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At least 109 records · Page 6

Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

Caves as Terrestrial Analogs for Mapping and Exploration in Planetary Surface and Subsurface Environments.

The Kinematic Navigation and Cartography Knapsack (KNaCK) team is developing tools that will enable ultra-high resolution terrain mapping and navigation at the lunar surface. KNaCK uses mobile light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM) algorithms to operate in fully GPS-denied and unilluminated environments. Testing in relevant analogs is key to perfecting this technology for planetary applications. After utilizing desert and volcanic environments for multiple tests, the team is now using caves as an additional proving ground. Tests in terrestrial caves have demonstrated the potential of mobile SLAM LiDAR for use in challenging surface environments such as steep walled craters and permanently shadowed regions as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗

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

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

LiDAR↗

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

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile LiDAR (Light Detection and Ranging) system. It can map its surroundings in 3 dimensions and localize itself in space. The project is exploring how LiDAR can advance terrain mapping and navigation at the lunar south pole. KNaCK is lead by Dr. Michael Zanetti of NASA MSFC’s Heliophysics and Planetary Science Branch. - KNaCK serves as - A test article for GPS denied mapping and navigation. - A test bed for SLAM (Simultaneous Localization and Mapping) algorithms. - A test bed for commercial LiDAR units. - A tool for terrestrial science.

LiDAR↗

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

Relevant environment testing↗

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments. Lightning Talk. LSIC 2023 Fall Meeting.

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

Relevant environment testing↗

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

Mobile Lidar as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments [1,2]. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

Lunar Skylight↗

Mobile LiDAR as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗

Lunar and Planetary Science XXXV: Mars Volcanology and Tectonics

Reports from the session, "Mars Volcanology and Tectonics" include:Martian Shield Volcanoes; Estimating the Rheology of Basaltic Lava Flows; A Model for Variable Levee Formation Rates in an Active Lava Flow; Deflections in Lava Flow Directions Relative to Topography in the Tharsis Region: Indicators of Post-Flow Tectonic Motion; Fractal Variation with Changing Line Length: A Potential Problem for Planetary Lava Flow Identification; Burfellshraun:A Terrestrial Analogue to Recent Volcanism on Mars; Lava Domes of the Arcadia Region of Mars; Comparison of Plains Volcanism in the Tempe Terra Region of Mars to the Eastern Snake River Plains, Idaho with Implications for Geochemical Constraints; Vent Geology of Low-Shield Volcanoes from the Central Snake River Plain, Idaho: Lessons for Mars and the Moon; Field and Geochemical Study of Table Legs Butte and Quaking Aspen Butte, Eastern Snake River Plain, Idaho: An Analog to the Morphology of Small Shield Volcanoes on Mars; Variability in Morphology and Thermophysical Properties of Pitted Cones in Acidalia Planitia and Cydonia Mensae; A Volcano Composed of Light-colored Layered Deposits on the Floor of Valles Marineris; Analysis of Alba Patera Flows: A Comparison of Similarities and Differences Geomorphologic Studies of a Very Long Lava Flow in Tharsis, Mars; Radar Backscatter Characteristics of Basaltic Flow Fields: Results for Mauna Ulu, Kilauea Volcano, Hawaii;and Preliminary Lava Tube-fed Flow Abundance Mapping on Olympus Mons.

Source record↗

Terrestrial analogs to lunar sinuous rilles - Kauhako Crater and channel, Kalaupapa, Molokai, and other Hawaiian lava conduit systems

Two source vents, one explosive and one effusive erupted to form a cinder cone and low lava shield that together compose the Kalaupapa peninsula of Molokai, Hawaii, A 50-100-m-wide channel/tube system extends 2.3 km northward from kauhako crater in the center of the shield. Based on modeling, a volume of up to about 0.2 cu km of lava erupted at a rate of 260 cu m/sec to flow through the Kauhako conduit system in one of the last eruptive episodes on the peninsula. Channel downcutting by thermal erosion occurred at a rate of about 10 micron/sec to help form the 30-m-deep conduit. Two smaller, secondary tube systems formed east of the main lava channel/tube. Several other lava conduit systems on the islands of Oahu and Hawaii were also compared to the Kauhako and lunar sinuous rille systems. These other lava conduits include Whittington, Kupaianaha, and Mauna Ulu lava tubes. Morphologically, the Hawaiian tube systems studied are very similar to lunar sinuous rilles in that they have deep head craters, sinuous channels, and gentle slopes. Thermal erosion is postulated to be an important factor in the formation of these terrestrial channel systems and by analogy is inferred to be an important process involved in the formation of lunar sinuous rilles.

