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Sample records for exploration rover spirit

  1. Mars exploration rover geologic traverse by the spirit rover in the plains of Gusev crater, Mars

    Science.gov (United States)

    Crumpler, L.S.; Squyres, S. W.; Arvidson, R. E.; Bell, J.F.; Blaney, D.; Cabrol, N.A.; Christensen, P.R.; DesMarais, D.J.; Farmer, J.D.; Fergason, R.; Golombek, M.P.; Grant, F.D.; Grant, J. A.; Greeley, R.; Hahn, B.; Herkenhoff, K. E.; Hurowitz, J.A.; Knudson, A.T.; Landis, G.A.; Li, R.; Maki, J.; McSween, H.Y.; Ming, D. W.; Moersch, J.E.; Payne, M.C.; Rice, J.W.; Richter, L.; Ruff, S.W.; Sims, M.; Thompson, S.D.; Tosca, N.; Wang, A.; Whelley, P.; Wright, S.P.; Wyatt, M.B.

    2005-01-01

    The Spirit rover completed a 2.5 km traverse across gently sloping plains on the floor of Gusev crater from its location on the outer rim of Bonneville crater to the lower slopes of the Columbia Hills, Mars. Using the Athena suite of instruments in a transect approach, a systematic series of overlapping panoramic mosaics, remote sensing observations, surface analyses, and trenching operations documented the lateral variations in landforms, geologic materials, and chemistry of the surface throughout the traverse, demonstrating the ability to apply the techniques of field geology by remote rover operations. Textures and shapes of rocks within the plains are consistent with derivation from impact excavation and mixing of the upper few meters of basaltic lavas. The contact between surrounding plains and crater ejecta is generally abrupt and marked by increases in clast abundance and decimeter-scale steps in relief. Basaltic materials of the plains overlie less indurated and more altered rock types at a time-stratigraphic contact between the plains and Columbia Hills that occurs over a distance of one to two meters. This implies that regional geologic contacts are well preserved and that Earth-like field geologic mapping will be possible on Mars despite eons of overturn by small impacts. ?? 2005 Geological Society of America.

  2. RAT magnet experiment on the Mars Exploration Rovers: Spirit and Opportunity beyond sol 500

    DEFF Research Database (Denmark)

    Leer, Kristoffer; Goetz, Walter; Chan, Marjorie A.

    2011-01-01

    The Rock Abrasion Tool (RAT) magnet experiment on the Mars Exploration Rovers was designed to collect dust from rocks ground by the RAT of the two rovers on the surface of Mars. The dust collected on the magnets is now a mixture of dust from many grindings. Here the new data from the experiment a...

  3. Clear Evidence for Hydrothermal Deposits within Gusev Crater Established by the Mars Exploration Rover Spirit

    Science.gov (United States)

    Yen, A. S.; Gellert, R.; Morris, R. V.; Clark, B. C.; Athena Science Team

    2011-12-01

    The Spirit rover ended its science mission on the martian surface after operating for 2210 sols and covering over 7.7 km across geologically diverse terrain. A multitude of discoveries have been made along the traverse, including compelling evidence for past hydrothermal activity at the surface of Mars. Several light-toned deposits excavated by the rover wheels were analyzed in detail by the Mössbauer and Alpha Particle X-ray Spectrometers (APXS), which determined that they are dominated by ferric sulfates in association with magnesium sulfates, silica and occasionally calcium sulfates and phosphates. Based on modeling of scatter peaks within the APXS data, these samples are hydrated and contain up to 18 wt% water. They also exhibit the chemical signatures of nearby rocks (e.g. corresponding phosphate enrichments) and have a Fe:Mn ratio far from the value measured for the majority of samples analyzed by the rovers, clearly indicative of aqueous interactions. Variability in the deposits over centimeter to meter scales indicates that these precipitates did not develop under large-scale equilibrium conditions. Based upon the observations of up to 35 wt% SO3 and the abundance of measured cations in expected oxidation states, the occurrence of elemental sulfur, sulfuric acid, or sulfides cannot be ruled out. The likely mechanisms for the formation of these deposits involve sulfur-rich hydrothermal fluids and volcanic vapors reaching the surface and producing fumarolic condensates. In close association with the samples containing abundant hydrated ferric sulfates are other samples which are dominated by silica. In one example, the elemental chemistry data shows over 90 wt% SiO2. Elevated titanium concentrations in these silica-rich samples are suggestive of interactions with acidic fluids or vapors resulting in preferential retention of the least mobile elements. This is consistent with the acid sulfate processes indicated by the occurrence of the ferric sulfates

  4. Preliminary Results of the Magnetic Properties Experiments on the Mars Exploration Rovers, Spirit and Opportunity

    Science.gov (United States)

    Hviid, S. F.; Bertelsen, P.; Goetz, W.; Kinch, K. M.; Knudsen, J. M.; Madsen, M. B.; Squyres, S. W.; Bell, J. F., III; Yen, A.; Johnson, M. J.

    2004-01-01

    The Mars Exploration Rovers each carry a set of Magnetic Properties Experiments designed to investigate the properties of the air-borne dust in the Martian atmosphere. It is a preferred interpretation of previous experiments (Viking 1 & 2, 1976 and Mars Pathfinder, 1997) that the airborne dust in the Martian atmosphere is primarily composed by composite silicate particles containing one or more highly magnetic minerals as a minor constituent, this minor constituent probably being dominated by the mineral maghemite (gamma-Fe2O3). The ultimate goal of the magnetic properties experiments on the Mars Exploration Rover mission is to provide some information/constraints on whether the dust is formed by volcanic, meteoritic, aqueous, or other processes. In detail, the objectives are: a) To identify the magnetic mineral(s) in the dust, soil and rocks on Mars. b) To establish if the magnetic material is present in the form of nanosized (d magnets are culling a subset of strongly magnetic particles or if essentially all particles of the airborne dust are sufficiently magnetic to be attracted by the magnets. d) Detect compositional differences between the airborne dust and the soil and rock sites which are investigated at two landing sites. To accomplish these goals the Mars Exploration Rovers each carry a set of permanent magnets of several different strengths and sizes. Each magnet has its own specific objective.

  5. Use of Geochemistry Data Collected by the Mars Exploration Rover Spirit in Gusev Crater to Teach Geomorphic Zonation through Principal Components Analysis

    Science.gov (United States)

    Rodrigue, Christine M.

    2011-01-01

    This paper presents a laboratory exercise used to teach principal components analysis (PCA) as a means of surface zonation. The lab was built around abundance data for 16 oxides and elements collected by the Mars Exploration Rover Spirit in Gusev Crater between Sol 14 and Sol 470. Students used PCA to reduce 15 of these into 3 components, which,…

  6. Chemical Composition by the APXS along the Downhill Traverse of the Mars Exploration Rover Spirit at Gusev Crater

    Science.gov (United States)

    Brueckner, J.; Dreibus, G.; Gellert, R.; Clark, B. C.; Cohen, B.; McCoy, T.; Ming, D. W.; Mittlefehldt, D. W.; Yen, A.; Team, A. S.

    2006-12-01

    The Alpha Particle X-ray Spectrometer (APXS) onboard the Mars Exploration Rover Spirit continues to determine the elemental composition of samples at Gusev Crater. Starting around sol 600 the rover descended Husband Hill, which is part of the Columbia Hills, visited the inner basin with a large dune field, called `El Dorado', and parked at `Low Ridge' to conserve energy during the martian winter. Many unique samples were discovered by the instruments onboard Spirit during her downhill traverse. Here, we report only on the chemical data obtained by the APXS. The compositions of some of the soil samples are comparable to the mean soil determined along the earlier traverse. However, a light-toned subsurface sample (disturbed by the rover wheels), called `Dead Sea Samra', showed the highest sulfur content of all soil samples, the lowest Na, Mg, Al, Cl, K, Ca, Ti, Mn, and Zn, among the lowest Si and P, and among the highest Cr, Fe and Ni. Assuming ferric sulfate as a major mineral, large amounts of a pure silica phase must be present. Color and quantity of Dead Sea Samra resemble somewhat an earlier soil called `Paso Robles', though the latter is a mixture of sulfates with phosphate-rich soil. Manganese in Dead Sea Samra is so low that the Fe/Mn ratio exceeds 300, a value that has never been found previously on Mars (Fe/Mn ratio of 46 for Gusev basalts), indicating that only Fe3+ occurs. The dune field El Dorado contained granulated material that exhibited the highest Mg and Ni concentrations and the lowest S and Cl compared to all other soils implying an enrichment of olivine-rich sands. Two outcrops, called `Algonquin' and `Comanche', revealed compositions that differ significantly from those of earlier outcrops as they have the highest concentrations of Mg, Fe, and Ni (except for Ni in `Independence') and the lowest of Al, K (detection limit), Ca, and Ti of all brushed and almost all abraded rocks. Normative estimates assign them the highest olivine contents ever

  7. Chemical Composition by the APXS along the Downhill Traverse of the Mars Exploration Rover Spirit at Gusev Crater

    Science.gov (United States)

