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NASA NTRS2011

Hazard Detection Software for Lunar Landing

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is developing a system for safe and precise manned lunar landing that involves novel sensors, but also specific algorithms. ALHAT has selected imaging LIDAR (light detection and ranging) as the sensing modality for onboard hazard detection because imaging LIDARs can rapidly generate direct measurements of the lunar surface elevation from high altitude. Then, starting with the LIDAR-based Hazard Detection and Avoidance (HDA) algorithm developed for Mars Landing, JPL has developed a mature set of HDA software for the manned lunar landing problem. Landing hazards exist everywhere on the Moon, and many of the more desirable landing sites are near the most hazardous terrain, so HDA is needed to autonomously and safely land payloads over much of the lunar surface. The HDA requirements used in the ALHAT project are to detect hazards that are 0.3 m tall or higher and slopes that are 5 or greater. Steep slopes, rocks, cliffs, and gullies are all hazards for landing and, by computing the local slope and roughness in an elevation map, all of these hazards can be detected. The algorithm in this innovation is used to measure slope and roughness hazards. In addition to detecting these hazards, the HDA capability also is able to find a safe landing site free of these hazards for a lunar lander with diameter .15 m over most of the lunar surface. This software includes an implementation of the HDA algorithm, software for generating simulated lunar terrain maps for testing, hazard detection performance analysis tools, and associated documentation. The HDA software has been deployed to Langley Research Center and integrated into the POST II Monte Carlo simulation environment. The high-fidelity Monte Carlo simulations determine the required ground spacing between LIDAR samples (ground sample distances) and the noise on the LIDAR range measurement. This simulation has also been used to determine the effect of viewing on hazard detection performance. The software has also been deployed to Johnson Space Center and integrated into the ALHAT real-time Hardware-in-the-Loop testbed.

Huertas, Andres↗
NASA NTRSDate not supplied

Identification of Risks to Eva Created By Ambient Lighting Conditions at the Lunar South Pole

In the coming years, NASA’s Artemis Campaign intends to return humans to the Moon, both to explore and to establish a permanent human presence. The targeted landing and habitation sites are near the Lunar South Pole (LSP). Compared to the middle latitudes where the Apollo landings occurred, the sun at the LSP is consistently low in the sky, creating a much more challenging visual experience. The NASA Engineering & Safety Center (NESC) is working to characterize the extremes in ambient illumination that astronauts will encounter at the LSP, and to help programs characterize the lighting systems and glare protection that will be required to conduct safe surface operations. This paper will describe the LSP natural environments, and efforts to simulate that visual experience. It will also explain the risks derived from the lighting environment for the mission goals currently planned, and the kinds of new capabilities both in simulation techniques and in surface equipment that will be required to support those mission goals.

Identification of Risks↗
NASA NTRSDate not supplied

Power Beaming from Lunar Orbit for Small Science Landers

A proposal for future small science mission to the moon envisions a network of small landers spread across the lunar surface, at latitudes ranging from equatorial to near polar landing sites. To provide power across the lunar nighttime, when solar power is not available, we analyze a proposal to power such small landers from orbit, using a laser to direct power from an orbital power station to photovoltaic arrays on the landers that are tuned to the laser wavelength. The approach is seen to be feasible, and conops for the system were outlined and a design for the spacecraft put together. To provide power to landers at any location, three orbital stations are required, each carrying a 3-kW laser.

Power Beaming↗
NASA NTRS2008

Apollo Video Photogrammetry Estimation of Plume Impingement Effects

Each of the six Apollo mission landers touched down at unique sites on the lunar surface. Aside from the Apollo 12 landing site located 180 meters from the Surveyor III lander, plume impingement effects on ground hardware during the landings were largely not an issue. The Constellation Project's planned return to the moon requires numerous landings at the same site. Since the top few centimeters are loosely packed regolith, plume impingement from the lander ejects the granular material at high velocities. With high vacuum conditions on the moon (10 (exp -14) to 10 (epx -12) torr), motion of all particles is completely ballistic. Estimates from damage to the Surveyor III show that the ejected regolith particles to be anywhere 400 m/s to 2500 m/s. It is imperative to understand the physics of plume impingement to safely design landing sites for the Constellation Program.

