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NASA NTRS1995

Helmet-Mounted Display Research Capabilities of the NASA/Army Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL)

The Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) is a UH-60A Black Hawk helicopter that is being modified by the US Army and NASA for flight systems research. The principal systems that are being installed in the aircraft are a Helmet Mounted Display (HMD) and imaging system, and a programmable full authority Research Flight Control System (RFCS). In addition, comprehensive instrumentation of both the rigid body of the helicopter and the rotor system is provided. The paper will describe the capabilities of these systems and their current state of development. A brief description of initial research applications is included. The wide (40 X 60 degree) field-of-view HMD system has been provided by Kaiser Electronics. It can be configured as a monochromatic system for use in bright daylight conditions, a two color system for darker ambients, or a full color system for use in night viewing conditions. Color imagery is achieved using field sequential video and a mechanical color wheel. In addition to the color symbology, high resolution computer-gene rated imagery from an onboard Silicon Graphics Reality Engine Onyx processor is available for research in virtual reality applications. This synthetic imagery can also be merged with real world video from a variety of imaging systems that can be installed easily on the front of the helicopter. These sensors include infrared or tv cameras, or potentially small millimeter wave radars. The Research Flight Control System is being developed for the aircraft by a team of contractors led by Boeing Helicopters. It consists of a full authority high bandwidth fly-by-wire actuators that drive the main rotor swashplate actuators and the tail rotor actuator in parallel. This arrangement allows the basic mechanical flight control system of the Black Hawk to be retained so that the safety pilot can monitor the operation of the system through the action of his own controls. The evaluation pilot will signal the fly-by-wire actuators through the flight computer from electrical sidearm controllers located in the right hand cockpit. The system will have very substantial input/output capacity and impressive computational power. These systems are installed in the aircraft using predominantly a MIL-STD 1553B data bus architecture. Sensor data from the RFCS, the basic aircraft and rotor system instrumentation including navigation information, and the HMD system are easily exchanged among user systems, or are available at the systems operator station located in the cabin for real time monitoring or data recording.

Jacobsen, R. A.↗

NASA NTRS1973

Magnetospheric modulation effects on solar cosmic rays from simultaneous OGO 1 and 3 ion chamber data in 1968 and 1969

Simultaneous observations by identical ionization chambers aboard the satellites OGO-1 and OGO-3 are utilized to investigate spatial variations in particle intensity near and inside the magnetosphere during the solar cosmic ray events of September 1966. Cross-correlation of the absolute proton flux computed from the chamber rate during three solar particle events shows good agreement with the measurements by the IMP-F Solar Proton Monitor during the same events. The chamber has a dynamic range of over six orders of magnitude. Before launch it was calibrated in the laboratory with radiation dosages in the range 1 R/hr-6000 R/hr. The OGO-1 and OGO-3 chambers, which were normalized in the laboratory prior to the launch, are found to maintain their normalization within approximately equal to 1 per cent during their flight. The high sensitivity and absolute inter-comparability of the instruments allow small intensity differences to be detected and it is established that the observed differences can be explained by a magnetospheric screening effect when an anisotropic beam of particles is present in space. Evidence is presented to show that the screening is at times complete for a duration of as much as 110 min in the tail of the magnetosphere so that during this period the solar cosmic rays (E approximately equal to 15 MeV) have virtually no access to that region of the magnetosphere. Small intensity fluctuations of a temporal nature observed and found to be subjected to a damping effect inside the magnetosphere.

Hofmann, D. J.↗

NASA NTRS2012

Visual System for Browsing, Analysis, and Retrieval of Data (ViSBARD)

ViSBARD software provides a way of visualizing multiple vector and scalar quantities as measured by many spacecraft at once. The data are displayed three-dimensionally along the orbits that may be shown either as connected lines or as points. The data display allows the rapid determination of vector configurations, correlations among many measurements at multiple points, and global relationships. Things such as vector field rotations and dozens of simultaneous variables are very difficult to see in (complementary) panel plot representations. The current and next generations of space physics missions require a means to display from tens to hundreds of time series of data in such a way that the mind can comprehend them for the purposes of browsing data, retrieving them in directly useful form, and analyzing them in a global context. Sets of many spacecraft, each carrying many instruments yielding nearly continuous data at high time resolution, have become one of the most effective ways to make progress in understanding the extended, ionized (plasma) atmosphere of the Earth and the Sun. For large collections of data to be effective, they must be extremely readily accessible, with simple, comprehensible overviews of what is available. ViSBARD provides a means to answer these concerns. The ViSBARD package also acts as a remote repository browser; an interface to a Virtual Observatory. Therefore, data can be pulled directly into the application, as opposed to searching for it and downloading separately.

