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All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Study of local structure and magnetism in high-T(sub c) copper oxide superconductors

The muon spin rotation (MUSR) study of local magnetism of Sr-doped La2CuO4 is reviewed. Emphasis is placed on magnetic order as detected by local and bulk probes with local atomic environments studied by x ray absorption fine structure (XAFS). Correlations between the MUSR study of local magnetic ordering and the bulk magnetization study are presented along with a discussion of the dependence upon oxygen stoichiometry. Results are presented for both superconducting phases and magnetic phases. Recent data which reveals the existence of local magnetic ordering in the hydrogen-doped YBa2Cu3O7 system are also discussed.

Budnick, J. I.↗
NASA NTRS1990

Local gravitomagnetism

In a simple two-body system, the gravitomagnetic components of the metric in the local quasi-inertial frame of one of the bodies is calculated. The local geometry in this frame which is freely falling along the geodesic but is directionally fixed with respect to distant stars is primarily defined by the gravitomagnetic components of the local metric. This metric serves to track down the various contributions from the local and distant source and thus provides further insight to the nature of gravitomagnetism. As a result it is shown that in the quasi-inertial frame geodetic precession is a gravitomagnetic phenomenon. Furthermore a connection between local gravitomagnetic effects and Einstein's principle of equivalence is established.

Shahid-Saless, Bahman↗
NASA NTRS1994

Extensibility in local sensor based planning for hyper-redundant manipulators (robot snakes)

Partial Shape Modification (PSM) is a local sensor feedback method used for hyper-redundant robot manipulators, in which the redundancy is very large or infinite such as that of a robot snake. This aspect of redundancy enables local obstacle avoidance and end-effector placement in real time. Due to the large number of joints or actuators in a hyper-redundant manipulator, small displacement errors of such easily accumulate to large errors in the position of the tip relative to the base. The accuracy could be improved by a local sensor based planning method in which sensors are distributed along the length of the hyper-redundant robot. This paper extends the local sensor based planning strategy beyond the limitations of the fixed length of such a manipulator when its joint limits are met. This is achieved with an algorithm where the length of the deforming part of the robot is variable. Thus , the robot's local avoidance of obstacles is improved through the enhancement of its extensibility.

Choset, Howie↗
NASA NTRS1994

A new approach to the photon localization problem

Since wavelets form a representation of the Poincare group, it is possible to construct a localized superposition of light waves with different frequencies in a Lorentz-covariant manner. This localized wavelet satisfies a Lorentz-invariant uncertainty relation, and also the Lorentz-invariant Parseval's relation. A quantitative analysis is given for the difference between photons and localized waves. It is then shown that this localized entity corresponds to a relativistic photon with a sharply defined momentum in the non-localization limit. Waves are not particles. It is confirmed that the wave-particle duality is subject to the uncertainty principle.

Han, D.↗
NASA NTRS1994

The local distribution of Na I interstellar gas

We present high-resolution absorption measurements (lambda/Delta lambda approximately 75,000) of the interstellar Na I D lines at 5890 A toward 80 southern hemisphere early-type stars located in the local interstellar medium (LISM). Combining these results with other sodium measurements taken from the literature, we produce galactic maps of the distribution of neutral sodium column density for a total of 293 stars generally lying within approximately 250 pc of the Sun. These maps reveal the approximate shape of the mid-plane contours of the rarefied region of interstellar space termed the Local Bubble. Its shape is seen as highly asymmetric, with a radius ranging from 30 to 300 pc, and with an average radius of 60 pc. Similar plots of the Galactic mid-plane distribution of sources emitting extreme ultraviolet radiation show that they also trace out similar contours of the Local Bubble derived from Na I absorption measurements. We conclude that the Local Bubble absorption interface can be represented by a hydrogen column density, Nu(sub ETA) = 2 x 10(exp 19) cm(exp -2), which explains both the local distribution of Na I absorption and the observed galactic distribution of extreme ultraviolet sources. The derived mid-plane contours of the Bubble generally reproduce the large-scale features carved out in the interstellar medium by several nearby galactic shell structures.

