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DOE OSTI2022

Three-dimensional mapping of mineral in intact shark centra with energy dispersive x-ray diffraction

The centra of shark vertebrae consist of cartilage mineralized by a bioapatite similar to bone's carbonated hy-droxyapatite, and, without a repair mechanism analogous to remodeling in bone, these structures still survive millions of cycles of high-strain loading. The main structures of the centrum are an hourglass-shaped double cone and the intermedialia which supports the cones. Little is known about the nanostructure of shark centra, spe-cifically the relationship between bioapatite and cartilage fibers, and this study uses energy dispersive diffraction (EDD) with polychromatic synchrotron x-radiation to study the spatial organization of the mineral phase and its crystallographic texture. The unique energy-sensitive detector array at beamline 6-BM-B, the Advanced Photon Source, enables EDD to quantify the texture within each sampling volume with one exposure while constructing 3D maps via specimen translation across the sampling volume. Herein this study maps a centrum from two shark orders, a carcharhiniform and a lamniform, with different intermedialia structures. In the blue shark (Prionace glauca, Carcharhiniformes), the bioapatite's c-axes are oriented laterally within the centrum's cone walls but axially within the wide wedges of the intermedialia; the former is interpreted to resist lateral deformation, the latter to support axial loads. In the shortfin mako (Isurus oxyrinchus, Lamniformes), there is some tendency for c-axis variation with position, but the situation is unclear because one dimension of the sampling volume is consid-erably larger than the thickness and spacing of the intermedialia's radially-oriented lamellae. Because elastic modulus in collagen plus bioapatite mineralized tissues varies significantly with both volume fraction of bio-apatite and crystallographic texture, the present 3D EDD-derived maps should inform future 3D numerical models of shark centra under applied load.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves.

Renewed interest in deep space exploration has made establishing a persistent human presence on the Moon and eventually Mars a priority. Sustained habitation of the Moon will require in-situ resource utilization (ISRU) and protection from radiation at the lunar surface. Lunar caves are of interest to the space community because they could provide shelter from radiation, access to water deposits, and a space for habitation, as well as hold information about the geology, volcanology, and evolution of the Moon. Developing the tools to explore, map, and characterize these voids is key to understanding the Moon as a planetary body and to establishing a permanent human presence there. Our team is currently developing tools that enable ultra-high resolution terrain mapping and navigation using mobile light detection and ranging (LIDAR) technology and simultaneous localization and mapping (SLAM) algorithms in fully GPS-denied and no-light environments. 3D mapping with LiDAR and SLAM is relatively under-used, particularly in the context of planetary exploration and planetary analog environments. The backpack mounted LiDAR instrument currently under development by the KNaCK (Kinematic Navigation and Cartography Knapsack) team has demonstrated the potential of mobile SLAM LiDAR for lunar, planetary, and terrestrial cave exploration, study, and utilization. A description of the instrument and associated SLAM algorithms used for mapping in GPS-denied environments are referenced here.

LiDAR↗

NASA NTRS2013

NASA Activity Update for the 2013 Unmanned Vehicle Systems International (UVSI) Yearbook

