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Concepts for site characterization rovers capable of efficient operation on Mars with human supervision from earth are discussed. In particular, attention is given to strategies for developing and evaluating the necessary technology for implementing the roving vehicles and process technologies required for a systematic and integrated implementation of technologically advanced rovers. A vehicle testbed program is also described.
The Mars Global Surveyor (MGS) Mars Orbiter Laser Altimeter (MOLA) data provide the basis for site characterization and selection never before possible. The basic MOLA information includes absolute radii, elevation and 1 micrometer albedo with derived datasets including digital image models (DIM's illuminated elevation data), slopes maps and slope statistics and small scale surface roughness maps and statistics. These quantities are useful in downsizing potential sites from descent engineering constraints and landing/roving hazard and mobility assessments. Slope baselines at the few hundred meter level and surface roughness at the 10 meter level are possible. Additionally, the MOLA-derived Mars surface offers the possibility to precisely register and map project other instrument datasets (images, ultraviolet, infrared, radar, etc.) taken at different resolution, viewing and lighting geometry, building multiple layers of an information cube for site characterization and selection. Examples of direct MOLA data, data derived from MOLA and other instruments data registered to MOLA arc given for the Hematite area.
The National Aeronautics and Space Administration (NASA), Kennedy Space Center (KSC), has adopted high-resolution site characterization (HRSC) sampling techniques during baseline sampling prior to implementation of remedies to confirm and refine the conceptual site model (CSM). HRSC sampling was performed at Contractors Road Heavy Equipment Area (CRHE) prior to bioremediation implementation to verify the extent of the trichloroethene (TCE) dense non-aqueous phase liquid (DNAPL) source area (defined as the area with TCE concentrations above 1% solubility) and its daughter product dissolved plume that had been identified during previous HRSC events. The results of HRSC pre-bioremediation implementation sampling suggested that the TCE source area was larger than originally identified during initial site characterization activities, leading to a design refinement to improve electron donor distribution and increase the likelihood of achieving remedial objectives. Approach/Activities: HRSC was conducted from 2009 through 2014 to delineate the vertical and horizontal extent of chlorinated volatile organic compounds (CVOCs) in the groundwater. Approximately 2,340 samples were collected from 363 locations using direct push technology (DPT) groundwater sampling techniques. Samples were collected from up to 14 depth intervals at each location using a 4-foot sampling screen. This HRSC approach identified a narrow (approx. 5 to 30 feet wide), approximately 3,000 square foot TCE DNAPL source area (maximum detected TCE concentration of 160,000 micrograms per liter [micro-g/L] at DPT sampling location DPT0225). Prior to implementation of a bioremediation interim measure, HRSC baseline sampling was conducted using DPT groundwater sampling techniques. Concentrations of TCE were an order of magnitude lower than previous reported (12,000 micro-g/L maximum at DPT sampling location DPT0225) at locations sampled adjacent to previous sampling locations. To further evaluate the variability in concentrations observed additional sampling was conducted in 2016. The results identified higher concentrations than originally detected within the previously defined source area and the presence of source zone concentrations upgradient of the previously defined source area (maximum concentration observed 570,000 micro-g/L). The HRSC baseline sampling data allowed for a revision of the bioremediation design prior to implementation. Bioremediation was implemented within the eastern portion of the source area in November and December 2016 and quarterly performance monitoring was completed in March and June 2017. Reductions in CVOC concentrations from baseline were observed at all performance monitoring wells in the treatment area, and by June 2017, an approximate 95% CVOC mass reduction was observed based on monitoring well sampling results. Results/Lessons Learned: The results of this project suggest that, due to the complexity of DNAPL source zones, HRSC during pre-implementation baseline sampling in the TCE source zone was an essential strategy for verifying the treatment area and depth prior to remedy implementation. If the upgradient source zone mass was not identified prior to bioremediation implementation, the mass would have served as a long-term source for the dissolved plume.
A mobile, semi-autonomous vehicle with multiple sensors and on-board intelligence is proposed for performing preliminary scientific investigations on extraterrestrial bodies prior to human exploration. Two technologies, a hybrid optical-digital computer system based on optical correlator technology and an image and instrument data analysis system, provide complementary capabilities which might be part of an instrument package for an intelligent robotic vehicle. The hybrid digital-optical vision system could perform real-time image classification tasks using an optical correlator with programmable matched filters under control of a digital microcomputer. The data analysis system would analyze visible and multiband imagery to extract mineral composition and textural information for geologic characterization. Together these technologies would support the site characterization needs of a robotic vehicle for both navigational and scientific purposes.
