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NASA NTRS1984

Global Observations and Understanding of the General Circulation of the Oceans

The workshop was organized to: (1) assess the ability to obtain ocean data on a global scale that could profoundly change our understanding of the circulation; (2) identify the primary and secondary elements needed to conduct a World Ocean Circulation Experiment (WOCE); (3) if the ability is achievable, to determine what the U.S. role in such an experiment should be; and (4) outline the steps necessary to assure that an appropriate program is conducted. The consensus of the workshop was that a World Ocean Circulation Experiment appears feasible, worthwhile, and timely. Participants did agree that such a program should have the overall goal of understanding the general circulation of the global ocean well enough to be able to predict ocean response and feedback to long-term changes in the atmosphere. The overall goal, specific objectives, and recommendations for next steps in planning such an experiment are included.

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NASA NTRSDate not supplied

OceanWATERS Lander Robotic Arm Operation

Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) is an open-source simulator for developing onboard autonomy software for robotic exploration of ocean worlds, such as Europa, Enceladus, and Titan, built on the Robot Operating System (ROS) and Gazebo simulation environment. Inevitable ground communication delays increase demand for a high degree of autonomy during excavation, collection and transfer of samples to scientific instruments for in-situ analysis. This paper offers a detailed discussion of the robotic arm design and operation for such autonomous surface exploration, taking as reference the Europa Lander mission. The lander arm, which is designed primarily to acquire icy surface and subsurface samples within the arm’s workspace, is a 6-degree-of-freedom manipulator with two end effectors: a sample excavation tool and a trenching end-effector. The robotic arm’s modes and operations can be summarized as follows: stowed arm, intended as the lander arm default configuration characterized by zero-power consumption; un-stowed arm, target arm configuration after its first deployment; selection and deployment of the end-effector to use next; guarded move, to detect ground level at the desired trenching location; drill ice using the grinder; dig trench at a particular location using the scoop; deliver sample to the sample transfer dock; discard redundant samples. The motion planning tool used for the lander arm is MoveIt, a ROS package. MoveIt uses sampling-based planning and collision checking libraries to determine safe paths. The Rapidly Exploring Random Trees* (RRT*) has been chosen as default planning algorithm as it provides optimal plans with an exponential speed and is guaranteed to find a solution, if feasible solutions exist. Furthermore, this work quantifies and discusses the energy requirements for excavating and collecting samples. In OceanWATERS, force feedback from the terrain, which influences the arm dynamics, is modelled using a discrete element method (DEM) simulation. The DEM and Gazebo software run in parallel and communicate through a co-simulation plugin. This paper presents an analysis and comparison of three DEM open source software (YADE, ESyS-Particle, Project Chrono) for implementation in OceanWATERS and motivates the choice of YADE as most suitable candidate.

Damiana Catanoso↗

NASA NTRS2020

Demonstration of Autonomous Nested Search for Local Maxima using an Unmanned Underwater Vehicle, ICRA Submission

Ocean Worlds represent one of the best chances for extra-terrestrial life in our solar system. A new mission concept must be developed to explore these oceans. This mission would require traversing the 10s of km thick icy shell and releasing a submersible into the ocean below. During the transit of the icy shell and the exploration of the ocean, the vehicle(s) would be out of contact with Earth for weeks or potentially months at a time. During this time the vehicle must have sufficient autonomy to locate and study scientific targets of interest. One such target of interest is hydrothermal venting. We have previously developed an autonomous nested search method to locate and investigate sources of hydrothermal venting by locating local maxima in hydrothermal vent emissions. In this work we demonstrate this approach on board an OceanServer Iver2 AUV in Chesapeake Bay, MD using simulated sensor data from a hydrothermal plume model. This represents the first step towards the deployment of this approach in conditions analogous to those that we might expect on an Ocean World.

