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296 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS1997

STRIPE: Remote Driving Using Limited Image Data

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

REMOTE CONTROL↗
NASA NTRS2010

Project M: Scale Model of Lunar Landing Site of Apollo 17

The basis of the project was creating a scale model representation of the Apollo 17 lunar landing site. Vital components included surface slope characteristics, crater sizes and locations, prominent rocks, and lighting conditions. The model was made for Project M support when evaluating approach and terminal descent as well as when planning surface operations with respect to the terrain. The project had five main mi lestones during the length of the project. The first was examining the best method to use to re-create the Apollo 17 landing site and then reviewing research fmdings with Dr. Tim Crain and EO staff which occurred on June 25, 2010 at a meeting. The second step was formulating a construction plan, budget, and schedule and then presenting the plan for authority to proceed which occurred on July 6,2010. The third part was building a prototype to test materials and building processes which were completed by July 13, 2010. Next was assembling the landing site model and presenting a mid-term construction status report on July 29, 2010. The fifth and final milestone was demonstrating the model and presenting an exit pitch which happened on August 4, 2010. The project was very technical: it needed a lot of research about moon topography, lighting conditions and angles of the sun on the moon, Apollo 17, and Autonomous Landing and Hazard Avoidance Technology (ALHAT), before starting the actual building process. This required using Spreadsheets, searching internet sources and conducting personal meetings with project representatives. This information assisted the interns in deciding the scale of the model with respect to cracks, craters and rocks and their relative sizes as the objects mentioned could interfere with any of the Lunar Landers: Apollo, Project M and future Landers. The project concluded with the completion of a three dimensional scale model of the Apollo 17 Lunar landing site. This model assists Project M members because they can now visualize approach phase, terminal descent phase, and surface phase operations on the physical model. The project had an additional requirement that was also satisfied: the granite table the model was placed on must be returnable to its original condition if needed in the future.

O'Brien, Hollie↗
NASA NTRS2022

In Situ Measurements of Surface Texture with Virtual Environments Support Science-Driven Human Surface Operations on the Moon and Beyond

Visualization tools enabling real-time scientific analysis are important for supporting future astronaut operations on the lunar surface. Such tools can be built into virtual environments to support scientific investigations, as well as situational awareness, real-time decision making, and efficient communication between astronauts and ground and support systems. Understanding how these tools can be optimized for science is essential for upcoming Artemis missions. In this contribution, we discuss how measurements of surface texture at multiple length scales can greatly enhance in situ science on/of the Moon, and eventually Mars, asteroids, and beyond. Roughness measurements at various wavelengths directly support objectives defined in the Artemis Science Plan, including (O1) “understanding planetary processes,” (O2) “understanding volatile cycles,” and (O3) “interpreting the impact history of the Earth-Moon system” . Key scientific analyses enabled by texture measurements at different length scales include: ● Sub-centimeter scales: Texture measurements can help constrain lava flow crystallinity, lava rheology, emplacement flow dynamics, and cooling histories (O1). Measurements of lacunarity (voids in fractal fill space) can shed light on eruptive volatile content, residence time of migrating volatiles, and near-surface volume available for micro-cold trapping of volatiles (O1, O2). ● Centimeter–meter scales: Texture measurements can be used for the differentiation of individual lava flows, the reconstruction of local stratigraphies and emplacement sequences, characterization of post-emplacement surface modification processes (O1, O3). Derived roughness (polarization) metrics can be used in the detection of water ice and characterization of ice properties (e.g., purity, grade, depth, abundance). ● Hectometer–Kilometer scales: Texture measurements can be used to differentiate major geologic surface units and surface structures (O1), constrain the presence of abundant ground ices (O2), and analyze surface modification and estimate surface age (O3). Real-time measurements of surface texture across these multiple length scales will enable efficient sample identification and scientific investigations by future astronauts. To support these investigations and the objective classification of surface texture, virtual environments employed by astronauts should be able to instantaneously convert raw data into processed data (e.g., digital terrain and elevation models) and derived metrics (e.g., RMS, std, Hurst, CPR) and perform statistical analyses (e.g., PCA, outliers, correlation matrices). Such tools are being developed and tested by the Resource Exploration and Science of our Cosmic Environment (RESOURCE) team, a node of NASA’s Solar System Exploration Research Virtual Institute (SSERVI), and are an excellent example of the powerful synergies of human and robotic ground assets critical in the return of humans to the Moon.

