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NASA NTRS2023

Neural Radiance Fields for Shadow Removal and Relighting of Satellite Imagery

Multi-view stereo photogrammetric techniques have been conventionally utilized to generate Global Digital Elevation Models (GDEM) of planetary and lunar surfaces. However, these methods, relying on conventional feature detectors, are often subject to inaccuracies caused by changes in lighting conditions, including diffuse reflection and harsh shading. This has limited the ability of these methods to accurately reconstruct shadowed regions in orbital imagery, such as highly shaded urban areas and the permanently shadowed regions (PSRs) located in the lunar surface, which are critical targets for NASA's Artemis program. Neural Radiance Fields (NeRFs) offer a novel solution to these limitations by breaking away from traditional photogrammetric assumptions of ridged, opaque surfaces. NeRFs are capable of reconstructing 3D objects with variably transmissive properties, such as fluids, PSRs, and reflective surfaces. In this work, we demonstrate the robustness of NeRFs in generating high-fidelity 3D models of terrain from highly shaded orbital imagery acquired from small satellites in low earth orbit (LEO). Our results showcase the ability of NeRF to overcome the limitations of traditional photogrammetric methods and provide a promising solution for reconstructing complex scenes in challenging lighting conditions.

Caleb Ashmore Adams↗

NASA NTRS1986

The western Wabigoon Subprovince, Superior Province, Canada: Archean greenstone succession in rifted basement complex

The Wabigoon Subprovince, interposed between the predominantly metasedimentary-plutonic and gneissic English River and Quetico Subprovinces to the north and south respectively, exposed Archean greenstone and granitoid rocks for a strike length of greater than 700 km. Based on predominating rock types, the western part of the subprovince is divided into two terrains: the northern Wabigoon volcano-sedimentary and pluonic terrain (NWW) and the Wabigoon Diapiric Axis terrain (WDA). Both the NWW and WDA are described according to volcanic sequence, geological faults, chemical composition and evolutionary history.

Edwards, G. R.↗

NASA NTRS1992

The presence of field geologists in Mars-like terrain

Methods of ethnographic observation and analysis have been coupled with object-oriented analysis and design concepts to begin the development of a clear path from observations in the field to the design of virtual presence systems. The existence of redundancies in field geology and presence allowed for the application of methods for understanding complex systems. As a result of this study, some of these redundancies have been characterized. Those described are all classes of continuity relations, including the continuities of continuous existence, context-constituent continuities, and state-process continuities. The discussion of each includes statements of general relationships, logical consequences of these, and hypothetical situations in which the relationships would apply. These are meant to aid in the development of a theory of presence. The discussion also includes design considerations, providing guidance for the design of virtual planetary exploration systems and other virtual presence systems. Converging evidence regarding continuity in presence is found in the nature of psychological dissociation. Specific methodological refinements should enhance ecological validity in subsequent field studies, which are in progress.

Mcgreevy, Michael W.↗

NASA NTRS1988

Astronaut's guide to terrestrial impact craters

Impact cratering of the earth's surface is discussed and compared with lunar craters. The basic types found on earth are either simple craters or complex impact structures and basins. Meteorite fragments and shock metamorphism provide evidence of a crater's formation by meteorite impact. Known craters on earth are ordered by location and a few principal facts are given for each crater and the general terrain in which it is located. A satellite picture of each crater and maps identifying crater locations are provided.

Grieve, R. A. F.↗

NASA NTRS1981

Using radar image simulation to assess relative geometric distortions inherent in radar imagery

A unique method for observing the relative contributions of backscatter and propagation effects is afforded by radar image simulation. Digital terrain data are used in modeling radar image formation. Backscatter and propagation effects are modeled separately. These are incorporated serially and the image expression of each is noted. Sequences of images are presented illustrating these effects over a range of slopes and angles of incidence. The conclusions reached are that at angles of incidence that are smaller than the average slope of the terrain in a region, propagation phenomena predominate. As the angle of incidence increases beyond this, the radar image portrays an increasingly faithful representation of the backscatter from the ground. It is also demonstrated that digital simulation affords an important tool for evaluating complex interactions between the ground and radar, for training users in radar image interpretation, and for selecting optimum sensor parameters for particular applications.

