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Autonomous Rock Tracking and Acquisition from a Mars Rover

Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth. In this paper we describe algorithms we developed for these tasks, and demonstrate them in field experiments using a self-contained Mars Rover prototype, the Rocky 7 rover. Our algorithms perform visual servoing on an elevation map instead of image features, because the latter are subject to abrupt scale changes during the approach. 'This allows us to compensate for the poor odometry that results from motion on loose terrain. We demonstrate the successful grasp of a 5 cm long rock over 1m away using 103-degree field-of-view stereo cameras, and placement of a flexible mast on a rock outcropping over 5m away using 43 degree FOV stereo cameras.

Maimone, Mark W.↗

Measurements from an Aerial Vehicle: A New Tool for Planetary Exploration

Aerial vehicles fill a unique planetary science measurement gap, that of regional-scale, near-surface observation, while providing a fresh perspective for potential discovery. Aerial vehicles used in planetary exploration bridge the scale and resolution measurement gaps between orbiters (global perspective with limited spatial resolution) and landers (local perspective with high spatial resolution) thus complementing and extending orbital and landed measurements. Planetary aerial vehicles can also survey scientifically interesting terrain that is inaccessible or hazardous to landed missions. The use of aerial assets for performing observations on Mars, Titan, or Venus will enable direct measurements and direct follow-ons to recent discoveries. Aerial vehicles can be used for remote sensing of the interior, surface and atmosphere of Mars, Venus and Titan. Types of aerial vehicles considered are airplane "heavier than air" and airships and balloons "lighter than air". Interdependencies between the science measurements, science goals and objectives, and platform implementation illustrate how the proper balance of science, engineering, and cost, can be achieved to allow for a successful mission. Classification of measurement types along with how those measurements resolve science questions and how these instruments are accommodated within the mission context are discussed.

Wright, Henry S.↗

Aura Atmospheric Data Products and Their Availability from NASA Goddard Earth Sciences DAAC

NASA's EOS-Aura spacecraft was launched successfully on July 15, 2004. The four instruments onboard the spacecraft are the Microwave Limb Sounder (MLS), the Ozone Monitoring Instrument (OMI), the Tropospheric Emission Spectrometer (TES), and the High Resolution Dynamics Limb Sounder (HBDLS). The Aura instruments are designed to gather earth sciences measurements across the ultraviolet, visible, infra-red, thermal and microwave regions of the electromagnetic spectrum. Aura will provide over 70 distinct standard atmospheric data products for use in ozone layer and surface UV-B monitoring, air quality forecast, and atmospheric chemistry and climate change studies (http://eosaura.gsfc.nasa.gov/). These products include earth-atmosphere radiances and solar spectral irradiances; total column, tropospheric, and profiles of ozone and other trace gases, surface W-B flux; clouds and aerosol characteristics; and temperature, geopotential height, and water vapor profiles. The MLS, OMI, and HIRDLS data products will be archived at the NASA Goddard Earth Sciences (GES) Distributed Active Archive Center (DAAC), while data from TES will be archived at NASA Langley Research Center DAAC. Some of the standard products which have gone through quick preliminary checks are already archived at the GES DAAC (http://daac.nsfc.nasa.gov/) and are available to the Aura science team and data validation team members for data validation; and to the application and visualization software developers, for testing their application modules. Once data are corrected for obvious calibration problems and partially validated using in-situ observations, they would be made available to the broader user community. This presentation will provide details of the whole suite of Aura atmospheric data products, and the time line of the availability of the rest of the preliminary products and of the partially validated provisional products. Software and took available for data access, visualization, and data mining will also be discussed.

Ahmad, S.↗

Digital Beamforming Synthetic Aperture Radar (DBSAR): Performance Analysis During the Eco-3D 2011 and Summer 2012 Flight Campaigns

The Digital Beamforming Synthetic Aperture radar (DBSAR) is a state-of-the-art airborne radar developed at NASA/Goddard for the implementation, and testing of digital beamforming techniques applicable to Earth and planetary sciences. The DBSAR measurements have been employed to study: The estimation of vegetation biomass and structure - critical parameters in the study of the carbon cycle; The measurement of geological features - to explore its applicability to planetary science by measuring planetary analogue targets. The instrument flew two test campaigns over the East coast of the United States in 2011, and 2012. During the campaigns the instrument operated in full polarimetric mode collecting data from vegetation and topography features.

