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NASA NTRS2013

Siberian Pine Decline and Mortality in Southern Siberian Mountains

The causes and resulting spatial patterns of Siberian pine mortality in eastern Kuznetzky Alatau Mountains, Siberia were analyzed based on satellite (Landsat, MODIS) and dendrochronology data. Climate variables studied included temperature, precipitation and Standardized Precipitation-Evapotranspiration Index (SPEI) drought index. Landsat data analysis showed that stand mortality was first detected in the year 2006 at an elevation of 650 m, and extended up to 900 m by the year 2012. Mortality was accompanied by a decrease in MODIS derived vegetation index (EVI).. The area of dead stands and the upper mortality line were correlated with increased drought. The uphill margin of mortality was limited by elevational precipitation gradients. Dead stands (i.e., >75% tree mortality) were located mainly on southern slopes. With respect to slope, mortality was observed within a 7 deg - 20 deg range with greatest mortality occurring on convex terrain. Tree radial incrementmeasurements correlate and were synchronous with SPEI (r sq = 0.37, r(sub s) = 80). Increasing synchrony between tree ring growth and SPEI indicates that drought has reduced the ecological niche of Siberian pine. The results also showed the primary role of drought stress on Siberian pine mortality. A secondary role may be played by bark beetles and root fungi attacks. The observed Siberian pine mortality is part of a broader phenomenon of "dark needle conifers" (DNC, i.e., Siberian pine, fir and spruce) decline and mortality in European Russia, Siberia, and the Russian Far East. All locations of DNC decline coincided with areas of observed drought increase. The results obtained are one of the first observations of drought-induced decline and mortality of DNC at the southern border of boreal forests. Meanwhile if model projections of increased aridity are correct DNC, within the southern part of its range may be replaced by drought-resistant Pinus silvestris and Larix sibirica.

tree die-off↗
NASA NTRS2013

Microgravity Drill and Anchor System

This work is a method to drill into a rock surface regardless of the gravitational field or orientation. The required weight-on-bit (WOB) is supplied by a self-contained anchoring mechanism. The system includes a rotary percussive coring drill, forming a complete sampling instrument usable by robot or human. This method of in situ sample acquisition using micro - spine anchoring technology enables several NASA mission concepts not currently possible with existing technology, including sampling from consolidated rock on asteroids, providing a bolt network for astronauts visiting a near-Earth asteroid, and sampling from the ceilings or vertical walls of lava tubes and cliff faces on Mars. One of the most fundamental parameters of drilling is the WOB; essentially, the load applied to the bit that allows it to cut, creating a reaction force normal to the surface. In every drilling application, there is a minimum WOB that must be maintained for the system to function properly. In microgravity (asteroids and comets), even a small WOB could not be supported conventionally by the weight of the robot or astronaut. An anchoring mechanism would be needed to resist the reactions, or the robot or astronaut would push themselves off the surface and into space. The ability of the system to anchor itself to a surface creates potential applications that reach beyond use in low gravity. The use of these anchoring mechanisms as end effectors on climbing robots has the potential of vastly expanding the scope of what is considered accessible terrain. Further, because the drill is supported by its own anchor rather than by a robotic arm, the workspace is not constrained by the reach of such an arm. Yet, if the drill is on a robotic arm, it has the benefit of not reflecting the forces of drilling back to the arm s joints. Combining the drill with the anchoring feet will create a highly mobile, highly stable, and highly reliable system. The drilling system s anchor uses hundreds of microspine toes that independently find holes and ledges on a rock to create an anchor. Once the system is anchored, a linear translation mechanism moves the drill axially into the surface while maintaining the proper WOB. The linear translation mechanism is composed of a ball screw and stepper motor that can translate a carriage with high precision and applied load. The carriage slides along rails using self-aligning linear bearings that correct any axial misalignment caused by bending and torsion. The carriage then compresses a series of springs that simultaneously transmit the load to the drill along the bit axis and act as a suspension that compensates for the vibration caused by percussive drilling. The drill is a compacted, modified version of an off-the-shelf rotary percussive drill, which uses a custom carbide-tipped coring bit. By using rotary percussive drilling, the drill time is greatly reduced. The percussive action fractures the rock debris, which is removed during rotation. The final result is a 0.75-in. (.1.9- cm) diameter hole and a preserved 0.5- in. (.1.3-cm) diameter rock core. This work extends microspine technology, making it applicable to astronaut missions to asteroids and a host of robotic sampling concepts. At the time of this reporting, it is the first instrument to be demonstrated using microspine anchors, and is the first self-contained drill/anchor system to be demonstrated that is capable of drilling in inverted configurations and would be capable of drilling in microgravity.

