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NASA NTRS2016

How Usability Testing Resulted in Improvements to Ground Collision Software for General Aviation: Improved Ground Collision Avoidance System (IGCAS)

The NASA improved Ground Collision Avoidance System (iGCAS) team conducted an onsite usability study at Experimental Aircraft Association (EAA) Air Venture in Oshkosh, Wisconsin from July 19 through July 26, 2015. EAA Air Venture had approximately 550,000 attendees from which the sample pool of pilots were selected. The objectives of this study were to assess the overall appropriateness and acceptability of iGCAS as a warning system for General Aviation aircraft, usability of the iGCAS displays and audio cues, test terrain avoidance characteristics, performance, functionality, pilot response time, and correlate terrain avoidance performance and pilot response time data.

collision avoidance↗

NASA NTRS2019

SPARROW: A Steam Propelled Autonomous Retrieval Robot for Ocean Worlds

This paper presents the results of a NIAC Phase I study into the use of a propulsively hopping robot for the exploration of Europa’s rugged, icy surface. Named the“Steam Propelled Retrieval Robot for Ocean Worlds,” SPARROW is a multi-thruster robot passively gimballed within a protective, spherical shell, which enables it to freely rotate, self-right, and tumble over chaotic terrains. SPARROW is envisioned as a soccerball-sized payload to a primary lander mission. Europa’s abundant surface ice would be harvested as an in situ propellant source. The principal objective of SPARROW would be to increase the science return of a Europa landed asset by enabling access to distal, spatially distributed geologic units. The design of mobility systems for Europa is challenging, due in part to its almost entirely unconstrained surface topography and strength. Images returned by Voyager and Galileo yielded resolutions on the order of hundreds of meters per pixel, with localized regions reaching 6 meters per pixel—still far larger than a typical rover. A key beneﬁt of SPARROW’s hopping, impact-tolerant design, is that it eliminates the need for a piori information on the terrain topography and surface strength; no surface reaction forces are required for motion. In this context, SPARROW is entirely terrain agnostic. In this paper we detail the results of three study objectives: i) to quantify the energy required to collect surface ice, change its phase, and maintain propellant temperature, ii) to identify control and estimation strategies that enable SPARROW to successfully reach, and return from, regions of scientiﬁc interest, and iii) to characterize the impact of SPARROW’s range on likely science return. Five water-based propellant architectures are presented alongside their mass, power, and volume requirements. Monte Carlo simulations of SPARROW hopping and tumbling over 1 km of glacial ice are summarized, characterizing SPARROW’s sensitivity to uncertainty in: initial conditions, thrust control, and cage-terrain interaction. Finally, a science traceability matrix is presented, which details the effect of sortie range on three science goals: constraining Europa’s evolutionary morphology, assessing sub-surface ocean habitability, and searching for life and/or biosignatures.

Phillips, Cynthia↗

NASA NTRS1990

Evaluation of off-road terrain with static stereo and monoscopic displays

The National Aeronautics and Space Administration is currently funding research into the design of a Mars rover vehicle. This unmanned rover will be used to explore a number of scientific and geologic sites on the Martian surface. Since the rover can not be driven from Earth in real-time, due to lengthy communication time delays, a locomotion strategy that optimizes vehicle range and minimizes potential risk must be developed. In order to assess the degree of on-board artificial intelligence (AI) required for a rover to carry out its' mission, researchers conducted an experiment to define a no AI baseline. In the experiment 24 subjects, divided into stereo and monoscopic groups, were shown video snapshots of four terrain scenes. The subjects' task was to choose a suitable path for the vehicle through each of the four scenes. Paths were scored based on distance travelled and hazard avoidance. Study results are presented with respect to: (1) risk versus range; (2) stereo versus monocular video; (3) vehicle camera height; and (4) camera field-of-view.

