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NASA NTRS1963

Characteristics of a Lunar Landing Configuration Having Various Multiple-Leg Landing-Gear Arrangements

An experimental investigation has been made of some lunar-landing characteristics of a 1/6-scale dynamic model of a landing module having multiple-leg landing-gear systems. Symmetric four-point and five-point systems and an asymmetric four-point system were investigated. The landing-gear legs were inverted tripod arrangements having a telescoping main strut which incorporated a yielding-metal strap for energy dissipation, hinged V-struts, and circular pads. The landing tests were made by launching a free model onto an impenetrable hard surface (concrete) and onto a powdered-pumice overlay of various depths. Landing motion and acceleration data were obtained for a range of touchdown speeds, touchdown speeds, touch attitudes, and landing-surface conditions. Symmetric four-point and five-point systems and an Maximum normal acceleration experienced at the module center of gravity during landings on hard surface or pumice was 2g (full-scale lunar value in terms of earth's gravity) over a wide range of touchdown conditions. Maximum angular acceleration experienced was 12-1/2 radians/sec(exp 2) and maximum longitudinal acceleration was 1-3/4 g. The module was very stable with all gear configurations during landings on hard surface (coefficient of friction, microns=0.4) at all conditions tested. Some overturn instability occurred during landings on powdered pumice (microns=0.7 to 1.0) depending upon flight path, pitch and yaw attitude, depth of pumice, surface topography, and landing-gear configuration. The effect of stability of roll attitude for the limited amount of roll-attitude landing data obtained was insignificant. Compared with the four-point system, the five-point system with equal maximum gear radius increased landing stability slightly and improved the static stability for subsequent lunar launch. A considerable increase in landing stability in the direction of motion was obtained with an asymmetric four-point gear having two pads offset to increase gear radius by 33 percent in the direction of horizontal flight.

Blanchard, Ulysse J.↗

NASA NTRS2004

Lunar and Planetary Science XXXV: Mars Volcanology and Tectonics

Reports from the session, "Mars Volcanology and Tectonics" include:Martian Shield Volcanoes; Estimating the Rheology of Basaltic Lava Flows; A Model for Variable Levee Formation Rates in an Active Lava Flow; Deflections in Lava Flow Directions Relative to Topography in the Tharsis Region: Indicators of Post-Flow Tectonic Motion; Fractal Variation with Changing Line Length: A Potential Problem for Planetary Lava Flow Identification; Burfellshraun:A Terrestrial Analogue to Recent Volcanism on Mars; Lava Domes of the Arcadia Region of Mars; Comparison of Plains Volcanism in the Tempe Terra Region of Mars to the Eastern Snake River Plains, Idaho with Implications for Geochemical Constraints; Vent Geology of Low-Shield Volcanoes from the Central Snake River Plain, Idaho: Lessons for Mars and the Moon; Field and Geochemical Study of Table Legs Butte and Quaking Aspen Butte, Eastern Snake River Plain, Idaho: An Analog to the Morphology of Small Shield Volcanoes on Mars; Variability in Morphology and Thermophysical Properties of Pitted Cones in Acidalia Planitia and Cydonia Mensae; A Volcano Composed of Light-colored Layered Deposits on the Floor of Valles Marineris; Analysis of Alba Patera Flows: A Comparison of Similarities and Differences Geomorphologic Studies of a Very Long Lava Flow in Tharsis, Mars; Radar Backscatter Characteristics of Basaltic Flow Fields: Results for Mauna Ulu, Kilauea Volcano, Hawaii;and Preliminary Lava Tube-fed Flow Abundance Mapping on Olympus Mons.

Source record↗

NASA NTRS1985

Some observations on the geology of the Apollo 15 landing site

High resolution (panoramic) and high geometric fidelity (metric) photos were taken from orbit of the lunar landing sites. Gamma ray and X-ray fluorescence spectroscopic measurement were taken to determine regional chemical composition of the Moon. Distinctive features of the Apennine Bench Formation are described. The structurally controlled topography of the Apennine Bench Formation is suggested of a lava channel or collapsed lava tube.

