Engineering topics
Publications and source records attributed to Welch, R..
This paper will provide an overview of the planned mission, and also focus on the different operations challenges inherent in operating these two very off road vehicles, and the solutions adopted to enable the best utilization of their capabilities for high science return and responsiveness to scientific discovery.
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In this paper the concept for a mobile vehicle system which performs an in situ science mission to Mars is described. This rover mission with its requirements for driving, positioning at science selected targets, and remote and in situ measurement will utilize the technologies for hazard avoidance and autonomous navigation supported by ground operation tools which use rover-based imagery for position estimation and motion planning.
This paper provides an overview of a new manipulation system developed for sampling and instrument placement from small autonomous mobile robots for Mars exploration. Selected out of the design space, two manipulators have been constructed and integrated into the Rocky 7 Mars rover prototype. This paper describes objectives and constraints for these manipulators, and presents the finished system and some results from its operation.
This paper describes the design and implementation of a small rover for future Mars missions requiring long traverses and rover-based science experiments at the Jet Propulsion Laboratory.
This paper discusses some recently published analysis of the rock distribution on Mars and its impact on the scaling of planetary rovers for Mars surface exloration.
In addition to acquiring multispectral data, the Advanced Spaceborne Thermal Emission and Reflectance Radiometer (ASTER) will also acquire along-track stereo data. ASTER is capable of acquiring 771 digital stereo pairs per day, each covering 60 x 60 km on the ground, at 15 m resolution with a base/height ratio of 0.6.
Cloud effective radii (r(sub e)) and cloud liquid water path (LWP) are derived from ISCCP spatially sampled satellite data and validated with ground-based pyranometer and microwave radiometer measurements taken on San Nicolas Island during the 1987 FIRE IFO. Values of r(sub e) derived from the ISCCP data are also compared to values retrieved by a hybrid method that uses the combination of LWP derived from microwave measurement and optical thickness derived from GOES data. The results show that there is significant variability in cloud properties over a 100 km x 80 km area and that the values at San Nicolas Island are not necessarily representative of the surrounding cloud field. On the other hand, even though there were large spatial variations in optical depth, the r(sub e) values remained relatively constant (with sigma less than or equal to 2-3 microns in most cases) in the marine stratocumulus. Furthermore, values of r(sub e) derived from the upper portion of the cloud generally are representative of the entire stratiform cloud. When LWP values are less than 100 g m(exp -2), then LWP values derived from ISCCP data agree well with those values estimated from ground-based microwave measurements. In most cases LWP differences were less than 20 g m(exp -2). However, when LWP values become large (e.g., greater than or equal to 200 g m(exp -2)), then relative differences may be as large as 50%- 100%. There are two reasons for this discrepancy in the large LWP clouds: (1) larger vertical inhomogeneities in precipitating clouds and (2) sampling errors on days of high spatial variability of cloud optical thicknesses. Variations of r(sub e) in stratiform clouds may indicate drizzle: clouds with droplet sizes larger than 15 microns appear to be associated with drizzling, while those less than 10 microns are indicative of nonprecipitating clouds. Differences in r(sub e) values between the GOES and ISCCP datasets are found to be 0.16 +/- 0.98 micron.
Robotic technology being developed for space applications such as the shuttle, space station, and planetary exploration has direct application here on earth as well.
The third symposium on Remote Sensing of Snow and Ice, organized by the International Glaciological Society, took place in Boulder, Colorado, 17-22 May 1992. As part of this meeting a total of 21 papers was presented on snow and ice applications of Advanced Very High Resolution Radiometer (AVHRR) satellite data in polar regions. Also during this meeting a NASA sponsored Workshop was held to review the status of polar surface measurements from AVHRR. In the following we have summarized the ideas and recommendations from the workshop, and the conclusions of relevant papers given during the regular symposium sessions. The seven topics discussed include cloud masking, ice surface temperature, narrow-band albedo, ice concentration, lead statistics, sea-ice motion and ice-sheet studies with specifics on applications, algorithms and accuracy, following recommendations for future improvements. In general, we can affirm the strong potential of AVHRR for studying sea ice and snow covered surfaces, and we highly recommend this satellite data set for long-term monitoring of polar process studies. However, progress is needed to reduce the uncertainty of the retrieved parameters for all of the above mentioned topics to make this data set useful for direct climate applications such as heat balance studies and others. Further, the acquisition and processing of polar AVHRR data must become better coordinated between receiving stations, data centers and funding agencies to guarantee a long-term commitment to the collection and distribution of high quality data.
It has generally been believed that the perceived intensity of a gravitational-inertial force depends on both the magnitude and orientation of the force with respect to the otolith organs, as does the elevator illusion. In this study, we examine the perceived intensity of Gz force and the elevator illusion as a function of the applied force and the orientation of the subject's head. Methods: Each of 7 male subjects was seated upright in a swinging chair mounted in the Ames 20-G Human Centrifuge while he set a visual target to his apparent horizon and judged the perceived intensity of Gz forces by cross-modal matches on a hand dynamometer. Plateau Gz levels were 1.00 1.25, 1.50, 2.00, 2.25, and 2.50; a 30 second ramp to plateau was used in all cases, and the duration of exposure at each plateau was 120 seconds. All measures were obtained both with the subject's head erect and pitched forward 30 degrees. Results: Although the elevator illusion changed with head orientation (F(6,60) = 7.56; p less than 0.001) the perceived intensity of Gz was essentially the same for both orientations of the head (F (6,60) = 0.61; p greater than 50). Conclusions: The results of this experiment suggest that the perceived intensity of gravitational-inertial force does not depend on otolith mechanisms in the same way as does the elevator illusion and that somesthetic, tactile, and other proprioceptive inputs are important for the psychophysical function.