Ariel N. Deutsch↗
DOE OSTI2026

Permafrost Thaw, Uneven Subsidence and Projected Drying of Ice-wedge Polygon Tundra: Modeling Archive

This dataset is a model archive of the paper Permafrost Thaw, Uneven Subsidence and Projected Drying of Ice-wedge Polygon Tundra (in prep) to support a modeling study investigating how projected increases in Arctic temperature and precipitation will jointly influence hydrologic conditions in ice-rich tundra landscapes. With this dataset, this study is to address the research question: Will Arctic tundra landscapes become wetter or drier with increasing precipitation and temperature in the future when thaw-induced ground subsidence and associated microtopographic evolution are represented? The simulations focus on ice-wedge polygon tundra, a widespread form of ice-rich permafrost terrain that is highly sensitive to thaw-driven landscape change. This dataset contains model input and output data for four study watersheds in Alaska: Anaktuvuk, Utqiagvik (formerly Barrow), Brooks Foothills, and Prudhoe Bay. Simulations were performed using the Advanced Terrestrial Simulator (ATS, v1.5), a physics-rich integrated surface–subsurface hydrologic model. For each watershed, ten modeling cases were performed representing two landscape evolution conditions (with subsidence and without subsidence) combined with five climate forcing scenarios derived from Shared Socioeconomic Pathways (SSP5, SSP5 with precipitation trend, SSP2, SSP2 with precipitation trend, and SSP2 with double precipitation trend). Particularly, for each watershed under the forcing SSP2 with precipitation trend, there are two additional simulations considering spatially heterogeneous subsidence distributions: one assumes randomly distributed scaling and the other includes elevation dependent distribution scaling. These simulations span 1980–2099 and include spin-up runs (1980–2009) followed by transient projections (2010–2099). To facilitate reproducibility of simulations, all datasets are organized by watershed. For each study watershed, the dataset contains: (1) Pre-partitioned mesh files for 32-core modeling (.par.32.XX), located in EACH_WATERSHED/mesh/basin; and also a non-partitioned mesh file (.exo) located in EACH_WATERSHED/mesh; (2) Climate forcings corresponding to the five SSP scenarios (.h5), located in EACH_WATERSHED/data; (3) Final states (.h5) from column spin-up modeling used to initialize historical watershed-scale spin-up runs from 1980 to 2009, located in EACH_WATERSHED/PreSpinupHistorical; (4) Final states (.h5) of historical watershed-scale spin-up runs from 1980 to 2009 used to initialize projection runs, located in EACH_WATERSHED/Spinup_daymetERA5; (5) ATS modeling input files (.xml), located in EACH_WATERSHED/EACH_SIMULATION_SCENARIO/inputfiles; (6) ATS modeling output files (.dat), located in in EACH_WATERSHED/EACH_SIMULATION_SCENARIO/combined_obs; (7) For the Brooks Foothills watershed, additional spatial model outputs are provided (.h5) for selected years (2033 and 2093) used to generate spatial figures in this study, located in Brooksfoothills/EACH_SIMULATION_SCENARIO/results-WITH/WITHOUT_SUBSIDENCE-year2033/2093. All data files with suffix .h5 can be accessible through Python h5py, and all data files with suffix of .dat can be imported by Python pandas. Mesh file with .exo can be visualized through Paraview or read by Python netCDF. The Next-Generation Ecosystem Experiments in the Arctic (NGEE Arctic) project is a research effort to reduce uncertainty in the Department of Energy’s Energy Exascale Earth System Model (E3SM) by developing a predictive understanding of Arctic tundra ecosystems underlain by permafrost and to quantify feedbacks from the Arctic tundra to the Earth system. NGEE Arctic is supported by the Department of Energy's Office of Biological and Environmental Research. Over Phases 1–3, observations made by the NGEE Arctic team across a gradient of permafrost landscapes in Arctic Alaska improved the representation of tundra processes in the land surface component of E3SM (the E3SM Land Model, ELM). Model improvements emphasized unique aspects of permafrost environments and explored reductions in model complexity while retaining predictive power. The Arctic-informed ELM developed by NGEE Arctic has been used to make novel predictions on processes ranging from permafrost thaw to soil biogeochemical cycling to Earth system feedbacks associated with the unique characteristics of tundra plants. In Phase 4, the NGEE Arctic team is evaluating our new predictive understanding under novel conditions across the Arctic domain. In collaboration with partners at long-term pan-Arctic research sites we are examining whether an Arctic-informed ELM can faithfully simulate interactions among surface and subsurface processes at site, regional, and pan-Arctic scales. In turn, we are using variety of tools to dynamically extend and evaluate ELM inference, with an emphasis on data synthesis and pan-Arctic model evaluation, reintegration of code with an evolving E3SM, scaling across heterogeneous Arctic landscapes, and the appropriate representation of the impacts of increasingly frequent Arctic disturbances.