SAR↗

Upgrade of the NASA 4STAR (Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research) to its Full Science Capability of Sun-Sky-Cloud-Trace Gas Spectrometry in Airborne Science Deployments

The objectives of this task in the AITT (Airborne Instrument Technology Transition) Program are to (1) upgrade the NASA 4STAR (Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research) instrument to its full science capability of measuring (a) direct-beam sun transmission to derive aerosol optical depth spectra, (b) sky radiance vs scattering angle to retrieve aerosol absorption and type (via complex refractive index spectra, shape, and mode-resolved size distribution), (c) zenith radiance for cloud properties, and (d) hyperspectral signals for trace gas retrievals, and (2) demonstrate its suitability for deployment in challenging NASA airborne multiinstrument campaigns. 4STAR combines airborne sun tracking, sky scanning, and zenith pointing with diffraction spectroscopy to improve knowledge of atmospheric constituents and their links to air pollution, radiant energy budgets (hence climate), and remote measurements of Earth's surfaces. Direct beam hyperspectral measurement of optical depth improves retrievals of gas constituents and determination of aerosol properties. Sky scanning enhances retrievals of aerosol type and size distribution. 4STAR measurements are intended to tighten the closure between satellite and ground-based measurements. 4STAR incorporates a modular sun-tracking/sky-scanning optical head with fiber optic signal transmission to rack mounted spectrometers, permitting miniaturization of the external optical head, and future detector evolution. 4STAR test flights, as well as science flights in the 2012-13 TCAP (Two-Column Aerosol Project) and 2013 SEAC4RS (Studies of Emissions and Atmospheric Composition, Clouds and Climate Coupling by Regional Surveys) have demonstrated that the following are essential for 4STAR to achieve its full science potential: (1) Calibration stability for both direct-beam irradiance and sky radiance, (2) Improved light collection and usage, and (3) Improved flight operability and reliability. A particular challenge for the AITT-4STAR project has been conducting it simultaneously with preparations for, and execution of, ARISE (Arctic Radiation - IceBridge Sea&Ice Experiment), a NASA airborne science deployment (unplanned when AITT-4STAR was selected for funding) in which 4STAR will deploy to Thule, Greenland, and Fairbanks, Alaska, on the NASA C- 130. This presentation describes progress to date in accomplishing AITT-4STAR goals, and plans for project completion.

Sun-Sky-Cloud-Trace↗

Scientific and Technical Support for the Galileo Net Flux Radiometer Experiment

This report describes work in support of the Galileo Net Flux Radiometer (NFR), an instrument mounted on the Galileo probe, a spacecraft designed for entry into and direct measurements of Jupiter's atmosphere. Tasks originally proposed for the post launch period are briefly as follows: attend and support PSG (Project Science Group) and other project science meetings; support in-flight checkouts; maintain and keep safe the spare instrument and GSE (Ground Support Equipment); organize and maintain documentation; finish NFR calibration measurements, documentation, and analysis; characterize and diagnose instrument anomalies; develop descent data analysis tools; and science data analysis and publication. Because we had the capability to satisfy a project support need we also subsequently proposed and were funded to make ground- based observations of Jupiter during the period surrounding the Galileo arrival at Jupiter, using the Swedish Solar Telescope at La Palma, Canary Islands. The following section (11) provides background information on the NFR instrument.

Sromovsky, Lawrence A.↗

Large Space Telescope /LST/ observational capability of the solar system

A system study has been conducted to determine performance capability to make observations of members of the Solar System using the Large Space Telescope (LST), which was primarily conceived for stellar observations. The study identified the LST capabilities for viewing opportunities considering the LST orbit location, ability to measure available flux at the input to the science instruments and the amount and rate of travel of the telescope line-of-sight (LOS) needed to follow members of the solar system for integrated measurements. The study results show the LST system to have good capability for the collection of solar system data with small additional equipment requirements to the stellar observational application.

