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Celestial Mapping System for Lunar Surface Mapping and Analytics

Celestial Mapping System (CMS) is a software platform to generate virtual 3D globe for celestial bodies within our solar system. Various layers are built on top of the virtual globe to provide visualization of high resolution imagery, enable precise measurements, build analytical capabilities and broad range of functionalities to assist planetary scientists and mission planners. CMS is built using OpenJDK 11 and will run on a wide variety of platforms such as Linux, Windows, OSX, etc. It has a thick client with less overhead to access hardware resources. This allows features such as terrain profiling and distance calculations to be performed on the client and on the fly. The present focus of CMS is on developing lunar mapping tool kits to provide features such as - 3D first person view with zoom and navigational capabilities, realistic terrain visualization based on LRO data, measurement tools, Apollo landing site annotations, stereoscopic view, elevation profiles, line of sight analysis and many more. The application is developed to provide situational and domain awareness on Lunar surface, planning capabilities for equipment placements and traverse path optimization. As data becomes available, CMS has the capabilities to integrate data sets that change dynamically in real-time, which will be useful for monitoring satellites and remotely-sensed data on Lunar surface. CMS utilizes NASA WorldWind Java library and OpenGL to achieve high-performance rendering of data and measurements, and also adheres to OGC standards. CMS supports importing synthetic features in a variety of 3D, 2D, vector and raster formats. Nomenclature is pulled from USGS Moon IAU2000 database, and lunar parameters are based of the standardized IAU2000 Moon ellipsoid. GDAL (Geospatial Data Abstraction Library) was used to modify and test the accuracy of datasets before integrating into the application. Our high-resolution global elevation model was compared with the LRO LOLA DEM elevation values and tested to ensure accuracy. Celestial Mapping System has several potential use cases for NASA including subsurface lava tubes visualization and analysis, soil analysis, resource visualization and representation on 3D globe.

GIS system↗

High Resolution Terrain Sensing Lidar for Precision Navigation and Safe Landing of Space and Aerial Vehicles

A 3-D imaging flash lidar sensor employing a resolution enhancement algorithm is being developed at NASA Langley Research Center for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard spacecraft landing on the Moon, Mars, and other planetary bodies. This lidar sensor, we refer to as Terrain Sensing Lidar (TSL), is a solution for future missions that require landing at pre-designated sites near high value resources or at areas of high scientific value, while avoiding hazardous terrain features, such as escarpments, craters, slopes, and rocks, or pre-deployed assets. TSL can also benefit terrestrial applications such as autonomous aerial vehicles without reliance on signals from Global Positioning System (GPS). The feasibility of the TSL concept has been shown through a series of drone, fixed-wing aircraft, and helicopter flight tests. A prototype version of the TSL has been recently assembled for conducting another set of flight tests to demonstrate its readiness for upcoming landing missions. This paper describes the TSL, provides its performance parameters, and explains its operational concepts for landing missions.

Precision Navigation↗

Celestial Mapping System

Celestial Mapping System (CMS) is a software platform developed by Dr. Agrawal’s team to generate virtual 3D globes for celestial bodies. Various layers are built on top of the virtual globe to provide visualization for high-resolution imagery, enable precise measurements, build analytical capabilities and broad range of functionalities to assist planetary scientists and mission planners. In her June 14th presentation, Dr. Agrawal will showcase the user interactive software platform to virtually travel the lunar terrain, place rovers and instruments on the surface of the moon and perform measurements of various geological features including permanently shadowed regions. Her team’s future goals include building interactive 3D globes for other planetary bodies such as Venus, Mars, and Titan in the solar system.

