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NASA NTRS1987

The effect of a shallow low viscosity zone on the apparent compensation of midplate swells

A model for midplate swells is assumed where the swell topography is dynamically maintained by convection beneath a conducting lid. Using an idealized viscosity structure consisting of a low viscosity layer underneath the lid and overlying a constant viscosity region, the effect of the low viscosities, the layer thickness, and the Rayleigh number on the flow and on the inference of a compensation mechanism from the associated gravity, geoid, and topography anomalies is investigated. The calculations show that a simple plume model with stratified viscosity variations of less than two orders of magnitude near the surface can produce the range of depths of compensation seen at midplate swells. Shallow depths of compensation, therefore, cannot be used to argue against dynamic models for the formation of hot spot swells.

Robinson, Elizabeth M.↗

NASA NTRS1992

The geophysical signal of the martian global dichotomy

A first-order tectonic question for Mars is the origin and nature of the global dichotomy (GD) separating approximately the northern and southern hemispheres of the planet. It is appropriate to focus on hypotheses for the origin of the GD as well as on geophysical models of related internal structure that are constrained by present-day observations. There are basic planetary scale observations that relate to the GD: (1) the dichotomy boundary separates two fundamentally different elevations on the planet, as the terrain to the north is lower by an average of about 3 km; (2) the boundary separates terrain of regionally distinct crater ages, heavily cratered (older) in the south and sparsely cratered (younger) in the north; (3) the amount of ancient crust apparently removed from north of the dichotomy boundary cannot be accounted for by simple surface erosion and deposition in the south, and the constraint becomes particularly severe if isostatic adjustment is presumed to have accompanied this process. This last point leads to the supposition that some type of interior process must have been responsible for the creation of the GD. An obvious way to create the observed elevation difference between the two hemispheres is with a thinner crust in the north, although a denser cust would also work. Hypotheses for producing a thinner northern crust include preferential sub-crustal erosion, a giant impact, and simply invoking the crustal thickness difference as a primordial feature of the planet. If the GD represents a fundamental change in the crustal thickness of Mars, then there should be geophysical evidence of this. The center-of-figure to center-of-mass offset of the planet may be related to the GD, but the Tharsis topography must certainly also contribute. If the Tharsis and GD effects can be separated, then a crustal thickness model can be tested, though the results will not be unique. The gravity field provides another geophysical constraint on GD models. A simple change in thickness of an isostatically compensated crust should show a characteristic gravity signal across the dichotomy boundary. There is a gravity anomaly that is clearly associated with the boundary in regions where the gravity signal is not cluttered by contributions from other features such as Tharsis and Elysium. The gravity signal has a complex spatial relationship with the boundary, and efforts are presently underway to model this anomaly.

Phillips, Roger J.↗

NASA NTRS1993

Spectral analysis of the gravity and topography of Mars

New spherical harmonic models of the gravity and topography of Mars place important constraints on the structure and dynamics of the interior. The gravity and topography models are significantly phase coherent for harmonic degrees n less than 30 (wavelengths greater than 700 km). Loss of coherence below that wavelength is presumably due to inadequacies of the models, rather than a change in behavior of the planet. The gravity/topography admittance reveals two very different spectral domains: for n greater than 4, a simple Airy compensation model, with mean depth of 100 km, faithfully represents the observed pattern; for degrees 2 and 3, the effective compensation depths are 1400 and 550 km, respectively, strongly arguing for dynamic compensation at those wavelengths. The gravity model has been derived from a reanalysis of the tracking data for Mariner 9 and the Viking Orbiters, The topography model was derived by harmonic analysis of the USGS digital elevation model of Mars. Before comparing gravity and topography for internal structure inferences, we must ensure that both are consistently referenced to a hydrostatic datum. For the gravity, this involves removal of hydrostatic components of the even degree zonal coefficients. For the topography, it involves adding the degree 4 equipotential reference surface, to get spherically referenced values, and then subtracting the full degree 50 equipotential. Variance spectra and phase coherence of orthometric heights and gravity anomalies are addressed.