Critical to NASA s rapid migration toward Ka-Band is the comprehensive characterization of the communication channels at NASA's ground sites to determine the effects of the atmosphere on signal propagation and the network's ability to support various classes of users in different orbits. Accordingly, NASA has initiated a number of studies involving the ground sites of its Near Earth and Deep Space Networks. Recently, NASA concluded a memorandum of agreement (MOA) with the Norwegian Space Centre of the Kingdom of Norway and began a joint site characterization study to determine the atmospheric effects on Ka-Band links at the Svalbard Satellite Station in Norway, which remains a critical component of NASA s Near Earth Communication Network (NEN). System planning and design for Ka-band links at the Svalbard site cannot be optimally achieved unless measured attenuation statistics (e.g. cumulative distribution functions (CDF)) are obtained. In general, the CDF will determine the necessary system margin and overall system availability due to the atmospheric effects. To statistically characterize the attenuation statistics at the Svalbard site, NASA has constructed a ground-based monitoring station consisting of a multi-channel total power radiometer (25.5 - 26.5 GHz) and a weather monitoring station to continuously measure (at 1 second intervals) attenuation and excess noise (brightness temperature). These instruments have been tested in a laboratory environment as well as in an analogous outdoor climate (i.e. winter in Northeast Ohio), and the station was deployed in Svalbard, Norway in May 2011. The measurement campaign is planned to last a minimum of 3 years but not exceeding a maximum of 5 years.
The pupose of this survey is the detection of surface and subsurface Unexploded Ordnance (UX0) and in a broader sense the site characterization for identification of contaminated as well as clear areas.
The purpose of this survey is the detection of surface and subsurface Unexploded Ordnance (UXO) and in a broader sense the site characterization for identification of contaminated as well as clear areas.
Geosyntec teamed with the National Aeronautics and Space Administration (NASA) to restore groundwater resources and protect sensitive aquatic habitats at Launch Complex 39B (LC39B), a National Historic Site located within the John F. Kennedy Space Center (KSC) on the east coast of Florida (Figure 1). The goal of this project was to remediate chlorinated volatile organic compound (CVOC) impacts in groundwater that had the potential to discharge to the sensitive habitat surrounding LC39B and to complete the remediation before NASA’s Artemis Program’s Space Launch System missions began. The Geosyntec NASA team met this goal by developing a robust Conceptual Site Model (CSM) using High Resolution Site Characterization (HRSC), using the CSM to design a multifaceted and highly specialized air sparge (AS) system to remediate the groundwater, and installing, operating, and optimizing the AS system to achieve the Corrective Action Objective (CAOs). The CAOs were achieved after only 2 years of AS system operation, which has significantly reduced the CVOC concentrations and mass present in the groundwater and mitigated the potential discharge of impacted groundwater to the surrounding sensitive aquatic habitat, all before the Artemis Program’s launches at LC39B.
A team of US Army Corps of Engineers, Omaha District and Engineering and Support Center, Huntsville, let Propulsion Laboratory (JPL), Stanford Research Institute (SRI), and Montgomery Watson is currently in the process of planning and conducting the largest ever survey at the Former Buckley Field (60,000 acres), in Colorado, by using SRI airborne, ground penetrating, Synthetic Aperture Radar (SAR). The purpose of this survey is the detection of surface and subsurface Unexploded Ordnance (UXO) and in a broader sense the site characterization for identification of contaminated as well as clear areas. In preparation for such a large-scale survey, JPL has been developing advanced algorithms and a high-performance restbed for processing of massive amount of expected SAR data from this site. Two key requirements of this project are the accuracy (in terms of UXO detection) and speed of SAR data processing. The first key feature of this testbed is a large degree of automation and a minimum degree of the need for human perception in the processing to achieve an acceptable processing rate of several hundred acres per day. For accurate UXO detection, novel algorithms have been developed and implemented. These algorithms analyze dual polarized (HH and VV) SAR data. They are based on the correlation of HH and VV SAR data and involve a rather large set of parameters for accurate detection of UXO. For each specific site, this set of parameters can be optimized by using ground truth data (i.e., known surface and subsurface UXOs). In this paper, we discuss these algorithms and their successful application for detection of surface and subsurface anti-tank mines by using a data set from Yuma proving Ground, A7, acquired by SRI SAR.
