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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1973

A new approach to the design of time varying control systems with application to the space shuttle booster

A general approach toward the analysis and design of closed loop control for slowly time-varying linear systems was investigated. The approach is by the method of generalized multiple scales, in which slow and fast dynamics are systematically separated by employing different clocks which measure time at varying rates. The clocks, which are necessarily nonlinear functions of time, so that the system dynamics are asymptotically invariant with respect to the new time scale. A transfer function relating the output to the input for general linear slowly time-varying systems is developed and represents the actual system under certain conditions. The clock functions are shown to satisfy an algebraic characteristic equation and can be determined in general in terms of the coefficients.

Ramnath, R. V.↗
NASA NTRS1992

The effects of correlated noise in intra-complex DSN arrays for S-band Galileo telemetry reception

A number of the proposals for supporting a Galileo S-band (2.3-GHz) mission involve arraying several antennas to maximize the signal-to-noise ratio (and bit rate) obtainable from a given set of antennas. Arraying is no longer a new idea, having been used successfully during the Voyager encounters with Uranus and Neptune. However, arraying for Galileo's tour of Jupiter is complicated by Jupiter's strong radio emission, which produces correlated noise effects. This article discusses the general problem of correlated noise due to a planet, or other radio source, and applies the results to the specific case of an array of antennas at the DSN's Tidbinbilla, Australia, complex (DSS 42, DSS 43, DSS 45, and the yet-to-be-built DSS 34). The effects of correlated noise are highly dependent on the specific geometry of the array and on the spacecraft-planet configuration; in some cases, correlated noise effects produce an enhancement, rather than a degradation, of the signal-to-noise ratio. For the case considered here--an array of the DSN's Australian antennas observing Galileo and Jupiter--there are three regimes of interest. If the spacecraft-planet separation is approximately less than 75 arcsec, the average effect of correlated noise is a loss of signal to noise (approximately 0.2 dB as the spacecraft-planet separation approaches zero). For spacecraft-planet separations approximately greater than 75 arcsec, but approximately less than 400 arcsec, the effects of correlated noise cause signal-to-noise variations as large as several tenths of a decibel over time scales of hours or changes in spacecraft-planet separation of tens of arcseconds; however, on average its effects are small (less than 0.01 dB). When the spacecraft is more than 400 arcsec from Jupiter (as is the case for about half of Galileo's tour), correlated noise is a less than 0.05-dB effect.

Dewey, R. J.↗
NASA NTRS1973

A new approach to the design of time-varying control systems with application to the Space Shuttle Boost

A general approach to the analysis and design of closed-loop control for slowly time-varying linear systems is presented. The approach uses the method of generalized multiple scales in which slow and fast dynamics are systematically separated by employing different 'clocks' which measure time at varying rates. The clocks, which are necessarily nonlinear functions of time, are chosen in such a manner that the system dynamics are asymptotically invariant with respect to the new time scale. A transfer function relating the output to the input for general linear slowly time-varying systems is developed and represents the actual system under certain conditions. The clock function is shown to satisfy an algebraic characteristic equation and can be determined in terms of the coefficients. The approach can be viewed as an extension of time-invariant linear feedback control theory.

Ramanth, R. V.↗
NASA NTRS1990

Numerical solution of the geoelectrodynamic problem

The primary goal is to understand the sources of the near-Earth ambient magnetic field as observed by recent spacecraft surveys and surface variational magnetic observations so as to determine the electrical properties of the crust and upper mantle. Also included is the structure and changes on a short time scale of the core field which must be separated and identified. The Magsat data collection interval provides an opportunity to compare the vector field projections of ionospheric currents computed from surface data above the ionosphere as does the POGO data for scalar projections. The limitation of Magsat is its sun-synchronous orbit, which only sampled low latitudes at dawn and dusk, whereas POGO, though only making observations of the scalar field, sampled all local times. Magsat operated at a lower altitude than POGO (down to 350 km) whereas the orbits of the three POGO spacecraft ranged up to 1500 km and were never lower than about 400 km.

