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Live Ultra-High Definition from the International Space Station

The first ever live downlink of Ultra-High Definition (UHD) video from the International Space Station (ISS) was the highlight of a 'Super Session' at the National Association of Broadcasters (NAB) in April 2017. The Ultra-High Definition video downlink from the ISS all the way to the Las Vegas Convention Center required considerable planning, pushed the limits of conventional video distribution from a space-craft, and was the first use of High Efficiency Video Coding (HEVC) from a space-craft. The live event at NAB will serve as a pathfinder for more routine downlinks of UHD as well as use of HEVC for conventional HD downlinks to save bandwidth. HEVC may also enable live Virtual Reality video downlinks from the ISS. This paper will describe the overall work flow and routing of the UHD video, how audio was synchronized even though the video and audio were received many seconds apart from each other, and how the demonstration paves the way for not only more efficient video distribution from the ISS, but also serves as a pathfinder for more complex video distribution from deep space. The paper will also describe how a 'live' event was staged when the UHD coming from the ISS had a latency of 10+ seconds. Finally, the paper will discuss how NASA is leveraging commercial technologies for use on-orbit vs. creating technology as was required during the Apollo Moon Program and early space age.

Grubbs, Rodney↗

A Network Mission: Completing the Scientific Foundation for the Exploration of Mars

Despite recent setbacks and vacillations in the Mars Surveyor Program, in many respects the exploration of Mars has historically followed a relatively logical path. Early fly-bys provided brief glimpses of the planet and paved the way for the initial orbital reconnaissance of Mariner 9. The Viking orbiters completed the initial survey, while the Viking landers provided our first close-up look at the surface. Essentially, Mars Pathfinder served a similar role, giving a brief look at another place on the surface. And finally, Mars Global Surveyor (and the up-coming orbital mission in 2001) are taking the next step in providing in-depth, global observations of many of the fundamental characteristics of the planet, as well as selected high-resolution views of the surface. With this last step we are well on our way to acquiring the global scientific context that is necessary both for understanding Mars in general, its origin and evolution, and for use as a basis to plan and execute the next level of focused investigations. However, even with the successful completion of these missions this context will be incomplete. Whereas we now know a great deal about the surface of Mars in a global sense, we know very little about its interior, even at depths of only a meter or so. Also, as most of this information has been acquire by remote sensing, we still lack much of the bridging knowledge between the global view and the processes and character of the surface environments themselves. Thus, in many ways we lack sufficient fundamental understanding to intelligently cast the critical investigations into important questions of the origins and evolution of Mars in general, and in particular, life. The next step in building our understanding of Mars has been identified by several previous groups who were charged with creating a strategy for Mars exploration (e.g., COMPLEX, MarSWG, Planetary Roadmap Team). This is a so-called "network" mission, which places a large number of science platforms simultaneously on the surface.

W. B. Banerdt↗

Precise and Scalable Static Program Analysis of NASA Flight Software

Recent NASA mission failures (e.g., Mars Polar Lander and Mars Orbiter) illustrate the importance of having an efficient verification and validation process for such systems. One software error, as simple as it may be, can cause the loss of an expensive mission, or lead to budget overruns and crunched schedules. Unfortunately, traditional verification methods cannot guarantee the absence of errors in software systems. Therefore, we have developed the CGS static program analysis tool, which can exhaustively analyze large C programs. CGS analyzes the source code and identifies statements in which arrays are accessed out of bounds, or, pointers are used outside the memory region they should address. This paper gives a high-level description of CGS and its theoretical foundations. It also reports on the use of CGS on real NASA software systems used in Mars missions (from Mars PathFinder to Mars Exploration Rover) and on the International Space Station.

Brat, G.↗

Lunar Flashlight: Mapping Lunar Surface Volatiles Using a Cubesat

Water ice and other volatiles may be located in the Moon's polar regions, with sufficient quantities for in situ extraction and utilization by future human and robotic missions. Evidence from orbiting spacecraft and the LCROSS impactor suggests the presence of surface and/or nearsurface volatiles, including water ice. These deposits are of interest to human exploration to understand their potential for use by astronauts. Understanding the composition, quantity, distribution, and form of water/H species and other volatiles associated with lunar cold traps is identified as a NASA Strategic Knowledge Gap (SKG) for Human Exploration. These polar volatile deposits could also reveal important information about the delivery of water to the Earth- Moon system, so are of scientific interest. The scientific exploration of the lunar polar regions was one of the key recommendations of the Planetary Science Decadal Survey. In order to address NASA's SKGs, the Advanced Exploration Systems (AES) program selected three lowcost 6-U CubeSat missions for launch as secondary payloads on the first test flight (EM1) of the Space Launch System (SLS) scheduled for 2017. The Lunar Flashlight mission was selected as one of these missions, specifically to address the SKG associated with lunar volatiles. Development of the Lunar Flashlight CubeSat concept leverages JPL's Interplanetary Nano- Spacecraft Pathfinder In Relevant Environment (INSPIRE) mission, MSFC's intimate knowledge of the Space Launch System and EM-1 mission, small business development of solar sail and electric propulsion hardware, and JPL experience with specialized miniature sensors. The goal of Lunar Flashlight is to determine the presence or absence of exposed water ice and its physical state, and map its concentration at the kilometer scale within the permanently shadowed regions of the lunar south pole. After being ejected in cislunar space by SLS, Lunar Flashlight deploys its solar panels and solar sail and maneuvers into a low-energy transfer to lunar orbit. The solar sail and attitude control system work to bring the satellite into an elliptical polar orbit spiraling down to a perilune of 30-10 km above the south pole for data collection. Lunar Flashlight uses its solar sail to shine reflected sunlight into permanently shadowed regions, measuring surface albedo with a four-filter point spectrometer at 1.1, 1.5 1.9, and 2.0 microns. Water ice will be distinguished from dry regolith from these measurements in two ways: 1) spatial variations in absolute reflectance (water ice is much brighter in the continuum channels), and 2) reflectance ratios between absorption and continuum channels. Derived reflectance and reflectance ratios will be mapped onto the lunar surface in order to distinguish the composition of the PSRs from that of the sunlit terrain. Lunar Flashlight enables a low-cost path to in-situ resource utilization (ISRU) by identifying operationally useful deposits (if there are any), which is a game-changing capability for expanded human exploration.

