Search NASA⌕ Search

SEARCH · Search NASA

Results for “steep terrain”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Primary and Secondary Controls on Measurements of Forest Height Using Large-Footprint Lidar at the Hubbard Brook LTER

On September 26, 1999, we mapped canopy structure over 90% of the Hubbard Brook Experimental Forest in White Mountain National Forest, New Hampshire, using the Laser Vegetation Imaging Sensor (LVIS). This airborne instrument was configured to emulate data expected from the Vegetation Canopy Lidar (VCL) space mission. We compared above ground heights of the tallest surfaces detected by lidar with average forest canopy heights estimated from tree-based measurements in or near 346 0.05 ha plots (made in autumn of 1997 and 1998). Vegetation heights had by far the predominant influence on lidar top heights, but with this large data set we were able to measure two significant secondary effects: those of steepness or slope of the underlying terrain and of tree crown form. The size of the slope effect was intermediate between that expected from models of homogeneous canopy layers and for solitary tree crowns. The first detected surfaces were also proportionately taller for plots with more basal area in broad leaved northern hardwoods than for mostly coniferous plots. We expected this because of the contrast between the shapes of cumulative distributions of surface area for elliptical or hemi-elliptical tree crowns and those for conical crowns. Correcting for these secondary effects, when appropriate data are available for calibration, may improve vegetation structure estimates in regional studies using VCL or similar lidar data sources.

Knox, Robert G.↗
NASA NTRS2012

On the Design of the Axel and DuAxel Rovers for Extreme Terrain Exploration

The solar system's most scientifically tantalizing terrain remains out of reach for traditional planetary rovers, which are typically limited to driving on slopes below 30 degrees. This paper details the design of a novel robotic explorer that would open access to these previously inaccessible locales, such as Martian crater walls where evidence of salty water was recently detected, Lunar polar craters where evidence of water ice was detected, and Lunar and Martian lava tubes for future habitability. The Axel rover is a two-wheeled robot capable of rappelling down steep (even vertical) slopes supported by a tether. The DuAxel rover is comprised of two Axel vehicles docked to a central module. Unrestricted by tether length, this four-wheeled system would be capable of driving long distances from a safe landing zone to the extreme terrain of interest. Once in the vicinity of terrain in which the tether would be required, one of the Axel rovers could undock from the central chassis and rappel downslope. The other Axel and central chassis would remain topside to act as an anchor and to provide line of site to Earth (for communications) and the Sun (for energy). As the detached Axel descends into the area of interest, it would receive power and relays data through conductors in its tether. Each Axel would carry a suite of instruments in a bay that would be tucked inside the wheels. Because of the novel configuration of Axel's major degrees of freedom, these instruments could be precisely pointed at targets at any desired downslope spatial separation. These instruments could then be deployed into close proximately to the ground by means of a simple mechanism, allowing for detailed study of the strata on the slope. Axel could accommodate a host of instruments, including a microscopic imager, infra-red spectrometers, thermal probes, and sample collection devices. This paper will describe the design of both the latest generation of Axel and DuAxel systems and their instrument/sampling mechanisms. Results from recent field trials at a rock quarry in California and a Martian analog site in the desert of Arizona will be described.

rover mobility↗
NASA NTRS2011

A Super-Resolution Algorithm for Enhancement of FLASH LIDAR data

A novel method for enhancement of the spatial resolution of 3-dimensional Flash Lidar images is being proposed for generation of elevation maps of terrain from a moving platform. NASA recognizes the Flash LIDAR technology as an important tool for enabling safe and precision landing in future unmanned and crewed lunar and planetary missions. The ability of the Flash LIDAR to generate 3-dimensional maps of the landing site area during the final stages of the descent phase for detection of hazardous terrain features such as craters, rocks, and steep slopes is under study in the frame of the Autonomous Landing and Hazard Avoidance (ALHAT) project. Since single frames of existing FLASH LIDAR systems are not sufficient to build a map of entire landing site with acceptable spatial resolution and precision, a super-resolution approach utilizing multiple frames has been developed to overcome the instrument s limitations. Performance of the super-resolution algorithm has been analyzed through a series of simulation runs obtained from a high fidelity Flash LIDAR model and a high resolution synthetic lunar elevation map. For each simulation run, a sequence of FLASH LIDAR frames are recorded and processed as the spacecraft descends toward the landing site. Simulations runs having different trajectory profiles and varying LIDAR look angles of the terrain are also analyzed. The results show that adequate levels of accuracy and precision are achieved for detecting hazardous terrain features and identifying safe areas of the landing site.