Swann, G. A.↗

NASA NTRS1976

Gravity fields

Detailed results on internal mass distribution have been obtained via earth-based Doppler radio tracking of deep space probes in the case of Mars, the earth's moon, Venus, Mercury, and Jupiter. Global gravity fields show close correlation with topography in the case of the moon and Mars, as data from orbiting spacecraft indicate. Some data are available on Jovian satellites. The gravity measuring instrumentation and data reduction techniques are described. Gravity profiles referable to lunar frontside mascons, craters, and mountain chains have been acquired from low-altitude (15-20 km) orbit surveys. Theoretically based cross sections through the moon and Jupiter are presented.

Sjogren, W. L.↗

NASA NTRS2013

A Hybrid FPGA/Tilera Compute Element for Autonomous Hazard Detection and Navigation

To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE.

Multicore↗

NASA NTRS2013

A hybrid FPGA/Tilera compute element for autonomous hazard detection and navigation

Trawny, Nikolas↗

NASA NTRS2014

An Analytic Function of Lunar Surface Temperature for Exospheric Modeling

We present an analytic expression to represent the lunar surface temperature as a function of Sun-state latitude and local time. The approximation represents neither topographical features nor compositional effects and therefore does not change as a function of selenographic latitude and longitude. The function reproduces the surface temperature measured by Diviner to within +/-10 K at 72% of grid points for dayside solar zenith angles of less than 80, and at 98% of grid points for nightside solar zenith angles greater than 100. The analytic function is least accurate at the terminator, where there is a strong gradient in the temperature, and the polar regions. Topographic features have a larger effect on the actual temperature near the terminator than at other solar zenith angles. For exospheric modeling the effects of topography on the thermal model can be approximated by using an effective longitude for determining the temperature. This effective longitude is randomly redistributed with 1 sigma of 4.5deg. The resulting ''roughened'' analytical model well represents the statistical dispersion in the Diviner data and is expected to be generally useful for future models of lunar surface temperature, especially those implemented within exospheric simulations that address questions of volatile transport.

moon↗

NASA NTRS2000

New Views of the Moon: Improved Understanding Through Data Integration

Understanding the Moon is crucial to future exploration of the solar system.The Moon preserves a record of the first billion years of the Earth-Moon system's history, including evidence of the Moon's origin as accumulated debris from a giant impact into early Earth. Lunar rocks provide evidence of early differentiation and extraction of a crust. Lacking an atmospheric shield, the Moon's regolith retains a record of the activity of solar wind over the past 4 billion years. It also holds a complete record of impact cratering, and analysis of samples has allowed calibration of ages, and thus dating of other planetary surfaces. And because of its proximity to Earth, it's low gravity well, and stable surface, the Moon's resources will be useful both in establishing lunar habitations and as fuel for exploration beyond the Moon. Lunar science has advanced tremendously in the 30 years since the Apollo and Luna missions. We know that the Moon is strongly differentiated, and recent tungsten isotope studies indicate that this differentiation occurred soon after solar system formation. The Moon probably accreted rapidly from debris that formed as a large planetesimal struck the early Earth. Ancient highland rocks provide evidence of early lunar differentiation, and basalts formed by later melting within the mantle reveal it cumulus nature. However, the timing, extent, and depth of differentiation, variations within the mantle, and lateral and vertical variations within the crust can only be surmised from the limited sample suites,gravity studies,and surface geophysics of the Apollo era. Data from the recent Lunar Prospector and Clementine missions permit reassessment of the global characteristics of the Moon and a reexamination of the distribution of elemental components, rock and soil types, and resources, as well as remanent magnetism, gravity field, and global topography New research provides some answers, but also leads to new questions.

Jolliff, B. L.↗

NASA NTRS2011

Towards Simulating a Realistic Planetary Seismic Wavefield: The Contribution of the Megaregolith and Low-Velocity Waveguides