Cohen, B. A.↗

Solar System Exploration Research Virtual Institute: Year Three Annual Report 2016

NASA's Solar System Exploration Research Virtual Institute (SSERVI) is pleased to present the 2016 Annual Report. Each year brings new scientific discoveries, technological breakthroughs, and collaborations. The integration of basic research and development, industry and academic partnerships, plus the leveraging of existing technologies, has further opened a scientific window into human exploration. SSERVI sponsorship by the NASA Science Mission Directorate (SMD) and Human Exploration and Operations Mission Directorate (HEOMD) continues to enable the exchange of insights between the human exploration and space science communities, paving a clearer path for future space exploration. SSERVI provides a unique environment for scientists and engineers to interact within multidisciplinary research teams. As a virtual institute, the best teaming arrangements can be made irrespective of the geographical location of individuals or laboratory facilities. The interdisciplinary science that ensues from virtual and in-person interactions, both within the teams and across team lines, provides answers to questions that many times cannot be foreseen. Much of this research would not be accomplished except for the catalyzing, collaborative environment enabled by SSERVI. The SSERVI Central Office, located at NASA Ames Research Center in Silicon Valley, California, provides the leadership, guidance and technical support that steers the virtual institute. At the start of 2016, our institute had nine U.S. teams, each mid-way through their five-year funding cycle, plus nine international partnerships. However, by the end of the year we were well into the selection of four new domestic teams, selected through NASA's Cooperative Agreement Notice (CAN) process, and a new international partnership. Understanding that human and robotic exploration is most successful as an international endeavor, international partnerships collaborate with SSERVI domestic teams on a no-exchange of funds basis, but they bring a richness to the institute that is priceless. The international partner teams interact with the domestic teams in a number of ways, including sharing students, scientific insights, and access to facilities. We are proud to introduce our newest partnership with the Astrophysics and Planetology Research Institute (IRAP) in Toulouse, France. In 2016, Principal Investigator Dr. Patrick Pinet assembled a group of French researchers who will contribute scientific and technological expertise related to SSERVI research. SSERVI's domestic teams compete for five-year funding opportunities through proposals to a NASA CAN every few years. Having overlapping proposal selection cycles allows SSERVI to be more responsive to any change in direction NASA might experience, while providing operational continuity for the institute. Allowing new teams to blend with the more seasoned teams preserves corporate memory and expands the realm of collaborative possibilities. A key component of SSERVI's mission is to grow and maintain an integrated research community focused on questions related to the Moon, Near-Earth asteroids, and the moons of Mars. The strong community response to CAN-2 demonstrated the health of that effort. NASA Headquarters conducted the peer-review of 22 proposals early in 2017 and, based on recommendations from the SSERVI Central Office and NASA SSERVI program officers, the NASA selecting officials determined the new teams in the spring of 2017. We are pleased to welcome the CAN-2 teams into the institute, and look forward to the collaborations that will develop with the current teams. The new teams are: The Network for Exploration and Space Science (NESS) team (Principal Investigator (PI) Prof. Jack Burns/U. Colorado); the Exploration Science Pathfinder Research for Enhancing Solar System Observations (ESPRESSO) team (PI Dr. Alex Parker/Southwest Research Institute); the Toolbox for Research and Exploration (TREX) team (PI Dr. Amanda Hendrix/ Planetary Science Institute); and the Radiation Effects on Volatiles and Exploration of Asteroids & Lunar Surfaces (REVEALS) team (PI Prof. Thomas Orlando/ Georgia Institute of Technology). In this report, you will find an overview of the 2016 leadership activities of the SSERVI Central Office, reports prepared by the U.S. teams from CAN-1, and achievements from several of the SSERVI international partners. Reflecting on the past year's discoveries and advancements serves as a potent reminder that there is still a great deal to learn about NASA's target destinations. Innovation in the way we access, sample, measure, visualize, and assess our target destinations is needed for further discovery. At the same time, let us celebrate how far we have come, and strongly encourage a new generation that will make the most of future opportunities.