Branch, Andrew↗

NASA NTRS2020

Evaluation of AUV Search Strategies for the Localization of Hydrothermal Venting

Ocean Worlds represent one of the best chances for the dis- covery of extra-terrestrial life within our own solar system, particularly near sources of hydrothermal venting. To study the oceans on Ocean Worlds will require a new type of mis- sion to penetrate the icy shell, deploy an autonomous under- water vehicle (AUV), and travel potentially hundreds of kilo- both inspired by (Burian et al. 1996). We have improved a meters with minimal contact to Earth based operations teams. previously-developed nested search strategy (Branch et al. To maximize the science return, the AUV would need to be capable of fully autonomously locating and studying scien- tific features of interest. We have developed two strategies to locate sources of hydrothermal venting: a gradient ascent strategy and a greedy transect search strategy. We have im- proved a previously-implemented nested search strategy by adding a vertical search component. Each strategy is tested in a hydrothermal plume dispersion simulation. We compare the effectiveness of each method in this environment.

Seewald, Jeffrey S.↗

NASA NTRS2020

Golden Section Search for Single Beacon Homing

Exploration of Ocean Worlds requires a new type of mission to be developed, an ice penetrating submersible vehicle. Such a mission would present a number of new challenges, including long range autonomous under ice navigation. We have developed a method based on Golden Section Search for an AUV to home to a base station with a single range-only acoustic beacon and no absolute heading measurement capabilities. We demonstrate this method in simulation to home from 10km away to within 1km. Such capabilities would be required for a submersible to explore any substantial portion of the oceans on these Ocean Worlds.

Chien, Steve↗

NASA NTRS1992

Data availability and data archeology from the former Soviet Union

Acquisition of data on the ocean is believed to start in 1872, when the Royal Navy ship 'Challenger' performed oceanographic stations in its round-world voyage (1872-1876). The first oceanographic studies of the World Ocean refer to the 80s second half of the 19th century. During its round-world expedition 'Vityaz' (1886-1889) headed by S.O. Markov, performed hydrological measurements in the Baltic Sea, Atlantic and Pacific Oceans. According to information available the regular expedition observations (prototype of future complex international program on the ocean research) started in the second half of 80s last century under the auspice of Kiev commission for exploration of German Seas. Systematic hydrological observations were organized by Hydrographic Department of Russia in 1876-1879 according to the program similar to the Kiev one and observations were regularly made by ships of custom service over the Russian area of the Baltic Sea. The increasing demands in oceanographic data contributed to considerable progress in exploration of the World Ocean during current century whole tendency to increase and become more significant has been observed for the last 30-40 years. Most probably various expeditions which were carried out during International Geophysical Year in different regions of the World Ocean are to be reference point in performing intensive oceanographic observations of Marine environment. In the former USSR oceanographic observations are made by research and hydrographic vessels, commercial and fishery ships as well as oil production platforms, coastal hydrometeorological station and other observing platforms. Oceanographic observations data, available from main sources of information on the ocean-research vessels, are also considered in the report.

Sychev, Yuri↗

NASA NTRS2019

Cold Survivable Distributed Motor Controller (CSDMC)

This paper presents the results of NASA’s COLDTECH development entitled “Cold Survivable Distributed Motor Controller (CSDMC)”. This work addresses the need to lower the mass, power and volume of the motor control electronics and its associated cabling. Landed payload mass of ocean world missions typically requires a spacecraft launch mass of 7-10x the landed mass due to the required propellant to get the payload to the surface. Reduction of landed mass leads to cheaper, more frequent missions and/or increased science return. This work addresses this need by developing a distributed electronics architecture, which places control and power electronics near or at actuators and instruments. The outcome of this effort will result in a 10X reduction in harness mass, enabling a significant increase in science payload which then enables more capable sample acquisition, delivery and analysis systems on these missions. Placing the control and power conversion electronics at or near the actuators or instruments is the cornerstone of our distributed architecture. To do this, we developed the technology necessary to distribute the electronics and place them on a shared interface and power bus. This enables a significant reduction in cable mass along with its associated complexity. This allows spacecraft designers to take advantage of volume at the extremities that would normally not be utilized. In this paper we discuss the technologies and system design to achieve these goals in support of ocean world missions. These technologies include the development of our motor control modules, a point of load regulator and isolated converter modules along with the packaging technology necessary to allow our electronics to survive the extreme temperatures.