Bulyshev, Alexander↗
NASA NTRS2010

Utilization of 3-D Imaging Flash Lidar Technology for Autonomous Safe Landing on Planetary Bodies

NASA considers Flash Lidar a critical technology for enabling autonomous safe landing of future large robotic and crewed vehicles on the surface of the Moon and Mars. Flash Lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes during the final stages of descent and landing. The onboard flight computer can use the 3-D map of terrain to guide the vehicle to a safe site. The capabilities of Flash Lidar technology were evaluated through a series of static tests using a calibrated target and through dynamic tests aboard a helicopter and a fixed wing aircraft. The aircraft flight tests were performed over Moon-like terrain in the California and Nevada deserts. This paper briefly describes the Flash Lidar static and aircraft flight test results. These test results are analyzed against the landing application requirements to identify the areas of technology improvement. The ongoing technology advancement activities are then explained and their goals are described.

Amzajerdian, Farzin↗
NASA NTRS1982

Stratigraphic relationships within Martian polar cap deposits

It is found that layered ice and dust deposits accumulate on the smooth and banded terrains of the north and south polar cap deposits of Mars, while erosion exposes these layers on the equator-facing slopes of layered terrain. The stripping of layers occurs in areas of strong and multidirectional wind, forming striped terrain. Also noted is the production of steep scarps with crescentic planform by local wind scour, in frequent association with dune fields positioned immediately downwind. Unconformities, which are common within layered deposits in areas of complex topography at the north pole, indicate that deposition episodes of 5-10 layers alternate with the slight erosion of pole-facing trough walls. It is suggested that poles may migrate poleward, replacing the relief increase by depositional infilling when they near the poles.

Howard, A. D.↗
NASA NTRSDate not supplied

The Spatial Relationship of Graben and Pit Craters at Rimae Daniell and the Implications of Scarp Formation

A geomorphologically complex and understudied region on the Moon is Rimæ Daniell, situated in Lacus Somniorum. This region is characterized by a set of NNW-SSE-oriented grabens, which have been implied to be underlain by dikes through topographic measurements of ground displacements and faulting processes. The coverage of topographic measurements with the Lunar Orbiter Laser Altimeter (LOLA) aboard the Lunar Reconnaissance Orbiter (LRO) now allows for an indepth morphologic analysis of lunar grabens. Lunar grabens, in general, occur peripheral to some near-side mare units, within floor-fractured craters, and inside larger impact structures. From, LOLA data across Rimæ Daniell indicate that these grabens are located atop broad rises that stand 100–150 m above their surroundings. Although has mapped out the northwestern most grabens at Rimæ Daniell, this area has a complex geologic history, including pit chain craters and the transition of the graben system to a steep scarp, which is disrupted by knobby terrain.

C. J. Ahrens↗
NASA NTRS1988

Geophysical evidences for a thick crust south of Palghat-Tiruchi gap in the High Grade Terrains of South India

The regional gravity and magnetic features of the South Indian Shield were discussed. The prominent regional gravity low of 20 to 30 mgls over the charnockite terrain of South India, coupled with the correlation of a steep gravity gradient with a prominent shear zone to the north, can be interpreted in terms of increased crustal thickness in the South Indian high-grade terrain. There is some support for this from deep seismic sounding. The magnetic signature of the high-grade terrain is also distinctive, and Mishra argued that the Palghat-Tiruchi line might represent a Precambrian boundary such as a suture between two distinct crustal blocks.