Parness, Aaron↗
NASA NTRS2011

NASA Tech Briefs, March 2011

Topics covered include: Optimal Tuner Selection for Kalman-Filter-Based Aircraft Engine Performance Estimation; Airborne Radar Interferometric Repeat-Pass Processing; Plug-and-Play Environmental Monitoring Spacecraft Subsystem; Power-Combined GaN Amplifier with 2.28-W Output Power at 87 GHz; Wallops Ship Surveillance System; Source Lines Counter (SLiC) Version 4.0; Guidance, Navigation, and Control Program; Single-Frame Terrain Mapping Software for Robotic Vehicles; Auto Draw from Excel Input Files; Observation Scheduling System; CFDP for Interplanetary Overlay Network; X-Windows Widget for Image Display; Binary-Signal Recovery; Volumetric 3D Display System with Static Screen; MMIC Replacement for Gunn Diode Oscillators; Feature Acquisition with Imbalanced Training Data; Mount Protects Thin-Walled Glass or Ceramic Tubes from Large Thermal and Vibration Loads; Carbon Nanotube-Based Structural Health Monitoring Sensors; Wireless Inductive Power Device Suppresses Blade Vibrations; Safe, Advanced, Adaptable Isolation System Eliminates the Need for Critical Lifts; Anti-Rotation Device Releasable by Insertion of a Tool; A Magnetically Coupled Cryogenic Pump; Single Piezo-Actuator Rotary-Hammering Drill; Fire-Retardant Polymeric Additives; Catalytic Generation of Lift Gases for Balloons; Ionic Liquids to Replace Hydrazine; Variable Emittance Electrochromics Using Ionic Electrolytes and Low Solar Absorptance Coatings; Spacecraft Radiator Freeze Protection Using a Regenerative Heat Exchanger; Multi-Mission Power Analysis Tool; Correction for Self-Heating When Using Thermometers as Heaters in Precision Control Applications; Gravitational Wave Detection with Single-Laser Atom Interferometers; Titanium Alloy Strong Back for IXO Mirror Segments; Improved Ambient Pressure Pyroelectric Ion Source; Multi-Modal Image Registration and Matching for Localization of a Balloon on Titan; Entanglement in Quantum-Classical Hybrid; Algorithm for Autonomous Landing; Quantum-Classical Hybrid for Information Processing; Small-Scale Dissipation in Binary-Species Transitional Mixing Layers; Superpixel-Augmented Endmember Detection for Hyperspectral Images; Coding for Parallel Links to Maximize the Expected Value of Decodable Messages; and Microwave Tissue Soldering for Immediate Wound Closure.

Source record↗
NASA NTRS2013

Co-registration of Laser Altimeter Tracks with Digital Terrain Models and Applications in Planetary Science

