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NASA NTRS2005

Path Planning Algorithms for the Adaptive Sensor Fleet

The Adaptive Sensor Fleet (ASF) is a general purpose fleet management and planning system being developed by NASA in coordination with NOAA. The current mission of ASF is to provide the capability for autonomous cooperative survey and sampling of dynamic oceanographic phenomena such as current systems and algae blooms. Each ASF vessel is a software model that represents a real world platform that carries a variety of sensors. The OASIS platform will provide the first physical vessel, outfitted with the systems and payloads necessary to execute the oceanographic observations described in this paper. The ASF architecture is being designed for extensibility to accommodate heterogenous fleet elements, and is not limited to using the OASIS platform to acquire data. This paper describes the path planning algorithms developed for the acquisition phase of a typical ASF task. Given a polygonal target region to be surveyed, the region is subdivided according to the number of vessels in the fleet. The subdivision algorithm seeks a solution in which all subregions have equal area and minimum mean radius. Once the subregions are defined, a dynamic programming method is used to find a minimum-time path for each vessel from its initial position to its assigned region. This path plan includes the effects of water currents as well as avoidance of known obstacles. A fleet-level planning algorithm then shuffles the individual vessel assignments to find the overall solution which puts all vessels in their assigned regions in the minimum time. This shuffle algorithm may be described as a process of elimination on the sorted list of permutations of a cost matrix. All these path planning algorithms are facilitated by discretizing the region of interest onto a hexagonal tiling.

Stoneking, Eric↗
NASA NTRS2005

The Effects of Lunar Dust on EVA Systems During the Apollo Missions

Mission documents from the six Apollo missions that landed on the lunar surface have been studied in order to catalog the effects of lunar dust on Extra-Vehicular Activity (EVA) systems, primarily the Apollo surface space suit. It was found that the effects could be sorted into nine categories: vision obscuration, false instrument readings, dust coating and contamination, loss of traction, clogging of mechanisms, abrasion, thermal control problems, seal failures, and inhalation and irritation. Although simple dust mitigation measures were sufficient to mitigate some of the problems (i.e., loss of traction) it was found that these measures were ineffective to mitigate many of the more serious problems (i.e., clogging, abrasion, diminished heat rejection). The severity of the dust problems were consistently underestimated by ground tests, indicating a need to develop better simulation facilities and procedures.

Gaier, James R.↗
NASA NTRS2004

History of Thermally Processed Solids in the Protoplanetary Disk: Reconciling Theoretical Models and Meteoritical Evidence

In this talk we assess theoretical models of the radial, temporal, and thermal evolution of nebula solids, and their ultimate accretion into planetesimals such as we see today, using meteorite evidence as a guide. Each class of chondrites contains a characteristic suite of chondrules and CAIs that may have formed over a period of several Myr during which planetesimals were accreting in the disk. Details of the various models for transient melting of chondrules and igneous CAIs will be left to others. However, high-temperature processes of different kinds evaporation, alteration, etc did affect these constituents and their environment over this time span. Here we describe evolutionary scenarios consistent with a large time gap between CAI and chondrule formation and the presence of distinctive suites of chondrules and CAIs in each chondrite class. Particle-gas dynamical processes transport particles of all relevant sizes (microns to many meters) within the nebula and affect their evolution in a variety of important ways. Turbulent radial diffusion spreads particles radially down their concentration gradients - as one example, it can prevent CAIs from being lost into the sun on several Myr timescales [1]. Vertical diffusion spreads the dense midplane particle layer, determining its volume density, which in turn affects the particle growth rate and even the dominant growth process [2-4]. Turbulent concentration selects aerodynamically sorted particles for orders-of-magnitude density enhancement, and is applicable to porous, fluffy particles of appropriate size as well as to solid chondrules [5]. Inward radial drift under gas drag brings a surprisingly large amount of material to regions where it evaporates; these evaporation fronts cause significant chemical modification of the nebula gas over a wide range of radii [6]. Radial transport by stellar winds can be important for small particles [7].

