SEARCH · Search NASA

Results for “traversibility”

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

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 253 records · Page 14

All sources NASA NTRS DOE OSTI

NASA NTRS2005

The Application of FLUKA to Dosimetry and Radiation Therapy

Monte Carlo transport codes like FLUKA are useful for many purposes, and one of those is the simulation of the effects of radiation traversing the human body. In particular, radiation has been used in cancer therapy for a long time, and recently this has been extended to include heavy ion particle beams. The advent of this particular type of therapy has led to the need for increased capabilities in the transport codes used to simulate the detailed nature of the treatment doses to the Y ~ ~ O U S tissues that are encountered. This capability is also of interest to NASA because of the nature of the radiation environment in space.[l] While in space, the crew members bodies are continually being traversed by virtually all forms of radiation. In assessing the risk that this exposure causes, heavy ions are of primary importance. These arise both from the primary external space radiation itself, as well as fragments that result from interactions during the traversal of that radiation through any intervening material including intervening body tissue itself. Thus the capability to characterize the details of the radiation field accurately within a human body subjected to such external 'beams" is of critical importance.

Wilson, Thomas L.↗

NASA NTRS2004

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

autonomous↗

NASA NTRS2005

Learning for Autonomous Navigation

Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

mixture of Gaussians↗

NASA NTRS2010

Orbital Winch for High-Strength, Space-Survivable Tethers

An Orbital Winch mechanism enables high-load, multi-line tethers to be deployed and retracted without rotating the spool on which the tether is wound. To minimize damage to the tether and the wound package during retraction or deployment under load, it can incorporate a Tension Management Module that reduces the infeed tension by a factor of 15 through the use of a powered capstan with guide rollers. This design eliminates the need for rotating high-voltage electrical connections in tether systems that use propellantless electro-dynamic propulsion. It can also eliminate the need for rotating optical connections in applications where the tether contains optical fibers. This winch design was developed to deploy a 15-km-long, 15-kg high-strength Hoytether structure incorporating conductive wires as part of the MXER-1 demonstration mission concept. Two slewing rings that orbit around the tether spool, combined with translation of one of the slewing rings back and forth along the spool axis to traverse the wind point, enables the winch to wind the tether. Variations of the traverse motion of the slewing ring can accomplish level winds and conical pirn winds. By removing the non-traversing slewing ring, and adding an actuated guide arm, the winch can manage rapid, low-drag deployment of a tether off the end of a pirn-wound spool, followed by controlled retraction and rewinding, in a manner very similar to a spin-casting reel. The winch requires at least two motor driver controller units to coordinate the action of two stepper motors to accomplish tether deployment or retraction.

Hoyt, Robert↗

NASA NTRS1964

Vehicle Walks on Varied Terrain, Can Assist Handicapped Persons

The problem: Designing a vehicle capable of traversing varied terrain at moderate speeds (up to 4 miles per hour). Development of such a vehicle was originally undertaken to meet NASA requirements for a remotely controlled instrument carrier to be used for unmanned exploration of lunar and planetary surfaces. The solution: A battery-powered motorized vehicle with three pairs of legs that are connected to push rods and a series of linkages. How it's done: Locomotion of the basic vehicle is accomplished by three pairs of legs, one pair in the front and two pairs in the rear. Each leg consists of an upper horizontal portion, a middle vertical portion, and a foot. Two cams connected to the drive mechanism (a small motor, gearbox, and push rods) control the motion of the legs. The two outer rear legs move in unison with the right front leg, and the two inner rear legs move in unison with the left front leg. Each set of three legs is lifted to clear or rest on any expected obstacle on the terrain to be traversed by the vehicle and advanced a fixed distance for the succeeding step. A system of spring-loaded vertical-motion linkages permits obstacles (within design limitations) to be traversed with a minimum disturbance of the vehicle's axes. The linkages are arranged to permit the legs to be folded when the vehicle is stored. Steering is accomplished by a small motor, which swings the front pair of legs to the desired angle. The rear legs are connected by a differential linkage to compensate for the required variation in step length or speed between the right and left pairs of rear legs when turns are made.