We have derived algorithms and techniques to precisely co-register laser altimeter profiles with gridded Digital Terrain Models (DTMs), typically derived from stereo images. The algorithm consists of an initial grid search followed by a least-squares matching and yields the translation parameters at sub-pixel level needed to align the DTM and the laser profiles in 3D space. This software tool was primarily developed and tested for co-registration of laser profiles from the Lunar Orbiter Laser Altimeter (LOLA) with DTMs derived from the Lunar Reconnaissance Orbiter (LRO) Narrow Angle Camera (NAC) stereo images. Data sets can be co-registered with positional accuracy between 0.13 m and several meters depending on the pixel resolution and amount of laser shots, where rough surfaces typically result in more accurate co-registrations. Residual heights of the data sets are as small as 0.18 m. The software can be used to identify instrument misalignment, orbit errors, pointing jitter, or problems associated with reference frames being used. Also, assessments of DTM effective resolutions can be obtained. From the correct position between the two data sets, comparisons of surface morphology and roughness can be made at laser footprint- or DTM pixel-level. The precise co-registration allows us to carry out joint analysis of the data sets and ultimately to derive merged high-quality data products. Examples of matching other planetary data sets, like LOLA with LRO Wide Angle Camera (WAC) DTMs or Mars Orbiter Laser Altimeter (MOLA) with stereo models from the High Resolution Stereo Camera (HRSC) as well as Mercury Laser Altimeter (MLA) with Mercury Dual Imaging System (MDIS) are shown to demonstrate the broad science applications of the software tool.

Laser↗
NASA NTRS2002

Implementation of the NCAR Community Land Model (CLM) in the NASA/NCAR finite-volume Global Climate Model (fvGCM)

In this study, the NCAR CLM version 2.0 land-surface model was integrated into the NASA/NCAR fvGCM. The CLM was developed collaboratively by an open interagency/university group of scientists and based on well-proven physical parameterizations and numerical schemes that combine the best features of BATS, NCAR-LSM, and IAP94. The CLM design is a one-dimensional point model with 1 vegetation layer, along with sub-grid scale tiles. The features of the CLM include 10-uneven soil layers with water, ice, and temperature states in each soil layer, and five snow layers, with water flow, refreezing, compaction, and aging allowed. In addition, the CLM utilizes two-stream canopy radiative transfer, the Bonan lake model and topographic enhanced streamflow based on TOPMODEL. The DAO fvGCM uses a genuinely conservative Flux-Form Semi-Lagrangian transport algorithm along with terrain- following Lagrangian control-volume vertical coordinates. The physical parameterizations are based on the NCAR Community Atmosphere Model (CAM-2). For our purposes, the fvGCM was run at 2 deg x 2.5 deg horizontal resolution with 55 vertical levels. The 10-year climate from the fvGCM with CLM2 was intercompared with the climate from fvGCM with LSM, ECMWF and NCEP. We concluded that the incorporation of CLM2 did not significantly impact the fvGCM climate from that of LSM. The most striking difference was the warm bias in the CLM2 surface skin temperature over desert regions. We determined that the warm bias can be partially attributed to the value of the drag coefficient for the soil under the canopy, which was too small resulting in a decoupling between the ground surface and the canopy. We also discovered that the canopy interception was high compared to observations in the Amazon region. A number of experiments were then performed focused on implementing model improvements. In order to correct the warm bias, the drag coefficient for the soil under the canopy was considered a function of LAI (Leaf Area Index). Analysis of the results revealed that there was a substantial impact, and the warm and dry bias in the CLM2 was significantly reduced. For the interception scheme, the canopy throughfall was increased to allow for more infiltration of precipitation into the soil, resulting in increased low-level moisture and a decrease in the interception loss ratio (canopy evaporation to precipitation).

Radakovich, Jon D.↗
NASA NTRS1995

Comment on 'The Global Resurfacing of Venus' by R. G. Strom, G.G. Schaber, and D.D. Dawson

