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NASA NTRS1977

Technology and the Environment

Forest Service officials consulted NASA and found a solution in the application of laser technology originally developed for satellites. NASA/Goddard built a system called a "laser range pole," a portable battery operated back-packed device that allows direct sightings no matter how rough the intervening terrain or how thick the forest. The equipment consists of a laser transmitter and a receiver. From a given property marker, the transmitter pulses a laser beam vertically, several thousand feet in some cases. At a second surveying point about a mile away, the receiver detects the laser pulse high above the trees, and locks in on the exact direction. Thus provided a bearing between the two points, a ground crew can extend the border line back to the sending point by conventional surveying techniques.

Source record↗
NASA NTRSDate not supplied

Feasibility Study of a Robotic Science Arm on Future Martian Rotorcraft

Science arms are indispensable tools for planetary exploration, allowing vehicles to interact with and manipulate their surroundings in a manner similar to a human field geologist. A majority of the rovers and landers sent to Mars, beginning with Viking I and II in 1976, have made extensive use of these articulated, arm-like devices that allow for sample collection, surface preparation, instrument positioning, and the deployment of ground-contact sensors. Although proven useful, traditional rovers and landers are limited by the rough and difficult terrain of Mars. However, given the successful demonstration of flight on Mars by the Ingenuity helicopter, efforts are underway to outfit larger rotorcraft with science payloads to allow them to explore Mars’ surface and lower atmosphere with significantly more efficiency than land vehicles. Such vehicles could also be designed to work in tandem with landers or rovers. The Mars Science Helicopter (MSH) is a conceptual hexacopter design that is currently under early development by both NASA Ames and JPL. Equipping a vehicle like MSH with a science arm has the potential to further expand its scientific capabilities. This paper approaches the mission and design requirements to equip a science arm on MSH while highlighting the unique technical challenges for robotic arm and science instrument capability. Current plans for MSH development do not include the addition of a robotic arm to the vehicle. However, it is anticipated that future variants of the MSH design might well incorporate such adaptable surface interactive capabilities.

Robotic Science Arm↗
NASA NTRS2021

LiDAR-Inertial Based Navigation and Mapping for Precision Landing

Future lander missions will travel to ambitious, scientifically interesting locations near rough and dangerous terrain. They will need to operate with limited prior information about the terrain, and under varying lighting conditions. Landing safely and precisely in the face of these challenges is difficult for existing vision-based landing systems, which require detailed orbital reconnaissance, a priori hazard maps, and impose time-of-day restrictions on landing to ensure similar lighting conditions in orbital and descent imagery. Advanced 3D imaging LiDAR systems currently under development, and originally intended for single-scan hazard detection, have the potential to be operated continuously from altitudes of up to 5 km. Used together with existing inertial measurement units (IMUs), these sensors open a path-to-flight for a full navigation and mapping system, which could replace or augment a traditional landing sensor suite. A landing system based around these sensors can perform accurate altimetry, map-relative localization (MRL), LiDAR-inertial odometry, and map refinement in an illumination-insensitive manner, over unknown or partially known terrain. This paper outlines preliminary work on a LiDAR-inertial landing system that: estimates the spacecraft trajectory during entry, descent, and landing (EDL); and maps the topography of the terrain below, for future use in hazard detection and avoidance. An incremental, factor graph based, smoothing approach is used to solve for the maximum a posteriori trajectory of spacecraft states. Integrated IMU measurements and features tracked in adjacent range and intensity images are used to estimate motion (LiDAR-inertial odometry). LiDAR scans are binned into motion-corrected digital elevation models (DEMs), which are matched to an existing orbital topographic map to provide absolute position information (MRL). The estimated trajectory is then used to project the LiDAR scans into the map frame, creating a variable-resolution quadtree topographic map suitable for hazard detection and avoidance. Existing topographic maps from throughout the solar system (i.e., Earth, the Moon, Mars, Ceres, Vesta, Europa, Enceladus, and Eros) are upsampled for use in EDL simulations. The Mars 2020 Lander Vision System Simulator (LVSS) is extended to simulate LiDAR-inertial data for realistic EDL trajectories. Results of the algorithm operating on the simulated data are presented. Estimated spacecraft trajectory and refined map are compared to ground truth to assess estimation accuracy.