    Bruckner, J.; Dreibus, G.; Gellert, R.; Clark, B.C.; Cohen, B.; McCoy, T.; Ming, D.W.; Mittlefehldt, D.W.; Yen, A.; Athena Science Team

    2006-01-01

    The Alpha Particle X-ray Spectrometer (APXS) onboard the Mars Exploration Rover Spirit continues to determine the elemental composition of samples at Gusev Crater. Starting around sol 600 the rover descended Husband Hill, which is part of the Columbia Hills, visited the inner basin with a large dune field, called 'El Dorado', and parked at Low Ridge to conserve energy during the martian winter. Many unique samples were discovered by the instruments onboard Spirit during her downhill traverse. Here, we report only on the chemical data obtained by the APXS. The compositions of some of the soil samples are comparable to the mean soil determined along the earlier traverse. However, a light-toned subsurface sample (disturbed by the rover wheels), called Dead Sea Samra , showed the highest sulfur content of all soil samples, the lowest Na, Mg, Al, Cl, K, Ca, Ti, Mn, and Zn, among the lowest Si and P, and among the highest Cr, Fe and Ni. Assuming ferric sulfate as a major mineral, large amounts of a pure silica phase must be present. Color and quantity of Dead Sea Samra resemble somewhat an earlier soil called Paso Robles , though the latter is a mixture of sulfates with phosphate-rich soil. Manganese in Dead Sea Samra is so low that the Fe/Mn ratio exceeds 300, a value that has never been found previously on Mars (Fe/Mn ratio of 46 for Gusev basalts), indicating that only Fe(3+) occurs. The dune field El Dorado contained granulated material that exhibited the highest Mg and Ni concentrations and the lowest S and Cl compared to all other soils implying an enrichment of olivine-rich sands. Two outcrops, called Algonquin and Comanche , revealed compositions that differ significantly from those of earlier outcrops as they have the highest concentrations of Mg, Fe, and Ni (except for Ni in Independence) and the lowest of Al, K (detection limit), Ca, and Ti of all brushed and almost all abraded rocks. Normative estimates assign them the highest olivine contents ever found for

  8. Martian Surface Mineralogy from Rovers with Spirit, Opportunity, and Curiosity

    Science.gov (United States)

    Morris, Richard V.

    2016-01-01

    Beginning in 2004, NASA has landed three well-instrumented rovers on the equatorial martian surface. The Spirit rover landed in Gusev crater in early January, 2004, and the Opportunity rover landed on the opposite side of Mars at Meridian Planum 21 days later. The Curiosity rover landed in Gale crater to the west of Gusev crater in August, 2012. Both Opportunity and Curiosity are currently operational. The twin rovers Spirit and Opportunity carried Mossbauer spectrometers to determine the oxidation state of iron and its mineralogical composition. The Curiosity rover has an X-ray diffraction instrument for identification and quantification of crystalline materials including clay minerals. Instrument suites on all three rovers are capable of distinguishing primary rock-forming minerals like olivine, pyroxene and magnetite and products of aqueous alteration in including amorphous iron oxides, hematite, goethite, sulfates, and clay minerals. The oxidation state of iron ranges from that typical for unweathered rocks and soils to nearly completely oxidized (weathered) rocks and soils as products of aqueous and acid-sulfate alteration. The in situ rover mineralogy also serves as ground-truth for orbital observations, and orbital mineralogical inferences are used for evaluating and planning rover exploration.

  9. Mars Exploration Rover mission

    Science.gov (United States)

    Crisp, Joy A.; Adler, Mark; Matijevic, Jacob R.; Squyres, Steven W.; Arvidson, Raymond E.; Kass, David M.

    2003-10-01

    In January 2004 the Mars Exploration Rover mission will land two rovers at two different landing sites that show possible evidence for past liquid-water activity. The spacecraft design is based on the Mars Pathfinder configuration for cruise and entry, descent, and landing. Each of the identical rovers is equipped with a science payload of two remote-sensing instruments that will view the surrounding terrain from the top of a mast, a robotic arm that can place three instruments and a rock abrasion tool on selected rock and soil samples, and several onboard magnets and calibration targets. Engineering sensors and components useful for science investigations include stereo navigation cameras, stereo hazard cameras in front and rear, wheel motors, wheel motor current and voltage, the wheels themselves for digging, gyros, accelerometers, and reference solar cell readings. Mission operations will allow commanding of the rover each Martian day, or sol, on the basis of the previous sol's data. Over a 90-sol mission lifetime, the rovers are expected to drive hundreds of meters while carrying out field geology investigations, exploration, and atmospheric characterization. The data products will be delivered to the Planetary Data System as integrated batch archives.

  10. Validation of Artemis Mobility Simulations for the Spirit, Opportunity, and Curiosity Mars Rovers

    Science.gov (United States)

    Stein, N.; Arvidson, R. E.; Heverly, M.; Lindemann, R.; Trease, B.; Iagnemma, K.; Senatore, C.

    2013-12-01

    Artemis is a framework for modeling the dynamical motions of rovers over realistic planetary terrains that include topography generated from orbital or rover-based data and interactions of driven wheels with deformable soils with compaction resistance due to wheel sinkage into soils (Bekker-Wong-Reece model) or with hard-surface contacts dominated by static and dynamic coefficients of friction (contact model). Artemis is being used to simulate flight-based drives for the Mars Exploration Rovers (Spirit, Opportunity) and Mars Science Laboratory (Curiosity). Critical to realistic simulations is validation of the models by comparison and registration to single-wheel tests in the laboratory using spare flight wheels and testing of rover drives on various surfaces on Earth. In this abstract we report results from modeling test rover drives on deformable soil and hard surfaces. First, a MER test rover was driven over a tilted hard-surfaced plane covered with high friction paint, with separate runs with tilts ranging from 0 to 20 degrees. The Artemis contact model with static and dynamic coefficients of friction of 0.780 and 0.580 reproduced the runs in a manner in which the tests and models were shown to be statistically indistinguishable. Second, the MSL Test Rover was driven over bedrock plates with slopes ranging from 0 to 30 degrees, and Artemis successfully modeled these runs with static and dynamic coefficients of friction of 0.577 and 0.450, respectively. The MSL Test Rover simulations yielded low, linearly increasing slip between 0% and 15% on slopes ranging from 0 to 20 deg, increasing nonlinearly to nearly 100% on the 30 degree slope. Third, both the MER and MSL Test Rovers were deployed to the Dumont Dunes in the Mojave Desert to do side-by-side runs up dune slopes with tilts ranging from 0 to 15 degrees. Test runs and Artemis (Bekker-Wong-Reece model) results are comparable in terms of wheel sinkages and slippage values. Uphill drives led to non

  11. Coordinated analyses of orbital and spirit rover data to characterize surface materials on the cratered plains of Gusev Crater, Mars

    Science.gov (United States)

    Lichtenberg, K.A.; Arvidson, R. E.; Poulet, F.; Morris, R.V.; Knudson, A.; Bell, J.F.; Bellucci, G.; Bibring, J.-P.; Farrand, W. H.; Johnson, J. R.; Ming, D. W.; Pinet, P.C.; Rogers, A.D.; Squyres, S. W.

    2007-01-01

    Comparison of the Mars Exploration Rover Spirit's Pancam (0.4 to 1.0 ??m) and Mars Express Observatoire pour la Mineralogie l'Eau, les Glaces et l'Activite?? (OMEGA) (0.4 to 2.5 ??m) spectral reflectance data over Spirit's traverses shows that Gusev cratered plains are dominated by nanophase ferric-oxide-rich dust covering weakly altered basaltic sands. This interpretation is also consistent with both observations from OMEGA data covering plains beyond the traverse region and interpretations of data from the other payload instruments on the Spirit Rover. OMEGA observations of relatively low albedo regions where dust has presumably been stripped by dust devils show negative spectral reflectance slopes from 1.5 to 2.5 ??m and moderately masked spectral features which are indicative of olivine or pyroxene. High-albedo regions north and south of the Spirit landing site have flat spectral reflectance slopes and few spectral features, although all spectra have a nanophase ferric-oxide absorption edge between 0.4 and 0.75 ??m. Comparison of THEMIS-derived thermal inertia values with OMEGA-derived spectral parameters shows that although the dust cover can be optically thick (0.4 to 2.5 ??m wavelength region) in some areas, it is not thick enough (???1 cm) to mask the thermal inertia of the underlying substrate for areas included in this study. Copyright 2007 by the American Geophysical Union.

  12. Mars Exploration Rover's image analysis: Evidence of Microbialites on Mars.

    Science.gov (United States)

    Bianciardi, Giorgio; Rizzo, Vincenzo; Cantasano, Nicola

    2015-04-01

    The Mars Exploration Rovers, Opportunity and Spirit, investigated Martian plains, where sedimentary rocks are present. The Mars Exploration Rover's Athena morphological investigation showed microstructures organized in intertwined filaments of microspherules: a texture we have also found on samples of terrestrial (biogenic) stromatolites and other microbialites. We performed a quantitative image analysis to compare images of microbialites with the images photographed by the Rovers (corresponding, approximately, to 25,000/25,000 microstructures, Earth/Mars). Contours were extracted and morphometric indexes were obtained: geometric and algorithmic complexities, entropy, tortuosity, minimum and maximum diameters. Terrestrial and Martian textures present a multifractal aspect. Mean values and confidence intervals from the Martian images overlapped perfectly with those from the terrestrial samples. The probability of this occurring by chance is 1/2^8, less than pstromatolite images or Martian images with a less ordered texture (p<0.001). Our work shows the presumptive evidence of microbialites in the Martian outcroppings: the presence of unicellular life widespread on the ancient Mars.