Source record↗

NASA NTRS2011

Single-Frame Terrain Mapping Software for Robotic Vehicles

This software is a component in an unmanned ground vehicle (UGV) perception system that builds compact, single-frame terrain maps for distribution to other systems, such as a world model or an operator control unit, over a local area network (LAN). Each cell in the map encodes an elevation value, terrain classification, object classification, terrain traversability, terrain roughness, and a confidence value into four bytes of memory. The input to this software component is a range image (from a lidar or stereo vision system), and optionally a terrain classification image and an object classification image, both registered to the range image. The single-frame terrain map generates estimates of the support surface elevation, ground cover elevation, and minimum canopy elevation; generates terrain traversability cost; detects low overhangs and high-density obstacles; and can perform geometry-based terrain classification (ground, ground cover, unknown). A new origin is automatically selected for each single-frame terrain map in global coordinates such that it coincides with the corner of a world map cell. That way, single-frame terrain maps correctly line up with the world map, facilitating the merging of map data into the world map. Instead of using 32 bits to store the floating-point elevation for a map cell, the vehicle elevation is assigned to the map origin elevation and reports the change in elevation (from the origin elevation) in terms of the number of discrete steps. The single-frame terrain map elevation resolution is 2 cm. At that resolution, terrain elevation from 20.5 to 20.5 m (with respect to the vehicle's elevation) is encoded into 11 bits. For each four-byte map cell, bits are assigned to encode elevation, terrain roughness, terrain classification, object classification, terrain traversability cost, and a confidence value. The vehicle s current position and orientation, the map origin, and the map cell resolution are all included in a header for each map. The map is compressed into a vector prior to delivery to another system.

Rankin, Arturo L.↗

NASA NTRS2011

Dose Response for Chromosome Aberrations in Human Lymphocytes and Fibroblasts After Exposure to Very Low Dose of High Let Radiation

The relationship between biological effects and low doses of absorbed radiation is still uncertain, especially for high LET radiation exposure. Estimates of risks from low-dose and low-dose-rates are often extrapolated using data from Japanese atomic bomb survivor with either linear or linear quadratic models of fit. In this study, chromosome aberrations were measured in human peripheral blood lymphocytes and normal skin fibroblasts cells after exposure to very low dose (0.01 - 0.20 Gy) of 170 MeV/u Si-28 ions or 600 MeV/u Fe-56 ions, including doses where on average less than one direct ion traversal per cell nucleus occurs. Chromosomes were analyzed using the whole-chromosome fluorescence in situ hybridization (FISH) technique during the first cell division after irradiation, and chromosome aberrations were identified as either simple exchanges (translocations and dicentrics) or complex exchanges (involving >2 breaks in 2 or more chromosomes). The responses for doses above 0.1 Gy (more than one ion traverses a cell) showed linear dose responses. However, for doses less than 0.1 Gy, both Si-28 ions and Fe-56 ions showed a dose independent response above background chromosome aberrations frequencies. Possible explanations for our results are non-targeted effects due to aberrant cell signaling [1], or delta-ray dose fluctuations [2] where a fraction of cells receive significant delta-ray doses due to the contributions of multiple ion tracks that do not directly traverse cell nuclei where chromosome aberrations are scored.

Hada, M.↗

NASA NTRS2011

Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures

A platform has been developed for two or more vehicles with one or more residing within the other (a marsupial pair). This configuration consists of a large, versatile robot that is carrying a smaller, more specialized autonomous operating robot(s) and/or mobile repeaters for extended transmission. The larger vehicle, which is equipped with a ramp and/or a robotic arm, is used to operate over a more challenging topography than the smaller one(s) that may have a more limited inspection area to traverse. The intended use of this concept is to facilitate the insertion of a small video camera and sensor platform into a difficult entry area. In a terrestrial application, this may be a bus or a subway car with narrow aisles or steep stairs. The first field-tested configuration is a tracked vehicle bearing a rigid ramp of fixed length and width. A smaller six-wheeled vehicle approximately 10 in. (25 cm) wide by 12 in. (30 cm) long resides at the end of the ramp within the larger vehicle. The ramp extends from the larger vehicle and is tipped up into the air. Using video feedback from a camera atop the larger robot, the operator at a remote location can steer the larger vehicle to the bus door. Once positioned at the door, the operator can switch video feedback to a camera at the end of the ramp to facilitate the mating of the end of the ramp to the top landing at the upper terminus of the steps. The ramp can be lowered by remote control until its end is in contact with the top landing. At the same time, the end of the ramp bearing the smaller vehicle is raised to minimize the angle of the slope the smaller vehicle has to climb, and further gives the operator a better view of the entry to the bus from the smaller vehicle. Control is passed over to the smaller vehicle and, using video feedback from the camera, it is driven up the ramp, turned oblique into the bus, and then sent down the aisle for surveillance. The demonstrated vehicle was used to scale the steps leading to the interior of a bus whose landing is 44 in. (.1.1 m) from the road surface. This vehicle can position the end of its ramp to a surface over 50 in. (.1.3 m) above ground level and can drive over rail heights exceeding 6 in. (.15 cm). Thus configured, this vehicle can conceivably deliver the smaller robot to the end platform of New York City subway cars from between the rails. This innovation is scalable to other formulations for size, mobility, and surveillance functions. Conceivably the larger vehicle can be configured to traverse unstable rubble and debris to transport a smaller search and rescue vehicle as close as possible to the scene of a disaster such as a collapsed building. The smaller vehicle, tethered or otherwise, and capable of penetrating and traversing within the confined spaces in the collapsed structure, can transport imaging and other sensors to look for victims or other targets.