Welsh, B. Y.↗
NASA NTRS1995

Deuterium and the Local Interstellar Medium: Properties for the Procyon and Capella Lines of Sight

We present Goddard High-Resolution Spectrograph observations of the interstellar H I and D I Ly-alpha lines and the Mg II and Fe II resonance lines formed along the lines of sight toward the nearby stars Procyon (3.5 pc, l = 214 deg, b = 13 deg) and Capella (12.5 pc, l = 163 deg, b = 5 deg). New observations of Capella were obtained at orbital phase 0.80, when the radial velocities of the intrinsic Ly-alpha emission lines of each star were nearly reversed from those of the previous observations at phase 0.26. Since the intrinsic Ly-alpha line of the Capella system (the 'continuum' against which the interstellar absorption is measured) has different shapes at phases 0.26 and 0.80, we can derive both the intrinsic stellar profiles and the interstellar absorption lines more precisely by jointly analyzing the two data sets. For the analysis of the Procyon line of sight, we first assumed that the intrinsic Ly-alpha line profile is a broadened solar profile, but this assumption does not lead to a good fit to the observed D I line profile for any value of D/H. We then assumed that (D/H)(sub LISM) = 1.6 x 10(exp -5), the same value as for the Capella line of sight, and we modified the broadened solar profile to achieve agreement between the simulated and observed line profiles. The resulting asymmetric intrinsic stellar line profile is consistent with the shapes of the scaled Mg II line profiles. We believe therefore that the Procyon data are consistent with (D/H)(sub LISM) = 1.6 x 10(exp -5), but the uncertainty in the intrinsic Ly-alpha emission-line profile does not permit us to conclude that the D/H ratio is constant in the local interstellar medium (LISM). The temperature and turbulence in the Procyon line of sight are T = 6900 +/- 80 (+/- 300 systematic error) K and zeta = 1.21 +/- 0.27 km/s. These properties are similar to those of Capella, except that the gas toward Procyon is divided into two velocity components separated by 2.6 km/s and the Procyon line of sight has a mean neutral hydrogen density that is a factor of 2.4 larger than that of the Capella line of sight. This suggests that the first 5.3 pc along the Capella line of sight lies within the local cloud and the remaining 7.2 pc lies in the hot gas surrounding the local cloud. We propose that n(H I) = 0.1065 +/- 0.0028 cm(exp -2) be adopted for the neutral hydrogen density within the local cloud and that zeta = 1.21 +/- 0.27 km/s be adopted for the nonthermal motions. The existence of different second velocity components toward the nearby stars Procyon and Sirius provides the first glimpse of a turbulent cloudlet boundary layer between the local cloud and the surrounding hot interstellar gas.

Linsky, Jeffrey L.↗
NASA NTRS2002

Abundances of Deuterium, Oxygen and Nitrogen in the Local Interstellar Medium: Overview of First Results from the Far Ultraviolet Spectroscopic Explorer Mission

Observations obtained with the Far Ultraviolet Spectroscopic Explorer (FUSE) have been used to determine the column densities of D I, O I, and N I along seven sight lines that probe the local interstellar medium (LISM) at distances from 37 pc to 179 pc. Five of the sight lines are within the Local Bubble and two penetrate the surrounding H I wall. Reliable values of N(H I) were determined for five of the sight lines from HST data, IUE data, and published EUVE measurements. The weighted mean of DI/H I for these five sight lines is (1.52 +/- 0.08) x l0(exp -5)(1 sigma uncertainty in the mean). It is likely that the D I/H I ratio in the Local Bubble has a single value. The D I/O I ratio for the five sight lines within the Local Bubble is (3.76 +/- 0.20) x 10(esp -2). It is likely that O I column densities can serve as a proxy for H I in the Local Bubble. The weighted mean for O I/ H I for the seven FUSE sight lines is (3.03 +/- 0.21) x 10(esp -4), comparable to the weighted mean (3.43 +/- 0.15) x 10(exp -4) reported for 13 sight lines probing larger distances and higher column densities. The FUSE weighted mean of N I/ H I for five sight lines is half that reported by Meyer et al. for seven sight lines with larger distances and higher column densities. This result combined with the variability of O I/ N I (six sight lines) indicates that at the low column densities found in the LISM, nitrogen ionization balance is important. Thus, unlike O I, N I cannot be used as a proxy for H I or as a metallicity indicator in the LISM.

