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At least 199 records · Page 11

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NASA NTRS1974

Parameter estimation for terrain modeling from gradient data

A method is developed for modeling terrain surfaces for use on an unmanned Martian roving vehicle. The modeling procedure employs a two-step process which uses gradient as well as height data in order to improve the accuracy of the model's gradient. Least square approximation is used in order to stochastically determine the parameters which describe the modeled surface. A complete error analysis of the modeling procedure is included which determines the effect of instrumental measurement errors on the model's accuracy. Computer simulation is used as a means of testing the entire modeling process which includes the acquisition of data points, the two-step modeling process and the error analysis. Finally, to illustrate the procedure, a numerical example is included.

Dangelo, K. R.↗

NASA NTRS1973

Surface soil variability and stratigraphy at the Apollo 16 site

The results of penetration tests, analyses of footprint and Lunar Roving Vehicle track depths, and core tube sample data have been used to deduce details of near-surface stratigraphy (to depths of several tens of cm) and lateral variability in soil conditions. Local variations (meter scale) in penetration resistance and porosity may be large, and soil stratigraphy may be complex. Since average properties are about the same at all sites, these variations probably reflect individual cratering and depositional events. These local variations cannot be anticipated on the basis of surface appearance or behavior.

Mitchell, J. K.↗

NASA NTRS1974

Surface electrical properties experiment

The Surface Electrical Properties Experiment (SEP) was flown to the moon in December 1972 on Apollo 17 and used to explore a portion of the Taurus-Littrow region. SEP used a relatively new technique, termed radio frequency interferometry (RFI). Electromagnetic waves were radiated from two orthogonal, horizontal electric dipole antennas on the surface of the moon at frequencies of 1, 2, 4, 8, 16, and 32 Mhz. The field strength of the EM waves was measured as a function of distance with a receiver mounted on the Lunar Roving Vehicle and using three orthogonal, electrically small, loops. The interference pattern produced by the waves that travelled above the moon's surface and those that travelled below the surface was recorded on magnetic tape. The tape was returned to earth for analysis and interpretation. Several reprints, preprints, and an initial draft of the first publication of the SEP results are included. These documents provide a rather complete account of the details of the theory of the RFI technique, of the terrestrial tests of the technique, and of the present state of our interpretation of the Apollo 17 data.

Simmons, G.↗

NASA NTRS1975

A nonlinear model for gas chromatograph systems

Fundamental engineering design techniques and concepts were studied for the optimization of a gas chromatograph-mass spectrometer chemical analysis system suitable for use on an unmanned, Martian roving vehicle. Previously developed mathematical models of the gas chromatograph are found to be inadequate for predicting peak heights and spreading for some experimental conditions and chemical systems. A modification to the existing equilibrium adsorption model is required; the Langmuir isotherm replaces the linear isotherm. The numerical technique of Crank-Nicolson was studied for use with the linear isotherm to determine the utility of the method. Modifications are made to the method eliminate unnecessary calculations which result in an overall reduction of the computation time of about 42 percent. The Langmuir isotherm is considered which takes into account the composition-dependent effects on the thermodynamic parameter, mRo.

Feinberg, M. P.↗

NASA NTRS1975

Laser observations of the moon: Normal points for 1973

McDonald Observatory lunar laser ranging observations for 1973 are presented in the form of compressed normal points and amendments for the 1969-1972 data set are given. Observations of the reflector mounted on the Soviet roving vehicle Lunakhod 2 have also been included.