Cain, Joseph C.↗
NASA NTRS1991

Science requirements for a global change technology architecture trade study

Science requirements for a global change technology initiative (GCTI) Architecture Trade Study were established by reviewing and synthesizing results from recent studies. A scientific rationale was adopted and used to identify a comprehensive set of measureables and their priorities. Spatial and temporal requirements for a number of measurement parameters were evaluated based on results from several working group studies. Science requirements were defined using these study results in conjunction with the guidelines for investigating global changes over a time scale of decades to centuries. Requirements are given separately for global studies and regional process studies. For global studies, temporal requirements are for sampling every 1 to 12 hours for atmospheric and radiation parameters and 1 day or more for most earth surface measurements. Therefore, the atmospheric measureables provide the most critical drivers for temporal sampling. Spatial sampling requirements vary from 1 km for land and ocean surface characteristics to 50 km for some atmospheric parameters. Thus, the land and ocean surface parameters have the more significant spatial variations and provide the most challenging spatial sampling requirements.

Suttles, John T.↗
NASA NTRS1991

Science requirements for a global change technology initiative architecture trade study

Science requirements for a Global Change Technology Initiative (GCTI) Architecture Trade Study were established by reviewing and synthesizing results from recent studies. A scientific rationale was adopted and used to identify a comprehensive set of measurables and their priorities. Spatial and temporal requirements for a number of measurement parameters were evaluated based on results from several working group studies. Science requirements were defined using these study results in conjunction with guidelines for investigating global changes over a time scale of decades to centuries. Requirements are given separately for global studies and regional process studies. For global studies, temporal requirements are for sampling every 1 to 12 hours for atmospheric and radiation parameters and 1 day or more for most Earth surface measurements. Therefore, the atmospheric measurables provide the most critical drivers for temporal sampling. Spatial sampling requirements vary from 1 km for land and ocean surface characteristics to 50 km for some atmospheric parameters. Thus, the land and ocean surface parameters have the more significant spatial variations and provide the most challenging spatial sampling requirements.

Suttles, John T.↗
NASA NTRS2013

Calculating Conductance of Ion Channels

We have simulated two small ion channels in a water/membrane system, which consists of 71,000-72,000 atoms, and have estimated the conductance by way of counting ions crossing these channels in applied field. The calculated values of conductance have been compared with predictions of the electrodiffusion model. In a recently developed theoretical framework, all commonly used assumptions of the model can be tested. If they are satisfied, which is often the case, the approach provides a rigorous way to extrapolate conductance calculated at one voltage to other voltages. This, in turn, allows for efficient estimations of current-voltage dependence, examining rectifying behavior of channels and calculating the reversal potential. Furthermore, the consistency of the results can be precisely tested. Simulations at microsecond time scales are required to sufficiently reduce statistical errors and separate them from possible systematic errors. Only then the accuracy of the proposed approach can be properly tested. Linking simulations with electrophysiology provides a stringent, highly relevant test for the correctness of computer simulations of ion channels. Considering biological, medical and pharmaceutical importance of these proteins, results of the proposed study might motivate the development of improved hardware and software that would enable applying a similar strategy to more complex channels at longer times.

Ion↗
NASA NTRS1986

Two time scale output feedback regulation for ill-conditioned systems

Issues pertaining to the well-posedness of a two time scale approach to the output feedback regulator design problem are examined. An approximate quadratic performance index which reflects a two time scale decomposition of the system dynamics is developed. It is shown that, under mild assumptions, minimization of this cost leads to feedback gains providing a second-order approximation of optimal full system performance. A simplified approach to two time scale feedback design is also developed, in which gains are separately calculated to stabilize the slow and fast subsystem models. By exploiting the notion of combined control and observation spillover suppression, conditions are derived assuring that these gains will stabilize the full-order system. A sequential numerical algorithm is described which obtains output feedback gains minimizing a broad class of performance indices, including the standard LQ case. It is shown that the algorithm converges to a local minimum under nonrestrictive assumptions. This procedure is adapted to and demonstrated for the two time scale design formulations.

Calise, A. J.↗
NASA NTRS1990

The relative timing of microwaves and X-rays from solar flares

The delay of microwaves relative to hard X-rays from solar flares is investigated. For short-time scale delays, it was found that for reasonable thick-target model parameters and for injected electron distributions which are separable in time, energy, pitch angle, and position, the observed delay cannot be explained by magnetic trapping of electrons in the corona. It can be accounted for if higher energy microwave producing electrons are accelerated later than lower energy hard X-ray producing electrons. For larger time-scale delays, it is found that the flux during the rising phase of the flares can be explained well in terms of the thick-target model, but during the decay phase this model predicts too little microwave flux. A number of possibilities for this excess microwave flux are explored including spectral hardening, magnetic trapping, and thermal synchrotron and free-free emission.