This year s report offers a high level perspective on some of the UAS related activities in which NASA is involved, both internal and external to the agency. Internally, NASA issued UAS operational policy on certification of NASA UAS and aircrew. A team of NASA UAS experts and operators analyzed all current procedures and best practices to design the policy. An update to the agencies Aircraft Operations Management Manual incorporated a new chapter to address UAS planning, preflight operations, flight operations, flight crew requirements, airworthiness and flight safety reviews. NASA UAS are classified into three categories based on weight and airspeed. Aircrews, including observers, are classified by how they interface with the UAS, and the policy defines qualifications, training, and currency. The NASA flight readiness approval process identifies risks and mitigations in order to reduce the likelihood and/or consequence of the risk to an acceptable level. The UAS operations process incorporates all aspects of airworthiness, flight standards and range safety exactly the same processes used for NASA manned aircraft operations. NASA has two internal organizations that routinely operate UAS. The Science Mission Directorate utilizes UAS as part of its Airborne Science Program and is the most frequent operator of NASA UAS in both national and international airspace. The Aeronautics Research Mission Directorate conducts UAS flight operations in addition to conducting research important to the UAS community. This past year the Science Mission Directorate supported the Hurricane and Severe Storm Sentimental (HS3) Mission with two NASA Global Hawk platforms. HS3 is a five-year mission specifically targeted to investigate the processes that underlie hurricane formation. During the 2012 portion of this mission the Global Hawk overflew hurricanes Leslie and Nadine in the Atlantic Ocean completing 6 flights and accumulating more than 148 flight hours. Another multi-year mission was initiated last year when the Sensor Integrated Environmental Remote Research Aircraft (SIERRA) UAS began surveying faults in California s Surprise Valley. A team of scientists and engineers from the United States Geological Survey (USGS), NASA Ames Research Center, Central Washington University, and Carnegie Mellon University will measure magnetic fields using ground surveys and the SIERRA to map the geophysics below the surface of Surprise Valley. The data collected will be used to generate 3D maps of the geophysical data of the area. The Aeronautics Mission Directorate continues its collaboration with Boeing to conduct UAS flight operations of the X-48C, a modified version of the X-48B originally built by Cranfield Aerospace, United Kingdom. The Aeronautics Mission Directorate utilizes vehicles of this size for a wide variety of research studies. Most of these operations are conducted within restricted airspace. The Aeronautics Research Mission Directorate also sponsors the UAS in the National Airspace System (NAS) Project, which is working in close cooperation with the Federal Aviation Administration (FAA) to address critical challenges associated with routine UAS operations in civil airspace. The project is focused on separation assurance and collision avoidance systems and algorithms, command and control for non-military operations including spectrum allocation requirements, human system interaction issues, and safety and certification topics.

Bauer, Jeffrey E.↗

NASA NTRS2016

Stereo Vision-Based Obstacle Avoidance for Micro Air Vehicles Using an Egocylindrical Image Space Represntation

Micro air vehicles which operate autonomously at low altitude in cluttered environments require a method for on-board obstacle avoidance for safe operation. Prior approaches can be divided between purely reactive approaches, mapping low-level visual features directly to headings to maneuver the vehicle around the obstacle, and deliberative methods that use on-board 3-D sensors to create a 3-D, voxel-based world model, which is then used to generate collision free 3-D trajectories. In this paper, we use forward-looking stereo vision with a large horizontal and vertical field of view and project range from stereo into a novel robot-centered, cylindrical, inverse range map we call an egocylinder. With this implementation we reduce the complexity of our world representation from a 3D map to a 2.5D image space representation, which supports very efficient motion planning and collision-checking. Configuration space expansion is done very efficiently on the egocylinder as an image processing function. Deploying a fast reactive motion planner directly on the configuration space expanded egocylinder image, we demonstrate the effectiveness of this new approach experimentally in an indoor environment.

Micro air vehicles↗

NASA NTRS2015

3D Lasers Increase Efficiency, Safety of Moving Machines

Canadian company Neptec Design Group Ltd. developed its Laser Camera System, used by shuttles to render 3D maps of their hulls for assessing potential damage. Using NASA funding, the firm incorporated LiDAR technology and created the TriDAR 3D sensor. Its commercial arm, Neptec Technologies Corp., has sold the technology to Orbital Sciences, which uses it to guide its Cygnus spacecraft during rendezvous and dock operations at the International Space Station.

