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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 181 records · Page 10
All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

Planetary Rover Simulation for Lunar Exploration Missions

When planning planetary rover missions it is useful to develop intuition and skills driving in, quite literally, alien environments before incurring the cost of reaching said locales. Simulators make it possible to operate in environments that have the physical characteristics of target locations without the expense and overhead of extensive physical tests. To that end, NASA Ames and Open Robotics collaborated on a Lunar rover driving simulator based on the open source Gazebo simulation platform and leveraging ROS (Robotic Operating System) components. The simulator was integrated with research and mission software for rover driving, system monitoring, and science instrument simulation to constitute an end-to-end Lunar mission simulation capability. Although we expect our simulator to be applicable to arbitrary Lunar regions, we designed to a reference mission of prospecting in polar regions. The harsh lighting and low illumination angles at the Lunar poles combine with the unique reflectance properties of Lunar regolith to present a challenging visual environment for both human and computer perception. Our simulator placed an emphasis on high fidelity visual simulation in order to produce synthetic imagery suitable for evaluating human rover drivers with navigation tasks, as well as providing test data for computer vision software development.In this paper, we describe the software used to construct the simulated Lunar environment and the components of the driving simulation. Our synthetic terrain generation software artificially increases the resolution of Lunar digital elevation maps by fractal synthesis and inserts craters and rocks based on Lunar size-frequency distribution models. We describe the necessary enhancements to import large scale, high resolution terrains into Gazebo, as well as our approach to modeling the visual environment of the Lunar surface. An overview of the mission software system is provided, along with how ROS was used to emulate flight software components that had not been developed yet. Finally, we discuss the effect of using the high-fidelity synthetic Lunar images for visual odometry. We also characterize the wheel slip model, and find some inconsistencies in the produced wheel slip behaviour.

Allan, Mark↗
NASA NTRS1981

Application of HCMM data to regional geologic analysis for mineral and energy resource evaluation

The effects of topographic elevation and slope on thermal images were examined using representative field obstructions of the solar and sky radiation and a simple linearized thermal model. The forms are easily adapted for analysis of HCMM images using the DMA digital terrain data. From a representative set of field observations, it was found that flux variations with elevation can cause changes in the mean diurnal temperature gradient from -4 deg to -14 deg per km evaluated at 2000 m. Changes in the temperature difference gradient of 1 to 2 C per km are also produced which is equivalent to an effective thermal inertia gradient of 100 W s to the 1/2 power/sq m K/1 per km. Exposed bedrock on topographic ridges will appear to have a lower thermal inertia due to the additional effect.

Watson, K.↗
NASA NTRS2011

Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

terramechanics↗
DOE OSTI2023

Multispectral and thermal surface imagery and surface elevation mosaics (camspec-air)

This dataset contains high resolution image products (orthomosaics) acquired from midsized uncrewed aerial systems, which have been processed for value added quality. The instrument itself, a multispectral imager, the Altum by Micasense, captures 6 spectral bands (red, green blue, NIR, red edge, and LWIR/thermal1) as radiance, which is converted to reflectance. The code used to develop these images first uses tools from the Micasense python library2 to apply dark level corrections, row gradient corrections, and radiometric corrections. Next it uses the processing API from Agisoft Metashape software to align and mosaic the processed imagery, following the processes developed by the USGS' structure from motion workflow documentation3. Captures at different altitudes (recorded in MSL) produce an orthomosaic, a tif image containing information related to the 6 spectral bands, and a digital elevation model (DEM), a tif image containing information related to the elevation of the surveyed terraine. Metadata included in every image can be used to extract lat, lon, and reflectance values. 1https://www.arm.gov/publications/tech_reports/handbooks/doe-sc-arm-tr-281.pdf 2https://micasense.github.io/imageprocessing/MicaSense%20Image%20Processing%20Setup.html 3https://pubs.usgs.gov/of/2021/1039/ofr20211039.pdf

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Multispectral and thermal surface imagery and surface elevation mosaics - SGP July 2022

This data set contains high-resolution image products (orthomosaics) acquired from midsized uncrewed aerial systems that have been processed for value-added quality. The instrument itself, a multispectral imager, the Altum by Micasense, captures six spectral bands (red, green blue, NIR, red edge, and LWIR/thermal1) as radiance, which is converted to reflectance via custom code. The code used to develop these images first uses tools from the Micasense Python library2 to apply dark level corrections, row gradient corrections, and radiometric corrections. Next, it uses the processing API from Agisoft Metashape software to align and mosaic the processed imagery, following the processes developed by the USGS' structure from motion workflow documentation.3 Captures at different altitudes (recorded in MSL) produce an orthomosaic, a tif image containing information related to the six spectral bands, and a digital elevation model (DEM), a tif image containing information related to the elevation of the surveyed terraine. Metadata included in every image can be used to extract lat, lon, and reflectance values. 1 https://www.arm.gov/publications/tech_reports/handbooks/doe-sc-arm-tr-281.pdf 2 https://micasense.github.io/imageprocessing/MicaSense%20Image%20Processing%20Setup.html 3 https://pubs.usgs.gov/of/2021/1039/ofr20211039.pdf

