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NASA NTRS1998

Giant Molecular Clouds and High-Mass Star Formation in the Milky Way

We are conducting an extensive investigation of high-mass (OB) star formation within the dense cores of giant molecular clouds (GMCS) throughout the first Galactic quadrant of the Milky Way using enhanced resolution Infrared Astronomical Satellite (IRAS) images in combination with high-resolution ground-based observations in millimeter wave molecular transitions and radio continuum. As part of this investigation several resolution enhancement algorithms are applied to the IRAS data, including the HIgh RESolution (HIRES) algorithm developed at the IRAS Processing and Analysis Center (IPAC), as well as others ("pixon" image reconstruction). In addition, as part of a related study, we have completed a large survey of the CO emission in the first Galactic quadrant using the 15-element array detector (QUARRY) with the Five College Radio Astronomy Observatory (FCRAO) 14 m antenna, which provides sampling at an angular resolution of 50", comparable to that attained in the reprocessed IRAS data. Both of these data sets are compared with a sample of ultra-compact (UC) H II regions taken from a high-resolution multi-wavelength (6 and 20 cm) radio survey of the Galactic plane using the NRAO Very Large Array (VLA). Selected regions are observed in 1.3 mm continuum, which has proven to be particularly sensitive to the dust column density. Extensive observations of molecular clouds at high resolution in CO, CS and HCN are combined with the reprocessed IRAS high-resolution images to give a more complete picture of the physical conditions and kinematics of high-mass star forming GMCS. Our goals are to study in detail the morphology, structure, and rate of high-mass star formation within GMCs throughout the Galactic disk from the inner edge of the molecular ring to the outer Galaxy.

Source record↗

NASA NTRS1994

From neural-based object recognition toward microelectronic eyes

Engineering neural network systems are best known for their abilities to adapt to the changing characteristics of the surrounding environment by adjusting system parameter values during the learning process. Rapid advances in analog current-mode design techniques have made possible the implementation of major neural network functions in custom VLSI chips. An electrically programmable analog synapse cell with large dynamic range can be realized in a compact silicon area. New designs of the synapse cells, neurons, and analog processor are presented. A synapse cell based on Gilbert multiplier structure can perform the linear multiplication for back-propagation networks. A double differential-pair synapse cell can perform the Gaussian function for radial-basis network. The synapse cells can be biased in the strong inversion region for high-speed operation or biased in the subthreshold region for low-power operation. The voltage gain of the sigmoid-function neurons is externally adjustable which greatly facilitates the search of optimal solutions in certain networks. Various building blocks can be intelligently connected to form useful industrial applications. Efficient data communication is a key system-level design issue for large-scale networks. We also present analog neural processors based on perceptron architecture and Hopfield network for communication applications. Biologically inspired neural networks have played an important role towards the creation of powerful intelligent machines. Accuracy, limitations, and prospects of analog current-mode design of the biologically inspired vision processing chips and cellular neural network chips are key design issues.

Sheu, Bing J.↗

NASA NTRS1988

Unusual radio source MG1131+0456 - A possible Einstein ring

The discovery of extremely unusual structure in the radio source MG1131+0456 is reported. In a radio map with subsarcsecond resolution the object appears as an elliptical ring of emission accompanied by a pair of more compact sources, nearly diametrically opposed and offset by about 0.3 arcsec to the southwest of the ring. There is a faint, slightly extended, optical counterpart. A continuum but no emission lines is detected in its spectrum; therefore, the redshift of the counterpart is unknown. The radio morphology suggests that this source may be an example of an 'Einstein ring', a highly symmetric case of gravitational lensing in which the source is imaged into a ring. Other explanations are considered and excluded by the data. Another possibility is that MG1131+04565 represents a new type of astronomical object.

Hewitt, J. N.↗

NASA NTRS1993

Unsteady, three-dimensional, Navier-Stokes simulations of multistage turbomachinery flows

Hub corner stall regions, endwall boundary layers, tip leakage flows and airfoil wakes combine to form the 3D flowfields found in axial turbomachines. Turbomachinery flow fields are also inherently unsteady because of the relative motion between rotor and stator airfoils. This relative motion causes complex time-varying aerodynamic interactions to occur between the different aerodynamic structures and the rotor and stator airfoils. It is necessary to understand the 3D unsteady aerodynamics associated with these interactions in order to design turbomachines that are both lightweight and compact as well as reliable and efficient. The current study uses a time-accurate 3D thin-layer Navier-Stokes zonal approach to investigate the unsteady aerodynamics of multistage turbines and compressors. Relative motion between rotor and stator airfoils is accounted for by the use of systems of patched and overlaid grids. Time-averaged surface pressures, surface flow visualizations, and time-averaged flow field contours have been computed for a 1 1/2-stage turbine and are in good agreement with experimental data. This favorable comparison represents an initial validation of the current method for unsteady computations of multistage turbomachinery flows.

