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NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves.

Renewed interest in deep space exploration has made establishing a persistent human presence on the Moon and eventually Mars a priority. Sustained habitation of the Moon will require in-situ resource utilization (ISRU) and protection from radiation at the lunar surface. Lunar caves are of interest to the space community because they could provide shelter from radiation, access to water deposits, and a space for habitation, as well as hold information about the geology, volcanology, and evolution of the Moon. Developing the tools to explore, map, and characterize these voids is key to understanding the Moon as a planetary body and to establishing a permanent human presence there. Our team is currently developing tools that enable ultra-high resolution terrain mapping and navigation using mobile light detection and ranging (LIDAR) technology and simultaneous localization and mapping (SLAM) algorithms in fully GPS-denied and no-light environments. 3D mapping with LiDAR and SLAM is relatively under-used, particularly in the context of planetary exploration and planetary analog environments. The backpack mounted LiDAR instrument currently under development by the KNaCK (Kinematic Navigation and Cartography Knapsack) team has demonstrated the potential of mobile SLAM LiDAR for lunar, planetary, and terrestrial cave exploration, study, and utilization. A description of the instrument and associated SLAM algorithms used for mapping in GPS-denied environments are referenced here.

LiDAR↗
NASA NTRS1988

The Mars Observer database

Mars Observer will study the surface, atmosphere, and climate of Mars in a systematic way over an entire Martian year. The observations of the surface will provide a database that will be invaluable to the planning of a future Mars sample return mission. Mars Observer is planned for a September 1992 launch from the Space Shuttle, using an upper-stage. After the one year transit the spacecraft is injected into orbit about Mars and the orbit adjusted to a near-circular, sun-synchronous low-altitude, polar orbit. During the Martian year in this mapping orbit the instruments gather both geoscience data and climatological data by repetitive global mapping. The scientific objectives of the mission are to: (1) determine the global elemental and mineralogical character of the surface material; (2) define globally the topography and gravitational field; (3) establish the nature of the magnetic field; (4) determine the time and space distribution, abundance, sources, and sinks of volatile material and dust over a seasonal cycle; and (5) explore the structure and aspects of the circulation of the atmosphere. The science investigations and instruments for Mars Observer have been chosen with these objectives in mind. These instruments, the principal investigator or team leader and the objectives are discussed.

Albee, Arden L.↗
NASA NTRS2010

Geologic Mapping in the Hesperia Planum Region of Mars

Hesperia Planum, characterized by a high concentration of mare-type wrinkle ridges and ridge rings, encompasses > 2 million square km in the southern highlands of Mars. The most common interpretation is that the plains were emplaced as "flood" lavas with total thicknesses of <3 km [4-10]. The wrinkle ridges on its surface make Hesperia Planum the type locale for "Hesperian-aged ridged plains" on Mars, and wrinkle-ridge formation occurred in more than one episode. Hesperia Planum s stratigraphic position and crater-retention age define the base of the Hesperian System. However, preliminary results of geologic mapping reveal that the whole of Hesperia Planum is unlikely to be composed of the same materials, emplaced at the same geologic time. To unravel these complexities, we are generating a 1:1.5M-scale geologic map of Hesperia Planum and its surroundings. To date, we have identified 4 distinct plains units within Hesperia Planum and are attempting to determine the nature and relative ages of these materials.

Gregg, Tracy K. P.↗
NASA NTRS1981

Planetary geological studies

A global data base was assembled for the study of Mars crater ejecta morphology. The craters were classified as to morhology using individual photographic prints of Viking orbiter frames. Positional and scale information were derived by fitting digitized mosaic coordinates to lattitude-longitude coordinates of surface features from the Mars geodetic control net and feature coordinates from the U.S.G.S. series of 1:5,00,000 scale shaded relief maps. Crater morphology characteristics recorded are of two classes - attributes of each ejecta deposit and other crater charactersitics. Preliminary efforts to check the data base with findings of other workers are described.