GIS system↗

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗

A Super-Resolution Algorithm for Enhancement of FLASH LIDAR Data: Flight Test Results

This paper describes the results of a 3D super-resolution algorithm applied to the range data obtained from a recent Flash Lidar helicopter flight test. The flight test was conducted by the NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) project over a simulated lunar terrain facility at NASA Kennedy Space Center. ALHAT is developing the technology for safe autonomous landing on the surface of celestial bodies: Moon, Mars, asteroids. One of the test objectives was to verify the ability of 3D super-resolution technique to generate high resolution digital elevation models (DEMs) and to determine time resolved relative positions and orientations of the vehicle. 3D super-resolution algorithm was developed earlier and tested in computational modeling, and laboratory experiments, and in a few dynamic experiments using a moving truck. Prior to the helicopter flight test campaign, a 100mX100m hazard field was constructed having most of the relevant extraterrestrial hazard: slopes, rocks, and craters with different sizes. Data were collected during the flight and then processed by the super-resolution code. The detailed DEM of the hazard field was constructed using independent measurement to be used for comparison. ALHAT navigation system data were used to verify abilities of super-resolution method to provide accurate relative navigation information. Namely, the 6 degree of freedom state vector of the instrument as a function of time was restored from super-resolution data. The results of comparisons show that the super-resolution method can construct high quality DEMs and allows for identifying hazards like rocks and craters within the accordance of ALHAT requirements.

Bulyshev, Alexander↗

Real-Time Lunar Prospector Data Visualization Using Web-Based Java

The Lunar Prospector was co-developed by NASA Ames Research Center and Lockheed Martin, and was launched on January 6th, 1998. Its mission is to search for water ice and various elements in the Moon's surface, map its magnetic and gravity fields, and detect volcanic activity. For the first time, the World Wide Web is being used to graphically display near-real-time data from a planetary exploration mission to the global public. Science data from the craft's instruments, as well as engineering data for the spacecraft subsystems, are continuously displayed in time-varying XY plots. The craft's current location is displayed relative to the whole Moon, and as an off-craft observer would see in the reference frame of the craft, with the lunar terrain scrolling underneath. These features are implemented as Java applets. Analyzed data (element and mass distribution) is presented as 3D lunar maps using VRML and Javascript. During the development phase, implementations of the Java Virtual Machine were just beginning to mature enough to adequately accommodate our target featureset; incomplete and varying implementations were the biggest bottleneck to our ideal of ubiquitous browser access. Bottlenecks notwithstanding, the reaction from the Internet community was overwhelmingly enthusiastic.

Deardorff, D. Glenn↗

STS-70 Post Flight Presentation

In this post-flight overview, the flight crew of the STS-70 mission, Tom Henricks (Cmdr.), Kevin Kregel (Pilot), Major Nancy Currie (MS), Dr. Mary Ellen Weber (MS), and Dr. Don Thomas (MS), discuss their mission and accompanying experiments. Pre-flight, launch, and orbital footage is followed by the in-orbit deployment of the Tracking and Data Relay Satellite (TDRS) and a discussion of the following spaceborne experiments: a microgravity bioreactor experiment to grow 3D body-like tissue; pregnant rat muscular changes in microgravity; embryonic development in microgravity; Shuttle Amateur Radio Experiment (SAREX); terrain surface imagery using the HERCULES camera; and a range of other physiological tests, including an eye and vision test. Views of Earth include: tropical storm Chantal; the Nile River and Red Sea; lightning over Brazil. A three planet view (Earth, Mars, and Venus) was taken right before sunrise. The end footage shows shuttle pre-landing checkout, entry, and landing, along with a slide presentation of the flight.

Peterson, Glen↗

Advancement of Deep Learning and Geometric Methods for Active Terrain Relative Navigation

To enhance NASA’s precision landing capabilities, in conjunction with the development of a novel active terrain relative navigation (ATRN) and terrain mapping system, denoted SHERIF, this work performed a comparative analysis between both deep-learning (DL) based and geometric approaches to hazard detection (HD) and safe-site-identification (SSI) through hardware-in-the loop testing on the Six degree-of-freedom Tendon Actuated Robot (STAR). The Standalone Hazard Evaluation and Refinement using Instrument Findings (SHERIF) system is capable of ingesting sensor data at an asynchronous rate, stitching successive terrain scans together to yield a high-resolution digital elevation map (DEM), performing absolute and relative localization using novel 3D feature extraction and matching methods, and HD/SSI activities. The DL-based HD/SSI algorithm provides a modular alternative to classical geometric approaches which have performance times that scale with map resolution. As the adoption of AI solutions become more prevalent for autonomous system decision making, it is prudent to explore the utility of such solutions in applications where they traditionally excel, such as image classification. Along with the development of a DL-based HD system, this work performed the first comparative analysis between DL and geometric approaches to HD/SSI using real sensor data from real-time testing in a relevant environment.