Krasowski, Michael J.↗

NASA NTRS2015

Fluvial to Lacustrine Facies Transitions in Gale Crater, Mars

NASA's Curiosity rover has documented predominantly fluvial sedimentary rocks along its path from the landing site to the toe of the Peace Vallis alluvial fan (0.5 km to the east) and then along its 8 km traverse across Aeolis Palus to the base of Aeolis Mons (Mount Sharp). Lacustrine facies have been identified at the toe of the Peace Vallis fan and in the lowermost geological unit exposed on Aeolis Mons. These two depositional systems provide end members for martian fluvial/alluvial-lacustrine facies models. The Peace Vallis system consisted of an 80 square kilometers alluvial fan with decimeter-thick, laterally continuous fluvial sandstones with few sedimentary structures. The thin lacustrine unit associated with the fan is interpreted as deposited in a small lake associated with fan runoff. In contrast, fluvial facies exposed over most of Curiosity's traverse to Aeolis Mons consist of sandstones with common dune-scale cross stratification (including trough cross stratification), interbedded conglomerates, and rare paleochannels. Along the southwest portion of the traverse, sandstone facies include south-dipping meter-scale clinoforms that are interbedded with finer-grained mudstone facies, interpreted as lacustrine. Sedimentary structures in these deposits are consistent with deltaic deposits. Deltaic deposition is also suggested by the scale of fluvial to lacustrine facies transitions, which occur over greater than 100 m laterally and greater than 10 m vertically. The large scale of the transitions and the predicted thickness of lacustrine deposits based on orbital mapping require deposition in a substantial river-lake system over an extended interval of time. Thus, the lowermost, and oldest, sedimentary rocks in Gale Crater suggest the presence of substantial fluvial flow into a long-lived lake. In contrast, the Peace Vallis alluvial fan onlaps these older deposits and overlies a major unconformity. It is one of the youngest deposits in the crater, and requires only short-lived, transient flows.

Sumner, Dawn Y.↗

NASA NTRS2015

Distinct Igneous APXS Rock Compositions on Mars from Pathfinder, MER and MSL

The alpha particle x-ray spectrometer (APXS) on all four Mars Rovers returned geochemical data from about 1000 rocks and soils along the combined traverses of over 50 kilometers. Here we discuss rocks likely of igneous origin, which might represent source materials for the soils and sediments identified along the traverses. Adirondack-type basalts, abundant in the plains of Gusev Crater, are primitive, olivine bearing basalts. They resemble in composition the basaltic soils encountered at all landing sites, except the ubiquitous elevated S, Cl and Zn in soils. They have been postulated to represent closely the average Martian crust composition. The recently identified new Martian meteorite Black Beauty has similar overall geochemical composition, very distinct from the earlier established SNC meteorites. The rim of the Noachian crater Endeavour, predating the sulfate-bearing Burns formation at Meridiani Planum, also resembles closely the composition of Adirondack basalts. At Gale Crater, the MSL Curiosity rover identified a felsic rock type exemplified by the mugearitic float rock JakeM, which is widespread along the traverse at Gale. While a surprise at that time, possibly related more evolved, alkaline rocks had been previously identified on Mars. Spirit encountered the Wishstone rocks in the Columbia Hills with approx. 6% Na2O+K2O, 15 % Al2O3 and low 12% FeO. Pathfinder rocks with elevated K and Na and >50% SiO2 were postulated to be andesitic. Recently Opportunity encountered the rock JeanBaptisteCharbonneau with >15% Al2O3, >50% SiO2 and approx. 10% FeO. A common characteristic all these rocks is the very low abundance of Cr, Ni and Zn, and an Fe/Mn ratio of about 50, indicating an unaltered Fe mineralogy. Beside these likely igneous rock types, which occurred always in several rocks, a few unique rocks were encountered, e.g. Bounce Rock, a pyroxene-bearing ejecta rock fragment resembling the Shergottite EETA 79001B meteorite. The APXS data can be used to relate the findings of all 4 landing sites, constrain the water to rock ratio of sediments or imply source rock provenance. Beyond that the capability to quantify important volatile elements like P, S, Cl, and Br have provided new insights into the chemistry and the environment present during the formation of the sediments.