Blasius, K. R.↗
NASA NTRS1993

Martian particle size based on thermal inertia corrected for elevation-dependent atmospheric properties

Thermal inertia is commonly used to derive physical properties of the Martian surface. If the surface is composed of loosely consolidated grains, then the thermal conductivity derived from the inertia can theoretically be used to compute the particle size. However, one persistent difficulty associated with the interpretation of thermal inertia and the derivation of particle size from it has been the degree to which atmospheric properties affect both the radiation balance at the surface and the gas conductivity. These factors vary with atmospheric pressure so that derived thermal inertias and particle sizes are a function of elevation. By utilizing currently available thermal models and laboratory information, a fine component thermal inertia map was convolved with digital topography to produce particle size maps of the Martian surface corrected for these elevation-dependent effects. Such an approach is especially applicable for the highest elevations on Mars, where atmospheric back radiation and gas conductivity are low.

Bridges, N. T.↗
NASA NTRS2011

Mars-GRAM 2010: Improving the Precision of Mars-GRAM

It has been discovered during the Mars Science Laboratory (MSL) site selection process that the Mars Global Reference Atmospheric Model (Mars-GRAM) when used for sensitivity studies for Thermal Emission Spectrometer (TES) MapYear=0 and large optical depth values, such as tau=3, is less than realistic. Mars-GRAM's perturbation modeling capability is commonly used, in a Monte-Carlo mode, to perform high fidelity engineering end-to-end simulations for entry, descent, and landing (EDL). Mars-GRAM 2005 has been validated against Radio Science data, and both nadir and limb data from TES. Traditional Mars-GRAM options for representing the mean atmosphere along entry corridors include: (1) TES mapping year 0, with user-controlled dust optical depth and Mars-GRAM data interpolated from NASA Ames Mars General Circulation Model (MGCM) results driven by selected values of globally-uniform dust optical depth, or (2) TES mapping years 1 and 2, with Mars-GRAM data coming from MGCM results driven by observed TES dust optical depth. From the surface to 80 km altitude, Mars-GRAM is based on NASA Ames MGCM. Above 80 km, Mars-GRAM is based on the University of Michigan Mars Thermospheric General Circulation Model (MTGCM). MGCM results that were used for Mars-GRAM with MapYear=0 were from a MGCM run with a fixed value of tau=3 for the entire year at all locations. This choice of data has led to discrepancies that have become apparent during recent sensitivity studies for MapYear=0 and large optical depths. Unrealistic energy absorption by time-invariant atmospheric dust leads to an unrealistic thermal energy balance on the polar caps. The outcome is an inaccurate cycle of condensation/sublimation of the polar caps and, as a consequence, an inaccurate cycle of total atmospheric mass and global-average surface pressure. Under an assumption of unchanged temperature profile and hydrostatic equilibrium, a given percentage change in surface pressure would produce a corresponding percentage change in density at all altitudes. Consequently, the final result of a change in surface pressure is an imprecise atmospheric density at all altitudes.

Justh, H. L.↗
NASA NTRS2016

Finding Stuff Underwater: Open-Source Tools for Underwater Field Science

Since 2009, we have been developing and testing Exploration Ground Data Systems (xGDS). xGDS is a software suite, built on open-source web technologies, for supporting NASA terrestrial field science analog missions. We will describe our recent work supporting underwater mapping and dive operations at the Pavilion Lake Research Project (PLRP - www.pavilionlake.com). At PLRP we used open-source mapping technologies to meet an operational need to quickly guide divers and underwater vehicles to locations of interest, and the scientific goal of building a map showing the locations and characteristics of the microbialites at the bottom of the lake. We will discuss some of the benefits and lessons-learned from our recent transition from Google Earth to OpenLayers as the primary mapping engine to support our work. Well also explain the challenges we faced and solutions weve developed to support mapping and data collection in an underwater environment.Beyond their immediate value for advancing scientific research on Earth, NASA analogs explore new ideas for supporting scientists working in extreme environments (e.g. underwater) to develop best practices for future human missions to the Moon or Mars. Science at PLRP involved imaging, sampling and characterizing microbialites growing beneath the surface of an alpine lake in British Columbia. To support PLRP operations and science, xGDS helped plan data collection tasks and provided accurate tracking and mapping of the locations of the underwater assets (human-piloted submersibles, remotely operated vehicles (ROVs) and human divers) collecting imagery and samples from the lake. The data collected during our field work was registered with precursor bathymetry data collected by an autonomous underwater vehicle (AUV) and was globally located on a satellite base layer map of the area surrounding the lake.

