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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1972

Geologic sketch map of the candidate Proclus Apollo landing site, part K

An Apollo 15 panoramic camera frame was used as a base for a geologic sketch map of an area near Proclus Crater. The map was prepared to investigate the usefulness of the panoramic camera photography in large-scale geologic mapping and to assess the geologic value of the area as a potential Apollo landing site. The photographs, taken under high solar illumination, resulted in good definition of albedo features, and stereoscopic viewing provided extreme clarity of topographic relief with terrain units easily delineated. The geological characteristics of the area as evidenced by the high-resolution photographs is discussed. It is concluded that the panoramic camera photographs reveal a wealth of detail and are eminently suited for geologic mapping purposes. In addition, the Proclus area, as a potential landing site, offers relatively rough plains terrain.

Lucchitta, B. K.↗
NASA NTRS2004

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

Colombano, Silvano↗
NASA NTRS2016

Bladed Terrain on Pluto: Possible Origins and Evolutions

Pluto’s Bladed Terrain (centered roughly 20°N, 225°E) covers the flanks and crests of the informally named Tartarus Dorsa with numerous roughly aligned blade-like ridges oriented ~North-South; it may also stretch considerably farther east onto the non-close approach hemisphere but that inference is tentative. Individual ridges are typically several hundred meters high, and are spaced 5 to 10 km crest to crest, separated by Vshaped valleys. Many ridges merge at acute angles to form Y-shape junctions in plan view. The principle composition of the blades themselves we suspect is methane or a methane-rich mixture. (Methane is spectroscopically strongly observed on the optical surfaces of blades.) Nitrogen ice is very probably too soft to support their topography. Cemented mixtures of volatile and non-volatile ices may also provide a degradable but relief supporting “bedrock” for the blades, perhaps analogous to Callisto. Currently we are considering several hypotheses for the origins of the deposit from which Bladed Terrain has evolved, including aeolian disposition, atmospheric condensation, updoming and exhumation, volcanic intrusions or extrusions, crystal growth, among others. We are reviewing several processes as candidate creators or sculptors of the blades. Perhaps they are primary depositional patterns such as dunes, or differential condensation patterns (like on Callisto), or fissure extrusions. Or alternatively perhaps they are the consequence of differential erosion (such as sublimation erosion widening and deepening along cracks), variations in substrate properties, mass wasting into the subsurface, or sculpted by a combination of directional winds and solar isolation orientation. We will consider the roles of the long-term increasing solar flux and short periods of warm thick atmospheres. Hypotheses will be ordered based on observational constrains and modeling to be presented at the conference.

Nitrogen ice↗
NASA NTRS2016

Bladed Terrain on Pluto: Possible Origins and Evolutions

Pluto's Bladed Terrain (centered roughly 20 deg N, 225 deg E) covers the flanks and crests of the informally named Tartarus Dorsa with numerous roughly aligned blade-like ridges oriented approx. North-South; it may also stretch considerably farther east onto the non-close approach hemisphere but that inference is tentative. Individual ridges are typically several hundred meters high, and are spaced 5 to 10 km crest to crest, separated by V-shaped valleys. Many ridges merge at acute angles to form Y-shape junctions in plan view. The principle composition of the blades themselves we suspect is methane or a methane-rich mixture. (Methane is spectroscopically strongly observed on the optical surfaces of blades.) Nitrogen ice is very probably too soft to support their topography. Cemented mixtures of volatile and non-volatile ices may also provide a degradable but relief supporting "bedrock" for the blades, perhaps analogous to Callisto. Currently we are considering several hypotheses for the origins of the deposit from which Bladed Terrain has evolved, including aeolian disposition, atmospheric condensation, updoming and exhumation, volcanic intrusions or extrusions, crystal growth, among others. We are reviewing several processes as candidate creators or sculptors of the blades. Perhaps they are primary depositional patterns such as dunes, or differential condensation patterns (like on Callisto), or fissure extrusions. Or alternatively perhaps they are the consequence of differential erosion (such as sublimation erosion widening and deepening along cracks), variations in substrate properties, mass wasting into the subsurface, or sculpted by a combination of directional winds and solar isolation orientation. We will consider the roles of the long-term increasing solar flux and short periods of warm thick atmospheres. Hypotheses will be ordered based on observational constrains and modeling to be presented at the conference.

