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NASA NTRS2015

Software Testbed for Developing and Evaluating Integrated Autonomous Subsystems

To implement fault tolerant autonomy in future space systems, it will be necessary to integrate planning, adaptive control, and state estimation subsystems. However, integrating these subsystems is difficult, time-consuming, and error-prone. This paper describes Intelliface/ADAPT, a software testbed that helps researchers develop and test alternative strategies for integrating planning, execution, and diagnosis subsystems more quickly and easily. The testbed's architecture, graphical data displays, and implementations of the integrated subsystems support easy plug and play of alternate components to support research and development in fault-tolerant control of autonomous vehicles and operations support systems. Intelliface/ADAPT controls NASA's Advanced Diagnostics and Prognostics Testbed (ADAPT), which comprises batteries, electrical loads (fans, pumps, and lights), relays, circuit breakers, invertors, and sensors. During plan execution, an experimentor can inject faults into the ADAPT testbed by tripping circuit breakers, changing fan speed settings, and closing valves to restrict fluid flow. The diagnostic subsystem, based on NASA's Hybrid Diagnosis Engine (HyDE), detects and isolates these faults to determine the new state of the plant, ADAPT. Intelliface/ADAPT then updates its model of the ADAPT system's resources and determines whether the current plan can be executed using the reduced resources. If not, the planning subsystem generates a new plan that reschedules tasks, reconfigures ADAPT, and reassigns the use of ADAPT resources as needed to work around the fault. The resource model, planning domain model, and planning goals are expressed using NASA's Action Notation Modeling Language (ANML). Parts of the ANML model are generated automatically, and other parts are constructed by hand using the Planning Model Integrated Development Environment, a visual Eclipse-based IDE that accelerates ANML model development. Because native ANML planners are currently under development and not yet sufficiently capable, the ANML model is translated into the New Domain Definition Language (NDDL) and sent to NASA's EUROPA planning system for plan generation. The adaptive controller executes the new plan, using augmented, hierarchical finite state machines to select and sequence actions based on the state of the ADAPT system. Real-time sensor data, commands, and plans are displayed in information-dense arrays of timelines and graphs that zoom and scroll in unison. A dynamic schematic display uses color to show the real-time fault state and utilization of the system components and resources. An execution manager coordinates the activities of the other subsystems. The subsystems are integrated using the Internet Communications Engine (ICE). an object-oriented toolkit for building distributed applications.

