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NASA NTRSDate not supplied

Applied Uses of MERRA Reanalyses: Current and Future Prospects

During the initial planning of the Modern Era Retrospective-analysis for Research and Applications (MERRA), the project was envisioned to become a tool for applied sciences and decision makers, as well as weather and climate research. MERRA was the first reanalysis to provide data at 1 hourly frequencies. After discussions with wind energy users, 50m above the surface winds were included in the data collection to begin to represent the environment at the turbine height. MERRA-2 was the first reanalysis to include interactive and assimilated aerosols. From these, PM 1, 2.5 and 10 records have been computed and contribute to the climate and health sector. The US Center for Disease Control is accessing MERRA-2 data for comparison along with their health data. MERRA-2 Extreme Indices have been computed from the high frequency data (e.g. precipitation maxima, heat waves and fire weather). These have been used to characterize the changing extremes in the United States and around the globe as well as the weather associated with the extremes. The next-generation, MERRA-21C, includes increased resolution (25km) and continues to provide innovative Earth system data. For example, a boundary layer collection will provide constant height level data starting at 100m, continuing up to 4000m. This will provide detailed information about the boundary layer processes that greatly affect the biosphere. Chemical tracers for constituents are included in the system. The ensemble data assimilation is run with 32 members, and the variance for critical variables are stored. We will explore the use of this variance as one measure of uncertainty relevant for applied uses, which has not been included in any MERRA reanalysis. We will discuss use case scenarios developed to engage with the energy and financial sectors, to better understand their needs for climate data. Prospects for further downscaling of reanalyses will also be explored.

Michael Bosilovich↗

NASA NTRS1992

Integration of task level planning and diagnosis for an intelligent robot

A satellite floating space is diagnosed with a telerobot attached performing maintenance or replacement tasks. This research included three objectives. The first objective was to generate intelligent path planning for a robot to move around a satellite. The second objective was to diagnose possible faulty scenarios in the satellite. The third objective included two tasks. The first task was to combine intelligent path planning with diagnosis. The second task was to build an interface between the combined intelligent system with Robosim. The ability of a robot to deal with unexpected scenarios is particularly important in space since the situation could be different from time to time so that the telerobot must be capable of detecting that the situation has changed and the necessity may exist to alter its behavior based on the new situation. The feature of allowing human-in-the-loop is also very important in space. In some extreme cases, the situation is beyond the capability of a robot so our research project allows the human to override the decision of a robot.

Chan, Amy W.↗

NASA NTRS2017

SpaceCubeX: A Framework for Evaluating Hybrid Multi-Core CPU FPGA DSP Architectures

The SpaceCubeX project is motivated by the need for high performance, modular, and scalable on-board processing to help scientists answer critical 21st century questions about global climate change, air quality, ocean health, and ecosystem dynamics, while adding new capabilities such as low-latency data products for extreme event warnings. These goals translate into on-board processing throughput requirements that are on the order of 100-1,000 more than those of previous Earth Science missions for standard processing, compression, storage, and downlink operations. To study possible future architectures to achieve these performance requirements, the SpaceCubeX project provides an evolvable testbed and framework that enables a focused design space exploration of candidate hybrid CPU/FPGA/DSP processing architectures. The framework includes ArchGen, an architecture generator tool populated with candidate architecture components, performance models, and IP cores, that allows an end user to specify the type, number, and connectivity of a hybrid architecture. The framework requires minimal extensions to integrate new processors, such as the anticipated High Performance Spaceflight Computer (HPSC), reducing time to initiate benchmarking by months. To evaluate the framework, we leverage a wide suite of high performance embedded computing benchmarks and Earth science scenarios to ensure robust architecture characterization. We report on our projects Year 1 efforts and demonstrate the capabilities across four simulation testbed models, a baseline SpaceCube 2.0 system, a dual ARM A9 processor system, a hybrid quad ARM A53 and FPGA system, and a hybrid quad ARM A53 and DSP system.