Bills, Bruce G.↗

NASA NTRS1992

Structural characteristics and tectonics of northeastern Tellus Regio and Meni Tessera

The Tellus Regio-Meni Tessera region is an interesting highland area characterized by large areas of complex ridged terrain or tessera terrain. The area was previously studied from the Venera 15/16 data, typical characteristics of complex tessera terrain of Tellus Regio were analyzed, and a formation mechanism was proposed. Apparent depths of compensation of approximately 30-50 km were calculated from Pioneer Venus gravity and topography data. These values indicate predominant Airy compensation for the area. Regional stresses and lithospheric structures were defined from analysis of surface structures, topography, and gravity data. In this work we concentrate on northeastern Tellus Regio and Meni Tessera, which are situated north and west of Tellus Regio. Structural features and relationships are analyzed in order to interpret tectonic history of the area. Study area was divided into three subareas: northeastern Tellus Regio, Meni Tessera, and the deformed plain between them.

Toermaenen, T.↗

NASA NTRS1985

Gravity Reception and Cardiac Function in the Spider

The following features of the arachnid gravity system were studied. (1) the absolute threshold to hyper-gz is quite low indicating fine proprioreceptive properties of the lyriform organ, the Gz/vibration detector; (2) the neurogenic heart of the spider is a good dependent variable for assessing its behavior to Gz and other stimuli which produce mechanical effects on the exoskeleton; (3) Not only is the cardiac response useful but it is now understood to be an integral part of the system which compensates for the consequences of gravity in the spider (an hydraulic leg extension); and (4) a theoretical model was proposed in which a mechanical amplifier, the leg lever, converts a weak force (at the tarsus) to a strong force (at the patella), capable of compressing the exoskeleton and consequently the lyriform receptor.

Finck, A.↗

NASA NTRS1990

Acceleration and torque feedback for robotic control - Experimental results

Gross motion control of robotic manipulators typically requires significant on-line computations to compensate for nonlinear dynamics due to gravity, Coriolis, centripetal, and friction nonlinearities. One controller proposed by Luo and Saridis avoids these computations by feeding back joint acceleration and torque. This study implements the controller on a Puma 600 robotic manipulator. Joint acceleration measurement is obtained by measuring linear accelerations of each joint, and deriving a computationally efficient transformation from the linear measurements to the angular accelerations. Torque feedback is obtained by using the previous torque sent to the joints. The implementation has stability problems on the Puma 600 due to the extremely high gains inherent in the feedback structure. Since these high gains excite frequency modes in the Puma 600, the algorithm is modified to decrease the gain inherent in the feedback structure. The resulting compensator is stable and insensitive to high frequency unmodeled dynamics. Moreover, a second compensator is proposed which uses acceleration and torque feedback, but still allows nonlinear terms to be fed forward. Thus, by feeding the increment in the easily calculated gravity terms forward, improved responses are obtained. Both proposed compensators are implemented, and the real time results are compared to those obtained with the computed torque algorithm.

Mclnroy, John E.↗

NASA NTRS1982

Venus - Comparison of gravity and topography in the vicinity of Beta Regio

The Doppler tracking data obtained from the Pioneer Venus Orbiter when it passed near Beta Regio yielded a peak vertical anomaly of 150 mGal when analyzed by our two stage procedure. A comparison of maps of the gravity and topography at comparable resolution shows a striking correlation. A scatter plot shows that the observed gravity anomaly is approximately 0.4 of that expected from uncompensated topography of half the mean density of Venus. However, the spectral admittance shows that the gravity anomalies can not be explained either by Airy compensation at fixed depth or by a model comprising an elastic plate atop an inviscid fluid. The gravity and topography variations may signify deep compensation or dynamic support for Beta Regio and more shallow compensation for other features.