Katake, Anup↗
NASA NTRSDate not supplied

Collecting Samples from the Máaz Formation of Jezero Crater with the Mars 2020 Perseverance Rover

Collection of samples that could be returned to Earth from the floor of Jezero,a Noachian crater characterized by a delta–lake system with high potential for habitability, is a major goal of the Mars 2020 mission. The Mars 2020 Perseverancerover iscurrently exploringthe Máaz and Séítahformationsto the southeastof the delta. Here wefocus on thecrater-retainingMáaz formation, a widespread, rough and fractured terrain with lobatemarginsmapped in orbital images, e.g.[1]. Outcrop morphology and texture, as well as the appearance, composition and mineralogy of abraded rock surfaces observed by Perseverance suggest that theMáazformation consists of asequence of maficigneous units, likely lavas flows. These rocks have experienced variable interaction with aqueous fluids. Type localities of the lower Roubion and the more resistant Rochette members of the Máazformation have been targeted and their abraded surfaces characterized prior to sample collection. In thispresentation we will summarize these sampling activities and potential future sampling of theheavily crateredupperCh’ałmember that is indicative of the Máazformationfrom orbit.

Justin Ibrahim Simon↗
NASA NTRS2014

Rewriting the Landform History of One of Africa's Three Largest Basins

The Kalahari Basin in southern Africa - one of the largest basins in Africa, along with the Congo and Chad basins - has attracted attention since David Livingstone traveled through the area in the 1840s. It is a semiarid desert with a large freshwater swampland known as the Okavango Swamp (150 km radius). This prominent megafan (a fan with radii >100 km), with its fingers of dark green forests projecting into the dun colors of the dunes of the Kalahari semi-desert, has been well photographed by astronauts over the years. The study area in the northern Kalahari basin is centered on the Okavango megafan of northwest Botswana, whose swampland has become well known as an African wildlife preserve of importance to biology and tourism alike. The Okavango River is unusual because it has deposited not one but two megafans along its course: the Okavango megafan and the Cubango megafan. The Okavango megafan is one of only three well-known megafans in Africa. Megafans on Earth were once thought to be rare, but recent research has documented 68 in Africa alone. Eleven megafans, plus three more candidates, have been documented in the area immediately surrounding the Okavango feature. These 11 megafans occupy the flattest and smoothest terrains adjacent to the neighboring upland and stand out as the darkest areas in the roughness map of the area. Megafan terrains occupy at least 200,000 sq km of the study area. The roughness map shown is based on an algorithm used first on Mars to quantify topographic roughness. Research of Earth's flattest terrains is just beginning with the aid of such maps, and it appears that these terrains are analogous to the flattest regions of Mars. Implications: 1. The variability in depositional style in each subbasin may apply Africa-wide: rift megafan length is dominated by rift width, whereas Owambo subbasin megafans are probably controlled by upland basin size; Zambezi subbasin megafans appear more like foreland basin types, with the position of the trunk river controlling size. 2. These perspectives were successfully applied to identify the largest megafan in the group (Cubango), a fan that was sufficiently overprinted by dunes and dry lakelets not to be detectable remotely. Such undertsanding can probably be applied on Mars, where Earth experience suggests megafans ought to exist. 3. Sweep angles of rivers on megafans drastically change the hydrology in some subbasins: when the Cubango and Kunene rivers were oriented to the Etosha Pan, it was probably a permanent water body. Now that the rivers are oriented away from the basin, 93 percent of the discharge area from the pan's northerly (main) source area is gone. 4. Biotic contact between major river systems was probably controlled by megafans situated on divides: various fish species that originated in the Congo basin are now found in the Upper Zambezi R., and vice versa, apparently because of river switching behavior on the Cassai megafan that has mediated migrations both to the south and the north.

Wilkinson, Justin↗
NASA NTRS1975

Rough-to-smooth transition of an equilibrium neutral constant stress layer

Purpose of research on rough-to-smooth transition of an equilibrium neutral constant stress layer is to develop a model for low-level atmospheric flow over terrains of abruptly changing roughness, such as those occurring near the windward end of a landing strip, and to use the model to derive functions which define the extent of the region affected by the roughness change and allow adequate prediction of wind and shear stress profiles at all points within the region. A model consisting of two bounding logarithmic layers and an intermediate velocity defect layer is assumed, and dimensionless velocity and stress distribution functions which meet all boundary and matching conditions are hypothesized. The functions are used in an asymptotic form of the equation of motion to derive a relation which governs the growth of the internal boundary layer. The growth relation is used to predict variation of surface shear stress.

