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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 325 records · Page 18
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NASA NTRS1989

Analysis of radar images of the active volcanic zone at Krafla, Iceland: The effects of look azimuth biasing

The geomorphic expression of Mid-Ocean-Ridge (MOR) volcanism in a subaerial setting occurs uniquely on Earth in Iceland, and the most recent MOR eruptive activity has been concentrated in the Northeastern Volcanic Zone in an area known as Krafla. Within the Krafla region are many of the key morphologic elements of MOR-related basaltic volcanism, as well as volcanic explosion craters, subglacial lava shields, tectonic fissure swarms known as gjar, and basaltic-andesite flows with well developed ogives (pressure-ridges). The objective was to quantify the degree to which the basic volcanic and structural features can be mapped from directional SAR imagery as a function of the look azimuth. To accomplish this, the current expression of volcanic and tectonic constructs was independently mapped within the Krafla region on the E, W, and N-looking SAR images, as well as from SPOT Panchromatic imagery acquired in 1987. The initial observations of the E, W, and N images indicates that fresh a'a lava surfaces are extremely radar bright (rough at 3 cm to meter scales) independent of look direction; this suggests that these flows do not have strong flow direction related structures at meter and cm scales, which is consistent with typical Icelandic a'a lava surfaces in general. The basic impression from a preliminary analysis of the effects of look azimuth biasing on interpretation of the geology of an active MOR volcanic zone is that up to 30 percent of the diagnostic features can be missed at any given look direction, but that having two orthogonal look direction images is probably sufficient to prevent gross misinterpretation.

Garvin, J. B.↗
NASA NTRS2021

OSIRIS-REx Proximity Operations and Navigation Performanceat (101955) Bennu

The NASA Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft began close proximity operations at the small (500-m diameter) B-type asteroid (101955) Bennu in December 2018 and concluded in May 2021. Hundreds of grams of pristine surface regolith were collected on October 20, 2020, when the OSIRIS-REx spacecraft successfully executed the Touch and Go (TAG) sample collection sequence. The spacecraft touched down within 1 meter of the targeted site on the surface of Bennu. TAG was the culmination of over 2 years of navigation performance refinement as a result of extraordinary interagency teamwork between the Flight Dynamics System (FDS), science and spacecraft teams while in close proximity to Bennu. This paper will discuss the navigation processes, planning and performance during the proximity operations at Bennu.

Peter G. Antreasian↗
NASA NTRSDate not supplied

OSIRIS-REx Proximity Operations and Navigation Performance at (101955) Bennu

The NASA Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft began close proximity operations at the small (500-mdiameter) B-type asteroid (101955) Bennu in December 2018 and concluded in May 2021.Hundreds of grams of pristine surface regolith were collected on October 20, 2020, when the OSIRIS-REx spacecraft successfully executed the Touch and Go (TAG) sample collection sequence. The spacecraft touched down within 1 meter of the targeted site on the surface of Bennu. TAG was the culmination of over 2 years of navigation performance refinement as a result of extraordinary interagency teamwork between the Flight Dynamics System (FDS),science and spacecraft teams while in close proximity to Bennu. This paper will discuss the navigation processes, planning and performance during the proximity operations at Bennu.

Peter G Antresian↗
NASA NTRS1995

LDEF Interplanetary Dust Experiment (IDE) results

The Interplanetary Dust Experiment (IDE) provided high time resolution detection of microparticle impacts on the Long Duration Exposure Facility satellite. Particles, in the diameter range from 0.2 microns to several hundred microns, were detected impacting on six orthogonal surfaces of the gravity-gradient stabilized LDEF spacecraft. The total sensitive surface area was about one square meter, distributed between LDEF rows 3 (Wake or West), 6 (South), 9 (Ram or East), 12 (North), as well as the Space and Earth ends of LDEF. The time of each impact is known to an accuracy that corresponds to better than one degree in orbital longitude. Because LDEF was gravity-gradient stabilized and magnetically damped, the direction of the normal to each detector panel is precisely known for each impact. The 11 1/2 month tape-recorded data set represents the most extensive record gathered of the number, orbital location, and incidence direction for microparticle impacts in low Earth orbit. Perhaps the most striking result from IDE was the discovery that microparticle impacts, especially on the Ram, South, and North surfaces, were highly episodic. Most such impacts occurred in localized regions of the orbit for dozens or even hundreds of orbits in what we have termed Multiple Orbit Event Sequences (MOES). In addition, more than a dozen intense and short-lived 'spikes' were seen in which impact fluxes exceeded the background by several orders of magnitude. These events were distributed in a highly non-uniform fashion in time and terrestrial longitude and latitude.