Lu, Edward T.↗
NASA NTRS2012

Contrasting Patterns of Damage and Recovery in Logged Amazon Forests From Small Footprint LiDAR Data

Tropical forests ecosystems respond dynamically to climate variability and disturbances on time scales of minutes to millennia. To date, our knowledge of disturbance and recovery processes in tropical forests is derived almost exclusively from networks of forest inventory plots. These plots typically sample small areas (less than or equal to 1 ha) in conservation units that are protected from logging and fire. Amazon forests with frequent disturbances from human activity remain under-studied. Ongoing negotiations on REDD+ (Reducing Emissions from Deforestation and Forest Degradation plus enhancing forest carbon stocks) have placed additional emphasis on identifying degraded forests and quantifying changing carbon stocks in both degraded and intact tropical forests. We evaluated patterns of forest disturbance and recovery at four -1000 ha sites in the Brazilian Amazon using small footprint LiDAR data and coincident field measurements. Large area coverage with airborne LiDAR data in 2011-2012 included logged and unmanaged areas in Cotriguacu (Mato Grosso), Fiona do Jamari (Rondonia), and Floresta Estadual do Antimary (Acre), and unmanaged forest within Reserva Ducke (Amazonas). Logging infrastructure (skid trails, log decks, and roads) was identified using LiDAR returns from understory vegetation and validated based on field data. At each logged site, canopy gaps from logging activity and LiDAR metrics of canopy heights were used to quantify differences in forest structure between logged and unlogged areas. Contrasting patterns of harvesting operations and canopy damages at the three logged sites reflect different levels of pre-harvest planning (i.e., informal logging compared to state or national logging concessions), harvest intensity, and site conditions. Finally, we used multi-temporal LiDAR data from two sites, Reserva Ducke (2009, 2012) and Antimary (2010, 2011), to evaluate gap phase dynamics in unmanaged forest areas. The rates and patterns of canopy gap formation at these sites illustrate potential issues for separating logging damages from natural forest disturbances over longer time scales. Multi-temporal airborne LiDAR data and coincident field measurements provide complementary perspectives on disturbance and recovery processes in intact and degraded Amazon forests. Compared to forest inventory plots, the large size of each individual site permitted analyses of landscape-scale processes that would require extremely high investments to study using traditional forest inventory methods.

Morton, D. C.↗
NASA NTRS1983

Electrostatic Kelvin-Helmholtz instability in a radially injected plasma cloud

An elecrostatic finite-sized particle simulation model is used to study the early time-scale phenomena asociated with an impulsively injected plasma, expanding radially, normal to a strong ambient magnetic field. Results of the simulation show the early formation of a radial polarization electric field due to ion-electron charge separation which causes electrons to drift in the azimuthal direction. Velocity shear within this motion gives rise to a Kelvin-Helmholtz (dioxotron) instability, creating a radial fluted pattern as the plasma expands. In the nonlinear stage of instability, azimuthal variations in the electric field are observed which cause electrons to drift across the magnetic field, thereby reducing the space charge created by energetic ion expansion. The results of a linear stability analysis reveal that for a decreasing amount of charge separation in the plasma, the number of unstable azimuthal modes at maximum growth rate increases. Also, as the thickness of the electron ring increases, a fewer number of unstable modes develops for a given amount of charge separation. It is concluded that electrons become unstable at the very early time scale, within an ion gyroperiod, and that unstable electrons lead to modification of the ion dynamics.