Gundy-Burlet, Karen L.↗

NASA NTRS1994

A radio/optical reference frame. 5: Additional source positions in the mid-latitude southern hemisphere

We report new accurate radio position measurements for 30 sources, preliminary positions for two sources, improved radio postions for nine additional sources which had limited previous observations, and optical positions and optical-radio differences for six of the radio sources. The Very Long Baseline Interferometry (VLBI) observations are part of the continuing effort to establish a global radio reference frame of about 400 compact, flat spectrum sources, which are evenly distributed across the sky. The observations were made using Mark III data format in four separate sessions in 1988-89 with radio telescopes at Tidbinbilla, Australia, Kauai, USA, and Kashima, Japan. We observed a total of 54 sources, including ten calibrators and three which were undetected. The 32 new source positions bring the total number in the radio reference frame catalog to 319 (172 northern and 147 southern) and fill in the zone -25 deg greater than delta greater than -45 deg which, prior to this list, had the lowest source density. The VLBI positions have an average formal precision of less than 1 mas, although unknown radio structure effects of about 1-2 mas may be present. The six new optical postion measurements are part of the program to obtain positions of the optical counterparts of the radio reference frame source and to map accurately the optical on to the radio reference frames. The optical measurements were obtained from United States Naval Observatory (USNO) Black Birch astrograph plates and source plates from the AAT, and Kitt Peak National Observatory (KPNO) 4 m, and the European Southern Observatory (ESO) Schmidt. The optical positions have an average precision of 0.07 sec, mostly due to the zero point error when adjusted to the FK5 optical frame using the IRS catalog. To date we have measured optical positions for 46 sources.

Russell, J. L.↗

NASA NTRS2009

Development and Airborne Operation of a Compact Water Isotope Ratio Infrared Spectrometer

A sensitive laser spectrometer, named IRIS (water isotope ratio infrared spectrometer), was developed for the in situ detection of the isotopic composition of water vapour in the upper troposphere and the lower stratosphere. Isotope ratio measurements can be used to quantify troposphere stratosphere exchange, and to study the water chemistry in the stratosphere. IRIS is based on the technique of optical feedback cavity-enhanced absorption spectroscopy. It uses a room temperature near-infrared laser, and does not require cryogenic cooling of laser or detectors. The instrument weighs 51 kg including its support structure. Airborne operation was demonstrated during three flights aboard the European M55-Geophysica stratospheric research aircraft, as part of the AMMA/SCOUT-03 (African Monsoon Multidisciplinary Analysis/Stratospheric Climate links with emphasis on the Upper Troposphere and lower stratosphere) campaign in Burkina Faso in August 2006. The data are discussed with reference to a Rayleigh distillation model. As expected, there is no indication of non-mass-dependent fractionation (also known as mass-independent fractionation) in the troposphere. Furthermore, improvements to the thermal management system and a move to a (cryogen-free) longer-wavelength laser source are discussed, which together should result in approximately two orders of magnitude improvement of the sensitivity

Iannone, Rosario Q.↗

NASA NTRS1979

A method of mapping compact structure in radio sources using VLBI observations

A two-part technique is described for determining the angular structure of the compact components of radio sources from VLBI observations. With this technique, the source structure is first approximated, using both amplitudes and closure phases, by a model consisting of circularly symmetric Gaussian components located on a grid of positions on the sky. The second part begins by employing this model to predict the visibility phase corresponding to each observed visibility amplitude; these estimated visibility phases are then adjusted to agree with the observed closure phases. The resulting estimates of the visibility phases and the observed visibility amplitudes are then combined in a direct Fourier transform to produce a 'dirty' source map that is deconvolved via the CLEAN procedure on the basis of the point-source response. Some examples based on data generated from test models are provided.