Stell, Chris↗

NASA NTRS2021

Assessing Ceres’ Past and Current Habitability

Dwarf planet Ceres is a compelling target as an evolved ocean world with, at least, regional brine reservoirs and potentially ongoing geological activity. Situated in the Main Belt of asteroids, Ceres is the most water-rich body in the inner solar system (in relative abundance) and is accessible enough for a sample return with the resources of a typical medium-class (New Frontiers) NASA mission. NASA’s Dawn mission at Ceres revealed the presence of liquid, brine-driven activity, organic matter, and a rich salt chemistry. With this evidence, the overarching goals of the mission concept presented herein are to quantify Ceres’ current habitability potential and origin. A sample return from young evaporite deposits in Occator crater offers greater science return than an in situ exploration mission by enabling high-resolution analysis of (1) organic matter expected from terrestrial and chondritic analogs that are trapped in salt minerals and (2) isotopes of refractory elements for a similar cost and less science risk. The sample return concept would be executed with a single flight system due to Ceres’ relative proximity to Earth and low gravity. Solar electric propulsion was identified as the most cost-effective approach for getting to Ceres and back. De-orbiting, landing, and takeoff are performed with a throttleable monopropellant hydrazine system. The solar arrays are stowed prior to landing and takeoff. Sample acquisition builds on the pneumatic system designed by Honeybee Robotics. The sample return mission concept relies on the availability of key technologies: an enhanced landing vision system leveraging investments from Mars 2020; retractable/redeployable solar arrays, which have been demonstrated on the International Space Station but not at Ceres’ gravity; and an emerging design from upcoming missions for sample transfer from the pneumatic sampling system to the sample return capsule. Return of a sample of mass ~100 g from Ceres, maintained at ≤ -20°C, is without precedent for any currently advocated Ocean World mission, enabling a vast range of experimental techniques back on Earth with sensitivities and accuracies far beyond those feasible with in situ instruments. A sample of this size also enables analyses to benefit from techniques that will become available in the future.

Casillas, Raul Polit↗

NASA NTRS1993

Normal modes of the world's oceans: A numerical investigation using Proudman functions

The numerical modeling of the normal modes of the global oceans is addressed. The results of such modeling could be expected to serve as a guide in the analysis of observations and measurements intended to detect these modes. The numerical computation of normal modes of the global oceans is a field in which several investigations have obtained results during the past 15 years. The results seem to be model-dependent to an unsatisfactory extent. Some modeling areas, such as higher resolution of the bathymetry, inclusion of self-attraction and loading, the role of the Arctic Ocean, and systematic testing by means of diagnostic models are addressed. The results show that the present state of the art is such that a final solution to the normal mode problem still lies in the future. The numerical experiments show where some of the difficulties are and give some insight as to how to proceed in the future.

Sanchez, Braulio V.↗

NASA NTRS1994

Observations of the Earth's Radiation Budget in relation to atmospheric hydrology. 4: Atmospheric column radiative cooling over the world's oceans