The distribution of impact craters on Venus has been the subject of a great deal of analysis since the return of Magellan data. Phillips el al. (1992) performed Monte Carlo two-dimensional (2-D) modeling of the areal distribution of craters, and the results of that exercise allowed a restricted, but still quite large, range of possible planetary resurfacing histories, including the possibility that the crater, were emplaced on a geologically inactive planet. However, the nonrandom distribution of embayed and deformed craters (Phillips el al., 1992), the hypsometric distribution of craters (Herrick and Phillips, 1994), the varied degradation states of craters (Izenberg et al., 1994), their nonrandom distribution with different geologic terrain types (Namiki and Solomon, 1994; Price et al, 1994), and three-dimensional resurfacing modeling (Bullock el al., 1993) all seem to argue against that particular possibility. In contrast, Strom el al. (1994) have collected a refined and more comprehensive data set of impact features, and they input these data into more sophisticated 2-D Monte Carlo modeling and statistical analyses of the areal distribution of craters, the hypsometric distribution of craters, and the number of embayed craters. They concluded that 'Venus experienced a global resurfacing event about 300 m.y. ago followed by a dramatic reduction of volcanism and tectonism. This global resurfacing event ended abruptly (less than 10 m.y.). The present crater population has accumulated since then and remains largely intact . . . only about 4%-6% of the planet has been volcanically resurfaced since the global event . . .' If these conclusions are well-founded, this work certainly represents a significant advancement in restricting tile number of plausible resurfacing histories for the planet. If Strom et al. (1994) are correct, it would also mean that all of the other aforementioned works are in error to various degrees, or at least represent overzealous interpretation of the data. However, we have identified apparent flaws in the observations, modeling, and interpretations presented by Strom el al. (1994) that lead us to question whether their conclusions are warranted. We limit our comments to three areas of their analysis: (1) observations pertaining to the number and area of disrupted and pristine craters and crater-related features, (2) modeling of the areal and elevation distribution of craters, and (3) interpretations of resurfacing models.

Herrick, Robert R.↗
NASA NTRS1996

Hydrogeological Interpretation of Candidate Origin Sites for Martian Meteorite ALH84001

Barlow (this meeting) has identified two potential source craters for the martian meteorite ALH84001. The craters are at 11.7 deg S, 243.3 deg W (Mare Tyrrhenum site) and 14.0 deg S, 343.5 deg W (Sinus Sabaeus site). As noted by Barlow, both craters lie in the heavily cratered terrain (HCT) and are adjacent to fluvial valleys, Here I explore the fluvial history of these areas based upon the surrounding valley morphology. The most prominent valley network at the Sabaeus site is Evros Vallis. This wide, flat-floored valley is approximately 600 km long with an average width of 2.5 km and a depth of 220 m. The eroded volume of the entire Evros network is approximately 6 x 10(exp 11) cc. This is typical for networks located in the heavily cratered terrain (e.g. Warrego and Parana Valles). Evros is also an isolated valley system. No similar networks are found in the surrounding terrain. Thus it is unlikely that Evros formed as a result of widespread rainfall. A localized water source, such as discharge of a hydrothermal system or localized melting of snowfall, seems more consistent Previous modeling has demonstrated that only hydrothermal systems associated with high permeability subsurfaces can discharge sufficient water to form a valley network. The bulk of the discharge from such systems is consequently low temperature, slightly heated water Precipitation of calcium carbonate by low temperature fluids is consistent with most interpretations of the geochemistry of ALH84001. Available imagery at the Tyrrhenum site is of lesser quality. While eroded units of the HCT are nearby, there are no comparable well developed valley networks at this site. Erosion is instead manifested predominantly as gullies on slopes. This style of erosion suggests that water was not present at this site for the length of time as at the more integrated Sabaeus site. The superposition of fluidized ejecta blankets suggests however that ground water or ground ice was still present at this locality fairly recently, if the chosen crater is indeed correct.