Roberts, Aaron↗

NASA NTRS2003

Simulation System for Training in Laparoscopic Surgery

A computer-based simulation system creates a visual and haptic virtual environment for training a medical practitioner in laparoscopic surgery. Heretofore, it has been common practice to perform training in partial laparoscopic surgical procedures by use of a laparoscopic training box that encloses a pair of laparoscopic tools, objects to be manipulated by the tools, and an endoscopic video camera. However, the surgical procedures simulated by use of a training box are usually poor imitations of the actual ones. The present computer-based system improves training by presenting a more realistic simulated environment to the trainee. The system includes a computer monitor that displays a real-time image of the affected interior region of the patient, showing laparoscopic instruments interacting with organs and tissues, as would be viewed by use of an endoscopic video camera and displayed to a surgeon during a laparoscopic operation. The system also includes laparoscopic tools that the trainee manipulates while observing the image on the computer monitor (see figure). The instrumentation on the tools consists of (1) position and orientation sensors that provide input data for the simulation and (2) actuators that provide force feedback to simulate the contact forces between the tools and tissues. The simulation software includes components that model the geometries of surgical tools, components that model the geometries and physical behaviors of soft tissues, and components that detect collisions between them. Using the measured positions and orientations of the tools, the software detects whether they are in contact with tissues. In the event of contact, the deformations of the tissues and contact forces are computed by use of the geometric and physical models. The image on the computer screen shows tissues deformed accordingly, while the actuators apply the corresponding forces to the distal ends of the tools. For the purpose of demonstration, the system has been set up to simulate the insertion of a flexible catheter in a bile duct. [As thus configured, the system can also be used to simulate other endoscopic procedures (e.g., bronchoscopy and colonoscopy) that include the insertion of flexible tubes into flexible ducts.] A hybrid approach has been followed in developing the software for real-time simulation of the visual and haptic interactions (1) between forceps and the catheter, (2) between the forceps and the duct, and (3) between the catheter and the duct. The deformations of the duct are simulated by finite-element and modalanalysis procedures, using only the most significant vibration modes of the duct for computing deformations and interaction forces. The catheter is modeled as a set of virtual particles uniformly distributed along the center line of the catheter and connected to each other via linear and torsional springs and damping elements. The interactions between the forceps and the duct as well as the catheter are simulated by use of a ray-based haptic-interaction- simulating technique in which the forceps are modeled as connected line segments.

Basdogan, Cagatay↗

NASA NTRS2005

The Small Aircraft Transportation System (SATS), Higher Volume Operations (HVO) Off-Nominal Operations

The ability to conduct concurrent, multiple aircraft operations in poor weather, at virtually any airport, offers an important opportunity for a significant increase in the rate of flight operations, a major improvement in passenger convenience, and the potential to foster growth of charter operations at small airports. The Small Aircraft Transportation System, (SATS) Higher Volume Operations (HVO) concept is designed to increase traffic flow at any of the 3400 nonradar, non-towered airports in the United States where operations are currently restricted to one-in/one-out procedural separation during Instrument Meteorological Conditions (IMC). The concept's key feature is pilots maintain their own separation from other aircraft using procedures, aircraft flight data sent via air-to-air datalink, cockpit displays, and on-board software. This is done within the Self-Controlled Area (SCA), an area of flight operations established during poor visibility or low ceilings around an airport without Air Traffic Control (ATC) services. The research described in this paper expands the HVO concept to include most off-nominal situations that could be expected to occur in a future SATS environment. The situations were categorized into routine off-nominal operations, procedural deviations, equipment malfunctions, and aircraft emergencies. The combination of normal and off-nominal HVO procedures provides evidence for an operational concept that is safe, requires little ground infrastructure, and enables concurrent flight operations in poor weather.

