Search NASA⌕ Search

SEARCH · Search NASA

Results for “fault localization”

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.

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

263 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Topography of Valles Marineris: Implications for erosional and structural history

Compilation of a simplified geologic/geomorphic map onto digital terrain models of the Valles Marineris permitted an evaluation of elevations in the vicinity of the troughs and the calculation of depth of troughs below surrounding plateaus, thickness of deposits inside the troughs, volumes of void spaces above geologic/geomorphic units, and volumes of deposits. The central troughs north Ophir, north and central Candor, and north Melas Chasmata lie as much as 11 km below the adjacent plateaus. In Ophir and Candor chasmata, interior layered deposits reach 8 km in elevation. If the deposits are lacustrine and if all troughs were interconnected, lake waters standing 8 km high would have spilled out of Coprates Chasma onto the surrounding plateaus having surface elevations of only 4-5 km. On the other hand, the troughs may not have been interconnected at the time of interior-deposit emplacement; they may have formed isolated ancestral basins. The existence of such basins is supported by independent structural and stratigraphic evidence. The ancestral basins may have eventually merged, perhaps through renewed faulting, to form northern subsidiary troughs in Ophir and Candor Chasmata and the Coprates/north Melas/Ius graben system. The peripheral troughs are only 2-5 km deep, shallower than the central troughs. Chaotic terrain is seen in the peripheral troughs near a common contour level of about 4 km on the adjacent plateaus, which supports the idea of release of water under artesian pressure from confined aquifers. The layered deposits in the peripheral troughs may have formed in isolated depressions that harbored lakes and predated the formation of the deep outflow channels. (If these layered deposits are of volcanic origin, they may have been emplaced beneath ice in the manner of table mountains.) Areal and volumetric computations show that erosion widened the troughs by about one-third and that deposits occupy one-sixth of the interior space. Even though the volume eroded is larger than the volume deposited, topographic and geologic considerations imply that material eroded from trough walls was probably part of the interior layered deposits but not their sole source. Additional material may have come from subterranean piping, from reworking of local disintegration products on the floors, such as chaotic materials, or from eolian influx. But overall it is likely that the additional material is volcanic and that it forms mostly the upper, more diversely bedded layers of the interior deposits.

Lucchitta, B. K.↗
NASA NTRS2000

Landscape Evolution, A Comparison of Form and Process

This project's goals were to collect, analyze and interpret 3-dimensional physiographic data for understanding the processes responsible for landscape modification. The primary landforms to be studied were Neogene cinder cones in Arizona (San Francisco Volcanic Field (SFVF), Coconino and Kaibab National Forests, Arizona). We also obtained and are still analyzing digital topographic data for the Long Valley-White Mountains area of California, which display Quaternary normal fault scarps, as well as extensive evidence of degradation. The work resulted in a large database of measured rates of downslope transport of slope debris. It was hypothesized that the work would increase our understanding of process-response models of hillslope degradation, and of the effects of climate change and other parameters on degradation rates. In greater detail, our primary goal was to compare evolutionary sequences of hillslopes, as exemplified by the topography of landforms of the same type but of different ages, with measurements of the surficial processes active on the landforms. Assuming that other parameters, such as hillslope materials and vegetation are held constant, and that the effects of changing climate are negligible, then the sediment transport rates measured today on the landforms should be the same as those calculated from the inversion of landform topography by use of a diffusion-type model. However, if the effects of changing climate or other factors are not negligible, then the observed transport rates would differ from those which must be invoked to explain the current topography. We hypothesized in fact that because degradation on the event scale is highly transient and localized, we would find a wide divergence between modern, measured transport rates, and rates calculated by global landform inversion or modeling. Because of the length of time involved in collection of sufficient data on current degradation rates, we are still continuing to analyse and interpret the data. Completion of the work will increase our understanding of the potential effects of anthropogenic climate and surficial change on the Earth's solid surface, and possibly allow us to constrain paths of hill-slope evolution following anthropogenic modifications, as well as compare the short-term with the long-term rates of hillslope degradation.