Hybrid Flight Architectures↗

NASA NTRS2023

High-Pressure Oxygen Dryer (HPOD) FY 2023 Trade Study and Market Survey

A reliable source of dry, high-pressure oxygen is needed for future lunar missions to support nominal and contingency operations on the Surface Habitat (SH) and the Pressurized Rover (PR) in future Gateway missions. A High-Pressure Oxygen Dryer (HPOD) is needed to support potential use of primary oxygen generation systems, the High-Pressure Oxygen Generation Assembly (HPOGA) and the Skyre EOC, by drying the wet oxygen exiting the systems. The objective of this paper is to perform an architecture trade study and market survey of options to dry a continuous stream of 45°C, 4000 PSIG oxygen containing ~ 500 ppm H2O (dew point 52°C) down to < 7 ppm H2O (dew point -15°C) for both the 28-day and 365-day timeframe. A total of seven different technologies were identified as potential dryer candidates during the market survey, relying on one of three principles, adsorption, filtration, and cooling. During the sizing and trade study, it was found that several of the technologies aren’t sufficient for the extreme conditions and were eliminated. In the end, a single-use throw away adsorption bed traded the best for single mission use, while a pressure regenerative adsorption bed traded the best for a multiple mission scenario. The results of this analysis are intended to influence future design work for high-pressure oxygen drying applications.

High Pressure Oxygen↗

NASA NTRSDate not supplied

High-Pressure Oxygen Dryer (HPOD) FY 2023 Trade Study and Market Survey

High Pressure Oxygen↗

NASA NTRS2021

San Diego Urban Development: Utilizing NASA Earth Observations to Identify Drivers of Extreme Urban Heat and Generate a High-Resolution Vulnerability Index for Urban Planning and Climate Resiliency in San Diego, California

Exposure to heat exacerbated by an increase in urbanization as well as increasing global temperatures has become a growing concern for cities and their residents. Excess heat can cause increased heat-related morbidity, mortality, and energy costs. Vulnerability to heat-related illnesses is oftentimes correlated to demographics, socioeconomic status, and pre-existing health conditions. The City of San Diego, California boasts 1.4 million residents and, like many other major cities, has experienced increases in heat-related hospitalizations and mortality. The burden of urban heat is also not equal amongst communities; areas with lower income and communities of color bear a disproportionate burden. In partnership with the City of San Diego, and American Geophysical Union’s (AGU) Thriving Earth Exchange, the DEVELOP team used Landsat 8 Operational Land Imager (OLI) and Thermal Infrared Sensor (TIRS), and ECOsystem Spaceborne Thermal Radiometer Experiment on Space Station (ECOSTRESS) imagery to identify areas of highest heat based on land surface temperature from 2015-2020. Our analyses showed that health demographics such as obesity and cardiovascular health were the strongest indicators for heat vulnerability. In addition, various inputs (land use/land cover, tree canopy, and building intensity derived from the City of San Diego data along with albedo from Landsat 8) were used in the Integrated Valuation of Ecosystem Services and Tradeoffs (InVEST) urban cooling model to investigate changes in cooling rates in current and future scenarios for the city. The model results showed that cooling is expected to occur due to a 5% increase in tree canopy. The City of San Diego can use these results to inform the development of the Climate Resilient San Diego plan and prioritize at-risk communities for cooling interventions.

John Dialesandro↗

NASA NTRSDate not supplied

High-Pressure Oxygen Dryer (HPOD) FY 2023 Trade Study and Market Survey

A reliable source of dry, high-pressure oxygen is needed for future lunar missions to support nominal and contingency operations on the Surface Habitat (SH) and the Pressurized Rover (PR) in future Gateway missions. A High-Pressure Oxygen Dryer (HPOD) is needed to support potential use of primary oxygen generation systems, the High-Pressure Oxygen Generation Assembly (HPOGA) and the Skyre EOC, by drying the wet oxygen exiting the systems. The objective of this paper is to perform an architecture trade study and market survey of options to dry a continuous stream of 45°C, 4000 PSIG oxygen containing ~ 500 ppm H 2 O (dew point 52°C) down to < 7 ppm H 2 O (dew point -15°C) for both the 28-day and 365-day timeframe. A total of seven different technologies were identified as potential dryer candidates during the market survey, relying on one of three principles, adsorption, filtration, and cooling. During the sizing and trade study, it was found that several of the technologies aren’t sufficient for the extreme conditions and were eliminated. In the end, a single-use throw away adsorption bed traded the best for single mission use, while a pressure regenerative adsorption bed traded the best for a multiple mission scenario. The results of this analysis are intended to influence future design work for high-pressure oxygen drying applications.