Klein, L. A.↗

Scientific and Technical Support for the Galileo Net Flux Radiometer Experiment

This report describes work in support of the Galileo Net Flux Radiometer (NFR), an instrument mounted on the Galileo probe, a spacecraft designed for entry into and direct measurements of Jupiter's atmosphere. Tasks originally proposed for the post launch period covered by NCC 2-854 are briefly as follows: attend and support PSG (Project Science Group) and other project science meetings; support in-flight checkouts; maintain and keep safe the spare instrument and GSE (Ground Support Equipment); organize and maintain documentation; finish NFR calibration measurements, documentation, and analysis; characterize and diagnose instrument anomalies; develop descent data analysis tools; and science data analysis and publication. Because we had the capability to satisfy a project support need we also subsequently proposed and were funded to make ground-based observations of Jupiter during the period surrounding the Galileo arrival at Jupiter, using the Swedish Solar Telescope at La Palma, Canary Islands. The following section provides background information on the NFR instrument. Section 3 contains the final report of work done.

Sromovsky, Lawrence A.↗

The Next Generation of Spaceborne Radars for Cloud and Precipitation Measurements

NASA’s Earth Science Technology Office (ESTO) is currently developing advanced instrument concepts and technologies for the next generation of spaceborne atmospheric radars for clouds and precipitation measurements. Two representative examples are the Radar in a CubeSat (RainCube) – a miniaturized Ka-band precipitation intensity profiling radar for operation on a 6U CubeSat bus; and the Multi-Application Smallsat Tri-band Radar (MASTR) – a Ku/Ka/W band, electronic scanning, and Doppler atmospheric radar. These radar concepts will be capable of providing information on both the state and the process of the atmospheric water (as opposed to just the state information provided by existing spaceborne radars) to fill the current observational gaps in the advancement of weather and climate models.

Im, Eastwood↗

Science Accomplishments from a Decade of Aura OMI/MLS Tropospheric Ozone Measurements

Measurements of tropospheric ozone from combined Aura OMI and MLS instruments have yielded a large number of new and important science discoveries over the last decade. These discoveries have generated a much greater understanding of biomass burning, lightning NO, and stratosphere-troposphere exchange sources of tropospheric ozone, ENSO dynamics and photochemistry, intra-seasonal variability-Madden-Julian Oscillation including convective transport, radiative forcing, measuring ozone pollution from space, improvements to ozone retrieval algorithms, and evaluation of chemical-transport and chemistry-climate models. The OMI-MLS measurements have been instrumental in giving us better understanding of the dynamics and chemistry involving tropospheric ozone and the many drivers affecting the troposphere in general. This discussion will provide an overview focusing on our main science results.

ENSO↗

Lunar Reconnaissance Orbiter (LRO) Observations with the Lunar Exploration Neutron Detector (LEND): Neutron Suppression Regions (NSR) and Polar Hydrogen

Orbital detection of neutrons has become the dominant remote sensing technique for detecting and inferring H concentrations and its spatial distribution beneath planetary surfaces [Lawrence et al, (2010) Icarus, 205, pp. 195-209, Mitrofanov et al (2007) Science 297(5578), 78-81]. Indications for the presence of localized and relatively high water content was provided by LRO and LCROSS. LEND identified Cabeus, as the most promising LCROSS impact site [Mitrofanov I. et al. (2010) Science, 330, 483], and instruments onboard LRO and LCROSS have measured signatures of water, H2 and other volatiles in the impact plume [Colaprete A. et al. (2010) Science, 339,463, Gladstone R. et al. (2010) Science, 330, 472].