Oliver, John P.↗
NASA NTRSDate not supplied

Lander Lighting Solution to Reduce Pilot & Autonomous Approach Errors

The south pole lighting environment will have harsh low inclination sunlight, making overhead judgement of surface features difficult. Autonomous solutions are great, however, the need for visual monitoring and independent go/no-go decisions remain. Our project proposes that lunar landing systems will be better served by including a powerful landing light system that improves visibility of surfaces from overhead by illuminating the ground at critical distances for the crew to make last minute decisions regarding an approach. The project utilized computer-based optical modeling software to predict requirements for a potential landing light system. The analysis based the lamp prediction from commercially available LED chip sets and lamp optics. The goal was to illustrate a method to raise the surface contrast of a landing site within an acceptable contrast threshold for most camera systems and human observers to recognize hazards that would not be noticed with low inclination sunlight alone. The Apollo lunar landings benefitted from overhead sun or dark conditions. The surface lighting at the Lunar South Pole is a harsh environment where surfaces are lit from a low inclination angle by the sun (from the side). This change in lighting condition precipitates a need for updated lunar landing systems that facilitate improved recognition of landing sites, and thereby increase pilot awareness of landing hazards. The reliance on LIDAR and other autonomous mechanisms alone is risky given the known usage of visual monitoring for operator concurrence on current spacecraft programs and present-day autonomous land-based vehicles. Visual monitoring via cameras or windows requires the surface contrast to be within 3 orders of magnitude for reasonable recognition of objects. Artificial overhead illumination, when sufficiently sized, provides a means to even out contrast problems created by low inclination sunlight, potentially reducing piloting errors. Current vehicle requirements do not specify this type of guidance for the purpose of increasing mission success. An optical ray-trace simulation model was developed in Zemax Optics Studio to predict the best combination of LED power, LED optics, lamp quantity, and lamp location to raise the surface contrast to within 2 orders of magnitude from 3 orders required to further increased visibility and reduce risk. The project considered the following design constraints: potential base diameter of lander, approach distance(s) for a go-no-go decision point (200 meter), solar inclination angle (2-7), lunar surface reflectance (10%), LED chip sets, LED focusing optics, LED power, lamp quantity, lamp locations, and illumination diameter of lunar surface landing zone. The results can be used to establish minimum design constraints for vehicle landing light systems. With a solar inclination angle ranging from 2-7 degrees, the horizontal illumination of the lunar surface is attenuated by about 10% when compared to overhead illumination from the Sun. This modifies the sun's maximum of 130,000 lux to 13,000 lux horizontal illuminance. The artificial lighting system was designed to provide an 18-meter-wide illumination zone, to create viewing clearances around a 6-meter-wide lander. The system provides an average illuminance of 300 lux, meeting the 2 orders of magnitude criteria. The solution utilized modern Chip On Board LEDs, that each utilized 17 watts, with focusing Total Internal Reflection (TIR) lenses. A lighting system of 300 LEDs was arrayed along the "bottom" of a “lander”. With 17 watts per LED, the system is estimated to require 5100 watts. This is a large amount of power, but it would only be needed during critical phases during the landing. LED lighting systems can be dimmed, and it is assumed that as the lander arrives closer to the landing site, the lighting system power can be adjusted as needed to produce the necessary surface illuminance. The designed reduction of contrast improves reliability of safety assessments using real time visible light camera systems and out the window viewing by the crew.

T A Clark↗
NASA NTRSDate not supplied

The P-Band Space Exploration Synthetic Aperture Radar (SESAR)

The Space Exploration Synthetic Aperture Radar (SESAR) is a P-band (435 MHz) radar instrument for planetary applications capable of measuring the surface and subsurface of planetary bodies at full polarimetry and at meter-scale resolution. These measurements can reveal important information about the surface evolution and geologic history of the planetary bodies, and help identify buried resources for future explorers. SESAR’s architecture is based on a low power, lightweight, beamforming design, specifically developed to meet stringent requirements of planetary instruments. The SESAR developmental effort, carried out at NASA/GSFC, designed and built a prototype SAR instrument, and environmentally tested it, with the goal of maturing the SESAR technology readiness level for upcoming planetary mission opportunities.

