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NASA NTRS1986

Mars Rover

The system integration issues associated with the design of Rovers for Mars ground surface operations are addressed in this paper. Requirements are established for both long distance traverse between geology sites and for geologic survey operations. To satisfy these mission requirements, a semi-autonomous vehicle design has been proposed and its performance capabilities are assessed. Furthermore, the mobility, power consumption, coordination and control (maneuverability), and reliability issues associated with the design of mobility systems to permit vehicle traverse over rugged terrain are examined and the direction of future work required to address these issues is outlined.

Klein, G.↗

NASA NTRS1986

Lunar and Martian hardware commonality

A number of different hardware elements were examined for possible Moon/Mars program commonality. These include manned landers; cargo landers, a trans-Mars injection (TMI) stage, traverse vehicles, unmanned surface rovers, habitation modules, and power supplies. Preliminary analysis indicates that it is possible to build a common two-stage manned lander. A single-stage, reusable lander may be practical for the lunar cast, but much less so for the Martian case, and commonality may therefore exist only at the subsystem level. A modified orbit transfer vehicle was examined as a potential cargo lander. Potential cargoes to various destinations were calculated for a Shuttle external tank sized TMI stage. A nuclear powered, long range traverse vehicle was conceptually designed and commonality is considered feasible. Short range, unmanned rovers can be made common without great effort. A surface habitation module may be difficult to make common due to difficulties in landing certain shapes on the Martian surface with aerobraking landers. Common nuclear power sources appear feasible. High temperature radiators appear easy to make common. Low temperature radiators may be difficult to make common. In most of these cases, Martian requirements determine the design.

Davis, Hubert P.↗

NASA NTRS1986

Preliminary conclusions of the Royal Society and Academia Sinica 1985 geotraverse of Tibet

The preliminary fieldwork results of a geological traverse across the high Tibetan plateau during June and July 1985 are presented. An effort was made to investigate the origin and chronology of successive collisions of continental fragments with Laurasian or Gondwanian provenance, and to ascertain how the crust of Tibet was thickened. The traverse followed the 1150-km-long Lhasa-Golmud highway; the pre-Cenzoic geology of the region is described from north to south.

Chang, Chengfa↗

NASA NTRS1986

Current status of mission/system design for a Mars rover

The system integration issues associated with the design of Rovers for Mars ground surface operations are addressed in this article. Requirements are established for both long distance traverse between geology sites and for geologic survey operations. To satisfy these mission requirements, a semi-autonomous vehicle design has been proposed and its performance capabilities are assessed. Furthermore, the mobility, power consumption, coordination and control (maneuverability), and reliability issues associated with the design of mobility systems to permit vehicle traverse over rugged terrain are examined and the direction of future work required to address these issues is outlined.

Klein, Gail↗

NASA NTRS1986

A high resolution spatial and temporal multiple Doppler analysis of a microburst and its application to aircraft flight simulation

Multiple Doppler radar data collected during the Joint Airport Weather Studies (JAWS) Project is used to synthesize the three-dimensional wind in the region of a microburst. The particular microburst used in this study is the strongest one to date for which three-dimensional winds have been recovered. As a diagnostic tool, a six-DOF numerical aircraft model having characteristics similar to 727 series aircraft is used to investigate jet transport aircraft response to observed microburst winds during simulated approaches and departures. Simple pilot control laws are used to adjust thrust, pitch, roll, and yaw so as to maintain given approach or departure parameters. Generally, when horizontal wind shear along the approach or departure path is 0.01/s or greater, the model is unable to maintain the desired approach path and suffers a significant reduction in climb performance during a go-around or departure. Although the mean wind shear along a path gives a good qualitative measure of the wind shear threat to a jet transport, different paths with similar mean shears can yield markedly different results, as do the same paths through the microburst at different times. These findings are a direct consequence of the fine temporal and spatial scale of microburst winds. During any given modeled aircraft traverse through the region of highest horizontal shear, time variations in the microburst wind field are shown to have an insignificant effect on the modeled flight path. This is because the traverse period is short (30 s) compared to the lifetime of a microburst (300-600 s).

Elmore, K. L.↗

NASA NTRS1987

A potpourri of regolith breccias - 'New' samples from the Apollo 14, 16, and 17 landing sites

Compositional (by INAA) and petrographic studies were performed among the smaller rocks (not analyzed previously) from the Apollo 14, 16, and 17 sites as part of a search for regolith samples exotic to the small traverse areas associated with these missions. Of the 40 samples studied, 31 were regolith breccias. Among these, three of the Apollo 14 samples proved to be compositionally unique, particularly the 14315 sample, which is radically different from all other Apollo 14 regolith materials (lower Mg and Fe, far higher Al and far lower REE abundances), and is probably exotic to the Apollo 14 traverse area. Among 10 samples from Apollo 17, all but one proved to be typical Apollo 17 regolith breccia. However, the 72504,10 sample is more than 99 percent pure pyroclastic glass, compositionally identical to the Apollo 17 orange glass obtained at a location 4 km away, attesting to the widespread distribution of orange glass deposits.

