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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2017

Improving Slip Prediction on Mars Using Thermal Inertia Measurements

Rovers operating on Mars have been delayed, diverted, and trapped by loose granular materials. Vision-based mobility prediction approaches often fail because hazardous sand is difficult to distinguish from safe sand based on surface appearance alone. Unlike surface appearance, the thermal inertia of terrain is directly correlated to the same geophysical properties that control slip. This paper presents a quantitative analysis showing that considering thermal inertia improves rover slip prediction on Mars using in-situ data from the Curiosity rover. Thermal inertia is estimated for each slip measurement in sand using both on-board and orbital instruments. Slip models are learned using a mixture of experts approach where the experts are identified using thermal inertia. Two-expert models are compared to a single-expert, vision-only model to show that slip predictions are improved by separating high-slip, low thermal inertia sand from low-slip, high thermal inertia sand. These results support the hypothesis that the consideration of thermal inertia improves mobility estimates for rovers on Mars.

Nesnas, Issa A.↗
NASA NTRS2006

Learning to predict slip for ground robots

In this paper we predict the amount of slip an exploration rover would experience using stereo imagery by learning from previous examples of traversing similar terrain. To do that, the information of terrain appearance and geometry regarding some location is correlated to the slip measured by the rover while this location is being traversed. This relationship is learned from previous experience, so slip can be predicted later at a distance from visual information only.

robots↗
NASA NTRS2007

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↗
NASA NTRS2007

Terrain Adaptive Navigation for Mars Rovers

A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system described here.

traversabiity analysis↗
NASA NTRS2007

Slip Validation and Prediction for Mars Exploration Rovers

This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.

Mars Rovers↗
NASA NTRS1992

An application of synthetic seismicity in earthquake statistics - The Middle America Trench

The way in which seismicity calculations which are based on the concept of fault segmentation incorporate the physics of faulting through static dislocation theory can improve earthquake recurrence statistics and hone the probabilities of hazard is shown. For the Middle America Trench, the spread parameters of the best-fitting lognormal or Weibull distributions (about 0.75) are much larger than the 0.21 intrinsic spread proposed in the Nishenko Buland (1987) hypothesis. Stress interaction between fault segments disrupts time or slip predictability and causes earthquake recurrence to be far more aperiodic than has been suggested.

Ward, Steven N.↗
NASA NTRS2009

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↗
NASA NTRS2004

Investigation of Three-Dimensional Stress Fields and Slip Systems for FCC Single Crystal Superalloy Notched Specimens

Metals and their alloys, except for a few intermetallics, are inherently ductile, i.e. plastic deformation precedes fracture in these materials. Therefore, resistance to fracture is directly related to the development of the plastic zone at the crack tip. Recent studies indicate that the fracture toughness of single crystals depends on the crystallographic orientation of the notch as well as the loading direction. In general, the dependence of crack propagation resistance on crystallographic orientation arises from the anisotropy of (i) elastic constants, (ii) plastic deformation (or slip), and (iii) the weakest fracture planes (e.g. cleavage planes). Because of the triaxial stress state at the notch tips, many slip systems that otherwise would not be activated during uniaxial testing, become operational. The plastic zone formation in single crystals has been tackled theoretically by Rice and his co-workers and only limited experimental work has been conducted in this area. The study of the stresses and strains in the vicinity of a FCC single crystal notch tip is of relatively recent origin. We present experimental and numerical investigation of 3D stress fields and evolution of slip sector boundaries near notches in FCC single crystal tension test specimens, and demonstrate that a 3D linear elastic finite element model that includes the effect of material anisotropy is shown to predict active slip planes and sectors accurately. The slip sector boundaries are shown to have complex curved shapes with several slip systems active simultaneously near the notch. Results are presented for surface and mid-plane of the specimens. The results demonstrate that accounting for 3D elastic anisotropy is very important for accurate prediction of slip activation near FCC single crystal notches loaded in tension. Results from the study will help establish guidelines for fatigue damage near single crystal notches.

Arakere, Nagaraj K.↗
NASA NTRS1991

A rheologically layered three-dimensional model of the San Andreas fault in central and southern California

The effects of rheological parameters and the fault slip distribution on the horizontal and vertical deformation in the vicinity of the fault are investigated using 3D kinematic finite element models of the San Andreas fault in central and southern California. It is shown that fault models with different rheological stratification schemes and slip distributions predict characteristic deformation patterns. Models that do not include aseismic slip below the fault locking depth predict deformation patterns that are strongly dependent on time since the last earthquake, while models that incorporate the aseismic slip below the locking depth depend on time to a significantly lesser degree.