Testbed↗
NASA NTRS2014

Exploring Mars for Evidence of Habitable Environments and Life

The climate of Mars has been more similar to that of Earth than has the climate of any other planet in our Solar System. But Mars still provides a valuable alternative example of how planetary processes and environments can affect the potential presence of life elsewhere. For example, although Mars also differentiated very early into a core, mantle and crust, it then evolved mostly if not completely without plate tectonics and has lost most of its early atmosphere. The Martian crust has been more stable than that of Earth, thus it has probably preserved a more complete record of its earliest history. Orbital observations determined that near-surface water was once pervasive. Orbiters have identified the following diverse aqueous sedimentary deposits: layered phyllosilicates, phyllosilicates in intracrater fans, plains sediments potentially harboring evaporitic minerals, deep phyllosilicates, carbonate-bearing deposits, intracrater clay-sulfate deposits, Meridiani-type layered deposits, valles-type layered deposits, hydrated silica-bearing deposits, and gypsum plains. These features, together with evidence of more vigorous past geologic activity, indicate that early climates were wetter and perhaps also somewhat warmer. The denser atmosphere that was required for liquid water to be stable on the surface also provided more substantial protection from radiation. Whereas ancient climates might have favored habitable environments at least in some localities, clearly much of the Martian surface for most of its history has been markedly less favorable for life. The combination of dry conditions, oxidizing surface environments and typically low rates of sedimentation are not conducive to the preservation of evidence of ancient environments and any biota. Thus a strategy is required whereby candidate sites are first identified and then characterized for their potential to preserve evidence of past habitable environments. Rovers are then sent to explore the most promising candidates. The Mars Exploration Rover (MER) Opportunity revealed that water once flowed to the surface across the vast Meridiani plains, creating saline lakes whose waters were roiled by ancient winds that also sculptured their salt deposits into sand dunes. Opportunity then drove more than 30 km to explore even older deposits on a crater rim. MER Spirit found evidence that thermal waters (heated by volcanism or by impacts?) altered rocks to create sulfate salts, and siliceous sinters. These discoveries indicate that an early hydrological cycle apparently sustained precipitation, streams and lakes. Liquid water participated in rock weathering reactions, such as iron and sulfur oxidation, that created distinctive weathering regimes. Volcanism, impacts, groundwater and ice interacted at least locally. Redox chemical energy from volcanism, hydrothermal activity and weathering of crustal materials would have been available for any life. Thus conditions might have supported life in the past, at least locally. The main objective of the Mars Science Laboratory (MSL) Curiosity rover is to determine the extent to which Gale crater hosted environments capable of supporting microbial life. The rover has already found stream gravels as well as sediments that might have been deposited in an ancient lake. The rover is now traversing to Mt. Sharp, a 5 km-high mound that is located on the crater floor and that exhibits layered sedimentary rocks having diverse minerals (sulfates and clays) that apparently formed in the presence of liquid water. This rock sequence was deposited over an extended time period in diverse potentially habitable watery environments. Curiosity is poised to characterize a a well-preserved rock record of hundreds of millions of years of diverse environments and profound climate change.

layered phyllosilicates↗
NASA NTRS2000

Polarimetric Ku-Band Scatterometer for High Accuracy, Large Swath Global Wind Vector Measurements

In the past, wind measurements from space using fan-beam antennas, such as Seasat Scatterometer (SASS-1), ERS-1 &2, and NASA scatterometer (NSCAT), required up to six large stick-like antennas and suffered a nadir gap of up to 400 km. In the near future, a spinning pencil-beam scatterometer system is to be used for the SeaWinds scatterometer on QuikSCAT (QSCAT) and on ADEOS-2 (SeaWinds). This scatterometer, though offering wind measurements in the nadir region, still suffers from degraded performance in the nadir and outer swath. The purpose of this paper is to present an advanced polarimetric spinning pencil-beam scatterometer system, which can significantly improve the wind performance across the entire swath. The polarimetric scatterometer simultaneously measures co-polarized backscatter and the polarimetric correlation of co- and cross-polarized radar returns from the ocean surface. The advantage over the conventional scatterometer system is that, while the co-polarization radar returns are even function of the wind direction, the polarimetric correlation is an odd function of wind direction due to the reflection symmetry of the wind roughened surface. Therefore, this polarimetric scatterometer system can provide additional, equivalent measurements at azimuth angle 45degree away from the corresponding co-polarization measurements. The combined co-polarization and correlation measurements enable good wind performance across the whole swath to be obtained. In this paper, we will first present the theoretical formulation of all of the key components required for designing a polarimetric scatterometer. Then, we show that good wind performance can be achieved by a slight improvement in the signal-to-noise ratio of the current QSCAT/SeaWinds design. We then present the predicated wind performance using computer simulation based on a model function for the co-polarized backscatter obtained from actual spaceborne scatterometer data and an estimated model function for the polarimetric correlation based on the asymmetry observed in backscatter data. Finally, we will show that, aside from ocean applications, this polarimetric scatterometer can also be used for ice and land applications.