Earth analogs↗
NASA NTRS1986

An imaging spectrometer for the investigation of Mars

Unmanned misions to Mars will employ imaging spectrometry to yield compositional data about the target body, through visual and IR measurements of the intensity and distribution of characteristic spectral signature features in the radiation that is emitted and reflected by surface materials. Attention is presently given to a modular imaging spectrometer design with applicability to a diverse range of planetary missions. This visual and IR mapping spectrometer has been tentatively selected for NASA's recently approved Mars Observer mission. Detailed optical characteristics and capabilities of the instrument are presented.

Duval, James E.↗
NASA NTRS1993

Transmantle flux tectonics

Venus, Earth, and Mars have surfaces that display topographic domes and depressions with quasi-circular planimetric shapes, relief of 0 to several km, and large spatial scales (10(exp 2) to 10(exp 4) km). Our morphostructural mapping reveals hierarchical arrangements of these features. They are explained by a model of long-acting mantle convection, as a particular case of convection in a stratified and random inhomogeneous medium, which develops the form of a hierarchy of different convective pattern scales, each arising from different levels in the mantle. The hypothesis of transmantle flux tectonics parsimoniously explains a diversity of seemingly unrelated terrestrial planetary phenomena, including Earth megaplumes, global resurfacing epochs on Venus, and cyclic ocean formation and global climate change for Mars. All these phenomenon are hypothesized to be parsimoniously explained by a process of transmantle flux tectonics in which long-acting mantle convection generates stresses in blocks of planetary lithosphere to produce distinctive quasi-circular global-hierarchical morphostructure (QGM) patterns. Transmantle flux tectonics differs from plume tectonics in that individual plumes are not considered in isolation. Rather, a wholly interactive process is envisioned in which various spatial and temporal scales of convection operate contemporaneously and hierarchically within other scales. This process of continual change by hierarchical convective cells affects the surface at varying temporal and spatial scales, and its effects are discernable through their relic geological manifestations, the QGM patterns.

Finn, V. J.↗
NASA NTRS2004

Arabia and Memnonia Equatorial Regions with High Content of Water: Data from HEND/Odyssey

After one martian year of neutron mapping measurements by the High Energy Neutron Detector (HEND) onboard the Mars Odyssey spacecraft, a map of the planet was produced showing the summer season in each hemisphere when winter deposition of CO2 on the surface is absent. The data for northern and southern poleward water-rich regions are presented. Here we discuss the HEND results for two equatorial regions, Arabia and Memnonia, which were found to be associated with a rather strong depression of epithermal and high energy neutrons.

Mitrofaov, I. G.↗
NASA NTRS2017

The Mars Reconnaissance Orbiter Mission: Continuing a Record of Exploration from Mars Orbit

The Mars Reconnaissance Orbiter (MRO) has been on station in its low altitude, sun-synchronous, primary science orbit since September 2006 performing both scientific and Mars programmatic support functions. The spacecraft is a very capable remote sensing science platform carrying six science payloads supporting seven investigations and a UHF telecommunications radio (Electra) for surface relay. Developed to support a mix of nadir mapping and targeted, highresolution surface observations, the spacecraft’s powerful telecommunications and command & data handling (C&DH) subsystems communicate an average of 16 hours a day with the Deep Space Network (DSN). To date, more than 300 TB of scientific data has been returned to Earth. All of the original science payloads are active with standard and new observing modes contributing to the advancement of Mars science through peer-reviewed paper publications and the timely dissemination of their data to the science community as a whole. Results from the science teams have revealed an amazing diversity of ancient aqueous environments and ongoing surface change is evident through gully formation, avalanches, and cratering. Extending the MRO-MGS climate record to a decade of Mars years is contributing to a better understanding of current atmospheric and polar processes. In addition to its fundamental scientific objectives, MRO is a critical element of NASA’s Mars Exploration Program (MEP) providing needed infrastructure support for landed and future missions. Using its Electra telecommunications payload, MRO provides landers and rovers critical event coverage during their entry, descent, and landing (EDL) phases and UHF relay support once they are on the Martian surface. MRO’s high-resolution imagers are used to scout potential landing sites and certify safe zones for landing. As MRO begins its Fourth Extended Mission, the spacecraft remains fully capable of carrying out an ambitious science observing plan and the programmatic tasks assigned to it. In addition to highlighting recent discoveries of the mission, this paper describes recent challenges the spacecraft engineers have faced in flight and the plans for extending spacecraft life well into the 2020’s.

