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All sourcesNASA NTRSDOE OSTI
NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗
NASA NTRS2022

Mars Climate Sounder Observations of Gravity Wave Activity throughout Mars’s Lower Atmosphere

Gravity waves are one way Mars’s lower atmospheric weather can affect the circulation and even composition of Mars’s middle and upper atmosphere. A recent study showed how on-planet observations near the center of the 15 micron CO2band by the A3 channel(635–665 cm−1)of the Mars Climate Sounder on board Mars Reconnaissance Orbiter (MRO-MCS) could sense horizontally short, vertically broad gravity waves at≈25 km above the surface by looking at small-scale radiance variability in temperature-sensitive channels. This approach is extended here to two additional channels closer to the wings of the 15 micron CO2band,A1 (595–615 cm−1) and A2 (615–645 cm−1), to sense gravity waves throughout the lower atmosphere. Using information from all three channels demonstrates that gravity wave activity in Mars’s lowermost atmosphere is dominated by orographic sources, particularly over the extremely rough terrain of Valles Marineris. Much of this orographic population is either trapped or filtered in the lowest two scale heights, such that variations in filtering and non-orographic sources shape the gravity wave population observed at 25 km above the surface. During global dust storms, however, gravity wave activity in the first scale height decreases by approximately a factor of two, yet trapping/filtering of what activity remains in the tropics substantially weakens. Exceptionally high radiance variability at night in the tropics during the less dusty part of the year is the result of observing mesospheric clouds rather than gravity waves.

Nicholas G Heavens↗
NASA NTRS1984

Reports of Planetary Geology and Geophysics Program, 1984

Topics include outer planets and satellites; asteroids and comets; Venus; lunar origin and solar dynamics; cratering process; planetary interiors, petrology, and geochemistry; volcanic processes; aeolian processes and landforms; fluvial processes; geomorphology; periglacial and permafrost processes; remote sensing and regolith studies; structure, tectonics, and stratigraphy; geological mapping, cartography, and geodesy; and radar applications.

Henry E. Holt↗
NASA NTRS2008

The Origin of the Terra Meridiani Sediments: Volatile Transport and the Formation of Sulfate Bearing Layered Deposits on Mars

The chemistry, sedimentology, and geology of the Meridiani sedimentary deposits are best explained by eolian reworking of the sublimation residue of a large scale ice/dust deposit. This large ice deposit was located in close proximity to Terra Meridiani and incorporated large amounts of dust, sand, and SO2 aerosols generated by impacts and volcanism during early martian history. Sulfate formation and chemical weathering of the initial igneous material is hypothesized to have occurred inside of the ice when the darker mineral grains were heated by solar radiant energy. This created conditions in which small films of liquid water were created in and around the mineral grains. This water dissolved the SO2 and reacted with the mineral grains forming an acidic environment under low water/rock conditions. Subsequent sublimation of this ice deposit left behind large amounts of weathered sublimation residue which became the source material for the eolian process that deposited the Terra Meridiani deposit. The following features of the Meridiani sediments are best explained by this model: The large scale of the deposit, its mineralogic similarity across large distances, the cation-conservative nature of the weathering processes, the presence of acidic groundwaters on a basaltic planet, the accumulation of a thick sedimentary sequence outside of a topographic basin, and the low water/rock ratio needed to explain the presence of very soluble minerals and elements in the deposit. Remote sensing studies have linked the Meridiani deposits to a number of other martian surface features through mineralogic similarities, geomorphic similarities, and regional associations. These include layered deposits in Arabia Terra, interior layered deposits in the Valles Marineris system, southern Elysium/Aeolis, Amazonis Planitia, and the Hellas basin, Aram Chaos, Aureum Chaos, and Ioni Chaos. The common properties shared by these deposits suggest that all of these deposits share a common formation process which must have acted over a large area of Mars. The results of this study suggest a mechanism for volatile transport on Mars without invoking an early greenhouse. They also imply a common formation mechanism for most of the sulfate minerals and layered deposits on Mars, which explains their common occurrence.