Williams, Charles A.↗
NASA NTRS2002

Three-Dimensional Stress Fields and Slip Systems for Single Crystal Superalloy Notched Specimens

Single crystal superalloys have become increasingly popular for turbine blade and vane applications due to their high strength, and creep and fatigue resistance at elevated temperatures. The crystallographic orientation of a single crystal material greatly affects its material properties, including elastic modulus, shear modulus, and ductility. These directional properties, along with the type of loading and temperature, dictate an anisotropic response in the yield strength, creep resistance, creep rupture ductility, fatigue resistance, etc. A significant amount of research has been conducted to determine the material properties in the <001> orientation, yet the material properties deviating from the <001> orientation have not been assessed for all cases. Based on the desired application and design criteria, a crystal orientation is selected to yield the maximum properties. Currently, single crystal manufacturing is able to control the primary crystallographic orientation within 15 of the target orientation, which is an acceptable deviation to meet both performance and cost guidelines; the secondary orientation is rarely specified. A common experiment is the standard load-controlled tensile test, in which specimens with different orientations can be loaded to observe the material response. The deformation behavior of single-crystal materials under tension and compression is known to be a function of not only material orientation, but also of varying microdeformation (i.e. dislocation) mechanisms. The underlying dislocation motion causes deformation via slip, and affects the activation of specific slip systems based on load and orientation. The slip can be analyzed by observing the visible traces left on the surface of the specimen from the slip activity within the single crystal material. The goal of this thesis was to predict the slip systems activated in three-dimensional stress fields of a notched tensile specimen, as a function of crystal orientation, using finite element analysis without addressing microstructural deformation mechanisms that govern their activation. Out of three orientations tested, the specimen with a [110] load orientation and a [001] growth direction had the lowest maximum resolved shear stress; this specimen orientation appears to be the best design candidate for a tensile application.

Magnan, Shannon M.↗
NASA NTRS2012

Shell Tectonics: A Mechanical Model for Strike-slip Displacement on Europa

We introduce a new mechanical model for producing tidally-driven strike-slip displacement along preexisting faults on Europa, which we call shell tectonics. This model differs from previous models of strike-slip on icy satellites by incorporating a Coulomb failure criterion, approximating a viscoelastic rheology, determining the slip direction based on the gradient of the tidal shear stress rather than its sign, and quantitatively determining the net offset over many orbits. This model allows us to predict the direction of net displacement along faults and determine relative accumulation rate of displacement. To test the shell tectonics model, we generate global predictions of slip direction and compare them with the observed global pattern of strike-slip displacement on Europa in which left-lateral faults dominate far north of the equator, right-lateral faults dominate in the far south, and near-equatorial regions display a mixture of both types of faults. The shell tectonics model reproduces this global pattern. Incorporating a small obliquity into calculations of tidal stresses, which are used as inputs to the shell tectonics model, can also explain regional differences in strike-slip fault populations. We also discuss implications for fault azimuths, fault depth, and Europa's tectonic history.

2) Tectonics↗
NASA NTRS1994

Multicomponent Gas Diffusion and an Appropriate Momentum Boundary Condition

Multicomponent gas diffusion is reviewed with particular emphasis on gas flows near solid boundaries-the so-called Kramers-Kistemaker effect. The aim is to derive an appropriate momentum boundary condition which governs many gaseous species diffusing together. The many species' generalization of the traditional single gas condition, either as slip or stick (no-slip), is not obvious, particularly for technologically important cases of lower gas pressures and very dissimilar molecular weight gases. No convincing theoretical case exists for why two gases should interact with solid boundaries equally but in opposite flow directions, such that the total gas flow exactly vanishes. ln this way, the multicomponent no-slip boundary requires careful treatment The approaches discussed here generally adopt a microscopic model for gas-solid contact. The method has the advantage that the mathematics remain tractable and hence experimentally testable. Two new proposals are put forward, the first building in some molecular collision physics, the second drawing on a detailed view of surface diffusion which does not unphysically extrapolate bulk gas properties to govern the adsorbed molecules. The outcome is a better accounting of previously anomalous experiments. Models predict novel slip conditions appearing even for the case of equal molecular weight components. These approaches become particularly significant in view of a conceptual contradiction found to arise in previous derivations of the appropriate boundary conditions. The analogous case of three gases, one of which is uniformly distributed and hence non-diffusing, presents a further refinement which gives unexpected flow reversals near solid boundaries. This case is investigated alone and for aggregating gas species near their condensation point. In addition to predicting new physics, this investigation carries practical implications for controlling vapor diffusion in the growth of crystals used in medical diagnosis (e.g. mercuric iodide) and semiconductors.

