Project Slope - A study of lunar orbiter photographic evaluation secondary analysis tasks Final report
Secondary analysis tasks for phase three of Project SLOPE /Study of Lunar Orbiter Photographic Evaluation/
Holladay, T. M.↗
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Ground Slope Effects on Lander Radiator Performance
Two sensitivity studies were performed to examine the drop in radiator heat rejection from slopes. Study #1 used a 5.5m tall reduced order asset to represent a small-lander/rover. Study #2 used a 20m asset represent a tall lander. The assets had body mounted horizontal, 45º inward-tilted, and vertical radiator orientations. The impact of slopes on different radiator orientations and on radiators pointing different directions (i.e., slope verses sun) was investigated. The studies were conducted at a polar location of -82.5ºS to capture the incident solar flux at the northmost, and therefore the hottest, range of potential Artemis landing sites (Mons Mouton Plateau).
Lunar Slope↗
Performance evaluation of a second-generation elastic loop mobility system
Tests were conducted to evaluate the mobility performance of a second-generation Elastic Loop Mobility System (ELMS II). Performance on level test lanes and slopes of lunar soil simulant (LSS) and obstacle-surmounting and crevasse-crossing capabilities were investigated. In addition, internal losses and contact pressure distributions were evaluated. To evaluate the soft-soil performance, two basic soil conditions were tested: loose (LSS1) and dense (LSS5). These conditions embrace the spectrum of soil strengths tested during recent studies for NASA related to the mobility performance of the LRV. Data indicated that for the tested range of the various performance parameters, performance was independent of unit load (contact pressure) and ELMS II drum angular velocity, but was influenced by soil strength and ELMS pitch mode. Power requirements were smaller at a given system output for dense soil than for loose soil. The total system output in terms of pull developed or slope-climbing capability was larger for the ELMS II operating in restrained-pitch mode than in free-pitch mode.
Melzer, K. J.↗
Evolution of the Mobile Information SysTem (MIST)
The Mobile Information SysTem (MIST) had its origins in the need to determine whether commercial off the shelf (COTS) technologies could improve intervehicular activities (IVA) on International Space Station (ISS) crew maintenance productivity. It began with an exploration of head mounted displays (HMDs), but quickly evolved to include voice recognition, mobile personal computing, and data collection. The unique characteristic of the MIST lies within its mobility, in which a vest is worn that contains a mini-computer and supporting equipment, and a headband with attachments for a HMD, lipstick camera, and microphone. Data is then captured directly by the computer running Morae(TM) or similar software for analysis. To date, the MIST system has been tested in numerous environments such as two parabolic flights on NASA's C-9 microgravity aircraft and several mockup facilities ranging from ISS to the Altair Lunar Sortie Lander. Functional capabilities have included its lightweight and compact design, commonality across systems and environments, and usefulness in remote collaboration. Human Factors evaluations of the system have proven the MIST's ability to be worn for long durations of time (approximately four continuous hours) with no adverse physical deficits, moderate operator compensation, and low workload being reported as measured by Corlett Bishop Discomfort Scale, Cooper-Harper Ratings, and the NASA Total Workload Index (TLX), respectively. Additionally, through development of the system, it has spawned several new applications useful in research. For example, by only employing the lipstick camera, microphone, and a compact digital video recorder (DVR), we created a portable, lightweight data collection device. Video is recorded from the participants point of view (POV) through the use of the camera mounted on the side of the head. Both the video and audio is recorded directly into the DVR located on a belt around the waist. This data is then transferred to another computer for video editing and analysis. Another application has been discovered using simulated flight, in which, a kneeboard is replaced with mini-computer and the HMD to project flight paths and glide slopes for lunar ascent. As technologies evolve, so will the system and its application for research and space system operations.
Litaker, Harry L., Jr.↗
Lunar occultation of Saturn. IV - Astrometric results from observations of the satellites
The method of determining local lunar limb slopes, and the consequent time scale needed for diameter studies, from accurate occultation timings at two nearby telescopes is described. Results for photoelectric observations made at Mauna Kea Observatory during the occultation of Saturn's satellites on March 30, 1974, are discussed. Analysis of all observations of occultations of Saturn's satellites during 1974 indicates possible errors in the ephemerides of Saturn and its satellites.