EARTH SCIENCE > ATMOSPHERE > PRECIPITATION↗
NASA NTRS2004

Bioinspired Engineering of Exploration Systems (BEES) - its Impact on Future Missions

This paper describes an overview of our "Bioinspired Engineering of Exploration Systems for Mars" ( "BEES for Mars") project. The BEES approach distills selected biologically inspired strategies utilizing motion cues/optic flow, bioinspired pattern recognition, biological visual and neural control systems, bioinspired sensing and communication techniques, and birds of prey inspired search and track algorithmic systems. Unique capabilities so enabled, provide potential solutions to future autonomous robotic space and planetary mission applications. With the first series of tests performed in September 2003, August 2004 and September 2004, we have demonstrated the BEES technologies at the El Mirage Dry Lakebed site in the Mojave Desert using Delta Wing experimental prototypes. We call these test flyers the "BEES flyer", since we are developing them as dedicated test platform for the newly developed bioinspired sensors, processors and algorithmic strategies. The Delta Wing offers a robust airframe that can sustain high G launches and offers ease of compact stowability and packaging along with scaling to small size and low ReynOld's number performance for a potential Mars deployment. Our approach to developing light weight, low power autonomous flight systems using concepts distilled from biology promises to enable new applications, of dual use to NASA and DoD needs. Small in size (0.5 -5 Kg) BEES Flyers are demonstrating capabilities for autonomous flight and sensor operability in Mars analog conditions. The BEES project team spans JPL, NASA Ames, Australian National University (ANU), Brigham Young University(BYU), DC Berkeiey, Analogic Computers Inc. and other institutions. The highlights from our recent flight demonstrations exhibiting new Mission enabling capabilities are described. Further, this paper describes two classes of potential new missions for Mars exploration: (1) the long range exploration missions, and (2) observation missions, for real time imaging of critical ephemeral phenomena, that can be enabled by use of BEES flyers. For example, such flyers can serve as a powerful black-box for critical descent and landing data and enablers for improved science missions complementing and supplementing the existing assets like landers and rovers by providing valuable exploration and quick extended low-altitude aerial coverage of the sites of interest by imaging them and distributing instruments to them. Imaging done by orbiters allows broad surface coverage at limited spatial resolution. Low altitude air-borne exploration of Mars offers a means for imaging large areas, perhaps up to several hundred kilometers, quickly and efficiently, providing a close-up birds-eye view of the planetary terrain and close-up approach to constrained difficult areas like canyons and craters. A novel approach to low-mass yet highly capable flyers is enabled by small aircraft equipped using sensors and processors and algorithms developed using BEES technology. This project is focused towards showing the direct impact of blending the best of artificial intelligence attributes and bioinspiration to create a leap beyond existing capability for our future Missions.

navigation↗
DOE OSTI2026

Vegetation classification map and covariates associated with NEON AOP survey, East River, CO 2018

This package includes geospatial data layers developed to investigate how environmental gradients—specifically topography and near-surface soil properties—drive the spatial arrangement of dominant plant communities in mountainous watersheds. The geospatial products, which support the analysis of these ecological relationships, are derived from airborne hyperspectral and LiDAR datasets acquired by the National Ecological Observatory Network (NEON) Airborne Observation Platform (AOP), in conjunction with an extensive ground field campaign conducted in summer 2018. This work is part of the DOE Watershed Function Science Focus Area (SFA) and features geospatial datasets developed based on observations and ground data collected at East River, Colorado, in collaboration with the National Ecological Observatory Network (NEON) Airborne Observation Platform (AOP) survey in June 2018. Classification Map: - Classification Map (PNG, GeoTIFF): Derived from hyperspectral and LiDAR airborne data using a machine learning approach. - Class Code Mapper (CSV): Associates pixel values with corresponding vegetation/non-vegetation classes. - Classification Reference Data (CSV): Reference data used in the machine learning procedure. LiDAR-Derived Products: - Topographical Metrics (GeoTIFFs): Elevation, slope, curvature, TWI, TPI, solar insolation, and canopy height model (CHM), smoothed with a 5x5 pixel window. Vegetation Indices: - GeoTIFFs of NDVI, NDNI, NDWI: Vegetation indices derived from hyperspectral data. Urban Masks: - Urban Mask (GeoTIFF): Applied to the mapping to convert bare soil classes to urban classes. Software Compatibility: GeoTIFFs: Can be visualized with GIS software or libraries that support GeoTIFF images. CSV Files: Can be opened with any software that handles comma-separated values. The FLMD file provides details and links to the source datasets used to derive the products. The manuscript (in the Method session) provides details on how each product was derived. This work was supported by the Watershed Function Science Focus Area at Lawrence Berkeley National Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-05CH11231. Update on 2026-03-25: Since the original dataset publication date of 02/28/2020, this package has a new classification map derived by an improved methodology. This update also includes additional ground data that improved the representation of some of the communities. See the methods for further details on what has changed between versions.