Cuzzi, J. N.↗
NASA NTRS2005

Three Years of TRMM Precipitation Features: Radar, Radiometric, and Lightning Characteristics - Part 1

During its first three years, the Tropical Rainfall Measuring Mission (TRMM) satellite observed nearly six million precipitation features. The population of precipitation features is sorted by lightning flash rate, minimum brightness temperature, maximum radar reflectivity. areal extent, and volumetric rainfall. For each of these characteristics, essentially describing the convective intensity or the size of the features, the population is broken into categories consisting of the top 0.001%, top 0.01%, top 0.1%, top 1%, top 2.4%. and remaining 97.6%. The set of weakest/smallest features composes 97.6% of the population because that fraction does not have detected lightning, with a minimum detectable flash rate of 0.7 flashes (fl) per minute. The greatest observed flash rate is 1351 fl per minute; the lowest brightness temperatures are 42 K (85 GHz) and 69 K (37 GHz). The largest precipitation feature covers 335 000 square kilometers and the greatest rainfall from an individual precipitation feature exceeds 2 x 10 kg per hour of water. There is considerable overlap between the greatest storms according to different measures of convective intensity. The largest storms are mostly independent of the most intense storms. The set of storms producing the most rainfall is a convolution of the largest and the most intense storms. This analysis is a composite of the global Tropics and subtropics. Significant variability is known to exist between locations. seasons, and meteorological regimes. Such variability will be examined in Part II. In Part I, only a crude land-ocean separation is made. The known differences in bulk lightning flash rates over land and ocean result from at least two differences in the precipitation feature population: the frequency of occurrence of intense storms and the magnitude of those intense storms that do occur. Even when restricted to storms with the same brightness temperature, same size, or same radar reflectivity aloft, the storms over water are considerably less likely to produce lightning than are comparable storms over land.

Cecil, Daniel J.↗
NASA NTRS2004

Chondrites and the Protoplanetary Disk, Part 2

Contents include the following: On the Dynamical Evolution of a Nebula and Its Effect on Dust Coagulation and the Formation of Centimeter-sized Particles. The Mineralogy and Grain Properties of the Disk Surfaces in Three Herbig Ae/Be Stars. Astrophysical Observations of Disk Evolution Around Solar Mass Stars. The Systematic Petrology of Chondrites: A Consistent Approach to Assist Classification and Interpretation. Understanding Our Origins: Formation of Sun-like Stars in H II Region Environments. Chondrule Crystallization Experiments. Formation of SiO2-rich Chondrules by Fractional Condensation. Refractory Forsterites from Murchison (CM2) and Yamato 81020 (CO3.0) Chondrites: Cathodoluminescence, Chemical Compositions and Oxygen Isotopes. Apparent I-Xe Cooling Rates of Chondrules Compared with Silicates from the Colomera Iron Meteorite. Chondrule Formation in Planetesimal Bow Shocks: Physical Processes in the Near Vicinity of the Planetesimal. Genetic Relationships Between Chondrules, Rims and Matrix. Chondrite Fractionation was Cosmochemical; Chondrule Fractionation was Geochemical. Chondrule Formation and Accretion of Chondrite Parent Bodies: Environmental Constraints. Amoeboid Olivine Aggregates from the Semarkona LL3.0 Chondrite. The Evolution of Solids in Proto-Planetary Disks. New Nickel Vapor Pressure Measurements: Possible Implications for Nebular Condensates. Chemical, Mineralogical and Isotopic Properties of Chondrules: Clues to Their Origin. Maximal Size of Chondrules in Shock-Wave Heating Model: Stripping of Liquid Surface in Hypersonic Rarefied Gas Flow. The Nature and Origin of Interplanetary Dust: High Temperature Components. Refractory Relic Components in Chondrules from Ordinary Chondrites. Constraints on the Origin of Chondrules and CAIs from Short-lived and Long-lived Radionuclides. The Genetic Relationship Between Refractory Inclusions and Chondrules. Contemporaneous Chondrule Formation Between Ordinary and Carbonaceous Chondrites. Chondrules and Isolated Grains in the Fountain Hills Bencubbinite. Implications of Chondrule Formation in a Gas of Solar Composition. Implications of Meteoritic Cl-36 Abundance for the Origin of Short-lived Radionuclides in the Early Solar System. Size Sorting and the Chondrule Size Spectrum. Comparative Study of Refractory Inclusions from Different Groups of Chondrites. In Situ Investigation of Mg Isotope Distributions in an Allende CAI by Combined LA-ICPMS and SIMS Analyses Photochemical Speciation of Oxygen Isotopes in the Solar Nebula.