Bursik, Marcus I.↗
NASA NTRSDate not supplied

TRIDENT Drill Validation at Mars and Lunar Analog Field Sites

Drilling on Earth is typically a human-intensive activity. Drilling on other planets is further complicated by the lack of prior local field surveys of their target area, hence blindly drilling into uncertain target rocks. Field conditions on the Moon or Mars are also different than for shallow drilling on Earth: lower temperatures and pressures, less power available, low masses (hence less weight-on-bit). Given the cost of transport from Earth, no drilling muds or working fluids are likely to be available to carry away cuttings. And impact-gardened regolith and dust vary mechanically and texturally from most terrestrial soils. The Regolith and Ice Drill for Exploration of New Terrains (TRIDENT) is a rotary-percussive 1m-class drill from Honeybee Robotics. It is low-power (rotary and percussive actuators are 200 W each) and lightweight (<20 kg) with the maximum weight on bit limited to 200 N. TRIDENT has been manifested for the Volatiles Investigating Polar Exploration Rover (VIPER) and PRIME-1 lunar south pole missions in 2024, has previously been field tested at a hot, dry analog site in the Atacama Desert, and in lunar conditions in thermal vacuum chamber tests. TRIDENT was also part of the 2019 Icebreaker Mars Discovery proposal, as well as in the Mars Life Explorer concept. During ARADS tests, drill control and fault recovery automation software enabled hands-off operations of a rover-mounted TRIDENT drill. TRIDENT Drill Analog Site Validation: Past TRIDENT tests in thermal vacuum (TVAC) chambers targeted containers of manufactured lunar simulants with added volatiles. 2022 TRIDENT ambient testing at NASA Ames drilled into cemented lunar simulant materials. Low cuttings-permeability led to cuttings buildup, and drill choking and binding was observed. The Atacama analog site in ARADS had desiccated unconsolidated sediments that did not challenge the TRIDENT design. However, lunar polar regolith is expected to be diverse and heterogeneous with varying clast sizes, with abundant impactites and perhaps subsurface ice deposits. Neither the simulants nor Atacama testing had completely covered the TRIDENT-targeted field characteristics, motivating further analog tests prior to the planned lunar missions. To gain more insight into the behavior of the TRIDENT hardware in diverse impactites and subsurface ice, and to verify the software automation in that environment, in August 2023 TRIDENT was brought to Haughton Crater, a field analog site in the Canadian Arctic. In September 2023 the same drill was brought to the Bishop Tuff in southern California to verify whether drilling binding behaviors previously seen in lunar simulant testing would be observed in naturally occurring fine-grained massive layers. The ~22 Ma Haughton Crater impact structure is located at 75 ̊22’ N, 89 ̊41’ W, on northwestern Devon Island, Nunavut, Canada. Numerous deposits of pale-grey crater-fill polymictic impact-melt breccia are found within the crater with a typical thickness reaching ~125 m or greater and covering ~60 km -2 . An approximately 600m-thick permafrost layer is also present with ice typically found within 0.5-0.6m of the surface. The volcanic tableland north of Bishop, CA exposes densely welded tuff laid down during the eruption that created the Long Valley Caldera at approximately 0.76 Ma. Extensional faults and the Owens River gorge expose cross-sections across the plateau. The area is viewed as an analog site for Mars features believed to be of pyroclastic origin. Results: Haughton Crater.Drilling tests were conducted 8-13 August 2023 at a previously undisturbed area separated 5-10 m from past years’ Drill Hill test sites (75.4208, -089.7613). In six days, TRIDENT drilled 8 holes to nearly 1 m depth each, totaling 7.80 m. The active layer/ice boundary was at ~67 cm depth, with a total of approximately 2.4 