High Pressure Oxygen↗

NASA NTRS2006

A New Spin for Understanding the Peculiar Horizontal Branch Morphology of the Galactic Globular Clusters NGC 6388 and NGC 6441

In this paper we present multiband optical and UV Hubble Space Telescope photometry of the two Galactic globular clusters NGC 6388 and NGC 6441 Aims. We investigate the properties of their anomalous horizontal branches (HB) in different photometric planes in order to shed light on the nature of the physical mechanism(s) responsible for the existence of an extended HB blue tail, and of a slope in the HB, visible in all the color-magnitude diagrams. Methods. New photometric data have been collected and carefully reduced. Empirical data have been compared with updated stellar models of low-mass, metal-rich, He-burning structures, transformed to the observational plane with appropriate atmosphere models. Results. We have obtained the first UV color-magnitude diagrams for NGC 6388 and NGC 6441. These diagrams confirm previous results, obtained in optical bands, about the presence of a sizeable stellar population of extremely hot Horizontal Branch stars. At least in NGC 6388, we find a clear indication that at the hot end of the horizontal branch the distribution of stars forms a hook-like feature, closely resembling those observed in NGC 2808 and w Centauri. We briefly review the theoretical scenarios which have been suggested for interpreting this observational feature. We investigate also on the tilt in the horizontal branch morphology, and provide further evidence that supports early suggestions according to which this feature cannot be interpreted as an effect of differential reddening or radiative levitation, though these effects contribute to create the anomaly. We demonstrate that a possible solution of the puzzle is to assume that a small fraction (approx. 13% in NGC 6388 and approx. 8% NGC 6441) of the stellar population in the two clusters is strongly helium enriched (Y approx. 0.40 in NGC6388 and Y approx. 0.35 in NGC 6441). This solution necessarily implies the presence of a double generation of stars in the two clusters.

Busso, G.↗

NASA NTRS2020

POEMMA’s Target-of-Opportunity Sensitivity to Cosmic Neutrino Transient Sources

We investigate the capability of the Probe Of Extreme Multi-Messenger Astrophysics (POEMMA)in performing Target-of-Opportunity (ToO) neutrino observations. POEMMA is a proposed space-based probe-class mission for ultra high-energy cosmic ray and very-high-energy neutrino detection using two spacecraft, each equipped with a large Schmidt telescope to detect optical and near-ultraviolet signals generated by extensive air showers (EASs). POEMMA will be sensitive to Cherenkov radiation from upward-moving EASs initiated by tau neutrinos interacting in the Earth. POEMMA will be able to quickly re-point (90◦in 500 s) each of the two spacecraft to the direction of an astrophysical source, which in combination with its orbital speed will provide it with unparalleled capability to follow up transient alerts. We calculate POEMMA’s transient sensitivity for two observational configurations for the satellites (ToO-stereo and ToO-dual for smaller and larger satellite separations, respectively) and investigate the impact of variations arising due to POEMMA’s orbital characteristics on its sensitivity to tau neutrinos in various regions of the sky. We explore separate scenarios for long (∼105−6s) and short (∼103s) duration events, accounting for intrusion from the Sun and the Moon in the long-duration scenario. We compare the sensitivity and sky coverage of POEMMA for ToO observations with those for existing experiments (e.g., IceCube, ANTARES, and the Pierre Auger Observatory) and other proposed future experiments (e.g., GRAND200k).For long bursts, we find that POEMMA will provide a factor of&7 improvement in average neutrino sensitivity above 300 PeV with respect to existing experiments, reaching the level of model predictions for neutrino fluences at these energies and above from several types of long-duration astrophysical transients (e.g., binary neutron star mergers and tidal disruption events). For short bursts, POEMMA will improve the sensitivity over existing experiments by at least an order of magnitude forEν∼>100 PeV in the “best-case” scenario. POEMMA’s orbital characteristics and rapid re-pointing capability will provide it access to the full celestial sky, including regions that will not be accessible to ground-based neutrino experiments. Finally, we discuss the prospects for POEMMA to detect neutrinos from candidate astrophysical neutrino sources in the nearby universe. Our results demonstrate that with its improved neutrino sensitivity at ultra-high energies and unique full-sky coverage, POEMMA will be an essential, complementary component in a rapidly expanding multi-messenger network.