This paper introduces a simple method for deriving climatological values of the longwave flux emitted from the clear sky atmosphere to the ice-free ocean surface. It is shown using both theory and data from simulations how the ratio of the surface to top-of-atmosphere (TOA) flux is a simple function of water vapor (W) and a validation of the simple relationship is presented based on a limited set of surface flux measurements. The rms difference between the retrieved surface fluxes and the simulated surface fluxes is approximately 6 W/sq m. The clear sky column cooling rate of the atmosphere is derived from the Earth Radiation Budget Experiment (ERBE) values of the clear sky TOA flux and the surface flux retrieved using Special Scanning Microwave Imager (SSM/I) measurements of w together with ERBE clear sky fluxes. The relationship between this column cooling rate, w, and the sea surface temperature (SST) is explored and it is shown how the cooling rate systematically increases as both w and SST increase. The uncertainty implied in these estmates of cooling are approximately +/- 0.2 K/d. The effects of clouds on this longwave cooling are also explored by placing bounds on the possible impact of clouds on the column cooling rate based on certain assumptions about the effect of clouds on the longwave flux to the surface. It is shown how the longwave effects of clouds in a moist atmosphere where the column water vapor exceeds approximately 30 kg/sq m may be estimated from presently available satellite data with an uncertainty estimated to be approximately 0.2 K/d. Based on an approach described in this paper, we show how clouds in these relatively moist regions decrease the column cooling by almost 50% of the clear sky values and the existence of significant longitudinal gradients in column radiative heating across the equatorial and subtropical Pacific Ocean.

Stephens, Graeme L.↗

NASA NTRS2011

Are the World's Oceans Optically Different?

Regional differences in the Sea-viewing Wide Field-of-view Sensor chlorophyll algorithm uncertainty were observed in a large global data set containing coincident in situ measurements of chlorophyll a concentration (Chla) and spectral radiometry. The uncertainty was found to be systematic when the data were sorted by ocean: Atlantic, Pacific, Southern, and Indian Oceans. Artifacts associated with different instrumentation and analytical methods had been previously ruled out. Given these oceanic biases in the chlorophyll algorithm, we hypothesized that the oceans may be optically different, and their optical differences may be intrinsically related to regional differences in phytoplankton community structure or biogeochemical processes. The oceanic biases, originally observed using radiometric measurements, were independently verified using total absorption measurements in a subset of the data. Moreover, they were explained through oceanic differences in the absorption of colored detrital matter (CDM) and phytoplankton. Both effects were considered together in explaining the ocean biases through a stepwise linear regression analysis. Significant oceanic differences in the amount of CDM and in phytoplankton cell sizes and pigmentation would give rise to optical differences, but we raise a concern for the spatial coverage of the data. We do not suggest the application of ocean-based algorithms but rather emphasize the importance of consolidating regional data sets before reaching this conclusion.

Szeto, M.↗

NASA NTRSDate not supplied

Construction and Uncertainty Estimation of a Satellite‐Derived Total Precipitable Water Data Record Over the World's Oceans

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Carl A. Mears↗

NASA NTRS1984

Possible Sea Ice Impacts on Oceanic Deep Convection

Many regions of the world ocean known or suspected to have deep convection are sea-ice covered for at least a portion of the annual cycle. As this suggests that sea ice might have some impact on generating or maintaining this phenomenon, several mechanisms by which sea ice could exert an influence are presented in the following paragraphs. Sea ice formation could be a direct causal factor in deep convection by providing the surface density increase necessary to initiate the convective overturning. As sea ice forms, either by ice accretion or by in situ ice formation in open water or in lead areas between ice floes, salt is rejected to the underlying water. This increases the water salinity, thereby increasing water density in the mixed layer under the ice. A sufficient increase in density will lead to mixing with deeper waters, and perhaps to deep convection or even bottom water formation. Observations are needed to establish whether this process is actually occurring; it is most likely in regions with extensive ice formation and a relatively unstable oceanic density structure.