m drilled into ice or ice-cemented impact breccia. During drilling, five drill fault states were observed and successfully recovered. Holes 23-1, 4 and 7 were drilled under manual control, using Honeybee’s Thorax user interface. Holes 23-5, 6, and 8 were drilled with the Ames IBexec automated drilling control software. TRIDENT was observed to have little difficulty in the thawed uncemented impact breccia above the active layer boundary, but required percussion to make slower headway in the ice-cemented breccia. In Hole 23-7 (Fig.1), drilling slowed down in a massive unit just above the active-layer boundary (perhaps a large rock extending into the ice-cementation?), with only 7cm progress made in 27 minutes of high auger torque and constant percussion, leading to a choking fault and then a binding fault. A similar pattern had been observed in TRIDENT Rio Tinto test data from 2017 [6] as well as in the 2022laboratory tests.Bishop Tuff.A team from NASA Ames and the US Geological Survey deployed the same TRIDENT drill to Bishop Sites 1B and 1C (37.4203, -118.4289; 37.4265, -118.4215) on 13-16 September 2023, on the Bishop Tuff plateau. A third drill site was used 17-18 September 2023(37.4598, -118.3667) in an abandoned pumice mine. Four holes (totaling 2.5m depth) were drilled into the fine-grained, meters-thick tuff units at Sites 1B and 1C, and a further two boreholes (totaling 1.98m depth) were made at the pumice site. Drill behavior in the tuff below 10 cm depth was similar to that seen at 65-74 cm depth in Haughton Hole 23-7 (Fig. 1) and that seen in the 2022 lab simulant drilling. Drill safety torque limits were exceeded multiple times resulting in drill stops downhole. These freezes then required external added torques (with a pipe wrench) to resume rotation, to unstick the drill for withdrawal. To prevent this choking and binding behavior we found that more-frequent cuttings removal was necessary, e.g., reducing the “drill bite” size from the nominal 10 cm to 2 cm per bite --bringing the auger up to the surface more frequently, as seen in Bishop Site 1C Hole 2 (Fig.2). This permitted slow progress without drill binding and without external interventions. Conversely, TRIDENT drilling in the more porous pumice target material showed no cuttings buildup issue, and single bites as large as 40 cm were demonstrated. Discussion: We observed that TRIDENT easily penetrated unconsolidated heterogeneous soils (both above the active layer boundary at Haughton and previously in the Atacama). Cemented or consolidated targets that were cuttings-permeable (icy impact breccia, pumice) required more energy applied and percussion. However, in non-cuttings-permeable targets (welded microporous tuff, cemented simulants, boulder) TRIDENT was observed to be prone to excessive cuttings accumulation leading to choking/binding faults and stalling. The wedge cutting bit, used by TRIDENT in field tests and in its flight versions, pulverizes the target rock and creates fine cuttings that ideally are transported up the auger spirals for removal. In porous, fractured or vesicular target materials (such as at the Bishop pumice site) a significant portion of the cuttings are pushed aside, but for non-fractured, microporous targets the cuttings remain in the borehole and accumulate. Rock powder is relatively incompressible as a working fluid at only 100-200N downward force (TRIDENT limits) and hence eventual drilling progress slows or stops. Our recommended strategy for improving TRIDENT cuttings removal in massive target units with low cuttings-permeability is to reduce TRIDENT bite sizes when encountering these units, from 10cm to as little as 1-2cm, to effectively bail the accumulating cuttings. This approach was demonstrated to reduce choking and allowed slow progress to continue in cuttings-impermeable microporous target units (viz. the Bishop tuff in our September 2023 tests or cemented simulants in 2022 ambient tests).