Yorchak, John P.↗

NASA NTRS2009

Measurement and Characterization of Space Shuttle Solid Rocket Motor Plume Acoustics

Lift-off acoustic environments generated by the future Ares I launch vehicle are assessed by the NASA Marshall Space Flight Center (MSFC) acoustics team using several prediction tools. This acoustic environment is directly caused by the Ares I First Stage booster, powered by the five-segment Reusable Solid Rocket Motor (RSRMV). The RSRMV is a larger-thrust derivative design from the currently used Space Shuttle solid rocket motor, the Reusable Solid Rocket Motor (RSRM). Lift-off acoustics is an integral part of the composite launch vibration environment affecting the Ares launch vehicle and must be assessed to help generate hardware qualification levels and ensure structural integrity of the vehicle during launch and lift-off. Available prediction tools that use free field noise source spectrums as a starting point for generation of lift-off acoustic environments are described in the monograph NASA SP-8072: "Acoustic Loads Generated by the Propulsion System." This monograph uses a reference database for free field noise source spectrums which consist of subscale rocket motor firings, oriented in horizontal static configurations. The phrase "subscale" is appropriate, since the thrust levels of rockets in the reference database are orders of magnitude lower than the current design thrust for the Ares launch family. Thus, extrapolation is needed to extend the various reference curves to match Ares-scale acoustic levels. This extrapolation process yields a subsequent amount of uncertainty added upon the acoustic environment predictions. As the Ares launch vehicle design schedule progresses, it is important to take every opportunity to lower prediction uncertainty and subsequently increase prediction accuracy. Never before in NASA s history has plume acoustics been measured for large scale solid rocket motors. Approximately twice a year, the RSRM prime vendor, ATK Launch Systems, static fires an assembled RSRM motor in a horizontal configuration at their test facility in Utah. The remaining RSRM static firings will take place on elevated terrain, with the nozzle exit plume being mostly undeflected and the landscape allowing placement of microphones within direct line of sight to the exhaust plume. These measurements will help assess the current extrapolation process by direct comparison between subscale and full scale solid rocket motor data.

Kenny, Jeremy↗

NASA NTRS1986

Mars Rover

The system integration issues associated with the design of Rovers for Mars ground surface operations are addressed in this paper. Requirements are established for both long distance traverse between geology sites and for geologic survey operations. To satisfy these mission requirements, a semi-autonomous vehicle design has been proposed and its performance capabilities are assessed. Furthermore, the mobility, power consumption, coordination and control (maneuverability), and reliability issues associated with the design of mobility systems to permit vehicle traverse over rugged terrain are examined and the direction of future work required to address these issues is outlined.

Klein, G.↗

NASA NTRS1986

Current status of mission/system design for a Mars rover

The system integration issues associated with the design of Rovers for Mars ground surface operations are addressed in this article. Requirements are established for both long distance traverse between geology sites and for geologic survey operations. To satisfy these mission requirements, a semi-autonomous vehicle design has been proposed and its performance capabilities are assessed. Furthermore, the mobility, power consumption, coordination and control (maneuverability), and reliability issues associated with the design of mobility systems to permit vehicle traverse over rugged terrain are examined and the direction of future work required to address these issues is outlined.

Klein, Gail↗

NASA NTRS1988

Rotorcraft handling-qualities design criteria development

Joint NASA/Army efforts at the Ames Research Center to develop rotorcraft handling-qualities design criteria began in earnest in 1975. Notable results were the UH-1H VSTOLAND variable stability helicopter, the VFA-2 camera-and-terrain-board simulator visual system, and the generic helicopter real-time mathematical model, ARMCOP. An initial series of handling-qualities studies was conducted to assess the effects of rotor design parameters, interaxis coupling, and various levels of stability and control augmentation. The ability to conduct in-flight handling-qualities research was enhanced by the development of the NASA/Army CH-47 variable-stability helicopter. Research programs conducted using this vehicle include vertical-response investigations, hover augmentation systems, and the effects of control-force characteristics. The handling-qualities data base was judged to be sufficient to allow an update of the military helicopter handling-qualities specification, MIL-H-8501. These efforts, including not only the in-house experimental work but also contracted research and collaborative programs performed under the auspices of various international agreements. The report concludes by reviewing the topics that are currently most in need of work, and the plans for addressing these topics.

