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NASA NTRS2020

X-HAB 2020: AR Field Treks Summary and Conclusions

As part of the FY20 X-Hab Challenge, BLiSS sought to create an Augmented Reality (AR) toolkit to help with analog field trek operations under the supervision of the Solar System Exploration Research Virtual Institute (SSERVI). These treks are operational and technical demonstrations at space-like destinations on Earth to test current extra-vehicular activity (EVA) techniques. While BLiSS as an organization has experience studying operational tasks such as this, it has never developed AR software at this scale. For that reason, another team at the University was brought on to work in parallel. The Collaborative Lab for Advancing Work in Space (CLAWS) is a veteran group of the NASA Spacesuit User Interface Technologies for Students (SUITS) challenge in which Hololens displays for astronauts are created within a year. The operational and technological pairing was ideally suited for tackling this problem. The team divided its responsibilities so that BLiSS would handle the research required to shape the project. As this deliverable had an end user, it was decided that interviewing these field geologists and operations specialists would provide the best insight. These interviews paired with literature review would reveal niche applications for AR that remained within feasible bounds. These science-driven EVAs in unknown terrain require more flexible tools than the current generation of EVA assistants. Rather than focus on sequential instructions, there instead needs to be a broad toolkit that's only called upon in specific instances. This AR Toolkit for Lunar Astronauts and Scientists (ATLAS) became the development goal of the project: create a non-intrusive assembly of tools that could be accessed in AR on the field. The current ATLAS design makes use of a geospatially and temporally annotated eld note system called GeoNotes. This allows for data to be collected and coordinated in a way that's synchronized across time, space, and different users. A Mission Control Center (MCC) and Mobile Support Equipment (MSE) were all needed to transport the AR headset into the field with the user. A network infrastructure was designed and set up within the University to enable this functionality. The software is based on a Protocol-Module structure that allows for modular development of each capability. A Protocol Manager coordinates different protocols that make use of modules. Each module tackles a different individual task while the protocol puts each one to use. The protocol manager coordinates when these are called to be used. This software is hosted on a head-mounted display (HMD) with the MCC acting as support from afar. While the software would be unit-tested at each level and each hardware component verified, a final demonstration would serve to prove the system's capabilities: an analog field trek. The team would prepare to support a user in a remote location from the MCC back at the University. A local area near campus would be tested before going out to do sample field geology further away. This unfortunately became impossible with the arrival of COVID-19. Access to all of the facilities to complete the project as planned were shut down. Our team was scattered across the globe and forced to complete the rest virtually. Adjustments were made to produce a small virtual concept in Adobe XD in the meantime. Even digital surveys were created based on the NASA task-load index (TLX) originally intended for testing actual users. The goal shifted towards completing software and getting feedback on the user interfaces (UI) and user experiences (UX). This team has reformed in response to COVID and its focus has shifted to what can be done remotely. There is still an intention to finish the original deliverable described in this report. The work has been expanded beyond the original X-Hab challenge and has instead become its own research e ort to be continued afterwards. This report collects the processes and knowledge gained from a year of studying and working at this problem with two teams. It should preserve it for the time until the world returns to normal and work can resume. CLAWS will be taking over full responsibility from that point forward, eventually surpassing the original needs of the project. While this document captures the work done towards an eventual end, the CLAWS team has written their own proposal alongside it. It outlines a new future for ATLAS beyond X-Hab, BLiSS, and hopefully beyond COVID-19. This project began as a vague goal hoping to place a new technology into the unique setting of exploration science. The project has since comfortably taken root and will hopefully bloom over the next year.

Alex Sena↗
NASA NTRS1976

Missile impact craters (White Sands Missile Range, New Mexico) and applications to lunar research: Contributions to astrogeology