Source record↗

NASA NTRS2018

A Window in the Future of Planetary Surface Navigation

The presentation focuses on surface navigation and mapping challenges in planetary environments including Lunar and Martian surface. Imagery from precursor orbital missions are processed to provide a medium resolution, large coverage 2D and 3D maps used by the science and navigation teams. During the surface mission these mapping products together with the images captured from the on-board camera systems are used in rover localization and navigation.

planetary exploration↗

NASA NTRS2016

Challenges in Planetary Mapping and Surface Navigation

planetary mapping↗

DOE OSTI2022

The Tianlai dish array low-z surveys forecasts

Here, we present the science case for surveys with the Tianlai dish array interferometer tuned to the [1300, 1400] MHz frequency range. Starting from a realistic generation of mock visibility data according to the survey strategy, we reconstruct maps of the sky and perform foreground subtraction. We estimate the level of residuals from imperfect subtraction, mostly due to mode mixing, i.e. distortions in the reconstructed 3D maps due to frequency-dependent instrument response. We show that a survey of the North Celestial Polar cap during a year of observations, covering an area of 150 deg 2 , would reach a sensitivity of $1.5-2 mK per 1 MHz x 0.25 2 deg 2 voxel and be marginally impacted by mode mixing. Tianlai would be able to detect ~10 nearby massive H i clumps as well as a very strong cross-correlation signal of 21 cm intensity maps with the North Celestial Cap Survey optical galaxies. We also studied the performance of a mid-latitude survey, covering ~ 1500 deg 2 overlapping the SDSS footprint. Despite a higher noise level for the mid-latitude survey, as well as significant distortions due to mode mixing, Tianlai would be able to detect a highly significant cross-correlation between the 21 cm signal and the Sloan spectroscopic galaxy sample. Using the extragalactic signals measured from either or both of these surveys, and comparing them with simulations such as those presented here will make it possible to assess the impact of various instrumental imperfections on the Tianlai dish array performance. This would pave the way for future intensity mapping surveys with higher sensitivity.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2021

Visualizing Solution Structure at Solid-Liquid Interfaces using Three-Dimensional Fast Force Mapping

Amongst the challenges for a variety of research fields are the visualization of solid-liquid interfaces and understanding how they are affected by the solution conditions such as ion concentrations, pH, ligands, and trace additives, as well as the underlying crystallography and chemistry. Here, in this context, three-dimensional fast force mapping (3D FFM) has emerged as a promising tool for investigating solution structure at interfaces. This capability is based on atomic force microscopy (AFM) and allows the direct visualization of interfacial regions in three spatial dimensions with sub-nanometer resolution. Here we provide a detailed description of the experimental protocol for acquiring 3D FFM data. The main considerations for optimizing the operating parameters depending on the sample and application are discussed. Moreover, the basic methods for data processing and analysis are discussed, including the transformation of the measured instrument observables into tip-sample force maps that can be linked to the local solution structure. Finally, we shed light on some of the outstanding questions related to 3D FFM data interpretation and how this technique can become a central tool in the repertoire of surface science.

Nakouzi, Elias↗

DOE OSTI2022

Nramp: Deprive and conquer?

Solute carriers 11 (Slc11) evolved from bacterial permease (MntH) to eukaryotic antibacterial defense (Nramp) while continuously mediating proton (H+)-dependent manganese (Mn2+) import. Also, Nramp horizontal gene transfer (HGT) toward bacteria led to mntH polyphyly. Prior demonstration that evolutionary rate-shifts distinguishing Slc11 from outgroup carriers dictate catalytic specificity suggested that resolving Slc11 family tree may provide a function-aware phylogenetic framework. Hence, MntH C (MC) subgroups resulted from HGTs of prototype Nramp (pNs) parologs while archetype Nramp (aNs) correlated with phagocytosis. PHI-Blast based taxonomic profiling confirmed MntH B phylogroup is confined to anaerobic bacteria vs. MntH A (MA)’s broad distribution; suggested niche-related spread of MC subgroups; established that MA-variant MH, which carries ‘eukaryotic signature’ marks, predominates in archaea. Slc11 phylogeny shows MH is sister to Nramp. Site-specific analysis of Slc11 charge network known to interact with the protonmotive force demonstrates sequential rate-shifts that recapitulate Slc11 evolution. 3D mapping of similarly coevolved sites across Slc11 hydrophobic core revealed successive targeting of discrete areas. The data imply that pN HGT could advantage recipient bacteria for H+-dependent Mn2+ acquisition and Alphafold 3D models suggest conformational divergence among MC subgroups. It is proposed that Slc11 originated as a bacterial stress resistance function allowing Mn2+-dependent persistence in conditions adverse for growth, and that archaeal MH could contribute to eukaryogenesis as a Mn2+ sequestering defense perhaps favoring intracellular growth-competent bacteria.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2024