Kaupp, V. H.↗

NASA NTRS2016

Pluto is the new Mars!

Data from NASA's New Horizons encounter with Pluto in July 2015 revealed an astoundingly complex world. The surface seen on the encounter hemisphere ranged in age from ancient to recent. A vast craterless plain of slowly convecting solid nitrogen resides in a deep primordial impact basin, reminiscent of young enigmatic deposits in Mars' Hellas basin. Like Mars, regions of Pluto are dominated by valleys, though the Pluto valleys are thought to be carved by nitrogen glaciers. Pluto has fretted terrain and halo craters. Pluto is cut by tectonics of several different ages. Like Mars, vast tracts on Pluto are mantled by dust and volatiles. Just as on Mars, Pluto has landscapes that systematically vary with latitude due to past and present seasonal (and mega-seasonal) effects on two major volatiles. On Mars, those volatiles are H2O and CO2; on Pluto they are CH4 and N2. Like Mars, some landscapes on Pluto defy easy explanation. In the Plutonian arctic there is a region of large (approx. 40 km across) deep (approx. 3-4 km) pits that probably could not be formed by sublimation, or any other single process, alone. Equally bizarre is the Bladed terrain, which is composed of fields of often roughly aligned blade-like ridges covering the flanks and crests of broad regional swells. Topping the unexpected are two large mounds approximately150 km across, approx. 5-6 km high, with great central depressions at their summits. The central depressions are almost as deep as the mounds are tall. These mounds have many of the characteristics of volcanic mountains seen on Mars and elsewhere in the inner solar system. Hypotheses for the formation of these Plutonian mounds so far all have challenges, principally revolving around the need for H2O ice to support their relief and the difficulty imagining mechanisms that would mobilize H2O. From the perspective of one year after the encounter, our appreciation of the extent of Pluto's diversity and complexity is quite reminiscent of the perspective the science community had of Mars, with similar quality data sets, soon after the early reconnaissance of that planet in the late 1960s and early 70s. So certainly in this sense, Pluto is the new Mars.

Pluto↗

NASA NTRS1975

Comparison of human driver dynamics in simulators with complex and simple visual displays and in an automobile on the road

As part of a comprehensive program exploring driver/vehicle system response in lateral steering tasks, driver/vehicle system describing functions and other dynamic data have been gathered in several milieu. These include a simple fixed base simulator with an elementary roadway delineation only display; a fixed base statically operating automobile with a terrain model based, wide angle projection system display; and a full scale moving base automobile operating on the road. Dynamic data with the two fixed base simulators compared favorably, implying that the impoverished visual scene, lack of engine noise, and simplified steering wheel feel characteristics in the simple simulator did not induce significant driver dynamic behavior variations. The fixed base vs. moving base comparisons showed substantially greater crossover frequencies and phase margins on the road course.

Mcruer, D. T.↗

NASA NTRS2000

IFSAR Simulation Using the Shooting and Bouncing Ray Technique

Interferometric Synthetic Aperture Radar (IFSAR) is a technique that allows an automated way to carry out terrain mapping. IFSAR is carried out by first generating a SAR image pair from two antennas that are spatially separated. The phase difference between the SAR image pair is proportional to the topography. After registering the SAR images, the difference in phase in each pixel is extracted to generate an interferogram. Since the phase can only be measured within 2pi radians, phase unwrapping is carried out to extract the absolute phase for each pixel that will be proportional to the local height. While IFSAR algorithm is typically applied to measurement data, it is useful to develop an IFSAR simulator to develop a better understanding of the IFSAR technique. The IFSAR simulator can be used in choosing system parameters, experimenting with processing procedures and mission planning. In this paper we will present an IFSAR simulation methodology to simulate the interferogram based on the shooting and bouncing ray (SBR) technique. SBR is a standard ray-tracing technique used to simulate scattering from large, complex targets. SBR is carried out by shooting rays at the target or scene. At the exit point of each ray, a ray-tube integration is done to find its contribution to the total field. A fast algorithm has been developed for the SBR for simulating SAR images of complex targets. In the IFSAR simulation, we build upon the fast SAR simulation technique. Given the antenna pair configuration, radar system parameters and the geometrical description of the scene, we first simulate two SAR images from each antenna. After post processing the two SAR images, we generate an interferogram. Phase unwrapping is then performed on the interferogram to arrive at the desired terrain map. We will present results from the SBR-based IFSAR simulator. The results will include terrain map reconstruction of urban environments. The reconstruction will be compared to the ground truth to examine the fidelity of the simulation. We will also investigate the effect of multi-bounce scattering in urban environments on phase unwrapping and reconstruction.

