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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1998

Mars Rover Navigation Results Using Sun Sensor Heading Determination

Upcoming missions to the surface of Mars will use mobile robots to traverse long distances from the landing site. To prepare for these missions, the prototype rover, Rocky 7, has been tested in desert field trials conducted with a team of planetary scientists. While several new capabilities have been demonstrated, foremost among these was sun-sensor based traversal of natural terrain totaling a distance of one kilometer. This paper describes navigation results obtained in the field tests, where cross-track error was only 6% of distance traveled. Comparison with previous results of other planetary rover systems shows this to be a significant improvement.

Volpe, Richard↗
NASA NTRS2016

Enceladus Life Finder: the Search for Life in a Habitable Moon

Enceladus is one of the most intriguing bodies in the solar system. In addition to having one of the brightest and youngest surfaces, this small Saturnian moon was recently discovered to have a plume erupting from its south polar terrain and a global subsurface ocean. The Cassini Mission discovered organics and nitrogen-bearing molecules in the plume, as well as salts and silicates that strongly suggest ocean water in contact with a rocky core. However, Cassini's instruments lack sufficient resolution and mass range to determine if these organics are of biotic origin. The Enceladus Life Finder (ELF) is a Discovery-class mission that would use two state-of-the-art mass spectrometers to target the gas and grains of the plume and search for evidence of life in this alien ocean.

Saturn↗
NASA NTRS1987

Measurements of surface energy budgets in the rocky mountains of Colorado

The surface energy balance of a mountain valley and a mountain peak were continuously monitored for periods of 126 and 34 days, respectively. The data yielded temporally resolved, high-quality measurements of the radiative, soil, and total atmospheric turbulent heat fluxes. Comparative data for the two sites reveal the effects of terrain setting and surface cover in modulating the heat balance. A procedure is suggested for accommodating local advective affects due to variable terrain and surface cover to allow partitioning of the total turbulent flux into values for sensible and latent heat. This procedure relies on a stability-dependent coefficient of turbulent transfer which is locally calibrated to systematically minimize advection-related errors. Scaling functions for the transfer coeffient are based on the effective blackbody temperature of the surface. Consequently, the procedure offers an opportunity for developing reliable bulk representations of heat transfer at the surface for use with remote sensing data and with models of the soil and surface cover in complex terrain.

Sheaffer, John D.↗
DOE OSTI2023

Impact of Seasonal Snow-Cover Change on the Observed and Simulated State of the Atmospheric Boundary Layer in a High-Altitude Mountain Valley

The structure and evolution of the atmospheric boundary layer (ABL) under clear-sky fair weather conditions over mountainous terrain is dominated by the diurnal cycle of the surface energy balance and thus strongly depends on surface snow cover. We use data from three passive ground-based infrared spectrometers deployed in the East River Valley in Colorado's Rocky Mountains to investigate the response of the thermal ABL structure to changes in surface energy balance during the seasonal transition from low to high snow cover. Temperature profiles were retrieved from the infrared radiances using the optimal estimation physical retrieval Tropospheric Remotely Observed Profiling via Optimal Estimation. A nocturnal surface inversion formed in the valley during clear-sky days, which was subsequently mixed out during daytime with the development of a convective boundary layer when snow cover was low. Over high snow cover, a very shallow convective boundary layer formed, above which the inversion persisted through the daytime hours. We compare these observations to NOAA's operational High-Resolution-Rapid-Refresh model and find large warm biases on clear-sky days resulting from the model's inability to form strong nocturnal inversions and to maintain the stable stratification in the valley during daytime when there was snow on the ground. We suggest several factors contributing to the large model errors. These are (a) the inability of the model to represent well-developed thermally driven flows likely due to the too coarse horizontal grid spacing (3 km), (b) too much convective mixing during daytime, and (c) too strong vertical coupling between the valley atmosphere and the free troposphere.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1999

Autonomous Rock Tracking and Acquisition from a Mars Rover

Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth. In this paper we describe algorithms we developed for these tasks, and demonstrate them in field experiments using a self-contained Mars Rover prototype, the Rocky 7 rover. Our algorithms perform visual servoing on an elevation map instead of image features, because the latter are subject to abrupt scale changes during the approach. 'This allows us to compensate for the poor odometry that results from motion on loose terrain. We demonstrate the successful grasp of a 5 cm long rock over 1m away using 103-degree field-of-view stereo cameras, and placement of a flexible mast on a rock outcropping over 5m away using 43 degree FOV stereo cameras.

