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NASA NTRS2025

South Pole Lunar Lighting Studies for Driving Exploration on the Lunar Surface

NASA’s Artemis lunar missions will face new exploration challenges due to inherently low sun angles in the lunar south pole region. Whereas the Apollo missions were afforded sunlight for approximately 8 to 50-degrees above the horizon, sunlight for the next lunar missions will only be 1 to 2-degrees about the horizon. With this low angle, long shadows and high contrasts of light and dark areas will be faced by the crew and remote teleop operators while exploring the lunar surface. With this in mind, NASA developed an integrated virtual Lighting and Navigation Simulation to understand these challenges. Two studies have been conducted in this Lunar South Pole environment to evaluate the effects of natural and artificial lighting on driving and navigating a lunar rover across the surface. Early NASA studies, such as this, are used to aid in developing techniques and explore concepts of operations to promote mission success and crew safety. In the Phase One development evaluation, six astronauts were teleported to ten different lighting conditions. For each location, drivers were to drive to an imaginary target approximately 200-meters straight ahead and provide subjective feedback on their ability to drive under the given lighting conditions. Phase Two, a more operational study, four astronauts and a remote operator tested five different Artemis lunar mission scenarios. Results indicated sun direction at such low angles, especially when driving a high speed, can severely impact the crew’s ability to safely drive the rover. In the up-sun situation, with the sun directly in the driver’s eyes and compounded long shadows, the consistent preference among drivers was to initiate a tacking strategy of approximately +/- 20 to 30-degrees to improve visibility. This maneuver does require more time and rover energetics. Conversely, driving down-sun required the crew to tack as well to avoid the shadow of rover blocking the terrain. Less appreciated is how the surrounding landscape is lit. Traveling into shadowed areas, especially while facing a lit terrain beyond the shadowed area, drivers enter at their own risk due to pupil contraction making artificial lights useless. Additionally, the constant transitioning between dark and light areas are mentally taxing to the crew and natural navigational references such as the stars are invisible and therefore unusable. Slope and depth magnitude are very difficult hazards to judge when approaching a shadowed crater. This naturally leads to slower driving speeds than originally anticipated. As for observing scientifically interesting features, assessing them accurately varies greatly by the lighting condition. In most cases, the task can be completed, but the strategy is to use the sun to one’s advantage. Crew workload distribution in the cockpit for driving operations was split amongst crew. The driver primarily focused attention on visual terrain (80%) but referenced displays approximately 20% of the time, while the co-pilot/navigator generally provided directional cues to the driver. These natural lighting conditions present significant challenges for safe rover operations; however, early studies having given investigators a “first-look” into understanding of how operating on the South Lunar Pole can be accomplished.

LTv↗
NASA NTRS2014

Assessment of the Pseudo Geostationary Lightning Mapper Products at the Spring Program and Summer Experiment

Since 2010, the de facto Geostationary Lightning Mapper (GLM) demonstration product has been the Pseudo‐Geostationary Lightning Mapper (PGLM) product suite. Originally prepared for the Hazardous Weather Testbed's Spring Program (specifically the Experimental Warning Program) when only four ground‐based lightning mapping arrays were available, the effort now spans collaborations with several institutions and eight collaborative networks. For 2013, NASA's Short‐term Prediction Research and Transition (SPoRT) Center and NOAA's National Severe Storms Laboratory have worked to collaborate with each network to obtain data in real‐time. This has gone into producing the SPoRT variant of the PGLM that was demonstrated in AWIPS II for the 2013 Spring Program. Alongside the PGLM products, the SPoRT / Meteorological Development Laboratory's total lightning tracking tool also was evaluated to assess not just another visualization of future GLM data but how to best extract more information while in the operational environment. Specifically, this tool addressed the leading request by forecasters during evaluations; provide a time series trend of total lightning in real‐time. In addition to the Spring Program, SPoRT is providing the PGLM "mosaic" to the Aviation Weather Center (AWC) and Storm Prediction Center. This is the same as what is used at the Hazardous Weather Testbed, but combines all available networks into one display for use at the national centers. This year, the mosaic was evaluated during the AWC's Summer Experiment. An important distinction between this and the Spring Program is that the Summer Experiment focuses on the national center perspective and not at the local forecast office level. Specifically, the Summer Experiment focuses on aviation needs and concerns and brings together operational forecaster, developers, and FAA representatives. This presentation will focus on the evaluation of SPoRT's pseudo‐GLM products in these separate test beds. The emphasis will be on how future GLM observations can support operations at both the local and national scale and how the PGLM was used in combination with other lightning data sets. Evaluations for the PGLM were quite favorable with forecasters appreciating the high temporal resolution, the ability to look for rapid increases in lightning activity ahead of severe weather, as well as situational awareness for where convection is firing and for flight routing.