Rafael F Rincon↗
NASA NTRS2016

Thermal properties of Rhea's Poles: Evidence for a Meter-Deep Unconsolidated Subsurface Layer

Cassini's Composite Infrared Spectrometer (CIRS) observed both of Rhea's polar regions during a close (2000 km) flyby on 9th March 2013 during orbit 183. Rhea's southern pole was again observed during a more distant (51,000 km) flyby on 10th February 2015 during orbit 212. The results show Rhea's southern winter pole is one of the coldest places directly observed in our Solar System: surface temperatures of 25.4 +/-7.4 K and 24.7 +/-6.8 K are inferred from orbit 183 and 212 data, respectively. The surface temperature of the northern summer pole inferred from orbit 183 data is warmer: 66.6 +/-0.6 K. Assuming the surface thermophysical properties of the two polar regions are comparable then these temperatures can be considered a summer and winter seasonal temperature constraint for the polar region. Orbit 183 will provide solar longitude ( LS ) coverage at 133 deg and 313 deg for the summer and winter poles respectively, while orbit 212 provides an additional winter temperature constraint at LS 337 deg. Seasonal models with bolometric albedo values between 0.70 and 0.74 and thermal inertia values between 1 and 46 J m( exp −2) K( exp −1) s (exp −1/2) (otherwise known as MKS units) can provide adequate fits to these temperature constraints (assuming the winter temperature is an upper limit). Both these albedo and thermal inertia values agree within the uncertainties with those previously observed on both Rhea's leading and trailing hemispheres. Investigating the seasonal temperature change of Rhea's surface is particularly important, as the seasonal wave is sensitive to deeper surface temperatures ( approximately tens of centimeters to meter depths) than the more commonly reported diurnal wave (typically less than a centimeter), the exact depth difference dependent upon the assumed surface properties. For example, if a surface porosity of 0.5 and thermal inertia of 25 MKS is assumed then the depth of the seasonal thermal wave is 76 cm, which is much deeper than the approximately 0.5 cm probed by diurnal studies of Rhea ( Howett et al., 2010 ). The low thermal inertia derived here implies that Rhea's polar surfaces are highly porous even at great depths. Analysis of a CIRS focal plane 1 (10-600 cm(exp −1 ) stare observation, taken during the orbit 183 encounter between 16:22:33 and 16:23:26 UT centered on 71.7 deg W, 58.7 deg S provides the first analysis of a thermal emissivity spectrum on Rhea. The results show a flat emissivity spectrum with negligible emissivity features. A few possible explanations exist for this flat emissivity spectrum, but the most likely for Rhea is that the surface is both highly porous and composed of small particles ( less than approximately 50 micrometers).

Howett, C. J. A.↗
NASA NTRS1971

Preliminary radar systems analysis for Venus orbiter missions

A short, preliminary analysis is presented of the problems involved in mapping the surface of Venus with radar from an orbiting spacecraft. Two types of radar, the noncoherent sidelooking and the focused synthetic aperture systems, are sized to fulfill two assumed levels of Venus exploration. The two exploration levels, regional and local, assumed for this study are based on previous Astro Sciences work (Klopp 1969). The regional level is defined as 1 to 3 kilometer spatial and 0.5 to 1 km vertical resolution of 100 percent 0 of the planet's surface. The local level is defined as 100 to 200 meter spatial and 50-10 m vertical resolution of about 100 percent of the surfAce (based on the regional survey). A 10cm operating frequency was chosen for both radar systems in order to minimize the antenna size and maximize the apparent radar cross section of the surface.

Brandenburg, R. K.↗
NASA NTRS2017

Monitoring Land Surface Albedo and Vegetation Dynamics Using High Spatial and Temporal Resolution Synthetic Time Series from Landsat and the MODIS BRDF/NBAR/Albedo Product