Mulholland, J. D.↗

NASA NTRS1974

Methods for investigating the strength characteristics of a lunar soil simulant

A lunar soil simulant was used in research on predicting the performance of the Lunar Roving Vehicle (LRV) on the moon. The simulant was prepared from ground basaltic rock whose grain size distribution was matched to the lunar soil samples collected by Apollo 11 and 12. The strength characteristics of the simulant, i.e., internal friction angle, cohesion, and cone penetration resistance, were tested in triaxial tests, trenching tests, and cone penetration resistance tests. Subsequent soil tests and LRV performance on the moon proved that the lunar soil strength characteristics could be successfully simulated.-

Melzer, K.-J.↗

NASA NTRS1974

The impact of robots on planetary mission operations

Unmanned roving vehicles sent to explore remote planetary surfaces must carry out some of their tasks without step-by-step human control. To realize the benefits that accrue from such semiautonomous machines, current planning (and carrying out) of mission profiles will be subject to some changes. Specifically, it is shown that mission profiles will have to be based on tasks or functions rather than sequences of timed events, while scientists will have to center their attention on instrument control. Present ideas concerning spacecraft safety, testing (and simulation) of vehicle performance, telemetry design, and ground station equipment must be reexamined.

Hooke, A. A.↗

NASA NTRS1975

Water soluble cations and the fluvial history of Mars

The electrical conductivity and water soluble Na, K, Ca, and Mg of aqueous solutions of terrestrial soils and finely divided igneous and metamorphic rocks were determined. Soils from dry terrestrial basins with a history of water accumulation as well as soils from the topographic lows of valleys accumulated water soluble cations, particularly Na and Ca. These soils as a group can be distinguished from the rocks or a second group of soils (leached upland soils and soils from sites other than the topographic lows of valleys) by significant differences in their mean electrical conductivity and water-soluble Na + Ca content. Similar measurements on multiple samples from the surface of Mars, collected by an automated long-range roving vehicle along a highlands-to-basin transect at sites with morphological features resembling dry riverlike channels, are suggested to determine the fluvial history of the planet.

Silverman, M. P.↗

NASA NTRS1975

Modern mechanisms make manless Martian mission mobile: Spin-off spells stairclimbing self-sufficiency for earthbound handicapped

Concepts were developed for three wheel chairs from progressively improving designs of a proposed unmanned roving vehicle for the surface exploration of Mars; as a spin-off, a concept for a stair-climbing wheel chair was generated. The mechanisms employed in these are described. The Mars mission is envisioned using the booster rockets and aeroshell of the Viking missions.

Sandor, G. N.↗

NASA NTRS1975

Laser observations of the moon - Normal points for 1973

McDonald Observatory lunar laser-ranging observations for 1973 are presented in the form of compressed normal points, and amendments for the 1969-1972 data set are given. Observations of the reflector mounted on the Soviet roving vehicle Lunakhod 2 have also been included.

Mulholland, J. D.↗

NASA NTRS1976

Computer simulation and evaluation of edge detection algorithms and their application to automatic path selection

The construction of an autonomous roving vehicle requires the development of complex data-acquisition and processing systems, which determine the path along which the vehicle travels. Thus, a vehicle must possess algorithms which can (1) reliably detect obstacles by processing sensor data, (2) maintain a constantly updated model of its surroundings, and (3) direct its immediate actions to further a long range plan. The first function consisted of obstacle recognition. Obstacles may be identified by the use of edge detection techniques. Therefore, the Kalman Filter was implemented as part of a large scale computer simulation of the Mars Rover. The second function consisted of modeling the environment. The obstacle must be reconstructed from its edges, and the vast amount of data must be organized in a readily retrievable form. Therefore, a Terrain Modeller was developed which assembled and maintained a rectangular grid map of the planet. The third function consisted of directing the vehicle's actions.