Aiken, Edwin W.↗

NASA NTRS1990

Performance of the Bowen ratio systems on a 22 deg slope

The Bowen ratio energy balance technique was used to assess the energy fluxes on inclined surfaces during the First ISLSCP Field Experiment (FIFE). Since air flow over sloping surface may differ from that over flat terrain, it is important to examine whether Bowen ratio measurements taken on sloping surfaces are valid. In this study, the suitability of using the Bowen ratio technique on sloping surfaces was tested by examining the assumptions that the technique requires for valid measurements. This was accomplished by studying the variation of Bowen ratio measurements along a selected slope at the FIFE site. In September 1988, four Bowen ratio systems were set up in a line along the 22 degree north-facing slope with northerly air flow (wind went up the slope). In July of 1989, six Bowen ratio systems were similarly installed with southerly air flow (the wind went down slope). Results indicated that, at distances between 10 to 40 meters from the top of the slope, no temperature or vapor pressure gradient parallel to the slope was detected. Uniform Bowen ratio values were obtained on the slope, and thus the sensible or latent heat flux should be similar along the slope. This indicates that the assumptions for valid flux measurements are reasonably met at the slope. The Bowen ratio technique should give the best estimates of the energy fluxes on slopes similar to that in this study.

Nie, D.↗

NASA NTRS2008

Advanced Land Imager Assessment System

The Advanced Land Imager Assessment System (ALIAS) supports radiometric and geometric image processing for the Advanced Land Imager (ALI) instrument onboard NASA s Earth Observing-1 (EO-1) satellite. ALIAS consists of two processing subsystems for radiometric and geometric processing of the ALI s multispectral imagery. The radiometric processing subsystem characterizes and corrects, where possible, radiometric qualities including: coherent, impulse; and random noise; signal-to-noise ratios (SNRs); detector operability; gain; bias; saturation levels; striping and banding; and the stability of detector performance. The geometric processing subsystem and analysis capabilities support sensor alignment calibrations, sensor chip assembly (SCA)-to-SCA alignments and band-to-band alignment; and perform geodetic accuracy assessments, modulation transfer function (MTF) characterizations, and image-to-image characterizations. ALIAS also characterizes and corrects band-toband registration, and performs systematic precision and terrain correction of ALI images. This system can geometrically correct, and automatically mosaic, the SCA image strips into a seamless, map-projected image. This system provides a large database, which enables bulk trending for all ALI image data and significant instrument telemetry. Bulk trending consists of two functions: Housekeeping Processing and Bulk Radiometric Processing. The Housekeeping function pulls telemetry and temperature information from the instrument housekeeping files and writes this information to a database for trending. The Bulk Radiometric Processing function writes statistical information from the dark data acquired before and after the Earth imagery and the lamp data to the database for trending. This allows for multi-scene statistical analyses.

Chander, Gyanesh↗

DOE OSTI2020

Characterizing Thunderstorm Gust Fronts near Complex Terrain

Fire safety, aviation, wind energy, and structural-engineering operations are impacted by thunderstorm outflow boundaries or gust fronts (GFs) particularly when they occur in mountainous terrain. For example, during the 2013 Arizona Yarnell Hill Fire, 19 firefighters were killed as a result of sudden changes in fire behavior triggered by a passing GF. Knowledge of GF behavior in complex terrain also determines departure and landing operations at nearby airports, and GFs can induce exceptional structural loads on wind turbines. Furthermore, while most examinations of GF characteristics focus on well-organized convection in areas such as the Great Plains, here the investigation is broadened to explore GF characteristics that evolve near the complex terrain of the Colorado Rocky Mountains. Using in situ observations from meteorological towers, as well as data from wind-profiling lidars and a microwave radiometer, 24 GF events are assessed to quantify changes in wind, temperature, humidity, and turbulence in the lowest 300 m AGL as these GFs passed over the instruments. The changes in magnitude for all variables are on average weaker in the Colorado Front Range than those typically observed from organized, severe storms in flatter regions. Most events from this study experience an increase in wind speed from 1 to 8 m s -1 , relative humidity from 1% to 8%, and weak vertical motion from 0.3 to 3.6 m s -1 during GF passage while temperature drops by 0.2°–3°C and turbulent kinetic energy peaks at >4 m2 s -2 . Vertical profiles reveal that these changes vary little with height in the lowest 300 m.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