Coombs, C. R.↗

Geologic Mapping of the Olympus Mons Volcano, Mars

We are in the third year of a three-year Mars Data Analysis Program project to map the morphology of the Olympus Mons volcano, Mars, using ArcGIS by ESRI. The final product of this project is to be a 1:1,000,000-scale geologic map. The scientific questions upon which this mapping project is based include understanding the volcanic development and modification by structural, aeolian, and possibly glacial processes. The project s scientific objectives are based upon preliminary mapping by Bleacher et al. [1] along a approx.80-km-wide north-south swath of the volcano corresponding to High Resolution Stereo Camera (HRSC) image h0037. The preliminary project, which covered approx.20% of the volcano s surface, resulted in several significant findings, including: 1) channel-fed lava flow surfaces are areally more abundant than tube-fed surfaces by a ratio of 5:1, 2) channel-fed flows consistently embay tube-fed flows, 3) lava fans appear to be linked to tube-fed flows, 4) no volcanic vents were identified within the map region, and 5) a Hummocky unit surrounds the summit and is likely a combination of non-channelized flows, dust, ash, and/or frozen volatiles. These results led to the suggestion that the volcano had experienced a transition from long-lived tube-forming eruptions to more sporadic and shorter-lived, channel-forming eruptions, as seen at Hawaiian volcanoes between the tholeiitic shield building phase (Kilauea to Mauna Loa) and alkalic capping phase (Hualalai and Mauna Kea).

Bleacher, J. E.↗

Multispectral thermal infrared mapping of the 1 October 1988 Kupaianaha flow field, Kilauea volcano, Hawaii

Multispectral thermal infrared radiance measurements of the Kupaianaha flow field were acquired with the NASA airborne Thermal Infrared Multispectral Scanner (TIMS) on the morning of 1 October 1988. The TIMS data were used to map both the temperature and emissivity of the surface of the flow field. The temperature map depicted the underground storage and transport of lava. The presence of molten lava in a tube or tumulus resulted in surface temperatures that were at least 10 C above ambient. The temperature map also clearly defined the boundaries of hydrothermal plumes which resulted from the entry of lava into the ocean. The emissivity map revealed the boundaries between individual flow units within the Kupaianaha field. Distinct spectral anomalies, indicative of silica-rich surface materials, were mapped near fumaroles and ocean entry sites. This apparent enrichment in silica may have resulted from an acid-induced leaching of cations from the surfaces of glassy flows.

Realmuto, Vincent J.↗

Formation of Venusian canali - Considerations of lava types and their thermal behaviors

Because liquid water is unstable at present venusian surface conditions, the discovery of channels (termed 'canali') on Venus thousands of kilometers long was not predicted. Low viscosity lavas that remain fluid for several thousand kilometers are considered to be the canali-forming agents; possible compositions of Venusian canali-forming lavas include komatiite and high-Fe-Ti 'lunar'-type basalts. Results of analytical and numerical models of these lavas reveal that total cooling is more efficient on Venus than on Earth, suggesting that Venusian lavas rapidly form insulating crusts, and, thus, that the canali lavas were essentially 'tube-fed.' The models also reveal that thermal erosion should be less efficient on Venus than on Earth, suggesting that Venusian channels are either the product of mechanical (rather than thermal) erosion or constructional processes.