Seasonal vegetation phenology can significantly alter surface albedo which in turn affects the global energy balance and the albedo warmingcooling feedbacks that impact climate change. To monitor and quantify the surface dynamics of heterogeneous landscapes, high temporal and spatial resolution synthetic time series of albedo and the enhanced vegetation index (EVI) were generated from the 500-meter Moderate Resolution Imaging Spectroradiometer (MODIS) operational Collection V006 daily BRDF (Bidirectional Reflectance Distribution Function) / NBAR (Nadir BRDF-Adjusted Reflectance) / albedo products and 30-meter Landsat 5 albedo and near-nadir reflectance data through the use of the Spatial and Temporal Adaptive Reflectance Fusion Model (STARFM). The traditional Landsat Albedo (Shuai et al., 2011) makes use of the MODIS BRDFAlbedo products (MCD43) by assigning appropriate BRDFs from coincident MODIS products to each Landsat image to generate a 30-meter Landsat albedo product for that acquisition date. The available cloud free Landsat 5 albedos (due to clouds, generated every 16 days at best) were used in conjunction with the daily MODIS albedos to determine the appropriate 30-meter albedos for the intervening daily time steps in this study. These enhanced daily 30-meter spatial resolution synthetic time series were then used to track albedo and vegetation phenology dynamics over three Ameriflux tower sites (Harvard Forest in 2007, Santa Rita in 2011 and Walker Branch in 2005). These Ameriflux sites were chosen as they are all quite nearby new towers coming on line for the National Ecological Observatory Network (NEON), and thus represent locations which will be served by spatially paired albedo measures in the near future. The availability of data from the NEON towers will greatly expand the sources of tower albedometer data available for evaluation of satellite products. At these three Ameriflux tower sites the synthetic time series of broadband shortwave albedos were evaluated using the tower albedo measurements with a Root Mean Square Error (RMSE) less than 0.013 and a bias within the range of 0.006. These synthetic time series provide much greater spatial detail than the 500 meter gridded MODIS data, especially over more heterogeneous surfaces, which improves the efforts to characterize and monitor the spatial variation across species and communities. The mean of the difference between maximum and minimum synthetic time series of albedo within the MODIS pixels over a subset of satellite data of Harvard Forest (16 kilometers by 14 kilometers) was as high as 0.2 during the snow-covered period and reduced to around 0.1 during the snow-free period. Similarly, we have used STARFM to also couple MODIS Nadir BRDF-Adjusted Reflectances (NBAR) values with Landsat 5 reflectances to generate daily synthetic times series of NBAR and thus Enhanced Vegetation Index (NBAR-EVI) at a 30-meter resolution. While normally STARFM is used with directional reflectances, the use of the view angle corrected daily MODIS NBAR values will provide more consistent time series. These synthetic times series of EVI are shown to capture seasonal vegetation dynamics with finer spatial and temporal details, especially over heterogeneous land surfaces.

Vegetation Index↗
NASA NTRS1995

Backscatter model for the unusual radar properties of the Greenland Ice Sheet

A number of planetary objects exhibit large radar reflectivity and polarization ratios, and more recently, a similar behavior has been observed over a vast portion of the Earth's surface: the percolation facies of the Greenland Ice Sheet. Surface-based ranging radar data and snow stratigraphy studies demonstrated that the radar properties of that portion of Greenland are caused by enhanced scattering from massive, large, solid-ice bodies buried in the top few meters of the dry, cold, clean snowy surface of the ice sheet and created by seasonal melting and refreezing events. Here, we model the icy inclusions as randomly oriented, discrete, noninteracting, dielectric cylinders embedded in a transparent snow medium. An exact analytical solution is used to compute the scattered field from the cylinders. Using this model, we correctly predict the polarimetric radar observations gathered by an airborne imaging system at three wavelengths (5.6, 24, and 68 cm), between 19 deg and 65 deg incidence angle. The diameter and number density of the cylinders that are inferred from the radar data using the model are consistent with in situ observations of the icy inclusions. The large radar reflectivity and polarization ratios are interpreted as arising internal reflections of the radar signals in the icy inclusions that first-order external reflection models fail to predict. The results compare favorably with predictions from the coherent backscatter or weak localization theory and may provide a complementary framework for interpreting exotic radar echoes from other planetary objects.

Rignot, Eric↗
NASA NTRS2017

A MODIS-Based Automated Flood Monitoring System for Southeast Asia

Flood disasters in Southeast Asia result in significant loss of life and economic damage. Remote sensing information systems designed to spatially and temporally monitor floods can help governments and international agencies formulate effective disaster response strategies during a flood and ultimately alleviate impacts to population, infrastructure, and agriculture. Recent destructive flood events in the Lower Mekong River Basin occurred in 2000, 2011, 16 2013, and 2016 (http://ffw.mrcmekong.org/historical_rec.htm, April 24, 2017). The large spatial distribution of flooded areas and lack of proper gauge data in the region makes accurate monitoring and assessment of impacts of floods difficult. Here, we discuss the utility of applying satellite-based Earth observations for improving flood inundation monitoring over the flood-prone Lower Mekong River Basin. We present a methodology for determining near real-time surface water extent associated with current and historic flood events by training surface water classifiers from 8-day, 250-meter Moderate-resolution Imaging Spectroradiometer (MODIS) data spanning the length of the MODIS satellite record. The Normalized Difference Vegetation Index (NDVI) signature of permanent water bodies (MOD44W; Carroll et al., 2009) is used to train surface water classifiers which are applied to a time period of interest. From this, an operational nowcast flood detection component is produced using twice daily imagery acquired at 3-hour latency which performs image compositing routines to minimize cloud cover. Case studies and accuracy assessments against radar-based observations for historic flood events are presented. The customizable system has been transferred to regional organizations and near real-time derived surface water products are made available through a web interface platform. Results highlight the potential of near real-time observation and impact assessment systems to serve as effective decision support tools for governments, international agencies, and disaster responders.