Gellert, Ralf↗

NASA NTRS2015

Geologic Investigations Spurred by Analog Testing at the 7504 Cone-SP Mountain Area of the San Francisco Volcanic Field

The SP Mountain area of the San Francisco Volcanic Field, AZ, has been used as an analog mission development site for NASA since 1998. This area consists of basaltic cinder cones, lava flows and maar craters that have been active since mid-Miocene, with the youngest events occurring within the last 10,000 years. The area has been used because its geologic and topographic resemblance to lunar and Martian terrains provides an ideal venue for testing hardware and science operations practices that might be employed on planetary surfaces, as well as training astronauts in field geology. Analog operations have often led to insights that spurred new scientific investigations. Most recently, an investigation of the 7504 cone was initiated due to perceptions that Apollo-style traverse plans executed during the Desert RATS 2010 mission had characterized the area incorrectly, leading to concerns that the Apollo traverse planning process was scientifically flawed. This investigation revealed a complex history of fissure eruptions of lava and cinders, cinder cone development, a cone-fill-and-spill episode, extensive rheomorphic lava flow initiation and emplacement, and cone sector collapse that led to a final lava flow. This history was not discernible on pre-RATS mission photogeology, although independent analysis of RATS 2010 data and samples develped a "75% complete solution" that validated the pre-RATS mission planning and Apollo traverse planning and execution. The study also pointed out that the development of scientific knowledge with time in a given field area is not linear, but may follow a functional form that rises steeply in the early period of an investigation but flattens out in the later period, asymptotically approaching a theoretical "complete knowledge" point that probably cannot be achieved. This implies that future human missions must be prepared to shift geographic areas of investigation regularly if significant science returns are to be forthcoming.

Eppler, Dean B.↗

NASA NTRS2016

Al-Mg Isotope Study of Allende 5241

The defining characteristic of type B1 CAIs is a large (.5- 3mm) concentric melilite mantle [1]. In [2] we presented two isochrons from separate traverses across the melilite mantle of Allende EK 459-5-1. The primary petrographic differences between the traverses was the preservation of strong oscillatory zoning. The traverse that crossed the distinctive oscillatory zone produced a pristine internal isochron, while the other that did not have a strongly preserved oscillatory zone produced a disturbed isochron indicated by more scatter (higher MSWD) and a positive (delta)26Mg* intercept. The implication simply being that the oscillatory zone may represent varying conditions during the mantle formation event. We targeted a similar texture in Allende 5241 using the same methodology in an attempt to achieve similar results.

Kerekgyarto, A. G.↗

NASA NTRS2016

Igneous and Sedimentary Compositions from Four Landing Sites on Mars from the Alpha Particle X-Ray Spectrometer (APXS)