Immer, Christopher↗
NASA NTRS1972

High resolution measures of polarization and color of selected lunar areas

High resolution observations of intensity, color (UBV) and polarization were obtained with scanning techniques for a number of lunar areas of special interest, including boundaries of some of the brightest and darkest lunar regions, certain Apollo landing sites and prominent craters. Two dimensional raster scans of colors were obtained for Alphonsus, Aristarchus, and Herodotus. The degree of polarization for any given phase angle appears to be roughly indicative of age. The darker younger mare surface are more highly polarized than the lighter and older mare surfaces, which appear to be more contaminated by lighter material from the highlands or by ray material thrown out from fresh craters. All mare surfaces are more highly polarized than the still older and lighter terra regions surrounding the maria. The very oldest craters are either dark-floored and show polarization characteristics similar to those of the mare surfaces, or if located in the highlands, they are less and less distinguishable from the highland background with greater age, and show the general highland polarization characteristics.

Riley, L. A.↗
NASA NTRS2008

New Insights into the Composition and Texture of Lunar Regolith Using Ultrafast Automated Electron-Beam Analysis

Sieved grain mounts of Apollo 16 drive tube samples have been examined using QEMSCAN - an innovative electron beam technology. By combining multiple energy-dispersive X-ray detectors, fully automated control, and off-line image processing, to produce digital mineral maps of particles exposed on polished surfaces, the result is an unprecedented quantity of mineralogical and petrographic data, on a particle-by-particle basis. Experimental analysis of four size fractions (500-250 microns, 150-90 microns, 75-45 microns and < 20 microns), prepared from two samples (64002,374 and 64002,262), has produced a robust and uniform dataset which allows for the quantification of mineralogy; texture; particle shape, size and density; and the digital classification of distinct particle types in each measured sample. These preliminary data show that there is a decrease in plagioclase modal content and an opposing increase in glass modal content, with decreasing particle size. These findings, together with data on trace phases (metals, sulphides, phosphates, and oxides), provide not only new insights into the make-up of lunar regolith at the Apollo 16 landing site, but also key physical parameters which can be used to design lunar simulants, and compute Figures of Merit for each material produced.

Rickman, Doug↗
NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, guide the Morpheus autonomous, rocket-propelled, free-flying test bed to a safe landing on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging flash lidar is a second generation, compact, real-time, air-cooled instrument developed from a number of cutting-edge components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The flash lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision at 1 sigma. The flash lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Doppler Lidar system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The Doppler Lidar's measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter, also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the flash lidar, can provide range along a separate vector. The Laser Altimeter measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the lidar suite and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. The flash lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide, however, it was occasionally susceptible to an increase in range noise due to heated air from the Morpheus rocket plume which entered its Field-of-View (FOV). The flash lidar was also susceptible to pre-triggering on dust during the HRN phase which was created during launch and transported by the wind. The Doppler Lidar provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The Laser Altimeter, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, Vincent E.↗
NASA NTRS2015

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, help to guide the Morpheus autonomous, rocket-propelled, free-flying lander to that safe site on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging Flash Lidar is a second generation, compact, real-time, aircooled instrument developed from a number of components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The Flash Lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision (1-s). The Flash Lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Navigation Doppler Lidar (NDL) system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The NDLâ€"TM"s measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter (LA), also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the Flash Lidar, can provide range along a separate vector. The LA measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the ALHAT system and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. Guidance provided by the ALHAT system was impeded in portions of the trajectory and intermittent near the end of the trajectory due to optical effects arising from air heated by the rocket engine. The Flash Lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide; however, it was occasionally susceptible to an increase in range noise due to scintillation arising from air heated by the Morpheus rocket engine which entered its Field-of-View (FOV). The Flash Lidar was also susceptible to pre-triggering, during the HRN phase, on a dust cloud created during launch and transported down-range by the wind. The NDL provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The LA, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, V. Eric↗
NASA NTRS2008

Transient Thermal Model and Analysis of the Lunar Surface and Regolith for Cryogenic Fluid Storage

A transient thermal model of the lunar surface and regolith was developed along with analytical techniques which will be used to evaluate the storage of cryogenic fluids at equatorial and polar landing sites. The model can provide lunar surface and subsurface temperatures as a function of latitude and time throughout the lunar cycle and season. It also accounts for the presence of or lack of the undisturbed fluff layer on the lunar surface. The model was validated with Apollo 15 and Clementine data and shows good agreement with other analytical models.

Christie, Robert J.↗
NASA NTRS1973

Elastic wave velocities in anorthosite and anorthositic gabbros from Apollo 15 and 16 landing sites

Laboratory measurements of ultrasonic velocities in lunar samples 15065, 15555, 15415, 60015, and 61016 as well as in synthetic materials corresponding to compositions of anorthositic gabbros are presented as a function of hydrostatic pressure to about 7 kb. The author examined the seismic velocity distributions in the moon with reference to the variations to be expected in a homogeneous medium. The lunar mantle begins about 60 km, and the velocity of P waves in this area is about 7.7 km/sec. Variation of the seismic parameter with depth in the upper crust (about 20 km thick) is much too rapid to be explained by compression of a uniform material and the departure from expectation is so great that no reasonable adjustment of the material parameters can bring agreement; therefore, this author concludes that this result in this region of the moon is not due to self-compression but to textural gradients. In the lower crust (about 40 km thick), the region is shown to be relatively homogeneous, consisting probably of anorthositic rocks.