Source record↗
NASA NTRS2005

Hematite on the Surface of Meridiani Planum and Gusev Crater

Meridiani Planum was selected as a landing side for the Rover Opportunity because of an indication of hematite observed from orbit. Meridiani Planum consists of sorted sands with aeolian features like ripples and desert pavements. In impact craters, a high-albedo layered bedrock is exposed. The soil is a mixture of: (i) fine sand material in the size ranges of 50 to 150 m, (ii) sub-angular, irregular particles of 0.5 to 5 mm size with submillimeter circular voids that are most likely vesicular basaltic fragments, and (iii) spherules with a restricted grain size between 4 and 6 mm. The Mini-TES on board the rover Opportunity identified a hematite signature at distance resulting from mm-sized spherules as determined by the Moussbauer Spectrometer. Small quantities of similar spherules (2 vol. %) were found in rock exposures in Eagle crater and were interpreted as concretions that formed by precipitation from aqueous fluids inside sedimentary rocks. At Gusev crater no hematite was observed until sol 90 except for layering on a rock. Our investigations of hematite bearing materials, measured by the Alpha Particle X-ray Spectrometer (APXS), Moussbauer Spectrometer (MB), and Microscopic Imager (MI), provide a more integrated view of different occurrences of hematite on the martian surface. Chemistry of soils and rocks: Chemical compositions

Brueckner, J.↗
NASA NTRS2005

Nebula Models of Non-Equilibrium Mineralogy: Wark-Lovering Rims

Introduction: The meteorite record contains several examples of minerals that would not persist if allowed to come to equilibrium with a cooling gas of solar composition. This includes all minerals in CAIs and AOAs. Their survival is generally ascribed to physical removal of the object from the gas (isolation into a large parent object, or ejection by a stellar wind), but could also result from outward radial diffusion into cooler regions, which we discuss here. Accretion of CAIs into planetesimals has also been relied on to preserve them against loss into the sun. However, this suggestion faces several objections. Simple outward diffusion in turbulence has recently been modeled in some detail, and can preserve CAIs against loss into the sun [2]. Naturally, outward radial diffusion in turbulence is slower than immediate ejection by a stellar wind, which occurs on an orbital timescale. Here we ask whether these different transport mechanisms can be distinguished by nonequilibrium mineralogy, which provides a sort of clock. Our application here is to one aspect of CAI mineralogy - the Wark-Lovering rims (WLR); even more specifically, to alteration of one layer in the WLR sequence from melilite (Mel) to anorthite (An).

Cuzzi, J. N.↗
NASA NTRS2005

Extracting Olivine (Fo-Fa) Compositions from Raman Spectral Peak Positions

Olivine and pyroxene are two major basaltic minerals that have been identified at Gusev Crater and Meridiani Planum by the Mars Exploration Rovers. Full petrologic characterization of a sample (rock or soil), however, requires determining the range of mineral compositions, extent of zoning, range of grain sizes, mineral associations, presence of xenocrysts, etc. Information of this sort will aid the interpretation of sample crystallization and differentiation histories and help discriminate between lithologies. In Raman spectroscopic experiments, minerals are identified by their spectral patterns and mineral compositions can be inferred from the peak positions. Instruments currently in use or slated for impending surface exploration missions provide only average elemental compositions for relatively large rock or soil targets or bulk mineral analysis. No techniques currently in use or scheduled for flight can characterize both structure and composition of individual mineral grains, in-situ, like the Mars Microbeam Raman Spectrometer (MMRS). The MMRS is designed to take 100 spectra along a 1 cm linear traverse on the surface of a sample, with contributions from one or a few mineral phases per spectrum. We presented a method to extract structural and compositional information from the Raman spectra of quadrilateral pyroxenes. The pyroxene calibration was applied to a Raman spectroscopic study of Martian meteorite EETA79001 along with a preliminary olivine calibration, where we demonstrated the capability to discriminate related lithologies using Raman point counts. This paper presents an improved olivine calibration that will further aid sample characterization and the study of alteration processes.

Kuebler, K.↗
NASA NTRS2005

Aeolian Processes at the Mars Exploration Rover Opportunity Landing Site

The traverse of the Mars Exploration Rover Opportunity across its Meridiani Planum landing site has shown that wind has affected regolith by creating drifts, dunes, and ubiquitous ripples, by sorting grains during aeolian transport, by forming bright wind streaks downwind from craters seen from orbit, and by eroding rock with abrading, wind-blown material. Pre-landing orbiter observations showed bright and dark streaks tapering away from craters on the Meridiani plains. Further analysis of orbiter images shows that major dust storms can cause bright streak orientations in the area to alternate between NW and SE, implying bright wind streak materials encountered by Opportunity are transient, potentially mobilized deposits. Opportunity performed the first in situ investigation of a martian wind streak, focusing on a bright patch of material just outside the rim of Eagle crater. Data from Pancam, the Miniature Thermal Emission Spectrometer (Mini-TES), the Alpha-Particle X-Ray Spectrometer (APXS), and the Mossbauer spectrometer either are consistent with or permit an air fall dust interpretation. We conclude that air fall dust, deposited in the partial wind shadow of Eagle crater, is responsible for the bright streak seen from orbit, consistent with models involving patchy, discontinuous deposits of air fall dust distributed behind obstacles during periods of atmospheric thermal stability during major dust storms.