Lunar seismograms are distinctly different from their terrestrial counterparts. The Apollo lunar seismometers recorded moonquakes without distinct P- or S-wave arrivals; instead waves arrive as a diffuse coda that decays over several hours making the identification of body waves difficult. The unusual character of the lunar seismic wavefield is generally tied to properties of the megaregolith: it consists of highly fractured and broken crustal rock, the result of extensive bombardment of the Moon. The megaregolith extends several kilometers into the lunar crust, possibly into the mantle in some regions, and is covered by a thin coating of fine-scale dust. These materials possess very low seismic velocities that strongly scatter the seismic wavefield at high frequencies. Directly modeling the effects of the megaregolith to simulate an accurate lunar seismic wavefield is a challenging computational problem, owing to the inherent 3-D nature of the problem and the high frequencies (greater than 1 Hz) required. Here we focus on modeling the long duration code, studying the effects of the low velocities found in the megaregolith. We produce synthetic seismograms using 1-D slowness integration methodologies, GEMINI and reflectivity, and a 3-D Cartesian finite difference code, Wave Propagation Program, to study the effect of thin layers of low velocity on the surface of a planet. These codes allow us generate seismograms with dominant frequencies of approximately 1 Hz. For background lunar seismic structure we explore several models, including the recent model of Weber et al., Science, 2011. We also investigate variations in megaregolithic thickness, velocity, attenuation, and seismogram frequency content. Our results are compared to the Apollo seismic dataset, using both a cross correlation technique and integrated envelope approach to investigate coda decay. We find our new high frequency results strongly support the hypothesis that the long duration of the lunar seismic codes is generated by the presence of the low velocity megaregolith, and that the diffuse arrivals are a combination of scattered energy and multiple reverberations within this layer. The 3-D modeling indicates the extreme surface topography of the Moon adds only a small contribution to scattering effects, though local geology may play a larger role. We also study the effects of the megaregolith on core reflected and converted phases and other body waves. Our analysis indicates detection of core interacting arrivals with a polarization filter technique is robust and lends the possibility of detecting other body waves from the Moon.

Schmerr, Nicholas C.↗

NASA NTRS2005

Planetary Geophysics and Tectonics

The broad objective of this work is to improve understanding of the internal structures and thermal and stress histories of the solid planets by combining results from analytical and computational modeling, and geophysical data analysis of gravity, topography and tectonic surface structures. During the past year we performed two quite independent studies in the attempt to explain the Mariner 10 magnetic observations of Mercury. In the first we revisited the possibility of crustal remanence by studying the conditions under which one could break symmetry inherent in Runcorn's model of a uniformly magnetized shell to produce a remanent signal with a dipolar form. In the second we applied a thin shell dynamo model to evaluate the range of intensity/structure for which such a planetary configuration can produce a dipole field consistent with Mariner 10 results. In the next full proposal cycle we will: (1) develop numerical and analytical and models of thin shell dynamos to address the possible nature of Mercury s present-day magnetic field and the demise of Mars magnetic field; (2) study the effect of degree-1 mantle convection on a core dynamo as relevant to the early magnetic field of Mars; (3) develop models of how the deep mantles of terrestrial planets are perturbed by large impacts and address the consequences for mantle evolution; (4) study the structure, compensation, state of stress, and viscous relaxation of lunar basins, and address implications for the Moon s state of stress and thermal history by modeling and gravity/topography analysis; and (5) use a three-dimensional viscous relaxation model for a planet with generalized vertical viscosity distribution to study the degree-two components of the Moon's topography and gravity fields to constrain the primordial stress state and spatial heterogeneity of the crust and mantle.

Zuber, Maria↗

NASA NTRS1994

The isostatic state of Mead crater

We have analyzed high-resolution Magellan Doppler tracking data over Mead crater, using both line-of-sight and spherical harmonic methods, and have found a negative gravity anomaly of about 4-5 mgal (at spacecraft altitude, 182 km). This is consistent with no isostatic compensation of the present topography; the uncertainty in the analysis allows perhaps as much as 30% compensation at shallow dpeths (approximately 25 km). This is similar to observations of large craters on Earth, which are not generally compensated, but contrasts with at least some lunar basins which are inferred to have large Moho uplifts and corresponding positive Bouguer anomalies. An uncompensated load of this size requires a lithosphere with an effective elastic lithosphere thickness greater than 30 km. In order for the crust-mantle boundary not to have participated in the deformation associated with the collapse of the transient cavity during the creation of the crater, the yield strength near the top of the mantle must have been significantly higher on Earth and Venus than on the Moon at the time of basin formation. This might be due to increased strength against frictional sliding at the higher confining pressures within the larger planets. Alternatively, the thinner crusts of Earth and Venus compared to that of the Moon may result in higher creep strength of the upper mantle at shallower depths.