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Multispectral and thermal surface imagery and surface elevation mosaics - Pendleton Feb 2023

This data set contains high-resolution image products (orthomosaics) acquired from midsized uncrewed aerial systems that have been processed for value-added quality. The instrument Altum multispectral imager by Micasense, captures in six bands (blue - 475nm, green - 560nm, red - 668nm, red edge - 717nm, near-infrared - 840 and LWIR/thermal - 11000nm. The optical bands are converted to reflectance via custom code using the instantaneous band horizontal irradiance ratio to the radiance of the pixel. The code used to develop these images first uses tools from the Micasense Python library to apply dark level corrections, row gradient corrections, and radiometric corrections. Next, it uses the processing API from Agisoft Metashape software to align and mosaic the processed imagery, following the processes developed by the USGS' structure from motion workflow documentation. Captures from different altitudes are used to produce an orthomosaic at each height. A tif image containing information related to the six spectral bands, and a digital elevation model (DEM), a tif image containing information related to the elevation of the surveyed terrain. 1 https://www.arm.gov/publications/tech_reports/handbooks/doe-sc-arm-tr-281.pdf 2 https://micasense.github.io/imageprocessing/MicaSense%20Image%20Processing%20Setup.html 3 https://pubs.usgs.gov/of/2021/1039/ofr20211039.pdf

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2009

Fast Ray Tracing of Lunar Digital Elevation Models

Ray-tracing (RT) of Lunar Digital Elevation Models (DEM)'s is performed to virtually derive the degree of radiation incident to terrain as a function of time, orbital and ephemeris constraints [I- 4]. This process is an integral modeling process in lunar polar research and exploration due to the present paucity of terrain information at the poles and mission planning activities for the anticipated spring 2009 launch of the Lunar Reconnaissance Orbiter (LRO). As part of the Lunar Exploration Neutron Detector (LEND) and Lunar Crater Observation and Sensing Satellite (LCROSS) preparations RI methods are used to estimate the critical conditions presented by the combined effects of high latitude, terrain and the moons low obliquity [5-7]. These factors yield low incident solar illumination and subsequently extreme thermal, and radiation conditions. The presented research uses RT methods both for radiation transport modeling in space and regolith related research as well as to derive permanently shadowed regions (PSR)'s in high latitude topographic minima, e.g craters. These regions are of scientific and human exploration interest due to the near constant low temperatures in PSRs, inferred to be < 100 K. Hydrogen is thought to have accumulated in PSR's through the combined effects of periodic cometary bombardment and/or solar wind processes, and the extreme cold which minimizes hydrogen sublimation [8-9]. RT methods are also of use in surface position optimization for future illumination dependent on surface resources e.g. power and communications equipment.

McClanahan, Timothy P.↗
NASA NTRSDate not supplied

Cross-Calibration of GNC and OLA LIDAR Systems Onboard OSIRIS-REx

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission carried two distinct light detection and ranging (LIDAR) systems: A scanning LIDAR called OSIRIS-REx Laser Altimeter (OLA) as part of the science payload, and a flash LIDAR system has part of the Guidance, Navigation, & Control (GNC) subsystem to serve as a navigation sensor during TAG. This presents a unique opportunity to compare the performance of the two LIDAR systems in close proximity to a small asteroid body. During the Orbital B mission phase, between June to August 2019, the OSIRIS-REx spacecraft orbited Bennu in a near-circular terminator orbit during which the altitude above the surface varied between 645 m to 740 m. Over five-week period observations were recorded with the OLA instrument that were subsequently used to construct a global digital terrain map (DTM) with a resolution of 5 cm and accuracy of ±20 cm. This model provides an excellent reference for assessing the performance of the GNC LIDAR system. Two different GNC LIDAR checkout activities were also conducted during the Orbital B phase: A limb-crossing check-out featured a series of slews to collect GNC LIDAR data across varying ranges and phase angles and operate the automatic gain control modes of the device; An OLA-GNC LIDAR cross calibration was designed to collect data from both the OLA and GNC LIDAR devices with overlapping footprints while the spacecraft was pointed nadir. This paper compares the on-orbit performance observed during the cross-calibration activity. The OLA-based global DTM and point clouds are used to evaluate the GNC LIDAR not available during previous analysis. The GNC LIDAR measurements were found to be well within accuracy and precision specified for the instrument, but much noisier than the measurements from OLA within this operating regime.