Dunham, D. W.↗
A limitation of first generation lunar orbiter negatives as applied to photoclinometry
Photoclinometric slope determination errors in lunar photographic negative interpretation
Gambell, N.↗
Moon-Mercury - Large impact structures, isostasy and average crustal viscosity
It is shown that Mercury's surface has only 70% as many large craters (of at least 200 km in diameter) as the moon. The density of Mercurian impact craters having diameters over 400 km is 30% of that of the moon, and for craters with diameters between 400 and 700 km, Mercurian density is 21% of that of the moon. The size-frequency distribution curve of Mercury is the same as the lunar cumulative -2 slope. The Mercurian curve, however, lies well below the 10% surface saturation level of the lunar curve. This may indicate that the old, heavily-cratered Mercurian terrain is not presently in a state of cratering equilibrium. The differences in crater and basin densities observed between Mercury and the moon may be functions of crater-production rates or of different crustal histories. The total isostatic compensation of impact craters having diameters of about 800 km suggests that the average viscosity of the Mercurian crust during approximately the past 4 eons was the same as that of the moon.
Schaber, G.↗
Thermal movement of the regolith
High-frequency seismic events observed at the Apollo landing sites indicate that the regolith moves in response to diurnal variations of thermal stresses. While these events (thermal moonquakes) are observed by each of the Passive Seismic Experiment stations, the location of their sources was not possible until they were observed by the Lunar Surface Profiling Experiment (LSPE) array at the Apollo 17 site. Comparison of source locations with topographic features near the LSPE array indicate that thermal moonquakes are associated to some degree with large rocks and to a larger degree with craters. They are not associated with man-made disturbances of the lunar surface. It is suggested that thermal moonquakes are the seismic expression of a phenomenon that is actively degrading slopes on the lunar surface.
Duennebier, F.↗
Tele-Operated Lunar Rover Navigation Using Lidar
Near real-time tele-operated driving on the lunar surface remains constrained by bandwidth and signal latency despite the Moon s relative proximity. As part of our work within NASA s Human-Robotic Systems Project (HRS), we have developed a stand-alone modular LIDAR based safeguarded tele-operation system of hardware, middleware, navigation software and user interface. The system has been installed and tested on two distinct NASA rovers-JSC s Centaur2 lunar rover prototype and ARC s KRex research rover- and tested over several kilometers of tele-operated driving at average sustained speeds of 0.15 - 0.25 m/s around rocks, slopes and simulated lunar craters using a deliberately constrained telemetry link. The navigation system builds onboard terrain and hazard maps, returning highest priority sections to the off-board operator as permitted by bandwidth availability. It also analyzes hazard maps onboard and can stop the vehicle prior to contacting hazards. It is robust to severe pose errors and uses a novel scan alignment algorithm to compensate for attitude and elevation errors.
Pedersen, Liam↗
Lunar occultation of Saturn. I - The diameters of Tethys, Dione, Rhea, Titan, and Iapetus
The diameters of Tethys, Dione, Rhea, Titan and Iapetus were determined from observations of their March 30, 1974, lunar occultations, made with the Mauna Kea 224 and 61 cm telescopes. Light curves were obtained simultaneously in four colors, and the difference between the time of occultation at the two telescopes provided a direct measurement of the slope of the lunar limb, found to be small in all cases. The satellite diameters were determined by least-squares fits of model occultation light curves to the data. Titan's diameter must be at least 5800 km, much larger than the currently accepted value of 5000 km, making it the largest satellite in the solar system. This larger diameter implies a low mean density. For the other four satellites arguments are presented in favor of accepting the occultation diameters corresponding to limb darkened disks. Except for Titan, the lunar occultation diameters generally agree with previous diskmeter and radiometric determinations.