Houshmand, Bijan↗

NASA NTRS1973

Eolian deposits and dunes on Mars.

A complex of coalescing ridges and diverse marginal features observed in Mariner 9 pictures of the Hellespontus region of Mars is identified as a dune mass. Many other possible dune features are recognized in midlatitudes and polar latitudes, and regional differences in the appearance of cratered terrains are attributed to modification by dune deposits. The morphology and temporal behavior of some Martian albedo features can be explained by dune-forming saltation processes. Eolian activity seems to be widespread, if not ubiquitous, on Mars and appears to produce major regional variations in the surface environment.

Cutts, J. A.↗

NASA NTRS1984

Geology of Dione

Dione is one of the most geologically complex of the Saturnian satellites. Crater counts and surface morphology indicates the geologic units observed are of variable age and origin. In an attempt to understand the processes which have affected Dione, a geologic map was prepared. Several geologic units were identified; ancient heavily cratered terrain, two plains units: cratered plains and lightly cratered plains, lobate deposits, crater rim deposits and bright wispy materials.

Plescia, J. B.↗

NASA NTRS1988

Evolution of the Dharwar Craton: A terrain of early Archean crustal stability, long term orogenic cycles and large scale palaeobiological activity

Traceable history of the Dharwar Craton goes back to approximately 3400 m.y. old tonalitic to trondhjemitic fundamental gneiss whose REE composition indicates its derivation from a preexisting basalt which apparently had very short time of crustal residence. The fundamental gneiss is preserved only as rare relicts in the vast gneissic complex of the Indian Peninsula (the Peninsular Gneiss), and as pebbles in the conglomerates of the Archean Dharwar sequence. Study of these relicts, shows evidence of a deformation episode prior to the deposition of the high- and low-grade Dharwar supracrustal sequence. The Dharwar supracrustal sequence is briefly described. Geochemistry of the volcanic and sedimentary rocks of the Dharwar supracrustal belts are examined.

Srinivasan, R.↗

NASA NTRS2000

TE/TM Simulations of Interferometric Measurements

Interferometric synthetic aperture radar (IFSAR) measurements at X-, C-, L-, and P-band are used to derive ground topography at meter level resolution. Interpretation of the derived topography requires attention due to the complex interaction of the radar signal with ground cover. The presence of penetrable surfaces such as vegetation, and tree canopies poses a challenge since the depth of penetration depends on a number of parameters such as the operating radar frequency, polarization, incident angle, as well as terrain structure. The dependence of the reconstructed topography on polarization may lead to the characterization of the ground cover. Simulation of interferometric measurements is useful for interpretation of the derived topography (B. Houshmand, Proceedings of URSI, 314, 1997). In this talk , time domain simulations for interferometric measurement for TE- and TM- polarization are presented. Time domain simulation includes the effects of the surface material property as well geometry comparable the radar signal wavelength (B. Houshmand, Proceedings of the URSI, 25, 1998). The IFSAR simulation is carried out in two steps. First, the forward scattering data is generated based on full wave analysis. Next, the electromagnetic information is inverted to generate surface topography. This inversion is based on the well known IFSAR processing technique which is composed of signal compression, and formation of an interferogram. The full wave forward scattering data is generated by the scattered-field formulation of the FDTD algorithm. The simulation is carried out by exciting the computational domain by a radar signal. The scattered field is then computed and translated to the receiving interferometric antennas using the time-domain Huygen's principle. The inversion process starts by compressing the time-domain data. The range compressed data from both receivers are then coregistered to form an interferogram. The resulting interferogram is then related to the ground topography using the radar imaging geometry. In this talk, the simulation results are compared with the C-band TM IFSAR derived topography, and the TE/TM SAR images at L-Band.