robotic drilling↗
NASA NTRS2005

The Integrated Safety-Critical Advanced Avionics Communication and Control (ISAACC) System Concept: Infrastructure for ISHM

Integrated System Health Management (ISHM) architectures for spacecraft will include hard real-time, critical subsystems and soft real-time monitoring subsystems. Interaction between these subsystems will be necessary and an architecture supporting multiple criticality levels will be required. Demonstration hardware for the Integrated Safety-Critical Advanced Avionics Communication & Control (ISAACC) system has been developed at NASA Marshall Space Flight Center. It is a modular system using a commercially available time-triggered protocol, ?Tp/C, that supports hard real-time distributed control systems independent of the data transmission medium. The protocol is implemented in hardware and provides guaranteed low-latency messaging with inherent fault-tolerance and fault-containment. Interoperability between modules and systems of modules using the TTP/C is guaranteed through definition of messages and the precise message schedule implemented by the master-less Time Division Multiple Access (TDMA) communications protocol. "Plug-and-play" capability for sensors and actuators provides automatically configurable modules supporting sensor recalibration and control algorithm re-tuning without software modification. Modular components of controlled physical system(s) critical to control algorithm tuning, such as pumps or valve components in an engine, can be replaced or upgraded as "plug and play" components without modification to the ISAACC module hardware or software. ISAACC modules can communicate with other vehicle subsystems through time-triggered protocols or other communications protocols implemented over Ethernet, MIL-STD- 1553 and RS-485/422. Other communication bus physical layers and protocols can be included as required. In this way, the ISAACC modules can be part of a system-of-systems in a vehicle with multi-tier subsystems of varying criticality. The goal of the ISAACC architecture development is control and monitoring of safety critical systems of a manned spacecraft. These systems include spacecraft navigation and attitude control, propulsion, automated docking, vehicle health management and life support. ISAACC can integrate local critical subsystem health management with subsystems performing long term health monitoring. The ISAACC system and its relationship to ISHM will be presented.

Gwaltney, David A.↗
NASA NTRS1993

Gravity investigation of the Manson impact structure, Iowa

The Manson crater, of probable Cretaceous/Tertiary age, is located in northwestern Iowa (center at 42 deg. 34.44 min N; 94 deg. 33.60 min W). A seismic reflection profile along an east west line across the crater and drill hole data indicate a crater about 35 km in diameter having the classic form for an impact crater, an uplifted central peak composed of uplifted Proterozoic crystalline bedrock, surrounded by a 'moat' filled with impact produced breccia and a ring graben zone composed of tilted fault blocks of the Proterozoic and Paleozoic country rocks. The structure has been significantly eroded. This geologic structure would be expected to produce a significant gravity signature and study of that signature would shed additional light on the details of the crater structure. A gravity study was undertaken to better resolve the crustal structure. The regional Bouguer gravity field is characterized by a southeastward decreasing field. To first order, the Bouguer gravity field can be understood in the context of the geology of the Precambrian basement. The high gravity at the southeast corner is associated with the mid-continent gravity high; the adjacent low to the northwest results from a basin containing low-density clastic sediments shed from the basement high. Modeling of a simple basin and adjacent high predicts much of the observed Bouguer gravity signature. A gravity signature due to structure associated with the Manson impact is not apparent in the Bouguer data. To resolve the gravity signature of the impact, a series of polynomial surfaces were fit to the Bouguer gravity field to isolate the small wavelength residual anomalies. The residual gravity obtained after subtracting a 5th- or 6th-order polynomial seems to remove most of the regional effects and isolate local anomalies. The pattern resolved in the residual gravity is one of a gravity high surrounded by gravity lows and in turn surrounded by isolated gravity highs. The central portion of the crater is characterized by two positive anomalies having amplitudes of about plus 4 mGal separated by a gentle saddle located approximately at the crater center.

Plescia, J. B.↗
NASA NTRS2003

Reliable Transport over SpaceWire for James Webb Space Telescope (JWST) Focal Plane Electronics (FPE) Network