Sullivan, R.↗
NASA NTRS2005

Initial Kernel Timing Using a Simple PIM Performance Model

This presentation will describe some initial results of paper-and-pencil studies of 4 or 5 application kernels applied to a processor-in-memory (PIM) system roughly similar to the Cascade Lightweight Processor (LWP). The application kernels are: * Linked list traversal * Sun of leaf nodes on a tree * Bitonic sort * Vector sum * Gaussian elimination The intent of this work is to guide and validate work on the Cascade project in the areas of compilers, simulators, and languages. We will first discuss the generic PIM structure. Then, we will explain the concepts needed to program a parallel PIM system (locality, threads, parcels). Next, we will present a simple PIM performance model that will be used in the remainder of the presentation. For each kernel, we will then present a set of codes, including codes for a single PIM node, and codes for multiple PIM nodes that move data to threads and move threads to data. These codes are written at a fairly low level, between assembly and C, but much closer to C than to assembly. For each code, we will present some hand-drafted timing forecasts, based on the simple PIM performance model. Finally, we will conclude by discussing what we have learned from this work, including what programming styles seem to work best, from the point-of-view of both expressiveness and performance.

BRIEFING CHARTS↗
NASA NTRS2005

Organics in Meteorites, False Biomarkers, and the Search for Life in the Solar System

The tons of extraterrestrial organic material that come to the Earth every day probably helped to made the Earth habitable, and possibly played a role in the origin of life. At the astrochemistry lab (http://www.astrochem.org) we investigate the formation and distribution of organic molecules in space and consider the impact such molecules may have on the habitability of planets and the search for life in the Solar System. The organic compounds in meteorites include amino acids, aromatics of various sorts including purine and pyrimidine bases, and fatty acids that form bi-layer vesicles. The origin of many of these species remains mysterious, but in recent years we and others have performed experiments that suggest low temperature radiation chemistry could account for the presence and deuterium enrichment of many of these molecules.

Bernstein, Todd↗
NASA NTRS2005

Electrohydrodynamic Flows in Electrochemical Systems

Recent studies have established a new class of assembly processes with colloidal suspensions. Particles are driven together to form large crystalline structures in both dc and ac fields. The current work centers on this new class of flows in ac fields. In the research carried out under the current award, it was established that: (i) Small colloidal particles crystallize near an electrode due to electrohydrodynamic flows induced by an sinusoidally varying applied potential. (ii) These flows originate due to disturbances in the electrode polarization layer arising from the presence of the particles. Inasmuch as the charge and the field strength both scale on the applied field, the flows are proportional to the square of the applied voltage. (iii) Suspensions of two different sorts of particles can be crystallized and will form well-ordered binary crystals. (iv) At high frequencies the EHD flows die out. Thus, with a homogeneous system the particles become widely spaced due to dipolar repulsion. With a binary suspension, however, the particles may become attractive due to dipolar attraction arising from differences in electrokinetic dipoles. Consequently binary crystals form at both high and low frequencies.

Saville, D. A.↗
NASA NTRS2004

Development of Message Passing Routines for High Performance Parallel Computations

Computational Fluid Dynamics (CFD) calculations require a great deal of computing power for completing the detailed computations involved. In an effort shorten the time it takes to complete such calculations they are implemented on a parallel computer. In the case of a parallel computer some sort of message passing structure must be used to communicate between the computers because, unlike a single machine, each computer in a parallel computing cluster does not have access to all the data or run all the parts of the total program. Thus, message passing is used to divide up the data and send instructions to each machine. The nature of my work this summer involves programming the "message passing" aspect of the parallel computer. I am working on modifying an existing program, which was written with OpenMP, and does not use a multi-machine parallel computing structure, to work with Message Passing Interface (MPI) routines. The actual code is being written in the FORTRAN 90 programming language. My goal is to write a parameterized message passing structure that could be used for a variety of individual applications and implement it on Silicon Graphics Incorporated s (SGI) IRIX operating system. With this new parameterized structure engineers would be able to speed up computations for a wide variety of purposes without having to use larger and more expensive computing equipment from another division or another NASA center.

Summers, Edward K.↗
NASA NTRS2005

The Knowledge Stealing Initiative?