Elliot, J. L.↗
Project Slope - Analysis of the performance of the lunar orbiter 1 and 2 imaging systems Final report
Lunar Orbiter 1 and 2 imaging system evaluation based on reconstructed photograph quality
Holladay, T. M.↗
NASA’s Moon Trek Portal: New Capabilities Supporting Mission Planning and Engagement
Introduction: NASA’s Moon Trek (https://trek.nasa.gov/moon/) is one of a growing number of interactive, browser-based, online portals for planetary data visualization and analysis produced by NASA’s Solar System Treks Project (SSTP). Moon Trek continues to be enhanced with new data and new capabilities enabling it to facilitate the planning and conducting of upcoming lunar missions by NASA, its commercial partners, and its international partners, as well as advancing its role as a valuable outreach tool. A Comprehensive Online Web Portal: Developed at NASA’s Jet Propulsion Laboratory (JPL) and managed as a project of NASA’s Solar System Exploration Research Virtual Institute (SSERVI) at NASA Ames Research Center, Moon Trek is a browser-based web portal. The portal provides easy-to-use tools for browsing, data layering, data product blending, and feature search among thousands of data products covering topography, mineralogy, elemental abundance, geology, and much more. Visualizations are provided in var-ious map projections, interactive 3D viewing, and in virtual reality. Using an in-house stereo workflow, SSTP is able to produce new NAC-based high-resolution mosaics and DEMs. Diverse Applications for Lunar Exploration: Baseline analytic tools available to all users include dis-tance measurement, elevation profiling, sun angle calculation, and 3D print file generation. More advanced account-level tools allow users to perform more computationally intensive analyses. These include ray-traced lighting analysis for user-specified areas over user-specified time/date ranges and time intervals, electro-static surface potential analysis, subsetting of large data products, slope analysis, and Lunar Laser Ranging geometry calculation. Artificial intelligence (AI) and ma-chine learning (ML) based tools have been implemented for crater detection and hazard analysis, boulder detection and hazard analysis, and rockfall detection. New Tools Facilitating Exploration: Additional, new tools have recently been added and others are in development, offering even greater functionality in con-ducting analyses of potential landing sites and areas of surface operations. The new Line-of-Sight tool facilitates communications planning between locations on the lunar surface, between any given site on the lunar surface and a specified ground station on the Earth, and between a site on the lunar surface and a relay asset in lunar orbit, all taking into account local lunar topography. The new Data Plotter tool provides both tabular and graphical representations of pixel values along a user specified path for a growing number of data products. The new NAC Finder tool will identify and pro-vide access to NAC images that intersect a user-defined path or bounded area. The SSTP development team is looking to leverage the capabilities of its existing AI and ML crater, boulder, and rockfall detection and analysis tools, and extend that technology to a generalized feature detector that can be trained on instances of specific types of landforms and then search the lunar surface for more examples of such features. New traverse planning tools are being developed with use cases in generalized concept studies and specific mission planning in mind. These will facilitate finding optimal traverse paths based on constraints such as slope, lighting, hazard avoidance, and communications. These will be complemented by new traverse visualization capabilities. Users will be able to interactively ride along with a rover, examining 3D views of the terrain while adjusting camera height and viewing angle along with selecting different data layer overlays to drape across the terrain. Engaging the Public: The capabilities being developed for mission planning are being leveraged to further enhance Moon Trek’s proven utility as a valuable public outreach resource. This includes providing multiple lev-els of engagement with different points of entry. At its simplest level, promoting understanding through visualization, media and the public will be able to easily visualize and conduct their own exploration of lunar sites targeted by NASA and its partners. For a more in-depth experience, we are working with our stakeholders to promote understanding through interaction by extend-ing our current landing site and traverse analysis capabilities, making simplified access to these tools available to those who want to explore more deeply key factors in planning a mission through interactive and possibly even gamified experiences. The highest degree of public outreach, focusing on engagement through scientific participation, could be achieved through our work with missions and the NASA Office of the Chief Scientist on Moon Trek’s extension as a tool with specialized capabilities for facilitating citizen science. In such scenarios, participants become members of extended mis-sion science teams, using dedicated and integrated interfaces to analyze mission data to help answer questions key to lunar science and exploration. We are work-ing with NASA’s Office of Communications, museums, planetariums, and the media to help them easily integrate accurate, detailed visualizations of NASA’s lunar destinations and exploration into their content/productions and to engage diverse audiences in diverse venues.
Moon Trek↗
Comparison between photogrammetric and bistatic-radar slope frequency distributions
A comparison was made of the results for lunar surface roughness estimates and slope frequency distributions obtained by using photogrammetric techniques with those obtained by using bistatic radar. Three topics were discussed: (1) the form of the slope frequency distributions, (2) the change of roughness estimates of the lunar surface with scale, and (3) the magnitude of surface roughness.
Moore, H. J.↗
Thermal moonquakes
Review of the results of a study of the characteristics of thermal moonquakes and of their role in the erosion of the lunar surface. Thermal moonquake activity starts abruptly about 2 days after lunar sunrise and decreases rapidly after sunset. Two possible source mechanisms for thermal moonquakes are suggested: fracturing or movement of rocks along zones of weakness and slumping of lunar soil on slopes triggered by thermal stresses.
Duennebier, F.↗
Horizontal transport of the regolith, modification of features, and erosion rates on the lunar surface
Impact-ejecta systematics are developed for the smaller cratering events which, with cumulative crater populations observed in young mare regions and on Copernicus ejecta fields, yield rates and a range distribution for the horizontal transport of material by impact processes. The deposition rate for material originating more than 1 m away is found to be about 8 mm per million years. Material from 10 km away accumulates at a rate of about 0.08 mm per million years, providing a steady influx of foreign material. From the degradation of boulder tracks, a rate of 5 plus or minus 3 cm per million years is computed for the filling of shallow lunar depressions on slopes. Mass wastage and downslope movement of bedrock outcroppings on Hadley Rille seem to be proceeding at a rate of about 8 mm per million years. The Camelot profile is suggestive of a secondary impact feature.