Craters in natural materials at White Sands Missile Range, N. Mex., were produced by the impact of high-velocity to hypervelocity missiles traveling along oblique trajectories with kinetic energies between 2.1 and 81 × 1014 ergs. The oblique impacts produce craters 2 to 10 m across with morphologies and ejecta that are bilaterally symmetrical with respect to the plane of the missile trajectory. Rims are high and the amount of ejecta large in down-trajectory and lateral directions, whereas rims are low to nonexistent and ejecta thin to absent up-trajectory. Symmetry development and modifications of the symmetry are a function of target material, local topography, and angle of impact. Seven mappable units can be recognized in and around the craters. Three of these are ejecta: thick ejecta near the crater, thin to discontinuous ejecta at greater distances, and scattered ejecta at the greatest distances to the limit of throwout. These ejecta units may be absent on the up-trajectory side; if present, they are rarely as thick or continuous as on other sides of the crater. Three units are target materials: undeformed target material exposed in local patches through thin to discontinuous ejecta and everywhere between the fragments of scattered ejecta, tilted and broken target material exposed in upper crater walls, and shattered and fractured target material exposed on the up-trajectory crater wall. The seventh unit is slope material composed of talus and fallback within the crater. Development, character, and exposure of these units varies chiefly with the target material. Ejecta from the craters is chiefly broken but relatively undeformed target material that may range in size from very fine grained debris to large blocks. Where the target is porous, significant amounts of the ejecta are composed of sheared and compressed fragments, some coated with dark layers of mixed projectile pieces, powder, and fused metal mixed with crushed target material. For layered targets, the original stratigraphic sequence is crudely preserved and in inverted order in thick ejecta. Secondary impact craters are produced by the impact of ejected fragments when the surrounding surface materials are sufficiently weak. A wide variety of secondary impact crater relations may result. Secondary craters nearest the primary crater have blocks in them that are larger than or the same size as the crater they produced. Farther from the primary crater, the fragments are generally smaller than the secondary crater and are ejected from it. Excavation of four craters revealed a mixed breccia beneath the crater floor composed of missile pieces, sheared and compressed target material, and crushed debris. Banded, disaggregated target material and nonmixed breccia surrounded the mixed breccia, and these breccias were surrounded by a zone of conjugate fractures. Beneath the ejecta on the lateral and down-trajectory crater flanks, the target materials were tilted upward and broken. Up-trajectory, open fractures and downward displacement occurred in two of the craters. No displacement was observed for the other two. Beneath the down-trajectory rims of craters with distinct layering, overturned synclines were observed. Missile breakup and behavior during cratering are a function of target and missile properties. Missile breakup depends on missile velocity and is most extensive at high velocities, where the missile is fragmented, powdered, and partly fused. Burial of missile or its fragmented, powdered, and fused remains is greatest for porous targets and least for dense cohesive targets. For very porous targets, camouflet structures containing the fragmented missile may form. Least squares fit to the data on craters in dry to moist targets indicate V(a) = 10^(-11.433)E(p)^(1.205) where V(a) is the volume of the apparent crater and E(p) is the kinetic energy of the missile. This equation is consistent with expectations of the equations relating apparent depth and radius to kinetic energy. Extrapolation of displaced masses and kinetic energies for laboratory impacts with sand and rock converge near 10^(15) to 10^(16) ergs, where the extrapolations are near the data on missile impact craters, corrected for impact angle. Displaced masses of craters produced by missile impacts and by chemical explosives with small scaled depths of burial are about the same when the kinetic energies of the missiles (corrected for angle of impact) are equal to the TNT equivalent energy of the explosive. The problem of equivalent scaled depth of burst for an impact crater is complicated and not entirely resolved, however. Both missile impact craters and chemical explosive craters in water-saturated targets are larger than their counterparts in dry to moist materials. Data collected during the study of missile impact craters have helped resolve a number of problems in lunar research: (1) the soillike nature of lunar surface materials was predicted, (2) sizes of craters produced by artificial impacts were correctly predicted, (3) certain features imaged by Surveyor were found to be analogous to features associated with missile impact craters, {4) missile impacts were used in support of the Apollo passive seismic experiment, (5) craters seen in Apollo orbital photographs were found to be similar to some missile impact craters, (6) missile impact craters supplied data on sample collection and crater phenomenology used in training astronauts, and (7) some returned lunar samples are similar to coated, sheared, and compressed fragments ejected from missile impact craters.