Houshmand, Bijan↗

NASA NTRS2002

Impact Cratering Calculations

Many Martian craters are surrounded by ejecta blankets which appear to have been fluidized forming lobate and layered deposits terminated by one or more continuous distal scarps, or ramparts. One of the first hypotheses for the formation of so-called rampart ejecta features was shock-melting of subsurface ice, entrainment of liquid water into the ejecta blanket, and subsequent fluidized flow. Our work quantifies this concept. Rampart ejecta found on all but the youngest volcanic and polar regions, and the different rampart ejecta morphologies are correlated with crater size and terrain. In addition, the minimum diameter of craters with rampart features decreases with increasing latitude indicating that ice laden crust resides closer to the surface as one goes poleward on Mars. Our second goal in was to determine what strength model(s) reproduce the faults and complex features found in large scale gravity driven craters. Collapse features found in large scale craters require that the rock strength weaken as a result of the shock processing of rock and the later cratering shear flows. In addition to the presence of molten silicate in the intensely shocked region, the presence of water, either ambient, or the result of shock melting of ice weakens rock. There are several other mechanisms for the reduction of strength in geologic materials including dynamic tensile and shear induced fracturing. Fracturing is a mechanism for large reductions in strength. We found that by incorporating damage into the models that we could in a single integrated impact calculation, starting in the atmosphere produce final crater profiles having the major features found in the field measurements (central uplifts, inner ring, terracing and faulting). This was accomplished with undamaged surface strengths (0.1 GPa) and in depth strengths (1.0 GPa).

Ahrens, Thomas J.↗

NASA NTRS2005

Development of Software for a Lidar-Altimeter Processor

A report describes the development of software for a digital processor that operates in conjunction with a finite-impulse-response (FIR) chip in a spaceborne lidar altimeter. Processing is started by a laser-fire interrupt signal that is repeated at intervals of 25 ms. For the purpose of discriminating between returns from the ground and returns from such things as trees, buildings, and clouds, the software is required to scan digitized lidar-return data in reverse of the acquisition sequence in order to distinguish the last return pulse from within a commanded ground-return range window. The digitized waveform information within this range window is filtered through 6 matched filters, in the hardware electronics, in order to maximize the probability of finding echoes from sloped or rough terrain and minimize the probability of selecting cloud returns. From the data falling past the end of the range window, there is obtained a noise baseline that is used to calculate a threshold value for each filter. The data from each filter is analyzed by a complex weighting scheme and the filter with the greatest weight is selected. A region around the peak of the ground return pulse associated with the selected filter is placed in telemetry, as well as information on its location, height, and other characteristics. The software requires many uplinked parameters as input. Included in the report is a discussion of major software-development problems posed by the design of the FIR chip and the need for the software to complete its process within 20 ms to fit within the overall 25-ms cycle.

Rosenberg, Jacob S.↗

NASA NTRS2024

Investigating Sulfur-Rich Mercury Analogs Exposed to Simulated Micrometeoroid Bombardment in the Laboratory

Space weathering (SW) continually alters the spectral, microstructural, and chemical characteristics of the surface of airless bodies across the solar system. The effects of SW vary depending on the heliocentric distance and the initial composition of the target surface. While SW on the Moon and S-type asteroids is well documented, our understanding of how this process affects Mercury is at an early stage. Mercury’s interplanetary environment is harsh, with the surface of the planet experiencing an intense solar wind flux as well as a higher flux and velocity of micrometeoroid impactors compared to the Moon and S-type asteroids. In addition, Mercury is also a geochemical endmember, with a surface composition low in Fe (<2 wt.%) and enriched in volatile components, such as sulfur (up to 4 wt.% in the low reflectance material (LRM)). These volatile components are thought to play a major role in the formation of hollows via their sublimation. Sulfur has been hypothesized to occur at the surface of Mercury as sulfide minerals (MgS, CaS) based on its correlation with Mg and Ca in remote sensing data. However, recent observations of chaotic terrains in the north polar area of Mercury and of glacier-like features at lower latitudes indicated that octasulfur (S 8 , elemental sulfur) is another likely constituent of a volatile-rich layer in Mercury’s crust. Its behavior on Mercury may result in a complex cycle of enrichment and depletion. While S is often depleted on small body surfaces, Mercury’s gravity could result in ejected S subsequently returning to the surface and coating regolith grains. Further, the reaction of reduced S-rich gas with glasses of a Mercury-like composition also produced S-rich coatings. However, the precise behavior and evolution of S-rich species exposed to the harsh SW on Mercury remains poorly understood and needs to be further investigated in the laboratory. Here, we present the results of our analyses of the spectral, microstructural, and chemical characteristics of S-rich Mercury analogs irradiated by pulsed laser to simulate the short duration, high temperature events associated with micrometeoroid impacts.