Tonia M Venters↗

NASA NTRS2006

Remote Sensing Time Series Product Tool

The TSPT (Time Series Product Tool) software was custom-designed for NASA to rapidly create and display single-band and band-combination time series, such as NDVI (Normalized Difference Vegetation Index) images, for wide-area crop surveillance and for other time-critical applications. The TSPT, developed in MATLAB, allows users to create and display various MODIS (Moderate Resolution Imaging Spectroradiometer) or simulated VIIRS (Visible/Infrared Imager Radiometer Suite) products as single images, as time series plots at a selected location, or as temporally processed image videos. Manually creating these types of products is extremely labor intensive; however, the TSPT development tool makes the process simplified and efficient. MODIS is ideal for monitoring large crop areas because of its wide swath (2330 km), its relatively small ground sample distance (250 m), and its high temporal revisit time (twice daily). Furthermore, because MODIS imagery is acquired daily, rapid changes in vegetative health can potentially be detected. The new TSPT technology provides users with the ability to temporally process high-revisit-rate satellite imagery, such as that acquired from MODIS and from its successor, the VIIRS. The TSPT features the important capability of fusing data from both MODIS instruments onboard the Terra and Aqua satellites, which drastically improves cloud statistics. With the TSPT, MODIS metadata is used to find and optionally remove bad and suspect data. Noise removal and temporal processing techniques allow users to create low-noise time series plots and image videos and to select settings and thresholds that tailor particular output products. The TSPT GUI (graphical user interface) provides an interactive environment for crafting what-if scenarios by enabling a user to repeat product generation using different settings and thresholds. The TSPT Application Programming Interface provides more fine-tuned control of product generation, allowing experienced programmers to bypass the GUI and to create more user-specific output products, such as comparison time plots or images. This type of time series analysis tool for remotely sensed imagery could be the basis of a large-area vegetation surveillance system. The TSPT has been used to generate NDVI time series over growing seasons in California and Argentina and for hurricane events, such as Hurricane Katrina.

Predos, Don↗

NASA NTRS1998

Contamination Control Considerations for the Next Generation Space Telescope (NGST)

The NASA Space Science Program, in its ongoing mission to study the universe, has begun planning for a telescope that will carry on the Hubble Space Telescope's exploration. This telescope, the 'Next Generation Space Telescope' (NGST), will be 6-8 meters in diameter, will be radiatively cooled to 30-60 Kelvin in order to enable extremely deep exposures at near infrared wavelengths, and will operate for a lifetime of 5-10 years. The requirement will be to measure wavelengths from 1-5 microns, with a goal to measure wavelengths from 0.6-30 microns. As such, NGST will present a new contamination control challenge. The Goddard Space Flight Center (GSFC) performed one of three preliminary feasibility studies for the NGST, presenting a telescope with an 8 meter, deployable primary mirror and a deployable secondary mirror. The telescope would be radiatively cooled, with the optical telescope assembly (OTA) and the science instrument module (SIM) isolated from the warmer spacecraft support module (SSM). The OTA and the SIM would also be shielded from sunlight with an enormous, inflatable sun-shield. The GSFC telescope was designed for launch on an Atlas HAS, which would require launching the telescope in a stowed configuration, with the SSM, antennae, sun-shield, primary mirror 'petals', and secondary mirror deployed once on-orbit. The launch configuration and deployment scenario of an exposed telescope measuring near infrared and cooled to 30-60 K are the factors presenting contamination hazards to the NGST mission. Preliminary science requirements established are: less than 20% reflectance decrease on optical surfaces over the wavelength range, and less than 0.3% obscuration of optical surfaces. In order to meet these requirements, NGST must be built and launched with careful attention to contamination control. Initial contamination control design options include strict selecting of materials and baking out of hardware down to the component level, minimizing or eliminating exposure of the OTA to sunlight or earth albedo during deployment and early on-orbit operations, cleaning of the primary and secondary mirrors at the launch site, cleaning of the launch vehicle fairing, locating thrusters and vents on the warm side of the sun shield only, and the possibility of including a deployable cover if that is shown to be necessary.

