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Building Lunar Maps for Terrain Relative Navigation and Hazard Detection Applications

Terrain Relative Navigation (TRN) systems localize a spacecraft with respect to a map of the surface by comparing descent imagery to that reference map. The spacecraft position estimates can only be as accurate as the reference map itself. Accurate map products that are based on orbital reconnaissance data must be validated for navigation applications to ensure that all relevant error sources are minimized. Currently available map products have been generated for scientific applications, so the need for accurate TRN maps remains a gap to be filled for upcoming lunar lander missions, in particular missions to the South Pole region. Additionally, representative high-resolution maps that contain lander-scale features are needed for successful development and testing of Hazard Detection (HD) systems. This paper describes one of NASA’s current efforts to develop benchmark data sets that can be used for developing and testing TRN and HD algorithms as well as suggested processes and metrics for generating and validating lunar maps that can be used for navigation and hazard detection.

Lunar Maps↗
NASA NTRS2020

Assessment of Natural and Anthropogenic Aerosol Air Pollution In the Middle East Using MERRA-2, CAMS Data Assimilation Products, and High-Resolution WRF-Chem Model Simulations

Modern-Era Retrospective analysis for Research and Applications v.2 (MERRA-2), Copernicus Atmosphere Monitoring Service Operational Analysis (CAMS-OA), and a high-resolution regional Weather Research and Forecasting model coupled with chemistry (WRF-Chem) were used to evaluate natural and anthropogenic particulate matter (PM) air pollution in the Middle East (ME) during 2015–2016. Two Moderate Resolution Imaging Spectrometer (MODIS) retrievals – combined product Deep Blue and Deep Target (MODIS-DB&DT) and Multi-Angle Implementation of Atmospheric Correction (MAIAC) – and Aerosol Robotic Network (AERONET) aerosol optical depth (AOD) observations as well as in situ PM measurements for 2016 were used for validation of the WRF-Chem output and both assimilation products. MERRA-2 and CAMS-OA assimilate AOD observations. WRF-Chem is a free-running model, but dust emission in WRF-Chem is tuned to fit AOD and aerosol volume size distributions obtained from AERONET. MERRA-2 was used to construct WRF-Chem initial and boundary conditions both for meteorology and chemical and aerosol species. SO2 emissions in WRF-Chem are based on the novel OMI-HTAP SO2 emission dataset. The correlation with the AERONET AOD is highest for MERRA-2 (0.72–0.91), MAIAC (0.63–0.96), and CAMSOA (0.65–0.87), followed by MODIS-DB&DT (0.56–0.84) and WRF-Chem (0.43–0.85). However, CAMS-OA has a relatively high positive mean bias with respect to AERONET AOD. The spatial distributions of seasonally averaged AODs from WRF-Chem, assimilation products, and MAIAC are well correlated with MODIS-DB&DT AOD product. MAIAC has the highest correlation (R = 0.8), followed by MERRA-2 (R = 0.66), CAMS-OA (R = 0.65), and WRF-Chem (R = 0.61). WRF-Chem, MERRA-2, and MAIAC underestimate and CAMS-OA overestimates MODIS-DB&DT AOD. The simulated and observed PM concentrations might differ by a factor of 2 because it is more challenging for the model and the assimilation products to reproduce PM concentration measured within the city. Although aerosol fields in WRF-Chem and assimilation products are entirely consistent, WRF-Chem is preferable for analysis of regional air quality over the ME due to its higher spatial resolution and better SO2 emissions. The WRF-Chem’s PM background concentrations exceed the World Health Organization (WHO) guidelines over the entire ME. Mineral dust is the major contributor to PM (≈ 75%–95%) compared to other aerosol types. Near and downwind from the SO2 emission sources, non-dust aerosols (primarily sulfate) contribute up to 30% to PM(sub 2.5). The contribution of sea salt to PM in coastal regions can reach 5%. The contributions of organic matter, black carbon and organic carbon to PM over the Middle East are insignificant. In the major cities over the Arabian Peninsula, the 90th percentile of PM(sub 10) and PM(sub 2.5) (particles with diameters less than 10 and 2.5 μm, respectively) daily mean surface concentrations exceed the corresponding Kingdom of Saudi Arabia air quality limits. The contribution of the non-dust component to PM(sub 2.5) is < 25%, which limits the emission control effect on air quality. The mitigation of the dust effect on air quality requires the development of environment-based approaches like growing tree belts around the cities and enhancing in-city vegetation cover. The WRF-Chem configuration presented in this study could be a prototype of a future air quality forecast system that warns the population against air pollution hazards.

