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Jet Propulsion Laboratory: Annual Report 2006

Nothing is as gratifying in space exploration as when we are surprised by the unexpected. Much of our work progresses in an orderly way, from concept to plan to creation to finding. But now and then we are caught off-guard by something startlingly new, and it is these moments that make our hearts race and leave us with many of our most compelling memories. And 2006 was an exceptional year for the unforeseen. One of our orbiters shocked many with stark proof that liquid water, the seemingly long-gone force that reshaped so much of the scenery of Mars, still flows there today,at least in occasional bursts. Another spacecraft caught us by surprise with photos of Yellowstone-like geysers on one of Saturn's seemingly nondescript moons, Enceladus. A spaceborne observatory created to plumb the life histories of stars and galaxies showed off a completely unexpected talent when it revealed the day and night faces of a fire and ice planet far beyond our solar system 40 light-years away. A newly launched Earth observer revealed that the clouds that decorate our own planet are not what we thought them to be in many ways. Of course, not all of the high points of the year arrived on our doorstep in such unexpected ways. There was also great drama when missions came off exactly as planned, such as when Stardust's sample return capsule made a flawless landing in the Utah desert, bringing home samples of cometary and interstellar dust. Mars Reconnaissance Orbiter slipped into orbit around the red planet exactly as planned. Numerous other missions and technology programs likewise made great achievements during the year. In all, 17 spacecraft and six instruments were stationed across the solar system, studying our own world, other planets, comets and the deeper universe. All of these achievements were enabled by many teams and systems at the Laboratory. The Deep Space Network of communications complexes across three continents supported all of NASA's solar system missions, and several from our international partners, while looking ahead to reinvent itself for the future. Technologists were at work creating innovations both for NASA missions and terrestrial uses. JPL's community of scientific researchers was equally busy coordinating the science activities of our missions and pursuing independent investigations. None of this would be possible without the support of business and administrative teams dedicated to making the Laboratory's institutional environment as world-class as its technical face, or the public engagement specialists who bring the experience of space to the country's diverse publics. All of our missions in one way or another support our nation's Vision for Space Exploration, which envisages a gradually widening robotic and human presence across the solar system in the years ahead.

National Aeronautics and Space Administration (NAS↗

Terrestrial Planets Comparative Climatology (TPCC) mission concept

The authors and co-signers of the Terrestrial Planets Comparative Climatology (TPCC) mission concept white paper advocate that planetary science in the next decade would greatly benefit from comparatively studying the fundamental behavior of the atmospheres of Venus and Mars, contemporaneously and with the same instrumentation, to capture atmospheric response to the same solar forcing, and with a minimum of instrument-related variability. NASA’s vision is to understand the effects of the Sun on the solar system and the potential for life elsewhere (Obj,1.1 of [1]). This vision directly motivates the study of terrestrial climate histories and evolution, with the ultimate goal of understanding what factors allow the emergence and sustainability of life/biosphere. It is widely accepted that Venus, Mars, and Earth were formed at the same time and in the same neighborhood of the solar nebula [2,3], and had water—a necessary ingredient for life. In spite of strong overlap in the atmospheric composition of these planets, their current climatic states are vastly different. While Earth retains water, both Mars and Venus’ surfaces are now dry. The manner in which these terrestrial bodies evolved, and whether Mars or Venus currently hosts or previously hosted life, are fundamental mysteries in planetary science. As such, the TPCC mission concept has been developed.The TPCC guiding science goals are:(1) to understand Venus’ evolutionary history compared to Mars and Earth, and (2) to elucidate the driving forces and mechanisms of global circulation at Mars and Venus. These goals address the science question: Why have Mars’ and Venus’ climates evolved so differently from each other and from Earth’s? Furthermore, a greater depth of understanding our own solar system, enables us to understand the variability and likelihood of habitable conditions within extra-solar planetary systems.We suggest a mission architecture and payload that would determine the noble gas content and isotopic ratios, including the D/H ratio, at Venus with sufficient accuracy to identify the timeline of Venus’ climatic evolution for comparison with Mars. In addition, our concept would systematically “follow the energy” at Mars and Venus, in order to establish how solar forcing on the two atmospheric systems leads to the current balance of dynamical, chemical, and radiative processes responsible for each planet’s climatic state.This would include acquisition of the first global atmospheric wind profiles on either planet;global, continuous profiles of aerosols, gases, and water vapor at vertical resolutions higher than any previous mission;and regular UV and IR night glow observations tracking global circulation on both planets.To increase the fidelity of the planned planetary comparisons, the TPCC mission concept baseline (estimated to be New Frontiers Class)would send a single spacecraft to visit one planet and then the next, allowing measurements of each planet with the same instrumentation within similar parts of the solar cycle. The concept uses commercial solar-electric propulsion (SEP; e.g., [4])similar to the Psyche mission [5], plus a probesent deep into Venus’ atmosphere(e.g., LLISSE concept; [6]).Alternatively, “twin” spacecraft (with added probe to the Venus craft),developed at the same time,and launched close in time,would increase the overlap in operation periods and should also be studied. Either architecture is a timely alternative to independently developed and launched spacecraft payloads, which ultimately are more costly and difficult to inter-calibrate.

Leslie K. Tamppari↗

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5?m) or long-wave infrared (LWIR) radiation (8-12?m). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

terrain classification↗