Lunar mining requirements do not appear to be excessively demanding in terms of volume of material processed. It seems clear, however, that the labor-intensive practices that characterize terrestrial mining will not suffice at the low-gravity, hard-vacuum, and inaccessible sites on the Moon. New research efforts are needed in three important areas: (1) to develop high-speed, high-resolution through-rock vision systems that will permit more detailed and efficient mine site investigation and characterization; (2) to investigate the impact of lunar conditions on our ability to convert conventional mining and exploration equipment to lunar prototypes; and (3) to develop telerobotic or fully robotic mining systems for operations on the Moon and other bodies in the inner solar system. Other aspects of lunar site characterization and mining are discussed.
To statistically characterize atmospheric effects on Ka-band links at NASA operational sites, NASA has constructed site test interferometers (STI s) which directly measure the tropospheric phase stability and rain attenuation. These instruments observe an unmodulated beacon signal broadcast from a geostationary satellite (e.g., Anik F2) and measure the phase difference between the signals received by the two antennas and its signal attenuation. Three STI s have been deployed so far: the first one at the NASA Deep Space Network Tracking Complex in Goldstone, California (May 2007); the second at the NASA White Sands Complex, in Las Cruses, New Mexico (February 2009); and the third at the NASA Tracking and Data Relay Satellite (TDRS) Remote Ground Terminal (GRGT) complex in Guam (May 2010). Two station-years of simultaneous atmospheric phase fluctuation data have been collected at Goldstone and White Sands, while one year of data has been collected in Guam. With identical instruments operating simultaneously, we can directly compare the phase stability and rain attenuation at the three sites. Phase stability is analyzed statistically in terms of the root-mean-square (rms) of the tropospheric induced time delay fluctuations over 10 minute blocks. For two years, the time delay fluctuations at the DSN site in Goldstone, CA, have been better than 2.5 picoseconds (ps) for 90% of the time (with reference to zenith), meanwhile at the White Sands, New Mexico site, the time delay fluctuations have been better than 2.2 ps with reference to zenith) for 90% of time. For Guam, the time delay fluctuations have been better than 12 ps (reference to zenith) at 90% of the time, the higher fluctuations are as expected from a high humidity tropical rain zone. This type of data analysis, as well as many other site quality characteristics (e.g., rain attenuation, infrastructure, etc.) will be used to determine the suitability of all the sites for NASA s future communication services at Ka-band.
The detection and characterization of buried objects and materials is an important step in the restoration of burial sites containing chemical and radioactive waste materials at Department of Energy (DOE) and Department of Defense (DOD) facilities. By performing these tasks with remotely controlled sensors, it is possible to obtain improved data quality and consistency as well as enhanced safety for on-site workers. Therefore, the DOE Office of Technology Development and the US Army Environmental Center have jointly supported the development of the Remote Characterization System (RCS). One of the main components of the RCS is a small remotely driven survey vehicle that can transport various combinations of geophysical and radiological sensors. Currently implemented sensors include ground-penetrating radar, magnetometers, an electromagnetic induction sensor, and a sodium iodide radiation detector. The survey vehicle was constructed predominantly of non-metallic materials to minimize its effect on the operation of its geophysical sensors. The system operator controls the vehicle from a remote, truck-mounted, base station. Video images are transmitted to the base station by a radio link to give the operator necessary visual information. Vehicle control commands, tracking information, and sensor data are transmitted between the survey vehicle and the base station by means of a radio ethernet link. Precise vehicle tracking coordinates are provided by a differential Global Positioning System (GPS).
Earth-based radar data remain an important part of the information set used to select and certify spacecraft landing sites on Mars. Constraints on robotic landings on Mars include: terrain elevation, radar reflectivity, regional and local slopes, rock distribution and coverage, and surface roughness, all of which are addressed by radar data. Indeed, the usefulness of radar data for Mars exploration has been demonstrated in the past. Radar data were critical in assessing the Viking Lander, and more recently, the Mars Pathfinder landing.
Earth-based radar data remain an important part of the information set used to select and certify spacecraft landing sites on Mars. Constraints on robotic landings on Mars include: terrain elevation, radar reflectivity, regional and local slopes, rock distribution and coverage, and surface roughness, all of which are addressed by radar data. Indeed, the usefulness of radar data for Mars exploration has been demonstrated in the past. Radar data were critical in assessing the Viking Lander 1 site, and more recently, the Mars Pathfinder landing site.
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