Noever, David A.↗
NASA NTRS1987

Earthquake source mechanisms and transform fault tectonics in the Gulf of California

The source parameters of 19 large earthquakes in the Gulf of California were determined from inversions of long-period P and SH waveforms. The goal was to understand the recent slip history of this dominantly transform boundary between the Pacific and North American plates as well as the effect on earthquake characteristics of the transition from young oceanic to continental lithosphere. For the better recorded transform events, the fault strike is resolved to + or - 4 deg at 90 percent confidence. The slip vectors thus provide important constraints on the direction of relative plate motion. Most centroid depths are poorly resolved because of tradeoffs between depth and source time function. On the basis of waveform modeling, historical seismicity, and other factors, it is appropriate to divide the Gulf into three distinct zones. The difference in seismic character among the three zones is likely the result of differing levels of maturity of the processes of rifting, generation of oceanic crust, and formation of stable oceanic transform faults. The mechanism of an earthquake on the Tres Marias Escarpment is characterized by thrust faulting and likely indicates the direction of relative motion between the Rivera and North American plates. This mechanism requires revision in plate velocity models which predict strike slip motion at this location.

Goff, John A.↗
NASA NTRS2011

Strike-Slip Fault Patterns on Europa: Obliquity or Polar Wander?

Variations in diurnal tidal stress due to Europa's eccentric orbit have been considered as the driver of strike-slip motion along pre-existing faults, but obliquity and physical libration have not been taken into account. The first objective of this work is to examine the effects of obliquity on the predicted global pattern of fault slip directions based on a tidal-tectonic formation model. Our second objective is to test the hypothesis that incorporating obliquity can reconcile theory and observations without requiring polar wander, which was previously invoked to explain the mismatch found between the slip directions of 192 faults on Europa and the global pattern predicted using the eccentricity-only model. We compute predictions for individual, observed faults at their current latitude, longitude, and azimuth with four different tidal models: eccentricity only, eccentricity plus obliquity, eccentricity plus physical libration, and a combination of all three effects. We then determine whether longitude migration, presumably due to non-synchronous rotation, is indicated in observed faults by repeating the comparisons with and without obliquity, this time also allowing longitude translation. We find that a tidal model including an obliquity of 1.2?, along with longitude migration, can predict the slip directions of all observed features in the survey. However, all but four faults can be fit with only 1? of obliquity so the value we find may represent the maximum departure from a lower time-averaged obliquity value. Adding physical libration to the obliquity model improves the accuracy of predictions at the current locations of the faults, but fails to predict the slip directions of six faults and requires additional degrees of freedom. The obliquity model with longitude migration is therefore our preferred model. Although the polar wander interpretation cannot be ruled out from these results alone, the obliquity model accounts for all observations with a value consistent with theoretical expectations and cycloid modeling.