Baxley, B.↗

DOE OSTI2023

Prediction on X-ray output of free electron laser based on artificial neural networks

Abstract Knowledge of x-ray free electron lasers’ (XFELs) pulse characteristics delivered to a sample is crucial for ensuring high-quality x-rays for scientific experiments. XFELs’ self-amplified spontaneous emission process causes spatial and spectral variations in x-ray pulses entering a sample, which leads to measurement uncertainties for experiments relying on multiple XFEL pulses. Accurate in-situ measurements of x-ray wavefront and energy spectrum incident upon a sample poses challenges. Here we address this by developing a virtual diagnostics framework using an artificial neural network (ANN) to predict x-ray photon beam properties from electron beam properties. We recorded XFEL electron parameters while adjusting the accelerator’s configurations and measured the resulting x-ray wavefront and energy spectrum shot-to-shot. Training the ANN with this data enables effective prediction of single-shot or average x-ray beam output based on XFEL undulator and electron parameters. This demonstrates the potential of utilizing ANNs for virtual diagnostics linking XFEL electron and photon beam properties.

47 OTHER INSTRUMENTATION↗

DOE OSTI2024

EPCAPE-PT-LANL Measurements: Condensation Particle Counter

Coastal cities offer a unique environment for studying aerosol-cloud interactions and the effects of urban emissions on cloud properties. As part of the Eastern Pacific Cloud Aerosol Precipitation Experiment (EPCAPE), the Partitioning Thrust by Los Alamos National Laboratory (EPCAPE-PT-LANL) was conducted. Our campaign focused on measuring the optical and chemical properties of aerosols and their interactions within marine stratocumulus clouds in La Jolla, California. EPCAPE-PT-LANL enhances the primary goals of EPCAPE through innovative observations of vapor-phase transitions between aerosols and cloud droplets, the impact of black carbon on aerosol-cloud dynamics, and the effects of cloud processing on aerosol optical properties. Instrument: Condensational particle counter 3070 (TSI) Calibration: No calibration during the campaign. Files: data_10sec_CPC.csv, data_10min_CPC.csv Header: - NumberConcentration[/cm3]: Number concentration of aerosol particles measured by the CPC, expressed in particles per cubic centimeter. - NumberConcentration[/cm3]_QC: Number concentration of aerosol particles after quality control adjustments or filtering, expressed in particles per cubic centimeter. - QualityControl_Flag[bool]: A boolean flag indicating whether the measurement is flagged for quality control checks, (0=pass) - CVI_Flag[bool]: A boolean flag indicating whether the Counterflow Virtual Impactor (CVI) was active (true) or inactive (false) during the measurement

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1998

Real-Time Lunar Prospector Data Visualization Using Web-Based Java

The Lunar Prospector was co-developed by NASA Ames Research Center and Lockheed Martin, and was launched on January 6th, 1998. Its mission is to search for water ice and various elements in the Moon's surface, map its magnetic and gravity fields, and detect volcanic activity. For the first time, the World Wide Web is being used to graphically display near-real-time data from a planetary exploration mission to the global public. Science data from the craft's instruments, as well as engineering data for the spacecraft subsystems, are continuously displayed in time-varying XY plots. The craft's current location is displayed relative to the whole Moon, and as an off-craft observer would see in the reference frame of the craft, with the lunar terrain scrolling underneath. These features are implemented as Java applets. Analyzed data (element and mass distribution) is presented as 3D lunar maps using VRML and Javascript. During the development phase, implementations of the Java Virtual Machine were just beginning to mature enough to adequately accommodate our target featureset; incomplete and varying implementations were the biggest bottleneck to our ideal of ubiquitous browser access. Bottlenecks notwithstanding, the reaction from the Internet community was overwhelmingly enthusiastic.

Deardorff, D. Glenn↗

NASA NTRS1992

Normal incidence spectrophotometer using high density transmission grating technology and highly efficiency silicon photodiodes for absolute solar EUV irradiance measurements

New developments in transmission grating and photodiode technology now make it possible to realize spectrometers in the extreme ultraviolet (EUV) spectral region (wavelengths less than 1000 A) which are expected to be virtually constant in their diffraction and detector properties. Time dependent effects associated with reflection gratings are eliminated through the use of free standing transmission gratings. These gratings together with recently developed and highly stable EUV photodiodes have been utilized to construct a highly stable normal incidence spectrophotometer to monitor the variability and absolute intensity of the solar 304 A line. Owing to its low weight and compactness, such a spectrometer will be a valuable tool for providing absolute solar irradiance throughout the EUV. This novel instrument will also be useful for cross-calibrating other EUV flight instruments and will be flown on a series of Hitchhiker Shuttle Flights and on SOHO. A preliminary version of this instrument has been fabricated and characterized, and the results are described.