Gulick, Virginia C.↗
NASA NTRS1992

Pressurized Lunar Rover

The pressurized lunar rover (PLR) consists of a 7 m long, 3 m diameter cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, directional lighting, cameras, and equipment for exploratory experiments. The PLR shell is constructed of a layered carbon-fiber/foam composite. The rover has six 1.5 m diameter wheels on the main body and two 1.5 m diameter wheels on the trailer. The wheels are constructed of composites and flex to increase traction and shock absorption. The wheels are each attached to a double A-arm aluminum suspension, which allows each wheel 1 m of vertical motion. In conjunction with a 0.75 m ground clearance, the suspension aids the rover in negotiating the uneven lunar terrain. The 15 N-m torque brushless electric motors are mounted with harmonic drive units inside each of the wheels. The rover is steered by electrically varying the speeds of the wheels on either side of the rover. The PLR trailer contains a radiosotope thermoelectric generator providing 6.7 kW. A secondary back-up energy storage system for short-term high-power needs is provided by a bank of batteries. The trailer can be detached to facilitate docking of the main body with the lunar base via an airlock located in the rear of the PLR. The airlock is also used for EVA operation during missions. Life support is a partly regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center. The water absorbs any damaging radiation, allowing the command center to be used as a safe haven during solar flares. Guidance, navigation, and control are supplied by a strapdown inertial measurement unit that works with the on-board computer. Star mappers provide periodic error correction. The PLR is capable of voice, video, and data transmission. It is equipped with two 5 W X-band transponder, allowing simultaneous transmission and reception. An S-band transponder is used to communicate with the crew during EVA. The PLR has a total mass of 6197 kg. It has a nominal speed of 10 km/hr and a top speed of 18 km/hr. The rover is capable of towing 3 metric tons (in addition to the RTG trailer).

Creel, Kenneth↗
NASA NTRS2020

Disk-resolved Photometric Properties of Pluto and the Coloring Materials across its Surface

A multiwavelength regionally dependent photometric analysis of Pluto's anti-Charon-facing hemisphere using images collected by New Horizons' Multispectral Visible Imaging Camera (MVIC) reveals large variations in the absolute value and spectral slope of the single-scattering albedo. Four regions of interest are analyzed: the dark equatorial belt, Pluto's north pole, nitrogen-rich regions, and the mid-latitude terrains. Regions dominated by volatile ices such as Lowell Regio and Sputnik Planitia present single-scattering albedos of ~0.98 at 492 nm, almost neutral across MVIC's visible wavelength range (400–910 nm), indicating limited contributions from tholin materials. Pluto's dark equatorial regions, informally named Cthulhu and Krun Maculae, have single-scattering albedos of ~0.16 at 492 nm and are the reddest regions. Applying the Hapke radiative transfer model to combined MVIC and Linear Etalon Imaging Spectral Array (LEISA) spectra (400–2500 nm) of Cthulhu Macula and Lowell Regio successfully reproduces the spectral properties of these two regions of dramatically disparate coloration, composition, and morphology. Since this model uses only a single coloring agent, very similar to the Titan-like tholin of Khare et al., to account for all of Pluto's colors, this result supports the Grundy et al. conclusion that Pluto's coloration is the result of photochemical products mostly produced in the atmosphere. Although cosmic rays and extreme ultraviolet photons reach Pluto's surface where they can drive chemical processing, observations of diverse surface colors do not require different chemical products produced in different environments. We report a correction scaling factor in the LEISA radiometric calibration of 0.74 ± 0.05.

Silvia Protopapa↗
NASA NTRS1996

Geocoding of AIRSAR/TOPSAR SAR Data

It has been demonstrated and recognized that radar interferometry is a promising method for the determination of digital elevation information and terrain slope from Synthetic Aperture Radar (SAR) data. An important application of Interferometric SAR (InSAR) data in areas with topographic variations is that the derived elevation and slope can be directly used for the absolute radiometric calibration of the amplitude SAR data as well as for scattering mechanisms analysis. On the other hand polarimetric SAR data has long been recognized as permitting a more complete inference of natural surfaces than a single channel radar system. In fact, imaging polarimetry provides the measurement of the amplitude and relative phase of all transmit and receive polarizations. On board the NASA DC-8 aircraft, NASA/JPL operates the multifrequency (P, L and C bands) multipolarimetric radar AIRSAR. The TOPSAR, a special mode of the AIRSAR system, is able to collect single-pass interferometric C- and/or L-band VV polarized data. A possible configuration of the AIRSAR/TOPSAR system is to acquire single-pass interferometric data at C-band VV polarization and polarimetric radar data at the two other lower frequencies. The advantage of this system configuration is to get digital topography information at the same time the radar data is collected. The digital elevation information can therefore be used to correctly calibrate the SAR data. This step is directly included in the new AIRSAR Integrated Processor. This processor uses a modification of the full motion compensation algorithm described by Madsen et al. (1993). However, the Digital Elevation Model (DEM) with the additional products such as local incidence angle map, and the SAR data are in a geometry which is not convenient, since especially DEMs must be referred to a specific cartographic reference system. Furthermore, geocoding of SAR data is important for multisensor and/or multitemporal purposes. In this paper, a procedure to geocode the new AIRSAR/TOPSAR data is presented. As an example an AIRSAR/TOPSAR image acquired in 1994 is geocoded and evaluated in terms of geometric accuracy.