  13. Planetary rovers robotic exploration of the solar system

    CERN Document Server

    Ellery, Alex

    2016-01-01

    The increasing adoption of terrain mobility – planetary rovers – for the investigation of planetary surfaces emphasises their central importance in space exploration. This imposes a completely new set of technologies and methodologies to the design of such spacecraft – and planetary rovers are indeed, first and foremost, spacecraft. This introduces vehicle engineering, mechatronics, robotics, artificial intelligence and associated technologies to the spacecraft engineer’s repertoire of skills. Planetary Rovers is the only book that comprehensively covers these aspects of planetary rover engineering and more. The book: • discusses relevant planetary environments to rover missions, stressing the Moon and Mars; • includes a brief survey of previous rover missions; • covers rover mobility, traction and control systems; • stresses the importance of robotic vision in rovers for both navigation and science; • comprehensively covers autonomous navigation, path planning and multi-rover formations on ...

  14. Miniature thermal emission spectrometer for the Mars Exploration Rover

    Science.gov (United States)

    Silverman, Steven; Peralta, Richard; Christensen, Phil; Mehall, Greg

    2006-10-01

    This paper describes results of the calibration of the miniature thermal emission spectrometer (Mini-TES) being built by Raytheon Santa Barbara Remote Sensing (SBRS) under contract to Arizona State University (ASU). This paper also serves as an update to an earlier paper [R.J. Peralta, S. Silverman, D. Bates, Raytheon/Santa Barbara Remote Sensing, P. Christensen, G. Mehall, T. Tourville, R. Keehn, G. Cannon, Arizona State University, Miniature thermal emission spectrometer for the Mars Exploration Rover, Proceedings of the SPIE, vol. 4485-09, August 2001] for mission description and instrument design. Mini-TES is a single detector Fourier transform spectrometer (FTS), covering the spectral range 5 29μm at 10cm spectral resolution. Launched in June 2003, one Mini-TES instrument will fly to Mars aboard each of the two missions of NASA's Mars Exploration Rover Project (MER), named Spirit and Opportunity. Mini-TES is designed to provide a key minerological remote sensing component of the MER mission, which includes several other science instruments. The first Mini-TES unit was required to meet a two-year development schedule with proven, flight-tested instrumentation. Therefore, SBRS designed Mini-TES based on proven heritage from the successful Mars Global Surveyor (MGS) thermal emission spectrometer (TES), which was launched in 1996 and is still operational with over 500 million spectra collected to date. Mini-TES design, performance, integration onto the rovers, as well as details of the calibration are discussed. Full instrument and calibration details are the subject of an upcoming Journal of Geophysical Research Mini-TES paper by Christensen, et al.

  15. Parametric study of the factors affecting wheel slip and sinkage for the Mars Exploration Rovers

    Science.gov (United States)

    Johnson, J.; Kulchitsky, A. V.; Duvoy, P.; Arvidson, R. E.; Iagnemma, K.; Senatore, C.

    2013-12-01

    In 2004 two rovers landed on Mars to conduct scientific investigations of the Martian surface in an effort to better understand its surface geology, climate, and potential to support life. During the mission, both rovers experienced events of severe rover wheel sinkage and slip in the highly variable Martian regolith. Mars Exploration Rover (MER) Opportunity experienced high wheel slip and sinkage when it attempted to cross a series of wind-blown ripples. MER rover Spirit became immobilized after breaking through a soil crust into highly deformable poorly sorted sands. Events of MER rover wheel high-sinkage and slip make mobility difficult, creating challenges for rover drive planners and increasing the risk of ending a mission early due to a lack of rover mobility. The ARTEMIS (Adams- based Rover Terramechanics and Mobility Interaction Simulator) MER rover simulation tool was developed in an effort to improve the ability to simulate rover mobility on planetary surfaces to aid planning of rover drives and to extract a rover if it becomes embedded in soil [1]. While ARTEMIS has demonstrated its ability to simulate a wide variety of rover mobility scenarios using a library of empirically based terramechanics subroutines and high-resolution digital elevation maps of Mars, it has had less success at simulating the high-sinkage, high-slip conditions that pose the highest risk to rover mobility. To improve ARTEMIS's high-slip, high-sinkage terramechanics subroutines, the COUPi discrete element method (DEM) model of MER rover wheel motion under conditions of high-sinkage and slip is being used to examine the effects of soil particle size distribution (PSD), shape, and bulk density. DEM simulations of MER wheel digging tests and the resistance forces of penetrometers in soil have demonstrated the importance of particle shape and bulk density on soil strength [2, 3]. Simulations of the densification of particle beds as functions of the spread (ratio of largest to smallest

  16. Accessing Information on the Mars Exploration Rovers Mission

    Science.gov (United States)

    Walton, J. D.; Schreiner, J. A.

    2005-12-01

    In January 2004, the Mars Exploration Rovers (MER) mission successfully deployed two robotic geologists - Spirit and Opportunity - to opposite sides of the red planet. Onboard each rover is an array of cameras and scientific instruments that send data back to Earth, where ground-based systems process and store the information. During the height of the mission, a team of about 250 scientists and engineers worked around the clock to analyze the collected data, determine a strategy and activities for the next day and then carefully compose the command sequences that would instruct the rovers in how to perform their tasks. The scientists and engineers had to work closely together to balance the science objectives with the engineering constraints so that the mission achieved its goals safely and quickly. To accomplish this coordinated effort, they adhered to a tightly orchestrated schedule of meetings and processes. To keep on time, it was critical that all team members were aware of what was happening, knew how much time they had to complete their tasks, and could easily access the information they need to do their jobs. Computer scientists and software engineers at NASA Ames Research Center worked closely with the mission managers at the Jet Propulsion Laboratory (JPL) to create applications that support the mission. One such application, the Collaborative Information Portal (CIP), helps mission personnel perform their daily tasks, whether they work inside mission control or the science areas at JPL, or in their homes, schools, or offices. With a three-tiered, service-oriented architecture (SOA) - client, middleware, and data repository - built using Java and commercial software, CIP provides secure access to mission schedules and to data and images transmitted from the Mars rovers. This services-based approach proved highly effective for building distributed, flexible applications, and is forming the basis for the design of future mission software systems. Almost two

  17. Data Management for Mars Exploration Rovers

    Science.gov (United States)

    Snyder, Joseph F.; Smyth, David E.

    2004-01-01

    Data Management for the Mars Exploration Rovers (MER) project is a comprehensive system addressing the needs of development, test, and operations phases of the mission. During development of flight software, including the science software, the data management system can be simulated using any POSIX file system. During testing, the on-board file system can be bit compared with files on the ground to verify proper behavior and end-to-end data flows. During mission operations, end-to-end accountability of data products is supported, from science observation concept to data products within the permanent ground repository. Automated and human-in-the-loop ground tools allow decisions regarding retransmitting, re-prioritizing, and deleting data products to be made using higher level information than is available to a protocol-stack approach such as the CCSDS File Delivery Protocol (CFDP).

  18. Space Robotics: Robotic Rovers for Planetary Exploration

    Directory of Open Access Journals (Sweden)

    Alex Ellery

    2008-11-01

    Full Text Available In this third of three short papers, I introduce some of the basic concepts of planetary rovers with an emphasis on some specific challenging areas of research that are peculiar to planetary robotics and not usually associated with terrestrial mobile robotics. The style of these short papers is pedagogical and this paper stresses the issue of rover-terrain interaction as an important consideration. Soil-vehicle interaction originates from military vehicle research but may be regarded as part of the dynamical approach to mobile robotics. For hostile planetary surfaces, this is essential in order to design a robotic rover with sufficient tractive capability to traverse planetary surfaces.

  19. Space Robotics: Robotic Rovers for Planetary Exploration

    OpenAIRE

    Alex Ellery

    2004-01-01

    In this third of three short papers, I introduce some of the basic concepts of planetary rovers with an emphasis on some specific challenging areas of research that are peculiar to planetary robotics and not usually associated with terrestrial mobile robotics. The style of these short papers is pedagogical and this paper stresses the issue of rover-terrain interaction as an important consideration. Soil-vehicle interaction originates from military vehicle research but may be regarded as part ...

  20. High-Performance Micro-Rover for Planetary Surface Exploration

    Science.gov (United States)

    Gao, Y.; Chen, X.