Chin, G.↗

Atmospheric Science Measurements by the EOS Geoscience Laser Altimeter System

Scheduled for Launch in July 2001, the Geoscience Laser Altimeter System (GLAS) is to be the first satellite instrument to provide full global lidar profiling of clouds and aerosol in the earth's atmosphere. GLAS is an EOS program instrument that is on its own satellite, now called the Ice, Cloud and land Elevation Satellite. The instrument is both a surface laser ranging system and an atmospheric profiling lidar. A most important surface measurement for the instrument is to study the change in the mass balance of the polar ice sheets by measuring the change in regional altitudes to an accuracy of 1.5 cm per year. The strategy to combine the surface measurement with a Cloud and aerosol lidar profiling mission is based on the compatibility of the altimetry instrument requirements with those for the required lidar measurements. The primary atmospheric science goal of the GLAS cloud and aerosol measurement is to determine the radiative forcing and vertically resolved atmospheric heating rate due to cloud and aerosol by directly observing the vertical structure and magnitude of cloud and aerosol parameters that are important for the radiative balance of the earth-atmosphere system, but which are ambiguous or impossible to obtain from existing or planned passive remote sensors. A further goal is to directly measure the height of atmospheric transition layers (inversions) which are important for dynamics and mixing, the planetary boundary layer and lifting condensation level.

Spinhirne, James↗

Analysis of Photogrammetry Data from ISIM Mockup

During ground testing of the Integrated Science Instrument Module (ISIM) for the James Webb Space Telescope (JWST), the ISIM Optics group plans to use a Photogrammetry Measurement System for cryogenic calibration of specific target points on the ISIM composite structure and Science Instrument optical benches and other GSE equipment. This testing will occur in the Space Environmental Systems (SES) chamber at Goddard Space Flight Center. Close range photogrammetry is a 3 dimensional metrology system using triangulation to locate custom targets in 3 coordinates via a collection of digital photographs taken from various locations and orientations. These photos are connected using coded targets, special targets that are recognized by the software and can thus correlate the images to provide a 3 dimensional map of the targets, and scaled via well calibrated scale bars. Photogrammetry solves for the camera location and coordinates of the targets simultaneously through the bundling procedure contained in the V-STARS software, proprietary software owned by Geodetic Systems Inc. The primary objectives of the metrology performed on the ISIM mock-up were (1) to quantify the accuracy of the INCA3 photogrammetry camera on a representative full scale version of the ISIM structure at ambient temperature by comparing the measurements obtained with this camera to measurements using the Leica laser tracker system and (2), empirically determine the smallest increment of target position movement that can be resolved by the PG camera in the test setup, i.e., precision, or resolution. In addition, the geometrical details of the test setup defined during the mockup testing, such as target locations and camera positions, will contribute to the final design of the photogrammetry system to be used on the ISIM Flight Structure.

Nowak, Maria↗

First Measurements of Jovian Electrons by Parker Solar Probe/ISʘIS Within 0.5 AU of the Sun

Energetic electrons of Jovian origin have been observed for decades throughout the heliosphere, as far as 11 astronomical units (au), and as close as 0.5 au, from the Sun. The treatment of Jupiter as a continuously emitting point source of energetic electrons has made Jovian electrons a valuable tool in the study of energetic electron transport within the heliosphere. We present observations of Jovian electrons measured by the EPI-Hi instrument in the Integrated Science Investigation of the Sun (IS ʘ IS) instrument suite on Parker Solar Probe at distances within 0.5 au of the Sun. These are the closest measurements of Jovian electrons to the Sun, providing a new opportunity to study the propagation and transport of energetic electrons to the inner heliosphere. We also find periods of nominal connection between the spacecraft and Jupiter in which expected Jovian electron enhancements are absent. Several explanations for these absent events are explored, including stream interaction regions (SIRs) between Jupiter and Parker Solar Probe and the spacecraft lying on the opposite side of the heliospheric current sheet from Jupiter, both of which could impede the flow of the electrons. These observations provide an opportunity to gain a greater insight into electron transport through a previously unexplored region of the inner heliosphere.

J. G. Mitchell↗

Analysis of Photogrammetry Data from ISIM Mockup, June 1, 2007

During ground testing of the Integrated Science Instrument Module (ISIM) for the James Webb Space Telescope (JWST), the ISIM Optics group plans to use a Photogrammetry Measurement System for cryogenic calibration of specific target points on the ISIM composite structure and Science Instrument optical benches and other GSE equipment. This testing will occur in the Space Environmental Systems (SES) chamber at Goddard Space Flight Center. Close range photogrammetry is a 3 dimensional metrology system using triangulation to locate custom targets in 3 coordinates via a collection of digital photographs taken from various locations and orientations. These photos are connected using coded targets, special targets that are recognized by the software and can thus correlate the images to provide a 3 dimensional map of the targets, and scaled via well calibrated scale bars. Photogrammetry solves for the camera location and coordinates of the targets simultaneously through the bundling procedure contained in the V-STARS software.