Maimone, Mark W.↗
DOE OSTI2020

Remote Sensing-Informed Zonation for Understanding Snow, Plant and Soil Moisture Dynamics within a Mountain Ecosystem

In the headwater catchments of the Rocky Mountains, plant productivity and its dynamics are largely dependent upon water availability, which is influenced by changing snowmelt dynamics associated with climate change. Understanding and quantifying the interactions between snow, plants and soil moisture is challenging, since these interactions are highly heterogeneous in mountainous terrain, particularly as they are influenced by microtopography within a hillslope. Recent advances in satellite remote sensing have created an opportunity for monitoring snow and plant dynamics at high spatiotemporal resolutions that can capture microtopographic effects. In this study, we investigate the relationships among topography, snowmelt, soil moisture and plant dynamics in the East River watershed, Crested Butte, Colorado, based on a time series of 3-meter resolution PlanetScope normalized difference vegetation index (NDVI) images. To make use of a large volume of high-resolution time-lapse images (17 images total), we use unsupervised machine learning methods to reduce the dimensionality of the time lapse images by identifying spatial zones that have characteristic NDVI time series. We hypothesize that each zone represents a set of similar snowmelt and plant dynamics that differ from other identified zones and that these zones are associated with key topographic features, plant species and soil moisture. We compare different distance measures (Ward and complete linkage) to understand the effects of their influence on the zonation map. Results show that the identified zones are associated with particular microtopographic features; highly productive zones are associated with low slopes and high topographic wetness index, in contrast with zones of low productivity, which are associated with high slopes and low topographic wetness index. The zones also correspond to particular plant species distributions; higher forb coverage is associated with zones characterized by higher peak productivity combined with rapid senescence in low moisture conditions, while higher sagebrush coverage is associated with low productivity and similar senescence patterns between high and low moisture conditions. In addition, soil moisture probe and sensor data confirm that each zone has a unique soil moisture distribution. This cluster-based analysis can tractably analyze high-resolution time-lapse images to examine plant-soil-snow interactions, guide sampling and sensor placements and identify areas likely vulnerable to ecological change in the future.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1986

Surface energy fluxes in complex terrain

The emphasis of the 1985 NASA project activity was on field measurements of wind data and heat balance data. Initiatives included a 19 station mountaintop monitoring program, testing and refining the surface flux monitoring systems and packing and shipping equipment to the People's Republic of China in preparation for the 1986 Tibet Experiment. Other work included more extensive analyses of the 1984 Gobi Desert and Rocky Mountain observations plus some preliminary analyses of the 1985 mountaintop network data. Details of our field efforts are summarized and results of our data analyses are presented.

Reiter, E. R.↗
NASA NTRS2017

The LEMUR 3 Limbed Climbing Robot

This paper introduces a new four-limbed robot, LEMUR 3, that has demonstrated climbing on cliff faces and smooth glass. Each limb on the robot consists of seven identical actuators in a serial chain. Each limb terminates in a single axis force sensor that allows various end effectors to be mounted and connected to the robot’s power and communication system. Microspine grippers were used for climbing the rocky surface and gecko adhesive grippers were used for the glass solar panels. All other hardware and much of the software was common for the two demonstrations. The robot’s mechanical, electrical, and software systems, various gripping devices, and field demonstrations are described. Limbed mobility is of interest to JPL and NASA because of its potential to access extreme terrain, including that on Mars and in microgravity environments.