    2009-04-01

    Planetary robotic missions rely on rovers to produce surface mobility for multiple sites sampling and exploration. For example, the Mars Exploration Rovers (MER) have been extremely successful in the exploring a wide area of the Martian surface in the past four years. Each of the MER has the size of a golf car and weights ~170 kg. They both result in a massive launch of nearly 1100 kg. Small rovers (5-30 kg) can help to provide moderate surface traverse and greatly reduce cost of the mission, e.g. the Sojourner rover of the Mars Pathfinder mission. There is a growing interest in the micro-rover design and how to maximize performance of a miniaturized system. For example, the rover traversability and locomotion capability will be compromised if the objective is to reduce the size of the vehicle. Undoubtedly, this affects the rover performance in terms of mobility and usefulness to the mission. We propose to overcome this problem by investigating a new generation of rover chassis design to maximize its terrian capability. This paper presents a chassis concept suited for a micro-rover system and negotiating with different planetary terrains such as the Moon and Mars. The proposed tracked-wheel is motivated by bringing together advantages of wheels and tracks, in the same time keeping the design simple and easy to implement. The chassis is built based on four tracked-wheels and offers 10 DOF for the vehicle. Analysis based on Bekker theories suggests this design can generate larger tractive effort (drawbar pull) compared to the wheeled design for the same rover dimensions. As a result, a more effective and efficent chassis can be achieved and leave a large design margin for the science payload.

  1. Dynamic Rover Simulation for Teleoperations in Planetary Surface Exploration

    NARCIS (Netherlands)

    Maas, H.L.M.M.; Kuijper, F.; Verheul, C.H.; Dumay, A.C.M.; Bagiana, F.

    1995-01-01

    Advanced Simulation Techniques (AST) combine interactive technologies like Virtual Environments (VEs), Augmented Reality (AR) and real-time simulation, and finds potential space applications. One of these applications is the exploration of a planetary surface by teleoperated rovers. This paper

  2. Mars Exploration Rover airbag landing loads testing and analsysis

    Science.gov (United States)

    Adams, Douglas S.

    2004-01-01

    This paper presents a summary of the testing and analysis used to quantify the expected airbag landing loads for the Mars Exploration Rovers. The airbag drop test setup, lander instrumentation, and the test data reduction method are discussed in order to provide an understanding of the empirical loads. A set of limiting cases that bound the empirical data are developed for use in finite element modeling of the lander and rover models.

  3. Visual Odometry for Planetary Exploration Rovers in Sandy Terrains

    Directory of Open Access Journals (Sweden)

    Linhui Li

    2013-05-01

    Full Text Available Abstract Visual odometry provides planetary exploration rovers with accurate knowledge of their position and orientation, which needs effective feature tracking results, especially in barren sandy terrains. In this paper, a stereovision based odometry algorithm is proposed for a lunar rover, which is composed of corner extraction, feature tracking and motion estimation. First, a morphology based image enhancement method is studied to guarantee enough corners are extracted. Second, a Random Sample Consensus (RANSAC algorithm is proposed to make a robust estimation of the fundamental matrix, which is the basic and critical part of feature matching and tracking. Then, the 6 degrees of freedom rover position and orientation is estimated by the RANSAC algorithm. Finally, experiments are performed in a simulated lunar surface environment using a prototype rover, which have confirmed the feasibility and effectiveness of the proposed method.

  4. Adaptive multisensor fusion for planetary exploration rovers

    Science.gov (United States)

    Collin, Marie-France; Kumar, Krishen; Pampagnin, Luc-Henri

    1992-01-01

    The purpose of the adaptive multisensor fusion system currently being designed at NASA/Johnson Space Center is to provide a robotic rover with assured vision and safe navigation capabilities during robotic missions on planetary surfaces. Our approach consists of using multispectral sensing devices ranging from visible to microwave wavelengths to fulfill the needs of perception for space robotics. Based on the illumination conditions and the sensors capabilities knowledge, the designed perception system should automatically select the best subset of sensors and their sensing modalities that will allow the perception and interpretation of the environment. Then, based on reflectance and emittance theoretical models, the sensor data are fused to extract the physical and geometrical surface properties of the environment surface slope, dielectric constant, temperature and roughness. The theoretical concepts, the design and first results of the multisensor perception system are presented.

  5. Spirit Leaves Telling Tracks

    Science.gov (United States)

    2004-01-01

    Scientists have found clues about the nature of martian soil through analyzing wheel marks from the Mars Exploration Rover Spirit in this image. The image was taken by Spirit's rear hazard-identification camera just after the rover drove approximately 1 meter (3 feet) northwest off the Columbia Memorial Station (lander platform) early Thursday morning. That the wheel tracks are shallow indicates the soil has plenty of strength to support the moving rover. The well-defined track characteristics suggest the presence of very fine particles in the martian soil (along with larger particles). Scientists also think the soil may have some cohesive properties.

  6. The Mars Exploration Rover/Collaborative Information Portal

    Science.gov (United States)

    Walton, Joan; Filman, Robert E.; Schreiner, John; Koga, Dennis (Technical Monitor)

    2002-01-01

    Astrology has long argued that the alignment of the planets governs human affairs. Science usually scoffs at this. There is, however, an important exception: sending spacecraft for planetary exploration. In late May and early June, 2003, Mars will be in position for Earth launch. Two Mars Exploration Rovers (MER) will rocket towards the red planet. The rovers will perform a series of geological and meteorological experiments, seeking to examine geological evidence for water and conditions once favorable for life. Back on earth, a small army of surface operations staff will work to keep the rovers running, sending directions for each day's operations and receiving the files encoding the outputs of the Rover's six instruments. (Mars is twenty light minutes from Earth. The rovers must be robots.) The fundamental purpose of the project is, after all, Science. Scientists have experiments they want to run. Ideally, scientists want to be immediately notified when the data products of their experiments have been received, so that they can examine their data and (collaboratively) deduce results. Mars is an unpredictable environment. We may issue commands to the rovers but there is considerable uncertainty in how the commands will be executed and whether what the rovers sense will be worthy of further pursuit. The steps of what is, to a scientist, conceptually an individual experiment may be scattered over a large number of activities. While the scientific staff has an overall strategic idea of what it would like to accomplish, activities are planned daily. The data and surprises of the previous day need to be integrated into the negotiations for the next day's activities, all synchronized to a schedule of transmission windows . Negotiations is the operative term, as different scientists want the resources to run possibly incompatible experiments. Many meetings plan each day's activities.

  7. Spirit's Surroundings on 'West Spur,' Sol 305

    Science.gov (United States)

    2005-01-01

    This 360-degree panorama shows the terrain surrounding NASA's Mars Exploration Rover Spirit as of the rover's 305th martian day, or sol, (Nov. 11, 2004). At that point, Spirit was climbing the 'West Spur' of the 'Columbia Hills.' The rover had just finished inspecting a rock called 'Lutefisk' and was heading uphill toward an area called 'Machu Picchu.' Spirit used its navigational camera to take the images combined into this mosaic. The rover's location when the images were taken is catalogued as the mission's site 89, position 205. The view is presented here as a cylindrical projection with geometric seam correction.

  8. Dynamic Rover Simulation for teleoperations in Planetary Surface Exploration

    NARCIS (Netherlands)

    Maas, H.L.M.M.; Kuijper, F.; Donkers, H.C.; Dumay, A.C.M.

    1997-01-01

    Advanced Simulation Techniques (AST) combine interactive technologies like Virtual Environments (VEs), Augmented Reality (AR) and real-time simulation, and finds potential space applications. One of these applications is the exploration of a planetary sur£ace by teleoperated rovers. This paper

  9. Discovery of Carbonate-Rich Outcrops in the Gusev Crater Columbia Hills by the MER Rover Spirit

    Science.gov (United States)

    Morris, Richard V.; Ruff, Steven W.; Gellert, Ralf; Ming, Douglas W.; Arvidson, Raymond E.; Clark, Benton C.; Golden, Dadi C.; Siebach, Kirsten L.; Klingelhoefer, Goestar; Schroeder, Christian; hide

    2010-01-01

    The chemical composition, global abundance, distribution, and formation pathways of carbonates are central to understanding aqueous processes, climate, and habitability of early Mars. The Mars Exploration Rover (MER) Spirit analyzed a series of olivine-rich outcrops while descending from the summit region of Husband Hill into the Inner Basin of the Columbia Hills of Gusev Crater to the eastern edge of the El Dorado ripple field in late 2005. Reanalysis of Spirit s mineralogical data from the Moessbauer Spectrometer (MB) and the Miniature Thermal Emission Spectrometer (Mini-TES) and chemical data from the Alpha Particle X-Ray Spectrometer (APXS) in 2010, coupled with new laboratory data for carbonate-bearing samples, lead to identification of carbonate in one of the outcrops (Comanche) [Morris, R.V., et al., Science, 329, 421-424]. The carbonate is rich in magnesium and iron (Mc62Sd25Cc11Rh2, assuming all Ca and Mn is associated with the carbonate) and is a major component of the Comanche outcrops (16 to 34 wt.%). The mineralogical, chemical, and abundance data are constrained in multiple, mutually consistent ways by the MER analyses. For example, a low-Ca carbonate is required by the MB and APXS data and is consistent with Mini-TES data. Three spectral features attributable to fundamental infrared vibrational modes of low-Ca carbonate are present in the Mini-TES spectra of Comanche outcrops. The average composition of Comanche carbonate approximates the average composition of the carbonate globules in Martian meteorite ALH 84001. Analogy with ALH 84001, terrestrial, and synthetic carbonate globules suggests that Comanche carbonate precipitated from aqueous solutions under hydrothermal conditions at near neutral pH in association with volcanic activity during the Noachian era. Comanche outcrop morphology suggests they are remnants of a larger carbonate-bearing formation that evolved in ultramafic rock and then preferentially eroded by a combination of aeolian

  10. An Analog Rover Exploration Mission for Education and Outreach

    Science.gov (United States)

    Moores, John; Campbell, Charissa L.; Smith, Christina L.; Cooper, Brittney A.

