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At least 1,459 records · Page 81

Experimental Impacts into Chondritic Targets: Disruption of an L6 Chondrite by Multiple Impacts - Part 1

A fragment of an L6 chondrite (ALH 85017,13) with an initial mass (M(sub 0)) of 464.1 g was the target in a series of experimental impacts in which the largest remaining fragment (M(sub R)) after each shot was impacted by a 3.18-mm ceramic sphere at a nominal speed of 2 km/s. This continued until the mass of the largest remaining piece was less than half the mass of the target presented to that shot (M(sub S)). Two chunks of Bushveldt gabbro with similar initial masses were also impacted under the same conditions until M(sub R) was less than half M(sub 0). The two gabbro targets required a total of 1.51x10(exp 7) and 1.75x10(exp 7) erg/g to attain 0.27 and 0.33 M(sub R)/M(sub 0), respectively; the chondrite, however, was considerably tougher, reaching 0.40 and 0.21 M(sub R)/M(sub 0) only after receiving 2.37x10(exp 7) and 3.10x10(exp 7) erg g-1, respectively. The combined ejecta and spallation products from the gabbro impacts were coarser than those from the chondrite and in sufficient quantities that the new surface areas exceeded those from the meteorite until the fifth shot in the chondrite series, which was the number of impacts required to disrupt each gabbro target (i.e., MR/M0 = 0.5). Unlike the behavior shown in previous regolith-evolution series, neither gabbro target produced an enhancement in the size fraction reflecting the mean size of the crystals composing the rock (about 3 mm), an effect possibly related to the width of the shock pulse. The original chondrite was so fine-grained and fractured, and the variance in its grain-size distribution so large, that effects related to grain-size were relegated to the <63- m fraction. Impacts into ALH 85017 produced abundant, fine-grained debris, but otherwise the slopes of its size distributions were comparable to those from other experiments involving natural and fabricated terrestrial targets. The characteristic slopes of the chondrite's size distributions, however, were notably more constant over the entire nine-impact series than those from any of the terrestrial targets, a testament to the control over comminution apparently exerted by pre-existing fractures and other, microscopic damage in the meteorite. The enhancement in the finer fraction of debris from ALH 85017 indicates that ordinary chondrites in solar orbit would be very efficient contributors to the cosmic-dust complex. At the same time, the greater resistance to disruption displayed by ordinary chondrites relative to that exhibited by igneous rocks indicates that a selection effect could be operative between the annealed, ordinary-chondritic breccias and relatively weaker, differentiated meteorites. Preferential survival from their time in the regoliths of their parent bodies through their transit to Earth and passage through the atmosphere suggests that meteorite collections could be biased in favor of the ordinary chondrites.

Cintala, Mark J.↗

An Evidence-based Approach to Developing a Management Strategy for Medical Contingencies on the Lunar Surface: The NASA/Haughton-Mars Project (HMP) 2006 Lunar Medical Contingency Simulation at Devon Island

The lunar architecture for future sortie and outpost missions will require humans to serve on the lunar surface considerably longer than the Apollo moon missions. Although the Apollo crewmembers sustained few injuries during their brief lunar surface activity, injuries did occur and are a concern for the longer lunar stays. Interestingly, lunar medical contingency plans were not developed during Apollo. In order to develop an evidence-base for handling a medical contingency on the lunar surface, a simulation using the moon-Mars analog environment at Devon Island, Nunavut, high Canadian Arctic was conducted. Objectives of this study included developing an effective management strategy for dealing with an incapacitated crewmember on the lunar surface, establishing audio/visual and biomedical data connectivity to multiple centers, testing rescue/extraction hardware and procedures, and evaluating in suit increased oxygen consumption. Methods: A review of the Apollo lunar surface activities and personal communications with Apollo lunar crewmembers provided the knowledge base of plausible scenarios that could potentially injure an astronaut during a lunar extravehicular activity (EVA). Objectives were established to demonstrate stabilization and transfer of an injured crewmember and communication with ground controllers at multiple mission control centers. Results: The project objectives were successfully achieved during the simulation. Among these objectives were extraction from a sloped terrain by a two-member crew in a 1 g analog environment, establishing real-time communication to multiple centers, providing biomedical data to flight controllers and crewmembers, and establishing a medical diagnosis and treatment plan from a remote site. Discussion: The simulation provided evidence for the types of equipment and methods for performing extraction of an injured crewmember from a sloped terrain. Additionally, the necessary communications infrastructure to connect multiple centers worldwide was established from a remote site. The surface crewmembers were confronted with a number of unexpected scenarios including environmental, communications, EVA suit, and navigation challenges during the course of the simulation which provided insight into the challenges of carrying out a medical contingency in an austere environment. The knowledge gained from completing the objectives will be incorporated into the exploration medical requirements involving an incapacitated astronaut on the lunar surface.