Parkinson, C. L.↗

NASA NTRS2018

A Technology Architecture for Accessing the Oceans of Icy Worlds

The icy moon oceans beckon with ingredients that potentially may harbour extant life. Beginning with the Galileo and Cassini missions, measurements have revealed the presence of global oceans under the icy crust of several moons of Jupiter and Saturn. Among those moons, Europa and Enceladus have their ocean in contact with the rocky core, providing an environment similar to the conditions existing on the terrestrial sea-floor where life has developed at hydrothermal vents Accessing these oceans presents considerable difficulty due to a number of issues including the depth and composition of the icy crust, the time needed to travel through the crust, the power needed to propel a probe, communication of scientific and engineering data though the ice and back to Earth, entry and mobility in the ocean and autonomous operations for the life of the mission. A detailed trade space study was conducted to develop a technology architecture defining a system that would access an icy moon’s ocean. To specifically bound the architecture, Jupiter’s moon Europa was chosen as the target body though the work can apply to other bodies. The current understanding of the scientific properties of the ice crust and ocean was used to guide the development. A strawman scientific payload was devised to further develop a baseline set of requirements. Beginning with a launch and trajectory that can bring a system to Europa’s orbit, a complete trade space was developed outlining the engineering systems needed to access the ocean. The architecture was divided into specific phases for i) deorbit, descent and landing, ii) surface operations, iii) ice descent and iv) ocean access. The technical maturity of each of sub-system for the phases was assessed for systems that could be developed to a maturity ready for a preliminary design in less than ten years. Integrated system parameters on power, communication capacity, and mass were developed to further define the overall system. To constrain the design, a total time in the ice, from the ice crust surface to accessing the ocean was limited to three years, and 15Km of ice was baselined with a temperature profile through the ice estimated from the scientific literature.

Sengupta, Anita↗

NASA NTRS2019

A technology architecture for accessing the oceans of icy worlds

Smith, Miles↗

NASA NTRS1995

Development of improved space sampling strategies for ocean chemical properties: Total carbon dioxide and dissolved nitrate

Large-scale ocean observing programs such as the Joint Global Ocean Flux Study (JGOFS) and the World Ocean Circulation Experiment (WOCE) today, must face the problem of designing an adequate sampling strategy. For ocean chemical variables, the goals and observing technologies are quite different from ocean physical variables (temperature, salinity, pressure). We have recently acquired data on the ocean CO2 properties on WOCE cruises P16c and P17c that are sufficiently dense to test for sampling redundancy. We use linear and quadratic interpolation methods on the sampled field to investigate what is the minimum number of samples required to define the deep ocean total inorganic carbon (TCO2) field within the limits of experimental accuracy (+/- 4 micromol/kg). Within the limits of current measurements, these lines were oversampled in the deep ocean. Should the precision of the measurement be improved, then a denser sampling pattern may be desirable in the future. This approach rationalizes the efficient use of resources for field work and for estimating gridded (TCO2) fields needed to constrain geochemical models.

Goyet, Catherine↗

NASA NTRS1992

TOPEX/POSEIDON joint verification plan

TOPEX/POSEIDON is a satellite mission that will use altimetry to make precise measurements of sea level with the primary goal of studying global ocean circulation. The mission is jointly conducted by the United States' National Aeronautics and Space Administration (NASA) and the French space agency, Centre National d'Etudes Spatiales (CNES). The current plans call for a launch of the satellite in August 1992. The primary mission will last 3 years, and provisions were made to extend the mission for an additional 2 years. The mission was coordinated with a number of international oceanographic and meteorological programs, including the World Ocean Circulation Experiment and the Tropical Ocean and Global Atmosphere Program, both of which are sponsored by the World Climate Research Program. The observations of TOPEX/POSEIDON are timed to provide a global perspective for interpreting the in situ measurements collected by these programs and in turn will be combined with observations of other satellites to achieve a global, four-dimensional description of the circulation of the world's oceans. In the autumn of 1987, an international team of 38 Principal Investigators was selected to participate in the mission. These scientists have been working closely with the TOPEX/POSEIDON Project to refine the mission design and science plans. During the first 6 months after launch, a number of these investigators will join with the project to conduct a wide range of oceanographic and geophysical investigations using the TOPEX/POSEIDON data. The purpose of these investigations is to demonstrate the scientific utility of the mission to the international scientific community.

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NASA NTRS2001

Remote sensing tools to study ocean biogeochemistry: state of the art

Remote sensing of the world ocean presently provides measurements of sea-surface temperature, sea surface height, wind speed and direction, and ocean color, from which chlorophyll concentration and aerosol optical thickness are obtained.

oceanography carbon cycle remote sensing↗