Gregg, Tracy K. P.↗

Surface Textures and Features Indicative of Endogenous Growth at the McCartys Flow Field, NM, as an Analog to Martian Volcanic Plains

Basaltic lavas typically form channels or tubes, which are recognized on the Earth and Mars. Although largely unrecognized in the planetary community, terrestrial inflated sheet flows also display morphologies that share many commonalities with lava plains on Mars. The McCartys lava flow field is among the youngest (approx.3000 yrs) basaltic flows in the continental United States. The southwest sections of the flow displays smooth, flat-topped plateaus with irregularly shaped pits and hummocky inter-plateau units that form a polygonal surface. Plateaus are typically elongate in map view, up to 20 m high and display lineations within the glassy crust. Lineated surfaces occasionally display small < 1m diameter lava coils. Lineations are generally straight and parallel each other, sometimes for over 100 meters. The boundaries between plateaus and depressions are also lineated and tilted to angles sometimes approaching vertical. Plateau-parallel cracks, sometimes containing squeeze-ups, mark the boundary between tilted crust and plateau. Some plateau depressions display level floors with hummocky surfaces, while some are bowl shaped with floors covered in broken lava slabs. The lower walls of pits sometimes display lateral, sagged lava wedges. Infrequently, pit floors display the upper portion of a tumulus from an older flow. In some places the surface crust has been disrupted forming a slabby texture. Slabs are typically on the scale of a meter or less across and no less than 7-10 cm thick. The slabs preserve the lineated textures of the undisturbed plateau crust. It appears that this style of terrain represents the emplacement of an extensive sheet that experiences inflation episodes within preferred regions where lateral spreading of the sheet is inhibited, thereby forming plateaus. Rough surfaces represent inflation-related disruption of pahoehoe lava and not a a lava. Depressions are often the result of non-inflation and can be clearly identified by lateral squeeze-outs along the pit walls that form when the rising crust exposes the still liquid core of the sheet. The plains of Tharsis and Elysium, Mars, display many analogous features

Bleacher, Jacob E.↗

Comparison of Inflation Processes at the 1859 Mauna Loa Flow, HI, and the McCartys Flow Field, NM

Basaltic lavas typically form channels or tubes during flow emplacement. However, the importance of sheet flow in the development of basalt ic terrains received recognition over the last 15 years. George Walke r?s research on the 1859 Mauna Loa Flow was published posthumously in 2009. In this paper he discusses the concept of endogenous growth, or inflation, for the distal portion of this otherwise channeldominated lava flow. We used this work as a guide when visiting the 1859 flow to help us better interpret the inflation history of the McCartys flow field in NM. Both well preserved flows display similar clues about the process of inflation. The McCartys lava flow field is among the you ngest (approx.3000 yrs) basaltic lava flows in the continental United States. It was emplaced over slopes of <1 degree, which is similar to the location within the 1859 flow where inflation occurred. Although older than the 1859 flow, the McCartys is located in an arid environ ment and is among the most pristine examples of sheet flow morphologies. At the meter scale the flow surface typically forms smooth, undula ting swales that create a polygonal terrain. The literature for simil ar features includes multiple explanatory hypotheses, original breakouts from adjacent lobes, or inflation related upwarping of crust or sa gging along fractures that enable gas release. It is not clear which of these processes is responsible for polygonal terrains, and it is po ssible that one explanation is not the sole cause of this morphology between all inflated flows. Often, these smooth surfaces within an inflated sheet display lineated surfaces and occasional squeeze-ups alon g swale contacts. We interpret the lineations to preserve original fl ow direction and have begun mapping these orientations to better interpret the emplacement history. At the scale of 10s to 100s of meters t he flow comprises multiple topographic plateaus and depressions. Some depressions display level floors with surfaces as described above, while some are bowl shaped with floors covered in broken lava slabs. Th e boundaries between plateaus and depressions are also typically smoo th, grooved surfaces that have been tilted to angles sometimes approaching vertical. The upper margin of these tilted surfaces displays lar ge cracks, sometimes containing squeeze-ups. The bottom boundary with smooth floored depressions typically shows embayment by younger lavas. It appears that this style of terrain represents the emplacement of an extensive sheet that experiences inflation episodes within prefer red regions where lateral spreading of the sheet is inhibited, thereby forming plateaus. Depressions are often the result of non-inflation and can be clearly identified by lateral squeeze-outs along the pit walls that form when the rising crust exposes the still liquid core of the sheet. Our current efforts are focused on.

Bleacher, Jacob E.↗