Tsai, Wu-Yang↗
NASA NTRS2011

Reconciling LCROSS and Orbital Neutron Water Abundance Estimates in Cabeus Crater

The Lunar Prospector Neutron Spectrometer (LPNS) first revealed Cabeus crater (84.9 deg S, 35.5degW) as having the highest inferred hydrogen on the Moon. Because of the broad LPNS footprint (approximately 40 km FWHM), the apparent peak water-equivalent hydrogen (WEH) concentration is only approximately 0.25 wt%, but could be much higher in smaller areas than the spectrometer footprint. Earlier image reconstruction work suggested that areas within permanent shadow have abundances approximately 1 wt% WEH. However, the LCROSS impact yielded total water estimates, ice plus vapor, of between 3 and 10 wt%. The large disagreement between LCROSS and apparent orbital values imply that either the ice is buried, by perhaps as much as 50 to 100 cm; or the ice distribution within Cabeus is spatially inhomogeneous, or both. Modeling reveals that the areal extent of a "shallow permafrost zone" is far greater than the area of permanent shadow. Ice can be virtually stable for billions of years within a few tens of centimeters of the surface in these areas. However, the LCROSS impact took place in an area of permanent shadow. If stably-trapped volatiles can be found in locales that receive occasional, oblique sunlight, landed missions may target these sites and eventual resource exploitation may be done more easily. Are orbital neutron data consistent with areally-extensive, volatile-rich cold traps? Orbital epithermal neutron data over the northern half of Cabeus (near the LCROSS impact site) are consistent with 0.2 wt% WEH or less in the "permafrost zone" near the crater. On the other hand, pixon reconstructions that confine the hydrogen enhancements to permanent shadow result in higher abundance estimates -- around 1 wt% if homogeneously mixed. But if the PSR abundance is increased to 10 wt%, consistent with the sum of all H-bearing compounds seen by LCROSS, a much larger-than-observed reduction in neutron count rate would be seen from orbit. It is likely that volatiles are inhomogeneously distributed, due to both impact processes and emplacement history. Two possibilities may bring consistency to the orbital and LCROSS measurements. Inhomogeneous lateral distribution: Consider the extreme case of a bimodal distribution within the crater -- dry and wet. In this case the epithermal leakage flux seen from orbit is a mixture of two different values, weighted according to fractional areas. Two possible outcomes, depending on whether the inferred leakage flux for the PSR or "permafrost" areas are considered. In the first case, approximately 40% of the PSR may be "wet", the remainder dry (and LCROSS was slightly lucky). However, if the whole area of permafrost is considered, then as little as 20% of the area will be as "wet" as the LCROSS results (and LCROSS was quite lucky). Inhomogeneous depth distribution: The leakage flux of thermal and epithermal neutrons depends on depth of burial of an icy layer beneath dry ferroan anorthosite soil (FAn). For the Cabeus PSR, the pixon reconstruction values for the epithermal flux allows a range of abundance and burial depth, while that of the thermal+epi detector constrains this range. (Uncertainties in iron abundance in the FAn can have significant impact on thermal neutron leakage flux estimates.) Between 20% and 40% of the Cabeus floor may be "wet", or alternatively a 5-10 wt% "wet" layer exists between 50 and 100 cm beneath a layer of dry regolith within the PSR. But volatile abundances of 5 wt% or more, distributed uniformly and homogeneously throughout the Cabeus PSR do not agree with orbital measurements

Elphic, Richard↗
NASA NTRS2007

Aerosol Radiative Effects on Deep Convective Clouds and Associated Radiative Forcing