Kennedy, Brett↗
NASA NTRS1993

Design and test of an object-oriented GIS to map plant species in the Southern Rockies

Elevational and latitudinal shifts occur in the flora of the Rocky Mountains due to long term climate change. In order to specify which species are successfully migrating with these changes, and which are not, an object-oriented, image-based geographic information system (GIS) is being created to animate evolving ecological regimes of temperature and precipitation. Research at the Earth Data Analysis Center (EDAC) is developing a landscape model that includes the spatial, spectral and temporal domains. It is designed to visualize migratory changes in the Rocky Mountain flora, and to specify future community compositions. The object-oriented database will eventually tag each of the nearly 6000 species with a unique hue, intensity, and saturation value, so their movements can be individually traced. An associated GIS includes environmental parameters that control the distribution of each species in the landscape, and satellite imagery is used to help visualize the terrain. Polygons for the GIS are delineated as landform facets that are static in ecological time. The model manages these facets as a triangular irregular net (TIN), and their analysis assesses the gradual progression of species as they migrate through the TIN. Using an appropriate climate change model, the goal will be to stop the modeling process to assess both the rate and direction of species' change and to specify the changing community composition of each landscape facet.

Morain, Stanley A.↗
NASA NTRS1982

An intense, quasi-steady thunderstorm over mountainous terrain. I - Evolution of the storm-initiating mesoscale circulation

The evolution of mesoscale systems that eventually lead to the formation of large quasi-steady storm systems is investigated. The morphological and turbulent structure of the quasi-steady storm is described. Data obtained during the South Park Area Cumulus Experiment from surface meteorological stations, rawinsondes and tethered balloons, conventional and Doppler radars, powered aircraft, and satellites, indicate that on July 19, 1977, a north-south oriented line of intense convective cells formed and remained within South Park. Elevated surface heating created a region of low-level convergence, importing Pacific moisture from west of the Rockies. The mesoscale thunderstorm line formed over this convergence zone, and a single large convective cell was observed to grow on the southern end of the mesoscale line, exhibiting supercell characteristics and substantial modifications of the environmental flow.

Cotton, W. R.↗
DOE OSTI2026

Wind Plant Flow Physics and Power Performance in Complex Environments: Cooperative Research and Development (Final Report)

Cornell University will partner with NLR on the topic of wind farm wake effects to improve understanding of interactions between complex atmospheric flows, terrain, and wind turbine wakes and plant efficiency. Wind plant flow simulation tools will also be validated. The work performed will help improve wind farm modeling by analyzing data, applying models, designing and performing experiments to acquire additional wind farm data, and develop better models.

17 WIND ENERGY↗
DOE OSTI2020

Impact of Lateral Groundwater Flow and Subsurface Lower Boundary Conditions on Atmospheric Boundary Layer Development over Complex Terrain

Credible soil moisture redistribution schemes are essential to meteorological models, as lower boundary moisture influences the balance of surface turbulent fluxes and atmospheric boundary layer (ABL) development. While land surface models (LSMs) have vastly improved in their hydrologic representation, several commonly held assumptions, such as free-draining lower boundary, one-dimensional moisture flux, and lack of groundwater representation, can bias the terrestrial water balance. This study explores the impact of LSM hydrology representation on ABL development in the Weather Research and Forecasting (WRF) meteorological model. The results of summertime WRF simulations with Noah LSM, characterized by 2-m-thick soil and one-dimensional flow, are shown for a domain in the Colorado Rocky Mountain headwaters region. A reference WRF simulation is compared to 1) the same model with soil moisture initialized by the hydrologic model ParFlow; 2) a deep, free-draining simulation; and 3) WRF coupled to ParFlow, a three-dimensional, integrated groundwater-surface water model. Results show that both lateral transport of groundwater and the rate of drainage from the lower soil layer can weaken or reverse the coupling strength between evaporative fraction and ABL over a 5-month summer period. The resulting shifts in low-level moist convection in river valleys and thermally driven airflows yield strengthened anabatic upslope winds and perturbations to regional precipitation.