    2017-10-01

    This abstract describes an analog rover exploration mission designed as an outreach program for high school and undergraduate students. This program is used to teach them about basic mission control operations, how to manage a rover as if it were on another planetary body, and employing the rover remotely to complete mission objectives. One iteration of this program has been completed and another is underway. In both trials, participants were shown the different operation processes involved in a real-life mission. Modifications were made to these processes to decrease complexity and better simulate a mission control environment in a short time period (three 20-minute-long mission “days”). In the first run of the program, participants selected a landing site, what instruments would be on the rover - subject to cost, size, and weight limitations - and were randomly assigned one of six different mission operations roles, each with specific responsibilities. For example, a Science Planner/Integrator (SPI) would plan science activities whilst a Rover Engineer (RE) would keep on top of rover constraints. Planning consisted of a series of four meetings to develop and verify the current plan, pre-plan the next day's activities and uplink the activities to the “rover” (a human colleague). Participants were required to attend certain meetings depending upon their assigned role. To conclude the mission, students viewed the site to understand any differences between remote viewing and reality in relation to the rover. Another mission is currently in progress with revisions from the earlier run to improve the experience. This includes broader roles and meetings and pre-selecting the landing site and rover. The new roles are: Mission Lead, Rover Engineer and Science Planner. The SPI role was previously popular so most of the students were placed in this category. The meetings were reduced to three but extended in length. We are also planning to integrate this program

  11. Red rover: inside the story of robotic space exploration, from genesis to the mars rover curiosity

    CERN Document Server

    Wiens, Roger

    2013-01-01

    In its eerie likeness to Earth, Mars has long captured our imaginations—both as a destination for humankind and as a possible home to extraterrestrial life. It is our twenty-first century New World; its explorers robots, shipped 350 million miles from Earth to uncover the distant planet’s secrets.Its most recent scout is Curiosity—a one-ton, Jeep-sized nuclear-powered space laboratory—which is now roving the Martian surface to determine whether the red planet has ever been physically capable of supporting life. In Red Rover, geochemist Roger Wiens, the principal investigator for the ChemCam laser instrument on the rover and veteran of numerous robotic NASA missions, tells the unlikely story of his involvement in sending sophisticated hardware into space, culminating in the Curiosity rover's amazing journey to Mars.In so doing, Wiens paints the portrait of one of the most exciting scientific stories of our time: the new era of robotic space exploration. Starting with NASA’s introduction of the Discovery...

  12. Mars Gusts Blow Toward Spirit

    Science.gov (United States)

    2005-01-01

    This movie clip shows several gusts and whirlwinds carrying dust as they move toward NASA's Mars Exploration Rover Spirit. It consists of frames taken by the navigation camera on Spirit during the afternoon of the rover's 501st martian day, or sol (May 31, 2005). The camera was facing into the wind. Contrast has been enhanced for anything in the images that changes from frame to frame, that is, for the dust moved by wind.

  13. Mars exploration. Plan for two rovers squeezes NASA budget.

    Science.gov (United States)

    Lawler, A; MacNeil, J

    2000-08-18

    NASA's decision last week to send two rovers to Mars in 2003 is being hailed by researchers as affirming the agency's commitment to exploring the Red Planet. But once the applause dies down, cash-strapped space science managers will be forced to make tough decisions about how to shoulder the added $200 million cost of a second mission, starting with $96 million that must come out of NASA's 2001 budget.

  14. MARS EXPLORATION ROVER 2 RADIO SCIENCE SUBSYSTEM EDR V1.0

    Data.gov (United States)

    National Aeronautics and Space Administration — The Mars Exploration Rover 2 MER2) Radio Science (RS) data archive contains raw radio tracking data collected during the surface lifetime of the MER2 Rover. The data...

  15. An Overview of Wind-Driven Rovers for Planetary Exploration

    Science.gov (United States)

    Hajos, Gregory A.; Jones, Jack A.; Behar, Alberto; Dodd, Micheal

    2005-01-01

    The use of in-situ propulsion is considered enabling technology for long duration planetary surface missions. Most studies have focused on stored energy from chemicals extracted from the soil or the use of soil chemicals to produce photovoltaic arrays. An older form of in-situ propulsion is the use of wind power. Recent studies have shown potential for wind driven craft for exploration of Mars, Titan and Venus. The power of the wind, used for centuries to power wind mills and sailing ships, is now being applied to modern land craft. Efforts are now underway to use the wind to push exploration vehicles on other planets and moons in extended survey missions. Tumbleweed rovers are emerging as a new type of wind-driven science platform concept. Recent investigations by the National Aeronautics and Space Administration (NASA) and Jet Propulsion Laboratory (JPL) indicate that these light-weight, mostly spherical or quasi-spherical devices have potential for long distance surface exploration missions. As a power boat has unique capabilities, but relies on stored energy (fuel) to move the vessel, the Tumbleweed, like the sailing ships of the early explorers on earth, uses an unlimited resource the wind to move around the surface of Mars. This has the potential to reduce the major mass drivers of robotic rovers as well as the power generation and storage systems. Jacques Blamont of JPL and the University of Paris conceived the first documented Mars wind-blown ball in 1977, shortly after the Viking landers discovered that Mars has a thin CO2 atmosphere with relatively strong winds. In 1995, Jack Jones, et al, of JPL conceived of a large wind-blown inflated ball for Mars that could also be driven and steered by means of a motorized mass hanging beneath the rolling axis of the ball. A team at NASA Langley Research Center started a biomimetic Tumbleweed design study in 1998. Wind tunnel and CFD analysis were applied to a variety of concepts to optimize the aerodynamic

  16. Exploration of Victoria crater by the mars rover opportunity

    Science.gov (United States)

    Squyres, S. W.; Knoll, A.H.; Arvidson, R. E.; Ashley, James W.; Bell, J.F.; Calvin, W.M.; Christensen, P.R.; Clark, B. C.; Cohen, B. A.; De Souza, P.A.; Edgar, L.; Farrand, W. H.; Fleischer, I.; Gellert, Ralf; Golombek, M.P.; Grant, J.; Grotzinger, J.; Hayes, A.; Herkenhoff, K. E.; Johnson, J. R.; Jolliff, B.; Klingelhofer, G.; Knudson, A.; Li, R.; McCoy, T.J.; McLennan, S.M.; Ming, D. W.; Mittlefehldt, D. W.; Morris, R.V.; Rice, J. W.; Schroder, C.; Sullivan, R.J.; Yen, A.; Yingst, R.A.

    2009-01-01

    The Mars rover Opportunity has explored Victoria crater, a ???750-meter eroded impact crater formed in sulfate-rich sedimentary rocks. Impact-related stratigraphy is preserved in the crater walls, and meteoritic debris is present near the crater rim. The size of hematite-rich concretions decreases up-section, documenting variation in the intensity of groundwater processes. Layering in the crater walls preserves evidence of ancient wind-blown dunes. Compositional variations with depth mimic those ???6 kilometers to the north and demonstrate that water-induced alteration at Meridiani Planum was regional in scope.

  17. Mars Exploration Rover Athena Panoramic Camera (Pancam) investigation

    Science.gov (United States)

    Bell, J.F.; Squyres, S. W.; Herkenhoff, K. E.; Maki, J.N.; Arneson, H.M.; Brown, D.; Collins, S.A.; Dingizian, A.; Elliot, S.T.; Hagerott, E.C.; Hayes, A.G.; Johnson, M.J.; Johnson, J. R.; Joseph, J.; Kinch, K.; Lemmon, M.T.; Morris, R.V.; Scherr, L.; Schwochert, M.; Shepard, M.K.; Smith, G.H.; Sohl-Dickstein, J. N.; Sullivan, R.J.; Sullivan, W.T.; Wadsworth, M.