Reasenberg, R. D.↗

NASA NTRS1993

Attitude control of the LACE satellite: A gravity gradient stabilized spacecraft

The Low-power Atmospheric Compensation Experiment (LACE) satellite was launched in February 1990 by the Naval Research Laboratory. The spacecraft's pitch and roll are maintained with a gravity gradient boom and a magnetic damper. There are two other booms with much smaller tip masses, one in the velocity direction (lead boom) of variable length and the other in the opposite direction (balance boom) also of variable length. In addition, the system uses a momentum wheel with its axis perpendicular to the plane of the orbit to control yaw and keep these booms in the orbital plane. The primary LACE experiment requires that the lead boom be moved to lengths varying from 4.6 m to 45.7 m. This and other onboard experiments require that the spacecraft attitude remain within tight constraints while operating. The problem confronting the satellite operators was to move the lead boom without inducing a net spacecraft attitude disturbance. A description of a method used to change the length of the lead boom while minimizing the disturbance to the attitude of the spacecraft is given. Deadbeating to dampen pitch oscillations has also been accomplished by maneuvering either the lead or balance boom and is discussed.

Ivory, J. E.↗

NASA NTRS1974

Effects of prolonged acceleration with or without clinostat rotation on seedlings of Arabidopsis thaliana (L.) Heynh

Three 21-day tests of the effects of chronic centrifugation were carried out on populations of Arabidopsis thaliana. In addition to 1 g the resultant g-forces tested were: 2,4,6,8,16, and 20 g. Observed end points included gross morphological characters such as size of plant organs and, at the other extreme, features of sub-cellular structure and ultrastructure. Plants were grown on banks of clinostats. The acceleration vector was directed either parallel with the plants' axes or transverse to the axes. Plant responses to chronic axial acceleration and to transverse acceleration with clinostated plants were determined. From the data obtained it was possible in some cases: (1) to determine the g-functions of specific plant developmental characters; (2) to extrapolate those functions to the hypothetical value at zero g in order to predict (tentatively) the morphology of a plant grown in space, (3) to describe morphological effects of clinostat rotation, (4) to determine which of those effects was influenced by the prevailing g-force, and (5) to put to direct test the assumption that clinostat rotation nullifies or compensates for the influence of gravity.

Brown, A. H.↗

NASA NTRS1984

Broadening of the Interplanetary Helium Cone Structure Due to Elastic Collisions of LISM Helium Atoms with Solar Wind Ions

Neutral interstellar particles penetrating into the heliosphere, besides being subject there to specific loss processes, suffer elastic collisions with KeV-solar wind ions. The momentum transfer to the neutrals connected with these collisions leads to a loss of angular momentum with respect to the Sun and to a fractional compensation of the effective solar gravity. The dynamical particle trajectories hence are changed into non-Keplerians leading to density and temperature distributions differing from those calculated in the past. This is found from a solution of the Boltzmann equation that linearizes the effect of this additional force. It is shown that the HeI-584A resonance glow of the heliospheric helium cone lead to substantially lower interstellar helium temperatures if re-interpreted on the basis of this revised theory. These temperatures now seem to be in accordance with the derived temperatures for interstellar hydrogen.