The APXS - supported and promoted strongly by Heinrich Waenke - on all four Mars Rovers has returned compositional data from about 1000 rocks and soil targets along the combined traverses of over 60 kilometers. Providing precise and accurate bulk chemistry with typically 16 quantified elements, the APXS is a powerful and versatile tool that when combined with the ability to traverse to key rocks and soils has provided critical information needed to understand the geologic evolution of Mars. APXS data allow comparisons among landing sites, provide ground truth for orbiters and connections back to SNC meteorites. The soils and dust are basaltic in character and represent the average Mars composition similar to Adirondack basalts from Gusev crater but with unambiguous elevated and correlated S, Cl and Zn contents. At all four landing sites the APXS found several rocks with a felsic composition. The similarity is best assessed in a logarithmic ratio plot of rock normalized to the average soil composition (Fig.1). High alkaline, Al, and low Mg, Fe, low S, Cl and Ni, Zn as well as an Fe/Mn ratio of approximately 50 indicate a likely unaltered and igneous origin. Sediments, e.g. the Burns formation, with approximately 25 wt% SO3 at Meridiani Planum have been documented over 10s of kilometers (Fig. 2). This formation is compositionally homogeneous, but showing the removal of MgSO4 and a threefold increase in Cl downhill in 2 craters. The degraded rim of the Noachian crater Endeavour resembles average Mars crust, with local Ca, Mg and Fe sulfate alteration and elevated Mn, some felsic rocks, and high Al, Si and low Fe rocks, possibly indicating clays. Unusual soils at Gusev crater in the area surrounding Home Plate include some very rich in ferric sulfate salts (up to 35 wt% SO3) and some with 90% wt% SiO2, possibly indicating fumerolic activities. Rocks in the Columbia Hills show significant signs of alteration including elevated S, Cl and Br in the abraded interior. At Gale Crater, mudstones with approximately 20% clay, less than 1% SO3 and overall average Mars composition indicate a former habitable environment with low acidity. A remarkable diversity of compositions was found during Curiosity's traverses, which likely stems from material influx from the northern Gale rim. At Pahrump, the base of Mount Sharp, a homogeneous mudstone with lower Mg and Ca was encountered. The composition of this Murray unit can be traced over several kilometers with smooth trends of higher Fe/Mn and lower soluble trace elements Ni and Zn at higher elevation. The likely aeolian Stimson formation with average Mars crustal composition intersects in several places in sharp contact with the Murray formation. Both units show local alteration halos with highly elevated SiO2 of up to 75%, usually correlated with increase in Ti and often P.

Gellert, R.↗

NASA NTRS2016

Future Exploration of the South Pole as Enabled by the Lunar Reconnaissance Orbiter

The Lunar Reconnaissance Orbiter (LRO) launched in 2009 to collect the dataset required for future surface missions and to answer key questions about the lunar surface environment. In the first seven years of operations, the Lunar Reconnaissance Orbiter Camera (LROC) acquired over a million images of the lunar surface and collected key stereo observations for the production of meter-scale digital terrain models. Due to the configuration of the LRO orbit, LROC and the other onboard instruments have the opportunity to acquire observations at or near the poles every two hours. The lunar south polar region is an area of interest for future surface missions due to the benign thermal environment and areas of near-continuous illumination. These persistently illuminated regions are also adjacent to permanently shadowed areas (e.g. floors of craters and local depressions) that are of interest to both scientists and engineers prospecting for cold-trapped volatiles on or near the surface for future in situ resource utilization. Using a terramechanics model based on surface properties derived during the Apollo and Luna missions, we evaluated the accessibility of different science targets and the optimal traverse paths for a given set of waypoints. Assuming a rover that relies primarily on solar power, we identified a traverse that would keep the rover illuminated for 94.43% of the year between 1 January 2021 and 31 December 2021. Throughout this year-long period, the longest eclipse endured by the rover would last only 101 hours and the rover would move a total of 22.11 km with an average speed of 2.5 m/hr (max speed=30 m/hr). During this time the rover would be able to explore a variety of targets along the connecting ridge between Shackleton and de Gerlache craters. In addition to the southern polar regions, we are also examining traverses around other key exploration sites such as Marius Hills, Ina-D, Rima Parry, and the Mairan Domes in efforts to aid future mission planners and assess the requirements for future roving prospectors (e.g., maximum speed, maximum slope, etc.).