I have the honor of being on the Academy of Program and Project Leadership (APPL) Knowledge Sharing Feedback and Assessment Team (FAA), and as such, I am privileged to receive the feedback written by many of you as attendees of the Project Management (PM) Master s Forums. It is the intent of the FAA Team and APPL leadership to use this feedback as a tool for continuous program improvement. As a retired (sort of) PM in the payload contracting industry, I'm a big supporter of NASA s Knowledge Sharing Initiative (KSI), especially the Master's Forums. I really enjoy participating in them. Unfortunately I had to miss the 8th forum in Pasadena this past Spring, but I did get the feedback package for the Assessment Team work. So here I was, reviewing twelve pages of comments, reflections, learning notes and critiques from attendees of the 8th forum.

Goshorn, Larry↗
NASA NTRS2004

Characterization of microbial and chemical composition of shuttle wet waste with permanent gas and volatile organic compound analyses

Solid-waste treatment in space for Advanced Life Support, ALS, applications requires that the material can be safely processed and stored in a confined environment. Many solid-wastes are not stable because they are wet (40-90% moisture) and contain levels of soluble organic compounds that can contribute to the growth of undesirable microorganisms with concomitant production of noxious odors. In the absence of integrated Advanced Life Support systems on orbit, permanent gas, trace volatile organic and microbiological analyses were performed on crew refuse returned from the volume F "wet" trash of three consecutive Shuttle missions (STS-105, 109, and 110). These analyses were designed to characterize the short-term biological stability of the material and assess potential crew risks resulting from microbial decay processes during storage. Waste samples were collected post-orbiter landing and sorted into packaging material, food waste, toilet waste, and bulk liquid fractions deposited during flight in the volume F container. Aerobic and anaerobic microbial loads were determined in each fraction by cultivation on R2A and by acridine orange direct count (AODC). Dry and ash weights were performed to determine both water and organic content of the materials. Experiments to determine the aerobic and anaerobic biostability of refuse stored for varying periods of time were performed by on-line monitoring of CO2 and laboratory analysis for production of hydrogen sulfide and methane. Volatile organic compounds and permanent gases were analyzed using EPA Method TO15 by USEPA et al. [EPA Method TO15, The Determination of Volatile Organic Compounds (VOCs) in Ambient Air using SUMMA, Passivated Canister Sampling and Gas Chromatographic Analysis,1999] with gas chromatography/mass spectrometry and by gas chromatography with selective detectors. These baseline measures of waste stream content, labile organics, and microbial load in the volume F Shuttle trash provide data for waste subsystem analysis and atmospheric management within the ALS Project. Published by Elsevier Ltd on behalf of COSPAR.

NASA Center KSC↗
NASA NTRS2005

A Robotics Systems Design Need: A Design Standard to Provide the Systems Focus that is Required for Longterm Exploration Efforts

The United States is entering a new period of human exploration of the inner Solar System, and robotic human helpers will be partners in that effort. In order to support integration of these new worker robots into existing and new human systems, a new design standard should be developed, to be called the Robot-Systems Integration Standard (RSIS). It will address the requirements for and constraints upon robotic collaborators with humans. These workers are subject to the same functional constraints as humans of work, reach, and visibility/situational awareness envelopes, and they will deal with the same maintenance and communication interfaces. Thus, the RSIS will be created by discipline experts with the same sort of perspective on these and other interface concerns as human engineers.

Dischinger, H. Charles., Jr.↗
NASA NTRS2005

Microfabrication and Test of a Three-Dimensional Polymer Hydro-focusing Unit for Flow Cytometry Applications

This paper details a novel three-dimensional (3D) hydro-focusing micro cell sorter for micro flow cytometry applications. The unit was microfabricated by means of SU-8 3D lithography. The 3D microstructure for coaxial sheathing was designed, microfabricated, and tested. Three-dimensional hydrofocusing capability was demonstrated with an experiment to sort labeled tanned sheep erythrocytes (red blood cells). This polymer hydro-focusing microstructure is easily microfabricated and integrated with other polymer microfluidic structures. Keywords: SU-8, three-dimensional hydro-focusing, microfluidic, microchannel, cytometer

Yang, Ren↗
NASA NTRS2001

Method and System For an Automated Tool for En Route Traffic Controllers

A method and system for a new automation tool for en route air traffic controllers first finds all aircraft flying on inefficient routes, then determines whether it is possible to save time by bypassing some route segments, and finally whether the improved route is free of conflicts with other aircraft. The method displays all direct-to eligible aircraft to an air traffic controller in a list sorted by highest time savings. By allowing the air traffic controller to easily identify and work with the highest pay-off aircraft, the method of the present invention contributes to a significant increase in both air traffic controller and aircraft productivity. A graphical computer interface (GUI) is used to enable the air traffic controller to send the aircraft direct to a waypoint or fix closer to the destination airport by a simple point and click action.

Heinz Erzberger↗