Scheuring, R. A.↗

Remote and Ground Truth Spectral Measurement Comparisons of FORMOSAT III

FORMOSAT III are a set of six research satellites from Taiwan that were launched in April 2006. The satellites are in 800 km, 71 degree inclination orbits and separated by 24 degrees in ascending node. Laboratory spectral measurements were taken of outer surface materials on FORMOSAT III. From those measurements, a computer model was built to predict the spectral reflectance accounting for both solar phase angle and orientation of the spacecraft relative to the observer. However, materials exposed to the space environment have exhibited spectral changes including a darkening and a "reddening" of the spectra. This "reddening" is characterized by an increase in slope of the reflectance as the wavelength increases. Therefore, the model of pre-flight materials was augmented to include the presumed causative agent: space weathering effects. Remote data were collected on two of the six FORMOSAT satellites using the 1.6 meter telescope at the AMOS (Air Force Maui Optical and Supercomputing) site with the Spica spectrometer. Due to the separation in ascending node, observations were acquired of whichever one of the six satellites was visible on that specific night. Three nights of data were collected using the red (6000 - 9500 angstroms) filter and five nights of data were collected using the blue (3200 - 6600 angstroms) filter. A comparison of the data showed a good match to the pre-flight models for the blue filter region. The absorption feature near 5500 angstroms due to the copper colored Kapton multi-layer insulation (MLI) was very apparent in the remote samples and a good fit to the data was seen in all satellites observed. The features in the red filter regime agreed with the pre-flight model up through 7000 angstroms where the reddening begins and the slope of the remote sample increases. A comparison of the satellites showed similar features in the red and blue filter regions, i.e. the satellite surfaces were aging at the same rate. A comparison of the pre-flight model to the first month of remote measurements showed the amount by which the satellite had reddened. The second month of data observed a satellite at a higher altitude and was therefore, not compared to the first month. A third month of data was collected but of satellites at the lower altitude regime and can only be compared to the first month. One cause of the reddening that was ruled out in early papers was a possible calibration issue.

Abercromby, Kira Jorgensen↗

Method and apparatus for controlling an earthworking implement to preserve a crown on a road surface

A method and apparatus for controlling an earthworking implement on an earthworking machine to preserve a crown on the surface of a road, including determining the position of the crown on the road surface, choosing a sloped grade on one side of the crown, positioning the earthworking implement on the sloped grade so that a first end of the earthworking implement is on the road surface. The processor determines a desired position of a second end of the earthworking implement so that the second end overlaps the crown and the earthworking implement does not cut the crown.

Staub, Michael D.↗

High performance miniature hygrometer and method thereof

An uncoated interdigitated transducer is cooled from a temperature above the dew point to a temperature below the dew point, while a parameter of a signal of the transducer is measured. The reduction in temperature causes a monotonic change in transducer signal because that signal is sensitive primarily to the water loading of the transducer surface as water forms on that surface due to the reduction in temperature. As the dew point is approached with temperature reduction, the slope of the curve of transducer signal with respect to temperature, remains relatively constant. However, as the dew point is reached the slope of that curve increases and because of changes in the structure of the water layer on the surface of the transducer, at the dew point the transducer responds with a clear shift in the rate at which the transducer signal changes. The temperature at which the second derivative of signal vs. temperature peaks can be readily used to identify with extreme accuracy, the precise dew point. The measurement technique employed by the present invention is relatively immune to surface contamination which remains significantly unchanged during the brief measurement period.