Sydora, R. D.↗
NASA NTRS2000

Vehicle Dynamics due to Magnetic Launch Propulsion

The field of Magnetic Levitation Lind Propulsion (MagLev) has been around for over 30 years, primarily in high-speed rail service. In recent years, however, NASA has been looking closely at MagLev as a possible first stage propulsion system for spacecraft. This approach creates a variety of new problems that don't currently exist with the present MagLev trains around the world. NASA requires that a spacecraft of approximately 120,000 lbs be accelerated at two times the acceleration of gravity (2g's). This produces a greater demand on power over the normal MagLev trains that accelerate at around 0.1g. To be able to store and distribute up to 3,000 Mega Joules of energy in less than 10 seconds is a technical challenge. Another problem never addressed by the train industry and, peculiar only to NASA, is the control of a lifting body through the acceleration of and separation from the MagLev track. Very little is understood about how a lifting body will react with external forces, Such as wind gusts and ground effects, while being propelled along on soft springs such as magnetic levitators. Much study needs to be done to determine spacecraft control requirements as well as what control mechanisms and aero-surfaces should be placed on the carrier. Once the spacecraft has been propelled down the track another significant event takes place, the separation of the spacecraft from the carrier. The dynamics involved for both the carrier and the spacecraft are complex and coupled. Analysis of the reaction of the carrier after losing, a majority of its mass must be performed to insure control of the carrier is maintained and a safe separation of the spacecraft is achieved. The spacecraft angle of attack required for lift and how it will affect the carriage just prior to separation, along with the impacts of around effect and aerodynamic forces at ground level must be modeled and analyzed to define requirements on the launch vehicle design. Mechanisms, which can withstand the expected forces and allow the spacecraft to separate at the desired time must be developed. Modeling and analysis of the full-scale system must be developed to derive the requirements for design of the separation mechanisms. A description of several MagLev demonstrators will be presented and the testing and analysis to model the demonstrators will be included.

Galaboff, Zachary J.↗
NASA NTRS1991

Zonal contributions to global momentum variations on intraseasonal through interannual time scales

The variability in a 13-year time series of daily values of the relative angular momentum of the atmosphere (M) is separated into three frequency bands: intraseasonal, seasonal, and interannual. Two methods are used to achieve this separation, and the amount of variance attributable to intraseasonal fluctuations, in particular, is sensitive to the choice made. Seasonal time scales clearly dominate the global momentum series; included in this frequency band is a notable dip in the series early in almost every calendar year. To localize the sources of the frequency band-dependent fluctuations in M, the data were decomposed into series of angular momentum values within each of 46 equal-area zonal belts over the globe and covariances were formed between these belt series and M. Seasonal variations in M represent the residual of opposing contributions from the subtropical jets of the Northern and the Southern Hemispheres. Both intraseasonal and interannual variations in M result mostly from behavior in the tropics.

Rosen, Richard D.↗
NASA NTRS1984

Physics of gamma-ray bursts

Attention is given to the accumulating evidence for the view that gamma-ray bursts come from strongly magnetic neutron stars, discussing the physical properties of the emission region and the radiation processes expected in strong magnetic fields, and emphasizing that the observed burst spectra require that the emission region be optically thin. This entails that the energy of the emitting plasma and/or the plasma itself be continuously replenished during a burst, and that the cooling time scale of the emitting plasma be much shorter than the observed duration of the bursts. This characteristic of the cooling time scale implies that the burst intensity and spectrum can vary on extremely short time scales, and that the burst duration must have a separate explanation. It is emphasized that synchrotron emission is favored as the gamma-ray production mechanism; it is the only mechanism capable of satisfying the optical thinness constraint while producing the observed luminosity.

Lamb, D. Q.↗
NASA NTRS2009

NPP Clouds and the Earth's Radiant Energy System (CERES) Predicted Sensor Performance Calibration and Preliminary Data Product Performance