NASA's James Webb Space Telescope (JWST) faces difficult technical and budgetary challenges to overcome before it is scheduled launch in 2010. The Integrated Science Instrument Module (ISIM), shares these challenges. The major challenge addressed in this paper is the data network used to collect, process, compresses and store Infrared data. A total of 114 Mbps of raw information must be collected from 19 sources and delivered to the two redundant data processing units across a twenty meter deployed thermally restricted interface. Further data must be transferred to the solid-state recorder and the spacecraft. The JWST detectors are kept at cryogenic temperatures to obtain the sensitivity necessary to measure faint energy sources. The Focal Plane Electronics (FPE) that sample the detector, generate packets from the samples, and transmit these packets to the processing electronics must dissipate little power in order to help keep the detectors at these cold temperatures. Separating the low powered front-end electronics from the higher-powered processing electronics, and using a simple high-speed protocol to transmit the detector data minimize the power dissipation near the detectors. Low Voltage Differential Signaling (LVDS) drivers were considered an obvious choice for physical layer because of their high speed and low power. The mechanical restriction on the number cables across the thermal interface force the Image packets to be concentrated upon two high-speed links. These links connect the many image packet sources, Focal Plane Electronics (FPE), located near the cryogenic detectors to the processing electronics on the spacecraft structure. From 12 to 10,000 seconds of raw data are processed to make up an image, various algorithms integrate the pixel data Loss of commands to configure the detectors as well as the loss of science data itself may cause inefficiency in the use of the telescope that are unacceptable given the high cost of the observatory. This combination of requirements necessitates a redundant, fault tolerant, high- speed, low mass, low power network with a low Bit error Rate(1E-9- 1E-12). The ISIM systems team performed many studies of the various network architectures that meeting these requirements. The architecture selected uses the Spacewire protocol, with the addition of a new transport and network layer added to implement end-to-end reliable transport. The network and reliable transport mechanism must be implemented in hardware because of the high average information rate and the restriction on the ability of the detectors to buffer data due to power and size restrictions. This network and transport mechanism was designed to be compatible with existing Spacewire links and routers so that existing equipment and designs may be leveraged upon. The transport layer specification is being coordinated with European Space Agency (ESA), Spacewire Working Group and the Consultative Committee for Space Data System (CCSDS) PlK Standard Onboard Interface (SOIF) panel, with the intent of developing a standard for reliable transport for Spacewire. Changes to the protocol presented are likely since negotiations are ongoing with these groups. A block of RTL VHDL that implements a multi-port Spacewire router with an external user interface will be developed and integrated with an existing Spacewire Link design. The external user interface will be the local interface that sources and sinks packets onto and off of the network (Figure 3). The external user interface implements the network and transport layer and handles acknowledgements and re-tries of packets for reliable transport over the network. Because the design is written in RTL, it may be ported to any technology but will initially be targeted to the new Actel Accelerator series (AX) part. Each link will run at 160 Mbps and the power will be about 0.165 Watt per link worst case in the Actel AX.

Rakow, Glenn↗
NASA NTRS1989

The structure of the clouds distributed operating system

A novel system architecture, based on the object model, is the central structuring concept used in the Clouds distributed operating system. This architecture makes Clouds attractive over a wide class of machines and environments. Clouds is a native operating system, designed and implemented at Georgia Tech. and runs on a set of generated purpose computers connected via a local area network. The system architecture of Clouds is composed of a system-wide global set of persistent (long-lived) virtual address spaces, called objects that contain persistent data and code. The object concept is implemented at the operating system level, thus presenting a single level storage view to the user. Lightweight treads carry computational activity through the code stored in the objects. The persistent objects and threads gives rise to a programming environment composed of shared permanent memory, dispensing with the need for hardware-derived concepts such as the file systems and message systems. Though the hardware may be distributed and may have disks and networks, the Clouds provides the applications with a logically centralized system, based on a shared, structured, single level store. The current design of Clouds uses a minimalist philosophy with respect to both the kernel and the operating system. That is, the kernel and the operating system support a bare minimum of functionality. Clouds also adheres to the concept of separation of policy and mechanism. Most low-level operating system services are implemented above the kernel and most high level services are implemented at the user level. From the measured performance of using the kernel mechanisms, we are able to demonstrate that efficient implementations are feasible for the object model on commercially available hardware. Clouds provides a rich environment for conducting research in distributed systems. Some of the topics addressed in this paper include distributed programming environments, consistency of persistent data and fault-tolerance.