Stano, Geoffrey T.↗
NASA NTRS2002

New Method Developed to Measure Contact Angles of a Sessile Drop

The spreading of an evaporating liquid on a solid surface occurs in many practical processes and is of importance in a number of practical situations such as painting, textile dyeing, coating, gluing, and thermal engineering. Typical processes involving heat transfer where the contact angle plays an important role are film cooling, boiling, and the heat transfer through heat pipes. The biological phenomenon of cell spreading also is analogous to a drop spreading (ref. 1). In the study of spreading, the dynamic contact angle describes the interfacial properties on solid substrates and, therefore, has been studied by physicists and fluid mechanics investigators. The dynamic contact angle of a spreading nonvolatile liquid drop provides a simple tool in the study of the free-boundary problem, but the study of the spreading of a volatile liquid drop is of more practical interest because the evaporation of common liquids is inevitable in practical processes. The most common method to measure the contact angle, the contact radius, and the height of a sessile drop on a solid surface is to view the drop from its edge through an optical microscope. However, this method gives only local information in the view direction. Zhang and Yang (ref. 2) developed a laser shadowgraphy method to investigate the evaporation of sessile drop on a glass plate. As described here, Zhang and Chao (refs. 3 and 4) improved the method and suggested a new optical arrangement to measure the dynamic contact angle and the instant evaporation rate of a sessile drop with much higher accuracy (less than 1 percent). With this method, any fluid motion in the evaporating drop can be visualized through shadowgraphy without using a tracer, which often affects the field under investigation.

Chao, David F.↗
NASA NTRS2006

Multiuser Collaboration with Networked Mobile Devices

In this paper we describe a multiuser collaboration infrastructure that enables multiple mission scientists to remotely and collaboratively interact with visualization and planning software, using wireless networked personal digital assistants(PDAs) and other mobile devices. During ground operations of planetary rover and lander missions, scientists need to meet daily to review downlinked data and plan science activities. For example, scientists use the Science Activity Planner (SAP) in the Mars Exploration Rover (MER) mission to visualize downlinked data and plan rover activities during the science meetings [1]. Computer displays are projected onto large screens in the meeting room to enable the scientists to view and discuss downlinked images and data displayed by SAP and other software applications. However, only one person can interact with the software applications because input to the computer is limited to a single mouse and keyboard. As a result, the scientists have to verbally express their intentions, such as selecting a target at a particular location on the Mars terrain image, to that person in order to interact with the applications. This constrains communication and limits the returns of science planning. Furthermore, ground operations for Mars missions are fundamentally constrained by the short turnaround time for science and engineering teams to process and analyze data, plan the next uplink, generate command sequences, and transmit the uplink to the vehicle [2]. Therefore, improving ground operations is crucial to the success of Mars missions. The multiuser collaboration infrastructure enables users to control software applications remotely and collaboratively using mobile devices. The infrastructure includes (1) human-computer interaction techniques to provide natural, fast, and accurate inputs, (2) a communications protocol to ensure reliable and efficient coordination of the input devices and host computers, (3) an application-independent middleware that maintains the states, sessions, and interactions of individual users of the software applications, (4) an application programming interface to enable tight integration of applications and the middleware. The infrastructure is able to support any software applications running under the Windows or Unix platforms. The resulting technologies not only are applicable to NASA mission operations, but also useful in other situations such as design reviews, brainstorming sessions, and business meetings, as they can benefit from having the participants concurrently interact with the software applications (e.g., presentation applications and CAD design tools) to illustrate their ideas and provide inputs.