Continuation of the Earth Radiation Budget (ERB) Climate Data Record (CDR) has been identified as critical in the 2007 NRC Decadal Survey, the Global Climate Observing System WCRP report, and in an assessment titled Impacts of NPOESS Nunn-McCurdy Certification on Joint NASA-NOAA Climate Goals. In response, NASA, NOAA and NPOESS agreed in early 2008 to fly the final existing CERES Flight Model (FM-5) on the NPP spacecraft for launch in 2010. Future opportunities for ERB CDR continuity consist of procuring an additional CERES Sensor with modest performance upgrades for flight on the NPOESS C1 spacecraft in 2013, followed by a new CERES follow-on sensor for flight in 2018 on the NPOESS C3 spacecraft. While science goals remain unchanged for the long-term ERB Climate Data Record, it is now understood that the task of achieving these goals is more difficult for two reasons. The first is an increased understanding of the dynamics of the Earth/atmosphere system which demonstrates that rigorous separation of natural variability from anthropogenic change on decadal time scales requires higher accuracy and stability than originally envisioned. Secondly, future implementation scenarios involve less redundancy in flight hardware (1 vs. 2 orbits and operational sensors) resulting in higher risk of loss of continuity and reduced number of independent observations to characterize performance of individual sensors. Although EOS CERES CDR's realize a factor of 2 to 4 improvement in accuracy and stability over previous ERBE CDR's, future sensors will require an additional factor of 2 improvement to answer rigorously the science questions moving forward. Modest investments, defined through the CERES Science Team s 30-year operational history of the EOS CERES sensors, in onboard calibration hardware and pre-flight calibration and test program will ensure meeting these goals while reducing costs in re-processing scientific datasets. The CERES FM-5 pre-flight radiometric characterization program benefited from the 30-year operational experience of the CERES EOS sensors, as well as a stronger emphasis of radiometric characterization in the Statement of Work with the sensor provider. Improvements to the pre-flight program included increased spectral, spatial, and temporal sampling under vacuum conditions as well as additional tests to characterize the primary and transfer standards in the calibration facility. Future work will include collaboration with NIST to further enhance the understanding of the radiometric performance of this equipment prior to flight. The current effort summarizes these improvements to the CERES FM-5 pre-flight sensor characterization program, as well as modifications to inflight calibration procedures and operational tasking. In addition, an estimate of the impacts to the system level accuracy and traceability is presented.

Priestly, Kory↗
NASA NTRS2010

Future Flight Opportunities and Calibration Protocols for CERES: Continuation of Observations in Support of the Long-Term Earth Radiation Budget Climate Data Record

The goal of the Clouds and the Earth s Radiant Energy System (CERES) project is to provide a long-term record of radiation budget at the top-of-atmosphere (TOA), within the atmosphere, and at the surface with consistent cloud and aerosol properties at climate accuracy. CERES consists of an integrated instrument-algorithm validation science team that provides development of higher-level products (Levels 1-3) and investigations. It involves a high level of data fusion, merging inputs from 25 unique input data sources to produce 18 CERES data products. Over 90% of the CERES data product volume involves two or more instruments. Continuation of the Earth Radiation Budget (ERB) Climate Data Record (CDR) has been identified as critical in the 2007 NRC Decadal Survey, the Global Climate Observing System WCRP report, and in an assessment titled Impacts of NPOESS Nunn-McCurdy Certification on Joint NASA-NOAA Climate Goals . Five CERES instruments have flown on three different spacecraft: TRMM, EOS-Terra and EOS-Aqua. In response, NASA, NOAA and NPOESS have agreed to fly the existing CERES Flight Model (FM-5) on the NPP spacecraft in 2011 and to procure an additional CERES Sensor with modest upgrades for flight on the JPSS C1 spacecraft in 2014, followed by a CERES follow-on sensor for flight in 2018. CERES is a scanning broadband radiometer that measures filtered radiance in the SW (0.3-5 m), total (TOT) (0.3-200 m) and WN (8-12 m) regions. Pre-launch calibration is performed on each Flight Model to meet accuracy requirements of 1% for SW and 0.5% for outgoing LW observations. Ground to flight or in-flight changes are monitored using protocols employing onboard and vicarious calibration sources. Studies of flight data show that SW response can change dramatically due to optical contamination. with greatest impact in blue-to UV radiance, where tungsten lamps are largely devoid of output. While science goals remain unchanged for ERB Climate Data Record, it is now understood that achieving these goals is more difficult for two reasons. The first is an increased understanding of the dynamics of the Earth/atmosphere system which demonstrates that separation of natural variability from anthropogenic change on decadal time scales requires observations with higher accuracy and stabilit

Priestley, Kory J.↗
NASA NTRS2006

Assessment of Postflight Locomotor Performance Utilizing a Test of Functional Mobility: Strategic and Adaptive Responses