Forrester, Mary M.↗
NASA NTRS1974

An interdisciplinary analysis of Colorado Rocky Mountain environments using ADP techniques

The author has identified the following significant results. Good ecological, classification accuracy (90-95%) can be achieved in areas of rugged relief on a regional basis for Level 1 cover types (coniferous forest, deciduous forest, grassland, cropland, bare rock and soil, and water) using computer-aided analysis techniques on ERTS/MSS data. Cost comparisons showed that a Level 1 cover type map and a table of areal estimates could be obtained for the 443,000 hectare San Juan Mt. test site for less than 0.1 cent per acre, whereas photointerpretation techniques would cost more than 0.4 cent per acre. Results of snow cover mapping have conclusively proven that the areal extent of snow in mountainous terrain can be rapidly and economically mapped by using ERTS/MSS data and computer-aided analysis techniques. A distinct relationship between elevation and time of freeze or thaw was observed, during mountain lake mapping. Basic lithologic units such as igneous, sedimentary, and unconsolidated rock materials were successfully identified. Geomorphic form, which is exhibited through spatial and textual data, can only be inferred from ERTS data. Data collection platform systems can be utilized to produce satisfactory data from extremely inaccessible locations that encounter very adverse weather conditions, as indicated by results obtained from a DCP located at 3,536 meters elevation that encountered minimum temperatures of -25.5 C and wind speeds of up to 40.9m/sec (91 mph), but which still performed very reliably.

Hoffer, R. M.↗
NASA NTRSDate not supplied

The LuNaMaps Project: Advancing Capabilities for Developing and Validating Digital Elevation Models of Rocky Surfaces from Orbital Data

Both navigation and surface science can benefit from the ability to generate high resolution and accurate maps of the surface of the Moon and other solar system bodies. The primary way these maps are generated is through the use of orbital imagery and ranging data. Traditionally, the process of using orbital imagery and ranging data is tedious and labor-intensive. Additionally, once maps have been built, there has generally been limited effort in developing standards by which to verify the accuracy and quality of the generated maps. The Lunar Navigation Maps (LuNaMaps) project is a NASA Game Changing Development (GCD) project which over the last 4 years has aimed to address these issues both for the Moon and for other rocky solar system bodies. This has been accomplished through development of new and existing capabilities including: a suite of methods and tools to combine all sources of orbital imagery; a benchmark data set as well as basic requirements for high-fidelity simulations of precision landing functions; tools to synthetically enhance map products with lander-scale features for use in the development and testing of hazard detection systems; methods and tools to evaluate the accuracy of developed digital elevation maps (DEMs) and their quality for use in terrain relative navigation scenarios; and tools to realistically render image and lidar data. In this work, we provide an overview of the capabilities developed through LuNaMaps, demonstrating its use for processing existing lunar data, and describing how it can be applied to other use cases. We additionally provide preliminary results showing the application of the developed tools and processes to the generation of elevation maps of the Lunar Surface Proving Grounds (LSPG) lunar analog at Astrobotic’s Mojave testing facility using “orbital imagery” captured by a drone. In this terrestrial demonstration, we have the benefit of being able to compare the results to a ground truth model of the LSPG. We finally describe plans to use the newly created maps in a terrestrial terrain relative navigation demonstration over the LSPG in early 2025.

optical navigation↗
DOE OSTI2024

Data from "A Bayesian Record Linkage Approach to Applications in Tree Demography Using Overlapping LiDAR Scans"