    2003-01-01

    The Panoramic Camera (Pancam) investigation is part of the Athena science payload launched to Mars in 2003 on NASA's twin Mars Exploration Rover (MER) missions. The scientific goals of the Pancam investigation are to assess the high-resolution morphology, topography, and geologic context of each MER landing site, to obtain color images to constrain the mineralogic, photometric, and physical properties of surface materials, and to determine dust and aerosol opacity and physical properties from direct imaging of the Sun and sky. Pancam also provides mission support measurements for the rovers, including Sun-finding for rover navigation, hazard identification and digital terrain modeling to help guide long-term rover traverse decisions, high-resolution imaging to help guide the selection of in situ sampling targets, and acquisition of education and public outreach products. The Pancam optical, mechanical, and electronics design were optimized to achieve these science and mission support goals. Pancam is a multispectral, stereoscopic, panoramic imaging system consisting of two digital cameras mounted on a mast 1.5 m above the Martian surface. The mast allows Pancam to image the full 360?? in azimuth and ??90?? in elevation. Each Pancam camera utilizes a 1024 ?? 1024 active imaging area frame transfer CCD detector array. The Pancam optics have an effective focal length of 43 mm and a focal ratio f/20, yielding an instantaneous field of view of 0.27 mrad/pixel and a field of view of 16?? ?? 16??. Each rover's two Pancam "eyes" are separated by 30 cm and have a 1?? toe-in to provide adequate stereo parallax. Each eye also includes a small eight position filter wheel to allow surface mineralogic studies, multispectral sky imaging, and direct Sun imaging in the 400-1100 nm wavelength region. Pancam was designed and calibrated to operate within specifications on Mars at temperatures from -55?? to +5??C. An onboard calibration target and fiducial marks provide the capability

  18. Spirit's Surroundings on 'West Spur,' Sol 305 (Vertical)

    Science.gov (United States)

    2005-01-01

    This 360-degree panorama shows the terrain surrounding NASA's Mars Exploration Rover Spirit as of the rover's 305th martian day, or sol, (Nov. 11, 2004). At that point, Spirit was climbing the 'West Spur' of the 'Columbia Hills.' The rover had just finished inspecting a rock called 'Lutefisk' and was heading uphill toward an area called 'Machu Picchu.' Spirit used its navigational camera to take the images combined into this mosaic. The rover's location when the images were taken is catalogued as the mission's site 89, position 205. The view is presented here as a vetical projection with geometric seam correction.

  19. Spirit's Surroundings on 'West Spur,' Sol 305 (Polar)

    Science.gov (United States)

    2005-01-01

    This 360-degree panorama shows the terrain surrounding NASA's Mars Exploration Rover Spirit as of the rover's 305th martian day, or sol, (Nov. 11, 2004). At that point, Spirit was climbing the 'West Spur' of the 'Columbia Hills.' The rover had just finished inspecting a rock called 'Lutefisk' and was heading uphill toward an area called 'Machu Picchu.' Spirit used its navigational camera to take the images combined into this mosaic. The rover's location when the images were taken is catalogued as the mission's site 89, position 205. The view is presented here as a polar projection with geometric seam correction.

  20. Terrain modelling and motion planning for an autonomous exploration rover

    Science.gov (United States)

    Richard, F.; Benoliel, S.; Faugeras, O.; Grandjean, P.; Hayard, M.; Simeon, T.

    1994-01-01

    To assess the feasibility of planetary exploration missions using rovers, the French national agency CNES, with a consortium of European laboratories and industrial concerns, has initiated the Eureka project, 'Illustration of an Autonomous Robot for the Exploration of Space' (IARES). IARES is a demonstrator composed of a rover and a ground station, linked by telemetry and telecommand. It is aimed at verifying, on earth, robotic concepts developed by the RISP group of French laboratories (LAAS, INRIA, CERT, LETI) to perform scientific missions such as autonomous terrain sample collecting over large areas. To cope with the actual needs of planet exploration, IARES suitability is assessed through constraints on limited bandwidth, time delay and on-board resources. This autonomy relies heavily on robust onboard trajectory generation capabilities. This paper presents the main functions of the IARES navigation sub-system and shows how they are combined to allow movement in Mars-like environments. Section 2 gives an overall description of the IARES system. Section 3 details the functions of the Navigation sub-system, and finally, section 4 illustrates with a simple example the use of these functions.

  1. Robotic Arm and Rover Actuator Systems for Mars Exploration

    Science.gov (United States)

    Reid, L.; Brawn, D.; Noon, D.

    1999-01-01

    Missions such as the Sojourner Rover, the Robotic Arm for Mars Polar Lander, and the 2003 Mars Rover, Athena, use numerous actuators that must operate reliably in extreme environments for long periods of time.

  2. Miniature Thermal Emission Spectrometer for the Mars Exploration Rovers

    Science.gov (United States)

    Christensen, Philip R.; Mehall, Greg L.; Silverman, Steven H.; Anwar, Saadat; Cannon, George; Gorelick, Noel; Kheen, Rolph; Tourville, Tom; Bates, Duane; Ferry, Steven; Fortuna, Teresa; Jeffryes, John; O'Donnell, William; Peralta, Richard; Wolverton, Thomas; Blaney, Diana; Denise, Robert; Rademacher, Joel; Morris, Richard V.; Squyres, Steven

    2003-12-01

    The Miniature Thermal Emission Spectrometer (Mini-TES) will provide remote measurements of mineralogy and thermophysical properties of the scene surrounding the Mars Exploration Rovers and guide the rovers to key targets for detailed in situ measurements by other rover experiments. The specific scientific objectives of the Mini-TES investigation are to (1) determine the mineralogy of rocks and soils, (2) determine the thermophysical properties of selected soil patches, and (3) determine the temperature profile, dust and water-ice opacity, and water vapor abundance in the lower atmospheric boundary layer. The Mini-TES is a Fourier Transform Spectrometer covering the spectral range 5-29 μm (339.50 to 1997.06 cm-1) with a spectral sample interval of 9.99 cm-1. The Mini-TES telescope is a 6.35-cm-diameter Cassegrain telescope that feeds a flat-plate Michelson moving mirror mounted on a voice-coil motor assembly. A single deuterated triglycine sulfate (DTGS) uncooled pyroelectric detector with proven space heritage gives a spatial resolution of 20 mrad; an actuated field stop can reduce the field of view to 8 mrad. Mini-TES is mounted within the rover's Warm Electronics Box and views the terrain using its internal telescope looking up the hollow shaft of the Pancam Mast Assembly (PMA) to the fixed fold mirror and rotating elevation scan mirror in the PMA head located ~1.5 m above the ground. The PMA provides a full 360°of azimuth travel and views from 30° above the nominal horizon to 50° below. An interferogram is collected every two seconds and transmitted to the Rover computer, where the Fast Fourier Transform, spectral summing, lossless compression, and data formatting are performed prior to transmission to Earth. Radiometric calibration is provided by two calibration V-groove blackbody targets instrumented with platinum thermistor temperature sensors with absolute temperature calibration of +/-0.1°C. One calibration target is located inside the PMA head; the

  3. Conceptual Design and Architecture of Mars Exploration Rover (MER) for Seismic Experiments Over Martian Surfaces

    Science.gov (United States)

    Garg, Akshay; Singh, Amit

    2012-07-01

    Keywords: MER, Mars, Rover, Seismometer Mars has been a subject of human interest for exploration missions for quite some time now. Both rover as well as orbiter missions have been employed to suit mission objectives. Rovers have been preferentially deployed for close range reconnaissance and detailed experimentation with highest accuracy. However, it is essential to strike a balance between the chosen science objectives and the rover operations as a whole. The objective of this proposed mechanism is to design a vehicle (MER) to carry out seismic studies over Martian surface. The conceptual design consists of three units i.e. Mother Rover as a Surrogate (Carrier) and Baby Rovers (two) as seeders for several MEMS-based accelerometer / seismometer units (Nodes). Mother Rover can carry these Baby Rovers, having individual power supply with solar cells and with individual data transmission capabilities, to suitable sites such as Chasma associated with Valles Marineris, Craters or Sand Dunes. Mother rover deploys these rovers in two opposite direction and these rovers follow a triangulation pattern to study shock waves generated through firing tungsten carbide shells into the ground. Till the time of active experiments Mother Rover would act as a guiding unit to control spatial spread of detection instruments. After active shock experimentation, the babies can still act as passive seismometer units to study and record passive shocks from thermal quakes, impact cratering & landslides. Further other experiments / payloads (XPS / GAP / APXS) can also be carried by Mother Rover. Secondary power system consisting of batteries can also be utilized for carrying out further experiments over shallow valley surfaces. The whole arrangement is conceptually expected to increase the accuracy of measurements (through concurrent readings) and prolong life cycle of overall experimentation. The proposed rover can be customised according to the associated scientific objectives and further

  4. Geology of the Gusec cratered plains from the Spirit rover transverse

    Science.gov (United States)

    Golombek, M. P.; Crumpler, L. S.; Grant, J. A.; Greely, R.; Cabrol, N. A.; Parker, T. J.; Rice, J. W., Jr.; Ward, J. G.; Arvidson, R. E.; Moersch, J. E.; hide

    2006-01-01

    The cratered plains of Gusev traversed by Spirit are generally low-relief rocky plains dominated by impact and eolian processes. Ubiquitous shallow, soil-filled, circular depressions, called hollows, are modified impact craters. Rocks are dark, fine-grained basalts, and the upper 10 m of the cratered plains appears to be an impact-generated regolith developed over intact basalt flows. Systematic field observations across the cratered plains identified vesicular clasts and rare scoria similar to original lava flow tops, consistent with an upper inflated surface of lava flows with adjacent collapse depressions. Crater and hollow morphometry are consistent with most being secondaries. The size frequency distribution of rocks >0.1 m diameter generally follows exponential functions similar to other landing sites for total rock abundances of 5-35%. Systematic clast counts show that areas with higher rock abundance and more large rocks have higher thermal inertia. Plains with lower thermal inertia have fewer rocks and substantially more pebbles that are well sorted and evenly spaced, similar to a desert pavement or lag. Eolian bed forms (ripples and wind tails) have coarse surface lags, and many are dust covered and thus likely inactive. Deflation of the surface _5-25 cm likely exposed two-toned rocks and elevated ventifacts and transported fines into craters creating the hollows. This observed redistribution yields extremely slow average erosion rates of _0.03 nm/yr and argues for very little long-term net change of the surface and a dry and desiccating environment similar to today's since the Hesperian (or _3 Ga).