Moos, H. W.↗
NASA NTRS1992

Identification of a nuclear localization sequence in the polyomavirus capsid protein VP2

A nuclear localization signal (NLS) has been identified in the C-terminal (Glu307-Glu-Asp-Gly-Pro-Gln-Lys-Lys-Lys-Arg-Arg-Leu318) amino acid sequence of the polyomavirus minor capsid protein VP2. The importance of this amino acid sequence for nuclear transport of newly synthesized VP2 was demonstrated by a genetic "subtractive" study using the constructs pSG5VP2 (expressing full-length VP2) and pSG5 delta 3VP2 (expressing truncated VP2, lacking amino acids Glu307-Leu318). These constructs were transfected into COS-7 cells, and the intracellular localization of the VP2 protein was determined by indirect immunofluorescence. These studies revealed that the full-length VP2 was localized in the nucleus, while the truncated VP2 protein was localized in the cytoplasm and not transported to the nucleus. A biochemical "additive" approach was also used to determine whether this sequence could target nonnuclear proteins to the nucleus. A synthetic peptide identical to VP2 amino acids Glu307-Leu318 was cross-linked to the nonnuclear proteins bovine serum albumin (BSA) or immunoglobulin G (IgG). The conjugates were then labeled with fluorescein isothiocyanate and microinjected into the cytoplasm of NIH 3T6 cells. Both conjugates localized in the nucleus of the microinjected cells, whereas unconjugated BSA and IgG remained in the cytoplasm. Taken together, these genetic subtractive and biochemical additive approaches have identified the C-terminal sequence of polyoma-virus VP2 (containing amino acids Glu307-Leu318) as the NLS of this protein.

Non-NASA Center↗
NASA NTRS2008

Interface Shape Control using Localized Heating during Bridgman Growth

Numerical calculations were performed to assess the effect of localized radial heating on the melt-crystal interface shape during vertical Bridgman growth. System parameters examined include the ampoule, melt and crystal thermal conductivities, the magnitude and width of localized heating, and the latent heat of crystallization. Concave interface shapes, typical of semiconductor systems, could be flattened or made convex with localized heating. Although localized heating caused shallower thermal gradients ahead of the interface, the magnitude of the localized heating required for convexity was less than that which resulted in a thermal inversion ahead ofthe interface. A convex interface shape was most readily achieved with ampoules of lower thermal conductivity. The conditions under which convection in the melt must be considered were determined.

Volz, M. P.↗
NASA NTRS2008

Interface Shape Control Using Localized Heating during Bridgman Growth

Numerical calculations were performed to assess the effect of localized radial heating on the melt-crystal interface shape during vertical Bridgman growth. System parameters examined include the ampoule, melt and crystal thermal conductivities, the magnitude and width of localized heating, and the latent heat of crystallization. Concave interface shapes, typical of semiconductor systems, could be flattened or made convex with localized heating. Although localized heating caused shallower thermal gradients ahead of the interface, the magnitude of the localized heating required for convexity was less than that which resulted in a thermal inversion ahead of the interface. A convex interface shape was most readily achieved with ampoules of lower thermal conductivity. Increasing melt convection tended to flatten the interface, but the amount of radial heating required to achieve a convex interface was essentially independent of the convection intensity.

Volz, M. P.↗
NASA NTRS2011

Space-Time Localization of Plasma Turbulence Using Multiple Spacecraft Radio Links

Space weather is described as the variability of solar wind plasma that can disturb satellites and systems and affect human space exploration. Accurate prediction requires information of the heliosphere inside the orbit of the Earth. However, for predictions using remote sensing, one needs not only plane-of-sky position but also range information the third spatial dimension to show the distance to the plasma disturbances and thus when they might propagate or co-rotate to create disturbances at the orbit of the Earth. Appropriately processed radio signals from spacecraft having communications lines-of-sight passing through the inner heliosphere can be used for this spacetime localization of plasma disturbances. The solar plasma has an electron density- and radio-wavelength-dependent index of refraction. An approximately monochromatic wave propagating through a thin layer of plasma turbulence causes a geometrical-optics phase shift proportional to the electron density at the point of passage, the radio wavelength, and the thickness of the layer. This phase shift is the same for a wave propagating either up or down through the layer at the point of passage. This attribute can be used for space-time localization of plasma irregularities. The transfer function of plasma irregularities to the observed time series depends on the Doppler tracking mode. When spacecraft observations are in the two-way mode (downlink radio signal phase-locked to an uplink radio transmission), plasma fluctuations have a two-pulse response in the Doppler. In the two-way mode, the Doppler time series y2(t) is the difference between the frequency of the downlink signal received and the frequency of a ground reference oscillator. A plasma blob localized at a distance x along the line of sight perturbs the phase on both the up and down link, giving rise to two events in the two-way tracking time series separated by a time lag depending the blob s distance from the Earth: T2-2x/c, where T2 is the two-way time-of-flight of radio waves to/from the spacecraft and c is the speed of light. In some tracking situations, more information is available. For example, with the 5-link Cassini radio system, the plasma contribution to the up and down links, y(sub up)(t) and y(sub dn)(t), can be computed separately. The times series y(sub up)(t) and y(sub dn)(t) respond to a localized plasma blob with one event in each time series. These events are also separated in time by T2-2x/c. By cross-correlating the up and down link Doppler time series, the time separation of the plasma events can be measured and hence the plasma blob s distance from the Earth determined. Since the plane-of-sky position is known, this technique allows localization of plasma events in time and three space dimensions.

