected primarily by orbiting instruments, with infrequent, spatiallylimited in situ human and robotic exploration. Although geologic maps developed using remote data sets and limited "Apollo-style" field access likely contain inaccuracies, the magnitude, type, and occurrence of these are only marginally understood. This project evaluates the interpretative and cartographic accuracy of both field- and remote-based mapping approaches by comparing two 1:24,000 scale geologic maps of the San Francisco Volcanic Field (SFVF), north-central Arizona. The first map is based on traditional field mapping techniques, while the second is based on remote data sets, augmented with limited field observations collected during NASA Desert Research & Technology Studies (RATS) 2010 exercises. The RATS mission used Apollo-style methods not only for pre-mission traverse planning but also to conduct geologic sampling as part of science operation tests. Cross-comparison demonstrates that the Apollo-style map identifies many of the same rock units and determines a similar broad history as the field-based map. However, field mapping techniques allow markedly improved discrimination of map units, particularly unconsolidated surficial deposits, and recognize a more complex eruptive history than was possible using Apollo-style data. Further, the distribution of unconsolidated surface units was more obvious in the remote sensing data to the field team after conducting the fieldwork. The study raises questions about the most effective approach to balancing mission costs with the rate of knowledge capture, suggesting that there is an inflection point in the "knowledge capture curve" beyond which additional resource investment yields progressively smaller gains in geologic knowledge.

Eppler, Dean B.↗
NASA NTRS1991

Planetary lander guidance using binary phase-only filters

We demonstrate the use of binary phase-only filters (BPOFs) in a closed loop guidance system for a laboratory lander mockup. Images of a 3-D terrain board taken by the lander's video camera are preprocessed to produce 128 x 128 binary intensity contour maps of the simulated planetary surface. A BPOF is made from a section of the current preprocessed image centered on the exact desired landing site. After the lander has descended to a lower altitude, the BPOF is correlated with a new image. The position of the correlation peak is used in making the next filter and to guide the lander so as to recenter the landing site in the camera's view. We present results of the accuracy with which a site may be tracked from orbit to landing, and the maximum scale, translation, and rotation which can be tolerated between subsequent images. The tolerable scale distortion is quite critical, as it determines the maximum filter update time available at a given descent rate. Application of the results to NASA's proposed Mars Rover Sample Return (MRSR) and Mars Environmental Survey (MESUR) missions is discussed. In both cases, electronic implementations of the algorithm may be sufficient to provide the required guidance system performance.

Reid, Max B.↗
NASA NTRS2011

Multiple-Zone Diffractive Optic Element for Laser Ranging Applications

A diffractive optic element (DOE) can be used as a beam splitter to generate multiple laser beams from a single input laser beam. This technology has been recently used in LRO s Lunar Orbiter Laser Altimeter (LOLA) instrument to generate five laser beams that measure the lunar topography from a 50-km nominal mapping orbit (see figure). An extension of this approach is to use a multiple-zone DOE to allow a laser altimeter instrument to operate over a wider range of distances. In particular, a multiple-zone DOE could be used for applications that require both mapping and landing on a planetary body. In this case, the laser altimeter operating range would need to extend from several hundred kilometers down to a few meters. The innovator was recently involved in an investigation how to modify the LOLA instrument for the OSIRIS asteroid mapping and sample return mission. One approach is to replace the DOE in the LOLA laser beam expander assembly with a multiple-zone DOE that would allow for the simultaneous illumination of the asteroid with mapping and landing laser beams. The proposed OSIRIS multiple-zone DOE would generate the same LOLA five-beam output pattern for high-altitude topographic mapping, but would simultaneously generate a wide divergence angle beam using a small portion of the total laser energy for the approach and landing portion of the mission. Only a few percent of the total laser energy is required for approach and landing operations as the return signal increases as the inverse square of the ranging height. A wide divergence beam could be implemented by making the center of the DOE a diffractive or refractive negative lens. The beam energy and beam divergence characteristics of a multiple-zone DOE could be easily tailored to meet the requirements of other missions that require laser ranging data. Current single-zone DOE lithographic manufacturing techniques could also be used to fabricate a multiple-zone DOE by masking the different DOE zones during the manufacturing process, and the same space-compatible DOE substrates (fused silica, sapphire) that are used on standard DOE s could be used for multiple- zone DOE s. DOEs are an elegant and cost-effective optical design option for spacebased laser altimeters that require multiple output laser beams. The use of multiple-zone DOEs would allow for the design and optimization of a laser altimeter instrument required to operate over a large range of target distances, such as those designed to both map and land on a planetary body. In addition to space-based laser altimeters, this technology could find applications in military or commercial unmanned aerial vehicles (UAVs) that fly at an altitude of several kilometers and need to land. It is also conceivable that variations of this approach could be used in land-based applications such as collision avoidance and robotic control of cars, trains, and ships.