Pendleton, Yvonne↗

Global 3D Data Visualization and Analysis Platform with Advanced Machine Learning Capabilities in Support of Lunar Exploration

Introduction: The science goals for NASA’s Artemis program include: a) Understanding the character and origin of lunar polar volatiles, b) Conducting experimental science in the lunar environment and c) Investigating and mitigating exploration risks. The permanently shadowed regions (PSRs) on the Lunar south pole are expected to host large quantities of water-ice and volatiles that are important for sustainable Lunar exploration. There are several missions such as onboard Korea Pathfinder Lunar Orbiter (KPLO: Korean name Danuri) with onboard ShadowCam camera, Astrobotic Peregrine Mission One [4], and other efforts underway to obtain high resolution topographic, minerals, volatiles and other information on the moon. We envision a need in immediate future for platforms to integrate these data sets, provide rendering and visualization capabilities in the context of a 3D Lunar globe for easier information access and analysis. NASA's Celestial Mapping System (CMS) is developed to address the need for 3D tools for planetary science investigations, mission planning, in-situ operations, in a 3D-first design constructed around a unified view of a planetary globe. At present CMS provides many critical functionalities that include: 1) equipment planning and optimized placement on Lunar surface 2) line-of-sight (LOS) analysis 3) powerful measurement tools based on 3D terrain with realistic 3D models to represent rovers, astronauts and equipment 4) visualization of derived mapping products (e.g. resource maps), and 5) a data engine for hosting new observations that are not available in other contemporary lunar data tools. Planetary Data Ingestion: CMS can consume and analyze data from locally hosted and external third party sources. It is compatible with Open Geospatial Consortium (OGC) data and file standards and currently integrates datasets from the Astrogeology Science Center of USGS. This includes global and local data acquired from NASA (LRO, Clementine, Lunar Orbiter) and JAXA (SELENE/Kaguya), with capability of integrating more datasets. In addition, users can specify other WMS-hosted data endpoints, which CMS can then query and stream data from automatically. To set-up an automated process for ingestion and accurate rendering, visualization and analysis of external 3rd party planetary datasets within CMS, we initiated the process of ingesting unique dataset of super-enhanced images of the permanently shadowed regions (PSRs) at the lunar poles which were produced by the Hyper-effective nOise Removal U-net Software (HORUS) tool. This tool was developed to enhance the extremely low-light images of the interior of PSRs and provide the ability to see within these regions at and discern surface features (i.e. boulders and craters) down to 3 meters in size. We focused on the Nobile region on the Lunar south pole, selected site for VIPER mission and stitched several images to create a high-resolution map within one of the PSR of Nobile crater. Figure 1 shows the dark PSR zone form the original NAC layer of LRO as the base layer (left image) and the illuminated areas within that crater (center) which was created by ingesting and merging several of HORUS generated images. At present we employ a semi-automated process to ensure spatial accuracy and merger of several overlapping zones. However, we are in the process of completely automating this process by employing AI based techniques that would rank, sort, and stack the images based on their information density. The georectification of the images would employ selected features. Analysis on Ingested Planetary Datasets: Once an external planetary data-set is successfully ingested, georectified and merged seamlessly as a data-layer; CMS’ numerous analysis tools can be used on this data. A Line of Sight (LOS) tool has been developed for CMS which analyzes terrain profiles and obstructions to determine visibility for remote observers. Figure 1 (right image) shows the viewshed analysis on the same PSR in the Nobile region. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. The Measurements tool allows the user to take area and distance measurements of features on the terrain using various shapes. Measurement type can be specified in a number of ways: Line, Path, Polygon, Circle, Ellipse, Square, Rectangle or Freehand. Once the shape is specified, elevation information can then be extracted along each of these shapes. Figure 2 (left) shows the measurements performed on a crater n illuminated PSR in Nobile region. The equipment placement tool allows the user to place a 3D equipment model at a desired location and analyze its coverage area. The equipment placement tool is coupled with LOS to determine the coverage. Figure 2 (right) shows an equipment placed on the Lunar terrain and it’s coverage area. The red rays are blocked sight lines and the green rays are non-obstructed sight lines with the cyan lines showing the point of intersection with the terrain. More details are provided in the video demonstrations in Reference 5. Overcoming Polar Distortions: 3D geospatial applications exhibit significant distortions in polar imagery due to several reasons: 1) distortions in the source imagery, 2) incompatible tessellation algorithms at the poles, and 3) map projections. We are leveraging new tessellation algorithms and reprojecting data using projections that are better suited for Lunar poles. The goal is to seamlessly switch to polar projections while maintaining 3D view and navigation.