Logan, E., Jr.↗
NASA NTRS1978

Radar observations of a volcanic terrain: Askja Caldera, Iceland

Surface roughness spectra of nine radar backscatter units in the Askja caldera region of Iceland were predicted from computer-enhanced like- and cross-polarized radar images. A field survey of the caldera was then undertaken to check the accuracy of the preliminary analysis. There was good agreement between predicted surface roughness of backscatter units and surface roughness observed in the field. In some cases, variations in surface roughness could be correlated with previously mapped geologic units.

Evans, D. L.↗
NASA NTRS1973

Mars: Fretted and chaotic terrains

Fretted Martian terrain is characterized by smooth, flat, lowland areas separated from a cratered upland by abrupt escarpments of complex planimetric configuration and a maximum estimated height approaching 1 to 2 km. It is the product of some unusual erosive or abstractive process that has created steep escarpments. Chaotic terrain differs from fretted terrain in having a rough floor topography featuring a haphazard jumble of large angular blocks, and by arc-shaped slump blocks on its bounding escarpments. Its existence has now been confirmed by Mariner 9 pictures, and the characteristics, location, and areal extent of chaotic terrain have been more accurately and completely defined.

Sharp, R. P.↗
NASA NTRS1997

The Effects of Laterite and Associated Terrain Components on PBMR Response in HAPEX-Sahel

Terrain characteristics such as roughness and vegetation have been shown to significantly affect the interpretation of microwave brightness temperatures (T(B)s) for mapping soil moisture. This study, a part of the 1992 HAPEX-Sahel experiment (Hydrologic Atmospheric Pilot Experiment in the Sahel), aimed to determine the effects of laterite and associated terrain components (i.e. vegetation, soil, and exposed water bodies) on the T(B) response of the Pushbroom Microwave Radiometer (PBMR, L-band, 21 cm wavelength), using the NS001 Thematic Mapper Simulator data as a surrogate for ground data. Coincident PBMR and NS001 data acquired from the high altitude (about 1500 m) long transect flights were processed to obtain TBs and radiances, respectively. The transects covered a range of moisture conditions. For this preliminary evaluation, no atmospheric corrections were applied, and the data sets were aligned by matching the acquisition times of the data records. NS001 pixels (about 4 m) were averaged to approximate the resolution of the PBMR (about 450 m), before their flight line data were compared. The laterite plateaux were found to have a surprisingly strong effect on the PBMR T(B) response. T(B) variations along the flight line could largely be explained by a combination of density and dielectric properties of laterite. The effect of surface moisture was distinguishable from the laterite effect, with the distinction apparently related to the occurrence of ephemeral pools of water after rainfall. Model simulated T(B)s agreed reasonably well with the observed T(B)s.

Teng, William L.↗
NASA NTRS1993

A formational model for the polygonal terrains of Mars: Taking a crack at the genesis of the Martian polygons

The mechanism for the genesis of the polygonal terrains in Acidalia and Utopia Planitia has long been sought: however, no completely satisfying model was put forth that characterizes the evolution of these complexly patterned terrains. The polygons are roughly hexagonal but some are not entirely enclosed by fractures. These polygonal features range in widths from approximately 5 to 20 km. Several origins were proposed that describe the polygon borders as desiccation cracks, columnar jointing in a cooled lava, or frost-wedge features. These tension-induced cracking hypotheses were addressed by Pechmann, who convincingly disputes these mechanisms of formation based on scale magnitude difficulties and morphology. Pechmann suggests instead that the cracks delineating the 5-20-km-wide polygons on the northern plains of Mars are graben resulting from deep-seated, uniform, horizontal tension. The difficulty with this hypothesis is that no analogous polygonal forms are known to have originated by tectonism on Earth. McGill and Hills propose that the polygonal terrains on Mars resulted from either rapid desiccation of sediments or cooling of volcanics coupled with differential compaction of the material over a buried irregular topographic surface. They suggest that fracturing was enhanced over the areas of positive relief and was suppressed above the topographic lows. McGill and Hills suggest that the spacing of the topographic highs primarily controls the size of the Martian polygons and the physics of the shrinkage process is a secondary concern. Ray et. al. conducted a terrestrial study of patterned ground in periglacial areas of the U.S. to determine the process responsible for polygonal ground formation. They developed a model for polygon formation in which convection of seasonal melt water above a permafrost layer, driven by an unstable density stratification, differentially melts the permafrost interface, causing it to become undulatory.