Mishra, D. C.↗
NASA NTRS2003

Geologic Settings of Martian Gullies: Implications for Their Origins

Martian gullies are found on steep slopes of all origins, on all sorts of terrains of all ages, scattered across nearly all of Mars. Gullies are observed on all manner of substrates (layered, massive, shattered, rubble), with or without nearby mantling deposits. Gullies are most common in the southern midlatitudes but also occur in the northern hemisphere, in near polar terrain, on equatorial volcanoes, and on northern plains. Most gullies in the southern hemisphere are on south-facing slopes, but they occur on slopes of all orientations. Gullies are among the youngest features on Mars but locally are overlain by eolian deposits and cut by faults. Old or eroded gullies are rare, and those found have been partially stripped from slopes, leaving no rock debris behind. Most gully deposits contain no detectable rocks. These data are inconsistent with published hypotheses of gully formation, including seeps and breakouts of water or brine, hydrothermal activity, cryovolcanism, and breakouts from liquid carbon dioxide. The data are consistent with gullies being dry flows of eolian material (dust and silt), comparable to climax snow avalanches on Earth. Eolian sedimentation should be correlated little with underlying geology: cause of slope, age of terrain, type of terrain, or the nature of the rocks. Eolian sedimentation should be correlated with wind deceleration (which will cause suspended sediment to drop), and areas with common gullies are those with strong wind deceleration (predicted by global circulation model). In such areas, sediment will be deposited preferentially in the lee of obstacles; for the gully-rich areas of the southern midlatitudes, winds blow from the NNW, so that sediment is deposited on SSE-facing slopes (i.e., poleward). These predictions are in accord with observations.

Treiman, Allan H.↗
NASA NTRS2011

Lidar Systems for Precision Navigation and Safe Landing on Planetary Bodies

The ability of lidar technology to provide three-dimensional elevation maps of the terrain, high precision distance to the ground, and approach velocity can enable safe landing of robotic and manned vehicles with a high degree of precision. Currently, NASA is developing novel lidar sensors aimed at needs of future planetary landing missions. These lidar sensors are a 3-Dimensional Imaging Flash Lidar, a Doppler Lidar, and a Laser Altimeter. The Flash Lidar is capable of generating elevation maps of the terrain that indicate hazardous features such as rocks, craters, and steep slopes. The elevation maps collected during the approach phase of a landing vehicle, at about 1 km above the ground, can be used to determine the most suitable safe landing site. The Doppler Lidar provides highly accurate ground relative velocity and distance data allowing for precision navigation to the landing site. Our Doppler lidar utilizes three laser beams pointed to different directions to measure line of sight velocities and ranges to the ground from altitudes of over 2 km. Throughout the landing trajectory starting at altitudes of about 20 km, the Laser Altimeter can provide very accurate ground relative altitude measurements that are used to improve the vehicle position knowledge obtained from the vehicle navigation system. At altitudes from approximately 15 km to 10 km, either the Laser Altimeter or the Flash Lidar can be used to generate contour maps of the terrain, identifying known surface features such as craters, to perform Terrain relative Navigation thus further reducing the vehicle s relative position error. This paper describes the operational capabilities of each lidar sensor and provides a status of their development. Keywords: Laser Remote Sensing, Laser Radar, Doppler Lidar, Flash Lidar, 3-D Imaging, Laser Altimeter, Precession Landing, Hazard Detection

Amzajerdian, Farzin↗
NASA NTRS1990

Wind velocity measurements in the neutral boundary layer above hilly prairie

The Flint Hills region in eastern Kansas is characterized by a strongly dissected rolling to hilly terrain with an average about 25 m of relief between steep ridges and valleys, and with ridges typically separated by distances of the order of 600 m. Intensive radiosonde observations during summer and fall of 1987 allowed the determination of some aspects of the wind regime in the region. For an assumed ground-surface reference of 330 m above sea level (asl), analysis of neutral profiles yielded a value z(0) of about 1.05 m, approximately. Good agreement was obtained between the values of friction velocity derived from wind profiles and values determined independently from the corresponding humidity profiles.