Maps↗

International Space Station Data Collection for Disaster Response

Natural disasters - including such events as tropical storms, earthquakes, floods, volcanic eruptions, and wildfires -effect hundreds of millions of people worldwide, and also cause billions of dollars (USD) in damage to the global economy. Remotely sensed data acquired by orbital sensor systems has emerged as a vital tool to identify the extent of damage resulting from a natural disaster, as well as providing near-real time mapping support to response efforts on the ground and humanitarian aid efforts. The International Space Station (ISS) is a unique terrestrial remote sensing platform for acquiring disaster response imagery. Unlike automated remote-sensing platforms it has a human crew; is equipped with both internal and externally-mounted remote sensing instruments; and has an inclined, low-Earth orbit that provides variable views and lighting (day and night) over 95 percent of the inhabited surface of the Earth. As such, it provides a useful complement to free-flyer based, sun-synchronous sensor systems in higher altitude polar orbits. While several nations have well-developed terrestrial remote sensing programs and assets for data collection, many developing nations do not have ready access to such resources. The International Charter, Space and Major Disasters (also known as the "International Disaster Charter", or IDC; http://www.disasterscharter.org/home) addresses this disparity. It is an agreement between agencies of several countries to provide - on a best-effort basis - remotely sensed data of natural disasters to requesting countries in support of disaster response. The lead US agency for interaction with the IDC is the United States Geological Survey (USGS); when an IDC request or "activation" is received, the USGS notifies the science teams for NASA instruments with targeting information for data collection. In the case of the ISS, the Earth Sciences and Remote Sensing (ESRS) Unit, part of the Astromaterials Research and Exploration Science Directorate and supporting the ISS Program Science Office at NASA's Johnson Space Center, receives notification from the USGS and coordinates targeting and data collection with the NASA ISS sensor teams. If data is collected, it is passed back to the USGS for posting on their Hazards Data Distribution System and made available for download. The ISS International Partners (CSA, ESA, JAXA, Roscosmos/Energia) have their own procedures for independently supporting IDC activations using their assets on ISS, and there is currently no joint coordination with NASA ISS sensor teams. Following completion of ISS assembly, NASA remote sensing assets began collecting IDC response data in May 2012. The initial NASA ISS sensor systems available to respond to IDC activations included the ISS Agricultural Camera (ISSAC), an internal multispectral visible-near infrared wavelength system mounted in the Window Observational Research Facility, or WORF; the Crew Earth Observations (CEO) Facility, where the crew collects imagery through Station windows using off-the-shelf handheld digital visible-wavelength cameras; and the Hyperspectral Imager for the Coastal Oceans (HICO), a visible to near-infrared system mounted externally on the Japan Experiment Module Exposed Facility. The ISSAC completed its primary mission and was removed from the WORF in January 2013. It was replaced by the very high resolution ISS SERVIR Environmental Research and Visualization System (ISERV) Pathfinder, a visible-wavelength digital camera, telescope, and pointing system. Since the start of IDC response by NASA sensors on the ISS in May 2012 and as of this report, there have been eighty IDC activations; NASA sensor systems have collected data for twenty-three of these events. Of the twenty-three successful data collections, five involved 2 or more ISS sensor systems responding to the same event. Data has also been collected by International Partners in response to natural disasters, most notably JAXA and Roscosmos/Energia through the Urugan program. Data collected in response to IDC activations is delivered by the ISS sensor teams to the ESRS for quality review and transfer to the USGS, where it is ingested into the Hazards Data Distribution System, or HDDS (https://hdds.usgs.gov/hdds2/; figure 1). This system allows the local agencies that issued the IDC activation request to review and download data. The data is then used to develop secondary products useful for humanitarian response such as flood maps. As of this report, approximately 1000 images collected by NASA ISS sensor systems have been downloaded from the HDDS, indicating that the ISS has assumed a valuable role in disaster response efforts. The ISS is also a unique platform in that it will have multiple users over its lifetime, and that no single remote sensing system has a permanent internal or external berth. This scheduled turnover provides for development of new remote sensing capabilities relevant to disaster response -as well as both research and applied science-and represents a significant contribution to continuance and enhancement of the NASA mission to investigate changes on our home planet.

Stefanov, William L.↗

Java PathFinder: A Translator From Java to Promela

JAVA PATHFINDER, JPF, is a prototype translator from JAVA to PROMELA, the modeling language of the SPIN model checker. JPF is a product of a major effort by the Automated Software Engineering group at NASA Ames to make model checking technology part of the software process. Experience has shown that severe bugs can be found in final code using this technique, and that automated translation from a programming language to a modeling language like PROMELA can help reducing the effort required.

Havelund, Klaus↗

CALIPSO-Inferred Aerosol Direct Radiative Effects: Bias Estimates Using Ground-Based Raman Lidars

Observational constraints on the change in the radiative energy budget caused by the presence of aerosols, i.e. the aerosol direct radiative effect (DRE), have recently been made using observations from the Cloud- Aerosol Lidar and Infrared Pathfinder Satellite (CALIPSO). CALIPSO observations have the potential to provide improved global estimates of aerosol DRE compared to passive sensor-derived estimates due to CALIPSO's ability to perform vertically-resolved aerosol retrievals over all surface types and over cloud. In this study we estimate the uncertainties in CALIPSO-inferred aerosol DRE using multiple years of observations from the Atmospheric Radiation Measurement (ARM) program's Raman lidars (RL) at mid-latitude and tropical sites. Examined are assumptions about the ratio of extinction-to-backscatter (i.e. the lidar ratio) made by the CALIPSO retrievals, which are needed to retrieve the aerosol extinction profile. The lidar ratio is shown to introduce minimal error in the mean aerosol DRE at the top-of-atmosphere and surface. It is also shown that CALIPSO is unable to detect all radiatively-significant aerosol, resulting in an underestimate in the magnitude of the aerosol DRE by 30â€"50%. Therefore, global estimates of the aerosol DRE inferred from CALIPSO observations are likely too weak.