Wenrich, M. L.↗
NASA NTRS1986

Airborne and spaceborne radar images for geologic and environmental mapping in the Amazon rain forest, Brazil

Spaceborne and airborne radar image of portions of the Middle and Upper Amazon basin in the state of Amazonas and the Territory of Roraima are compared for purposes of geological and environmental mapping. The contrasted illumination geometries and imaging parameters are related to terrain slope and surface roughness characteristics for corresponding areas that were covered by each of the radar imaging systems. Landforms range from deeply dissected mountain and plateau with relief up to 500 m in Roraima, revealing ancient layered rocks through folded residual mountains to deeply beveled pediplain in Amazonas. Geomorphic features provide distinct textural signatures that are characteristic of different rock associations. The principle drainages in the areas covered are the Rio Negro, Rio Branco, and the Rio Japura. Shadowing effects and low radar sensitivity to subtle linear fractures that are aligned parallel or nearly parallel to the direction of radar illumination illustrate the need to obtain multiple coverage with viewing directions about 90 degrees. Perception of standing water and alluvial forest in floodplains varies with incident angle and with season. Multitemporal data sets acquired over periods of years provide an ideal method of monitoring environmental changes.

Ford, John P.↗
NASA NTRS1977

Sources of low-level wind shear around airports

Some potential sources of low-level wind shear in and around airports and their likely effects are probed and analyzed. Wind shear over flat terrain with near-homogeneous surface properties (roughness, specific heat), the turning layer, shear flows over inhomogeneous terrain (airport + urban areas), thunderstorms, turbulent flowfields over bluff bodies (individual buildings), and recirculating wake flow downstream of three-dimensional block bodies are among the topics covered. Overshoot or undershoot of runways, and induced moments (pitch, roll, yaw) in takeoff and landing, and other potential hazards traceable to wind shear patterns at low heights are discussed, with emphasis on mean flow or steady-state wind shear (time-averaged, say 2-min averaged, wind fields). Wind tunnel studies and V/STOL operations are included in the study.

Fichtl, G. H.↗
NASA NTRS1988

The geological interpretation of photometric surface roughness

A computer-generated km-scale relief map, whose topographic facets on scales of less than a few m are assumed to have smooth particulate surfaces, is the basis of the present investigation of the relationship between photometrically-derived values of Hapke's (1984) roughness parameter theta and topographic scale. The addition of m-km scale-range relief to the otherwise smooth surface alters integral photometric behavior in a way that is consistent with Hapke's equation; the roughness characterized by theta is an integral property over all scales up to the resolution limit of the photometric data used in its determination. With sufficient phase angle coverage, theta can distinguish terrains with very different integral roughnesses.

Helfenstein, Paul↗
NASA NTRS1988

Geodynamics laser ranging system: Performance simulations and development of the EOS facility

The NASA Geodynamics Laser Ranging System is a spaceborne multicolor laser ranger to be used for studying regional and local scale crustal movements and will provide a capability for height profiling of ice-sheets, land terrains, cloud-tops, and other surfaces. Ranging measurements to retroreflector targets will produce intersite distances and relative heights with subcentimeter accuracy over baselines up to several hundred kilometers long. Arrays containing up to a few hundred targets can be surveyed nearly simultaneously. Altimetric profiling can be performed with spatial resolution of 80m and vertical accuracy of 10cm with the latter depending on the roughness and slope of the terrain.