ground operations↗
NASA NTRS2006

High-Resolution Analysis Products to Support Severe Weather and Cloud-to-Ground Lightning Threat Assessments over Florida

The Applied Meteorology Unit (AMU) located at the Kennedy Space Center (KSC)/Cape Canaveral Air Force Station (CCAFS) implemented an operational configuration of the Advanced Regional Prediction System (ARPS) Data Analysis System (ADAS), as well as the ARPS numerical weather prediction (NWP) model. Operational, high-resolution ADAS analyses have been produced from this configuration at the National Weather Service in Melbourne, FL (NWS MLB) and the Spaceflight Meteorology Group (SMG) over the past several years. Since that time, ADAS fields have become an integral part of forecast operations at both NWS MLB and SMG. To continue providing additional utility, the AMU has been tasked to implement visualization products to assess the potential for supercell thunderstorms and significant tornadoes, and to improve assessments of short-term cloud-to-ground (CG) lightning potential. This paper and presentation focuses on the visualization products developed by the AMU for the operational high-resolution ADAS and AR.PS at the NWS MLB and SMG. The two severe weather threat graphics implemented within ADAS/ARPS are the Supercell Composite Parameter (SCP) and Significant Tornado Parameter (SIP). The SCP was designed to identify areas with supercell thunderstorm potential through a combination of several instability and shear parameters. The SIP was designed to identify areas that favor supercells producing significant tornadoes (F2 or greater intensity) versus non-tornadic supercells. Both indices were developed by the NOAAINWS Storm Prediction Center (SPC) and were normalized by key threshold values based on previous studies. The indices apply only to discrete storms, not other convective modes. In a post-analysis mode, the AMU calculated SCP and SIP for graphical output using an ADAS configuration similar to the operational set-ups at NWS MLB and SMG. Graphical images from ADAS were generated every 15 minutes for 13 August 2004, the day that Hurricane Charley approached and made landfall on the Florida peninsula. Several tornadoes struck the interior of the Florida peninsula in advance of Hurricane Charley's landfall during the daylight hours of 13 August. Since SPC had previously examined this case using SCP and SIP graphics generated from output of the Rapid Update Cycle (RUC) model, this day served as a good benchmark to compare and validate the high-resolution ADAS graphics against the smoother RUC analyses, which serves as background fields to the ADAS analyses. The ADAS-generated SCP and STP graphics have been integrated into the suite of products examined operationally by NWS MLB forecasters and are used to provide additional guidance for assessment of the near-storm environment during convective situations.

Case, Jonathan↗
NASA NTRS2004

Development of Biomorphic Flyers

Biomorphic flyers have recently been demonstrated that utilize the approach described earlier in "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), NASA Tech Briefs, Vol. 27, No. 5 (May 2003), page 54, to distill the principles found in successful, nature-tested mechanisms of flight control. Two types of flyers are being built, corresponding to the imaging and shepherding flyers for a biomorphic mission described earlier in "Cooperative Lander- Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), NASA Tech Briefs, Vol. 28, No. 5 (May 2004), page 36. The common features of these two types of flyers are that both are delta-wing airplanes incorporating bio-inspired capabilities of control, navigation, and visual search for exploration. The delta-wing design is robust to approx.40 G axial load and offers ease of stowing and packaging. The prototype that we have built recently is shown in the figure. Such levels of miniaturization and autonomous navigation are essential to enable biomorphic microflyers (<1 kg) that can be deployed in large numbers for distributed measurements and exploration of difficult terrain while avoiding hazards. Individual bio-inspired sensors that will be incorporated in a biomorphic flyer have been demonstrated recently. These sensors include a robust, lightweight (~6 g), and low-power (~40 mW) horizon sensor for flight stabilization. It integrates successfully the principles of the dragonfly ocelli. The ocelli are small eyes on the dorsal and forward regions of the heads of many insects. The ocelli are distinct from the compound eyes that are most commonly associated with insect vision. In many insects, the ocelli are little more than single-point detectors of short-wavelength light and behavioral responses to ocelli stimuli are hard to observe. The notable exception is found in dragonflies, where flight control is notably degraded by any interference with the ocellar system. Our team has discovered recently that the ocelli are a dedicated horizon sensor, with substantial optical processing and multiple spectral sensitivity. To our knowledge, this is the world s first demonstrated use of a "biomorphic ocellus" as a flight-stabilization system. The advantage of the ocelli over a similarly sized system of rate gyroscopes is that both attitude control and rate damping can be realized in one device. A full inertial unit and significant processing would otherwise be required to achieve the same effect. As a prelude to full autonomy, substantial stability augmentation is provided to the pilot at very low cost in terms of space, power, and mass. The sensor is about 40 times lighter than a comparable inertial attitude reference system. Other significant features of the biomorphic flyer shown in the figure include its ability to fly at high angles of attack ~30 and a deep wing chord which allows scaling to small size and low Reynold s number situations. Furthermore, the placement of the propulsion system near the center of gravity allows continued control authority at low speeds. These attributes make such biomorphic flyers uniquely suited to planetary and terrestrial exploration where small size and autonomous airborne operation are required.