Concern about the future of tropical forests has led to a demand for geocoded multisensor databases that can be used to assess forest structure, deforestation, thermal response, evapotranspiration, and other parameters linked to climate change. In response to studies being conducted at the Braulino Carrillo National Park, Costa Rica, digital satellite and aircraft images recorded by Landsat TM, SPOT HRV, Thermal Infrared Multispectral Scanner, and Calibrated Airborne Multispectral Scanner sensors were placed in register using the Landsat TM image as the reference map. Despite problems caused by relief, multitemporal datasets, and geometric distortions in the aircraft images, registration was accomplished to within + or - 20 m (+ or - 1 data pixel). A digital elevation model constructed from a multisensor Landsat TM/SPOT stereopair proved useful for generating perspective views of the rugged, forested terrain.
A digital cartographic multisensor image database of excellent geometry and improved resolution was created by registering SIR-B images to a rectified Landsat TM reference image and applying intensity-hue-saturation enhancement techniques. When evaluated against geodetic control, RMSE(XY) values of approximately + or - 20 m were noted for the composite SIR-B/TM images. The completeness of cartographic features extracted from the composite images exceeded those obtained from separate SIR-B and TM image data sets by approximately 10 and 25 percent, respectively, indicating that the composite images may prove suitable for planimetric mapping at a scale of 1:100,000 or smaller. At present, the most effective method for extracting cartographic information involves digitizing features directly from the image processing display screen.
A digital elevation model (DEM) developed from Landsat TM images of a rugged terrain area in north Georgia by automated stereocorrelation techniques yielded an rms error (z), RMSE(z), value of + or - 42 m. Based on the B/H ratio of 0.18 for the Landsat data, this Z-error corresponds to a planimetric correlation accuracy of about + or - 0.3 pixels, confirming that precise correlation can be achieved with operational satellite data. Contours at a 100-m interval interpolated from the DEM show a deviation of + or - 33 m from reference contours obtained from existing 1:24,000-scale maps. The 28.5-m pixel resolution and the weak B/H ratio impose limitations on the accuracy that can be achieved with Landsat TM data. However, it is anticipated that RMSE(z) values of + or - 10 m or less can be achieved with SPOT-1 panchromatic stereo images of 10-m resolution recorded at B/H ratios of 0.5 to 1.0. DEMs generated by stereocorrelation techniques can be used to create orthoimages, perspective views, and topographic map products.
A reply is made on behalf of the authors of Wiscombe et al. (1984) to comments of Hegg (1986) to the effect that the optically effective cloud drop radius r(eff) values used by Wiscombe are shown by more recent data to be underestimated. It is presently noted that cloud radiation studies have often not just used comparably small r(eff) values, but ignored large drops in calculations altogether, on the grounds that large drops must fall out of clouds very rapidly. Attention is given to total shortwave absorptivity, spectral albedo, and IR cooling rate near cloud tops.
A Landsat Image Data Quality Analysis (LIDQA) Program is conducted by NASA. One part of this program forms studies which are being performed with the objective to evaluate the geometric fidelity of Landsat-4 and Landsat-5 Thematic Mapper (TM) data in computer tape (CCT-pt) formats. It is pointed out that the Landsat-4 and Landsat-5 systems provide image data of significantly better geometric fidelity than were obtained from the earlier Landsat missions. Attention is given to the factors which influence the geometric fidelity of the Landsat TM data, the study areas and data sets, the rectification procedures, the rectification of Landsat-4 TM data and comparisons of the Scrounge and the TM Image Processing System (TIPS), the rectification of system and scene corrected Landsat-5 data processed on TIPS, and the cartographic potential of TM data.
In late 1985, the SPOT (Systeme Probatoire d'Observation de la Terre) satellite is to be launched by the Ariane rocket from French Guiana. This satellite will have two High Resolution Visible (HRV) line array sensor systems which are capable of providing monoscopic and stereoscopic coverage of the earth. Cartographic applications are related to the recording of stereo image data and the acquisition of 20-m data in a multispectral mode. One of the objectives of this study involves a comparison of the suitability of SPOT and TM image data for mapping urban land use/cover. Another objective is concerned with a preliminary assessment of the potential of SPOT image data for map revision when merged with conventional map sheets converted to raster formats.
Analyses of the LANDSAT-4 MSS image data of North Georgia provided by the EDC in CTT-p formats reveal that errors of approximately + or - 30 m in the raw data can be reduced to about + or - 55 m based on rectification procedures involving the use of 20 to 30 well-distributed GCPs and 2nd or 3rd degree polynomial equations. Higher order polynomials do not appear to improve the rectification accuracy. A subscene area of 256 by 256 pixels was rectified with a 1st degree polynomial to yield an RMSE sub xy value of + or - 40 m, indicating that USGS 1:24,000 scale quadrangle-sized areas of LANDSAT-4 data can be fitted to a map base with relatively few control points and simple equations. The errors in the rectification process are caused by the spatial resolution of the MSS data, by errors in the maps and GCP digitizing process, and by displacements caused by terrain relief. Overall, due to the improved pointing and attitude control of the spacecraft, the geometric quality of the LANDSAT-4 MSS data appears much improved over that of LANDSAT-1, -2 AND -3.