Sugita, Michiaki↗
NASA NTRS2013

Wind-Driven Wireless Networked System of Mobile Sensors for Mars Exploration

A revolutionary way is proposed of studying the surface of Mars using a wind-driven network of mobile sensors: GOWON. GOWON would be a scalable, self-powered and autonomous distributed system that could allow in situ mapping of a wide range of environmental phenomena in a much larger portion of the surface of Mars compared to earlier missions. It could improve the possibility of finding rare phenomena such as "blueberries' or bio-signatures and mapping their occurrence, through random wind-driven search. It would explore difficult terrains that were beyond the reach of previous missions, such as regions with very steep slopes and cluttered surfaces. GOWON has a potentially long life span, as individual elements can be added to the array periodically. It could potentially provide a cost-effective solution for mapping wide areas of Martian terrain, enabling leaving a long-lasting sensing and searching infrastructure on the surface of Mars. The system proposed here addresses this opportunity using technology advances in a distributed system of wind-driven sensors, referred to as Moballs.

Davoodi, Faranak↗
NASA NTRS2005

Vision guided landing of an an autonomous helicopter in hazardous terrain

Future robotic space missions will employ a precision soft-landing capability that will enable exploration of previously inaccessible sites that have strong scientific significance. To enable this capability, a fully autonomous onboard system that identifies and avoids hazardous features such as steep slopes and large rocks is required. Such a system will also provide greater functionality in unstructured terrain to unmanned aerial vehicles. This paper describes an algorithm for landing hazard avoidance based on images from a single moving camera. The core of the algorithm is an efficient application of structure from motion to generate a dense elevation map of the landing area. Hazards are then detected in this map and a safe landing site is selected. The algorithm has been implemented on an autonomous helicopter testbed and demonstrated four times resulting in the first autonomous landing of an unmanned helicopter in unknown and hazardous terrain.

Mars Landing↗
NASA NTRS1994

Scientific rationale for selecting northwest Isidis Planitia (14 deg - 17 deg N latitude, 278 deg - 281 deg longitude) as a potential Mars Pathfinder landing site

The northwest Isidis Basin offers a unique opportunity to land near a fretted terrain lowland/upland boundary that meets both the latitudinal and elevation requirements imposed on the spacecraft. The landing site lies east of erosional scarps and among remnant massif inselbergs of the Syrtis Major volcanic plains. The plains surface throughout Isidis exhibits abundant, low-relief mounds that are the local expression of the 'thumbprint terrain' that is common within a few hundred kilometers of the lowland/upland boundary. The massif inselbergs are not as numerous nor as massive as those fretted terrains to the northwest, so local slopes are not expected to be steep. Neither feature should pose a serious threat to the lander. Landing on or adjacent to one of these features would enhance the science return and would help to pinpoint the landing site in Viking and subsequent orbiter images by offering views of landmarks beyond the local horizon.

Parker, Tim J.↗
NASA NTRS1977

Preliminary geologic evaluation of L-band radar imagery: Arkansas test site

The relatively small angles of incidence (steep depression angles) of the L-band system provide minimal shadowing on terrain back-slopes and considerable foreshortening on terrain fore-slopes which sacrifice much of the topographic enhancement afforded by a more oblique angle of illumination. In addition, the dynamic range of the return from vegetated surfaces is substantially less for the L-band system, and many surface features defined primarily by subtle changes in vegetation are lost. In areas having terrain conditions similar to those of northern Arkansas, and where LANDSAT and shorter wavelength aircraft radar data are available, the value of the JPL L-band imagery as either a complimentary or supplementary geologic data source is not obvious.