Alexander Ukhov↗
NASA NTRS1989

Radio wavelength observations of the L134N molecular core

A detailed study of the L134N dense molecular core through radio astronomical observations of spectral lines at millimeter and centimeter wavelengths is presented. The prototypical dark cloud was chosen for the following reasons: it is a nearby cloud at a distance of 160 pc, and thus radio observations have high spatial resolution; it resides out of the galactic disk, providing unobscured viewing along the line of sight; and it is known to be a rich source of molecular emission. The absence af any embedded infrared sources leads to the assumption that L134N is either in a stage of evolution prior to star formation or is a cloud in which internal support will prohibit a star from forming. A spectral line survey of 24 molecular transitions at up to seven positions in the L134N core, and observations of molecular emission from C18O, CSm, H13CO+, SO, NH3, and C3H2 are reviewed. Results indicate different spatial distributions for each species which may be attributed to variations in the excitation conditions for each transition or chemical abundance variations within the cloud core. Observational techniques and results are presented.

Swade, Daryl A.↗
NASA NTRS1991

An infrared jet in Centaurus A - A link to the extranuclear activity in distant radio galaxies?

High-resolution NIR images of the visually obscured central region of Centaurus A (NGC 5128) were obtained with the University of Texas array camera on the AAT in June 1988, in order to investigate the effect of the active nucleus on the surrounding galaxy. The J (1.25 micron), H (1.65 micron), and K (2.2 micron) images of the central 40 arcsec of the galaxy revealed an emission feature extending about 10 arcsec northeast of the nucleus at the same position angle as the X-ray and radio jets. This jet is most prominent at the 1.25 micron wavelength, where its brightness was comparable to that of the nucleus. The observed properties of the 'infrared jet' were found to be similar to those seen in distant radio sources.

Joy, Marshall↗
NASA NTRS1991

First results from the Faint Object Camera - Imaging the core of R Aquarii

The Faint Object Camera on the HST was pointed toward the symbiotic long-period M7e Mira variable R Aquarii, and very high resolution images of the inner core, mainly in the ionized oxygen emission lines in the optical, are reported. Both images show bright arcs, knots, and filaments superposed on a fainter, diffuse nebulosity extending in a general SW-NE direction from the variable to the edge of the field at 10 arcsec distance. The core is resolved in forbidden O III 5007 A and forbidden O II 3727 A into at least two bright knots of emission whose positions and structures are aligned with PA = 50 deg. The central knots appear to be the source of a continuous, well-collimated, stream of material extending out to 3-4 arcsec in the northern sector corresponding to a linear distance of about 1000 AU. The northern stream seems to bend around an opaque obstacle and form a spiral before breaking up into wisps and knots. The southern stream is composed of smaller, discrete parcels of emitting gas curving to the SE.

Paresce, F.↗
NASA NTRS1991

Precision pointing control for an orbital earth observing system

The design concept developed for the pointing system of the high-resolution imaging spectrometer (HIRIS) which will be flown on one of NASA's earth observing system platforms is presented. The instrument is an F/5.4-aperture spectrometer with a focal length of 1222 mm, and it uses a precision two-axis gimballed mirror pointing system to image and track targets. Pointing accuracy of better than 585 arcsec (peak-to-peak), and pointing jitter of less than 2.65 arcsec in 33 ms are ensured through the use of gimbal position and basebody rate sensors. A state-space controller implemented with a digital computer is used to provide a position loop bandwidth of 1 Hz and a rate loop bandwidth of 7 Hz. An overview of the system design and flight hardware is given, the development of the controller architecture is addressed, and a simulation assessment of the pointing system that takes into consideration issues such as nonlinear effects, sensor noise, and noncollocated sensors and actuators in a flexible structure is discussed.