3D reconstruction of an inertial-confinement fusion implosion with neural networks using multiple heterogeneous data sources

3D asymmetries are major degradation mechanisms in inertial-confinement fusion implosions at the National Ignition Facility (NIF). These asymmetries can be diagnosed and reconstructed with the neutron imaging system (NIS) on three lines of sight around the NIF target chamber. Conventional tomographic reconstructions are used to reconstruct the 3D morphology of the implosion using NIS [Volegov et al., J. Appl. Phys. 127, 083301 (2020)], but the problem is ill-posed with only three imaging lines of sight. Asymmetries can also be diagnosed with the real-time neutron activation diagnostics (RTNAD) and the neutron time-of-flight (nToF) suite. Since the NIS, RTNAD, and nToF each sample a different part of the implosion using different physical principles, we propose that it is possible to overcome the limitations of too few imaging lines of sight by performing 3D reconstructions that combine information from all three heterogeneous data sources. This work presents a new machine learning-based reconstruction technique to do just this. By using a simple physics model and group of neural networks to map 3D morphologies to data, this technique can easily account for data of multiple different types. A simple proof-of-principle is presented, demonstrating that this technique can accurately reconstruct a hot-spot shape using synthetic primary neutron images and a hot-spot velocity vector. In particular, the hot-spot’s asymmetry, quantified as spherical harmonic coefficients, is reconstructed to within ±4% of the radius in 90% of test cases. In the future, this technique will be applied to actual NIS, RTNAD, and nToF data to better understand 3D asymmetries at the NIF.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

NASA NTRS2012

Interactive 3D Mars Visualization

The Interactive 3D Mars Visualization system provides high-performance, immersive visualization of satellite and surface vehicle imagery of Mars. The software can be used in mission operations to provide the most accurate position information for the Mars rovers to date. When integrated into the mission data pipeline, this system allows mission planners to view the location of the rover on Mars to 0.01-meter accuracy with respect to satellite imagery, with dynamic updates to incorporate the latest position information. Given this information so early in the planning process, rover drivers are able to plan more accurate drive activities for the rover than ever before, increasing the execution of science activities significantly. Scientifically, this 3D mapping information puts all of the science analyses to date into geologic context on a daily basis instead of weeks or months, as was the norm prior to this contribution. This allows the science planners to judge the efficacy of their previously executed science observations much more efficiently, and achieve greater science return as a result. The Interactive 3D Mars surface view is a Mars terrain browsing software interface that encompasses the entire region of exploration for a Mars surface exploration mission. The view is interactive, allowing the user to pan in any direction by clicking and dragging, or to zoom in or out by scrolling the mouse or touchpad. This set currently includes tools for selecting a point of interest, and a ruler tool for displaying the distance between and positions of two points of interest. The mapping information can be harvested and shared through ubiquitous online mapping tools like Google Mars, NASA WorldWind, and Worldwide Telescope.

Powell, Mark W.↗

DOE OSTI2024

The gravitational lensing imprints of DES Y3 superstructures on the CMB: a matched filtering approach