VanZandt, Thomas R.↗

The Mixed-Phase Arctic Cloud Experiment (M-PACE)

The Mixed-Phase Arctic Cloud Experiment (M-PACE) was conducted September 27 through October 22, 2004 on the North Slope of Alaska. The primary objective was to collect a data set suitable to study interactions between microphysics, dynamics and radiative transfer in mixed-phase Arctic clouds. Observations taken during the 1997/1998 Surface Heat and Energy Budget of the Arctic (SHEBA) experiment revealed that Arctic clouds frequently consist of one (or more) liquid layers precipitating ice. M-PACE sought to investigate the physical processes of these clouds utilizing two aircraft (an in situ aircraft to characterize the microphysical properties of the clouds and a remote sensing aircraft to constraint the upwelling radiation) over the Department of Energy s Atmospheric Radiation Measurement (ARM) Climate Research Facility (ACRF) on the North Slope of Alaska. The measurements successfully documented the microphysical structure of Arctic mixed-phase clouds, with multiple in situ profiles collected in both single-layer and multi-layer clouds over two ground-based remote sensing sites. Liquid was found in clouds with temperatures down to -30 C, the coldest cloud top temperature below -40 C sampled by the aircraft. Remote sensing instruments suggest that ice was present in low concentrations, mostly concentrated in precipitation shafts, although there are indications of light ice precipitation present below the optically thick single-layer clouds. The prevalence of liquid down to these low temperatures could potentially be explained by the relatively low measured ice nuclei concentrations.

Verlinde, J.↗

Processes Influencing Ozone Levels in Alaskan Forest Fires Plumes during Long-Range Transport over the North Atlantic

A case of long-range transport of a biomass burning plume from Alaska to Europe is analyzed using a Lagrangian approach. This plume was sampled several times in the free troposphere over North America, the North Atlantic and Europe by 3 different aircraft during the IGAC Lagrangian 2K4 experiment which was part of the ICARTT/ITOP measurement intensive in summer 2004. Measurements in the plume showed enhanced values of CO, VOCs and NOy, mainly in form of PAN. Observed O3 levels increased by 17 ppbv over 5 days. A photochemical trajectory model, CiTTyCAT, is used to examine processes responsible for the chemical evolution of the plume. The model was initialized with upwind data, and compared with downwind measurements. The influence of high aerosol loading on photolysis rates in the plume is investigated using in-situ aerosol measurements in the plume and lidar retrievals of optical depth as input into a photolysis code (Fast-J), run in the model. Significant impacts on photochemistry are found with a decrease of 18 percent in O3 production and 24 percent in O3 destruction over 5 days when including aerosols. The plume is found to be chemically active with large O3 increases attributed primarily to PAN decomposition during descent of the plume towards Europe. The predicted O3 changes are very dependent on temperature changes during transport, and also, on water vapor levels in the lower troposphere which can lead to O3 destruction. Simulation of mixing/dilution was necessary to reproduce observed pollutants level in the plume. Mixing was simulated using background concentrations from measurements in air masses in close proximity to the plume, and mixing timescales (averaging 6.25 days) were derived from CO changes. Observed and simulated O3/CO correlations in the plume are also compared in order to evaluate the photochemistry in the model. Observed slopes changed from negative to positive over 5 days. This change, which can be attributed largely to photochemistry, is well reproduced by multiple model runs even if slope values are slightly underestimated suggesting small underestimation of photochemical processes. The possible impact of this biomass burning plume on O3 levels in the Europe boundary layer is also examined by running the model for a further 5 days, and comparing with data collected at surface sites, such as Jungfraujoch, which showed small O3 increases and elevated CO levels. The model predicts significant changes in O3 over this 10 days due to photochemistry but the signal is largely lost due to the effects of dilution. However, measurement in several others BB plumes over Europe show that O3 impact of Alaskan fires can be punctually significant over Europe.

Real, E.↗

Learning and Prediction of Slip from Visual Information

This paper presents an approach for slip prediction from a distance for wheeled ground robots using visual information as input. Large amounts of slippage which can occur on certain surfaces, such as sandy slopes, will negatively affect rover mobility. Therefore, obtaining information about slip before entering such terrain can be very useful for better planning and avoiding these areas. To address this problem, terrain appearance and geometry information about map cells are correlated to the slip measured by the rover while traversing each cell. This relationship is learned from previous experience, so slip can be predicted remotely from visual information only. The proposed method consists of terrain type recognition and nonlinear regression modeling. The method has been implemented and tested offline on several off-road terrains including: soil, sand, gravel, and woodchips. The final slip prediction error is about 20%. The system is intended for improved navigation on steep slopes and rough terrain for Mars rovers.