Ramos-Izquierdo, Luis A.↗
NASA NTRS1987

Imaging spectrometers for terrestrial and planetary remote sensing - A progress report

Attention is given to two major design approaches, the 'whiskbroom' and the 'pushbroom', in the present consideration of imaging spectroscopy for both planetary and terrestrial missions. A near-IR mapping spectrometer has been developed for the Galileo Jupiter Orbiter Mission; on the basis of this design, and incorporating focal plane array technology improvements, a family of imaging spectrometers exemplified by the Visual and IR Mapping Spectrometer is under development for other planetary missions.

Wellman, John B.↗
NASA NTRS2012

Recent Progress in Entry Radiation Measurements in the NASA Ames Electric ARC Shock Tube Facility

The Electric Arc Shock Tube (EAST) at NASA Ames Research Center is NASA's only working shock tube capable of obtaining conditions representative of entry in a multitude of planetary atmospheres. The facility is capable of mapping spectroscopic signatures of a wide range of planetary entries from the Vacuum Ultraviolet through Mid-Wave Infrared (120-5500 nm). This paper summarizes the tests performed in EAST for Earth, Mars and Venus entries since 2008, then focuses on a specific test case for CO2/N2 mixtures. In particular, the paper will focus on providing information for the proper interpretation of the EAST data.

Cruden, Brett A.↗
NASA NTRS2012

Chemical Mapping of Vesta and Ceres

Following successful science operations at Vesta, the Dawn spacecraft is headed for an encounter with Ceres in 2015. What have we learned at Vesta? And, what do we expect to learn by comparing Vesta and Ceres? We will address these questions from the standpoint of geochemistry. Dawn's Gamma Ray and Neutron Detector (GRaND) is sensitive to the elemental composition of surface materials to depths of a few decimeters [1]. Gamma rays and neutrons, produced by the steady bombardment of galactic cosmic rays and by the decay of naturally ]occurring radioisotopes (K, Th, U), provide a chemical fingerprint of the regolith. Analysis of planetary radiation emissions enables mapping of specific elements (such as Fe, Mg, Si, Cl, and H) and compositional parameters (such as average atomic mass), which provide information about processes that shaped the planet1s surface and interior. Dawn has exceeded operational goals for GRaND at Vesta, accumulating an abundance of nadir-pointed data during five months in a 210 km, low altitude mapping orbit around Vesta (265-km mean radius). Chemical information from gamma ray and neutron measurements was used to test the connection between Vesta and the howardite, eucrite, and diogenite (HED) meteorites [2]. Additionally, GRaND searched for evolved, igneous lithologies [3], mantle and upper crustal materials exposed in large impact basins, mesosiderite compositions, and hydrogen in Vesta1s bulk regolith. Results of our analyses and their implications for thermal evolution and regolith-processes will be presented. The possibility of a subcrustal ocean [4, 5] and lack of cerean meteorites makes water-rich Ceres a compelling target of exploration [6]. If Ceres underwent aqueous differentiation, then crustal overturn or gas driven volcanism may have significantly modified its primitive surface; and products of aqueous alteration (e.g. [7]) would detectable by GRaND [1]. For example, the presence of Cl in salts, associated with liquid-water-processes, would have a profound effect on the thermal neutron leakage flux. GRaND is sensitive to H and H-layering, which may be in the form of endogenic water ice or hydrous minerals on Ceres. Ammonia ice (e.g., from recent cryovolcanism) would produce a distinctly different neutron signature than water ice [1]. Prospective results for GRaND at Ceres will be presented in the context of what we have learned about Vesta.

Prettyman, Thomas H.↗
NASA NTRS1976

Applied photo interpretation for airbrush cartography

New techniques of cartographic portrayal have been developed for the compilation of maps of lunar and planetary surfaces. Conventional photo interpretation methods utilizing size, shape, shadow, tone, pattern, and texture are applied to computer processed satellite television images. The variety of the image data allows the illustrator to interpret image details by inter-comparison and intra-comparison of photographs. Comparative judgements are affected by illumination, resolution, variations in surface coloration, and transmission or processing artifacts. The validity of the interpretation process is tested by making a representational drawing by an airbrush portrayal technique. Production controls insure the consistency of a map series. Photo interpretive cartographic portrayal skills are used to prepare two kinds of map series and are adaptable to map products of different kinds and purposes.