Thakoor, Sarita↗
NASA NTRS2019

Orbital Debris Ontology, Terminology, and Knowledge Modeling

The looming threat orbital debris poses to assets in orbit demands solutions. As the orbital population grows, so does this hazard, but so does the sea of data. The problem is also an opportunity for interdisciplinary innovation and cooperation. This paper focuses on the data and information management aspect of developing solutions for a sustainable and safe orbital space environment. The corresponding author’s in-progress work to develop an orbital debris domain ontology is summarized in order to discuss knowledge modeling for this domain. Methodological approaches of this effort can also contribute to standards efforts and address terminological and policy questions. Leveraging the growing volumes of orbital debris and space situational awareness (SSA) data will create a more complete picture of the orbital space environment. Part of the solution will be: consistent and correct data interpretation, sharing orbital debris and SSA data in one form or another, terminology development & harmonization, and knowledge or domain modeling. To facilitate this, [Rovetto, 2015/16] discussed ontology development for the orbital debris domain. This paper lists concepts from that paper, and subsequently developed concepts [2-9]. Ontology engineering is an interdisciplinary field related to knowledge representation and reasoning in artificial intelligence, semantic technologies and the so-called semantic web. An ontology is effectively a computable and semantically rich terminology that presents a knowledge or domain model for a topic area. Expressions of knowledge or assertions are stored using formally defined term. This knowledge base is reasoned over to yield answers to queries, among other things. Ontologies have been developed in knowledge-based projects across various disciplines, and used for such things as search engines, chatbots, enterprise knowledge graphs, etc. Ontologies support: interoperability, automated reasoning, data sharing and integration, data search and retrieval, and communicating the meaning of data. The Orbital Debris Ontology (ODO), and related ontologies [Rovetto & Kelso 2016] [Rovetto 2016, 2017], were proposed to help achieve this. ODO, for instance, is intended as a domain ontology that can be used across federated databases, offering an explicitly specified set of concepts describing the orbital debris domain. Its meaning-rich taxonomy will provide a sharable semantics for orbital debris data to, in part, consistently communicate the meaning of data to both humans and machines, and tag data elements in space object catalogs to help afford inference tasks, decision support, knowledge discovery, and information integration. ODO and the SSA ontology (SSAO) is part of the overall Orbital Space Domain Ontology concept, which is conceived as a broader domain reference ontology. It aims to provide a knowledge representation structure of the orbital space environment, a common semantic model, and develop a sharable terminology. Collectively this will provide common meaning for datasets, a high-level taxonomy or classification for orbital space objects, and thus means to characterize space objects. Ongoing efforts have included using visualizations, R, JSON-LD, and contemporary semantic technologies. Potential applications and interdisciplinary partnerships include web-based platforms, web apps, visualizations, and academia projects. Community input and participation may yield a more widely understood domain model as well as facilitate terminological standards. For example, the proposed conceptual, terminological and ontological analysis may contribute to such efforts as the Space Debris Mitigation Requirements in the International Standards Organization by developing more precise, consistent and coherent terms and definitions. Projects that seek to develop in-house ontologies can use ODO and related ontologies as domain reference ontologies. This paper was developed independent of author affiliations. Readers are encouraged to contact corresponding author(1) with general interest and potential opportunities to support or realize the described project.