Tamppari, Leslie K.↗
NASA NTRS1999

Microscopy of Analogs for Martian Dust and Soil

The upcoming Mars 2001 lander will carry an atomic force microscope (AFM) as part of the Mars Environmental Compatibility Assessment (MECA) payload. By operating in a tapping mode, the AFM is capable of sub-nanometer resolution in three dimensions and can distinguish between substances of different compositions by employing phase-contrast imaging. Phase imaging is an extension of tapping-mode AFM that provides nanometer-scale information about surface composition not revealed in the topography. Phase imaging maps the phase of the cantilever oscillation during the tapping mode scan, hence detecting variations in composition, adhesion, friction, and viscoelasticity. Because phase imaging highlights edges and is not affected by large-scale height differences, it provides for clearer observation of fine features, such as grain edges, which can be obscured by rough topography. To prepare for the Mars 01 mission, we are testing the AFM on a lunar soil and terrestrial basaltic glasses to determine the AFMOs ability to define particle shapes and sizes and grain-surface textures. The test materials include the Apollo 17 soil 79221, which is a mixture of agglutinates, impact and volcanic beads, and mare and highland rock and mineral fragments. The majority of the lunar soil particles are less than 100 microns in size, comparable to the sizes estimated for Martian dust. The terrestrial samples are millimeter size basaltic glasses collected on Black Pointe at Mono Lake, just north of the Long Valley caldera in California. The basaltic glass formed by a phreatomagmatic eruption 13,000 years ago beneath a glacier that covered the Mono Lake region. Because basaltic glass formed by reworking of pyroclastic deposits may represent a likely source for Martian dunes, these basaltic glass samples represent plausible analogs to the types of particles that may be studied in sand dunes by the 01 lander and rover. We have used the AFM to examine several different soil particles at various resolutions. The instrument has demonstrated the ability to identify parallel ridges characteristic of twinning on a 150-micron plagioclase feldspar particle. Extremely small (10-100 nanometer) adhering particles are visible on the surface of the feldspar grain, and appear elongate with smooth surfaces. Phase contrast imaging of the nanometer particles shows several compositions to be present. When the AFM was applied to a 100-micron glass spherule, it was possible to define an extremely smooth surface.E Also visible on the surface of the glass spherule were chains of 100-nanometer- and-smaller impact melt droplets. Additional information is contained in the original extended abstract.

Anderson, M. A.↗
NASA NTRS2008

Mapping Hesperia Planum, Mars

Hesperia Planum, characterized by a high concentration of mare-type wrinkle ridges and ridge rings [1-4], encompasses > 2 million km2 in the southern highlands of Mars (Fig. 1). The most common interpretation is that the plains were emplaced as flood lavas with total thicknesses of <3 km [4-10]. The wrinkle ridges on its surface make Hesperia Planum the type locale for Hesperian-aged ridged plains on Mars [e.g., 9], and recent investigations reveal that wrinkle-ridge formation occurred in more than one episode [4]. Hesperia Planum s stratigraphic position and crater-retention age [e.g., 9, 11-12] define the base of the Hesperian System. However, preliminary results of geologic mapping reveal that the whole of Hesperia Planum is unlikely to be composed of the same materials, emplaced at the same geologic time. To unravel these complexities, we are generating a 1:1.5M-scale geologic map of Hesperia Planum and its surroundings (Fig. 1). To date, we have identified 4 distinct plains units within Hesperia Planum and are attempting to determine the nature and relative ages of these materials (Fig. 2) [13-15].