Thorsen, Tyler↗

CALIPSO-Inferred Aerosol Direct Radiative Effects: Bias Estimates Using Ground-Based Raman Lidars

Observational constraints on the change in the radiative energy budget caused by the presence of aerosols, i.e. the aerosol direct radiative effect (DRE), have recently been made using observations from the Cloud- Aerosol Lidar and Infrared Pathfinder Satellite (CALIPSO). CALIPSO observations have the potential to provide improved global estimates of aerosol DRE compared to passive sensor-derived estimates due to CALIPSO's ability to perform vertically-resolved aerosol retrievals over all surface types and over cloud. In this study we estimate the uncertainties in CALIPSO-inferred aerosol DRE using multiple years of observations from the Atmospheric Radiation Measurement (ARM) program's Raman lidars (RL) at midlatitude and tropical sites. Examined are assumptions about the ratio of extinction-to-backscatter (i.e. the lidar ratio) made by the CALIPSO retrievals, which are needed to retrieve the aerosol extinction profile. The lidar ratio is shown to introduce minimal error in the mean aerosol DRE at the top-of-atmosphere and surface. It is also shown that CALIPSO is unable to detect all radiatively-significant aerosol, resulting in an underestimate in the magnitude of the aerosol DRE by 30-50%. Therefore, global estimates of the aerosol DRE inferred from CALIPSO observations are likely too weak.

Thorsen, Tyler↗

Global 3D Data Visualization and Analysis Platform With Advanced Machine Learning Capabilities in Support of Lunar Exploration

Introduction: The science goals for NASA’s Artemis program include: a) Understanding the character and origin of lunar polar volatiles, b) Conducting experimental science in the lunar environment and c) Investigating and mitigating exploration risks [1]. The permanently shadowed regions (PSRs) on the Lunar south pole are expected to host large quantities of water-ice and volatiles that are important for sustainable Lunar exploration [2]. There are several missions such as onboard Korea Pathfinder Lunar Orbiter (KPLO: Korean name Danuri) with onboard ShadowCam camera [3], Astrobotic Peregrine Mission One [4], and other efforts underway to obtain high resolution topographic, minerals, volatiles and other information on the moon. We envision a need in immediate future for platforms to integrate these data sets, provide rendering and visualization capabilities in the context of a 3D Lunar globe for easier information access and analysis. NASA's Celestial Mapping System (CMS) [5] is developed to address the need for 3D tools for planetary science investigations, mission planning, in-situ operations, in a 3D-first design constructed around a unified view of a planetary globe. At present CMS provides many critical functionalities that include: 1) equipment planning and optimized placement on Lunar surface 2) line-of-sight (LOS) analysis 3) powerful measurement tools based on 3D terrain with realistic 3D models to represent rovers, astronauts and equipment 4) visualization of derived mapping products (e.g. resource maps), and 5) a data engine for hosting new observations that are not available in other contemporary lunar data tools [5, 7]. Planetary Data Ingestion: CMS can consume and analyze data from locally hosted and external third party sources. It is compatible with Open Geospatial Consortium (OGC) data and file standards and currently integrates datasets from the Astrogeology Science Center of USGS. This includes global and local data acquired from NASA (LRO, Clementine, Lunar Orbiter) and JAXA (SELENE/Kaguya), with capability of integrating more datasets. In addition, users can specify other WMS-hosted data endpoints, which CMS can then query and stream data from automatically. To set-up an automated process for ingestion and accurate rendering, visualization and analysis of external 3rd party planetary datasets within CMS, we initiated the process of ingesting unique dataset of super-enhanced images of the permanently shadowed regions (PSRs) at the lunar poles which were produced by the Hyper-effective nOise Removal U-net Software (HORUS) tool [8]. This tool was developed to enhance the extremely low-light images of the interior of PSRs and provide the ability to see within these regions at and discern surface features (i.e. boulders and craters) down to 3 meters in size. We focused on the Nobile region on the Lunar south pole, selected site for VIPER mission and stitched several images to create a high-resolution map within one of the PSR of Nobile crater. Figure 1 shows the dark PSR zone form the original NAC layer of LRO as the base layer (left image) and the illuminated areas within that crater (center) which was created by ingesting and merging several of HORUS generated images. At present we employ a semi-automated process to ensure spatial accuracy and merger of several overlapping zones. However, we are in the process of completely automating this process by employing AI based techniques that would rank, sort, and stack the images based on their information density. The georectification of the images would employ selected features. Analysis on Ingested Planetary Datasets: Once an external planetary data-set is successfully ingested, georectified and merged seamlessly as a data-layer; CMS’ numerous analysis tools can be used on this data. A Line of Sight (LOS) tool has been developed for CMS which analyzes terrain profiles and obstructions to determine visibility for remote observers [5,6]. Figure 1 (right image) shows the viewshed analysis on the same PSR in the Nobile region. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. The Measurements tool allows the user to take area and distance measurements of features on the terrain using various shapes. Measurement type can be specified in a number of ways: Line, Path, Polygon, Circle, Ellipse, Square, Rectangle or Freehand. Once the shape is specified, elevation information can then be extracted along each of these shapes. Figure 2 (left) shows the measurements performed on a crater n illuminated PSR in Nobile region. The equipment placement tool allows the user to place a 3D equipment model at a desired location and analyze its coverage area. The equipment placement tool is coupled with LOS to determine the coverage. Figure 2 (right) shows an equipment placed on the Lunar terrain and it’s coverage area. The red rays are blocked sight lines and the green rays are non-obstructed sight lines with the cyan lines showing the point of intersection with the terrain. More details are provided in the video demonstrations in Reference 5. Overcoming Polar Distortions: 3D geospatial applications exhibit significant distortions in polar imagery due to several reasons: 1) distortions in the source imagery, 2) incompatible tessellation algorithms at the poles, and 3) map projections. We are leveraging new tessellation algorithms and reprojecting data using projections that are better suited for Lunar poles. The goal is to seamlessly switch to polar projections while maintaining 3D view and navigation.