methane↗
NASA NTRS1972

Microwave emission measurements of sea surface roughness, soil moisture, and sea ice structure

In order to demonstrate the feasibility of the microwave radiometers to be carried aboard the Nimbus 5 and 6 satellites and proposed for one of the earth observatory satellites, remote measurements of microwave radiation at wavelengths ranging from 0.8 to 21 cm have been made of a variety of the earth's surfaces from the NASA CV-990 A/C. Brightness temperatures of sea water surfaces of varying roughness, of terrain with varying soil moisture, and of sea ice of varying structure were observed. In each case, around truth information was available for correlation with the microwave brightness temperature. The utility of passive microwave radiometry in determining ocean surface wind speeds, at least for values higher than 7 meters/second has been demonstrated. In addition, it was shown that radiometric signatures can be used to determine soil moisture in unvegetated terrain to within five percentage points by weight. Finally, it was demonstrated that first year thick, multi-year, and first year thin sea ice can be distinguished by observing their differing microwave emissivities at various wavelengths.

Gloersen, P.↗
NASA NTRS1974

Mercury's infrared phase effect

Predictions based on a smooth spherical blackbody do not agree with the observed brightness temperatures of the planet Mercury. The curves of measured effective brightness temperature as a function of phase angle are more steep than and reach lower values near absolute values of i of about 180 deg and higher values near absolute values of i of about 0 deg than those of a smooth sphere. Phase curves of the moon have also been obtained which confirm earlier measurements. The distribution of Mercury's emitted energy in wavelength is dependent upon phase angle, changing from clearly identifiable thermal spectra for absolute values of i less than 150 deg to a superposition of thermal emission at several color temperatures for greater phase angles. No significant variation of infrared brightness temperature with subearth longitude intensity was found. These results provide further evidence that the surfaces of Mercury and the moon are similar and that the top layer of the planetary terrain is rough on a millimeter scale.-

Murdock, T. L.↗
NASA NTRS1991

Magellan - Radar performance and data products

The Magellan Venus orbiter carries only one scientific instrument: a 12.6-centimeter-wavelength radar system shared among three data-taking modes. The synthetic-aperture mode images radar echoes from the Venus surface at a resolution of between 120 and 300 meters, depending on spacecraft altitude. In the altimetric mode, relative height measurement accuracies may approach 5 meters, depending on the terrain's roughness, although orbital uncertainties place a floor of about 50 meters on the absolute uncertainty. In areas of extremely rough topography, accuracy is limited by the inherent line-of-sight radar resolution of about 88 meters. The maximum elevation observed to date, corresponding to a planetary radius of 6062 kilometers, lies within Maxwell Mons. When used as a thermal emission radiometer, the system can determine surface emissivities to an absolute accuracy of about 0.02. Mosaicked and archival digital data products will be released in compact disk (CDROM) format.

Pettengill, Gordon H.↗
NASA NTRS1993

Experiments with a small behaviour controlled planetary rover

A series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.

Miller, David P.↗
NASA NTRS2000

Task Adaptive Walking Robots for Mars Surface Exploration

There are exciting opportunities for robot science that lie beyond the reach of current manipulators, rovers, balloons, penetrators, etc. Examples include mobile explorations of the densely cratered Mars highlands, of asteroids, and of moons. These sites are believed to be rich in geologic history and mineralogical detail, but are difficult to robotically access and sample. The surface terrains are rough and changeable, with variable porosity and dust layering; and the small bodies present further challenges of low-temperature, micro-gravity environments. Even the more benign areas of Mars are highly variegated in character (>VL2 rock densities), presenting significant risk to conventional rovers. The development of compact walking robots would have applications to the current mission set for Mars surface exploration, as well as enabling future Mars Outpost missions, asteroid rendezvous missions for the Solar System Exploration Program (SSE) and the mechanical assembly/inspection of large space platforms for the Human Exploration and Development of Spaces (HEDS).