Niles, P.B.↗
NASA NTRSDate not supplied

Low SWaP Onboard Satellite Navigation, Guidance, and Control Technology

Onboard autonomy is a necessity for responsive space operations. Autonomous navigation, guidance, and control (NGC) enables space missions to reduce their dependence on high demand ground assets and costly ground personnel. It also allows for in-situ decision making and higher return on mission data. A flight software and hardware system providing this capability, called “autoNGC,” is currently being developed at NASA Goddard Space Flight Center for infusion into multiple future missions. The first build of autoNGC, providing autonomous navigation for lunar orbiting spacecraft, is targeted for completion by Fall 2024. It provides sensor fusion of multiple measurement types including pseudo-range from a weak signal Global Navigation Satellite Service (GNSS) receiver, 1-way and 2-way direct to Earth (DTE) range and Doppler, bearing and range from optical camera sensed images, and an accelerometer. AutoNGC is also being targeted for future missions that involve small body proximity operations, Sun Earth Libration point orbits, and distributed systems missions (DSMs) including those at outer planets. AutoNGC flight software is being built upon the plug-and-play architecture of the core Flight System (cFS) [Ref. 1]. Figure (Slide 7) shows the message-based software bus layout of various software applications (“apps”) consisting of the standard cFS apps and autoNGC interface apps and libraries. Accurate onboard navigation and timing is obtained through the Goddard Enhanced Onboard Navigation System (GEONS) software library [Ref. 2], which fuses different measurement types through an extended Kalman filter (EKF) framework. Optical measurements that are ingested in GEONS are provided by the cFS Goddard Image Analysis and Navigation Tool (cGIANT) app [Ref. 3]. This app processes optical images to extract the bearing angles of the centroid of the imaged body (near or far), the range to the imaged body, and/or of the features on the surface of a body to perform terrain relative navigation (TRN). Measurement of range to the body’s center of mass can also be derived from the detection of the limb. The first build of autoNGC for a lunar orbiting spacecraft is a minimal size, weight, and power (SWaP) hardware design allowing for inclusion into CubeSats and SmallSat-size class buses. Advancements in miniaturized space processors, such as the SpaceCube 3.0 Mini and the SpaceCube Mini-Z [Ref. 4] are utilized for low SWaP while maintaining a high level of performance. Figure (Slide 11) shows the composition of the first autoNGC build. The current enclosure design has dimensions 12 cm x 17 cm x 13.5 cm. The box mass is expected to be less than 2 kg, and the nominal power is 21 W. The hardware interfaces are designed for flexibility with a variety of sensor inputs. The achievable navigation performance depends on the sensors utilized, including the onboard clock for 1-way pseudo-range measurements. Analysis using a configuration that consists of weak signal GPS, TRN, and 1-way DTE has shown position and velocity accuracies of 10 meters and 2 cm/s (3-σ ) RSS, respectively, with onboard time knowledge estimated to better than 13 ns (3-σ ), for a spacecraft in a representative 12-hour eccentric lunar orbit. Other measurement types such as x-rays from known pulsars (called XNAV) and cross-links can also be processed in GEONS. With the plug-and-play architecture of autoNGC, cFS apps can easily be added and replaced, even after launch. Goddard is actively seeking partners to collaborate in the development of additional capabilities for autoNGC, including industry, academia, and others across the US Government. Plans are being formulated to make the autoNGC software platform available for use by any US government organization to leverage the non-recurring engineering associated with the development of onboard autonomous NGC 3 capabilities. As advancements in space qualified sensors, microprocessors, and algorithms are made, the autoNGC platform provides a ready starting point for inclusion of these technologies.

C. J. Gramling↗
NASA NTRS2014

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.↗
NASA NTRS2018

NASA GIBS and Worldview: Visualizing NASA's Earth Science Data for All to Explore

For more than 20 years, the NASA Earth Observing System (EOS) has operated dozens of remote sensing satellites collecting nearly 15 Petabytes of data that span thousands of science parameters. Within these observations are keys the Earth Scientists have used to unlock many discoveries that we now understand about our planet. Also contained within these observations are a myriad of opportunities for learning and education. The challenge is making them accessible to educators and students in intuitive and simple ways so that effort can be spent on lesson enrichment and not overcoming technical hurdles. The NASA Global Imagery Browse Services (GIBS) system and NASA Worldview website provide a unique view into EOS data through daily full resolution visualizations of hundreds of earth science parameters. For many of these parameters, visualizations are available within hours of acquisition from the satellite. For others, visualizations are available for the entire mission of the satellite. Accompanying the visualizations are visual aids such as color legends, place names, and orbit tracks. By using these visualizations, educators and students can observe natural phenomena that enrich a scientific education.

Cechini, Matthew↗
NASA NTRS2019

NASA GIBS and Worldview: Visualizing NASA's Earth Science Data for All to Explore

For more than 20 years, the NASA Earth Observing System (EOS) has operated dozens of remote sensing satellites collecting nearly 15 Petabytes of data that span thousands of science parameters. Within these observations are keys the Earth Scientists have used to unlock many discoveries that we now understand about our planet. Also contained within these observations are a myriad of opportunities for learning and education. The challenge is making them accessible to educators and students in intuitive and simple ways so that effort can be spent on lesson enrichment and not overcoming technical hurdles.The NASA Global Imagery Browse Services (GIBS) system and NASA Worldview interactive mapping site provide a unique view into EOS data through daily full resolution visualizations of hundreds of Earth science parameters. For many of these parameters, visualizations are available within hours of acquisition from the satellite. For others, visualizations are available for the entire mission of the satellite. Accompanying the visualizations are visual aids such as color legends, place names, and orbit tracks. By using these visualizations, educators and students can observe natural phenomena that enrich a scientific education.This presentation will provide an overview of the visualizations available in NASA GIBS and Worldview and how they are accessed. Specific attention will be given to the newer capabilities and accomplishments, including: Support for geostationary sub-daily visualizations, Enhanced support for vector-based visualizations, Improved Worldview tour and snapshot capabilities, New imagery products across a growing set of scientific areas.