Maps↗

Autonomous Navigation and the Sojourner Microrover

The Mars exploration program has as an overarching theme the search for and understanding of life, climate and resources on Mars. The ability to move about the surface of Mars is key to making measurements and the gathering of the data which address this theme.

Mars Pathfinder harzard avoidance autonomous navig↗

Proposed Mars Surveyor Landing Sites in Northern Meridiani Sinus, Southern Elysium Planitia, and Argyre Planitia

Our objective is to propose two landing sites that the Mars Surveyor 2001 Lander and Athena Rover could go to on Mars that should meet the safety requirements of the spacecraft landing system and optimize surface operations (chiefly driven by power and communications requirements). An additional site within Argyre Planitia, initially proposed by Parker to the Mars Surveyor Landing Site program, is also proposed for potential consideration for post-2001 missions to Mars, as it is well outside the current latitude limits for the Athena Rover. All three sites are designed to be situated as close to a diversity of geologic units within a few kilometers of the landing site so that diversity can be placed in a geologic context. This objective is very different from the Mars Pathfinder requirement to land at a site with a maximum chance for containing a diversity of rocks within a few tens of meters of the lander. That requirement was driven by the Sojourner mobility limit of a few tens of meters. It can be argued that the Athena project, with its much larger mobility capability, might actually want to avoid such a site, because placing collected samples in geologic context would be difficult. While it has been argued, both before and after the Mars Pathfinder landing, that the provenance for local blocks may be determined by orbiter spectra, primarily from the MGS TES instrument, our ability to do so has yet to be demonstrated. Indeed, several months after conclusion of the Pathfinder mission, we have yet to reach a consensus on the composition of local materials. Our primary data set for selecting a landing site within the latitude and elevation constraints of the 2001 mission is the Viking Orbiter image archive. The site must be selected to place the landing ellipse so as to avoid obvious hazards, such as steep slopes, large or numerous craters, or abundant large knobs. For this purpose, we chose a resolution limit of better than 50 m/pixel. This necessarily excludes from the present study images from current and future orbiter spacecraft, until such data does become readily available. Within each proposed region, it may be possible to identify additional sites once these data become available. Second, the fine-component thermal inertia data, should be greater than about 5 or 6 cgs Units (10(exp -3) cal/sq cm s(exp -0.5)/K). Low thermal inertias imply dusty environments, which could pose a mobility hazard. Similarly, the albedo of the site should not be particularly high, which would also suggest dusty surfaces. Low albedos are preferred, as they often coincide with low Viking red:violet ratios and indicate less dusty surfaces. Next, the Modeled Block Abundance should also not be too high or too low. Based on the Viking Lander and Mars Pathfinder experiences, percentages of blocks should be on the order of 5-25%. Too many blocks could pose a hazard to the landing and mobility. Too few blocks could also indicate a dusty surface. Primary Landing Site: Northern Meridiani Sinus (Proposed by T. J. Parker and K., S. Edgett) Vital Statistics: (1) Latitude, Longitude: 0-3 N, 350-2 W. *Elevation (Viking): about0.5-1.5 Ian. (2) Viking Orbiter Image coverage: Excellent coverage by 15 - 25 m/pixel images (orbits 709A and 410B). Possible stereo coverage in region where two orbits overlap (probably small parallax angle, as these orbits are not listed in NASA Contractor Report 3501) (3) Albedo: about .18 -.26 (4) Block Abundance: 5-26% (5)Fine-Component Thermal Inertia: 5-9 cgs units This region consists of bright deposits similar to those described by Edgett et al, that also lie within a prominent dark albedo region. These deposits are flat-lying, to such a degree that they ramp against topography rather than draping over it. This led Edgett and Parker to suggest that they may be subaqueous sediments, possibly lacustrine or marine evaporites, laid down sometime from the late Noachian to middle Hesperian (age determination pending crater counts). A contact between this material and elevated, dissected highlands to the south was identified , and is described by Edgett et al. Our desire in proposing this landing site is to sample the edge of this deposit where it has been exposed through etching, presumably eolian deflation (the deposit, though in the highlands, is itself only lightly to moderately cratered). This should enable access to in situ stratigraphy. The actual landing site will be selected where slopes are not expected to be steep, such that the rover itself should be able to traverse them and sample layered materials on the way, either up or down the slope. Perhaps due to uncertainties at this time as to the friability or meter-scale roughness of the deposit, it might make sense to place the landing ellipse on the exhumed highland surface adjacent to the deflated margin of the deposit and plan on driving to the deposit rather than landing on it and driving downslope. This should also enable imaging the margin for evidence of layering should it prove too difficult to climb. A target ellipse on the highland surface should also allow Athena access to ancient Noachian highland materials, particularly if placed near crater ejecta or an inlier of knobby material. Secondary Landing Site: Southern Elysium Planitia (Proposed by T. J. Parker) Vital