Armstrong, John W.↗
NASA NTRS2010

Maintaining a Local Data Integration System in Support of Weather Forecast Operations

Since 2000, both the National Weather Service in Melbourne, FL (NWS MLB) and the Spaceflight Meteorology Group (SMG) have used a local data integration system (LDIS) as part of their forecast and warning operations. Each has benefited from 3-dimensional analyses that are delivered to forecasters every 15 minutes across the peninsula of Florida. The intent is to generate products that enhance short-range weather forecasts issued in support of NWS MLB and SMG operational requirements within East Central Florida. The current LDIS uses the Advanced Regional Prediction System (ARPS) Data Analysis System (ADAS) package as its core, which integrates a wide variety of national, regional, and local observational data sets. It assimilates all available real-time data within its domain and is run at a finer spatial and temporal resolution than current national- or regional-scale analysis packages. As such, it provides local forecasters with a more comprehensive and complete understanding of evolving fine-scale weather features. Recent efforts have been undertaken to update the LDIS through the formal tasking process of NASA's Applied Meteorology Unit. The goals include upgrading LDIS with the latest version of ADAS, incorporating new sources of observational data, and making adjustments to shell scripts written to govern the system. A series of scripts run a complete modeling system consisting of the preprocessing step, the main model integration, and the post-processing step. The preprocessing step prepares the terrain, surface characteristics data sets, and the objective analysis for model initialization. Data ingested through ADAS include (but are not limited to) Level II Weather Surveillance Radar- 1988 Doppler (WSR-88D) data from six Florida radars, Geostationary Operational Environmental Satellites (GOES) visible and infrared satellite imagery, surface and upper air observations throughout Florida from NOAA's Earth System Research Laboratory/Global Systems Division/Meteorological Assimilation Data Ingest System (MADIS), as well as the Kennedy Space Center ICape Canaveral Air Force Station wind tower network. The scripts provide NWS MLB and SMG with several options for setting a desirable runtime configuration of the LDIS to account for adjustments in grid spacing, domain location, choice of observational data sources, and selection of background model fields, among others. The utility of an improved LDIS will be demonstrated through postanalysis warm and cool season case studies that compare high-resolution model output with and without the ADAS analyses. Operationally, these upgrades will result in more accurate depictions of the current local environment to help with short-range weather forecasting applications, while also offering an improved initialization for local versions of the Weather Research and Forecasting model.

Watson, Leela R.↗
NASA NTRS2013

ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

Huntsberger, Terrance L.↗
NASA NTRS2018

The Role of Atmospheric Teleconnections and Local Forcings in Predicting Greenland Ice Sheet Surface Mass Loss