Low-density cosmic voids gravitationally lens the cosmic microwave background (CMB), leaving a negative imprint on the CMB convergence |$\kappa$|⁠. This effect provides insight into the distribution of matter within voids, and can also be used to study the growth of structure. We measure this lensing imprint by cross-correlating the Planck CMB lensing convergence map with voids identified in the Dark Energy Survey Year 3 (DES Y3) data set, covering approximately 4200 deg|$^2$| of the sky. We use two distinct void-finding algorithms: a 2D void-finder that operates on the projected galaxy density field in thin redshift shells, and a new code, Voxel, which operates on the full 3D map of galaxy positions. We employ an optimal matched filtering method for cross-correlation, using the Marenostrum Institut de Ciències de l’Espai N-body simulation both to establish the template for the matched filter and to calibrate detection significances. Using the DES Y3 photometric luminous red galaxy sample, we measure |$A_\kappa$|⁠, the amplitude of the observed lensing signal relative to the simulation template, obtaining |$A_\kappa = 1.03 \pm 0.22$| (⁠|$4.6\sigma$| significance) for Voxel and |$A_\kappa = 1.02 \pm 0.17$| (⁠|$5.9\sigma$| significance) for 2D voids, both consistent with Lambda cold dark matter expectations. We additionally invert the 2D void-finding process to identify superclusters in the projected density field, for which we measure |$A_\kappa = 0.87 \pm 0.15$| (⁠|$5.9\sigma$| significance). The leading source of noise in our measurements is Planck noise, implying that data from the Atacama Cosmology Telescope, South Pole Telescope and CMB-S4 will increase sensitivity and allow for more precise measurements.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS2012

3D Visualization for Phoenix Mars Lander Science Operations

Planetary surface exploration missions present considerable operational challenges in the form of substantial communication delays, limited communication windows, and limited communication bandwidth. A 3D visualization software was developed and delivered to the 2008 Phoenix Mars Lander (PML) mission. The components of the system include an interactive 3D visualization environment called Mercator, terrain reconstruction software called the Ames Stereo Pipeline, and a server providing distributed access to terrain models. The software was successfully utilized during the mission for science analysis, site understanding, and science operations activity planning. A terrain server was implemented that provided distribution of terrain models from a central repository to clients running the Mercator software. The Ames Stereo Pipeline generates accurate, high-resolution, texture-mapped, 3D terrain models from stereo image pairs. These terrain models can then be visualized within the Mercator environment. The central cross-cutting goal for these tools is to provide an easy-to-use, high-quality, full-featured visualization environment that enhances the mission science team s ability to develop low-risk productive science activity plans. In addition, for the Mercator and Viz visualization environments, extensibility and adaptability to different missions and application areas are key design goals.

Edwards, Laurence↗

DOE OSTI2026

ODIN: Characterizing the Three-dimensional Structure of Two Protocluster Complexes at z = 3.1

We present a detailed study of the 3D morphology of two extended associations of multiple protoclusters at z = 3.1. These protocluster "complexes," designated COSMOS-z3.1-A and COSMOS-z3.1-C, are the most prominent overdensities of z = 3.1 Lyα emitters (LAEs) identified in the COSMOS field by the One-hundred-deg$^{2}$ DECam Imaging in Narrowbands survey. These protocluster complexes have been followed up with extensive spectroscopy from Keck, Gemini, and DESI. Using a probabilistic method that combines photometrically selected and spectroscopically confirmed LAEs, we reconstruct the 3D structure of these complexes on scales of ≈50 cMpc. We validate our reconstruction method using the IllustrisTNG300-1 cosmological hydrodynamical simulation and show that it consistently outperforms approaches relying solely on spectroscopic data. The resulting 3D maps reveal that both complexes are irregular and elongated along a single axis, emphasizing the impact of sightline on our perception of structure morphology. The complexes consist of multiple density peaks, 10 in COSMOS-z3.1-A and 4 in COSMOS-z3.1-C. The former is confirmed to be a proto-supercluster, similar to Hyperion at z = 2.4 but observed at an even earlier epoch. Multiple "tails" connected to the cores of the density peaks are seen, likely representing cosmic filaments feeding into these extremely overdense regions. The 3D reconstructions further provide strong evidence that Lyα blobs preferentially reside in the outskirts of the highest density regions. Descendant mass estimates of the density peaks suggest that COSMOS-z3.1-A and COSMOS-z3.1-C will evolve to become ultramassive structures by z = 0, with total masses log ( M / M ,⊙ ,) ≳ 15.3 , exceeding that of Coma.