Statistics: (1) Latitude, Longitude: 1.5-3.5 S, 195-198 W. (2) Elevation (Viking): -1.0 km. (3) Viking Orbiter Image coverage: Excellent coverage by 15 - 25 m/pixel images (orbit 725). Possible stereo coverage between images from beginning and end of orbit that overlap (probably small parallax angle) (4) Albedo: about .27-.28 (5) Block Abundance: 4-7% (6) Fine-Component Thermal Inertia: about 3 cgs units This region consists of eroded knobby material, probably of Noachian age, though much of the crater population has been destroyed, that is onlapped at a sharp contact by an extensive plains unit in southern Elysium Planitia that is Amazonian in age. The plains materials have been attributed to unusually low-viscosity flood lavas from fissures south of the Elysium volcanic rise, or to lacustrine materials associated with a large, Amazonian lake at the source of Marte Vallis. Parker and Schenk presented evidence in support of the latter interpretation, though they attributed the putative shore morphology to an embayment of a northern plains ocean into the southern Elysium region. Detailed examination of the margin of the deposit, showing erosion, not simply burial, of small crater rims and fluidized ejecta blankets, also points to lacustrine or marine sedimentation rather than volcanic plains burial. The plains surface exhibits a "crusty" appearance that many researchers have attributed to pressure ridges in lava flows. In a lacustrine context, they also resemble pressure ridges in desiccated evaporite deposits and salt-rimmed pools (now dry) similar in scale and morphology to spectacular, hundred meter-scale pool rims in alkaline Lake Natron, East African Rift. The eroded highland margin surface adjacent to these plains appears to be fairly smooth, even at 15 m/pixel. Isolated knob inliers are scattered from a few kilometers to several tens of "kilometers apart. Heights of the knobs have not been measured yet but, based on experience with similar features in the Pathfinder landing ellipse, are probably typically on the order of several tens of meters high and smaller, though some of the largest knobs in the region are probably up to a few hundred meters high. Two craters larger than a kilometer in diameter, with fluidized deposits, lie nearby the proposed landing site. Very high-resolution images from MOC should help to determine whether a landing site navigable by the Athena rover could be placed in this region. The space between knobs and craters is large enough to enable placement of a target landing ellipse between them but still provide access to one or more of them and to the margin of the Elysium plains material. Post-2001 Mars Surveyor Landing Site: Argyre Planitia (Proposed by T. J. Parker) Vital Statistics: (1) Latitude, Longitude: 55-56 S, 41-43 W. (2) Elevation (Viking): 1.0 km. (3) Viking Orbiter Image coverage: Excellent coverage by 40 m/pixel images (orbits 567B, 568B, and 569B). Excellent stereo coverage with large parallax angles over the entire landing site region, and much of central and southern Argyre. (4) Albedo: about .23-.24 (5) Block Abundance: No data (6) Fine-Component Thermal Inertia: No data The floors of both the Argyre and Hellas basins contain etched layered materials that are probably thick accumulations of channel or lacustrine sediments. The deposits in Hellas are much more eroded than those in Argyre, and Hellas lacks a channel outlet. Argyre is unique in that Uzboi Vallis flowed out of the basin, requiring overflow of a standing body of water within Argyre. This makes it the largest impact basin on Mars with channels both draining into it and flowing out from it. Hellas' channels may be catastrophic flood channels, whereas Argyre was fed by modest-scale valley networks, though the outlet at Uzboi Vallis was a catastrophic flood Highland craters and basins of this kind should be high-priority landing targets for missions intended to focus on the search for either prebiotic organic materials or even simple fossil microorganisms. Basins with internally-draining valley networks should be preferred over flood channels, as they could have provided the long-term influx of water favorable to the origin of life. (Catastrophic floods are not conducive to fossil preservation, due to their very short durations and high transportation energies). They also afford an opportunity to study the evolution of the planet's climate and volatiles during the period of time between the late Noachian and early Hesperian, when a drastic change from a proposed early warm, wet climate to one more closely resembling the modern environment is thought to have occurred. Large basin

Parker, T. J.↗

Using RSVP for analyzing state and previous activities for the Mars Exploration Rovers

Current developments in immersive environments for mission planning include several tools which make up a system for performing and rehearsing missions. This system, known as the Rover Sequencing and Visualization Program (RSVP), includes tools for planning long range sorties for highly autonomous rovers, tools for planning operations with robotic arms, and advanced tools for visualizing telemetry from remote spacecraft and landers. One of the keys to successful planning of rover activities is knowing what the rover has accomplished to date and understanding the current rover state. RSVP builds on the lessons learned and the heritage of the Mars Pathfinder mission This paper will discuss the tools and methodologies present in the RSVP suite for examining rover state, reviewing previous activities, visually comparing telemetered results to rehearsed results, and reviewing science and engineering imagery. In addition we will present how this tool suite was used on the Mars Exploration Rovers (MER) project to explore the surface of Mars.