Huntsberger, Terry↗
NASA NTRS2010

Space-Frame Lunar Lander

The space-frame lunar lander was originally intended to (1) land on rough lunar terrain, (2) deform itself to conform to the terrain so as to be able to remain there in a stable position and orientation, and (3) if required, further deform itself to perform various functions. In principle, the space-frame lunar lander could be used in the same way on Earth, as might be required, for example, to place meteorological sensors or a radio-communication relay station on an otherwise inaccessible mountain peak. the space-frame lunar lander would include a truss-like structure consisting mostly of a tetrahedral mesh of nodes connected by variable-length struts, the lengths of which would be altered in coordination to impart the desired overall size and shape to the structure. Thrusters (that is, small rocket engines), propellant tanks, a control system, and instrumentation would be mounted in and on the structure (see figure). Once it had landed and deformed itself to the terrain through coordinated variations in the lengths of the struts, the structure could be further deformed into another space-frame structure

Curtis, Steven A.↗
NASA NTRS2020

Comparison of Raindrop Size Distribution between NASA’s S-Band Polarimetric Radar and Two-Dimensional Video Disdrometers

The ground-based-radar-derived raindrop size distribution (DSD) parameters—mass-weighted drop diameter Dmass and normalized intercept parameter NW—are the sole resource for direct validation of the National Aeronautics and Space Administration (NASA) Global Precipitation Measurement (GPM) mission Core Observatory satellite-based retrieved DSD. Both Dmass and NW are obtained from radar-measured reflectivity ZH and differential reflectivity ZDR through empirical relationships. This study uses existing relationships that were determined for the GPM ground validation (GV) program and directly compares the NASA S-band polarimetric radar (NPOL) observables of ZH and ZDR and derivedDmass and NW with those calculated by two-dimensional video disdrometer (2DVD). The joint NPOL and 2DVD datasets were acquired during three GPM GV field campaigns conducted in eastern Iowa, southern Appalachia, and western Washington State. The comparative study quantifies the level of agreement for ZH, ZDR, Dmass, and log(NW) at an optimum distance (15–40 km) from the radar as well as at distances greater than 60 km from radar and over mountainous terrain. Interestingly, roughly 10%–15% of the NPOL ZH–ZDR pairs were well outside the envelope of 2DVD-estimated ZH–ZDR pairs. The exclusion of these pairs improved the comparisons noticeably.

Ali Tokay↗
NASA NTRS2020

Comparison of Raindrop Size Distribution between NASA's S-Band Polarimetric Radar and Two-Dimensional Video Disdrometers

The ground-based-radar-derived raindrop size distribution (DSD) parameters—mass-weighted drop diameter D mass and normalized intercept parameter NW—are the sole resource for direct validation of the National Aeronautics and Space Administration (NASA) Global Precipitation Measurement (GPM ) mission Core Observatory satellite-based retrieved DSD. Both D mass and NW are obtained from radar-measured reflectivity Z Hand differential reflectivity ZDR through empirical relationships. This study uses existing relationships that were determined for the GPM ground validation (GV) program and directly compares the NASA S-band polarimetric radar (NPOL) observables of Z Hand Z DR and derived D mass and NW with those calculated by two-dimensional video disdrometer (2DVD). The joint NPOL and 2DVD datasets were acquired during three GPM GV field campaigns conducted in eastern Iowa, southern Appalachia, and western Washington State. The comparative study quantifies the level of agreement for ZH, ZDR, D mass, and log (NW) at an optimum distance (15–40 km) from the radar as well as at distances greater than 60 km from radar and over mountainous terrain. Interestingly, roughly 10%–15% of the NPOLZH–Z DR pairs were well outside the envelope of 2DVD-estimatedZH–Z DR pairs. The exclusion of these pairs improved the comparisons noticeably.