rover↗

Possible Ni-Rich Mafic-Ultramafic Magmatic Sequence in the Columbia Hills: Evidence from the Spirit Rover

The Spirit rover landed on geologic units of Hesperian age in Gusev Crater. The Columbia Hills rise above the surrounding plains materials, but orbital images show that the Columbia Hills are older [1, 2]. Spirit has recently descended the southeast slope of the Columbia Hills doing detailed measurements of a series of outcrops. The mineralogical and compositional data on these rocks are consistent with an interpretation as a magmatic sequence becoming increasingly olivine-rich down slope. The outcrop sequence is Larry s Bench, Seminole, Algonquin and Comanche. The "teeth" on the Rock Abrasion Tool (RAT) wore away prior to arrival at Larry s Bench; the data discussed are for RAT brushed surfaces.

Mittlefehldt, David W.↗

Algorithm Development and Validation for Satellite-Derived Distributions of DOC and CDOM in the US Middle Atlantic Bight

In coastal ocean waters, distributions of dissolved organic carbon (DOC) and chromophoric dissolved organic matter (CDOM) vary seasonally and interannually due to multiple source inputs and removal processes. We conducted several oceanographic cruises within the continental margin of the U.S. Middle Atlantic Bight (MAB) to collect field measurements in order to develop algorithms to retrieve CDOM and DOC from NASA's MODIS-Aqua and SeaWiFS satellite sensors. In order to develop empirical algorithms for CDOM and DOC, we correlated the CDOM absorption coefficient (a(sub cdom)) with in situ radiometry (remote sensing reflectance, Rrs, band ratios) and then correlated DOC to Rrs band ratios through the CDOM to DOC relationships. Our validation analyses demonstrate successful retrieval of DOC and CDOM from coastal ocean waters using the MODIS-Aqua and SeaWiFS satellite sensors with mean absolute percent differences from field measurements of < 9 %for DOC, 20% for a(sub cdom)(355)1,6 % for a(sub cdom)(443), and 12% for the CDOM spectral slope. To our knowledge, the algorithms presented here represent the first validated algorithms for satellite retrieval of a(sub cdom) DOC, and CDOM spectral slope in the coastal ocean. The satellite-derived DOC and a(sub cdom) products demonstrate the seasonal net ecosystem production of DOC and photooxidation of CDOM from spring to fall. With accurate satellite retrievals of CDOM and DOC, we will be able to apply satellite observations to investigate interannual and decadal-scale variability in surface CDOM and DOC within continental margins and monitor impacts of climate change and anthropogenic activities on coastal ecosystems.

Mannino, Antonio↗

Using MODIS and GLAS Data to Develop Timber Volume Estimates in Central Siberia

The boreal forest is the Earth's largest terrestrial biome, covering some 12 million km2 and accounting for about one third of this planet's total forest area. Mapping of boreal forest's type, structure parameters and biomass are critical for understanding the boreal forest's significance in the carbon cycle, its response to and impact on global climate change. Ground based forest inventories, have much uncertainty in the inventory data, particularly in remote areas of Siberia where sampling is sparse and/or lacking. In addition, many of the forest inventories that do exist for Siberia are now a decade or more old. Thus, available forest inventories fail to capture the current conditions. Changes in forest structure in a particular forest-type and region can change significantly due to changing environment conditions, and natural and anthropogenic disturbance. Remote sensing methods can potentially overcome these problems. Multispectral sensors can be used to provide vegetation cover maps that show a timely and accurate geographic distribution of vegetation types rather than decade old ground based maps. Lidar sensors can be used to directly obtain measurements that can be used to derive critical forest structure information (e.g., height, density, and volume). These in turn can used to estimate biomass components using allometric equations without having to use out dated forest inventory. Finally, remote sensing data is ideally suited to provide a sampling basis for a rigorous statistical estimate of the variance and error bound on forest structure measures. In this study, new remote sensing methods were applied to develop estimates timber volume using NASA's MODerate resolution Imaging Spectroradiometer (MODIS) and unique waveform data of the geoscience laser altimeter system (GLAS) for a 10 deg x 10 deg area in central Siberia. Using MODIS and GLAS data, maps were produced for cover type and timber volume for 2003, and a realistic variance (error bound) for timber volume was calculated for the study area. In this 'study we used only GLAS footprints that had a slope value of less than 10 deg. This was done to avoid large errors due to the effect of slope on the GLAS models. The method requires the integration of new remote sensing methods with available ground studies of forest timber volume conducted in Russian forests. The results were compared to traditional ground forest inventory methods reported in the literature and to ground truth collected in the study area.