Ogawa, H. S.↗

DOE OSTI2026

HDG-1 Experiment Irradiation Monitoring Data Qualification Final Report

SUMMARY The U.S. Department of Energy (DOE) Advanced Reactor Technologies (ART) Graphite Research and Development (GRD) Program is conducting a series of six experiments to quantify the effects of irradiation on nuclear-grade graphite. This report documents the qualification of irradiation monitoring data for the fifth experiment, High Dose Graphite-1 (HDG-1). Qualified monitoring data are required by the ART program to support the design and licensing of the first high-temperature reactor (HTR) nuclear plant. Data are classified as Qualified if they meet the usage requirements described in the experiment planning and quality assurance (QA) documents, Failed if they do not meet those requirements and provide no usable information, or Trend if they do not fully meet all requirements but still provide useful information subject to an assessment of how any deficiencies may affect a particular use of the data. HDG-1 irradiation began with Advanced Test Reactor (ATR) Cycle 168B on August 24, 2020, and concluded after Cycle 173C on January 27, 2025. The HDG-1 capsule was removed from the reactor core twice—during core internal change (CIC) Cycle 170A and powered axial locator mechanism (PALM) Cycle 172A—to prevent overheating of the graphite specimens during high-power PALM cycles. The capsule was therefore irradiated during a total of seven normal ATR cycles: 168B, 169A, 171A, 171B, 173A, 173B, and 173C. Irradiation monitoring data evaluated in this report include thermocouple (TC) temperature, gas flow rate, gas moisture, gas pressure, specimen load, and graphite stack displacement. Temperature. A total of 14,508,065 TC temperature records were captured. Of these, 13,901,785 (95.8%) are Qualified and 606,280 (4.2%) are Failed. The principal source of failed temperature data was the instrument failure of TC-9 (Zone 2) on June 24, 2024, and TC-10 (Zone 1) on July 5, 2024, near the end of Cycle 173A, which resulted in 595,554 Failed readings. An additional 379 missing values and 10,347 slightly negative values from TC-13 during ATR outages are also Failed. Neither TC-9 nor TC-10 was used as a temperature-control TC, and their failures did not compromise capsule condition monitoring. Correlation analysis of all 13 TCs found no evidence of virtual junction formation. Control chart analysis revealed clear downward drift of approximately 80°C for TC-6 (Zone 3) relative to other stable TCs, and possible downward drift of approximately 60°C for TC-13 relative to the Zone 5 control TC (TC-1), though TC-13 remained consistent with the Zone 2 control TC (TC-12). Gas flow. A total of 20,088,090 gas flow rate records were captured. Of these, 19,941,463 (99.3%) are Qualified and 146,627 (0.7%) are Failed due to missing values. All argon, helium, and total gas flow data were within expected ranges throughout the irradiation. Gas moisture. A total of 1,116,005 outlet gas moisture values were captured. Of these, 1,101,421 (98.7%) are Qualified and 14,584 (1.3%) are Failed, comprising 14,556 out-of-range values and 28 missing values. The out-of-range moisture values exceeded 22,000 ppmv for approximately 1 week at the beginning of Cycle 173A, when accumulated moisture evaporated after the capsule was retrieved from water storage during PALM Cycle 172A and reinserted into the east flux trap. Moisture levels returned to below 25 ppmv for the remaining three cycles, and the transient high-moisture event did not affect the integrity of specimen irradiation. Gas pressure. A total of 7,812,035 gas pressure values were captured. Of these, 6,642,048 (85.0%) are Qualified and 1,169,987 (15.0%) outlet pressure values are Failed, comprising 718,537 zero outlet pressure values due to sensor failure from Cycle 168B through Cycle 171B, 54,550 missing values, and 396,900 too-low outlet pressure values, ranging from 1.1 to 1.6 psia after sensor replacement during Cycle 173A. Load. A total of 6,696,030 load values were captured. Of these, 6,694,580 (99.98%) are Qualified and 1,450 (0.02%) are Failed due to missing values. Applied loads to the six specimen stacks were stable throughout the irradiation. Stack displacement. A total of 6,696,030 displacement values were captured. Of these, 5,713,297 (85.32%) are Qualified and 3,781 (0.06%) are Failed due to missing values. Stack displacement increased consistently throughout the irradiation, reaching approximately 3.08 in. for Channels 5 and 6 by the end of irradiation. 978,952 (14.62%) substantially elevated displacements observed for Channel 6 beginning in Cycle 171A and for Channel 5 beginning in Cycle 173A are assigned Trend status. Raising pressure. A total of 1,115,999 raising pressure values were captured. Of these, 1,115,430 (99.95%) are Qualified and 569 (0.05%) are Failed due to missing values. Ram pressure. A total of 6,696,030 ram pressure values were captured. Of these, 6,692,249 (99.95%) are Qualified and 3,484 (0.05%) are Failed due to missing values. Stack raising was perf