In recent decades, the Arctic climate has experienced substantial climactic change, including significant decreases in both sea ice extent and Greenland Ice Sheet (GrIS) surface mass balance. These trends are overlain by substantial interannual variability in atmospheric circulation driven by large-scale atmospheric teleconnection patterns. In addition, there is evidence to suggest that the removal of Arctic sea ice can alter local atmospheric circulation through increased air temperature, clouds, and water vapor, which may contribute to increased surface melting on the GrIS. Here, we seek to characterize how these processes are linked to Greenland Ice Sheet surface mass loss and constrain how the representation of these forcings can impact the prediction of meltwater runoff within the NASA Goddard Earth Observing System Model (GEOS) seasonal-to-subseasonal forecasting system (S2S v2.1). To do this, we use a combination of the Modern-Era Retrospective analysis for Research and Applications version 2 (MERRA-2) reanalysis product, retrospective seasonal forecasts from the GEOS S2S v2.1, and independent GEOS simulations. Results from MERRA-2 reanalysis indicate that the negative phase of the North Atlantic Oscillation (NAO) results in warm surface air temperatures and reduced precipitation across Greenland, both of which act to enhance summer ice surface mass losses. When compared with MERRA-2, retrospective forecasts from the GEOS S2S v2.1 system effectively reproduce the pattern of summer GrIS surface mass loss and demonstrate reasonable skill in predicting the magnitude of meltwater runoff at leads of 1 to 3 months. However, during periods with a strong negative NAO, ice sheet surface mass balance is substantially underestimated. This pattern is also associated with an underprediction of the Greenland Blocking Index height and over prediction of sea ice extent, suggesting that both local and non-local forcings may play a role in the reduced prediction skill during these periods. Using both retrospective forecasts and independent simulations, we characterize the relative importance of local and non-local mechanisms in driving summer GrIS

Andrews, Lauren C.↗
NASA NTRS2017

Accuracy/Computation Performance of a New Trilateration Scheme for GPS-Style Localization

We recently introduced a new geometric trilateration (GT) method for GPS-style positioning. Preliminary singlepoint analysis using simplistic error assumptions indicates that the new scheme delivers almost indistinguishable localization accuracy as the traditional Newton-Raphson (NR) approach. Also, the same computation procedure can be used to perform high-accuracy relative positioning between a reference vehicle and an arbitrary number of target vehicles. This scheme has the potential to enable a) new mission concepts in collaborative science, b) in-situ navigation services for human Mars missions, and c) lower cost and faster acquisition of GPS signals for consumer-grade GPS products. The new GT scheme differs from the NR scheme as follows: 1. The new scheme is derived from Pythagoras Theorem, whereas the NR method is based on the principle of linear regression. 2. The NR method uses the absolute locations (xi, yi, zi)’s of the GPS satellites as input to each step of the localization computation. The GT method uses the Directional Cosines Ui’s from Earth’s center to the GPS satellite Si. 3. Both the NR method and the GT method iterate to converge to a localized solution. In each iteration step, multiple matrix operations are performed. The NR method constructs a different matrix in each iterative step, thus requires performing a new set of matrix operations in each step. The GT scheme uses the same matrix in each iteration, thus requiring computing the matrix operations only once for all subsequent iterations. In this paper, we perform an in-depth comparison between the GT scheme and the NR method in terms of a) GPS localization accuracy in the GPS operation environment, b) its sensitivity with respect to systematic errors and random errors, and c) computation load required to converge to a localization solution.

Lee, Charles↗
NASA NTRSDate not supplied

Eruption Characterisitics of Lunar Localized Pyroclastic Deposits Based on Water Content, Mineralogy, Regolith Properties

Lunar pyroclastic deposits are low albedo deposits present throughout the lunar surface including both maria and highlands, nearside and farside, and high latitudes and equatorial regions [e.g., 1]. There are two main types of pyroclastic deposits based upon size: localized (<2500 km2) and regional pyroclastic deposits (>2500 km2) [1]. In this study, we focus on the smaller localized pyroclastic deposits. The first and most detailed study of localized pyroclastic deposits are the deposits in Alphonsus crater [2]. This study included examining the radar and volumetric properties of these deposits. They found that vulcanian-like eruptions are most consistent with their observations. They imagined that a dike intrudes into the crust and creates a cooled basaltic cap. With increasing pressure under the basaltic cap, the pressure eventually overwhelms the surrounding rocks and results in explosive decompression. Later studies examined several pyroclastic deposits across the lunar surface using radar [2–4], digital terrain models (DTMs) [2,4], visible and near-infrared spectrometers [1,4–7], and a radiometer [4] to determine the mineralogy (e.g., olivine, glass, clinopyroxene, orthopyroxene, and plagioclase), deposit thickness and volume, proportion of juvenile material, radar backscatter, surface rock abundance, and regolith density. These various properties were examined against one another to better group localized pyroclastic deposits and understand how they relate to one another [4]. One of the studies divided pyroclastic deposits into three groups based upon the shape of the 1-μm absorption feature. The three Groups could be interpretated as having highlands and pyroclastic material (Group I), mare and pyroclastic material (Group II), and glass and orthopyroxene material (Group III) [5]. Building on that foundation, another study divided the pyroclastic deposits into four groups based upon their surface rock abundance and glass abundance [4], where deposits are classified based upon low surface rock abundance and high glass abundance (Glassy deposits); high rock abundance, high glass abundance (Blocky deposits); moderate rock abundance and low glass abundance (Crystalline deposits); and high rock abundance and low glass abundance (Indistinct Group). In addition to these studies, we can now look at their water contents using the new Effective Single Particle Absorption Thickness (ESPAT) parameter map [8]. The ESPAT map measures the strength of the 3-μm absorption feature in single scattering albedo space. The strength of this feature and its relationship to water content has been calibrated to returned samples, which allows for water content to be derived from remote spectral data (i.e., Moon Mineralogy Mapper). The goal of this study is to examine how water content in the pyroclastic deposits varies with respect to the geometric, mineralogic, and physical properties of the localized pyroclastic deposits as measured by a previous study [i.e., 4]. A more complete version of this work is found in [9].