Wooldridge, Eve M.↗

NASA NTRS1988

Global environmental effects of impact-generated aerosols: Results from a general circulation model

Cooling and darkening at Earth's surface are expected to result from the interception of sunlight by the high altitude worldwide dust cloud generated by impact of a large asteroid or comet, according to the one-dimensional radioactive-convective atmospheric model (RCM) of Pollack et al. An analogous three-dimensional general circulation model (GCM) simulation obtains the same basic result as the RCM but there are important differences in detail. In the GCM simulation the heat capacity of the oceans, not included in the RCM, substantially mitigates land surface cooling. On the other hand, the GCM's low heat capacity surface allows surface temperatures to drop much more rapidly than reported by Pollack et al. These two differences between RCM and GCM simulations were noted previously in studies of nuclear winter; GCM results for comet/asteroid winter, however, are much more severe than for nuclear winter because the assumed aerosol amount is large enough to intercept all sunlight falling on Earth. In the simulation the global average of land surface temperature drops to the freezing point in just 4.5 days, one-tenth the time required in the Pollack et al. simulation. In addition to the standard case of Pollack et al., which represents the collision of a 10-km diameter asteroid with Earth, additional scenarios are considered ranging from the statistically more frequent impacts of smaller asteroids to the collision of Halley's comet with Earth. In the latter case the kinetic energy of impact is extremely large due to the head-on collision resulting from Halley's retrograde orbit.

Covey, C.↗

NASA NTRSDate not supplied

Predicting Thermal Response in a Li-ion Cell on a UAV Fight Profile

As the energy storage devices continue to "pack" more energy in a small space, any damage, battery component failure, manufacturing defect, or electrically abusing the battery can lead to catastrophic thermal runaway events. A catastrophic thermal event in a cell leads to high temperature, in some instances spewing of battery materials due to gas development from side reactions initiated due to high internal temperatures. Also, a thermal runaway event can propagate from a single "failed" cell to the pack in a battery pack, leading to a more significant event. Mitigating a thermal runaway event is important in the commercial and automotive sectors. However, preventing such events in an electric aircraft (or air taxis) is paramount due to the lack of alternatives in the event of a failure. Battery prognostics algorithms allow the prediction of state-of-charge (SOC) and end-of-life (EOL) of a Li-ion battery in a UAV (unmanned air vehicle) [1]. For this presentation, we will extend this two-level battery predictive algorithm to predict SOC, EOL, and estimated maximum temperature during a simulated flight. The model is extended by integrating a lumped physics-driven thermal model for high current densities [2]. The parameters used to control SOC and EOL are maximum storable charge, time constant for Li-ion diffusivity in the carbon particles, and internal cell resistance. Cycling leads to an increase in the heat generated by an aged Li-ion cell with a LiyCoO2 (LCO) cathode and a LixC6 (MCMB) anode. The aging of a cell leads to increase in SEI layer thickness, the diffusion time for the lithium ions inside the electrodes, and the local reaction rates, in addition to the thermodynamic abuse caused by fixed cycling voltages controlled by a Battery Management System. As the battery ages, the cell resistance increases, while the onset temperature of the thermal runaway decreases (depends on the cell chemistry and cell abuse history). Any large deviation of the cell temperature from the estimated (expected) value can identify a faulty cell. Since SEI decomposition has the lowest onset temperature in the series of reactions leading to thermal runaway, the model considers the self-heating rate of the SEI decomposition as onset temperature (similar to Ref. [3]). The parameters in the Arrhenius equation for the SEI heating rate depend on the number of cycles, the cell's operating temperature, and the cell's abuse history [4,5]. Coupling the electrochemical, thermal, and aging model allow the prognostic algorithm to estimate a typical cell voltage and temperature as a function of age (cycling and calendar), whose departure from measured values from the BMS is used to identify a safety event. In addition, we will present the results from two simulated flight scenarios for a UAV: typical and extreme, since the power requirements vary significantly during take-off, landing, and changing altitudes, while the power requirements remain low during the cruise. For this presentation, the power requirement for a battery pack in a UAV is scaled to a single cell. This cell is cycled through a simulated profile, and the data is collected and used to predict a safety event.