Fahr, H. J.↗

NASA NTRS2019

Airfoil Selection for Mars Rotor Applications

This short white paper is aimed at providing an overview of design considerations for airfoil choices for rotor applications in the Martian atmosphere, at very low chord-based Reynolds number flows, around Rec = O (103 -104). The low Reynolds number typical of rotorcraft operation in the Martian atmosphere reduces the rotor lifting force and efficiency, which is only partially compensated for by a lower gravity on Mars. Additionally, the low temperature and largely CO2 based atmosphere of Mars compound the overall aerodynamic problem by resulting in a lower speed of sound, further constraining rotor operation in the Martian atmosphere by limiting the maximum rotor tip speed possible so as not to exceed an acceptable tip Mach number. In light of the expected reduced rotor efficiency, evaluating airfoils for compressible, low-Reynolds number Mars rotor applications is key. Prior research on airfoil optimization and performance evaluation at low Reynolds numbers, especially in the compressible regime, is scarce and deserves further understanding. Specifically, the proposed goal stemming from this overview is to develop airfoils tailored to the unique demands of the second generation of Mars rotorcraft, i.e. the Mars Science Helicopter (MSH). This research focuses on the airfoil performance at low Reynolds numbers and hopes to add to the work performed by, amongst others, Kroo et al., Kunz and Kroo, Oyama and Fujii, Anyoji et al.

Koning, Witold J. F.↗

NASA NTRS1982

Mars - Gravity data analysis of the crater Antoniadi

Topography and gravity information for this 370-km crater are analyzed to determine a depth of compensation with an Airy isostatic model. A least squares fit to the gravity profile gives an estimate of 115 km for the depth of compensation. It is noted that Antoniadi is the only large Martian crater for which both topographic and gravity data are available for analysis. The goal here is to reduce these geophysical data for additional information on the internal structure of Mars. The results show that if Antoniadi had fully isostatically adjusted, the additional mass material would have been about 100 km below the surface. This is regarded as another data point for geophysicists developing the internal structure of Mars.

Sjogren, W. L.↗

NASA NTRS1983

Hot spot heat transfer - Its application to Venus and implications to Venus and earth

Using a model that gives a relationship between surface elevation, lithospheric thickness, and heat flux, the hot spot heat loss mechanism is tested for Venus. The mechanism is found to readily explain the predicted heat loss of the planet with a modest number of hot spots (of the order of 35). Lithospheric thickness variations can explain approximately 93 percent of the mapped topography of Venus. Above a radius of 6053 km, additional compensation is required, and this can be effected by incorporating a variable thickness crust into the model. If it is assumed that the crust is generated on the crests of the hot spots, probably by processes associated with volcanism, the model is consistent with nearly 99 percent of the mapped topography of Venus. In addition, the model is basically consistent with available gravity data and interpretations that suggest compensated topography and great depths of compensation (100-1000 km) for the midlatitudes of the planet. It is thought that the approximately 1 percent of the topography not explained by hot spot crustal generation is compensated at a shallower depth primarily by variations in crustal thickness that are not directly related to hot spot volcanism.

Morgan, P.↗

NASA NTRS2022

Evidence Report: Risk of Injury and Compromised Performance due to EVA Operations

During future missions to the Moon and Mars, each crewmember will most likely perform up to 24 hours a week of extravehicular activity (EVA) in support of exploration, science, construction, and maintenance tasks. Achieving mission objectives will require EVA systems and operations concepts that maximize human performance and efficiency while minimizing health and safety risks for crewmembers. Currently, over 450 EVAs have been performed in microgravity using the Extravehicular Mobility Unit (EMU). The EMU space suit has enabled the successful assembly and maintenance of the International Space Station (ISS) for over 20 years, as well as deployment of payload experiments, solar arrays, satellite launches and repairs. This EVA work was accomplished at a slower cadence than is expected for Moon and Mars, with ISS crewmembers performing no more than 7 EVAs during a single mission and without any back-to-back EVAs. Despite their success, ISS EVAs have resulted in more injury to EVA crewmembers than may be acceptable for long-duration exploration missions. The Apollo astronauts completed EVA tasks in suits that were designed for their short-duration lunar missions, although suit mobility problems were evident. The more frequent EVAs and more varied EVA tasks that are anticipated during the future longer-duration exploration missions will require EVA suits and systems that are better oriented to human health and performance than those used during the Apollo Program. Many of the problems that were encountered with the Apollo EVA suits (e.g., limited mobility and dexterity, high and aft center of gravity, and other features requiring significant crew compensation) will need to be corrected or mitigated to optimize EVA objectives of exploration missions. It is critical that we understand how EVA system design variables such as suit pressure, weight/mass, center-of-gravity location, joint ranges of motion, and biomedical monitoring, affects the ability of astronauts to perform safe, efficient, and effective EVAs. To achieve this understanding, EVA researchers will need to develop and execute an integrated human testing program across multiple environments. The research will provide objective data that will enable informed design decisions and crewmember standards, thereby ensuring EVA systems that optimize crewmember health, safety, efficiency, and performance. This report describes the risks to crew health, safety, performance, and efficiency caused by EVA operations, and it provides the evidence base to substantiate the importance of the risk.