Davis Adams↗

Characterizing Detailed Grain Shape and Size Distribution Properties of Lunar Regolith

Introduction: As the nation prepares to return to the Moon, there is an increasing need for testing tools, instruments, and equipment in simulated environments on Earth to ensure successful operations during lunar missions. Regolith will affect all aspects of future lunar missions, from plume interactions during landing to space suit and tool design [1]. Because of this, it is important to understand the grain shape and size properties of lunar regolith and how those influence regolith behavior in order to prepare for these missions. This knowledge is also vital to create more accurate lunar regolith simulants for testing equipment in a lunar environment. While particle size analyses have been performed on most Apollo soils using simple sieving, shape has only been crudely addressed [2]. This work analyzes 4 lunar regolith samples to provide a better understanding of these size and shape parameters and will provide a more accurate baseline of data to create high-fidelity lunar regolith simulants. Methods: New technologies exist today that are capable of measuring size and shape simultaneously for hundreds of thousands of particles in a single measurement. We conducted a rigorous analysis of the particle size distribution (PSD) as well as the size-dependent 2D and 3D shape parameters of lunar regolith samples of different compositions and maturity levels. This analysis was done using a Microtrac SYNC which provides a unique combination of tri-laser diffraction and Dynamic Image Analysis (DIA). Sample Selection. Four regolith samples were selected for analysis based on maturity level and lunar terrain type: • 10084 – Mature high-Ti mare regolith • 15601 – Immature low-Ti mare regolith • 64501 – Mature highland regolith • 67461 – Immature highland regolith Sample Analysis. After receiving the samples, each sample was imaged with an optical microscope (Figure 1). To obtain 2D and 3D particle size and shape, 0.1 g of each sample was then added to the SYNC for analysis, which outputs more than 30 size and shape parameters for each individual grain as well as the complete size distribution from 0.01-2000 μm by blending laser diffraction and DIA together. For the 0.1 g sample masses requested, ~100,000 grains per sample were captured by DIA. Results: From the PSD analysis, it can be seen that the average particle size of 10084 is ~24.5 µm which is much smaller than the average particle size of the Apollo sample collection (~72 µm) [3], while the average particle size of samples 15601, 64501, and 67461 are larger than the Apollo sample average at ~106 µm, ~103 µm, and ~118.5 µm respectively. The size and shape measurements for the samples output ~30 parameters, four of which were focused on for this study: sphericity, aspect ratio, roundness, and concavity (Figure 3). However, after analyzing the plots it was found that only sphericity and aspect ratio showed differences between the samples. These two parameters are measured on a scale from 0 to 1, with 1 being a perfect sphere with equal dimensions. The results show that the sphericity values are slightly high-er for the mature samples 10084 and 64501 (~0.96) than they are for samples 15601 and 67461 (~0.95) (Figure 4). The aspect ratio values are slightly lower for samples 64501 (~0.7) and 67461 (~0.74) than they are for samples 10084 (~0.76) and 15601 (~0.8) (Figure 5). Discussion: Mature regoliths are those that have been exposed to micrometeorite and solar wind bombardment for long periods of time, breaking up particles and causing them to become more rounded [4]. Therefore, the smaller particle sizes and higher sphericity values for samples 10084 and 64501 are expected due to their higher maturity level compared to 15601 and 67461. However, the aspect ratio values are not dependent on maturity and are instead dependent on terrain type. The lower aspect ratio values for the high-land samples is potentially due to the higher plagioclase content, which occurs in elongated particles and does not break down as easily as the pyroxenes or olivines that are present in the mare. Conclusion and Future Work: The results of this work provide a baseline of high-quality data that will contribute to the creation of high-fidelity lunar simulants and will greatly benefit NASA’s efforts of establishing a human presence on the Moon. Future work includes performing unsupervised image classification on the ~105 particle images per sample in order to identify different classes of grains. These grain classes can then be linked to detailed shape properties, and the relative abundance of each class in the samples can be compared. Acknowledgments: We would like to thank the Extraterrestrial Materials Analysis Group (ExMAG) and the Astromaterials Allocation Review Board (AARB) for allocating lunar regolith samples 10084,9010, 15601,365, 64501,249, and 67461,171 for this work. References: [1] Taylor, L. A. et al. (2005) AIAA #2510. [2] Katagiri et al. (2015) ASCE. [3] Carrier III, W. D. (2005) Lunar Geotech Institute Tech Report. [4] McKay, D. S. et al. (1991) The Lunar Sourcebook, Chapter 7.