Dasgupta, Partha↗
NASA NTRS1993

Global organization of tectonic deformation on Venus

The geographic organization of surface deformation on Venus as on Earth is a key to understanding the global tectonic system. To date we have mapped the distribution of three unambiguous tectonic land forms on Venus: (1) linear foldbelts analogous to those at plate margins of the Earth; (2) linear rift zones, analogous to continental rifts on the Earth; and (3) distributed plains deformation in the form of wrinkle ridges and extensional faults and fractures. The linear foldbelts are the dominant structural style in the Northern Hemisphere; ninety percent of the planet's foldbelts lie above the equator. In contrast, compressive deformation in the Southern Hemisphere is dominated by two large, sweeping patterns of wrinkle ridges. The two hemispheres are divided by an equatorial region that is largely covered by rift zones and several large tessera blocks. A tectonic model of generally poleward convergence of the Northern Hemisphere explains the distribution of foldbelts and rift zones. In our model, a northern hemispherical plate (or system of plates) moves poleward and deforms along discrete, predominately longitudinal bands. We recognize four types of foldbelts based on their relationships to other large-scale tectonic features on Venus. There are foldbelts that lie within the low plains, foldbelts associated with coronae, novae and chasmata, foldbelts that lie at the margins of poly-deformed tessera plateaus, and the folded mountain belts around Lakshmi Planum. We see a geometric increase in the area of fold belts when normalized to percent area at a given latitude. This increase is consistent with our model of poleward convergence. Also, the orientations of most foldbelts are either approximately north-south or parallel to lines of latitude in the northern hemisphere. This observation is also consistent with the model in that the longitudinal bands are the result of the decreasing area of the sphere as the plate moves poleward and the latitudinal belts are the direct result of poleward compression. The trends of wrinkle ridges have been mapped over the planet and several large, sweeping patterns evidently reflect long-wavelength topography. Using wrinkle ridges as paleostress indicators, we have developed local and regional stress trajectory maps.

Bilotti, Frank↗
NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗
NASA NTRS2001

The Mountains of Io: Global and Geological Perspectives from Voyager and Galileo

To search for local and global scale geologic associations that may be related to the internal dynamics of Io, we have completed a global catalog of all mountains and volcanic centers. We have identified 115 mountain structures (covering approx. 3% of the surface) and 541 volcanic centers, including paterae (calderas and dark spots) and shield volcanoes. The average length of an Ionian mountain is 157 km, with the longest being 570 km. The mean height of Ionian mountains is 6.3 km, and the highest known mountain is Boosaule Montes (17.5 +/- 3 km). Five basic morphologic types of mountains have been identified; mesa, plateau peak, ridge, and massif. Very few mountains bear any physical similarity. to classic volcanic landforms, but many resemble flatiron mountains on Earth and are interpreted as tilted crustal blocks. This would be consistent with the hypothesis that most mountains are thrust blocks formed as a result of compressive stresses built up in the lower crust due to the global subsidence of volcanic layers as they are buried over time. More than one mechanism may be responsible for all Ionian mountains, however. The proximity of some mountains to paterae may indicate a direct link between some mountains and volcanism, although it is not always clear which came first. In contrast to earlier studies, a pronounced bimodal pattern is observed in the global distribution of both mountains and volcanic centers. The regions of highest areal densities of volcanic centers are near the sub- and anti-Jovian regions, but are offset roughly 90deg in longitude from the two, regions of greatest concentration of mountains. This anticorrelation may indicate the overprinting of a second stress field on the global compressive stresses due to subsidence. The bimodal distribution of volcanic centers and mountains is consistent with models of asthenospheric tidal heating and internal convection developed by Tackley et al.Over regions of mantle upwelling, compressive stresses in the lower crust induced by global subsidence might be reduced, encouraging volcanism and discouraging mountain building. In regions of mantle downwelling, these compressive stresses in the lower crust might be increased, discouraging volcanism and encouraging mountain building. Alternatively, the global pattern may be related to possible (but undocumented) nonsynchronous rotation of lo, which would produce two regions each of compression and extension in the crust. Evidence of layering and of mass wasting, including landslides, block sliding, debris aprons and downslope creep, on Ionian mountains suggests that the crust of Io is essentially a layered stack of partially consolidated volcanic lavas and plume deposits, becoming more consolidated with depth. The lower crust especially may also be ductily deformed, punctuated by volcanic intrusions and faulting at paterae, and broken into blocks, some of which have been uplifted to form mountains.