Holecz, Francesco↗
NASA NTRS2010

Preliminary Design of the Guidance, Navigation, and Control System of the Altair Lunar Lander

Guidance, Navigation, and Control (GN&C) is the measurement and control of spacecraft position, velocity, and attitude in support of mission objectives. This paper provides an overview of a preliminary design of the GN&C system of the Lunar Lander Altair. Key functions performed by the GN&C system in various mission phases will first be described. A set of placeholder GN&C sensors that is needed to support these functions is next described. To meet Crew safety requirements, there must be high degrees of redundancy in the selected sensor configuration. Two sets of thrusters, one on the Ascent Module (AM) and the other on the Descent Module (DM), will be used by the GN&C system. The DM thrusters will be used, among other purposes, to perform course correction burns during the Trans-lunar Coast. The AM thrusters will be used, among other purposes, to perform precise angular and translational controls of the ascent module in order to dock the ascent module with Orion. Navigation is the process of measurement and control of the spacecraft's "state" (both the position and velocity vectors of the spacecraft). Tracking data from the Earth-Based Ground System (tracking antennas) as well as data from onboard optical sensors will be used to estimate the vehicle state. A driving navigation requirement is to land Altair on the Moon with a landing accuracy that is better than 1 km (radial 95%). Preliminary performance of the Altair GN&C design, relative to this and other navigation requirements, will be given. Guidance is the onboard process that uses the estimated state vector, crew inputs, and pre-computed reference trajectories to guide both the rotational and the translational motions of the spacecraft during powered flight phases. Design objectives of reference trajectories for various mission phases vary. For example, the reference trajectory for the descent "approach" phase (the last 3-4 minutes before touchdown) will sacrifice fuel utilization efficiency in order to provide landing site visibility for both the crew and the terrain hazard detection sensor system. One output of Guidance is the steering angle commands sent to the 2 degree-of-freedom (dof) gimbal actuation system of the descent engine. The engine gimbal actuation system is controlled by a Thrust Vector Control algorithm that is designed taking into account the large quantities of sloshing liquids in tanks mounted on Altair. In this early design phase of Altair, the GN&C system is described only briefly in this paper and the emphasis is on the GN&C architecture (that is still evolving). Multiple companion papers will provide details that are related to navigation, optical navigation, guidance, fuel sloshing, rendezvous and docking, machine-pilot interactions, and others. The similarities and differences of GN&C designs for Lunar and Mars landers are briefly compared.

Lee, Allan Y.↗
NASA NTRS2008

Integrated Software Systems for Crew Management During Extravehicular Activity in Planetary Terrain Exploration