N Bott↗

NASA NTRS2012

Free-Flight Terrestrial Rocket Lander Demonstration for NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. Since its inception in 2006, the ALHAT Project has executed four field test campaigns to characterize and mature sensors and algorithms that support real-time hazard detection and global/local precision navigation for planetary landings. The driving objective for Government Fiscal Year 2012 (GFY2012) is to successfully demonstrate autonomous, real-time, closed loop operation of the ALHAT system in a realistic free flight scenario on Earth using the Morpheus lander developed at the Johnson Space Center (JSC). This goal represents an aggressive target consistent with a lean engineering culture of rapid prototyping and development. This culture is characterized by prioritizing early implementation to gain practical lessons learned and then building on this knowledge with subsequent prototyping design cycles of increasing complexity culminating in the implementation of the baseline design. This paper provides an overview of the ALHAT/Morpheus flight demonstration activities in GFY2012, including accomplishments, current status, results, and lessons learned. The ALHAT/Morpheus effort is also described in the context of a technology path in support of future crewed and robotic planetary exploration missions based upon the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN).

Rutishauser, David K.↗

NASA NTRS1992

Thermobarometric studies on the Levack Gneisses: Footwall rocks to the Sudbury Igneous Complex

Granulite and amphibolite facies gneisses and migmatites of the Levack Gneiss Complex occupy a zone up to 8 km wide around the northern part of the Sudbury Igneous Complex (SIC). Orthopyroxene- and garnet-bearing tonalitic and semipelitic assemblages of granulite facies grade occur within 3 km of the SIC together with lenses of mafic and pyroxenitic rock compositions normally represented by an amphibole +/- cpx-rich assemblage; amphibolite facies assemblages dominate elsewhere in this terrain. These 2.711-Ga gneisses were introduced by (1) the Cartier Granite Batholith during late Archaean to early Proterozoic time and (2) the SIC, at 1.85 Ga, which produced a contact aureole 1-1.5 km wide in which pyroxene hornfelses are common within 200-300 m of the contact. A suite of 12 samples including both the opx-gt and amphibole-rich rock compositions have been studied. Garnets in the semipelitic gneisses are variably replaced by a plg-bio assemblage. Thermobarometric calculations using a variety of barometers and thermometers reported in the literature suggest that the granulite facies assemblages formed at depths in the 21-28 km range (6-8 kbar). Textures and mineral chemistry in the garnet-bearing semipelitic rocks indicate that this terrain underwent a second metamorphic event during uplift to depth in the 5-11 km range (2-3 kbar) and at temperatures as low as 500-550 C. This latter event is distinct from thermal recrystallization caused by the emplacement of the SIC; it probably represents metamorphism attributable to intrusion of the Cartier Granite Batholith. These data allow two interpretations for the crustal uplift of the Levack Gneisses: (1) The gneisses were tectonically uplifted prior to the Sudbury Event (due to intrusion of the Cartier Batholith); or (2) the gneisses were raised to epizonal levels as a result of meteorite impact at 1.85 Ga.

James, R. S.↗

NASA NTRS1993

Statistics of multi-look AIRSAR imagery: A comparison of theory with measurements

The intensity and amplitude statistics of SAR images, such as L-Band HH for SEASAT and SIR-B, and C-Band VV for ERS-1 have been extensively investigated for various terrain, ground cover and ocean surfaces. Less well-known are the statistics between multiple channels of polarimetric of interferometric SAR's, especially for the multi-look processed data. In this paper, we investigate the probability density functions (PDF's) of phase differences, the magnitude of complex products and the amplitude ratios, between polarization channels (i.e. HH, HV, and VV) using 1-look and 4-look AIRSAR polarimetric data. Measured histograms are compared with theoretical PDF's which were recently derived based on a complex Gaussian model.

Lee, J. S.↗