Robert J. Rovetto↗
NASA NTRS1999

"Dust Devils": Gardening Agents on the Surface of Mars, and Hidden Hazards to Human Exploration?

Dust devils are familiar sites in the and regions of the world: they can produce quite spectacular displays of dust lofting when the vortices scavenge very loose dust from a dry lake bed or from recently disturbed agricultural fields. If one were to arrive at the center of an arid region, take one photograph, or even a series of photographs over a period of several days, then return the images for laboratory analysis, it would be most likely concluded that the region was inactive from an aeolian perspective. No images of general dust movement were obtained, nor were any dust devils "caught on camera" owing to their ephemeral and unpredictable appearance, and the fact that there was deceptively little residue of their actions. If, however, a camera were to take a 360 degree continuous recording over a period of a year, and the film were then to be shown at high speed over a period a several minutes, the impression might be that of a region ravaged by air vorticity and dust movement. Extrapolate this over geological time, and it is possible to visualize dust devils as prime aeolian agents, rather than insignificant vagaries of nature, On Mars, the thin atmosphere permits the surface of the planet to be heated but it does not itself retain heat with the capacity of the earth's atmosphere. This gives rise to greater thermal instability near the surface of Mars as "warm" air pockets diapiritically inject themselves into higher atmospheric layers. Resulting boundary-layer vorticity on Mars might therefore be expected to produce dust devils in abundance, if only seasonally. The spectacular images of dust devils obtained by Pathfinder within its brief functional period on the planet testify to the probability of highly frequent surface vorticity in light of the above reasoning about observational probability. Notably, the Pathfinder devils appeared to be at least a kilometer in height. There are several consequences for the geology of Mars, and for human exploration, if dust devils are to be expected in reasonable abundance. First, from a geological perspective, the vortices will act as "gardening" agents for the top few centimeters of entrainable material. Over time (hundreds of millions, or billions of years being available), they will cover the surface with scouring paths, and the grain sizes that can be lofted by a vortex probably extends over the whole sand to dust range. The depositional paths are, of course, much larger, so that vortex-induced deposition is more widespread than vortex-induced erosion, and will without doubt, affect the whole region in which the dust devils occur (this might explain why rocks at the Viking site seemed oddly capped with dust in a region apparently subject to general aeolian scouring). On Mars, the lift forces in dust devils might be less than on earth owing to the much thinner atmosphere, but this may be counterbalanced by lower gravity and greater vortex velocities. Certainly, when active, other aeolian phenomena on Mars --sand motion and dust storms, seem no less energetic and no less capable of lofting sediments than equivalent terrestrial aeolian phenomena. Every several years, within the current climatic regime, the surface of Mars is subject to light dust fall from global dust storms. Over time, this should develop a very uniform surface layer, with commensurate uniformity in grain size, mineralogy, albedo, color, and general spectroscopic properties. Dust devils will disturb this situation by continually mixing the surface dust with underlying layers, perhaps composed of silt and sand. This size mixing will also involve compositional mixing. After some years, the thin layer of dust that may be difficult to entrain alone, becomes progressively mixed with coarser materials that could reduce the general aeolian threshold of the soil. Certainly the continual disturbance by vorticity will prevent surface stabilization that may bind or indurate grains (caused by slow cementation or ice welding at grain boundaries). If dust devils continually loft dust to kilometer heights, and the dust is sprayed into many cubic kilometers of atmosphere each time, could the devils produce a continual background of atmospheric dust that might be mistaken for the fallout of a distant large-scale dust storm? From a human exploration perspective, dust devils are unlikely to pose any, life- threatening situation for an astronaut unfortunate enough to encounter a momentary swirling cloud of loose soil. However, it is noted that pervasive dust is probably one of the greatest long-term hazards for a human encampment. The fineness and penetration capabilities of the dust, its electrostatic adhesive properties, and its complete ubiquity, render the material a persistent nuisance at best, but at worst, over a period of many months it is possible that space suits, machinery, habitat interiors, air filters, and so forth, could become jeopardized. Owing to dust penetration, the space suits used in the Apollo landings were rendered unusable after a few EVA activities. There will be a definite attempt to situate a human colony on Mars in an area that is far removed from the regions of the planet known for being the centers of major dust storms. At the heart of these storm systems, the dust lofting mechanics are unknown, but they are energetic and perhaps potentially life-threatening for an astronaut. Locating a colony in a region that appears from space to be meteorologically benign may lead to colony placement in a region prone to dust devils, but dust devils are not (or have not been) detectable from orbital observations: the region surveyed for placement will appear like the apparently inactive and area referred to earlier. The region may be spared from highly energetic weather systems, but it may not be necessarily immune from continual dust disturbance. Additional information is contained in the original.