Ali Tokay↗
NASA NTRS2005

A novel tiered sensor fusion approach for terrain characterization and safe landing assessment

This paper presents a novel tiered sensor fusion methodology for real-time terrain safety assessment. A combination of active and passive sensors, specifically, radar, lidar, and camera, operate in three tiers according to their inherent ranges of operation. Low-level terrain features (e.g. slope, roughness) and high-level terrain features (e.g. hills, craters) are integrated using principles of reasoning under uncertainty. Three methodologies are used to infer landing safety: Fuzzy Reasoning, Probabilistic Reasoning, and Evidential Reasoning. The safe landing predictions from the three fusion engines are consolidated in a subsequent decision fusion stage aimed at combining the strengths of each fusion methodology. Results from simulated spacecraft descents are presented and discussed.

fuzzy reasoning↗
NASA NTRS1984

Model for optimal parallax in stereo radar imagery

Simulated stereo radar imagery is used to investigate parameters for a spaceborne imaging radar. Incidence angles ranging from small to intermediate to large are used with three digital terrain model areas which are representative of relatively flat, moderately rough, and mountaneous terrain. The simulated radar imagery was evaluated by interpreters for ease of stereo perception and information content, and rank ordered within each class of terrain. The interpreter's results are analyzed for trends between the height of a feature and either parallax or vertical exaggeration for a stereo pair. A model is developed which predicts the amount of parallax (or vertical exaggeration) an interpreter would desire for best stereo perception of a feature of a specific height. Results indicate the selection of angle of incidence and stereo intersection angle depend upon the relief of the terrain. Examples of the simulated stereo imagery are presented for a candidate spaceborne imaging radar having four selectable angles of incidence.

Pisaruck, M. A.↗
NASA NTRS1983

An analysis of simulated stereo radar imagery

Simulated stereo radar imagery is used to investigate parameters for a spaceborne imaging radar. Incidence angles ranging from small to intermediate to large are used with three digital terrain model areas which are representative of relatively flat, moderately rough, and mountainous terrain. The simulated radar imagery was evaluated by interpreters for ease of stereo perception and information content, and rank order within each class of terrain. The interpreter's results are analyzed for trends between the height of a feature and either parallax or vertical exaggeration for a stereo pair. A model is developed which predicts the amount of parallax (or vertical exaggeration) an interpreter would desire for best stereo perception of a feature of a specific height. Results indicate the selection of angle of incidence and stereo intersection angle depend upon the relative relief of the terrain. Examples of the simulated stereo imagery are presented for a candidate spaceborne imaging radar having four selectable angles of incidence.

Pisaruck, M. A.↗
NASA NTRS1984

Viking bistatic radar experiment - Summary of results in near-equatorial regions

Viking bistatic radar have been processed using Hagfors' scattering function to obtain estimates of rms surface roughness from ground tracks primarily in the equatorial region of Mars. Roughness varies from as little as 0.75 deg rms east of Solis and Sinai Plana to at least 8 deg on the western slope of Arsia Mons. Estimated roughness in cratered terrain is generally about 5 deg or less, implying the existence of smoothing processes on scales less than 100 m. There is good agreement between bistatic roughness estimates and earth-based results at ground track intersections near the equator in both cratered terrain and plains. Surface tilt probability density functions derived from these observations are usually more sharply peaked than the Hagfors function for similar values of rms surface roughness. Earlier results using the Gaussian model appear to have overestimated the surface roughness by 30-40 percent.

Simpson, R. A.↗
NASA NTRS1988

A vision system for a Mars rover

A Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.

Wilcox, Brian H.↗