Macdonald, H.↗
NASA NTRS1999

The Crustal Dichotomy Boundary West of Tempe Terra: Speculation on Where it Lies Beneath Alba Patera Based on Mola Topography

MOLA gridded data based on profiles collected during the Aerobraking Hiatus and Science Phasing Operations suggest the crustal dichotomy boundary west of Tempe continues beneath Alba volcanics, at least to 105 W at about 50 N. A broad shelf-like region in the Alba units is continuous with a similar region of Tempe in which Hesperian volcanics overlie Noachian cratered terrain. Perspective views show significant changes in the sloping character of the flanks of Alba east and west of 105W, with much more continuous steep topography to the west. We suggest that Alba sits astride the ancient crustal dichotomy boundary, not adjacent to it, and that its eastern half lies on old cratered terrain. If true, this would significantly affect the estimate of Alba volcanics volumes, and might also explain some of the observed asymmetries in the structure and the distribution of faults associated with this immense feature.

Frey, H.↗
NASA NTRS2012

The Nucleus of Comet 9P-Tempel 1: Shape and Geology from Two Flybys

The nucleus of comet Tempel 1 has been investigated at close range during two spacecraft missions separated by one comet orbit of the Sun, 5 1/2 years. The combined imaging covers 70% of the surface of this object which has a mean radius of 2.83 +/- 0.1 km. The surface can be divided into two terrain types: rough, pitted terrain and smoother regions of varying local topography. The rough surface has round depressions from resolution limits (10 m/pixel) up to 1 km across, spanning forms from crisp steep-walled pits, to subtle albedo rings, to topographic rings, with all ranges of morphologic gradation. Three gravitationally low regions of the comet have smoother terrain, parts of which appear to be deposits from minimally modified flows, with other parts likely to be heavily eroded portions of multiple layer piles. Changes observed between the two missions are primarily due to backwasting of scarps bounding one of these probable flow deposits. This style of erosion is also suggested by remnant mesa forms in other areas of smoother terrain. The two distinct terrains suggest either an evolutionary change in processes, topographically- controlled processes, or a continuing interaction of erosion and deposition.

geological↗
NASA NTRS1985

A Silicic Shield Volcano in Bolivia

Volcan Quemado and its environs provides an excellent site to study the radar signature of a silicic volcanic construct. This feature differs from basaltic terrains primarily by the evidence of explosive eruptions associated with silica-rich magmas. These explosions produced a complex of distinctive craters that are visible on radar because of their steep inner walls and exposed bedrock units. Explosive events also generated surface deposits of fine (1 mm to 10 cm) material that mantles the region around the volcano to a distance of 20 to 30 km from its center. These features are very different from those observed on basaltic flows, which typically lack violet, explosive events. In these terrains, the surface is dominated by radar-rough flows with steep, lobate flow fronts. Craters are less common, although maars are found in some regions. These comparisons suggest that spaceborne radar may be able to distinguish surface characteristics that can be used to identify volcanic eruptive styles on Venus, Mars, and other solar-system bodies.

Christensen, P. R.↗
NASA NTRS2010

Use the High-Resolution Numerical Model to Simulate Typhoon Morakot 2009

Typhoon Morakot struck Taiwan on the night of Friday August 7th, 2009 as a category 2 storm with sustained winds of 85 knots (92 mph). Although the center made landfall in Hualien county along the central cast coast of Taiwan and passed over the central northern part of the island, it was southern Taiwan that received the worst effects of the storm where locally as Much as 2200 mm (2.2 m) of rain were reported, resulting in the worst flooding there in 50 years. The result of the enormous amount of rain has been massive flooding and devastating mudslides. More than 600 people are confirmed dead. In this paper, we will present the results from high-resolution (2-km) WRF for this typhoon case. The results showed that the model captured both in terms of maximum rainfall area and intensity. The model results also showed that the heavy amounts of rain over the southern portion of the island is due to persistent southwesterly flow associated with Morakot and it's circulation was able to draw up copious amounts of moisture from the South China Sea into southern Taiwan where it was able to interact with the steep topography. In the paper, we will also present results from sensitivity test of terrain heights and SST on the precipitation processes (rainfall) associated with Typhoon Morakot (2009), In addition, we will present high-resolution visualization (36 second and 2-km) to show the evolution of Typhoon Morakot.

Tao, Wei-Kuo↗