11 - NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

NASA NTRS1992

Moessbauer Spectroscopy for Lunar Resource Assessment: Measurement of Mineralogy and Soil Maturity

First-order assessment of lunar soil as a resource includes measurement of its mineralogy and maturity. Soils in which the mineral ilmenite is present in high concentrations are desirable feedstock for the production of oxygen at a lunar base. The maturity of lunar soils is a measure of their relative residence time in the upper 1 mm of the lunar surface. Increasing maturity implies increasing load of solar wind species (e.g., N, H, and He-3), decreasing mean grain size, and increasing glass content. All these physicochemical properties that vary in a regular way with maturity are important parameters for assessing lunar soil as a resource. For example, He-3 can be extracted and potentially used for nuclear fusion. A commonly used index for lunar soil maturity is I(sub s)/FeO, which is the concentration of fine-grained metal determined by ferromagnetic resonance (I(sub s)) normalized to the total iron content (as FeO). I(sub s)/FeO has been measured for virtually every soil returned by the Apollo and Luna missions to the Moon. Because the technique is sensitive to both oxidation state and mineralogy, iron Moessbauer spectroscopy (FeMS) is a viable technique for in situ lunar resource assessment. Its utility for mineralogy is apparent from examination of published FeMS data for lunar samples. From the data published, it can be inferred that FeMS data can also be used to determine soil maturity. The use of FeMS to determine mineralogy and maturity and progress on development of a FeMS instrument for lunar surface use are discussed.

Morris, R. V.↗

NASA NTRS1988

Technology issues associated with fueling the national aerospace plane with slush hydrogen

The National Aerospace Plane is a horizontal takeoff and landing, single stage-to-orbit vehicle using hydrogen fuel. The first flights are planned for the mid 1990's. The success of this important national program requires advances in virtually every discipline associated with both airbreathing and space flight. The high heating value, cooling capacity, and combustion properties make hydrogen the fuel of choice, but low density results in a large vehicle. Both fuel cooling capacity and density are increased with the use of slush hydrogen and result in significant reductions in vehicle size. A national program to advance this technology and to find engineering solutions to the many design issues is now under way. The program uses the expertise of the cryogenics production and services industry, the instrumentation industry, universities and governments. The program will be discussed to highlight the major issues and display progress to date.

Hannum, Ned P.↗

NASA NTRS1998

NASA's Participation in the National Computational Grid

Over the last several years it has become evident that the character of NASA's supercomputing needs has changed. One of the major missions of the agency is to support the design and manufacture of aero- and space-vehicles with technologies that will significantly reduce their cost. It is becoming clear that improvements in the process of aerospace design and manufacturing will require a high performance information infrastructure that allows geographically dispersed teams to draw upon resources that are broader than traditional supercomputing. A computational grid draws together our information resources into one system. We can foresee the time when a Grid will allow engineers and scientists to use the tools of supercomputers, databases and on line experimental devices in a virtual environment to collaborate with distant colleagues. The concept of a computational grid has been spoken of for many years, but several events in recent times are conspiring to allow us to actually build one. In late 1997 the National Science Foundation initiated the Partnerships for Advanced Computational Infrastructure (PACI) which is built around the idea of distributed high performance computing. The Alliance lead, by the National Computational Science Alliance (NCSA), and the National Partnership for Advanced Computational Infrastructure (NPACI), lead by the San Diego Supercomputing Center, have been instrumental in drawing together the "Grid Community" to identify the technology bottlenecks and propose a research agenda to address them. During the same period NASA has begun to reformulate parts of two major high performance computing research programs to concentrate on distributed high performance computing and has banded together with the PACI centers to address the research agenda in common.