Jerde, Eric A.↗

NASA NTRS1987

Hypervelocity gliding maneuvers

Atmospheric maneuvering during orbital return is a major advantage of high-lift space vehicle configurations, affording the Space Shuttle Orbiter a variety of possible landing sites. A brief analysis is presented for turning maneuvers during gliding flight, including the lateral distances traversed, at velocities up to circular satellite speed. Lateral distances of 3000 and 6000 km can be traversed during 90- and 180-deg turns for L/D of 2 and 3, respectively.

Tauber, Michael E.↗

NASA NTRS1987

Isotope separation using tuned laser and electron beam

The apparatus comprises means for producing an atomic beam containing the isotope of interest and other isotopes. Means are provided for producing a magnetic field traversing the path of the atomic beam of an intensity sufficient to broaden the energy domain of the various individual magnetic sublevels of the isotope of interest and having the atomic beam passing therethrough. A laser beam is produced of a frequency and polarization selected to maximize the activation of only individual magnetic sublevels of the isotope of interest with the portion of its broadened energy domain most removed from other isotopes with the stream. The laser beam is directed so as to strike the atomic beam within the magnetic field and traverse the path of the atomic beam whereby only the isotope of interest is activated by the laser beam. The apparatus further includes means for producing a collimated and high intensity beam of electrons of narrow energy distribution within the magnetic field which is aimed so as to strike the atomic beam while the atomic beam is simultaneously struck by the laser beam and at an energy level selected to ionize the activated isotope of interest but not ground state species included therewith. Deflection means are disposed in the usual manner to collect the ions.

Trajmar, Sandor↗

NASA NTRS1988

Two implementations of the Expert System for the Flight Analysis System (ESFAS) project

A comparison is made between the two most sophisticated expert system building tools, the Automated Reasoning Tool (ART) and the Knowledge Engineering Environment (KEE). The same problem domain (ESFAS) was used in making the comparison. The Expert System for the Flight Analysis System (ESFAS) acts as an intelligent front end for the Flight Analysis System (FAS). FAS is a complex configuration controlled set of interrelated processors (FORTRAN routines) which will be used by the Mission Planning and Analysis Div. (MPAD) to design and analyze Shuttle and potential Space Station missions. Implementations of ESFAS are described. The two versions represent very different programming paradigms; ART uses rules and KEE uses objects. Due to each of the tools philosophical differences, KEE is implemented using a depth first traversal algorithm, whereas ART uses a user directed traversal method. Either tool could be used to solve this particular problem.

Wang, Lui↗

NASA NTRS1987

Plasma wave measurements in the magnetosphere of Uranus

As Voyager 2 traversed the magnetosphere of Uranus, the plasma-wave instrument detected very significant phenomena related to local wave-particle interactions, radio emissions, and dust impacts. Here the region between the inbound and outbound bow shock traversals (covering a distance of more than 250 Uranus radii) is considered, and it is demonstrated that intense plasma-wave activity developed only in the inner magnetosphere (r less than 12 Uranus radii); this result is similar to that found at Saturn, but it is in marked contrast with the Jupiter case, where very strong wave activity was detected out to distances of 250 Jupiter radii. The Uranus plasma-wave observations in the inner magnetosphere are compared with corresponding results from the Jupiter and Saturn encounters, and it is shown that the Uranus wave measurements are unique in several significant ways. These new aspects include: (1) the detection of a marked inbound-outbound asymmetry and (2) the detection of whistler-mode waves that yield the strongest wave-particle interactions found in outer planet magnetospheres.

Scarf, F. L.↗

NASA NTRS1988

Solutions to time variant problems of real-time expert systems

Real-time expert systems for monitoring and control are driven by input data which changes with time. One of the subtle problems of this field is the propagation of time variant problems from rule to rule. This propagation problem is even complicated under a multiprogramming environment where the expert system may issue test commands to the system to get data and to access time consuming devices to retrieve data for concurrent reasoning. Two approaches are used to handle the flood of input data. Snapshots can be taken to freeze the system from time to time. The expert system treats the system as a stationary one and traces changes by comparing consecutive snapshots. In the other approach, when an input is available, the rules associated with it are evaluated. For both approaches, if the premise condition of a fired rule is changed to being false, the downstream rules should be deactivated. If the status change is due to disappearance of a transient problem, actions taken by the fired downstream rules which are no longer true may need to be undone. If a downstream rule is being evaluated, it should not be fired. Three mechanisms for solving this problem are discussed: tracing, backward checking, and censor setting. In the forward tracing mechanism, when the premise conditions of a fired rule become false, the premise conditions of downstream rules which have been fired or are being evaluated due to the firing of that rule are reevaluated. A tree with its root at the rule being deactivated is traversed. In the backward checking mechanism, when a rule is being fired, the expert system checks back on the premise conditions of the upstream rules that result in evaluation of the rule to see whether it should be fired. The root of the tree being traversed is the rule being fired. In the censor setting mechanism, when a rule is to be evaluated, a censor is constructed based on the premise conditions of the upstream rules and the censor is evaluated just before the rule is fired. Unlike the backward checking mechanism, this one does not search the upstream rules. This paper explores the details of implementation of the three mechanisms.