  5. Crystal Water on Mars: Insights from the Mars Exploration Rovers

    Science.gov (United States)

    Ming, D. W.; Morris, R. V.; Clark, B. C.

    2007-01-01

    The purpose of this paper is to constrain the total water contents from crystal H2O and OH in several materials analyzed by the Mars Exploration Rovers (MER). Crystal H2O is part of the unit cell and cannot be removed without changing the structure. Minerals that contain only OH in their structures are anhydrous minerals containing hydroxyls, although they are formed as a product of aqueous activity and will decompose with evolution of H2O when heated. The crystal water and OH contents of a bulk material at the MER landing sites can be estimated from mineralogical composition, which is determined by a combination of Fe-mineralogy obtained by the Mossbauer Spectrometer and mineral abundances based upon the chemical composition determined by the Alpha Particle X-ray Spectrometer. Jarosite, along with Ca- and Mg-sulfates, have been suggested as the sulfur-bearing phases in Meridiani Planum outcrop. Models of various hydration states of Fe-, Ca-, and Mg-sulfates and other possible secondary phases suggest that 6 to 22 wt.% of the outcrop may occur as crystal H2O and/or OH (Clark et al., 2005). This estimate of water is consistent with measurements from the Odyssey orbiter, where 7 % H2O-equivalent H was measured down to a depth of approximately 1 m for the region (Feldman et al., 2004).

  6. Spirit Beside 'Home Plate,' Sol 1809

    Science.gov (United States)

    2009-01-01

    NASA Mars Exploration Rover Spirit used its navigation camera to take the images assembled into this 120-degree view southward after a short drive during the 1,809th Martian day, or sol, of Spirit's mission on the surface of Mars (February 3, 2009). Spirit had driven about 2.6 meters (8.5 feet) that sol, continuing a clockwise route around a low plateau called 'Home Plate.' In this image, the rocks visible above the rovers' solar panels are on the slope at the northern edge of Home Plate. This view is presented as a cylindrical projection with geometric seam correction.

  7. Molecular Microbial Analyses of the Mars Exploration Rovers Assembly Facility

    Science.gov (United States)

    Venkateswaran, Kasthuri; LaDuc, Myron T.; Newcombe, David; Kempf, Michael J.; Koke, John. A.; Smoot, James C.; Smoot, Laura M.; Stahl, David A.

    2004-01-01

    During space exploration, the control of terrestrial microbes associated with robotic space vehicles intended to land on extraterrestrial solar system bodies is necessary to prevent forward contamination and maintain scientific integrity during the search for life. Microorganisms associated with the spacecraft assembly environment can be a source of contamination for the spacecraft. In this study, we have monitored the microbial burden of air samples of the Mars Exploration Rovers' assembly facility at the Kennedy Space Center utilizing complementary diagnostic tools. To estimate the microbial burden and identify potential contaminants in the assembly facility, several microbiological techniques were used including culturing, cloning and sequencing of 16S rRNA genes, DNA microarray analysis, and ATP assays to assess viable microorganisms. Culturing severely underestimated types and amounts of contamination since many of the microbes implicated by molecular analyses were not cultivable. In addition to the cultivation of Agrobacterium, Burkholderia and Bacillus species, the cloning approach retrieved 16s rDNA sequences of oligotrophs, symbionts, and y-proteobacteria members. DNA microarray analysis based on rational probe design and dissociation curves complemented existing molecular techniques and produced a highly parallel, high resolution analysis of contaminating microbial populations. For instance, strong hybridization signals to probes targeting the Bacillus species indicated that members of this species were present in the assembly area samples; however, differences in dissociation curves between perfect-match and air sample sequences showed that these samples harbored nucleotide polymorphisms. Vegetative cells of several isolates were resistant when subjected to treatments of UVC (254 nm) and vapor H202 (4 mg/L). This study further validates the significance of non-cultivable microbes in association with spacecraft assembly facilities, as our analyses have

  8. Key Recent Scientific Results from the Opportunity Rover's Exploration of Endeavour Crater, Mars

    Science.gov (United States)

    Arvidson, R. E.; Squyres, S. W.; Gellert, R.; Herkenhoff, K.; Mittlefehldt, D.; Crumpler, L.; McLennan, S.; Farrand, W. H.; Joliff, B. L.; Morris, R. V.

    2015-01-01

    The Opportunity Rover is currently in its 11th year of operations, exploring the rim of the approximately 22 km wide Noachian-age Endeavour Crater. Opportunity spent its 5th winter season in Cook Haven, a gentle swale along Murray Ridge. Two small rocks serendipitously overturned by rover wheel motions show evidence for aqueous precipitation of sulfates, and interaction with a strong oxidant (e.g., O2) to form a thin, high valence state Mn oxide coating. After the winter, Opportunity headed south to Cape Tribulation and explored Shoemaker formation impact breccias, finding numerous Ca-sulfate veins cutting across outcrops. A key target for Opportunity's measurements has been the Spirit of Saint Louis crater (SoSL), which is approximately 25 m wide, oval in plan view, shallow, flat-floored, and has a slightly raised rim. SoSL crater is surrounded by an apron of bright, polygonally-shaped outcrops and is superimposed on a gentle swale in Cape Tribulation. Rocks in a thin reddish zone on the rim are enriched in hematite, Si, and Ge, and depleted in Fe, relative to surrounding rocks. Apron rocks include an outcrop also enriched in Si and Ge, and slightly depleted in Fe. In general rocks in the crater and apron have elevated S relative to Shoemaker formation breccias, tracking values observed in the Cook Haven and the Hueytown (fracture running perpendicular to Cape Tribulation) outcrops. SoSL crater lies just to the west of Marathon Valley, a key target for exploration by Opportunity because five separate CRISM observations indicate the presence of Fe/Mg smectites on the upper valley floor. Opportunity data show that low relief, relatively bright polygonal outcrops dominate the valley floor where not covered by scree and soil shed from surrounding walls. Initial reconnaissance shows that the outcrops are breccias with compositions similar to the typical SoSL crater apron and floor rocks, although only the very upper portion of the valley has been explored as of August

  9. Key Recent Scientific Results from the Opportunity Rover's Exploration of Cape Tribulation, Endeavour Crater, Mars

    Science.gov (United States)

    Arvidson, R. E.; Squyres, S. W.; Gellert, R.; Herkenhoff, K. E.; Mittlefehldt, D. W.; Crumpler, L. S.; McLennan, S. M.; Farrand, W. H.; Jolliff, B. L.; Morris, R. V.

    2015-12-01

    The Opportunity Rover is in its 11th year of exploration, currently exploring the Cape Tribulation rim segment of the ~22 km wide Noachian Endeavour Crater and its tilted and fractured outcrops. A key target for Opportunity's measurements has been the Spirit of Saint Louis crater (SoSL), which is ~25 m wide, oval in plan view, shallow, flat-floored, and has a slightly raised rim. SoSL crater is surrounded by an apron of bright, polygonally-shaped outcrops and is superimposed on a gentle swale in Cape Tribulation. Rocks in a thin reddish zone on the rim are enriched in hematite, Si, and Ge, and depleted in Fe, relative to surrounding rocks. Apron rocks include an outcrop also enriched in Si and Ge, and slightly depleted in Fe. In general rocks in the crater and apron have elevated S levels relative to Shoemaker formation breccias, tracking values observed in the Cook Haven (gentle swale superimposed on Murray Ridge and site of Opportunity's 5th winter site) and the Hueytown fracture (running perpendicular to Cape Tribulation) outcrops. SoSL crater lies just to the west of Marathon Valley, a key target for exploration by Opportunity because five separate CRISM observations indicate the presence of Fe/Mg smectites on the upper valley floor. Opportunity data show that low relief, relatively bright, wind-scoured outcrops dominate the valley floor where not covered by scree and soil shed from surrounding walls. Initial reconnaissance shows that the outcrops are breccias with compositions similar to the typical SoSL crater apron and floor rocks, although only the very upper portion of the valley has been explored as of August 2015. Pervasive but modest aqueous alteration of Endeavour's rim is implied by the combination of CRISM and Opportunity data, providing insight into early aqueous processes dominated in this location by relatively low water to rock ratios, and at least in part associated with enhanced fluid flow along fractures.

  10. View Ahead After Spirit's Sol 1861 Drive

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images combined into this 210-degree view of the rover's surroundings during the 1,861st to 1,863rd Martian days, or sols, of Spirit's surface mission (March 28 to 30, 2009). The center of the scene is toward the south-southwest. East is on the left. West-northwest is on the right. The rover had driven 22.7 meters (74 feet) southwestward on Sol 1861 before beginning to take the frames in this view. The drive brought Spirit past the northwestern corner of Home Plate. In this view, the western edge of Home Plate is on the portion of the horizon farthest to the left. A mound in middle distance near the center of the view is called 'Tsiolkovsky' and is about 40 meters (about 130 feet) from the rover's position. This view is presented as a cylindrical projection with geometric seam correction.