Mars Exploration Rover (MER)↗

EXIST (Energetic X-ray Imaging Survey Telescope): The Next Large GRB Observatory

Studies have begun on the EXIST (Energetic X-ray Imaging Survey Telescope) Mission. It is planned as a very wide-field, sensitive coded aperture telescope with a sensitive area of the order of 6-8 m^2 and having a positional accuracy for GRBs (Gamma ray bursts) better than one arc-minute. EXIST will use SWIFT as a pathfinder mission; the findings of SWIFT will refine the scientific objectives of EXIST and will help to determine many of its design parameters. It would study early star formation and early galaxy formation at very high redshifts through observations of thousands of GRBs, their afterglows and environments. It is intended that the international GRB community will play as large role in EXIST through direct participation as well as with complementary observational programs, both space-based and ground-based. Some preliminary design features and capabilities of the EXIST Mission will be presented.

Fishman, G. J.↗

Status of the Development of Flight Power Processing Units for the NASAs Evolutionary Xenon Thruster - Commercial (NEXT-C) Project

A pathfinder prototype unit and two flight power processing units (PPUs) are being developed by the Aerojet Rocketdyne Corporation in Redmond, Washington and ZIN Technologies in Cleveland, Ohio, in support of the NEXT-C Project. This project is being led by the NASA Glenn Research Center in Cleveland, Ohio, and will also yield two flight thrusters. This hardware is being considered to be provided as Government Furnished Equipment for the New Frontiers Program, and is applicable to a variety of planetary science missions and astrophysics science missions. The design of the NEXT-C PPU evolves from the hardware fabricated under the NEXT technology development project. The power processing unit operates from two sources: a wide input 80 to 160 V high-power bus and a nominal 28 V low-power bus. The unit includes six power supplies. Four power supplies (beam, accelerator, discharge, and neutralizer keeper) are needed for steady state operation, while two cathode heater power supplies (neutralizer and discharge) are utilized during thruster startup. The unit in total delivers up to 7 kW of regulated power to a single gridded-ion thruster. Significant modifications to the initial design include: high-power adaptive-delay control, upgrade of design to EEE-INST-002 compliance, telemetry accuracy improvements, incorporation of telemetry to detect plume-mode operation, and simplification of the design in select areas to improve manufacturability and commercialization potential. The project is presently in the prototype phase and preparing for qualification level environmental testing.

NASAaEuro(TM)s Evolutionary Xenon Thruster↗

Three-Centimeter Doppler Radar Observations of Wingtip-Generated Wake Vortices in Clear Air

This report documents a high risk, high pay-off experiment with the objective of detecting, for the first time, the presence of aircraft wake vortices in clear air using X-band Doppler radar. Field experiments were conducted in January 1995 at the Wallops Flight Facility (WFF) to demonstrate the capability of the 9.33 GHz (I=3 cm) radar, which was assembled using an existing nine-meter parabolic antenna reflector at VVTT and the receiver/transmitter from the NASA Airborne Windshear Radar-Program. A C-130-aircraft, equipped with wingtip smoke generators, created visually marked wake vortices, which were recorded by video cameras. A C-band radar also observed the wake vortices during detection attempts with the X-band radar. Rawinsonde data was used to calculate vertical soundings of wake vortex decay time, cross aircraft bearing wind speed, and water vapor mixing ratio for aircraft passes over the radar measurement range. This experiment was a pathfinder in predicting, in real time, the location and persistence of C-130 vortices, and in setting the flight path of the aircraft to optimize X-band radar measurement of the wake vortex core in real time. This experiment was conducted in support of the NASA Aircraft Vortex Spacing System (AVOSS).

Marshall, Robert E.↗

A New Frontier Beckons: Space Exploration in the 21st Century

Throughout recorded history, small groups of explorers have Pushed back the edge of the frontier and opened up new territories for others to follow. As the 20th Century closes, history will record that in the 1960's humankind opened the vast frontier beyond Earth's atmosphere. Although the Apollo program blazed a trail of exploration to the Moon, the development of space has only reached into low Earth orbit. The Space Shuttle and International Space Station programs, and the communication and scientific satellite networks established in orbit around the Earth, are all stepping stones that will enable explorers to venture once again beyond our home planet. Exploration is difficult. It is difficult for the people and machines that travel in extreme environments and endure harsh conditions, and it is difficult for the national leaders who must champion and fund the programs that lead to discovery and reward. Christopher Columbus spent many years meeting with the Kings of Portugal, England, and France only to see his dream of sailing west into the vast Atlantic with ships and crew. discredited. Queen Isabella of Spain was willing to look beyond the many problems plaguing her own shores and see the potential reward for her investment in the future. The voyages of Columbus set the stage for more Spanish explorers, who turned Spain into a great world power. The Apollo program and the unpiloted Lunar Orbiter, Surveyor, Mariner and Viking spacecraft that NASA launched in the 1966's &1970's were our country's first investment, in the exploration of the solar system. These human and robotic missions rewarded us with the first close views of the lunar and martian surfaces, and laid before our eyes territories as vast as all the continents of Earth combined. The Lunar Prospector, Near Earth Asteroid Rendezvous, and Mars Pathfinder and Global Surveyor missions are continuing our scientific conquest of the inner solar system, leading the way for humans to follow.

Mendell, Wendell W.↗