Marshall, J.↗
NASA NTRS2015

Python-Based Scientific Analysis and Visualization of Precipitation Systems at NASA Marshall Space Flight Center

At NASA Marshall Space Flight Center (MSFC), Python is used several different ways to analyze and visualize precipitating weather systems. A number of different Python‐based software packages have been developed, which are available to the larger scientific community. The approach in all these packages is to utilize pre‐existing Python modules as well as to be object‐oriented and scalable. The first package that will be described and demonstrated is the Python Advanced Microwave Precipitation Radiometer (AMPR) Data Toolkit, or PyAMPR for short. PyAMPR reads geolocated brightness temperature data from any flight of the AMPR airborne instrument over its 25‐year history into a common data structure suitable for user‐defined analyses. It features rapid, simplified (i.e., one line of code) production of quick‐look imagery, including Google Earth overlays, swath plots of individual channels, and strip charts showing multiple channels at once. These plotting routines are also capable of significant customization for detailed, publication‐ready figures. Deconvolution of the polarization‐varying channels to static horizontally and vertically polarized scenes is also available. Examples will be given of PyAMPR's contribution toward real‐time AMPR data display during the Integrated Precipitation and Hydrology Experiment (IPHEx), which took place in the Carolinas during May‐June 2014. The second software package is the Marshall Multi‐Radar/Multi‐Sensor (MRMS) Mosaic Python Toolkit, or MMM‐Py for short. MMM‐Py was designed to read, analyze, and display three‐dimensional national mosaicked reflectivity data produced by the NOAA National Severe Storms Laboratory (NSSL). MMM‐Py can read MRMS mosaics from either their unique binary format or their converted NetCDF format. It can also read and properly interpret the current mosaic design (4 regional tiles) as well as mosaics produced prior to late July 2013 (8 tiles). MMM‐Py can easily stitch multiple tiles together to provide a larger regional or national picture of precipitating weather systems. Composites, horizontal and vertical crosssections, and combinations thereof are easily displayed using as little as one line of code. MMM‐Py can also write to the native MRMS binary format, and sub‐sectioning of tiles (or multiple stitched tiles) is anticipated to be in place by the time of this meeting. Thus, MMM‐Py also can be used to power the creation of custom mosaics for targeted regional studies. Overlays of other data (e.g., lightning observations) are easily accomplished. Demonstrations of MMM‐Py, including the creation of animations, will be shown. Finally, Marshall has done significant work to interface Python‐based analysis routines with the U.S. Department of Energy's Py‐ART software package for radar data ingest, processing, and analysis. One example of this is the Python Turbulence Detection Algorithm (PyTDA), an MSFC‐based implementation of the National Center for Atmospheric Research (NCAR) Turbulence Detection Algorithm (NTDA) for the purposes of convective‐scale analysis, situational awareness, and forensic meteorology. PyTDA exploits Py‐ART's radar data ingest routines and data model to rapidly produce aviation‐relevant turbulence estimates from Doppler radar data. Work toward processing speed optimization and better integration within the Py‐ART framework will be highlighted. Python‐based analysis within the Py‐ART framework is also being done for new research related to intercomparison of ground‐based radar data with satellite estimates of ocean winds, as well as research on the electrification of pyrocumulus clouds.

Lang, Timothy J.↗