S R Deitrick↗

Celestial Mapping System

Celestial Mapping System is a virtual library of 3D globes with functionality to support upcoming missions. Built on top of NASA WorldWind Java Library with capabilities to display high-resolution imagery and terrain with a rich toolkit of functionality for visualization and analysis of celestial features. This is a two video set of the demonstration for this mapping system.

Parul Agrawal↗

3D-Sonification for Obstacle Avoidance in Brownout Conditions

Helicopter brownout is a phenomenon that occurs when making landing approaches in dusty environments, whereby sand or dust particles become swept up in the rotor outwash. Brownout is characterized by partial or total obscuration of the terrain, which degrades visual cues necessary for hovering and safe landing. Furthermore, the motion of the dust cloud produced during brownout can lead to the pilot experiencing motion cue anomalies such as vection illusions. In this context, the stability and guidance control functions can be intermittently or continuously degraded, potentially leading to undetected surface hazards and obstacles as well as unnoticed drift. Safe and controlled landing in brownout can be achieved using an integrated presentation of LADAR and RADAR imagery and aircraft state symbology. However, though detected by the LADAR and displayed on the sensor image, small obstacles can be difficult to discern from the background so that changes in obstacle elevation may go unnoticed. Moreover, pilot workload associated with tracking the displayed symbology is often so high that the pilot cannot give sufficient attention to the LADAR/RADAR image. This paper documents a simulation evaluating the use of 3D auditory cueing for obstacle avoidance in brownout as a replacement for or compliment to LADAR/RADAR imagery.

3D audio↗

Microwave Sinterator Freeform Additive Construction System (MS-FACS)

The harmful properties of lunar dust, such as small size, glass composition, abnormal surface area, and coatings of imbedded nanophase iron, lead to a unique coupling of the dust with microwave radiation. This coupling can be exploited for rapid sintering of lunar soil for use as a construction material that can be formed to take on an infinite number of shapes and sizes. This work describes a system concept for building structures on the lunar surface using lunar regolith (soil). This system uses the ATHLETE (All-Terrain Hex- Limbed Extra-Terrestrial Explorer) mobility system as a positioning system with a microwave print head (similar to that of a smaller-scale 3D printer). A processing system delivers the lunar regolith to the microwave print head, where the microwave print head/chamber lays down a layer of melted regolith. An arm on the ATHLETE system positions the layer depending on the desired structure.

Howe, Alan S.↗

Design and Development of High-Performance Imaging Lidars for Extreme Radiation Environments of Europa

To enable safe landing on unknown terrain, such as Europa, JPL has been developing two next-generation dual-mode lidars that can provide long range altimetry as well as dense 3D mapping in real-time during landing. In this paper, we discuss the overall concept, development strategy and report on the detailed progress of the lidar development. Besides, the use for Europa, the flexible design and reconfigurability of lidars allow for a wide range of operation on other planetary bodies.

Machan, Roman↗

Modelling above-ground biomass stock over Norway using national forest inventory data with ArcticDEM and Sentinel-2 data