Chung, D. H.↗
NASA NTRS1975

Cosmic ray exposure ages of features and events at the Apollo landing sites

Cosmic-ray exposure ages of lunar samples have been used to date surface features related to impact cratering and downslope movement of material. Only when multiple samples related to a feature have the same rare-gas exposure age or when a single sample has the same Kr-81 -Kr and track-exposure age can a feature be considered as reliably dated. Based on these criteria, there are only five well-dated lunar features: Cone Crater (Apollo 14), 26 m.y,; North Ray Crater (Apollo 16), 50 m.y.; South Ray Crater (Apollo 16), 2 m.y.; the emplacement of the Station 6 boulders (Apollo 17), 22 m.y.; and the emplacement of the Station 7 boulder (Apollo 17), 28 m.y. Other features are tentatively dated or have limits set on their ages: Bench Crater (Apollo 12), upper limit of 99 m.y.; Baby Ray Crater (Apollo 16), upper limit of 2 m.y.; Shorty Crater (Apollo 17), approximately 30 m.y.; Camelot Crater (Apollo 17) upper limit of 140 m.y.; the emplacement of the Station 2 boulder 1 (Apollo 17), 45 to 55 m.y.; and the slide which generated the light mantle (Apollo 17), lower limit of 50 m.y.

Arvidson, R.↗
NASA NTRS2012

High Angular Resolution Imaging of Solar Radio Bursts from the Lunar Surface

Locating low frequency radio observatories on the lunar surface has a number of advantages, including positional stability and a very low ionospheric radio cutoff. Here, we describe the Radio Observatory on the lunar Surface for Solar studies (ROLSS), a concept for a low frequency, radio imaging interferometric array designed to study particle acceleration in the corona and inner heliosphere. ROLSS would be deployed during an early lunar sortie or by a robotic rover as part of an unmanned landing. The preferred site is on the lunar near side to simplify the data downlink to Earth. The prime science mission is to image type II and type III solar radio bursts with the aim of determining the sites at and mechanisms by which the radiating particles are accelerated. Secondary science goals include constraining the density of the lunar ionosphere by measuring the low radio frequency cutoff of the solar radio emissions or background galactic radio emission, measuring the flux, particle mass, and arrival direction of interplanetary and interstellar dust, and constraining the low energy electron population in astrophysical sources. Furthermore, ROLSS serves a pathfinder function for larger lunar radio arrays. Key design requirements on ROLSS include the operational frequency and angular resolution. The electron densities in the solar corona and inner heliosphere are such that the relevant emission occurs below 10 M Hz, essentially unobservable from Earth's surface due to the terrestrial ionospheric cutoff. Resolving the potential sites of particle acceleration requires an instrument with an angular resolution of at least 2 deg at 10 MHz, equivalent to a linear array size of approximately one kilometer. The major components of the ROLSS array are 3 antenna arms, each of 500 m length, arranged in a Y formation, with a central electronics package (CEP) at their intersection. Each antenna arm is a linear strip of polyimide film (e.g., Kapton(TradeMark)) on which 16 single polarization dipole antennas are located by depositing a conductor (e.g., silver). The arms also contain transmission lines for carrying the radio signals from the science antennas to the CEP. Operations would consist of data acquisition during the lunar day, with data downlinks to Earth one or more times every 24 hours.

MacDowall, Robert J.↗
NASA NTRS2008

Apollo Video Photogrammetry Estimation Of Plume Impingement Effects

The Constellation Project's planned return to the moon requires numerous landings at the same site. Since the top few centimeters are loosely packed regolith, plume impingement from the Lander ejects the granular material at high velocities. Much work is needed to understand the physics of plume impingement during landing in order to protect hardware surrounding the landing sites. While mostly qualitative in nature, the Apollo Lunar Module landing videos can provide a wealth of quantitative information using modem photogrammetry techniques. The authors have used the digitized videos to quantify plume impingement effects of the landing exhaust on the lunar surface. The dust ejection angle from the plume is estimated at 1-3 degrees. The lofted particle density is estimated at 10(exp 8)- 10(exp 13) particles per cubic meter. Additionally, evidence for ejection of large 10-15 cm sized objects and a dependence of ejection angle on thrust are presented. Further work is ongoing to continue quantitative analysis of the landing videos.

Immer, Christopher↗