Cotton, W. D.↗

NASA NTRS1997

Spectral and Temporal Properties of Galactic Black Hole Systems

Kusunose, Mineshige & Yamada (1996; hereafter KMY) extended the model of Kusunose & Mineshige (1995) to the Galactic black hole candidates by considering nonthermal electron injection with gamma(EQ\0(,\s\up2(less than),\s\do-l(_))) 10. The effects of pair escape and advection on the disk structure and general relativistic effects on the emission spectrum were also examined. They found that the energy spectral index (alpha)(sub x) of the power law X-rays is about-0.8 and-2.0 when 1(sub soft)/1 = 0.2 and 2, respectively, where 1(sub soft)/1 is the ratio of the compactness of the injected soft photons to that of the gravitational energy. The power law index was found to be nearly independent of the mass accretion which is consistent with the observed luminosity independence. The model with small 1(sub soft)/1 (less than 1) shows promise for explaining the low state observed in Galactic black hole candidates. Model fits were provided for GX339-4 and Cyg X- 1 data from COMPTEL and OSSE on the Compton Gamma Ray Observatory. The difference in emission spectra between thermal disks and the model of KMY appears only in the energy range greater than 100 keV. Li, Kusunose and Liang (1996) studied stochastic particle acceleration to produce nonthermal particle distributions which then were used in the model of Kusunose & Mineshige (1995) to model the spectrum above 1 Mev from GBHC's. Under certain conditions, stochastic electron acceleration overcame Coulomb and Compton losses resulting in a suprathermal electron population. Good fits were obtained by COMPTEL and OSSE observations of Cyg X-1 and GRO J0422+23. Kusunose & Mineshige (1996a) examined the role of electron-positron pairs in advection-dominated disks. They found that the results for advection-dominated disks without pairs are not qualitatively changed by including pairs. Summaries of work sponsored by this grant are given in Wheeler, Kim, Moscoso, Kusunose & Mineshige (1996) and Kusunose (1996) Work was also done on developing a model for an e(+-) pair wind from the inner disk region of a black hole. The model consists of three zones: a pair production/annihilation zone at the base of the wind, a pair annihilation zone slightly further out from the disk and a wind zone extending to infinity where no annihilation occurs. The model assumes an input X-ray / gamma-ray power-law spectrum as a function of photon energy and angular distribution. Pairs are created in the pair production/annihilation zone via photon-photon, photonparticle and particle-particle collisions. The bulk velocity of the pairs is obtained from the momentum component perpendicular to the disk taking into account the radiation pressure acceleration of the pairs. Energy balance in the pair production/annihilation zone is calculated by assuming that the momentum component parallel to the disk is thermalized and by taking into account heating/cooling via anisotropic thermal Compton scattering along with the cooling processes of bremsstrahlung and synchrotron radiation. The pair density is also calculated. The outer boundary of the pair production/annihilation zone is where the optical depth for photon-photon pair produciton is unity. Beyond this point only pair annihilation will occur in the pair annihilation zone. When the pair density becomes small, pair annihilation will be negligible and the pairs will flow freely to infinity. In this model we have found that the X-ray power-law spectral index, alpha(sub x) is the primary parameter which determines the density, temperature and velocity of the pair production/annihilation zone (Moscoso, Kusunose & Wheeler 1996).

Wheeler, J. Craig↗

NASA NTRS1978

Period variations in pulsating X-ray sources. I - Accretion flow parameters and neutron star structure from timing observations

Torque fluctuations which can lead to variations in the periods of pulsating X-ray sources are examined. A description of torque variations in terms of noise processes is developed, and the resulting noise models are applied to observations of several pulsating X-ray sources. It is shown that fluctuations in accretion torque could account for the observed period variations and spindown episodes in Her X-1 and Cen X-3. The values of the torque noise strengths inferred from either a nonresonant response or, in the case of Her X-1, a Tkachenko-mode interpretation of the data are found to be consistent with those expected from processes at the magnetospheric boundary of an accreting neutron star. Ways to distinguish among the various interpretations of the period variations are considered. It is noted that fluctuating mass-flow rates may be responsible for other phenomena observed in compact X-ray sources, such as wobble with zero initial amplitude and binary period variations in close binary systems experiencing mass transfer.