Banerdt, W. B.↗

NASA NTRS2011

NASA Lunabotics Mining Competition for Universities: Results and Lessons Learned

Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step in Space Resource Utilization. One of the primary goals is to extract propellants from the regolith such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on the exposed topography. The National Aeronautics & Space Administration (NASA) Lunabotics Mining Competition is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA will directly benefit from the competition by encouraging the development of innovative lunar excavation concepts from universities which may result in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous excavator, called a lunabot, that can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. The complexities of the challenge include the abrasive characteristics of the lunar simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote control center. This paper will present the results of the first and second annual Lunabotics Mining Competitions held in May 2010 and May 2011. In 2010, 22 United States (US) universities competed, and in May 2011 the competition was opened to international participation, with 46 Universities expected to attend. There are 12 international teams and 34 US teams. This combined total directly inspired an estimated 544 university students. More students and the public were engaged via internet broadcasting and social networking media. The various designs will be cataloged and categorized to provide information to future Lunabotics mining robot designers and competitors. It is also expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith.

Mueller, Robert P.↗

NASA NTRS2012

Lunabotics Mining Competition: Inspiration through Accomplishment

Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step in Space Resource Utilization. One of the primary goals is to extract propellants from the regolith such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on the exposed topography. The National Aeronautics & Space Administration (NASA) Lunabotics Mining Competition is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA will directly benefit from the competition by encouraging the development of innovative lunar excavation concepts from universities which may result in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous excavator, called a lunabot, that can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. The complexities of the challenge include the abrasive characteristics of the lunar simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote control center or operate autonomously. This paper will present an update of the results and lessons learned during the first and second annual Lunabotics Mining Competitions held in May 2010 and May 2011. It will also preview the 2012 competition with a review of the revised rules. In 2010,22 United States (US) universities competed, and in May 2011 the competition was opened to international participation. In 2011, 36 teams actually competed from 26 USA states and 4 foreign countries (India, Bangladesh, Colombia and Canada). This combined total directly inspired an estimated 653 university students. In 2012 more students and the public will be engaged via internet broadcasting and social networking media. The various designs will be cataloged and categorized to provide information to future Lunabotics mining robot designers and competitors. It is also expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith.

Mueller, Robert P.↗

NASA NTRS1993

Using lunar sounder imagery to distinguish surface from subsurface reflectors in lunar highlands areas

We have developed a method using the Apollo 17 Lunar Sounder imagery data which appears capable of filtering out off-nadir surface noise from highland area profiles, so that subsurface features may now be detected in highland areas as well as mare areas. Previously, this had been impossible because the rough topography in the highland areas created noise in the profiles which could not be distinguished from subsurface echoes. The new method is an image processing procedure involving the computerized selection of pixels which represent intermediate echo intensity values, then manually removing those pixels from the profile. Using this technique, a subsurface feature with a horizontal extent of about 150 km, at a calculated depth of approximately 3 km, has been detected beneath the crater Riccioli in the highlands near Oceanus Procellarum. This result shows that the ALSE data contain much useful information that remains to be extracted and used.

Cooper, Bonnie L.↗

NASA NTRS1997

Bounds on Lithospheric Thickness on Venus from Magellan Gravity and Topography Data

The primary objective of the work executed under NAGW-4784 is to provide constraints on the thermal and tectonic evolution of Venus. Establishing thermal and tectonic evolution models requires not only geological, but geophysical constraints, in particular the nature of temporal and spatial variations in crustal and lithospheric thickness. The major topics of study completed under NAGW-4784 (described more fully below) are: (1) detailed analyses of the resolution of Magellan Line-Of-Site (LOS) Doppler data to establish the minimum resolvable wavelength in the gravity data; (2) calculations of the global strain field in the venusian lithosphere and comparisons with global strain patterns from geological mapping; (3) study of the geological history of coronae at E. Eistla Regio; (4) estimation of crustal and lithospheric thickness by modeling of topography at asymmetric and symmetric rift-like chasmata; (5) preliminary investigations of spatial versus temporal variations in lithospheric thickness. Both the PI and Co-I have presented papers based on these topics at national and international meetings (American Geophysical Union Meetings, Lunar and Planetary Science Conferences, Chapman Conference on the Geodynamics of Venus).