Initial planetary explorations with the Apollo program had a veritable ground support army monitoring the safety and health of the 12 astronauts who performed lunar surface extravehicular activities (EVAs). Given the distances involved, this will not be possible on Mars. A spacesuit for Mars must be smart enough to replace that army. The next generation suits can do so using 2 software systems serving as virtual companions, LEGACI (Life support, Exploration Guidance Algorithm and Consumable Interrogator) and VIOLET (Voice Initiated Operator for Life support and Exploration Tracking). The system presented in this study integrates data inputs from a suite of sensors into the MIII suit s communications, avionics and informatics hardware for distribution to remote managers and data analysis. If successful, the system has application not only for Mars but for nearer term missions to the Moon, and the next generation suits used on ISS as well. Field tests are conducted to assess capabilities for next generation spacesuits at Johnson Space Center (JSC) as well as the Mars and Lunar analog (Devon Island, Canada). LEGACI integrates data inputs from a suite of noninvasive biosensors in the suit and the astronaut (heart rate, suit inlet/outlet lcg temperature and flowrate, suit outlet gas and dewpoint temperature, pCO2, suit O2 pressure, state vector (accelerometry) and others). In the Integrated Walkback Suit Tests held at NASA-JSC and the HMP tests at Devon Island, communication and informatics capabilities were tested (including routing by satellite from the suit at Devon Island to JSC in Houston via secure servers at VCU in Richmond, VA). Results. The input from all the sensors enable LEGACI to compute multiple independent assessments of metabolic rate, from which a "best" met rate is chosen based on statistical methods. This rate can compute detailed information about the suit, crew and EVA performance using test-derived algorithms. VIOLET gives LEGACI voice activation capability, allowing the crew to query the suit, and receive feedback and alerts that will lead to corrective action. LEGACI and VIOLET can also automatically control the astronaut's cooling and consumable use rate without crew input if desired. These findings suggest that non-invasive physiological and environmental sensors supported with data analysis can allow for more effective management of mission task performance during EVA. Integrated remote and local view of data metrics allow crewmember to receive real time feedback in synch with mission control in preventing performance shortcomings for EVA in exploration missions.

Kuznetz, Lawrence↗
NASA NTRS2002

Application of the generalized vertical coordinate ocean model for better representing satellite data

It is found that two adaptive parametric functions can be introduced into the basic ocean equations for utilizing the optimal or hybrid features of commonly used z-level, terrain- following, isopycnal, and pressure coordinates in numerical ocean models. The two parametric functions are formulated by combining three techniques: the arbitrary vertical coordinate system of Kasahara (1 974), the Jacobian pressure gradient formulation of Song (1 998), and a newly developed metric factor that permits both compressible (non-Boussinesq) and incompressible (Boussinesq) approximations. Based on the new formulation, an adaptive modeling strategy is proposed and a staggered finite volume method is designed to ensure conservation of important physical properties and numerical accuracy. Implementation of the combined techniques to SCRUM (Song and Haidvogel1994) shows that the adaptive modeling strategy can be applied to any existing ocean model without incurring computational expense or altering the original numerical schemes. Such a generalized coordinate model is expected to benefit diverse ocean modelers for easily choosing optimal vertical structures and sharing modeling resources based on a common model platform. Several representing oceanographic problems with different scales and characteristics, such as coastal canyons, basin-scale circulation, and global ocean circulation, are used to demonstrate the model's capability for multiple applications. New results show that the model is capable of simultaneously resolving both Boussinesq and non-Boussinesq, and both small- and large-scale processes well. This talk will focus on its applications of multiple satellite sensing data in eddy-resolving simulations of Asian Marginal Sea and Kurosio. Attention will be given to how Topex/Poseidon SSH, TRMM SST; and GRACE ocean bottom pressure can be correctly represented in a non- Boussinesq model.

numerical ocean model generalized coordinate syste↗
NASA NTRS2017

The Geographic Distribution of Boulder Halo Craters at Mid-to-High Latitudes on Mars