Jason M Leonard↗
NASA NTRS2023

Shape from spectra

We introduce a new unified atmospheric–topographic correction approach that estimates surface geometry directly from the radiance measurement. Surface topography influences the at-sensor radiance measurement, making precise topography modeling critical in applications like vegetation or snow studies in mountainous terrain. Currently, elevation maps are used to derive topographic variables such as the slope and sky-view factor. This process is error-prone since static global digital elevation models do not generally achieve the accuracy required, and even minor mismatches in spatial resolution can introduce significant artifacts in downstream processing. Here we demonstrate that it is possible to estimate topographic parameters directly from spectral data, ensuring perfect physical consistency, temporal coincidence, and spatial alignment. We present experiments estimating topographic slope in two scenes in Southern California, with data from NASA’s Next Generation Airborne Visible/Near Infrared Imaging Spectrometer (AVIRIS-NG). We compared our radiance-based estimates against high-resolution lidar datasets. Our initial validation result showed a correlation of R 2 = 0.864 (n = 160) over the homogeneous surface of Beckman Auditorium’s cone-shaped roof on the Caltech campus in Pasadena, California. We then validate the model over a larger study site near Santa Clarita, California, finding R 2 = 0.923 (n = 40,000) in a 350 x 350m area. The accuracy of our model estimates, combined with its systematic advantages over the alternative, show the potential of the approach for use in both airborne campaigns and orbital missions.

Nimrod Carmon↗
NASA NTRS2009

Lunar Pole Illumination and Communications Maps Computed from GSSR Elevation Data

A Digital Elevation Model of the lunar south pole was produced using Goldstone Solar System RADAR (GSSR) data obtained in 2006.12 This model has 40-meter horizontal resolution and about 5-meter relative vertical accuracy. This Digital Elevation Model was used to compute average solar illumination and Earth visibility with 100 kilometers of the lunar south pole. The elevation data were converted into local terrain horizon masks, then converted into lunar-centric latitude and longitude coordinates. The horizon masks were compared to latitude, longitude regions bounding the maximum Sun and Earth motions relative to the moon. Estimates of Earth visibility were computed by integrating the area of the region bounding the Earth's motion that was below the horizon mask. Solar illumination and other metrics were computed similarly. Proposed lunar south pole base sites were examined in detail, with the best site showing yearly solar power availability of 92 percent and Direct-To-Earth (DTE) communication availability of about 50 percent. Similar analysis of the lunar south pole used an older GSSR Digital Elevation Model with 600-meter horizontal resolution. The paper also explores using a heliostat to reduce the photovoltaic power system mass and complexity.

lunar base↗
NASA NTRS1990

Geocoding and stereo display of tropical forest multisensor datasets

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.

Welch, R.↗
NASA NTRS1979

Forest Classification and Inventory System using Landsat, digital terrain, and ground sample data

Accurate timber inventory data for cost-effective forest management is the primary goal of a Forest Classification and Inventory System (FOCIS) designed to provide estimates of timber volume by species aggregated by compartments, townships, or other spatial management units. FOCIS uses Landsat spectral data, including a synthesized texture channel, and Forest Service ground sample data to produce timber volume-homogeneous classes through a two-step unsupervised clustering process. Registered digital terrain data, including derived slope angle and slope aspect channels, are used to predict species proportions through a trend surface model, again using ground sample data for model calibration. In the final stage of FOCIS, volume estimates and predicted species proportions are merged and aggregated to yield timber volumes by species within management areas.

Strahler, A. H.↗
NASA NTRS1984

Atmospheric model development

Spectral albedo measurements from the LANDSAT-4/5 thematic mappers require that spacecraft upwelling radiances be corrected for atmospheric absorption and scattering and for local surface illumination. A two-stream model is developed, with a lower boundary condition that varies with incidence angle. The TM data must be registered to digital terrain data. Reflectance from points in shadows can be used to estimate optical depth. The primary application is determination of the spectral albedo of snow. The TM is better-suited for this purpose than the MSS because of its larger dynamic range.

Source record↗
NASA NTRS2010

Robust Mosaicking of Stereo Digital Elevation Models from the Ames Stereo Pipeline

Robust estimation method is proposed to combine multiple observations and create consistent, accurate, dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce higher-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data than is currently possible. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. However, the DEMs currently produced by the ASP often contain errors and inconsistencies due to image noise, shadows, etc. The proposed method addresses this problem by making use of multiple observations and by considering their goodness of fit to improve both the accuracy and robustness of the estimate. The stepwise regression method is applied to estimate the relaxed weight of each observation.