Johnson, Catherine L.↗

NASA NTRSDate not supplied

Lunar Landing and Launch Pad Construction – Concepts and Criteria

When a lander vehicle launches or lands on the Moon, the rocket engine exhaust plume impinges on the surface and interacts with the regolith to create blast ejecta and associated cratering of the surface. Lunar regolith blast ejecta travels at high velocities (>2,000 m/s) for long distances (kilometers) in a vacuum environment [1] creating hazards for surrounding assets and it can also impact the bottom of the lander vehicle, risking damage to the engines, thermal insulation and sensors. Ballistic particles can possibly enter cislunar space and achieve orbit as debris, if the ejecta is sufficiently energetic. The cratering and regolith erosion can endanger the vehicle itself by affecting the soil stability under the landing gear. Landing on unpredictable terrain with varying topography, natural craters and rock hazards is also hazardous risks tipping a lander at dangerous angles in extreme conditions that may also violate maximum slope angles for subsequent launch operations. During launch (Figure 1), an overpressure pulse created by the ignition of the rocket engines can pose significant ejecta risks to the vehicle. Dust clouds raised during landing limit the efficacy of sensors and reduce visibility for the astronaut pilots, creating significant real-time risk during landing site selection by the pilot or computer navigation system. Future lunar spaceports will require mitigations to these launch and landing risks [2]. There are four main objectives of this effort:1) To establish the state of the art in LLP construction methodologies. 2) To propose criteria for trade studies of LLP concepts. 3) To publicly share the authors’ ideas for potential LLP solutions. 4) To serve as the starting point for future development of LLP technologies. Establishing the state of the art in the area of off-Earth Launch & Landing Pad concepts will base-line the work that has been completed thus far and highlight the wide span between current Technology Readiness Levels (TRLs)and operational readiness. The authors aim to communicate the need for funding in this area in the near term by illustrating that there is much work to be completed before a truly viable option exists. Setting forth criteria for trade studies of LLP concepts is important for several reasons. The first and most straightforward is to establish a framework for performing trade studies on LLP concepts. This will enable NASA to select the most promising concepts for continued development, and it will also help technology developers understand how their concepts compare with others and the priorities of development effort.

landing pad↗

NASA NTRS1974

Mapping of the moon: Past and present

The present work provides an outline of the history of the efforts to map the topography of the surface of the moon, from the days of pre-telescopic astronomy to the present. The first part of the book covers the time span from 1600 to 1960 and reproduces numerous examples of this early, earth-based selenographic work. The manned lunar missions in the 1960's revolutionized the science of lunar mapping with their high-resolution, close-range photography of the moon. In 1959, a comprehensive lunar mapping program was initiated by two DOD mapping agencies - the U.S. Air Force Aeronautical Chart and Information Center (ACIC) and the U.S. Army Map Service (AMS). In the course of this program, the cause of lunar mapping enlisted for the first time the services of professional cartographers; the outcome of their efforts speedily relegated all previous work into absolescence. The methods and results of this work are described, and the underlying principles of physical selenodesy are set forth, including the definition of lunar coordinates and the methods for a determination of three-dimensional coordinates of lunar features. A section is included on lunar mapping in the U.S.S.R.

Kopal, Z.↗

NASA NTRS1997

Geology and Topography of Ra Patera, Io, in the Voyager era: Prelude to Eruption

Voyager era stereo images are used to map the geology and topography of Ra Patera (a major active volcanic center and possible site of sulfur eruptions on Io). The summit of Ra Patera reaches only approx.1 km above the surrounding plains. Pre-Voyager-era lava flows occur on slopes of 0.1-0.3 deg, comparable to the lunar mare. These flows were emplaced at either low viscosities, high eruption rates, or both. A 600- km-long ridged mountain unit (rising to approx. 8 km near Carancho Patera) forms a 60 by 90 km wide plateau approx. 0.5 km high 50 km east of Ra Patera. The new lava flows observed by Galileo flowed around the southern edge of this plateau.

Schenk, Paul M.↗