A New Martian Crater Chronology: Implications for Jezero Crater

Crater chronologies are a fundamental tool to assess the relative and absolute ages of planetary surfaces when direct radiometric dating is not available. Martian crater chronologies are derived from lunar crater spatial densities on terrains with known radiometric ages, and thus they critically depend on the Moon-to-Mars extrapolation. This extrapolation requires knowledge of the time evolution of the impact flux, including contributions from various impactor populations, factors that are not trivially connected to the dynamical evolution of the early Solar System. In this paper, we will present a new Martian crater chronology based on current dynamical models, and consider the main sources of uncertainties (e.g., impactor size–frequency distribution; dynamical models with late and early instabilities, etc.). The resulting “envelope” of Martian crater chronologies significantly differs from previous chronologies. The new Martian crater chronology is discussed using two interesting applications: Jezero crater’s dark terrain (relevant to the NASA Mars 2020 mission) and the southern heavily cratered highlands. Our results indicate that Jezero’s dark terrain may have formed ∼3.1 Ga, i.e., up to 0.5 Gyr older than previously thought. In addition, available crater chronologies (including our own) overestimate the number of craters larger than 150 km on the southern highlands, suggesting either that large craters have been efficiently erased over Martian history or that dynamical models need further refinement. Further, our chronology constrains the age of Isidis basin to be 4.05–4.2 Ga and that of the Borealis basin to be 4.35–4.40 Ga; these are predictions that can be tested with future sample and return missions.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

NASA NTRS1985

Comparison of Two Orographical Data Sets for the GLAS Fourth Order GCM

The development of a 2 deg latitude by 2.5 deg longitude version of the GLAS Fourth Order General Circulation Model has necessitated the specification of a correspondingly fine horizontal resolution orographic data set to act as a lower boundary condition for the GCM. The S1 topography attempts to relate the mean areally averaged height of such terrain while the Q3 topography emphasizes the effect of the flow of the tallest peaks in such regions by specifying an exaggerated significant height. In order to assess the relative merits of these two orographic data sets. A series of tests was initiated to evaluate the comparative weather forecasting and climate simulation skills of the GLAS Fourth Order GCM when the S1 and Q3 topographies are applied to the lower boundary. Three sets of Northern Hemispheric winter forecasts at the 2 deg x 2.5 deg resolution indicate that the Q3 topography gives slightly better results over the Northern Hemisphere than does the S1 topography. It is apparent that more forecasts will be necessary at both horizontal resolutions before any definitive conclusions are made regarding the choice of an optimal orographic data set.

Helfand, H. M.↗

NASA NTRS2002

Real-Time Integrity Monitoring of Stored Geo-Spatial Data Using Forward-Looking Remote Sensing Technology

Terrain Awareness and Warning Systems (TAWS) and Synthetic Vision Systems (SVS) provide pilots with displays of stored geo-spatial data (e.g. terrain, obstacles, and/or features). As comprehensive validation is impractical, these databases typically have no quantifiable level of integrity. This lack of a quantifiable integrity level is one of the constraints that has limited certification and operational approval of TAWS/SVS to "advisory-only" systems for civil aviation. Previous work demonstrated the feasibility of using a real-time monitor to bound database integrity by using downward-looking remote sensing technology (i.e. radar altimeters). This paper describes an extension of the integrity monitor concept to include a forward-looking sensor to cover additional classes of terrain database faults and to reduce the exposure time associated with integrity threats. An operational concept is presented that combines established feature extraction techniques with a statistical assessment of similarity measures between the sensed and stored features using principles from classical detection theory. Finally, an implementation is presented that uses existing commercial-off-the-shelf weather radar sensor technology.

Young, Steven D.↗

NASA NTRS2014

Modeling Increased Complexity and the Reliance on Automation: FLightdeck Automation Problems (FLAP) Model

This paper highlights the development of a model that is focused on the safety issue of increasing complexity and reliance on automation systems in transport category aircraft. Recent statistics show an increase in mishaps related to manual handling and automation errors due to pilot complacency and over-reliance on automation, loss of situational awareness, automation system failures and/or pilot deficiencies. Consequently, the aircraft can enter a state outside the flight envelope and/or air traffic safety margins which potentially can lead to loss-of-control (LOC), controlled-flight-into-terrain (CFIT), or runway excursion/confusion accidents, etc. The goal of this modeling effort is to provide NASA's Aviation Safety Program (AvSP) with a platform capable of assessing the impacts of AvSP technologies and products towards reducing the relative risk of automation related accidents and incidents. In order to do so, a generic framework, capable of mapping both latent and active causal factors leading to automation errors, is developed. Next, the framework is converted into a Bayesian Belief Network model and populated with data gathered from Subject Matter Experts (SMEs). With the insertion of technologies and products, the model provides individual and collective risk reduction acquired by technologies and methodologies developed within AvSP.