EVA↗

NASA NTRS1988

All resistojet control of the NASA dual keel Space Station

This paper describes a control system that uses small (0.1-N) hydrogen-fueled, high-expansion-ratio resistojets to control a Space Station's position and attitude. The number and size of the resistojets is calculated based on requirements for stationkeeping, compensation for steady-state gravity-gradient and aerodynamic torques, momentum loading due to mobile remote manipulator motion, Shuttle Orbiter docking, and translational evasive maneuvering. The all-resistojet control system performs continuous orbit maintenance while keeping the linear accelerations on the spacecraft lower than they would be without any control system operating.

Paluszek, M. A.↗

NASA NTRS2001

Mercury's Global Topography from Radar Ranging Data

When Mercury's radius is expanded in Legendre functions to the second degree and order, the systematic error in radar ranging data is reduced substantially. Previously, data spanning an observing interval from 1966 to 1990 were used to infer an equatorial ellipticity (a - b)/a = (540 +/- 54) X 10(exp -6) and a center-of-figure minus center-of-mass offset of (640 +/- 78) m. The magnitude of this equatorial center of figure offset implies an excess crustal thickness of 12 km or less, comparable to the Moon's excess. By comparing the equatorial ellipticity with the Mariner 10 gravity field, and assuming Airy isostatic compensation, bounds on crustal thickness can be derived. Mercury's crustal thickness is in the range from 100 to 300 km. The Mercury radar ranging observing interval has been extended from 1966 to the present. In addition, improvements in data reduction techniques have resulted in a set of Mercury ranging data less affected by systematic error, in particular the biases introduced by local topographic variations. We use this new set of reduced ranging data to improve Mercury's global topography and center-of-figure minus center-of-mass offset. New results on crustal thickness are derived, and prospects for further improvement with Mercury Orbiter data are discussed.

Anderson, J. D.↗

NASA NTRS2004

Topographic Change of the Dichotomy Boundary Suggested by Crustal Inversion

Linear negative gravity anomalies in Acidalia Planitia along the eastern edge of Tempe Terra and along the northern edge of Arabia Terra have been noted in Mars Global Surveyor gravity fields. Once proposed to represent buried fluvial channels, it is now believed that these gravity troughs mainly arise from partial compensation of the hemispheric dichotomy topographic scarp. A recent inversion for crustal structure finds that mantle compensation of the scarp is offset from the present-day topographic expression of the dichotomy boundary. The offset suggests that erosion or other forms of mass wasting occurred after lithosphere thickened and no longer accomodated topographic change through viscous relaxation.

Neumann, G. A.↗

NASA NTRS1992

Geoid, topography, and convection-driven crustal deformation on Venus

High-resolution Magellan images and altimetry of Venus reveal a wide range of styles and scales of surface deformation that cannot readily be explained within the classical terrestrial plate tectonic paradigm. The high correlation of long-wavelength topography and gravity and the large apparent depths of compensation suggest that Venus lacks an upper-mantle low-viscosity zone. A key difference between Earth and Venus may be the degree of coupling between the convecting mantle and the overlying lithosphere. Mantle flow should then have recognizable signatures in the relationships between surface topography, crustal deformation, and the observed gravity field.

Simons, Mark↗