Feiereisen, William J.↗

NASA NTRS2015

V-SUIT Model Validation Using PLSS 1.0 Test Results

The dynamic portable life support system (PLSS) simulation software Virtual Space Suit (V-SUIT) has been under development at the Technische Universitat Munchen since 2011 as a spin-off from the Virtual Habitat (V-HAB) project. The MATLAB(trademark)-based V-SUIT simulates space suit portable life support systems and their interaction with a detailed and also dynamic human model, as well as the dynamic external environment of a space suit moving on a planetary surface. To demonstrate the feasibility of a large, system level simulation like V-SUIT, a model of NASA's PLSS 1.0 prototype was created. This prototype was run through an extensive series of tests in 2011. Since the test setup was heavily instrumented, it produced a wealth of data making it ideal for model validation. The implemented model includes all components of the PLSS in both the ventilation and thermal loops. The major components are modeled in greater detail, while smaller and ancillary components are low fidelity black box models. The major components include the Rapid Cycle Amine (RCA) CO2 removal system, the Primary and Secondary Oxygen Assembly (POS/SOA), the Pressure Garment System Volume Simulator (PGSVS), the Human Metabolic Simulator (HMS), the heat exchanger between the ventilation and thermal loops, the Space Suit Water Membrane Evaporator (SWME) and finally the Liquid Cooling Garment Simulator (LCGS). Using the created model, dynamic simulations were performed using same test points also used during PLSS 1.0 testing. The results of the simulation were then compared to the test data with special focus on absolute values during the steady state phases and dynamic behavior during the transition between test points. Quantified simulation results are presented that demonstrate which areas of the V-SUIT model are in need of further refinement and those that are sufficiently close to the test results. Finally, lessons learned from the modelling and validation process are given in combination with implications for the future development of other PLSS models in V-SUIT.

Olthoff, Claas↗

NASA NTRS1974

Estimate of contribution of jet aircraft operations to trace element concentration at or near airports

Samples of ASTM type A jet fuel were analyzed for trace-element content by instrumental neutron activation techniques. Forty-nine elements were sought. Only ten, aluminum, gold, indium, lanthanum, titanium, vandium, barium, dysprosium, tellurium, and uranium, were observed at levels above the detection limits encountered; of these only aluminum, titanium, and barium were present at concentrations greater than 0.1 ppm. Estimates of exhaust gas concentrations are made, and the ambient contribution at or near airports is calculated by using the Los Angeles International Airport dispersion model. It is shown that the ambient contribution is about an order of magnitude below typical urban levels for virtually all elements sought.

Fordyce, J. S.↗

NASA NTRS1975

Estimate of contribution of jet aircraft operations to trace element concentration at or near airports

Samples of ASTM type A jet fuel were analyzed for trace element content by instrumental neutron activation techniques. Forty-nine elements were sought. Only ten, aluminum, gold, indium, lanthanum, titanium, vanadium, barium, dysprosium, tellurium, and uranium, were observed at levels above the detection limits encountered; of these only aluminum, titanium, and barium were present at concentrations greater than 0.1 ppm. Estimates of exhaust gas concentrations are made, and the ambient contribution at or near airports is calculated by using the Los Angeles International Airport dispersion model. It is shown that the ambient contribution is about an order of magnitude below typical urban levels for virtually all elements sought.

Fordyce, J. S.↗

NASA NTRS1994

Field Experiments using Telepresence and Virtual Reality to Control Remote Vehicles: Application to Mars Rover Missions

This paper will describe a series of field experiments to develop and demonstrate file use of Telepresence and Virtual Reality systems for controlling rover vehicles on planetary surfaces. In 1993, NASA Ames deployed a Telepresence-Controlled Remotely Operated underwater Vehicle (TROV) into an ice-covered sea environment in Antarctica. The goal of the mission was to perform scientific exploration of an unknown environment using a remote vehicle with telepresence and virtual reality as a user interface. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research center, for over two months. Remote control used a bidirectional Internet link to the vehicle control computer. The operator viewed live stereo video from the TROV along with a computer-gene rated graphic representation of the underwater terrain showing file vehicle state and other related information. Tile actual vehicle could be driven either from within the virtual environment or through a telepresence interface. In March 1994, a second field experiment was performed in which [lie remote control system developed for the Antarctic TROV mission was used to control the Russian Marsokhod Rover, an advanced planetary surface rover intended for launch in 1998. Marsokhod consists of a 6-wheel chassis and is capable of traversing several kilometers of terrain each day, The rover can be controlled remotely, but is also capable of performing autonomous traverses. The rover was outfitted with a manipulator arm capable of deploying a small instrument, collecting soil samples, etc. The Marsokhod rover was deployed at Amboy Crater in the Mojave desert, a Mars analog site, and controlled remotely from Los Angeles. in two operating modes: (1) a Mars rover mission simulation with long time delay and (2) a Lunar rover mission simulation with live action video. A team of planetary geologists participated in the mission simulation. The scientific goal of the science mission was to determine what could be learned about the geologic context of the site using the capabilities of imaging and mobility provided by the Marsokhod system in these two modes of operation. I will discuss the lessons learned from these experiments in terms of the strategy for performing Mars surface exploration using rovers. This research is supported by the Solar System Exploration Exobiology, Geology, and Advanced Technology programs.