Ranson, K. Jon↗

Thermal Challenge for Sun-Viewing Instruments on Solar Probe 3 R(sub s) from Sun

The Solar Probe science team at NASA GSFC is considering enhance science observations by adding the nadir viewing Plasma Spectrometer instrument and using heat shields to protect the Plasma Wave antennas to permit full extension at 3 R. The electrostatic mirror of the Plasma Spectrometer is thermally protected from the Sun by a miniature sunshield that consists of two carbon-carbon composite layers, and a much smaller carbon-carbon heat shield. The sun-viewing surface of the miniature sunshield has an Al2O3 thin film coating. The slope of the sunshield is minimized to the smallest possible extent so that it can still accommodate the elliptical electrostatic mirror. Two small MLI flaps minimize the heat radiation from the Plasma Spectrometer to the spacecraft bus. This design meets the thermal requirements. Each of the four Plasma Wave wire antennas is 5 m long, and thermally protected from the Sun by a sunshield. The sunshield consists of two carbon-carbon composite sheets. One sheet views the Sun, and one does not. The slope of most of the sun-viewing sheet is 23deg with the nadir axis. For mechanical reason, it gradually increases to 37.5deg at the tip. The exterior of the sun viewing surfaces has a thin film of Al2O3. The exterior of the shaded sheets has a thin film of vapor deposited rhodium. It minimizes the heat radiation to the spacecraft bus. A high temperature MLI blanket between the carbon-carbon sheets radiatively isolates them. The thermal design meets the temperature requirements, but exceeds the 20 W limit of heat radiation to the spacecraft bus by 20 W. Thermal options to reduce the heat radiation include reducing the alpha to epsilon ratio of the Al2O3 thin film and reducing the number of antennas to three. Testing in 2006 includes thermal model validation and materials testing. High temperature ovens and a high light intensity Vortex Lamp will be used.

Choi, Michael K.↗

Baroreflex Sensitivity Decreases During 90-Day Bed Rest

Baroreflex sensitivity (BRS) decreases during spaceflight and simulated spaceflight (head down bed rest [BR]). However, previous studies have only examined BRS in response to a limited blood pressure (BP) range or to a single sudden change in BP. PURPOSE: The purpose of this study was to examine BRS during 90 days of 6deg head-down tilt BR over a broad range of BP perturbations. METHODS: Nineteen normal volunteers (12M, 7F) were tested one day before BR, and then near BR days 30, 60 and 90. BP was pharmacologically altered by continuous infusions of phenylephrine (PE) and sodium nitroprusside (SNP). Electrocardiogram and continuous BP were collected during 10 min of normal saline (NS), followed by increasing concentrations of PE (10 min each of 0.4, 0.8 and 1.6 micro-g/kg/min). After a 20 min break, NS was infused again for 10 min, followed by increasing concentrations of SNP (10 min each of 0.4, 0.8, 1.2 micro-g/kg/min). Baroreceptor sensitivity was measured as the slope of a sequence of 3 or more beats in which the systolic BP and following R-R interval (RR) both increased or decreased. Spectral heart rate variability (HRV) and mean RR were analyzed using data from only the NS infusions. Two-way repeated-measures analysis of variance was performed to examine the effects of BR and gender. RESULTS: RR decreased (p<0.001) from pre- BR across BR days. High frequency in normalized units, a measure of parasympathetic activity, decreased with BR (p=0.027) and was lower (p=0.046) in men (0.39+/-0.02, mean+/-SEM) than women (0.48+/-0.02). The spontaneous baroreflex slope, our measure of BRS, increased with PE and decreased with SNP across BR (p<0.001). The percentage decrease in BRS from pre- to post-BR appeared to be larger in women (43.6+/-7.0%) than in men (31.3+/-3.9%, p=0.06). CONCLUSION: Parasympathetic activity and baroreflex sensitivity decrease during 90 days of BR, and BRS tends to diminish more in women than in men.