Gregg, Tracy K. P.↗
NASA NTRS1974

Pioneer Mars 1979 mission options

Two mission concepts utilizing modified Pioneer Venus hardware are presented as relatively low-cost alternatives for scientific exploration of Mars in 1979. Mission A would perform in situ aeronomy measurements in the Martian ionosphere and include several remote sensing instruments capable of geological surface mapping at low altitudes. The initial high eccentricity orbit would be allowed to decay in an adaptive mode. Mission B would sequentially deploy (from an orbiter bus), four, nondestructing surface penetrometers carrying instrumentation to investigate soil density, composition and chemistry, subsurface water, and perhaps seismology. Mission B is more expensive than mission A, since it requires more extensive hardware modifications and systems development.

Niehoff, J. C.↗
NASA NTRS1999

Implications of the Improved Understanding of the Gravitational and Topography Fields

The Mars Orbiter Laser Altimeter (MOLA) has been successfully mapping the shape and topography of Mars on an intermittent basis since the Mars Global Surveyor (MGS) spacecraft arrived at Mars in Sept. 1997. In early April, MGS reached it's mapping orbit and began the mapping phase of the mission. Since that time MOLA has been operating continuously. MOLA is a laser altimeter with a pulse rate of 10 Hz and a precision of about 30 to 40 cm over flat surfaces. The laser pulses are approximately 330 meters apart on the surface of Mars and each pulse illuminates an area approximately 150 meters in diameter. The orbital accuracy of MGS is a few meters in the radial direction enabling the topography to be interpreted at the few meter accuracy level. The initial data have provided a new geodetic description of the size and shape of Mars, including accurate estimates for the equatorial and polar radii, and the planetary flattening. The data have revealed the northern hemisphere to be very low in elevation, very flat, and almost devoid of craters. The north polar icecap lies in a basin about 5 km below the average altitude and reaches to a height of 3 km. The heavily cratered southern hemisphere is high and the terrain is rough. The south polar icecap is about 5 km above the average planetary altitude and 2 km above the surrounding terrain. The MOLA profile data show the gradual but steady increase in altitude of the surface of Mars from the north pole to the south pole. This is a consistent feature for all north-south profiles and reflects the 3 km separation of the center of figure for Mars from the center of mass along the rotation axis.

Smith, David E.↗
NASA NTRS2009

Mapping Tyrrhena Patera and Hesperia Planum, Mars

Hesperia Planum, characterized by a high concentration of mare-type wrinkle ridges and ridge rings [1-4], encompasses > 2 million sq km in the southern highlands of Mars (Fig. 1). The most common interpretation is that the plains were emplaced as "flood" lavas with total thicknesses of <3 km [4-10]. The wrinkle ridges on its surface make Hesperia Planum the type locale for "Hesperian-aged ridged plains" on Mars [e.g., 9], and recent investigations reveal that wrinkle-ridge formation occurred in more than one episode [4]. Hesperia Planum?s stratigraphic position and crater-retention age [e.g., 9, 11-12] define the base of the Hesperian System. However, results of geologic mapping reveal that the whole of Hesperia Planum is unlikely to be composed of the same materials, emplaced at the same geologic time. To unravel these complexities, we are generating a 1:1.5M-scale geologic map of Hesperia Planum and its surroundings (Fig. 1). We have identified 4 distinct plains units within Hesperia Planum and are attempting to determine the nature and relative ages of these materials (Fig. 2) [13, 14]. The volcano Tyrrhena Patera (22degS, 104degE) is located within Hesperia Planum. Its products are both embayed by, and superpose, Hesperia Planum materials [15, 16]. We were previously funded to generate a 1:1 million scale map of Mars Transverse Mercator (MTM) quadrangles -15257 and -20257, which include the Tyrrhena Patera materials north and west of the Tyrrhena Patera summit. The goal for these maps was to constrain the nature and extent of the Tyrrhena Patera deposits, and to determine the relationship between Tyrrhena Patera materials, Hesperia Planum, and the adjacent highlands [16].

Crown, David A.↗