Stoker, Carol↗

NASA NTRS1974

Pioneer Odyssey: Encounter with a Giant

Ancient peoples, perhaps thousands of years ago, undoubtedly conceived the idea of "reaching out" to Jupiter, the largest and most brilliant of the "wandering stars." But for mankind to stretch across the half billion miles to the giant planet of the Solar System many advances in technical and organizational fields of human endeavor had to be made. Outreach to Jupiter did not become a serious possibility until the Pioneer F and G Project was formed by NASA early in 1968. And then man began to design an extension of his senses that would probe the environs of the giant of the Solar System, a truly pioneer odyssey into the virtually unknown regions beyond the orbit of Mars. In the ensuing year. a dedicated and cooperative effort of several thousand people in Government, university, and private industrial organizations converted the idea into a reality. Less than twelve generations after Galileo first saw the banded disc of Jupiter and the flickering dots of its large satellites in the newly invented telescope, mankind sent a machine to make observations within that Jovian system. The two Pioneer spacecraft for the mission to Jupiter each weighed only about 570 pounds, yet carried eleven highly sophisticated instruments capable of operating unattended for many year in space. The spacecraft consumes less electrical power than a standard 100 watt lamp yet is able to accept instructions from Earth to control numerous operating modes of its scientific payload, process observations from these scientific instruments and format the observations into information usable on Earth. Even more remarkable. the spacecraft transmits a radio signal of only 8 watts power - equal to a nightlight - yet the information carried by the radio signal is received back on Earth from a distance of several billion miles. The Pioneer mission could not have been a success without the special engineering, scientific and management organization created for its accomplishment. This organization was rather unique in that it first had to meet a launch date target relatively quickly and then had to function for an extremely long mission operational time, far longer than any previous mission to planets. The first task was thus to organize so that the mission could be planned and the spacecraft designed and fabricated to be ready for launch within a few weeks of a 30-month target for completion. The program also produced an organization that planned mission operations to such detail that more than 16,000 commands were transmitted flawlessly to the distant spacecraft during Jupiter encounter. And each command reached the spacecraft within one second of the planned time despite the more than 90 minutes required for the radio message to travel from Earth to the spacecraft and for the spacecraft to return a confirmation to controllers back on Earth. The organization for Pioneer also determined the required flight path from Earth to Jupiter with such precision, and controlled the launch vehicle with such accuracy, that 21 months after launch the spacecraft was able to fly behind Jupiter's satellite lo, thereby providing the first measurement that indicated the possibility of a tenuous atmosphere about this large satellite. Finally, the Pioneer organization processed and analyzed each year sufficient information from the spacecraft to fill a book having about 3 million pages and reduced this avalanche of data from space into summaries of manageable size. And all this organization depended on people, consisted of people: the people who really made this whole mission possible. Pioneer has always depended on the dedication of many individuals from many organizations throughout the world to achieve its scientific objectives, and, as evidenced by the success of the Pioneer series, this dependence is completely justified. Relatively few individuals have an opportunity during their lives to participate in such a challenging, historic, pioneering effort; and still fewer are able to enjoy the rewards of such an activity. We who have worked on Pioneer 10 and its sister spacecraft, Pioneer 11, consider ourselves fortunate to be in both classes. For the opportunity we thank the people of the United States of America, who have supported our country's space effort and its spreading of human awareness of a vast and intriguing universe in which our own unique planet Earth is only one of myriads of worlds. This volume describing the mission to Jupiter and its results is one of the many rewards for our effort which we share with you, the reader.

Fimmel, Richard O.↗