Yeh, Show-Way↗

NASA NTRS1988

Machine vision for space telerobotics and planetary rovers

Machine vision allows a non-contact means of determining the three-dimensional shape of objects in the environment, enabling the control of contact forces when manipulation by a telerobot or traversal by a vehicle is desired. Telerobotic manipulation in Earth orbit requires a system that can recognize known objects in spite of harsh lighting conditions and highly specular or absorptive surfaces. Planetary surface traversal requires a system that can recognize the surface shape and properties of an unknown and arbitrary terrain. Research on these two rather disparate types of vision systems is described.

Wilcox, Brian H.↗

NASA NTRS1989

An experimental investigation of a low Reynolds number turbulent boundary layer subject to an adverse pressure gradient

A very low Reynolds number turbulent boundary layer subject to an adverse pressure gradient is studied. The aim is to obtain highly accurate mean-flow and turbulence measurements under conditions that can be closely related to the numerical simulations of Philippe Spalart for the purposes of CFD validation. Much of the Boundary Layer Wind Tunnel was completely rebuilt with a new wider contraction and working section which will improve compatibility with the simulations. A unique sophisticated high-speed computer controlled 3-D probe traversing mechanism was integrated into the test section. Construction of the tunnel and traverse is discussed in some detail. The hardware is now complete, and measurements are in progress. The mean-flow data indicate that a suitably two-dimensional base flow was established. Automation of the probe positioning and data acquistion have led to a decreased running time for total pressure measurements. However, the most significant benefits are expected to occur when using hot-wire probes. Calibrations can be performed automatically and there is no need to handle fragile probes when moving between measuring stations. Techniques are being developed which require sampling of the signals from moving hot-wire probes on the basis of their position in the flow. Measurements can be made in high intensity turbulence by flying probes upstream at high speed so that the relative magnitude of the turbulent velocity fluctuations are reduced. In regions, where the turbulence intensity is not too large, the probe can also be repetitively scanned across very dense spatial grids in other directions. With this technique, a complete profile can be measured in about 1/3 the time and with a spatial density about 50 times that obtainable using a stationary probe.

Watmuff, Jonathan H.↗

NASA NTRS1988

Mars Rover/Sample Return landing strategy

This paper describes the analysis and results of an investigation of the Mars Rover/Sample Return mission's landing strategy, together with the trade-offs of different landing strategies. The percentile points and the descriptive statistics of the probability distribution of traverse distances are calculated using a simple model formulated on the basis of landing error characteristics. The results show that variations in the landing stratgegy can significantly affect the traverse distance requirements, which range from 20 to 200 km.

Friedlander, Alan L.↗

NASA NTRS1990

Processor Would Find Best Paths On Map

Proposed very-large-scale integrated (VLSI) circuit image-data processor finds path of least cost from specified origin to any destination on map. Cost of traversal assigned to each picture element of map. Path of least cost from originating picture element to every other picture element computed as path that preserves as much as possible of signal transmitted by originating picture element. Dedicated microprocessor at each picture element stores cost of traversal and performs its share of computations of paths of least cost. Least-cost-path problem occurs in research, military maneuvers, and in planning routes of vehicles.

Eberhardt, Silvio P.↗

NASA NTRS1988

Overview and extensions of a system for routing directed graphs on SIMD architectures

Many problems can be described in terms of directed graphs that contain a large number of vertices where simple computations occur using data from adjacent vertices. A method is given for parallelizing such problems on an SIMD machine model that uses only nearest neighbor connections for communication, and has no facility for local indirect addressing. Each vertex of the graph will be assigned to a processor in the machine. Rules for a labeling are introduced that support the use of a simple algorithm for movement of data along the edges of the graph. Additional algorithms are defined for addition and deletion of edges. Modifying or adding a new edge takes the same time as parallel traversal. This combination of architecture and algorithms defines a system that is relatively simple to build and can do fast graph processing. All edges can be traversed in parallel in time O(T), where T is empirically proportional to the average path length in the embedding times the average degree of the graph. Additionally, researchers present an extension to the above method which allows for enhanced performance by allowing some broadcasting capabilities.

Tomboulian, Sherryl↗

NASA NTRS1990

Planning for execution monitoring on a planetary rover

A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation.

Gat, Erann↗

NASA NTRS1989

Efficient reordering of PROLOG programs

PROLOG programs are often inefficient: execution corresponds to a depth-first traversal of an AND/OR graph; traversing subgraphs in another order can be less expensive. It is shown how the reordering of clauses within PROLOG predicates, and especially of goals within clauses, can prevent unnecessary search. The characterization and detection of restrictions on reordering is discussed. A system of calling modes for PROLOG, geared to reordering, is proposed, and ways to infer them automatically are discussed. The information needed for safe reordering is summarized, and which types can be inferred automatically and which must be provided by the user are considered. An improved method for determining a good order for the goals of PROLOG clauses is presented and used as the basis for a reordering system.

Gooley, Markian M.↗