Inge, J. L.↗
NASA NTRS1990

Artificial Satellite Analysis Program (ASAP)

Program suited for studying planetary orbit missions including mapping and flyby components. Sample data included for geosynchronous station drift cycle study. Venus radar mapping strategy, frozen orbit about Mars, and repeat ground trace orbit. Written in FORTRAN.

Kwok, Johnny H.↗
NASA NTRS1992

Terrain tracking for lander guidance using binary phase-only spatial filters

We demonstrate the use of binary phase-only spatial filters (BPOFs) for tracking target sites through a sequence of gray-scale terrain images. The filters are demonstrated in a closed loop guidance system for a laboratory lander mockup. Images of a 3D terrain board taken by the lander's video camera are preprocessed to produce binary intensity contour maps of a simulated planetary surface. A BPOF is made from a section of the current preprocessed image centered on the exact desired landing site. After the lander has descended to a lower altitude, the BPOF is correlated with a new image. The position of the correlation peak is used in making the next filter and to guide the lander so as to recenter the landing site in the camera's view. We present testbed results of the accuracy with which a site may be tracted from orbit to landing, and the maximum scale, translation, and rotation which can be tolerated between subsequent images. Application of the results to NASA's proposed Mars Rover Sample Return (MRSR) and Mars Environmental Survey (MESUR) missions is discussed.

Reid, Max B.↗
NASA NTRS1999

The Future of the Deep Space Network: Technology Development for K2-Band Deep Space Communications

Projections indicate that in the future the number of NASA's robotic deep space missions is likely to increase significantly. A launch rate of up to 4-6 launches per year is projected with up to 25 simultaneous missions active [I]. Future high resolution mapping missions to other planetary bodies as well as other experiments are likely to require increased downlink capacity. These future deep space communications requirements will, according to baseline loading analysis, exceed the capacity of NASA's Deep Space Network in its present form. There are essentially two approaches for increasing the channel capacity of the Deep Space Network. Given the near-optimum performance of the network at the two deep space communications bands, S-Band (uplink 2.025-2.120 GHz, downlink 2.2-2.3 GHz), and X-Band (uplink 7.145-7.19 GHz, downlink 8.48.5 GHz), additional improvements bring only marginal return for the investment. Thus the only way to increase channel capacity is simply to construct more antennas, receivers, transmitters and other hardware. This approach is relatively low-risk but involves increasing both the number of assets in the network and operational costs.

Bhanji, Alaudin M.↗
NASA NTRS2003

Mars Mission Optimization Based on Collocation of Resources

This paper presents a powerful approach for analyzing Martian data and for optimizing mission site selection based on resource collocation. This approach is implemented in a program called PROMT (Planetary Resource Optimization and Mapping Tool), which provides a wide range of analysis and display functions that can be applied to raw data or imagery. Thresholds, contours, custom algorithms, and graphical editing are some of the various methods that can be used to process data. Output maps can be created to identify surface regions on Mars that meet any specific criteria. The use of this tool for analyzing data, generating maps, and collocating features is demonstrated using data from the Mars Global Surveyor and the Odyssey spacecraft. The overall mission design objective is to maximize a combination of scientific return and self-sufficiency based on utilization of local materials. Landing site optimization involves maximizing accessibility to collocated science and resource features within a given mission radius. Mission types are categorized according to duration, energy resources, and in-situ resource utilization. Optimization results are shown for a number of mission scenarios.

G E Chamitoff↗
NASA NTRS2005

Effects of Cutoffs on Galactic Cosmic-Ray Interactions in Solar-System Matter

The energetic particles in the galactic cosmic rays (GCR) induce many interactions in a variety of solar-system matter. Cosmogenic nuclides are used to study the histories of meteorites and lunar samples. Gamma rays and neutrons are used to map the compositions of planetary surfaces, such as Mars, the Moon, and asteroids. In almost all of these cases, the spectra of incident GCR particles are fairly similar, with only some modulation by the Sun over an 11-year cycle. Strong magnetic fields can seriously affect the energy spectrum of GCR particles hitting the surface of objects inside the magnetic fields. The Earth s geomagnetic field is strong enough that only GCR particles with magnetic rigidities above approx. 17 GV (a proton energy of approx. 17 GeV) reach the atmosphere over certain regions near the equator. This effect of removing lower-energy GCR particles is called a cutoff. The jovian magnetic fields are so strong that the fluxes of GCR particles hitting the 4 large Galilean satellites are similarly affected. The cutoff at Europa is estimated to be similar to or a little higher than at the Earth s equator.

Kim, K. J.↗