Speyerer, Emerson J.↗

NASA NTRS2015

Development of the Resource Prospector Planetary Rover

The Resource Prospector (RP) is an In-‐Situ Resource Utilization (ISRU) lunar rover mission under study by NASA. RP is planned to launch in 2020 to prospect for subsurface volatiles and to extract oxygen from lunar regolith. The mission will address several of NASA's "Strategic Knowledge Gaps" for lunar exploration. The mission will also address the Global Exploration Roadmap's strategic goal of using local resources for human exploration. The distribution of lunar subsurface volatiles drives the mission requirement for mobility. The spatial distribution is hypothesized to be governed by impact cratering with the top 0.5 m being patchy at scales of 100 m. The mixing time scale increases with depth (less frequent larger impacts). Consequently, increased mobility reduces the depth requirement for sampling. The target RP traverse will extend 1 km radially from the landing site to sample craters of varying sizes. Sampling craters with different ages will reveal possible volatile emplacement history. In 1 Ga, approximately 60-70 craters of 10 m diameter form per km2. Thus, the rover will need to sample at least ten of these craters, which may require a total traverse path length of 2-‐3 km. During 2014-2015, we developed an initial prototype rover for RP. The current design is a solar powered, four-wheeled vehicle, with hub motor drive, offset four wheel steering, and active suspension. Active suspension provides capabilities including changing vehicle ride height, traversing comparatively large obstacles, and controlling load on the wheels. All-wheel steering enables the vehicle to point arbitrarily while roving, e.g., to keep the solar array pointed at the sun while in motion. The offset steering combined with active suspension improves driving in soft soil. The rover's on-board software utilizes NASA's Core Flight Software, which is a reusable flight software environment. During 2015, we completed the initial rover software build, which provides low-level hardware interfaces, basic mobility control, waypoint driving, odometry, basic error checking, and camera services. Development of the prototype rover has enabled maturation of many of the subsystems to TRL 5. During the next year, we will conduct integrated testing of concepts of operation, navigation, and remote driving tools. In addition, we will perform environmental tests including radiation (avionics), thermal and thermal/vacuum (mechanisms), and gravity offload (mobility).

robotics↗

NASA NTRS2010

TPSAS-NF1676L-10751-DND

Developed in the late 1960's, the NASA Langley Research Center's 14-by-22-Foot Subsonic Tunnel was not originally conceived to test and evaluate the aeroacoustic characteristics of flight vehicles. However, sometime after the tunnel's inception, a need to do so developed. To facilitate acoustic measurements, a removable microphone traverse was designed and built. The implemented solution was functional yet time consuming to install and remove. Comprised of numerous interlocking parts, each installation of the system required three weeks of non-productive tunnel time, numerous personnel, and specialized equipment. A recently renewed focus on aeroacoustic testing brought about a desire to improve the operational efficiency of this type of testing in the 14-by 22-Foot Subsonic Tunnel. Specifically, a goal was established to reduce non-productive installation time from three weeks to just three shifts. In addition, no specialized equipment was to be required for installation and removal. Meeting these goals required the development of a new microphone traverse system. This presentation will provide details of the newly designed, built and commissioned traverse which meets the stated objectives.

Low speed wind tunnel↗

NASA NTRS2019

Observations of Surface Mass Balance on Pine Island Glacier, West Antarctica, and the Effect of Strain History in Fast-Flowing Sections

Surface mass balance (SMB) is the net input of mass on a glacier's upper surface, composed of snow deposition, melt and erosion processes, and is a major contributor to the overall mass balance. Pine Island Glacier (PIG) in West Antarctica has been dynamically imbalanced since the early 1990s, indicating that discharge of solid ice into the oceans exceeds snow deposition. However, observations of the SMB pattern on the fast flowing regions are scarce, and are potentially affected by the firn's strain history. Here, we present new observations from radar-derived stratigraphy and a relatively dense network of firn cores, collected along a ~900 km traverse of PIG. Between 1986 and 2014, the SMB along the traverse was 0.505 m w.e. a−1 on average with a gradient of higher snow deposition in the South-West compared with the North-East of the catchment. We show that along ~80% of the traverse the strain history amounts to a misestimation of SMB below the nominal uncertainty, but can exceed it by a factor 5 in places, making it a significant correction to the SMB estimate locally. We find that the strain correction changes the basin-wide SMB by ~0.7 Gt a−1 and thus forms a negligible (1%) correction to the glacier's total SMB.

ice core↗

NASA NTRS2020

Comparisons of Satellite and Airborne Altimetry with Ground-Based Data from the Interior of the Antarctic Ice Sheet

A series of traverses has been conducted for validation of the NASA Ice, Cloud, and land Elevation Satellite 2 on the flat interior of the Antarctic ice sheet. GNSS data collected on three separate 88S Traverses intersect 20% of the ICESat-2 reference ground tracks and have precisions of better than ±7 cm and biases of less than ~4 cm. Data from these traverses were used to assess heights from ICESat-2, CryoSat-2, and Airborne Topographic Mapper (ATM). ICESat-2 heights have better than ±3.3 cm bias and better than ±7.2 cm precision. ATM heights have better than 9.3 cm bias and better than ±9.6 cm precision. CryoSat-2 heights have -38.9 cm of bias and ± 47.3 cm precision. These best-case results are from the flat ice-sheet interior but provide a characterization of the quality of satellite and airborne altimetry.

K. M. Brunt↗