Ramakrishnan, Vandana [Purdue U., West Lafayette] ↗

DOE OSTI2021

A Three-dimensional Map of the Heliosphere from IBEX

The Interstellar Boundary Explorer (IBEX) mission has shown that variations in the energetic neutral atom (ENA) flux from the outer heliosphere are associated with the solar cycle and longer-term variations in the solar wind (SW). In particular, there is a good correlation between the dynamic pressure of the outbound SW and variations in the later-observed IBEX ENA flux. The time difference between observations of the outbound SW and the heliospheric ENAs with which they correlate ranges from approximately 2 to 6 yr or more, depending on ENA energy and look direction. This time difference can be used as a means of "sounding" the heliosheath, that is, finding the average distance to the ENA source region in a particular direction. Here, we apply this method to build a 3D map of the heliosphere. We use IBEX ENA data collected over a complete solar cycle, from 2009 through 2019, corrected for survival probability to the inner heliosphere. Here we divide the data into 56 "macropixels" covering the entire sky. As each point in the sky is sampled once every 6 months, this gives us a time series of 22 points macropixel –1 on which to time-correlate. Consistent with prior studies and heliospheric models, we find that the shortest distance to the heliopause, d HP , is slightly south of the nose direction (d HP ~ 110–120 au), with a flaring toward the flanks and poles (d HP ~ 160–180 au). The heliosphere extends at least ~350 au tailward, which is the distance limit of the technique.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2021

Geostatistical Mapping of Salinity Conditioned on Borehole Logs, Montebello Oil Field, California

We present a geostatistics-based stochastic salinity estimation framework for the Montebello Oil Field that capitalizes on available total dissolved solids (TDS) data from groundwater samples as well as electrical resistivity (ER) data from borehole logging. Data from TDS samples (n = 4924) was coded into an indicator framework based on falling below four selected thresholds (500, 1000, 3000, and 10,000 mg/L). Collocated TDS-ER data from the surrounding groundwater basin were then employed to produce a kernel density estimator to establish conditional probabilities for ER data (n = 8 boreholes) falling below the selected TDS thresholds within the Montebello Oil Field area. Directional variograms were estimated from these indicator coded data, and 500 TDS realizations from conditional indicator simulation were generated for the subsurface region above the Montebello Oil Field reservoir. Simulations were summarized as 3D maps of median TDS, most likely salinity class, and probability for exceeding each of the specified TDS thresholds. Results suggested TDS was below 500 mg/L in most of the study area, with a trend toward higher values (500 to 1000 mg/L) to the southwest; consistent with the average regional groundwater flow direction. Discrete localized zones of TDS greater than 1000 mg/L were observed, with one of these zones in the greater than 10,000 mg/L range; however, these areas were not prevalent. The probabilistic approach used here is adaptable and is readily modified to include additional data and types and can be employed in time-lapse salinity modeling through Bayesian updating.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

Data-driven Stellar Models

We developed a data-driven model to map stellar parameters ( T eff , log g , and [Fe/H]) accurately and precisely to broadband stellar photometry. This model must, and does, simultaneously constrain the passband-specific dust reddening vector in the Milky Way, R. The model uses a neural network to learn the (de-reddened) absolute magnitude in one band and colors across many bands, given stellar parameters from spectroscopic surveys and parallax constraints from Gaia. To demonstrate the effectiveness of this approach, we train our model on a data set with spectroscopic parameters from LAMOST, APOGEE, and GALAH, Gaia parallaxes, and optical and near-infrared photometry from Gaia, Pan-STARRS 1, Two Micron All Sky Survey and Wide-field Infrared Survey Explorer. Testing the model on these data sets leads to an excellent fit and a precise—and by construction—accurate prediction of the color–magnitude diagrams in many bands. This flexible approach rigorously links spectroscopic and photometric surveys, and also results in an improved, T eff -dependent R. As such, it provides a simple and accurate method for predicting photometry in stellar evolutionary models. Our model will form a basis to infer stellar properties, distances, and dust extinction from photometric data, which should be of great use in 3D mapping of the Milky Way. Our trained model can be obtained at doi:10.5281/zenodo.3902382.

79 ASTRONOMY AND ASTROPHYSICS↗