Rhoden, Alyssa Rose↗
NASA NTRS2009

NASA Tech Briefs, December 2009

Topics include: A Deep Space Network Portable Radio Science Receiver; Detecting Phase Boundaries in Hard-Sphere Suspensions; Low-Complexity Lossless and Near-Lossless Data Compression Technique for Multispectral Imagery; Very-Long-Distance Remote Hearing and Vibrometry; Using GPS to Detect Imminent Tsunamis; Stream Flow Prediction by Remote Sensing and Genetic Programming; Pilotless Frame Synchronization Using LDPC Code Constraints; Radiometer on a Chip; Measuring Luminescence Lifetime With Help of a DSP; Modulation Based on Probability Density Functions; Ku Telemetry Modulator for Suborbital Vehicles; Photonic Links for High-Performance Arraying of Antennas; Reconfigurable, Bi-Directional Flexfet Level Shifter for Low-Power, Rad-Hard Integration; Hardware-Efficient Monitoring of I/O Signals; Video System for Viewing From a Remote or Windowless Cockpit; Spacesuit Data Display and Management System; IEEE 1394 Hub With Fault Containment; Compact, Miniature MMIC Receiver Modules for an MMIC Array Spectrograph; Waveguide Transition for Submillimeter-Wave MMICs; Magnetic-Field-Tunable Superconducting Rectifier; Bonded Invar Clip Removal Using Foil Heaters; Fabricating Radial Groove Gratings Using Projection Photolithography; Gratings Fabricated on Flat Surfaces and Reproduced on Non-Flat Substrates; Method for Measuring the Volume-Scattering Function of Water; Method of Heating a Foam-Based Catalyst Bed; Small Deflection Energy Analyzer for Energy and Angular Distributions; Polymeric Bladder for Storing Liquid Oxygen; Pyrotechnic Simulator/Stray-Voltage Detector; Inventions Utilizing Microfluidics and Colloidal Particles; RuO2 Thermometer for Ultra-Low Temperatures; Ultra-Compact, High-Resolution LADAR System for 3D Imaging; Dual-Channel Multi-Purpose Telescope; Objective Lens Optimized for Wavefront Delivery, Pupil Imaging, and Pupil Ghosting; CMOS Camera Array With Onboard Memory; Quickly Approximating the Distance Between Two Objects; Processing Images of Craters for Spacecraft Navigation; Adaptive Morphological Feature-Based Object Classifier for a Color Imaging System; Rover Slip Validation and Prediction Algorithm; Safety and Quality Training Simulator; Supply-Chain Optimization Template; Algorithm for Computing Particle/Surface Interactions; Cryogenic Pupil Alignment Test Architecture for Aberrated Pupil Images; and Thermal Transport Model for Heat Sink Design.

Source record↗
NASA NTRS1993

Plate tectonics and crustal deformation around the Japanese Islands

We analyze over a century of geodetic data to study crustal deformation and plate motion around the Japanese Islands, using the block-fault model for crustal deformation developed by Matsu'ura et al. (1986). We model the area including the Japanese Islands with 19 crustal blocks and 104 faults based on the distribution of active faults and seismicity. Geodetic data are used to obtain block motions and average slip rates of faults. This geodetic model predicts that the Pacific plate moves N deg 69 +/- 2 deg W at about 80 +/- 3 mm/yr relative to the Eurasian plate which is much lower than that predicted in geologic models. Substantial aseismic slip occurs on the subduction boundaries. The block containing the Izu Peninsula may be separated from the rigid part of the Philippine Sea plate. The faults on the coast of Japan Sea and the western part of the Median Tectonic Line have slip rates exceeding 4 mm/yr, while the Fossa Magna does not play an important role in the tectonics of the central Japan. The geodetic model requires the division of northeastern Japan, contrary to the hypothesis that northeastern Japan is a part of the North American plate. Owing to rapid convergence, the seismic risk in the Nankai trough may be larger than that of the Tokai gap.

Hashimoto, Manabu↗
NASA NTRS1981

Traction contact performance evaluation at high speeds

The results of traction tests performed on two fluids are presented. These tests covered a pressure range of 1.0 to 2.5 GPa, an inlet temperature range of 30 'C to 70 'C, a speed range of 10 to 80 m/sec, aspect ratios of .5 to 5 and spin from 0 to 2.1 percent. The test results are presented in the form of two dimensionless parameters, the initial traction slope and the maximum traction peak. With the use of a suitable rheological fluid model the actual traction curves measured can now be reconstituted from the two fluid parameters. More importantly, the knowledge of these parameters together with the fluid rheological model, allow the prediction of traction under conditions of spin, slip and any combination thereof. Comparison between theoretically predicted traction under these conditions and those measured in actual traction tests shows that this method gives good results.

Tevaarwerk, J. L.↗
NASA NTRS1989

Mechanics of distributed fault and block rotation

Paleomagnetic data, structural geology, and rock mechanics are used to explore the validity and significance of the block rotation concept. The analysis is based on data from Northern Israel, where fault slip and spacing are used to predict block rotation; the Mojave Desert, with well documented strike-slip sets; the Lake Mead, Nevada fault system with well-defined sets of strike-slip faults; and the San Gabriel Mountains domain with a multiple set of strike-slip faults. The results of the analysis indicate that block rotations can have a profound influence on the interpretation of geodetic measurments and the inversion of geodetic data. Furthermore, the block rotations and domain boundaries may be involved in creating the heterogeneities along active fault systems which may be responsible for the initiation and termination of earthquake rupture.

Nur, A.↗