Stenger, M. B.↗

Longitudinal Stability Characteristics of the Consolidated Vultee XFY-1 Airplane with Windmilling Propellers as Obtained from Flight of 0.133-Scale Rocket-Propelled Model at Mach Numbers from 0.70 to 1.13

A flight test has been conducted to determine the longitudinal stability and control characteristics of a 0.133-scale model of the Consolidated Vultee XFY-1 airplane with windmilling propellers for the Mach number range between 0.70 and 1.13. The variation of lift-curve slope C(sub L(sub alpha) with Mach number was gradual with a maximum value of 0.074 occurring at a Mach number of 0.97. Propellers had little effect upon the values of lift-curve slope or the linearity of lift coefficient with angle of attack. At lift coefficients between approximately 0.25 and 0.45 with an elevon angle of approximately -l0 deg, there was a region of neutral longitudinal stability at Mach numbers below 0.93 introduced by the addition of windmilling propellers. Below a lift coefficient of 0.10 and above a lift coefficient of 0.45, the model was longitudinally stable throughout the Mach number range of the test. There was a forward shift in the aerodynamic center of about 3-percent mean aerodynamic chord introduced by the addition of propellers. The aerodynamic center as determined at low lift moved gradually from a value of 28.5-percent mean aerodynamic chord at a Mach number of 0.75 to a value of 47-percent mean aerodynamic chord at a Mach number of 1.10. There was an abrupt decrease in pitch damping between Mach numbers of 0.88 and 0.99 followed by a rapid increase in damping to a Mach number of 1.06. The propellers had little effect upon the pitch damping characteristics . The transonic trim change was a large pitching-down tendency with and without windmilling propellers. The elevons were effective pitch controls throughout the speed range; however, their effectiveness was reduced about 50 percent at supersonic speeds. The propellers had no appreciable effect upon the control effectiveness.

Hastings, Earl C.↗

Automatic Hazard Detection for Landers

Unmanned planetary landers to date have landed 'blind'; that is, without the benefit of onboard landing hazard detection and avoidance systems. This constrains landing site selection to very benign terrain,which in turn constrains the scientific agenda of missions. The state of the art Entry, Descent, and Landing (EDL) technology can land a spacecraft on Mars somewhere within a 20-100km landing ellipse.Landing ellipses are very likely to contain hazards such as craters, discontinuities, steep slopes, and large rocks, than can cause mission-fatal damage. We briefly review sensor options for landing hazard detection and identify a perception approach based on stereo vision and shadow analysis that addresses the broadest set of missions. Our approach fuses stereo vision and monocular shadow-based rock detection to maximize spacecraft safety. We summarize performance models for slope estimation and rock detection within this approach and validate those models experimentally. Instantiating our model of rock detection reliability for Mars predicts that this approach can reduce the probability of failed landing by at least a factor of 4 in any given terrain. We also describe a rock detector/mapper applied to large-high-resolution images from the Mars Reconnaissance Orbiter (MRO) for landing site characterization and selection for Mars missions.

hazard detection↗

Aligning Optical Fibers by Means of Actuated MEMS Wedges

Microelectromechanical systems (MEMS) of a proposed type would be designed and fabricated to effect lateral and vertical alignment of optical fibers with respect to optical, electro-optical, optoelectronic, and/or photonic devices on integrated circuit chips and similar monolithic device structures. A MEMS device of this type would consist of a pair of oppositely sloped alignment wedges attached to linear actuators that would translate the wedges in the plane of a substrate, causing an optical fiber in contact with the sloping wedge surfaces to undergo various displacements parallel and perpendicular to the plane. In making it possible to accurately align optical fibers individually during the packaging stages of fabrication of the affected devices, this MEMS device would also make it possible to relax tolerances in other stages of fabrication, thereby potentially reducing costs and increasing yields. In a typical system according to the proposal (see Figure 1), one or more pair(s) of alignment wedges would be positioned to create a V groove in which an optical fiber would rest. The fiber would be clamped at a suitable distance from the wedges to create a cantilever with a slight bend to push the free end of the fiber gently to the bottom of the V groove. The wedges would be translated in the substrate plane by amounts Dx1 and Dx2, respectively, which would be chosen to move the fiber parallel to the plane by a desired amount Dx and perpendicular to the plane by a desired amount Dy. The actuators used to translate the wedges could be variants of electrostatic or thermal actuators that are common in MEMS.

Morgan, Brian↗

Rover Slip Validation and Prediction Algorithm

A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

Yen, Jeng↗

Robot Would Climb Steep Terrain

This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

Kennedy, Brett↗