Cohen, S. C.↗
NASA NTRS1980

Topographic domes on Ganymede - Ice vulcanism or isostatic upwarping

Two formation processes are considered for two gently sloping domeshaped features on the surface of Ganymede, lying on grooved terrain and having diameters of roughly 250 km: (1) water vulcanism, triggered by a major impact, and (2) the isostatic upwarping of a crater formed in a thin crust. Numerical simulations show the volume of the domes to be consistent with eruption through fractures created by an impact that excavates partly through a thin crust. Isostatic upwarp rates calculated as a function of effective crustal temperature indicate that upwarping could also create such a dome if the impact excavated to a depth where the crust was sufficiently warm and mobile. Morphologic evidence suggests that both processes may have been important and, if either of the proposed models is correct, it is strongly implied that grooved terrain formation occurred prior to the thickening and stiffening of Ganymede's crust.

Squyres, S. W.↗
NASA NTRS2009

Determining Surface Roughness in Urban Areas Using Lidar Data

An automated procedure has been developed to derive relevant factors, which can increase the ability to produce objective, repeatable methods for determining aerodynamic surface roughness. Aerodynamic surface roughness is used for many applications, like atmospheric dispersive models and wind-damage models. For this technique, existing lidar data was used that was originally collected for terrain analysis, and demonstrated that surface roughness values can be automatically derived, and then subsequently utilized in disaster-management and homeland security models. The developed lidar-processing algorithm effectively distinguishes buildings from trees and characterizes their size, density, orientation, and spacing (see figure); all of these variables are parameters that are required to calculate the estimated surface roughness for a specified area. By using this algorithm, aerodynamic surface roughness values in urban areas can then be extracted automatically. The user can also adjust the algorithm for local conditions and lidar characteristics, like summer/winter vegetation and dense/sparse lidar point spacing. Additionally, the user can also survey variations in surface roughness that occurs due to wind direction; for example, during a hurricane, when wind direction can change dramatically, this variable can be extremely significant. In its current state, the algorithm calculates an estimated surface roughness for a square kilometer area; techniques using the lidar data to calculate the surface roughness for a point, whereby only roughness elements that are upstream from the point of interest are used and the wind direction is a vital concern, are being investigated. This technological advancement will improve the reliability and accuracy of models that use and incorporate surface roughness.

Holland, Donald↗
NASA NTRS2020

Mobility Mode Evaluation of a Wheel-on-Limb Rover on Glacial Ice Analogous to Europa Terrain

In this paper, we discuss the development of a multi-modal locomotion system and the results of field trials performed on fractured, glacial ice. Work was performed using the RoboSimian rover: a 32 degree-of-freedom, actively articulated mobility system. Three modes of mobility are compared: wheelrolling, inchworming (push-rolling) and wheel-walking. Each mobility mode is designed to operate with articulated suspension whereby the normal load per wheel, body orientation, and available limb workspace are actively controlled. Each mode is presented individually alongside a discussion of its performance on terrain of varied slope and topographic roughness. Further, the utility of a multi-modal approach is presented, whereby rover immobilization was avoided during field trials through the selection of appropriate mobility modes as a function of terrain properties. Lastly, the results of trials performed using a bodymounted sampling system and its ability to collect and process samples taken 10 cm beneath the surface are discussed.

Reid, William↗
NASA NTRS1985

Planning for VRM: Radar and sonar studies of volcanic terrains on Earth, Venus and Mars

Venera 15 and 16 radar images of Venus, together with Earth based data from the Arecibo Observatory, indicate that volcanism has played an important role in the evolution of the Venusian landscape. At the end of this decade, NASA's Venus Radar Mapper (VRM) spacecraft will return near global information that will further constrain the planet's geologic history. Due to the diversity of volcano/tectonic features that have already been identified on Venus, and the intrinsic differences between radar images and conventional photography, additional expertise is being developed with which to interpret the VRM images of this unusual environment. Several attempts to better understand the physical characteristics of volcanic terrains are described here. Pioneer Venus radar altimeter measurements of topographic variability and surface roughness are compared with Goldstone radar measurements of volcanic terrains on Mars. Synthetic aperture radar images obtained by the SIR-B Space Shuttle experiment over Kilauea Volcano, Hawaii, are employed to investigate the differences in radar returns from pahoehoe, aa and sheet lava flows. Four polarization, multiple incidence angle, aircraft radar images of the Medicine Lake area of N. California are used to address the unusually high cross-polarization ratio of lobate flows around Beta Regio on Venus, as measured by the Arecibo radar.

Mouginis-Mark, P. J.↗