Longendorfer, B. A.↗

NASA NTRS1977

The Lunar Orbiter program

The Luna and Zond series of unmanned U.S.S.R. spacecraft were designed to investigate the moon and its vicinity. Sixteen Luna spacecraft and, six Zond spacecraft have obtained lunar data. These series have included flyby, lunar-orbiting, and soft-landing missions. A variety of experiments were carried out by these spacecraft including studies of magnetism, X-ray and gamma emissions, gravitational anomalies, and chemical composition. Soil samples, near- and farside photography (both color and black and white), and earth-cloud photography were also acquired. Luna 17 and 23, carried automatic roving vehicles (Lunokhod 1 and 2) that traversed portions of the lunar surface. Lunokhod 1 roamed in Mare Imbrium near Sinus Iridum, and Lunokhod 2 roamed in the Crater Le Monnier at the eastern edge of Mare Serenitatis. The Luna 16, 20, and 24 missions soft-landed on the lunar surface, scooped up lunar material, and returned these samples to earth. The photographic samples received are in the form of paper prints. Some publications containing photographs are described.

Source record↗

NASA NTRS1977

The Automated Planetary Space Station

Results are presented for a study on mission definition and design to determine broad technology directions and needs for advanced planetary spacecraft and future planetary missions. The discussion covers mission selection, system design, and technology assessment and review for a multicomponent spacecraft exploration facility provided with nuclear power propulsion. As an example, the Automated Planetary Space Station at Jupiter is examined as a generic concept which has the capability of conducting in-depth investigations of different aspects of the entire Jovian system. Mission planning is discussed relative to low-thrust trajectory control, automatic target identification and landing, roving vehicle operation, and automated sample analysis.

Ivie, C. V.↗

NASA NTRS1976

Simulation of obstacle detection scheme for Mars terrain using minicomputer

Simulation for detection of obstacles on Martian terrain by a laser rangefinder mounted on an autonomous roving vehicle is achieved by a rapid estimation scheme on a computer with IDIIOM display. Near and far edges of pyramids and hemispherical craters or boulders can be recognized if the obstacles are more than about 15 m from the laser rangefinder and the noise standard deviation is less than about 10 cm. If these conditions are not met the rapid estimation scheme can still detect the top edge of a boulder and the near edge of a crater. The scheme is considered equivalent or better than an earlier (Reed, Sanyal, and Shen, 1974) four-directional Laplacian method, but requires slightly more computation.

Leung, K. L.↗

NASA NTRS1978

Emergency escape device

Modified egress mechanism used to deploy Lunar Roving Vehicle, could be used in shipping, safety exits, amusement parks, and other applications to gently lower people or equipment several hundred feet.

Burch, J. L.↗

NASA NTRS1977

Mars Rover system loopwheel definition support

The feasibility of the loopwheel suspension system for use on a Mars roving vehicle was analyzed. Various steering concepts were evaluated and an optimum concept was identified on the basis of maximum probability of mission success. In the structural analysis of the loopwheel core and tread as the major fatigue critical components, important technology areas were identified.

Trautwein, W.↗

NASA NTRS1978

Evaluation of the propulsion control system of a planetary rover and design of a mast for an elevation scanning laser/multi-detector system

Vertical wheel loads, wheel speeds, and torque relationships are considered in the design of a propulsion system capable of responding to steering, slope climbing, and irregular local terrains. The system developed is applied to the RPI Mars roving vehicle. The mechanical system required to implement the elevation laser scanning/multidetector principle was the design and construction of a mechanical system for implementing the elevation scanning/multidetector principle is also discussed.

Knaub, D.↗

NASA NTRS1978

Elevation scanning laser/multi-sensor hazard detection system controller and mirror/mast speed control components

The electro-mechanical and electronic systems involved with pointing a laser beam from a roving vehicle along a desired vector are described. A rotating 8 sided mirror, driven by a phase-locked dc motor servo system, and monitored by a precision optical shaft encoder is used. This upper assembly is then rotated about an orthogonal axis to allow scanning into all 360 deg around the vehicle. This axis is also driven by a phase locked dc motor servo-system, and monitored with an optical shaft encoder. The electronics are realized in standard TTL integrated circuits with UV-erasable proms used to store desired coordinates of laser fire. Related topics such as the interface to the existing test vehicle are discussed.

Craig, J.↗