Processed LiDAR data and environmental covariates from 2015 and 2019 LiDAR scans in the Vicinity of Snodgrass Mountain (Western Colorado, USA), in a geographic subset used in primary analysis for the research paper.This package contains LiDAR-derived canopy height maps for 2015 and 2019, crown polygons derived from the height maps using a segmentation algorithm, and environmental covariates supporting the model of forest growth. Source datasets include August 2015 and August 2019 discrete-return LiDAR point clouds collected by Quantum Geospatial for terrain mapping purposes on behalf of the Colorado Hazard Mapping Program and the Colorado Water Conservation Board. Both datasets adhere to the USGS QL2 quality standard. The point cloud data were processed using the R package lidR to generate a canopy height model representing maximum vegetation height above the ground surface, using a pit-free algorithm.This dataset was compiled to assess how spatial patterns of tree growth in montane and subalpine forests are influenced by water and energy availability. Understanding these growth patterns can provide insight into forest dynamics in the Southern Rocky Mountains under changing climatic conditions.This dataset contains .tif, .csv, and .txt files. This dataset additionally includes a file-level metadata (flmd.csv) file that lists each file contained in the dataset with associated metadata; and a data dictionary (dd.csv) file that contains column/row headers used throughout the files along with a definition, units, and data type.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRSDate not supplied

Investigating the Applications of In-Situ Resource Utilization for Future Crewed Mars Missions

There are significant gaps in knowledge regarding the water ice on Mars and future preparation for human missions. So far, six rovers have traversed Mars’ rocky surface, aiming to understand the planet’s composition and search for signs of life. A rover mission set to explore the high northern latitudes of Mars with the goal of analyzing ice cores could greatly advance scientific knowledge to better understand Mars’s ancient climate and geochemistry. As of now, little has been accomplished in the exploration of colder regions and the extraction of water ice apart from the Phoenix lander and the Viking 2 mission; however, the science potential of the Phoenix and Viking landers was limited due to their inability to explore terrain like rovers. The exploration of the near-polar region Arcadia Planitia and its water ice deposits could reveal signs of past microbial life through preserved biosignatures. Additionally, to prepare for permanent human habitation on Mars, this proposed rover could continue the characterization of Mars’s current land and mineral composition, and search for materials that future humans may need on Mars (such as water for habitation, basalt for construction, and olivine for manufacturing purposes). This would increase understanding of the potential for in-situ resource utilization (ISRU) on Mars. The use of ISRU will reduce the amount of material needed on the initial flight, and similarly will reduce fuel costs. The mission to Arcadia Planitia incorporates the use of various mineral-extracting and imaging instruments (Martian Ice Core Analyzer, ground-penetrating radar, NavCam, Mars Environmental Dynamics Analyzer, SuperCam, etc.) to collect data from water ice and geologic samples. A near-polar rover mission to Mars would illuminate Mars’ past and present, while learning more about martian resources to benefit human explorers in the future.

Annika Sachdeva↗
NASA NTRS1983

Application of Heat Capacity Mapping Mission data to regional geologic analysis for mineral and energy resource evaluation

Heat Capacity Mapping Mission thermal-inertia images of a diversity of terrains and geologic settings were examined in conjunction with topographic, geologic, geophysical, and LANDSAT data. The images were found to have attributes similar to bedrock maps. In the Cascades region, two new features were identified and a method was developed to characterize regional terranes using linear feature data. Two northeast-trending Lineaments were discovered in the Overthrust Belt of Montana and Idaho. The longer of the two extends from the Idaho-Oregon border, through the Idaho batholith and across the Lewis thrust. It coincides, along segments, with mapped faults and an aeromagnetic pattern change. A major lineament crossing the Colorado Plateau and the Southern Rocky Mountians was detected on several thermal-inertial images and evidence was found for the existence of a geologic discontinuity. Vegetation-covered areas in Richfield and the Silver City quadrangle (Arizona and New Mexico) displayed thermal-inertia differences within heavily vegetation areas although no apreciable correlation was found between vegetation cover and thermal inertia. Resistant ridges and knolls have high thermal inertias and thermal-inertia contrasts occurred at lithologic and fault contacts. In the heavy vegetated Pinaleno Mountains, Arizona, a Lithologic unit obscured on LANDSAT MSS data due to the vegetation cover, exhibited a thermal-inertia contrast with its surroundings.

Watson, K.↗