Arvidson, R.↗
Epithermal Neutron Evidence for a Diurnal Surface Hydration Process in the Moon's High Latitudes
We report evidence from epithermal neutron flux observations that show that the Moon's high latitude surfaces are being actively hydrated, dehydrated and rehydrated in a diurnal cycle. The near-surface hydration is indicated by an enhanced suppression of the lunar epithermal neutron leakage flux on the dayside of the dawn terminator on poleward-facing slopes (PFS). At 0600 to 0800 local-time, hydrogen concentrations within the upper 1 meter of PFS are observed to be maximized relative to equivalent equator-facing slopes (EFS). During the lunar day surface hydrogen concentrations diminish towards dusk and then rebuild overnight. Surface hydration is determined by differential comparison of the averaged EFS to PFS epithermal neutron count rates above +/- 75 deg latitude. At dawn the contrast bias towards PFS is consistent with at least 15 to 25 parts-per-million (ppm) hydrogen that dissipates by dusk. We review several lines of evidence derived from temperature and epithermal neutron data by a correlated analysis of observations from the Lunar Reconnaissance Orbiter's (LRO) Lunar Exploration Neutron Detector (LEND) that were mapped as a function of lunar local-time, Lunar Observing Laser Altimeter (LOLA) topography and Diviner (DLRE) surface temperature.
diurnal cycles↗
Lunar and Venusian radar bright rings
Twenty-one lunar craters have radar bright ring appearances which are analogous to eleven complete ring features in the earth-based 12.5 cm observations of Venus. Radar ring diameters and widths for the lunar and Venusian features overlap for sizes from 45 to 100 km. Radar bright areas for the lunar craters are associated with the slopes of the inner and outer rim walls, while level crater floors and level ejecta fields beyond the raised portion of the rim have average radar backscatter. It is proposed that the radar bright areas of the Venusian rings are also associated with the slopes on the rims of craters. The lunar craters have evolved to radar bright rings via mass wasting of crater rim walls and via post-impact flooding of crater floors. Aeolian deposits of fine-grained material on Venusian crater floors may produce radar scattering effects similar to lunar crater floor flooding. These Venusian aeolian deposits may preferentially cover blocky crater floors producing a radar bright ring appearance. It is proposed that the Venusian features with complete bright ring appearances and sizes less than 100 km are impact craters. They have the same sizes as lunar craters and could have evolved to radar bright rings via analogous surface processes.
Thompson, T. W.↗
Lunar Observer Laser Altimeter observations for lunar base site selection
One of the critical datasets for optimal selection of future lunar landing sites is local- to regional-scale topography. Lunar base site selection will require such data for both engineering and scientific operations purposes. The Lunar Geoscience Orbiter or Lunar Observer is the ideal precursory science mission from which to obtain this required information. We suggest that a simple laser altimeter instrument could be employed to measure local-scale slopes, heights, and depths of lunar surface features important to lunar base planning and design. For this reason, we have designed and are currently constructing a breadboard of a Lunar Observer Laser Altimeter (LOLA) instrument capable of acquiring contiguous-footprint topographic profiles with both 30-m and 300-m along-track resolution. This instrument meets all the severe weight, power, size, and data rate limitations imposed by Observer-class spacecraft. In addition, LOLA would be capable of measuring the within-footprint vertical roughness of the lunar surface, and the 1.06-micron relative surface reflectivity at normal incidence. We have used airborne laser altimeter data for a few representative lunar analog landforms to simulate and analyze LOLA performance in a 100-km lunar orbit. We demonstrate that this system in its highest resolution mode (30-m diameter footprints) would quantify the topography of all but the very smallest lunar landforms. At its global mapping resolution (300-m diameter footprints), LOLA would establish the topographic context for lunar landing site selection by providing the basis for constructing a 1-2 km spatial resolution global, geodetic topographic grid that would contain a high density of observations (e.g., approximately 1000 observations per each 1 deg by 1 deg cell at the lunar equator). The high spatial and vertical resolution measurements made with a LOLA-class instrument on a precursory Lunar Observer would be highly synergistic with high-resolution imaging datasets, and will allow for direct quantification of critical slopes, heights, and depths of features visible in images of potential lunar base sites.
Garvin, James B.↗