Li-ion↗

NASA NTRS1992

First lunar outpost

Design and research efforts at the University of Puerto Rico have focused on the evaluation and refinement of the Habitability Criteria for a prolonged human presence in space during the last four years. Living quarters for a Mars mission and a third generation lunar base concept were proposed. This academic year, 1991-92, work on further refinement of the habitability criteria and design of partial gravity furniture was carried on. During the first semester, design alternatives for furniture necessary in a habitat design optimized for lunar and Martian environments were developed. Designs are based on recent research data from lunar and Mars gravity simulations, and current NASA standards. Artifacts will be submitted to NASA architects to be tested in KC-135 flights. Test findings will be submitted for incorporation in future updates to NASA habitat design standards. Second semester work was aimed at integrating these findings into the First Lunar Outpost (FLO), a mission scenario currently being considered by NASA. The mission consists of a manned return to the moon by crews of four astronauts for periods of 45 days. The major hardware components of the mission are as follows: (1) a Crew Module for the delivery of the crew and their supplies, and (2) the Habitat Module, which will arrive on the Moon unmanned. Our design efforts concentrated on this Habitat Module and on application of habitability criteria. Different geometries for the pressure vessel and their impact on the interior architecture were studied. Upon the selection of a geometry, a more detailed analysis of the interior design was performed, taking into consideration the reduced gravity, and the protection against radiation, micrometeorites, and the extreme temperature variation. A proposal for a FLO was submitted by the students, consisting essentially of a 24-feet (7.3 m.) by 35-feet (10.67 m) high vertical cylinder with work areas, crew quarters, galley, wardroom, leisure facilities, health maintenance, waste management, EVA operations facilities, and safe havens.

Andino, Aureo F.↗

NASA NTRS2018

Climate Shifts Within Major Agricultural Seasons for +1.5 and +2.0 °C Worlds: HAPPI Projections and AgMIP Modeling Scenarios

This study compares climate changes in major agricultural regions and current agricultural seasons associated with global warming of +1.5 or +2.0 °C above pre-industrial conditions. It describes the generation of climate scenarios for agricultural modeling applications conducted as part of the Agricultural Model Intercomparison and Improvement Project (AgMIP) Coordinated Global and Regional Assessments. Climate scenarios from the Half a degree Additional warming, Projections, Prognosis and Impacts project (HAPPI) are largely consistent with transient scenarios extracted from RCP4.5 simulations of the Coupled Model Intercomparison Project phase 5 (CMIP5). Focusing on food and agricultural systems and top-producing breadbaskets in particular, we distinguish maize, rice, wheat, and soy season changes from global annual mean climate changes. Many agricultural regions warm at a rate that is faster than the global mean surface temperature (including oceans) but slower than the mean land surface temperature, leading to regional warming that exceeds 0.5 °C between the +1.5 and +2.0 °C Worlds. Agricultural growing seasons warm at a pace slightly behind the annual temperature trends in most regions, while precipitation increases slightly ahead of the annual rate. Rice cultivation regions show reduced warming as they are concentrated where monsoon rainfall is projected to intensify, although projections are influenced by Asian aerosol loading in climate mitigation scenarios. Compared to CMIP5, HAPPI slightly underestimates the CO2 concentration that corresponds to the +1.5 °C World but overestimates the CO2 concentration for the +2.0 °C World, which means that HAPPI scenarios may also lead to an overestimate in the beneficial effects of CO2 on crops in the +2.0 °C World. HAPPI enables detailed analysis of the shifting distribution of extreme growing season temperatures and precipitation, highlighting widespread increases in extreme heat seasons and heightened skewness toward hot seasons in the tropics. Shifts in the probability of extreme drought seasons generally tracked median precipitation changes; however, some regions skewed toward drought conditions even where median precipitation changes were small. Together, these findings highlight unique seasonal and agricultural region changes in the +1.5 °C and +2.0 °C worlds for adaptation planning in these climate stabilization targets.

Alexander C. Ruane↗

NASA NTRS2007

Interactions with Virtual People: Do Avatars Dream of Digital Sheep?