Robeck, Linda S.↗
NASA NTRS1994

The soft x-ray properties of a complete sample of optically selected quasars. 1: First results

We present the results of ROSAT position sensitive proportional counter (PSPC) observations of 10 quasars. These objects are part of our ROSAT program to observe a complete sample of optically selected quasars. This sample includes all 23 quasars from the bright quasar survey with a redshift z less than or = 0.400 and a Galactic H I column density N(sup Gal sub H I) less than 1.9 x 10(exp 20)/sq cm. These selection criteria, combined with the high sensitivity and improved energy resolution of the PSPC, allow us to determine the soft (approximately 0.2-2 keV) X-ray spectra of quasars with about an order of magnitude higher precision compared with earlier soft X-ray observations. The following main results are obtained: Strong correlations are suggested between the soft X-ray spectral slope alpha(sub x) and the following emission line parameters: H beta Full Width at Half Maximum (FWHM), L(sub O III), and the Fe II/H beta flux ratio. These correlations imply the following: (1) The quasar's environment is likely to be optically thin down to approximately 0.2 keV. (2) In most objects alpha(sub x) varies by less than approximately 10% on timescales shorter than a few years. (3) alpha(sub x) might be a useful absolute luminosity indicator in quasars. (4) The Galactic He I and H I column densities are well correlated. Most spectra are well characterized by a simple power law, with no evidence for either significant absorption excess or emission excess at low energies, to within approximately 30%. We find mean value of alpha(sub x) = -1.50 +/- 0.40, which is consistent with other ROSAT observations of quasars. However, this average is significantly steeper than suggested by earlier soft X-ray observations of the Einstein IPC. The 0.3 keV flux in our sample can be predicted to better than a factor of 2 once the 1.69 micrometer(s) flux is given. This implies that the X-ray variability power spectra of quasars flattens out between f approximately 10(exp -5) and f approximately 10(exp -8) Hz. A steep alpha(sub x) is mostly associated with a weak hard X-ray component, relative to the near-IR and optical emission, rather than a strong soft excess, and the scatter in the normalized 0.3 keV flux is significantly smaller than the scatter in the normalized 2 keV flux. This argues against either thin or thick accretion disks as the origin of the soft X-ray emission. Further possible implications of the results found here are briefly discussed.

Laor, Ari↗
NASA NTRS1995

The unusual morphology of molecular hydrogen emission in the planetary nebula J900

We report new high-resolution near-infrared imaging observations of the planetary nebula J900, in broadband J, H, and K, and narrowband 2.122 micrometers (for H2 1-0 S(1)), Brackett-gamma, and continuum filters. The H2 images reveal a remarkable set of outward-extending features not detected in any previous observations of theis object. In the northwest lobe of the inner bipolar region, the H2 emission, Brackett-gamma emission, and underlying continuum are spatially resolved. The relative positions of the peaks of the line emission suggest an ionization front seen edge-on. The continuum emission, apparently located nearer to the central star, is likely due to transiently heated small dust grains. The extended H2 emission features are probably excited either by oblique shocks caused by material ejected from the nebula, or by radiation leaking from holes in the opacity surrounding the ionized shell.

Shupe, D. L.↗
NASA NTRS1995

Impact of geostationary satellite water vapor channel data on weather analysis and forecasting

Preliminary results from NWP impact studies are indicating that upper-tropospheric wind information provided by tracking motions in sequences of geostationary satellite water vapor imagery can positively influence forecasts on regional scales, and possibly on global scales as well. The data are complimentary to cloud-tracked winds by providing data in cloud-free regions, as well as comparable in quality. First results from GOES-8 winds are encouraging, and further efforts and model impacts will be directed towards optimizing these data in numerical weather prediction (NWP). Assuming successful launches of GOES-J and GMS-5 satellites in 1995, high quality and resolution water vapor imagers will be available to provide nearly complete global upper-tropospheric wind coverage.