Nowak, Maria↗

NASA's Earth Science Flight Program Meets the Challenges of Today and Tomorrow

NASA's Earth science flight program is a dynamic undertaking that consists of a large fleet of operating satellites, an array of satellite and instrument projects in various stages of development, a robust airborne science program, and a massive data archiving and distribution system. Each element of the flight program is complex and present unique challenges. NASA builds upon its successes and learns from its setbacks to manage this evolving portfolio to meet NASA's Earth science objectives. NASA fleet of 16 operating missions provide a wide range of scientific measurements made from dedicated Earth science satellites and from instruments mounted to the International Space Station. For operational missions, the program must address issues such as an aging satellites operating well beyond their prime mission, constellation flying, and collision avoidance with other spacecraft and orbital debris. Projects in development are divided into two broad categories: systematic missions and pathfinders. The Earth Systematic Missions (ESM) include a broad range of multi-disciplinary Earth-observing research satellite missions aimed at understanding the Earth system and its response to natural and human-induced forces and changes. Understanding these forces will help determine how to predict future changes, and how to mitigate or adapt to these changes. The Earth System Science Pathfinder (ESSP) program provides frequent, regular, competitively selected Earth science research opportunities that accommodate new and emerging scientific priorities and measurement capabilities. This results in a series of relatively low-cost, small-sized investigations and missions. Principal investigators whose scientific objectives support a variety of studies lead these missions, including studies of the atmosphere, oceans, land surface, polar ice regions, or solid Earth. This portfolio of missions and investigations provides opportunity for investment in innovative Earth science that enhances NASA's capability for better understanding the current state of the Earth system. ESM and ESSP projects often involve partnerships with other US agencies and/or international organizations. This adds to the complexity of mission development, but allows for a greater scientific return on NASA's investments. The Earth Science Airborne Science Program provides manned and unmanned aircraft systems that further science and advance the use of satellite data. NASA uses these assets worldwide in campaigns to investigate extreme weather events, observe Earth system processes, obtain data for Earth science modeling activities, and calibrate instruments flying aboard Earth science spacecraft. The Airborne Science Program has six dedicated aircraft and access to many other platforms. The Earth Science Multi-Mission Operations program acquires, preserves, and distributes observational data from operating spacecraft to support Earth Science research focus areas. The Earth Observing System Data and Information System (EOSDIS), which has been in operations since 1994, primarily accomplishes this. EOSDIS acquires, processes, archives, and distributes Earth Science data and information products. The archiving of NASA Earth Science information happens at eight Distributed Active Archive Centers (DAACs) and four disciplinary data centers located across the United States. The DAACs specialize by topic area, and make their data available to researchers around the world. The DAACs currently house over 9 petabytes of data, growing at a rate of 6.4 terabytes per day. NASA's current Earth Science portfolio is responsive to the National Research Council (NRC) 2007 Earth Science Decadal Survey and well as the 2010 NASA Response to President Obama's Climate Plan. As the program evolves into the future it will leverage the lessons learned from the current missions in operations and development, and plan for adjustments to future objectives in response to the anticipated 2017 NRC Decadal Survey.

Flight Program↗

Electro-optic and holographic measurement techniques for the atmospheric sciences

A comprehensive examination is made of recent advanced research directions in the applications of electro-optical and holographic instrumentations and methods to atmospheric sciences problems. In addition, an overview is given of the in-house research program for environmental and atmospheric measurements with emphasis on particulates systems. Special treatment is made of the instrument methods and applications work in the areas of laser scattering spectrometers and pulsed holography sizing systems. Selected engineering tests data on space simulation chamber programs are discussed.

Moore, W. W., Jr.↗