Mekong River↗
NASA NTRS2012

Cross-calibration of Imaging Sensors using Model-based, SI-traceable Predictions of At-sensor Radiance

Many inter-consistency efforts force empirical agreement between sensors viewing a source nearly coincident in time and geometry that ensures consistency between sensors rather than obtain an SI-traceable calibration with documented error budgets. The method described here provides interconsistency via absolute radiometric calibration with defensible error budget avoiding systematic errors through prediction of at-sensor radiance for a site viewed by multiple sensors but not necessarily viewed at coincident times. The method predicts spectral radiance over a given surface site for arbitrary view and illumination angles and for any date dominated by clear-sky conditions. The foundation is a model-based, SI-traceable prediction of at-sensor radiance over selected sites based on physical understanding of the surface and atmosphere. The calibration of the ground site will include spatial, spectral, and sunview geometric effects based on satellite and ground-based data. The result is an interconsistency of hyperspectral and multispectral sensors spanning spatial resolutions from meters to kilometers all relative to the surface site rather than a single sensor. The source-centric philosophy of calibrating the site inherently accounts for footprint size mismatch, spectral band mismatch, and temporal and spatial sampling effects. The method for characterizing the test site allows its use for SI-traceable calibration of any sensor that can view the calibrated test site. Interconsistency is obtained through the traceability and error budget rather than coincident views. Such an approach to inter-consistency provides better understanding of biases between sensors as well producing more accurate results with documented SI-traceability that reduces the need for overlapping data sets.

Thome, Kurtis↗
NASA NTRS2004

Streaming Clumps Ejection Model and the Heterogeneous Inner Coma of Comet Wild 2

The conventional concept of cometary comae is that they are dominated by fine particulates released individually by sublimation of surface volatiles and subsequent entrainment in the near-surface gas. It has long been recognized that such particulates could be relatively large, with early estimates that objects perhaps up to one meter in size may be levitated from the surface of the typical cometary nucleus. However, the general uniformity and small average particulate size of observed comae and the relatively smooth, monotonic increases and decreases in particle density during the Giotto flythrough of comet Halley s coma in 1986 reinforced the view that the bulk of the particles are released at the surface, are fine-sized and inert. Jets have been interpreted as geometrically constrained release of these particulates. With major heterogeneities observed during the recent flythrough of the inner coma of comet Wild 2, these views deserve reconsideration.

Clark, B. C.↗
NASA NTRS2012

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

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

Rutishauser, David K.↗
NASA NTRS2013

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully integrated with the Morpheus Vertical Test Bed Avionics

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Rutishauser, David↗
NASA NTRS2013

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully Integrated with the Morpheus Vertical Test Bed Avionics

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Epp, Chirold D.↗
NASA NTRS2016

GN and C Subsystem Concept for Safe Precision Landing of the Proposed Lunar MARE Robotic Science Mission

The Lunar MARE (Moon Age and Regolith Explorer) Discovery Mission concept targets delivery of a science payload to the lunar surface for sample collection and dating. The mission science is within a 100-meter radius region of smooth lunar maria terrain near Aristarchus crater. The location has several small, sharp craters and rocks that present landing hazards to the spacecraft. For successful delivery of the science payload to the surface, the vehicle Guidance, Navigation and Control (GN&C) subsystem requires safe and precise landing capability, so design infuses the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) and a gimbaled, throttleable LOX/LCH4 main engine. The ALHAT system implemented for Lunar MARE is a specialization of prototype technologies in work within NASA for the past two decades, including a passive optical Terrain Relative Navigation (TRN) sensor, a Navigation Doppler Lidar (NDL) velocity and range sensor, and a Lidar-based Hazard Detection (HD) sensor. The landing descent profile is from a retrograde orbit over lighted terrain with landing near lunar dawn. The GN&C subsystem with ALHAT capabilities will deliver the science payload to the lunar surface within a 20-meter landing ellipse of the target location and at a site having greater than 99% safety probability, which minimizes risk to safe landing and delivery of the MARE science payload to the intended terrain region.

MARE (Moon Age and Regolith Explorer)↗
NASA NTRS1972

An unusual mare feature, part N

During rapid scanning of the Apollo 15 panoramic camera photography, a peculiar feature was noted in a small patch of mare material lying between the Haemus and the Apennine Mountains. The patch is abnormal in that it is an unbordered plateau with the surface appearing to lie several hundred meters above adjacent mare patches. Significant characteristics of the feature are discussed and two panoramic camera photographs are illustrated.

Whitaker, E. A.↗