Kim, Tae Min↗
NASA NTRS2022

Assessment of ICESat-2’s Horizontal Accuracy Using Precisely Surveyed Terrains in McMurdo Dry Valleys, Antarctica

This article presents an assessment of the horizontal accuracy and precision of the laser altimetry observations collected by NASA’s Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) mission. We selected the terrain-matching method to determine the position of laser altimeter profiles within a precisely known surface, represented by a digital elevation model (DEM). We took this classical approach a step further, approximated the DEM by planar surfaces, and calculated the optimal position of the laser profile by minimizing the square sum of the elevation differences between reference DEMs and ICESat-2 profiles. We found the highly accurate DEMs of the McMurdo Dry Valleys (DV), Antarctica, ideal for this research because of their stable landscape and rugged topography. We computed the 3-D shift parameters of 379 different laser altimeter profiles along two reference ground tracks collected within the first two years of the mission. Analyzing these results revealed a total geolocation error (mean +1 σ ) of 4.93 m for version 3 and 4.66 m for version 4 data. These numbers are the averages of the six beams, expressed as mean +1 σ and lie well within the mission requirement of 6.5 m.

calibration↗
NASA NTRS1982

Forest management applications of Landsat data in a geographic information system

The utility of land-cover data resulting from Landsat MSS classification can be greatly enhanced by use in combination with ancillary data. A demonstration forest management applications data base was constructed for Santa Cruz County, California, to demonstrate geographic information system applications of classified Landsat data. The data base contained detailed soils, digital terrain, land ownership, jurisdictional boundaries, fire events, and generalized land-use data, all registered to a UTM grid base. Applications models were developed from problems typical of fire management and reforestation planning.

Maw, K. D.↗
NASA NTRS2022

Integrated Topographic Corrections Improve Forest Mapping Using Landsat Imagery

In mountainous environments, topography strongly affects the reflectance due to illumination effects and cast shadows, which introduce errors in land cover classifications. However, topographic correction is not routinely implemented in standard data pre-processing chains (e.g., Landsat Analysis Ready Data), and there is a lack of consensus whether topographic correction is necessary, and if so, how to conduct it. Furthermore, methods that correct simultaneously for atmospheric and topographic effects are becoming available, but they have not been compared directly. Our objects were to investigate (1) the effectiveness of two topographic correction approaches that integrate atmospheric and topographic correction, (2) improvements in classification accuracy when analyzing topographically corrected single-date imagery (14 July 2016 and 2 October 2016), versus a full Landsat time series from 2014 to 2016, and 3) improvements in classification accuracy when including additional terrain information (i.e., topographic slope, elevation, and aspect). We developed a physical based model and compared it with an enhanced C-correction, both of which integrate atmospheric and topographic correction. We compared classification accuracies with and without topographic correction using combinations of single-date imagery, image composites and spectral-temporal metrics generated from the full Landsat time series, and additional terrain information in the Caucasus Mountains. We found that both the enhanced C-correction and the physical model performed very well and largely eliminated the correlation (Pearson’s correlation coefficient r ranges from 0.06 to 0.24) between surface reflectance and illumination condition, but the physical model performed best (r ranges from 0.05 to 0.11). Both image composites, and spectral-temporal metrics generated from corrected imagery, resulted in significantly (p ≤ 0.05) higher classification accuracies and better forest classifications, especially for the mixed forests. Adding terrain information reduced classification error significantly, but not as much as topographic correction. In summary, topographic correction remains necessary, even when analyzing a full Landsat time series and including a digital elevation model in the classification. We recommend that topographic correction should be applied when analyzing Landsat satellite imagery in mountainous region for forest cover classification.

Atmospheric correction↗
NASA NTRS1992

High-resolution terrain map from multiple sensor data

The authors present 3-D vision techniques for incrementally building an accurate 3-D representation of rugged terrain using multiple sensors. They have developed the locus method to model the rugged terrain. The locus method exploits sensor geometry to efficiently build a terrain representation from multiple sensor data. The locus method is used to estimate the vehicle position in the digital elevation map (DEM) by matching a sequence of range images with the DEM. Experimental results from large-scale real and synthetic terrains demonstrate the feasibility and power of the 3-D mapping techniques for rugged terrain. In real world experiments, a composite terrain map was built by merging 125 real range images. Using synthetic range images, a composite map of 150 m was produced from 159 images. With the proposed system, mobile robots operating in rugged environments can build accurate terrain models from multiple sensor data.

Kweon, In S.↗