The aerosol radiative effects (ARE) on the deep convective clouds are investigated by using a spectral-bin cloud-resolving model (CRM) coupled with a radiation scheme and an explicit land surface model. The sensitivity of cloud properties and the associated radiative forcing to aerosol single-scattering albedo (SSA) are examined. The ARE on cloud properties is pronounced for mid-visible SSA of 0.85. Relative to the case excluding the ARE, cloud fraction and optical depth decrease by about 18% and 20%, respectively. Cloud droplet and ice particle number concentrations, liquid water path (LWP), ice water path (IWP), and droplet size decrease significantly when the ARE is introduced. The ARE causes a surface cooling of about 0.35 K and significantly high heating rates in the lower troposphere (about 0.6K/day higher at 2 km), both of which lead to a more stable atmosphere and hence weaker convection. The weaker convection and the more desiccation of cloud layers explain the less cloudiness, lower cloud optical depth, LWP and IWP, smaller droplet size, and less precipitation. The daytime-mean direct forcing induced by black carbon is about 2.2 W/sq m at the top of atmosphere (TOA) and -17.4 W/sq m at the surface for SSA of 0.85. The semi-direct forcing is positive, about 10 and 11.2 W/sq m at the TOA and surface, respectively. Both the TOA and surface total radiative forcing values are strongly negative for the deep convective clouds, attributed mostly to aerosol indirect forcing. Aerosol direct and semi-direct effects are very sensitive to SSA. Because the positive semi-direct forcing compensates the negative direct forcing at the surface, the surface temperature and heat fluxes decrease less significantly with the increase of aerosol absorption (decreasing SSA). The cloud fraction, optical depth, convective strength, and precipitation decrease with the increase of absorption, resulting from a more stable and dryer atmosphere due to enhanced surface cooling and atmospheric heating.

Fan, J.↗
NASA NTRS2015

Monitoring Atmospheric CO2 From Space: Challenge & Approach

Atmospheric CO2 is the key radiative forcing for the Earth's climate and may contribute a major part of the Earth's warming during the past 150 years. Advanced knowledge on the CO2 distributions and changes can lead considerable model improvements in predictions of the Earth's future climate. Large uncertainties in the predictions have been found for decades owing to limited CO2 observations. To obtain precise measurements of atmospheric CO2, certain challenges have to be overcome. For an example, global annual means of the CO2 are rather stable, but, have a very small increasing trend that is significant for multi-decadal long-term climate. At short time scales (a second to a few hours), regional and subcontinental gradients in the CO2 concentration are very small and only in an order of a few parts per million (ppm) compared to the mean atmospheric CO2 concentration of about 400 ppm, which requires atmospheric CO2 space monitoring systems with extremely high accuracy and precision (about 0.5 ppm or 0.125%) in spatiotemporal scales around 75 km and 10-s. It also requires a decadal-scale system stability. Furthermore, rapid changes in high latitude environments such as melting ice, snow and frozen soil, persistent thin cirrus clouds in Amazon and other tropical areas, and harsh weather conditions over Southern Ocean all increase difficulties in satellite atmospheric CO2 observations. Space lidar approaches using Integrated Path Differential Absorption (IPDA) technique are considered to be capable of obtaining precise CO2 measurements and, thus, have been proposed by various studies including the 2007 Decadal Survey (DS) of the U.S. National Research Council. This study considers to use the Intensity-Modulated Continuous-Wave (IM-CW) lidar to monitor global atmospheric CO2 distribution and variability from space. Development and demonstration of space lidar for atmospheric CO2 measurements have been made through joint adventure of NASA Langley Research Center and Exelis, Inc. As prototype space IPDA lidars, airborne laser absorption lidar systems operating in 1.57 CO2 absorption band have been developed and tested through lab, ground-based range, and flight campaigns. Very encouraging results have been obtained. The signal-to-noise ratio (SNR) for clear sky IPDA measurements of CO2 differential absorption optical depth (DAOD) for a 10-s integration over vegetated areas with about 10 km range was found to be as high as 1300, resulting in an error 0.077% or equivalent CO2 mixing ratio (XCO2) column precision of ~0.3 ppm. Precise range measurements using the IM-CW lidar approach were also achieved, and the uncertainties have been shown to be at sub meter level. Based on the airborne lidar development, space lidar and atmospheric CO2 observations are simulated. It shows that with the IM-CW approach, accurate atmospheric CO2 measurements can be achieved from space, and a space mission such as that proposed by the DS will meet science goals of atmospheric CO2 monitoring.

Lin, Bing↗