Velden, Christopher S.↗
NASA NTRS1995

Raman Spectroscopy as a Method for Mineral Identification on Lunar Robotic Exploration Missions

The sharp, nonoverlapping Raman bands for plagioclase, pyroxene, and olivine would be advantageous for on-surface, active mineralogical analysis of lunar materials. A robust, light-weight, low-power, rover-based Raman spectrometer with a laser exciting source, entirely transmission-mode holographic optics, and a charge-coupled device (CCD) detector could fit within a less than 20 cm cube. A sensor head on the end of an optical fiber bundle that carried the laser beam and returned the scattered radiation could be placed against surfaces at any desired angle by a deployment mechanism; otherwise, the instrument would need no moving parts. A modem micro-Raman spectrometer with its beam broadened (to expand the spot to 50-micrometer diameter) and set for low resolution (7/cm in the 100-1400/cm region relative to 514.5-nm excitation), was used to simulate the spectra anticipated from a rover instrument. We present spectra for lunar mineral grains, less than 1 mm soil fines, breccia fragments, and glasses. From frequencies of olivine peaks, we derived sufficiently precise forsterite contents to correlate the analyzed grains to known rock types and we obtained appropriate forsterite contents from weak signals above background in soil fines and breccias. Peak positions of pyroxenes were sufficiently well determined to distinguish among orthorhombic, monoclinic, and triclinic (pyroxenoid) structures; additional information can be obtained from pyroxene spectra, but requires further laboratory calibration. Plagioclase provided sharp peaks in soil fines and most breccias even when the glass content was high.

Wang, Alian↗
NASA NTRS1997

Simulation of Rotary-Wing Near-Wake Vortex Structures Using Navier-Stokes CFD Methods

This paper will use high-resolution Navier-Stokes computational fluid dynamics (CFD) simulations to model the near-wake vortex roll-up behind rotor blades. The locations and strengths of the trailing vortices will be determined from newly-developed visualization and analysis software tools applied to the CFD solutions. Computational results for rotor nearwake vortices will be used to study the near-wake vortex roll up for highly-twisted tiltrotor blades. These rotor blades typically have combinations of positive and negative spanwise loading and complex vortex wake interactions. Results of the computational studies will be compared to vortex-lattice wake models that are frequently used in rotorcraft comprehensive codes. Information from these comparisons will be used to improve the rotor wake models in the Tilt-Rotor Acoustic Code (TRAC) portion of NASA's Short Haul Civil Transport program (SHCT). Accurate modeling of the rotor wake is an important part of this program and crucial to the successful design of future civil tiltrotor aircraft. The rotor wake system plays an important role in blade-vortex interaction noise, a major problem for all rotorcraft including tiltrotors.

Kenwright, David↗
NASA NTRS2007

The Radiative Consistency of Atmospheric Infrared Sounder and Moderate Resolution Imaging Spectroradiometer Cloud Retrievals

The consistency of cloud top temperature (Tc) and effective cloud fraction (f) retrieved by the Atmospheric Infrared Sounder (AIRS)/Advanced Microwave Sounding Unit (AMSU) observation suite and the Moderate Resolution Imaging Spectroradiometer (MODIS) on the EOS-Aqua platform are investigated. Collocated AIRS and MODIS TC and f are compared via an 'effective scene brightness temperature' (Tb,e). Tb,e is calculated with partial field of view (FOV) contributions from TC and surface temperature (TS), weighted by f and 1-f, respectively. AIRS reports up to two cloud layers while MODIS reports up to one. However, MODIS reports TC, TS, and f at a higher spatial resolution than AIRS. As a result, pixel-scale comparisons of TC and f are difficult to interpret, demonstrating the need for alternatives such as Tb,e. AIRS-MODIS Tb,e differences ((Delta)Tb,e) for identical observing scenes are useful as a diagnostic for cloud quantity comparisons. The smallest values of DTb,e are for high and opaque clouds, with increasing scatter in (Delta)Tb,e for clouds of smaller opacity and lower altitude. A persistent positive bias in DTb,e is observed in warmer and low-latitude scenes, characterized by a mixture of MODIS CO2 slicing and 11-mm window retrievals. These scenes contain heterogeneous cloud cover, including mixtures of multilayered cloudiness and misplaced MODIS cloud top pressure. The spatial patterns of (Delta)Tb,e are systematic and do not correlate well with collocated AIRS-MODIS radiance differences, which are more random in nature and smaller in magnitude than (Delta)Tb,e. This suggests that the observed inconsistencies in AIRS and MODIS cloud fields are dominated by retrieval algorithm differences, instead of differences in the observed radiances. The results presented here have implications for the validation of cloudy satellite retrieval algorithms, and use of cloud products in quantitative analyses.