H. J. Moore↗
NASA NTRS1999

Global Geochemical Variation on the Lunar Surface: A Three-Element Approach

We present a method for displaying the relative abundances of three important elements (Th, Fe, and Ti) on the same map projection of the lunar surface. Using Th-, Fe-, and Ti-elemental abundances from orbital geochemical data and assigning each element a primary color, a false-color map of the lunar surface was created. This approach is similar to the ternary diagram approach presented by Davis and Spudis with some important differences, discussed later. For the present maps, Th abundances were measured by the Lunar Prospector (LP) Gamma-Ray Spectrometer(GRS).The new LPGRS low-altitude dataset was used in this analysis. Iron and Ti weight percentages were based on Clementine spectral reflectance data smoothed to the LP low altitude footprint. This method of presentation was designed to aid in the location and recognition of three principal lunar compositions: ferroan anorthosite (FAN), mare basalts (MB), and the Mg suite/ KREEP-rich rocks on the lunar surface, with special emphasis on the highlands and specific impact basins. In addition to the recognition of these endmember rock compositions, this method is an attempt to examine the relationship between elemental compositions that do not conform readily to previously accepted or observed endmember rocks in various specific regions of interest, including eastern highlands regions centered on 150 deg longitude, and a northern highlands Th-rich region observed. The LP low-altitude data has full width at half-maximum spatial resolution of about 40 km. The Clementine spectral reflectance datasets were adapted using an equal-area, gaussian smoothing routine to this footprint. In addition, these datasets, reported in weight percent of FeO and of Ti02, were adjusted to Fe and Ti weight percentages. Each dataset was then assigned one of the three primary colors: blue for Th, red for Fe, and green for Ti. For each element, the data range was normalized to represent the ratio of each point to the maximum in the dataset. (To view the color table, go to http://cass.jsc.nasa.gov/meetings/moon99/pdf/8033.pdf.) The full range of lunar longitudes is represented, but due to the lack of coverage of the Clementine data for latitudes > 70 deg and <-70 deg, the data for these regions is excluded. The differences between this approach and the ternary diagram approach of Davis and Spudis eliminate some of the uncertainty and ambiguity of the ternary diagram approach. Rather than using a ratio of Th to Ti normalized to CI chondritic ratios, and a ternary diagram with ternary apexes located at specific endmember compositional values, elemental compositions were used independently, eliminating the errors resulting from dividing numbers that can have high uncertainties, especially at low concentration. The three elements used in this method of presentation were chosen for several reasons. One reason for the inclusion of Th in this study is that it is an accurate indicator of KREEP. Iron and Ti concentrations are both low in highland regolith, causing any small fluctuations in Th to stand out very well. In addition, Fe and Ti are good compositional indicators of different mare basalts. Mixed with red for Fe, the green for Ti produces a yellow signal in high-Ti basalts. While universally high in Fe relative to the surrounding highlands, mare basalts have a diverse range of Ti values, making Ti concentration a valuable asset to the classification and identification of different basalt types. Finally, an important constraint in element selection is the availability of the global data, both from LP and Clementine results. Data for Th, Fe, and Ti are among the highest quality of existing lunar remote-sensing data. In addition, LP data for Fe and Ti will become available, enabling these data to be incorporated into the analysis. Using upper-limit values for end member rock compositions calculated from Korotev et al., attempts were made to locate the different endmember compositions of terranes on this diagram. Most strikingly, ferroan anorthosite (Th < and = 0.37 micro g/g; Fe (wt%)< and =2.29; Ti (wt%) < and = 0.22), which should appear as an almost black, reddish color, does not appear on the diagram at any noticeable frequency. Based on this analysis, the suggestion of extensive FAN regions on the lunar surface is not strong, especially at the presently accepted values for Fe and Th. However, to make sure this effect is not due to systematic errors, a thorough investigation of the precision, accuracy, and uncertainties of the Fe, Ti, and Th abundances needs to be carried out, especially at low concentrations. A particular region of interest is an area of high Th concentrations relative to Fe and Ti content north and east of Humboldtianum Crater. First observed by Lawrence et al., this region does not coincide with any visible impact structure and comprises one of the closest approximations to pure blue (high Th, very low Ti and Fe) on the lunar surface. Such an elemental composition does not lend itself readily to classification, and presents something of an anomaly. More detailed analysis of this region is needed to understand its structure and origin. There seems to be a longitudinal asymmetry in the Th concentrations of the highlands regolith. High-Th, low-Ti, and Fe regions are located between 135 deg and 180 deg longitude and between -30 deg and +30 deg latitude. While the Th levels are not high enough to attract attention in a single elemental display, the variation in the abundance of Th relative to Fe and Ti abundances can be clearly seen. The composition that these data suggest is not well represented in the sample return suite. In addition, these regions were largely missed by the Apollo orbital ground tracks, which only covered the outer edge of the areas of interest. The LP orbital Th data represent the first information about the Th concentrations in these regions of the highlands. Additional information contained in original.

Thomsen, D. R.↗