2018 NEON and 2025 CHESS Campaigns↗
NASA NTRSDate not supplied

Real-Time Science Decisioning During High Tempo-High Intensity Mission Operations and the Role of Analogs

Introduction: NASA’s VIPER mission presents a unique operational paradigm within the history of robotic spaceflight. The proximity of the Moon to the Earth and the terrain elements (surface characteristics, light/shadow dynamics, communication links) of the lunar South Polar landing site create unprecedented operational conditions between these two planetary bodies. Apollo era lunar science and exploration included humans in situ to operate instruments and assimilate observational inputs in real-time. Previous lunar orbital missions have worked to operational timescales, e.g., decisional timelines and communication exchanges, that were weeks in length. Mars rover missions have worked to operational timescales, e.g., decisional timelines and communication exchanges between Mars and Earth, that were hours, days, and weeks in length. In the case of the VIPER mission, our operational decisioning for rover driving and instrument commanding will be compressed to minute-scale timeframes. These operational conditions directly impact the manner and speed with which the VIPER Science Team (VST) is required to synthesize and analyze data and produce timely science-driven decisions throughout surface mission operations. The VST shall provide mission enhancing scientific input to guide rover traverse planning and drill site confirmation and selection throughout surface operations. Further, the VST input will be of vital importance to the mission’s ability to maximize science return and to meet broader NASA objectives for future lunar in-situ resource utilization (ISRU)and exploration activities. The VST co-located in the Mission Science Center (MSC) will be responsive to the tactical operational cadence of the Mission Operations Center (MOC) and will provide further strategic and Long-Term Planning (LTP) guidance to the mission. The VIPER Science Operations & Integration(SO&I)team has developed an architecture that is focused on the infusion of science-decisioning into the operational framework and execution cadence of VIPER. NASA analog research has played a significant role in the construction of the VIPER science operations systems. As an example, the SO&I team has led analog missions that have focused on bringing together expertise in the sciences (natural, applied and social) and in operations in service of learning how to build and hold together interdisciplinary work environments and what tools are needed to support high tempo, high intensity integrated decisioning. These experiences have provided an essential foundation of knowledge to the VIPER team. Those analogs that specifically influenced the VIPER science operations construct were identified through a process of comparative analysis to prioritize those that offered relevance in whole or in part, and those that did not. The analog research output that provided extensibility to the VIPER science operations architecture included remote teams of humans and robots in cooperation (synchronous and asynchronous) with simulated earthbound systems, engineering and science teams, and the integrated assembly of tools that supported scientific analysis and data synthesis and provided infrastructure for the remote testing framework. Analogs which included real-time data monitoring, synthesis, visualization and access in a democratized and operationalized manner were of particular interest to the development of the VIPER MSC toolset both in terms of the technology and the processes used to develop the supporting infrastructure. We anticipate that each subsequent mission to the lunar south pole, whether with robots or humans, will be able to optimize science and exploration return by evolving strategies to infuse real-time collaborative science-decisioning. Furthermore, these efforts will result in a foundation for science operations development in support of human-robotic exploration of deep space and Mars. NASA analogs can continue to provide the opportunity to prepare, test and iterate on the operational concepts and tools that will support these ever-expanding space exploration efforts. Our presentation will include an overview of the VIPER Science Operations & Integration development process and specifics on what aspects of analog research have had a significant impact on our work systems.

D S S Lim↗
DOE OSTI2024

Subsidence Measurements at the Teller 27 Field Site, Seward Peninsula, Alaska, 2021

In September 2021, differential GPS (dGPS) points were collected in areas of visual subsidence in the Teller watershed near mile marker 27 of the Bob Blodgett Nome-Teller Memorial Highway on the Seward Peninsula of Alaska. This study aimed to understand how structural permafrost loss is affecting meter-scale ground elevation. As ice thaws, heaving and slumping of the landscape creates new microtopographical features on the landscape that may alter surface hydrology and soil moisture and thus plant community composition and biogeochemical cycling. The Teller 27 field site is underlain with discontinuous permafrost, so the landscape features a variety of permafrost features. We collected ground elevations from eight subsidence areas in two forms: 1) Transects were sampled laterally through areas of ground subsidence to capture the high edges and low spots where the earth slumped. 2) The circumference of the subsidence area was sampled in order to measure the ground area affected by subsidence. These data were collected with an Emlid Reach RS2 dGPS and a base station. This dataset includes one *.csv of dGPS locations of the eight subsidence locations and one *.kml of measurement locations.The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic) was a 15-year research effort (2012-2027) to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy’s Office of Biological and Environmental Research.The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska.Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy’s Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