Cechini, Matthew↗
NASA NTRS2022

CME Evolution in the Structured Heliosphere and Effects at Earth and Mars During Solar Minimum

The activity of the Sun alternates between a solar minimum and a solar maximum, the former corresponding to a period of “quieter” status of the heliosphere. During solar minimum, it is in principle more straightforward to follow eruptive events and solar wind structures from their birth at the Sun throughout their interplanetary journey. In this paper, we report analysis of the origin, evolution, and heliospheric impact of a series of solar transient events that took place during the second half of August 2018, that is, in the midst of the late declining phase of Solar Cycle 24. In particular, we focus on two successive coronal mass ejections (CMEs) and a following high-speed stream (HSS) on their way toward Earth and Mars. We find that the first CME impacted both planets, whilst the second caused a strong magnetic storm at Earth and went on to miss Mars, which nevertheless experienced space weather effects from the stream interacting region preceding the HSS. Analysis of remote-sensing and in-situ data supported by heliospheric modeling suggests that CME–HSS interaction resulted in the second CME rotating and deflecting in interplanetary space, highlighting that accurately reproducing the ambient solar wind is crucial even during “simpler” solar minimum periods. Lastly, we discuss the upstream solar wind conditions and transient structures responsible for driving space weather effects at Earth and Mars.

Space weather↗
NASA NTRS2022

Distributed Observation Allocation for a Large-Scale Constellation

Increased space and ground sensing is enabling dramatic new measurements of a wide range of Earth Science and Applied Earth Science phenomena, including: volcanism, flooding, wildfires, and weather. Large scale observations constellations of hundreds of assets already exist (e.g. Planet) with several constellations with 10,000’s of assets planned. New challenges exist to rapidly assimilate available data and to optimize measurements (e.g. direct assets) to best observe these complex and dynamic spatiotemporal phenomena. We describe automated centralized and distributed Artificial Intelligence methods for allocating observations within a constellation.

Harrod, Ryan↗
NASA NTRS2022

Distributed Observation Allocation for a Large-Scale Constellation

Increased space and ground sensing is enabling dramatic new measurements of a wide range of Earth Science and Applied Earth Science phenomena, including: volcanism, flooding, wildfires, and weather. Large scale observations constellations of hundreds of assets already exist (e.g. Planet) with several constellations with 10,000’s of assets planned. New challenges exist to rapidly assimilate available data and to optimize measurements (e.g. direct assets) to best observe these complex and dynamic spatiotemporal phenomena. We describe automated centralized and distributed Artificial Intelligence methods for allocating observations within a constellation.

Harrod, Ryan↗
NASA NTRS2019

Venus as a Laboratory for Exoplanetary Science

The current goals of the astrobiology community are focused on developing a framework for the detection of biosignatures, or evidence thereof, on objects inside and outside of our solar system. A fundamental aspect of understanding the limits of habitable environments (surface liquid water) and detectable signatures thereof is the study of where the boundaries of such environments can occur. Such studies provide the basis for understanding how a once inhabitable planet might come to be uninhabitable. The archetype of such a planet is arguably Earth’s sibling planet, Venus. Given the need to define the conditions that can rule out bio-related signatures of exoplanets, Venus provides a unique opportunity to explore the processes that led to a completely uninhabitable environment by our current definition of the term. Here we review the current state of knowledge regarding Venus, particularly in the context of remote-sensing techniques that are being or will be employed in the search for and characterization of exoplanets. We discuss candidate Venus analogs identified by the Kepler and TESS exoplanet missions and provide an update to exoplanet demographics that can be placed in the potential runaway greenhouse regime where Venus analogs are thought to reside. We list several major outstanding questions regarding the Venus environment and the relevance of those questions to understanding the atmospheres and interior structure of exoplanets. Finally, we outline the path towards a deeper analysis of our sibling planet and the synergy to exoplanetary science.