Space flight induces adaptive modification in sensorimotor function, allowing crewmembers to operate in the unique microgravity environment. This adaptive state, however, is inappropriate for a terrestrial environment. During a re-adaptation period upon their return to Earth, crewmembers experience alterations in sensorimotor function, causing various disturbances in perception, spatial orientation, posture, gait, and eye-head coordination. Following long duration space flight, sensorimotor dysfunction would prevent or extend the time required to make an emergency egress from the vehicle; compromising crew safety and mission objectives. We are investigating two types of motor learning that may interact with each other and influence a crewmember's ability to re-adapt to Earth's gravity environment. In strategic learning, crewmembers make rapid modifications in their motor control strategy emphasizing error reduction. This type of learning may be critical during the first minutes and hours after landing. In adaptive learning, long-term plastic transformations occur, involving morphological changes and synaptic modification. In recent literature these two behavioral components have been associated with separate brain structures that control the execution of motor strategies: the strategic component was linked to the posterior parietal cortex and the adaptive component was linked to the cerebellum (Pisella, et al. 2004). The goal of this paper was to demonstrate the relative contributions of the strategic and adaptive components to the re-adaptation process in locomotor control after long duration space flight missions on the International Space Station (ISS). The Functional Mobility Test (FMT) was developed to assess crewmember s ability to ambulate postflight from an operational and functional perspective. Sixteen crewmembers were tested preflight (3 sessions) and postflight (days 1, 2, 4, 7, 25) following a long duration space flight (approx 6 months) on the ISS. We have further analyzed the FMT data to characterize strategic and adaptive components during the postflight readaptation period. Crewmembers walked at a preferred pace through an obstacle course set up on a base of 10 cm thick medium density foam (Sunmate Foam, Dynamic Systems, Inc., Leicester, NC). The 6.0m X 4.0m course consisted of several pylons made of foam; a Styrofoam barrier 46.0cm high that crewmembers stepped over; and a portal constructed of two Styrofoam blocks, each 31cm high, with a horizontal bar covered by foam and suspended from the ceiling which was adjusted to the height of the crewmember s shoulder. The portal required crewmembers to bend at the waist and step over a barrier simultaneously. All obstacles were lightweight, soft and easily knocked over. Crewmembers were instructed to walk through the course as quickly and as safely as possible without touching any of the objects on the course. This task was performed three times in the clockwise direction and three times in the counterclockwise direction that was randomly chosen. The dependent measures for each trial were: time to complete the course (seconds) and the number of obstacles touched or knocked down. For each crewmember, the time to complete each FMT trial from postflight days 1, 2, 4, 7 and 25 were further analyzed. A single logarithmic curve using a least squares calculation was fit through these data to produce a single comprehensive curve (macro). This macro curve composed of data spanning 25 days, illustrates the re-adaptive learning function over the longer time scale term. Additionally, logarithmic curves were fit to the 6 data trials within each individual post flight test day to produce 5 separate daily curves. These micro curves, produced from data obtained over the course of minutes, illustrates the strategic learning function exhibited over a relative shorter time scale. The macro curve for all subjects exhibited adaptive motor learning patterns over the 25 day period. Howev, 9/16 crewmembers exhibited significant strategic motor learning patterns in their micro curves, as defined by m > 1 in the equation of the line y=m*LN(x) +b. These data indicate that postflight recovery in locomotor function involves both strategic and adaptive mechanisms. Future countermeasures will be designed to enhance both recovery processes.

Warren, L. E.↗
NASA NTRS2008

Facilitating Analysis of Multiple Partial Data Streams

Robotic Operations Automation: Mechanisms, Imaging, Navigation report Generation (ROAMING) is a set of computer programs that facilitates and accelerates both tactical and strategic analysis of time-sampled data especially the disparate and often incomplete streams of Mars Explorer Rover (MER) telemetry data described in the immediately preceding article. As used here, tactical refers to the activities over a relatively short time (one Martian day in the original MER application) and strategic refers to a longer time (the entire multi-year MER missions in the original application). Prior to installation, ROAMING must be configured with the types of data of interest, and parsers must be modified to understand the format of the input data (many example parsers are provided, including for general CSV files). Thereafter, new data from multiple disparate sources are automatically resampled into a single common annotated spreadsheet stored in a readable space-separated format, and these data can be processed or plotted at any time scale. Such processing or plotting makes it possible to study not only the details of a particular activity spanning only a few seconds, but also longer-term trends. ROAMING makes it possible to generate mission-wide plots of multiple engineering quantities [e.g., vehicle tilt as in Figure 1(a), motor current, numbers of images] that, heretofore could be found only in thousands of separate files. ROAMING also supports automatic annotation of both images and graphs. In the MER application, labels given to terrain features by rover scientists and engineers are automatically plotted in all received images based on their associated camera models (see Figure 2), times measured in seconds are mapped to Mars local time, and command names or arbitrary time-labeled events can be used to label engineering plots, as in Figure 1(b).

Maimone, Mark W.↗