Lamb, F. K.↗

NASA NTRS1986

High angular resolution infrared mapping of the compact H II regions W51 and DR 21/W75

Far-infrared maps of W51/G49.5-0.4, W51/G49.4-0.3, and the DR 21 W75 S regions are presented. The simultaneous 50 and 100 micron maps enable a determination of the dust temperature and density structure in these areas. In G49.5-0.4 a luminosity and dust column-density peak at the position of the W51-Main maser is found, suggesting that this is the dominant luminosity source in W51. In G49.4-0.3 three components associated with the three known 2.7 GHz sources are resolved. A comparison of the total far-infrared luminosity with the radio continuum brightness in both G49.5-0.4 and G49.4-0.3 shows that the ratio of Lyman continuum to total luminosity of the exciting stars in not consistent with excitation by a single ZAMS star if most of the Lyman continuum photons are being absorbed bay gas rather than dust. In DR 21 micron far-infrared data and some new 2-20 micron results reveal a region of hot dust associated with the 2 micron H2 emission to the east and west of DR 21. Finally, a new 1.5-100 micron 'protostellar' source 2 deg north of W75 S at the position of a 1 mm continuum peak is reported.

Harvey, P. M.↗

NASA NTRSDate not supplied

Aerosol Wind Profiler (AWP) Doppler Wind Lidar Airborne Observations During the NOAA Joint Venture 3-D Wind Measurement Demonstration and NASA Active-Passive Profiling Experiment (APEX)

The NASA Langley Research Center (LaRC) has recently completed development of the Aerosol Wind Profiler (AWP) airborne Doppler wind lidar (DWL) instrument. AWP was supported by the NASA Earth Science Technology Office and the Earth Science Division, a project that adapted the Wind-Space Pathfinder (Wind-SP) DWL transceiver onto a structure for flight aboard a variety of NASA research aircraft. AWP demonstrates many technologies required for a space DWL mission, including a coherent-detection, optical heterodyne laser transmitter with high pulse energy (up to ~55 mJ) and repetition rate (200 Hz), electronic control of the beam path allowing for multiple viewing angles (allowing vector wind measurements) with no moving parts, compact highly-stable and tunable reference lasers allowing for high-precision measurement of velocity at long ranges while mitigating the impact of satellite platform velocity, and many others. AWP represents NASA’s only currently operational airborne 3-D wind profiling sensor. NASA LaRC was selected by the NOAA Joint Venture (JV) program to conduct a suborbital 3-D Wind measurement campaign demonstrate how data from a coherent-detection DWL like AWP could serve NOAA’s weather analysis and forecasting needs. The NOAA JV program is designed to work with the private sector, academia and other federal agencies to explore the feasibility and capability of emerging technologies spacecraft and other mission-specific tools to meet NOAA’s mission requirements. AWP was initially demonstrated on the NASA DC-8 within this JV program in October 2023, piggybacking on the NASA EcoDemonstrator mission focused on in-situ sampling of jet aircraft emissions and contrail formation from Everett, Washington. The in-situ sampling resulted in very frequent and rapid aircraft attitude changes which unfortunately degraded AWP data quality. But, during times with level flight and AVAPS dropsonde operations, AWP demonstrated excellent precision (< 2 m/s RMS) with high vertical (< 100 meter) resolution and 2 km spacing between profiles. AWP will be flown again on the NASA LaRC Gulfstream-3 from mid-September to mid-October 2024 out of Hampton, VA to complete the NOAA JV 3-D wind demonstration. Additional AWP flights will occur in early November from southern California during the NASA Active-Passive Profiling Experiment (APEX), focused on underflights of the NASA ER-2 equipped with many atmospheric profiling sensors. This presentation will summarize AWP measurements collected during these two fall 2024 flight campaigns, and how the AWP data compares with AVAPS dropsonde, NOAA weather prediction model, and GOES atmospheric motion vector data.