Ancel, Ersin↗

NASA NTRS2000

The Strategy for Polar Exploration: Planes, Trains, and Automobiles

The polar regions are both interesting and challenging to explore. The record of climate history and the behavior of Martian volatiles over time are thought to be contained in the polar terrains. Furthermore, the polar regions are probably the best environment to search for evidence of living organisms on Mars because they have both the presence of water ice and summertime temperatures at the surface that exceed the freezing point of water. In addition, melting at the base of the polar caps is predicted to occur which could result in a deep aquifer beneath the polar caps. Such an aquifer is potentially another habitat for life. Clearly, assessing the question of volaties, climate, and life in the polar regions would benefit from landed missions that can sample and interact with the surface. Mobility on the surface is also important for polar exploration due to the apparent wide diversity of terrains that occur on both local and regional scales. Additional information is contained in the original extended abstract.

Stoker, C.↗

NASA NTRS2024

Thermal Sensitivity Study of Lunar Terrain Vehicle Wheels

Since the early development of lunar vehicles for the Apollo program, designing a wheel capable of functioning in the harsh equatorial lunar environment was identified as a uniquely difficult engineering challenge. The Lunar Terrain Vehicle (LTV) must contend with many of the same challenges encountered during the Apollo missions, but with the addition of colder, more complex thermal environments at the lunar south pole and longer Artemis mission timelines. A full thermal assessment of LTV wheels should capture these and other details to assess heat leak through the wheels and extreme hot and cold temperatures. The goals of this study are to provide bounding lunar south pole thermal environments; to define sensitivity to interactions between the wheel and the lunar surface in different operation modes, such as parked and traversing; and to identify thermal performance concerns related to the use of shape memory alloys.

Lunar Terrain Vehicle↗

NASA NTRS1985

Preliminary Analysis of AIS Spectral Data Acquired from Semi-arid Shrub Communities in the Owens Valley, California

Spectral characteristics of semic-arid plant communities using 128 channel airborne imaging spectrometer (AIS) data acquired on October 30, 1984. Both field and AIS spectra of vegetation were relatively featureless and differed from substrate spectra primarily in albedo. Unvegetated sand dunes were examined to assess spectral variation resulting from topographic irregularity. Although shrub cover as low as 10% could be detected on relatively flat surfaces, such differences were obscured in more heterogeneous terrain. Sagebrush-covered fans which had been scarred by fire were studied to determine the effect of changes in plant density on reflectance. Despite noise in the atmospherically corrected spectra, these provide better resolution of differences in plant density than spectra which are solar-corrected only. A high negative correlation was found between reflectance and plant cover in areas which had uniform substrates and vegetation types. A lower correlation was found where vegetation and substrates were more diverse.

Ustin, S. L.↗

NASA NTRS1991

An assessment of the crustal remelting hypothesis for volcanism in the Freyja Montes deformation zone

The linear mountain belts of Ishtar Terra on Venus are notable for their topographic relief and slope and for the intensity of surface deformation. The mountains surround the highland plain Lakshmi Planum, the site of two major paterae and numerous other volcanic features and deposits, and evidence is widespread for volcanism within the mountains and in terrain immediately outward of the mountain belt units. While two hypotheses for magmatism can be distinguished on the basis of the chemistry of the melts, chemical data are presently lacking for the Ishtar region. The competing hypotheses for magmatism in Western Ishtar Terra can also be tested with thermal models, given a kinematic or dynamic model for the evolution of the region. The crustal remelting hypothesis is assessed, using the kinematic scenario of Head for the evolution of Freyja Montes. In that scenario, Freyja Montes formed by a sequence of large scale underthrusts of the lithosphere of the North Polar Plains beneath Ishtar Terra, with successive blocks of underthrust crust sutured in imbricate fashion onto the thickened crust of Lakshmi Planum and the mantle portion of underthrusting lithosphere episodically detached. The numerical experiments thus show that volcanic activity associated with the formation of the Frejya Montes deformation zone can be explained by crustal melting, due either to direct contact of crustal material with the hot asthenosphere or to heat generation in a thickened crustal layer.

Namiki, Noriyuki↗