clouds↗
NASA NTRS2020

Farm-Level Risk Factors of Increased Abortion and Mortality in Domestic Ruminants during the 2010 Rift Valley Fever Outbreak in Central South Africa

Background:Rift Valley fever (RVF) outbreaks in domestic ruminants have severe socio-economic impacts. Climate-based continental predictions providing early warnings to regions at risk for RVF outbreaks are not of a high enough resolution for ruminant owners to assess their individual risk. (2) Methods: We analyzed risk factors for RVF occurrence and severity at the farm level using the number of domestic ruminant deaths and abortions reported by farmers in central South Africa during the 2010 RVF outbreaks using a Bayesian multinomial hurdle framework. (3) Results: We found strong support that the proportion of days with precipitation, the number of water sources, and the proportion of goats in the herd were positively associated with increased severity of RVF (the numbers of deaths and abortions). We did not find an association between any risk factors and whether RVF was reported on farms. (4) Conclusions: At the farm level we identified risk factors of RVF severity; however, there was little support for risk factors of RVF occurrence. The identification of farm-level risk factors for Rift Valley fever virus (RVFV) occurrence would support and potentially improve current prediction methods and would provide animal owners with critical information needed in order to assess their herd’s risk of RVFV infection.

Melinda K Rostel↗
NASA NTRS1989

A position sensitive detector for EUV remote sensing

The authors describe a photon-counting extreme ultraviolet (EUV) detector system used in a rocket-borne spectroscopic instrument for remote sensing of upper atmospheric composition and temperature. The detector uses a KBr coated microchannel plate (MCP) Z stack in combination with a wedge-and-strip image readout system. Three separate detector fields of view are used to sense the Earth dayglow spectrum (980 A to 1040 A, and 1300 A to 1360 A) and the solar EUV spectrum (250 A to 1400 A). The authors demonstrate high gain (2 x 107), tight pulse-height distribution (35 percent FWHM), and a spatial resolution of about 35 microns FWHM (full width at half maximum), which is the highest resolution for a wedge-and-strip anode MCP detector flown to date. The background, image linearity, and flat-field performance are discussed. Raw spectra from the rocket flight are also presented.

Siegmund, O. H. W.↗
NASA NTRS2012

Direct Imaging of Extra-Solar Planets in Star Forming Regions: Lessons Learned from a False Positive Around IM Lup

Context. Most exoplanet imagers consist of ground-based adaptive optics coronagraphic cameras which are currently limited in contrast, sensitivity and astrometric precision, but advantageously observe in the near-infrared window (1 5 m). Because of these practical limitations, our current observational aim at detecting and characterizing planets puts heavy constraints on target selection, observing strategies, data reduction, and follow-up. Most surveys so far have thus targeted young systems (1 100 Myr) to catch the putative remnant thermal radiation of giant planets, which peaks in the near-infrared. They also favor systems in the solar neighborhood (d less than 80 pc), which eases angular resolution requirements but also ensures a good knowledge of the distance and proper motion, which are critical to secure the planet status, and enable subsequent characterization. Aims. Because of their youth, it is very tempting to target the nearby star forming regions, which are typically twice as far as the bulk of objects usually combed for planets by direct imaging. Probing these interesting reservoirs sets additional constraints that we review in this paper by presenting the planet search that we initiated in 2008 around the disk-bearing T Tauri star IM Lup, which is part of the Lupus star forming region (140-190 pc). Methods. We show and discuss why age determination, the choice of evolutionary model for both the central star and the planet, precise knowledge of the host star proper motion, relative or absolute (between different instruments) astrometric accuracy (including plate scale calibration), and patience are the key ingredients for exoplanet searches around more distant young stars. Results. Unfortunately, most of the time, precision and perseverance are not paying off: we discovered a candidate companion around IM Lup in 2008, which we report here to be an unbound background object. We nevertheless review in details the lessons learned from our endeavor, and additionally present the best detection limits ever calculated for IM Lup. We also accessorily report on the successful use of innovative data reduction techniques, such as the damped-LOCI and iterative roll subtraction.