Kristopher Bedka↗

NASA NTRS2001

Measurements of the Vertical Structure of Aerosols and Clouds Over the Ocean Using Micro-Pulse LIDAR Systems

The determination of the vertical distribution of aerosols and clouds over the ocean is needed for accurate retrievals of ocean color from satellites observations. The presence of absorbing aerosol layers, especially at altitudes above the boundary layer, has been shown to influence the calculation of ocean color. Also, satellite data must be correctly screened for the presence of clouds, particularly cirrus, in order to measure ocean color. One instrument capable of providing this information is a lidar, which uses pulses of laser light to profile the vertical distribution of aerosol and cloud layers in the atmosphere. However, lidar systems prior to the 1990s were large, expensive, and not eye-safe which made them unsuitable for cruise deployments. During the 1990s the first small, autonomous, and eye-safe lidar system became available: the micro-pulse lidar, or MPL. The MPL is a compact and eye-safe lidar system capable of determining the range of aerosols and clouds by firing a short pulse of laser light (523 nm) and measuring the time-of-flight from pulse transmission to reception of a returned signal. The returned signal is a function of time, converted into range using the speed of light, and is proportional to the amount of light backscattered by atmospheric molecules (Rayleigh scattering), aerosols, and clouds. The MPL achieves ANSI eye-safe standards by sending laser pulses at low energy (micro-J) and expanding the beam to 20.32 cm in diameter. A fast pulse-repetition-frequency (2500 Hz) is used to achieve a good signal-to-noise, despite the low output energy. The MPL has a small field-of-view (< 100 micro-rad) and signals received with the instrument do not contain multiple scattering effects. The MPL has been used successfully at a number of long-term sites and also in several field experiments around the world.

Welton, Ellsworth J.↗

NASA NTRS2006

Extended Aging Theories for Predictions of Safe Operational Life of Critical Airborne Structural Components

The previously developed Ko closed-form aging theory has been reformulated into a more compact mathematical form for easier application. A new equivalent loading theory and empirical loading theories have also been developed and incorporated into the revised Ko aging theory for the prediction of a safe operational life of airborne failure-critical structural components. The new set of aging and loading theories were applied to predict the safe number of flights for the B-52B aircraft to carry a launch vehicle, the structural life of critical components consumed by load excursion to proof load value, and the ground-sitting life of B-52B pylon failure-critical structural components. A special life prediction method was developed for the preflight predictions of operational life of failure-critical structural components of the B-52H pylon system, for which no flight data are available.

Ko, William L.↗

NASA NTRS2004

Instrumentation for Studies of Electron Emission and Charging From Insulators

Making measurements of electron emission properties of insulators is difficult since insulators can charge either negatively or positively under charge particle bombardment. In addition, high incident energies or high fluences can result in modification of a material s conductivity, bulk and surface charge profile, structural makeup through bond breaking and defect creation, and emission properties. We discuss here some of the charging difficulties associated with making insulator-yield measurements and review the methods used in previous studies of electron emission from insulators. We present work undertaken by our group to make consistent and accurate measurements of the electron/ion yield properties for numerous thin-film and thick insulator materials using innovative instrumentation and techniques. We also summarize some of the necessary instrumentation developed for this purpose including fast response, low-noise, high-sensitivity ammeters; signal isolation and interface to standard computer data acquisition apparatus using opto-isolation, sample-and-hold, and boxcar integration techniques; computer control, automation and timing using Labview software; a multiple sample carousel; a pulsed, compact, low-energy, charge neutralization electron flood gun; and pulsed visible and UV light neutralization sources. This work is supported through funding from the NASA Space Environments and Effects Program and the NASA Graduate Research Fellowship Program.

Thomson, C. D.↗

NASA NTRS2004

Binary Black Holes, Accretion Disks and Relativistic Jets: Photocenters of Nearby AGN and Quasars

One of the most challenging questions in astronomy today is to understand the origin, structure, and evolution of the central engines in the nuclei of quasars and active galaxies (AGNs). The favoured theory involves the activation of relativistic jets from the fueling of a supermassive black hole through an accretion disk. In some AGN an outer optically thick, dusty torus is seen orbiting the black hole system. This torus is probably related to an inner accretion disk - black hole system that forms the actual powerhouse of the AGN. In radio-loud AGN two oppositely-directed radio jets are ejected perpendicular to the torus/disk system. Although there is a wealth of observational data on AGN, some very basic questions have not been definitively answered. The Space Interferometry Mission (SIM) will address the following three key questions about AGN. 1) Does the most compact optical emission from an AGN come from an accretion disk or from a relativistic jet? 2) Does the separation of the radio core and optical photocenter of the quasars used for the reference frame tie, change on the timescales of their photometric variability, or is the separation stable at the level of a few microarcseconds? 3) Do the cores of galaxies harbor binary supermassive black holes remaining from galaxy mergers? It is not known whether such mergers are common, and whether binaries would persist for a significant time.