This paper explores another form of artificial entity, ones without physical embodiment. We refer to virtual characters as the name for a type of interactive object that have become familiar in computer games and within virtual reality applications. We refer to these as avatars: three-dimensional graphical objects that are in more-or-less human form which can interact with humans. Sometimes such avatars will be representations of real-humans who are interacting together within a shared networked virtual environment, other times the representations will be of entirely computer generated characters. Unlike other authors, who reserve the term agent for entirely computer generated characters and avatars for virtual embodiments of real people; the same term here is used for both. This is because avatars and agents are on a continuum. The question is where does their behaviour originate? At the extremes the behaviour is either completely computer generated or comes only from tracking of a real person. However, not every aspect of a real person can be tracked every eyebrow move, every blink, every breath rather real tracking data would be supplemented by inferred behaviours which are programmed based on the available information as to what the real human is doing and her/his underlying emotional and psychological state. Hence there is always some programmed behaviour it is only a matter of how much. In any case the same underlying problem remains how can the human character be portrayed in such a manner that its actions are believable and have an impact on the real people with whom it interacts? This paper has three main parts. In the first part we will review some evidence that suggests that humans react with appropriate affect in their interactions with virtual human characters, or with other humans who are represented as avatars. This is so in spite of the fact that the representational fidelity is relatively low. Our evidence will be from the realm of psychotherapy, where virtual social situations are created that do test whether people react appropriately within these situations. We will also consider some experiments on face-to-face virtual communications between people in the same shared virtual environments. The second part will try to give some clues about why this might happen, taking into account modern theories of perception from neuroscience. The third part will include some speculations about the future developments of the relationship between people and virtual people. We will suggest that a more likely scenario than the world becoming populated by physically embodied virtual people (robots, androids) is that in the relatively near future we will interact more and more in our everyday lives with virtual people- bank managers, shop assistants, instructors, and so on. What is happening in the movies with computer graphic generated individuals and entire crowds may move into the space of everyday life.

Slater, Mel↗

NASA NTRS1999

Comparative Magma Oceanography

The question of whether the Earth ever passed through a magma ocean stage is of considerable interest. Geochemical evidence strongly suggests that the Moon had a magma ocean and the evidence is mounting that the same was true for Mars. Analyses of martian (SNC) meteorites have yielded insights into the differentiation history of Mars, and consequently, it is interesting to compare that planet to the Earth. Three primary features of Mars contrast strongly to those of the Earth: (i) the extremely ancient ages of the martian core, mantle, and crust (about 4.55 b.y.); (ii) the highly depleted nature of the martian mantle; and (iii) the extreme ranges of Nd isotopic compositions that arise within the crust and depleted mantle. The easiest way to explain the ages and diverse isotopic compositions of martian basalts is to postulate that Mars had an early magma ocean. Cumulates of this magma ocean were later remelted to form the SNC meteorite suite and some of these melts assimilated crustal materials enriched in incompatible elements. The REE pattern of the crust assimilated by these SNC magmas was LREE enriched. If this pattern is typical of the crust as a whole, the martian crust is probably similar in composition to melts generated by small degrees of partial melting (about 5%) of a primitive source. Higher degrees of partial melting would cause the crustal LREE pattern to be essentially flat. In the context of a magma ocean model, where large degrees of partial melting presumably prevailed, the crust would have to be dominated by late-stage, LREE-enriched residual liquids. Regardless of the exact physical setting, Nd and W isotopic evidence indicates that martian geochemical reservoirs must have formed early and that they have not been efficiently remixed since. The important point is that in both the Moon and Mars we see evidence of a magma ocean phase and that we recognize it as such. Several lines of theoretical inference point to an early Earth that was also hot and, perhaps, mostly molten. The Giant Impact hypothesis for the origin of the Moon offers a tremendous input of thermal energy and the same could be true for core formation. And current solar system models favor the formation of a limited number of large (about 1000 km) planetesimals that, upon accreting to Earth, would cause great heating, being lesser versions of the Giant Impact. Several lines of geochemical evidence do not favor this hot early Earth scenario. (i) Terrestrial man-tle xenoliths are sometimes nearly chondritic in their major element compositions, suggesting that these rocks have never been much molten. Large degrees of partial melting probably promote differentiation rather than homogenization. (ii) Unlike the case of Mars, the continental crust probably did not form as a highly fractionated residual liquid from a magma ocean (about 99% crystallization), but, rather, formed in multiple steps. [The simplest model for the formation of continental crust is complicated: (a) about 10% melting of a primitive mantle, making basalt; (b) hydrothermal alteration of that basalt, converting it to greenstone; and (c) 10% partial melting of that greenstone, producing tonalite.] This model is reinforced by the recent observation from old (about 4.1 b.y.) zircons that the early crust formed from an undepleted mantle having a chondritic Lu/Hf ratio. (iii) If the mantle were once differentiated by a magma ocean, the mantle xenolith suite requires that it subsequently be homogenized. The Os isotopic compositions of fertile spinel lherzolites place constraints on the timing of that homogenization. The Os isotopic composition of spinel lherzolites approaches that of chondrites and correlates with elements such as Lu and Al. As Lu and Al concentrations approach those of the primitive mantle, Os isotopic compositions approach chondritic. The Re and Os in these xenoliths were probably added as a late veneer. Thus, the mantle that received the late veneer must have been nearly chondritic in terms of its major elements (excluding Fe). If the mantle that the veneer was mixed into was not al-ready homogenized, then Os isotopes should not correlate with incompatible elements such as Al. Consequently, either early differentiation of the mantle did not occur or the homogenization of this differentiation must have occurred before the late veneer was added. The timing of the late veneer is itself uncertain but presumably postdated core formation at about 4.45 b.y. and did not postdate the 3.8-3.9 b.y. late bombardment of the Moon. This timing based on siderophile elements is consistent with the Hf isotopic evidence cited above. If the Earth, Moon and Mars had magma oceans, the Earth subsequently rehomogenized whereas the Moon and Mars did not. The simplest solution to this observation is that homogenization of igneous differentiates was never necessary on Earth, either because the hypothetical magma ocean never occurred or because this event did not produce mantle differentiation.