Boreal forests constitute a large portion of the global forest area, yet they are undersampled through field surveys, and only a few remotely sensed data sources provide structural information wall-to-wall throughout the boreal domain. ArcticDEM is a collection of high-resolution (2 m) space-borne stereogrammetric digital surface models (DSM) covering the entire land area north of 60° of latitude. The free-availability of ArcticDEM data offers new possibilities for aboveground biomass mapping (AGB) across boreal forests, and thus it is necessary to evaluate the potential for these data to map AGB over alternative open-data sources (i.e., Sentinel-2). This study was performed over the entire land area of Norway north of 60° of latitude, and the Norwegian national forest inventory (NFI) was used as a source of field data composed of accurately geolocated field plots (n=7710) systematically distributed across the study area. Separate random forest models were fitted using NFI data, and corresponding remotely sensed data consisting of either: i) a canopy height model (ArcticCHM) obtained by subtracting a high-quality digital terrain model (DTM) from the ArcticDEM DSM height values, ii) Sentinel-2 (S2), or iii) a combination of the two (ArcticCHM+S2). Furthermore, we assessed the effect of the forest- and terrain-specific factors on the models’ predictive accuracy. The best model (,i.e., ArcticCHM+S2) explained nearly 60% of the variance of the training set, which translated in the largest accuracy in terms of root mean square error (RMSE=41.4 t/ha). This result highlights the synergy between 3D and multispectral data in AGB modelling. Furthermore, this study showed that despite the importance of ArcticCHM variables, the S2 model performed slightly better than ArcticCHM model. This finding highlights some of the limitations of ArcticDEM, which, despite the unprecedented spatial resolution, is highly heterogeneous due to the blending of multiple acquisitions across different years and seasons. We found that both forest- and terrain-specific characteristics affected the uncertainty of the ArcticCHM+S2 model and concluded that the combined use of ArcticCHM and Sentinel-2 represents a viable solution for AGB mapping across boreal forests. The synergy between the two data sources allowed for a reduction of the saturation effects typical of multispectral data while ensuring the spatial consistency in the output predictions due to the removal of artifacts and data voids present in ArcticCHM data. While the main contribution of this study is to provide the first evidence of the best-case-scenario (i.e., availability of accurate terrain models) that ArcticDEM data can provide for large-scale AGB modelling, it remains critically important for other studies to investigate how ArcticDEM may be used in areas where no DTMs are available as is the case for large portions of the boreal zone.

space-borne imagery↗

Faxing Structures to the Moon: Freeform Additive Construction System (FACS)

Using the highly articulated All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility system as a precision positioning tool, a variety of print head technologies can be used to 3D print large-scale in-situ structures on planetary surfaces such as the moon or Mars. In effect, in the same way CAD models can be printed in a 3D printer, large-scale structures such as walls, vaults, domes, berms, paving, trench walls, and other insitu derived elements can be FAXed to the planetary surface and built in advance of the arrival of crews, supplementing equipment and materials brought from earth. This paper discusses the ATHLETE system as a mobility / positioning platform, and presents several options for large-scale additive print head technologies, including tunable microwave "sinterator" approaches and in-situ concrete deposition. The paper also discusses potential applications, such as sintered-in-place habitat shells, radiation shielding, road paving, modular bricks, and prefabricated construction components.

Apollo Lunar Module↗

3D Simulations of the Early Mars Climate with a General Circulation Model

The environmental conditions that existed on Mars during the Noachian period are subject to debate in the community. In any case, there are compelling evidence that these conditions were different than what they became later in the amazonian and possibly the Hesperian periods. Indeed, most of the old cratered terrains are disected by valley networks (thought to have been carved by flowing liquid water), whereas younger surface are almost devoid of such valleys. In addition, there are evidence that the erosion rate was much higher during the early noachian than later. Flowing water is surprising on early Mars because the solar luminosity was significantly lower than today. Even with the thick atmosphere (up to several bars).To improve our understanding of the early Mars Climate, we have developed a 3D general circulation model similar to the one used on current Earth or Mars to study the details of the climate today. Our first objective is to answer the following questions : how is the Martian climate modified if 1) the surface pressure is increased up to several bars (our baseline: 2 bars) and 2) if the sun luminosity is decreased by 25 account the heat possibly released by impacts during short periods, although it may have played a role .For this purpose, we have coupled the Martian General Circulation model developed at LMD with a sophisticated correlated k distribution model developped at NASA Ames Research Center. It is a narrow band model which computes the radiative transfer at both solar and thermal wavelengths (from 0.3 to 250 microns).

Forget, F.↗

Htrl Apr 2023 Presentation

This project will produce a 3D lidar system (engineering unit) to greatly expand rover navigation capability, including hazard detection range, field of view and light condition sensitivity. Provide required science data products and terrain mapping capabilities.

Nathaniel Gill↗