Wehrle, Ann E.↗

NASA NTRS2018

Observations of Fast-Moving Features in the Debris Disk of AU Mic on a Three-Year Timescale: Confirmation and New Discoveries

Context. The nearby and young M star AU Mic is surrounded by a debris disk in which we previously identified a series of large-scale arch-like structures that have never been seen before in any other debris disk and that move outward at high velocities. Aims. We initiated a monitoring program with the following objectives: (1) track the location of the structures and better constrain their projected speeds, (2) search for new features emerging closer in, and ultimately (3) understand the mechanism responsible for the motion and production of the disk features. Methods. AU Mic was observed at 11 different epochs between August 2014 and October 2017 with the IR camera and spectrograph of SPHERE. These high-contrast imaging data were processed with a variety of angular, spectral, and polarimetric differential imaging techniques to reveal the faintest structures in the disk. We measured the projected separations of the features in a systematic way for all epochs. We also applied the very same measurements to older observations from the Hubble Space Telescope (HST) with the visible cameras STIS and ACS. Results. The main outcomes of this work are (1) the recovery of the five southeastern broad arch-like structures we identified in our first study, and confirmation of their fast motion (projected speed in the range 4–12 km/s); (2) the confirmation that the very first structures observed in 2004 with ACS are indeed connected to those observed later with STIS and now SPHERE; (3) the discovery of two new very compact structures at the northwest side of the disk (at 0.40′′ and 0.55′′ in May 2015) that move to the southeast at low speed; and (4) the identification of a new arch-like structure that might be emerging at the southeast side at about 0.4′′ from the star (as of May 2016). Conclusions. Although the exquisite sensitivity of SPHERE allows one to follow the evolution not only of the projected separation, but also of the specific morphology of each individual feature, it remains difficult to distinguish between possible dynamical scenarios that may explain the observations. Understanding the exact origin of these features, the way they are generated, and their evolution over time is certainly a significant challenge in the context of planetary system formation around M stars.

Boccaletti, A.↗

NASA NTRS2001

Binaural Simulation Experiments in the NASA Langley Structural Acoustics Loads and Transmission Facility

A location and positioning system was developed and implemented in the anechoic chamber of the Structural Acoustics Loads and Transmission (SALT) facility to accurately determine the coordinates of points in three-dimensional space. Transfer functions were measured between a shaker source at two different panel locations and the vibrational response distributed over the panel surface using a scanning laser vibrometer. The binaural simulation test matrix included test runs for several locations of the measuring microphones, various attitudes of the mannequin, two locations of the shaker excitation and three different shaker inputs including pulse, broadband random, and pseudo-random. Transfer functions, auto spectra, and coherence functions were acquired for the pseudo-random excitation. Time histories were acquired for the pulse and broadband random input to the shaker. The tests were repeated with a reflective surface installed. Binary data files were converted to universal format and archived on compact disk.

Grosveld, Ferdinand W.↗

NASA NTRS2012

Regolith Advanced Surface Systems Operations Robot (RASSOR)

Regolith is abundant on extra-terrestrial surfaces and is the source of many resources such as oxygen, hydrogen, titanium, aluminum, iron, silica and other valuable materials, which can be used to make rocket propellant, consumables for life support, radiation protection barrier shields, landing pads, blast protection berms, roads, habitats and other structures and devices. Recent data from the Moon also indicates that there are substantial deposits of water ice in permanently shadowed crater regions and possibly under an over burden of regolith. The key to being able to use this regolith and acquire the resources, is being able to manipulate it with robotic excavation and hauling machinery that can survive and operate in these very extreme extra-terrestrial surface environments. In addition, the reduced gravity on the Moon, Mars, comets and asteroids poses a significant challenge in that the necessary reaction force for digging cannot be provided by the robot's weight as is typically done on Earth. Space transportation is expensive and limited in capacity, so small, lightweight payloads are desirable, which means large traditional excavation machines are not a viable option. A novel, compact and lightweight excavation robot prototype for manipulating, excavating, acquiring, hauling and dumping regolith on extra-terrestrial surfaces has been developed and tested. Lessons learned and test results will be presented including digging in a variety of lunar regolith simulant conditions including frozen regolith mixed with water ice.

Mueller, Robert P.↗