Schenk, Paul↗
NASA NTRS2000

Navigation Strategy for the Mars 2001 Lander Mission

The Mars Surveyor Program (MSP) is an ongoing series of missions designed to robotically study, map and search for signs of life on the planet Mars. The MSP 2001 project will advance the effort by sending an orbiter, a lander and a rover to the red planet in the 2001 opportunity. Each vehicle will carry a science payload that will Investigate the Martian environment on both a global and on a local scale. Although this mission will not directly search for signs of life, or cache samples to be returned to Earth, it will demonstrate certain enabling technologies that will be utilized by the future Mars Sample Return missions. One technology that is needed for the Sample Return mission is the capability to place a vehicle on the surface within several kilometers of the targeted landing site. The MSP'01 Lander will take the first major step towards this type of precision landing at Mars. Significant reduction of the landed footprint will be achieved through two technology advances. The first, and most dramatic, is hypersonic aeromaneuvering; the second is improved approach navigation. As a result, the guided entry will produce in a footprint that is only tens of kilometers, which is an order of magnitude improvement over the Pathfinder and Mars Polar Lander ballistic entries. This reduction will significantly enhance scientific return by enabling the potential selection of otherwise unreachable landing sites with unique geologic interest and public appeal. A landed footprint reduction from hundreds to tens of kilometers is also a milestone on the path towards human exploration of Mars, where the desire is to place multiple vehicles within several hundred meters of the planned landing site. Hypersonic aeromaneuvering is an extension of the atmospheric flight goals of the previous landed missions, Pathfinder and Mars Polar Lander (MPL), that utilizes aerodynamic lift and an autonomous guidance algorithm while in the upper atmosphere. The onboard guidance algorithm will control the direction of the lift vector, via bank angle modulation, to keep the vehicle on the desired trajectory. While numerous autonomous guidance algorithms have been developed for use during hypersonic flight at Earth, this will be the first flight of an autonomously directed lifting entry vehicle at Mars. However, without sufficient control and knowledge of the atmospheric entry conditions, the guidance algorithm will not perform effectively. The goal of the interplanetary navigation strategy is to deliver the spacecraft to the desired entry condition with sufficient accuracy and knowledge to enable satisfactory guidance algorithm performance. Specifically, the entry flight path angle must not exceed 0.27 deg. to a 3 sigma confidence level. Entry errors will contribute directly to the size of the landed footprint and the most significant component is entry flight path angle. The size of the entry corridor is limited on the shallow side by integrated heating constraints, and on the steep side by deceleration (g-load) and terminal descent propellant. In order to meet this tight constraint it is necessary to place a targeting maneuver seven hours prior to the time of entry. At this time the trajectory knowledge will be quite accurate, and the effects of maneuver execution errors will be small. The drawback is that entry accuracy is dependent on the success of this final late maneuver. Because propulsive maneuvers are critical events, it is desirable to minimize their occurrence and provide the flight team with as much response time as possible in the event of a spacecraft fault. A mission critical maneuver at Entry - 7 hours does not provide much fault tolerance, and it is desirable to provide a strategy that minimizes reliance on this maneuver. This paper will focus on the Improvements in interplanetary navigation that will decrease entry errors and will reduce the landed footprint, even in the absence of aeromaneuvering. The easiest to take advantage of are Improvements In the knowledge of the Mars ephemeris and gravity field due to the MGS and MSP'98 missions. Improvements In data collection and reduction techniques such as "precislon ranging' and near-simultaneous tracking will also be utilized. In addition to precise trajectory control, a robust strategy for communications and flight operations must also be demonstrated. The result Is a navigation and communications strategy on approach that utilizes optimal maneuver placement to take advantage of trajectory knowledge, minimizes risk for the flight operations team, is responsive to spacecraft hardware limitations, and achieves the entry corridor. The MSP2001 mission Is managed at JPL under the auspices of the Mars Exploration Directorate. The spacecraft flight elements are built and managed by Lockheed-Martin Astronautics in Denver, Colorado.

Mase, Robert A.↗