Venus↗
NASA NTRS1991

The distribution of particulate material on Mars

The surface materials on Mars were extensively studied using a variety of spacecraft and Earth-based remote sensing observations. These measurements include: (1) diurnal thermal measurements, used to determine average particle size, rock abundance, and the presence of crusts; (2) radar observations, used to estimate the surface slope distributions, wavelength scale roughness, and density; (3) radio emission observations, used to estimate subsurface density; (4) broadband albedo measurements, used to study the time variation of surface brightness and dust deposition and removal; and (5) color observations, used to infer composition, mixing, and the presence of crusts. Remote sensing observations generally require some degree of modeling to interpret, making them more difficult to interpret than direct observations from the surface. They do, however, provide a means for examining the surface properties over the entire planet and a means of sampling varying depths within the regolith. Albedo and color observations only indicate the properties of the upper-most few microns, but are very sensitive to thin, sometimes emphemeral dust coatings. Thermal observations sample the upper skin depth, generally 2 to 10 cm. Rock abundance measurements give an indirect indication of surface mantling, where the absence of rocks suggests mantles of several meters. Finally, radar and radio emission data can penetrate several meters into the surface, providing an estimate of subsurface density and roughness.

Christensen, Philip R.↗
NASA NTRS1998

Micro Explorers

Inspired by the world of insects and animals, the well-proven natural 'explorers' on this planet, this study is a fesibility assesment of building efficient and cost-effective 'microexplorers' for future NASA missions.

Micro Explorers Mobility Sensing↗
NASA NTRS2012

High Contrast Vacuum Nuller Testbed (VNT) Contrast, Performance and Null Control

Herein we report on our Visible Nulling Coronagraph high-contrast result of 109 contrast averaged over a focal planeregion extending from 14 D with the Vacuum Nuller Testbed (VNT) in a vibration isolated vacuum chamber. TheVNC is a hybrid interferometriccoronagraphic approach for exoplanet science. It operates with high Lyot stopefficiency for filled, segmented and sparse or diluted-aperture telescopes, thereby spanning the range of potential futureNASA flight telescopes. NASAGoddard Space Flight Center (GSFC) has a well-established effort to develop the VNCand its technologies, and has developed an incremental sequence of VNC testbeds to advance this approach and itsenabling technologies. These testbeds have enabled advancement of high-contrast, visible light, nulling interferometry tounprecedented levels. The VNC is based on a modified Mach-Zehnder nulling interferometer, with a W configurationto accommodate a hex-packed MEMS based deformable mirror, a coherent fiber bundle and achromatic phase shifters.We give an overview of the VNT and discuss the high-contrast laboratory results, the optical configuration, criticaltechnologies and null sensing and control.

visible nulling coronagraph↗
NASA NTRS2004

Relative Sensor with 4(pi) Coverage for Formation Flying Missions

The Terrestrial Planet Finder (TPF) pre-project, an element of NASA's Origins program, is currently developing two architectures for a mission to search for earth-like planets around nearby stars. One of the architectures being developed is the Formation Flying Interferometer (FFI). The FFI is envisioned to consist of up to seven spacecraft (as many as six 'collectors' with IR telescopes, and a 'combiner') flying in precise formation within f 1 cm of pre-determined trajectories for synchronized observations. The spacecraft-to-spacecraft separations are variable between 20 m and 100 m or more during observations to support various configurations of the interferometer in the planet-finding mode. The challenges involved with TPF autonomous operations, ranging from formation acquisition and formation maneuvering to high precision formation control during science observations, are unprecedented. In this paper we discuss the development of the formation acquisition sensor, which uses novel modulation and duplexing schemes to enable fast signal acquisition, multiple-spacecraft operation, and mitigation of inherent jamming conditions, while providing precise formation sensing and integrated radar capability. This approach performs delay synthesis and carrier cycle ambiguity resolution to improve range measurement, and uses differential carrier cycle ambiguity resolution to make precise bearing angle measurements without calibration maneuvers.

formation flying sensors↗
NASA NTRS1995

Aspects of atmospheric science and instrumentation for martian missions

There are four main reasons which make observations of meteorological phenomena in the Martian atmosphere important: (1) Meteorology as science, (2) Comparative meteorology between the Earth and Mars, (3) Other instruments need information about meteorological parameters, (4) Weather conditions essentially affect planning of safe future landings on Mars. The Earth and Mars have almost equal rotation periods and axial tilts, and hence similarities in the meteorology of these planets are considerable. At present, the number of theoretical modelling results of the Martian atmosphere is much larger than measured data, so measurements are urgently needed. Both in-situ observations on the planetary surface and remote sensing from an orbiter are necessary. The former give important ground-truth data to the latter. This paper outlines some open issues in Martian atmospheric research, and introduces promising capacitive micro sensors developed by the Vaisala Ltd, Finland, to be used in meteorological instrumentation for Mars. Due to the sensors' accuracy, light weight and low power consumption, they are very suitable for planetary exploration purposes.

Harri, A.-M.↗