D Trang↗
NASA NTRSDate not supplied

Conceptual Integration Studies of Localized Active Flow Control on the Wing of a Commercial Aircraft

A study of conceptual integration and performance of localized active flow control technology onto wings of short-to-medium-range project passenger airplanes is summarized. Using predicted aerodynamic performance improvement opportunities on a computational fluid dynamics reference aircraft, this paper presents the estimated performance opportunities for conceptual implementation of studied wing localized active flow control technology for low-speed (takeoff and landing) application on a Project Research Aircraft configuration. Using conceptual active flow control systems and structural integration weight penalties for studied concepts, potential relevant net performance benefits can be obtained with reliable active flow control in takeoff and landing. The conceptual integration study identifies potential localized wing active flow control application opportunities for high-lift conditions using energy sources available on modern aircraft. Material benefits are estimated for takeoff and landing configurations for selected localized wing active flow control applications. The study concluded that substantial low-speed Maximum Lift and Lift/Drag related performance improvements may be possible with localized wing high-lift active flow control systems powered by auxiliary power unit, engine bleed, or electrical compressors - with due consideration of integration and weight impacts as well as availability requirements of such systems.

drag reduction↗
NASA NTRS2022

Lunar Rover Localization Using Craters as Landmarks

Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a “ground-in-the-loop” (GITL) interaction is used to get a position update from human operators in a more global reference frame, such as a map frame defined by orbital reconnaissance imaging of a large region around the rover’s current position. For Mars rovers, this typically has involved downlinking imagery from the rover mast cameras and using interactive visualization tools on Earth to register such images to the orbital reconnaissance images. For safety purposes, rover mission operations typically specify “keep out zones”, which human operators recognize as being unsafe in the orbital images. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into a keep out zone. The allowable autonomous drive distance in this mode of operation depends on the distribution of keep out zones and the accuracy of relative navigation; in practice, drive limits of a few hundred meters between GITL cycles are to be expected. Several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. This includes lunar rover mission concepts that involve (1) driving mostly in sunlight at low latitudes, (2) driving in permanently shadowed regions near the south pole, and (3) a mixture of day and night driving in mid-latitudes. These concepts include total traverse distance requirements of up to 1,800 km in 4 Earth years, with individual drives of several kilometers between stops for downlink. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for onboard rover global localization, including radio navigation aiding from an orbiter, recognizing horizon landmarks that are known in a regional elevation map, and correlating a local elevation map created onboard the rover with a regional elevation map. These techniques all have drawbacks, including requiring an expensive extra mission element (navigation orbiter), unavailability of sufficient regional elevation map data, or limited accuracy in resulting position estimates (e.g. a few hundred meters with horizon landmarks). For the Moon, the ubiquitous craters offer another possibility, which involves mapping craters from orbit, then recognizing crater landmarks with cameras and/or a lidar onboard the rover. This approach is applicable everywhere on the Moon, does not require high resolution stereo imaging from orbit as some other approaches do, and has potential to enable position knowledge with order of 10 m accuracy at all times. This paper will provide more detail on our technical approach to crater-based lunar rover localization and will present initial results on crater detection using 3-D point cloud data from onboard lidar or stereo cameras and using shading cues in monocular onboard imagery.

Ono, M.↗