Extensive evidence exists for ground ice at mid-to-high latitudes on Mars, including results from neutron spectroscopy [1-3], thermal properties [4-5], geomorphology [e.g., 6-9], and the in situ observations of Mars Phoenix [10]. This ground ice has been hypothesized to be emplaced diffusively and fill pores [11], or to have accumulated by ice and dust deposition that draped or mantled the terrain [7, 12]. These two processes are not mutually exclusive; both potentially have occurred on Mars [5]. One of the landforms found in areas where ground ice is common on Mars are boulder halo craters [e.g., 13-15] (Figure 1), which are topographically muted impact craters that are filled by ice-rich regolith. They are outlined by boulders that trace a circular outline of the original crater rim. Boulder halos generally have distinctly higher boulder densities than the surrounding background plains and have few boulders in their interiors. The mechanism of boulder halo crater formation is somewhat uncertain. Our working model is that an impact event occurs with sufficient size to excavate to a depth greater than the boulder-poor, ice-rich soils. Excavated boulders are deposited around the crater's rim and in its proximal ejecta. Quite rapidly [14], the crater becomes infilled by icy soil. Rather than being buried, boulders in the halo remain at the surface, perhaps be-cause they 'float' relative to finer-grained materials [14, 16]. Regardless of the details of this process, the life-time of boulders at the surface is much greater than the timescale needed to remove most of the craters' topography. Physical weathering of rocks must be greatly out-paced by crater infilling (the opposite of what is typical, e.g., on the Moon [17]). The rapidity of this infilling is easiest to understand if icy mantling material is deposited and accumulates, rather than simply being added by pore filling of soils. If this model is correct, boulder halos only form when they excavate rock-producing materials from beneath the upper surface. Thus, the distribution and size of craters that result in boulders halos may provide in-sight into the thickness of the ice-rich surface layer in different locations. Note that this thickness is necessarily that of the ice-rich layer at the time of impact, not at present. This study is an initial survey of boulder halo crater locations in the 50deg to 80degN and 50deg to 80degS latitude bands on Mars.

Ice↗
NASA NTRS2013

Helicopter Flight Test of a Compact, Real-Time 3-D Flash Lidar for Imaging Hazardous Terrain During Planetary Landing

A second generation, compact, real-time, air-cooled 3-D imaging Flash Lidar sensor system, developed from a number of cutting-edge components from industry and NASA, is lab characterized and helicopter flight tested under the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project. The ALHAT project is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar incorporates a 3-D imaging video camera based on Indium-Gallium-Arsenide Avalanche Photo Diode and novel micro-electronic technology for a 128 x 128 pixel array operating at a video rate of 20 Hz, a high pulse-energy 1.06 μm Neodymium-doped: Yttrium Aluminum Garnet (Nd:YAG) laser, a remote laser safety termination system, high performance transmitter and receiver optics with one and five degrees field-of-view (FOV), enhanced onboard thermal control, as well as a compact and self-contained suite of support electronics housed in a single box and built around a PC-104 architecture to enable autonomous operations. The Flash Lidar was developed and then characterized at two NASA-Langley Research Center (LaRC) outdoor laser test range facilities both statically and dynamically, integrated with other ALHAT GN&C subsystems from partner organizations, and installed onto a Bell UH-1H Iroquois "Huey" helicopter at LaRC. The integrated system was flight tested at the NASA-Kennedy Space Center (KSC) on simulated lunar approach to a custom hazard field consisting of rocks, craters, hazardous slopes, and safe-sites near the Shuttle Landing Facility runway starting at slant ranges of 750 m. In order to evaluate different methods of achieving hazard detection, the lidar, in conjunction with the ALHAT hazard detection and GN&C system, operates in both a narrow 1deg FOV raster-scanning mode in which successive, gimbaled images of the hazard field are mosaicked together as well as in a wider, 4.85deg FOV staring mode in which digital magnification, via a novel 3-D superresolution technique, is used to effectively achieve the same spatial precision attained with the more narrow FOV optics. The lidar generates calibrated and corrected 3-D range images of the hazard field in real-time and passes them to the ALHAT Hazard Detection System (HDS) which stitches the images together to generate on-the-fly Digital Elevation Maps (DEM's) and identifies hazards and safe-landing sites which the ALHAT GN&C system can then use to guide the host vehicle to a safe landing on the selected site. Results indicate that, for the KSC hazard field, the lidar operational range extends from 100m to 1.35 km for a 30 degree line-of-sight angle and a range precision as low as 8 cm which permits hazards as small as 25 cm to be identified. Based on the Flash Lidar images, the HDS correctly found and reported safe sites in near-real-time during several of the flights. A follow-on field test, planned for 2013, seeks to complete the closing of the GN&C loop for fully-autonomous operations on-board the Morpheus robotic, rocket-powered, free-flyer test bed in which the ALHAT system would scan the KSC hazard field (which was vetted during the present testing) and command the vehicle to landing on one of the selected safe sites.

Roback, VIncent E.↗