Jones, J. H.↗

NASA NTRS2017

In-Flight Guidance, Navigation, and Control Performance Results for the GOES-16 Spacecraft

The Geostationary Operational Environmental Satellite-R Series (GOES-R), which launched in November 2016, is the first of the next generation geostationary weather satellites. GOES-R provides 4 times the resolution, 5 times the observation rate, and 3 times the number of spectral bands for Earth observations compared with its predecessor spacecraft. Additionally, Earth relative and Sun-relative pointing and pointing stability requirements are maintained throughout reaction wheel desaturation events and station keeping activities, allowing GOES-R to provide continuous Earth and sun observations. This paper reviews the pointing control, pointing stability, attitude knowledge, and orbit knowledge requirements necessary to realize the ambitious Image Navigation and Registration (INR) objectives of GOES-R. This paper presents a comparison between low-frequency on-orbit pointing results and simulation predictions for both the Earth Pointed Platform (EPP) and Sun Pointed Platform (SPP). Results indicate excellent agreement between simulation predictions and observed on-orbit performance, and compliance with pointing performance requirements. The EPP instrument suite includes 6 seismic accelerometers sampled at 2 KHz, allowing in-flight verification of jitter responses and comparison back to simulation predictions. This paper presents flight results of acceleration, shock response spectrum (SRS), and instrument line of sight responses for various operational scenarios and instrument observation modes. The results demonstrate the effectiveness of the dual-isolation approach employed on GOES-R. The spacecraft provides attitude and rate data to the primary Earth-observing instrument at 100 Hz, which are used to adjust instrument scanning. The data must meet accuracy and latency numbers defined by the Integrated Rate Error (IRE) requirements. This paper discusses the on-orbit IRE results, showing compliance to these requirements with margin. During the spacecraft checkout period, IRE disturbances were observed and subsequently attributed to thermal control of the Inertial Measurement Unit (IMU) mounting interface. Adjustments of IMU thermal control and the resulting improvements in IRE are presented. Orbit knowledge represents the final element of INR performance. Extremely accurate orbital position is achieved by GPS navigation at Geosynchronous Earth Orbit (GEO). On-orbit performance results are shown demonstrating compliance with the stringent orbit position accuracy requirements of GOES-R, including during station keeping activities and momentum desaturation events. As we show in this paper, the on-orbit performance of the GNC design provides the necessary capabilities to achieve GOES-R mission objectives.

Chapel, Jim↗