D Mawet↗
NASA NTRS1994

A high resolution atlas of the galactic plane at 12 microns and 25 microns

High resolution images of the 12 micron and 25 micron IRAS survey data from each HCON crossing the Galactic Plane are being created for those regions that the original IRAS processing labeled as confused. This encompasses the area within 100 deg longitude of the Galactic Center and within 3 deg to 10 deg of the Plane. The procedures used to create the images preserve the spatial resolution inherent in the IRAS instrument. The images are separated into diffuse and point source components and candidate sources are extracted from the point source image after non-linear spatial sharpening. Fluxes are estimated by convolving the candidate sources with the point response function and cross-correlating with the original point source image. A source is considered real if it is seen on at least two HCON's with a rather generous flux match but a stringent position criterion. A number of fields spanning a range of source densities from low to high have been examined. Initial analysis indicates that the imaging and extraction works quite well up to a source density of about 100 sources per square degree or down to roughly 0.8 Janskys.

Price, Stephan D.↗
NASA NTRS1994

Gamma-ray observations of Ophiuchus with EGRET: The diffuse emission and point sources

Observations of the Ophiuchus region made with the Energetic Gamma-Ray Experiment Telescope (EGRET) on the Compton Gamma Ray Observatory (CGRO) during the first 2 1/2 years of operation show the diffuse emission from the interstellar gas in Ophiuchus as well as variable emission from two point sources. The gamma-ray emission is modeled in terms of cosmic-ray interactions with atomic and molecular hydrogen in Ophiuchus and with low-energy photons along the line of sight. The model also includes the flux from the two point sources and an isotropic diffuse contribution. The cosmic-ray density is assumed to be uniform. The derived ratio of molecular hydrogen column density to integrated CO intensity is (1.1 +/- 0.2) x 10(exp 20) H-mols/sq cm (K km/s)(exp -1). At the sensitivity and resolution of the gamma-ray data, no variation of this ratio over the modeled region is discernible, nor are any regions of enhanced cosmic-ray density apparent. The model was fitted to seven narrow energy bands to obtain the energy depedence of the gamma-ray production function and the spectra of the point sources. The derived production function is in good agreement with theoretical calculations and the local cosmic-ray electron and proton spectra. The positions of the point sources were determined from maximum likelihood analysis of the gamma-ray emission observed in excess of the diffuse model. We identify one point source with the quasar PKS 1622-253, which has an average flux, E greater than 100 MeV, of (2.5 +/- 0.5) x 10(exp -7) photons/sq cm/s and photon spectral index -1.9 +/- 0.3. The other source, denoted GRO J1631-27, has not yet been identified at other wavelengths. Its average flux, E greater than 100 MeV, is (1.1 +/- 0.4) x 10(exp -7) photons/sq cm/s; however, its spectral index is poorly determined. The spectral index and intensity of the isotropic contribution to the model agree well with the extragalactic diffuse emission derived from the SAS 2 data.

Hunter, S. D.↗
NASA NTRS1996

Learning from Inconsistency

This position paper argues that inconsistencies that occur during the development of a software specification offer an excellent way of learning more about the development process. We base this argument on our work on inconsistency management. Much attention has been devoted recently to the need to allow inconsistencies to occur during software development, to facilitate flexible development strategies, especially for collaborative work. Recent work has concentrated on reasoning in the presence of inconsistency, tracing inconsistencies with 'pollution markers' and supporting resolution. We argue here that one of the most important aspects of inconsistency is the learning opportunity it provides. We are therefore concerned with how to capture this learning outcome so that its significance is not lost. We present a small example of how apprentice software engineers learn from their mistakes, and outline how an inconsistency management tool could support this learning. We then argue that the approach can be used more generally as part of continuous process improvement.

Easterbrook, Steve↗