  11. Mars Exploration Rover Navigation Camera in-flight calibration

    Science.gov (United States)

    Soderblom, J.M.; Bell, J.F.; Johnson, J. R.; Joseph, J.; Wolff, M.J.

    2008-01-01

    The Navigation Camera (Navcam) instruments on the Mars Exploration Rover (MER) spacecraft provide support for both tactical operations as well as scientific observations where color information is not necessary: large-scale morphology, atmospheric monitoring including cloud observations and dust devil movies, and context imaging for both the thermal emission spectrometer and the in situ instruments on the Instrument Deployment Device. The Navcams are a panchromatic stereoscopic imaging system built using identical charge-coupled device (CCD) detectors and nearly identical electronics boards as the other cameras on the MER spacecraft. Previous calibration efforts were primarily focused on providing a detailed geometric calibration in line with the principal function of the Navcams, to provide data for the MER navigation team. This paper provides a detailed description of a new Navcam calibration pipeline developed to provide an absolute radiometric calibration that we estimate to have an absolute accuracy of 10% and a relative precision of 2.5%. Our calibration pipeline includes steps to model and remove the bias offset, the dark current charge that accumulates in both the active and readout regions of the CCD, and the shutter smear. It also corrects pixel-to-pixel responsivity variations using flat-field images, and converts from raw instrument-corrected digital number values per second to units of radiance (W m-2 nm-1 sr-1), or to radiance factor (I/F). We also describe here the initial results of two applications where radiance-calibrated Navcam data provide unique information for surface photometric and atmospheric aerosol studies. Copyright 2008 by the American Geophysical Union.

  12. Working on Mars: Understanding How Scientists, Engineers and Rovers Interacted Across Space and Time during the Mars Exploration Rover (MER) Mission

    Science.gov (United States)

    Wales, Roxana C.

    2005-01-01

    This viewgraph presentation summarizes the scheduling and planning difficulties inherent in operating the Mars Exploration Rovers (MER) during the overlapping terrestrial day and Martian sol. The presentation gives special empahsis to communication between the teams controlling the rovers from Earth, and keeping track of time on the two planets.

  13. Mars Exploration Rover mobility and robotic arm operational performance

    Science.gov (United States)

    Tunstel, Edward; Maimone, Mark; Trebi-Ollennu, Ashitey; Yen, Jeng; Petras, Richard; Wilson, Reg

    2005-01-01

    The purpose of this paper is to describe an actual instance of a practical human-robot system used on a NASA Mars rover mission that has been underway since January 2004 involving daily intercation between humans on Earth and mobile robots on Mars.

  14. Aeolian environments observed by the Mars Exploration Rovers

    Science.gov (United States)

    Sullivan, R.; Fike, D.; Golombek, M.; Greeley, R.; Grotzinger, J.; Jerolmack, D.; Landis, G.; Malin, M.; Soderblom, L.; Squyres, S.; Thompson, S.; Watters, W.; Whelley, P.

    2004-12-01

    Previous telescopic, orbital, and in situ exploration has shown the significance of aeolian processes on Mars. The twin MER vehicles have examined the effects of aeolian processes along geological traverses at two Mars landing sites. "Spirit" landed on a dust devil track on plains within Gusev crater, and encountered scattered low bedforms and ventifacts along its traverse to the Columbia Hills. Particle size-frequency variations between bedform crests and troughs are consistent with terrestrial ripple characteristics. Wheel disturbances in one bedform revealed the presence of a dust-covered coarse sand monolayer surface crust overlying a finer-grained, less sorted interior. Several lines of evidence are consistent with NW winds affecting the plains in this part of Gusev crater: (1) slightly asymmetric ripples sparsely distributed across the plains are oriented NNE/SSW and have slightly steeper ESE faces that are also dustier (as determined from albedo and thermal IR spectroscopy); (2) facets, flutes, and grooves on rocks interpreted as ventifacts are most abundant on NW exposures; and (3) asymmetric debris piles from Rock Abrasion Tool grinding extend to the SE. This evidence is consistent with afternoon WNW winds predicted in the area by mesoscale climate models. No dust devils have been observed yet (through 240 sols) by "Spirit." The landing site for "Opportunity" on the plains of Meridiani Planum was less dusty than the Gusev site. Hematite-enriched aeolian ripples dominate the plains, and contribute to the hematite signature detected by MGS TES. Trenching one of these bedforms revealed a surface crust of hematite-enriched spherule concretion fragments, and a substantial fraction of very fine sand in the ripple interior. Very fine sand is also found on the relatively flat areas between ripples, along with spherules and partly buried spherule fragments. Individual plains ripples are oriented about N26E but commonly are grouped en echelon into alignments along a

  15. Dust Accumulation and Solar Panel Array Performance on the Mars Exploration Rover (MER) Project

    Science.gov (United States)

    Turgay, Eren H.

    2004-01-01

    One of the most fundamental design considerations for any space vehicle is its power supply system. Many options exist, including batteries, fuel cells, nuclear reactors, radioisotopic thermal generators (RTGs), and solar panel arrays. Solar arrays have many advantages over other types of power generation. They are lightweight and relatively inexpensive, allowing more mass and funding to be allocated for other important devices, such as scientific instruments. For Mars applications, solar power is an excellent option, especially for long missions. One might think that dust storms would be a problem; however, while dust blocks some solar energy, it also scatters it, making it diffuse rather than beamed. Solar cells are still able to capture this diffuse energy and convert it into substantial electrical power. For these reasons, solar power was chosen to be used on the 1997 Mars Pathfinder mission. The success of this mission set a precedent, as NASA engineers have selected solar power as the energy system of choice for all future Mars missions, including the Mars Exploration Rover (MER) Project. Solar sells have their drawbacks, however. They are difficult to manufacture and are relatively fragile. In addition, solar cells are highly sensitive to different parts of the solar spectrum, and finding the correct balance is crucial to the success of space missions. Another drawback is that the power generated is not a constant with respect to time, but rather changes with the relative angle to the sun. On Mars, dust accumulation also becomes a factor. Over time, dust settles out of the atmosphere and onto solar panels. This dust blocks and shifts the frequency of the incoming light, degrading solar cell performance. My goal is to analyze solar panel telemetry data from the two MERs (Spirit and Opportunity) in an effort to accurately model the effect of dust accumulation on solar panels. This is no easy process due to the large number of factors involved. Changing solar

  16. Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

    Science.gov (United States)

    Trease, Brian; Arvidson, Raymond; Lindemann, Randel; Bennett, Keith; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Van Dyke, Lauren

    2011-01-01

    To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

  17. Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

    Science.gov (United States)

    Trease, Brian

    2011-01-01

    To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting system, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction System), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using Adams dynamic modeling software. The external library was built in Fortran and called by Adams to model the wheel-soil interactions include the rut-formation effect of deformable soils, lateral and longitudinal forces, bull-dozing effects, and applied wheel torque. The paper presents the details and implementation of the system. To validate the developed system, one study case is presented from a realistic drive on Mars of the Opportunity rover. The simulation results match well from the measurement of on-board telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

  18. Design of Mobility System for Ground Model of Planetary Exploration Rover

    Directory of Open Access Journals (Sweden)

    Younkyu Kim

    2012-12-01

    Full Text Available In recent years, a number of missions have been planned and conducted worldwide on the planets such as Mars, which involves the unmanned robotic exploration with the use of rover. The rover is an important system for unmanned planetary exploration, performing the locomotion and sample collection and analysis at the exploration target of the planetary surface designated by the operator. This study investigates the development of mobility system for the rover ground model necessary to the planetary surface exploration for the benefit of future planetary exploration mission in Korea. First, the requirements for the rover mobility system are summarized and a new mechanism is proposed for a stable performance on rough terrain which consists of the passive suspension system with 8 wheeled double 4-bar linkage (DFBL, followed by the performance evaluation for the mechanism of the mobility system based on the shape design and simulation. The proposed mobility system DFBL was compared with the Rocker-Bogie suspension system of US space agency National Aeronautics and Space Administration and 8 wheeled mobility system CRAB8 developed in Switzerland, using the simulation to demonstrate the superiority with respect to the stability of locomotion. On the basis of the simulation results, a general system configuration was proposed and designed for the rover manufacture.

  19. Study on a Suspension of a Planetary Exploration Rover to Improve Driving Performance During Overcoming Obstacles

    Directory of Open Access Journals (Sweden)

    We-Sub Eom

    2012-12-01

    Full Text Available The planetary exploration rover executes various missions after moving to the target point in an unknown environment in the shortest distance. Such missions include the researches for geological and climatic conditions as well as the existence of water or living creatures. If there is any obstacle on the way, it is detected by such sensors as ultrasonic sensor, infrared light sensor, stereo vision, and laser ranger finder. After the obtained data is transferred to the main controller of the rover, decisions can be made to either overcome or avoid the obstacle on the way based on the operating algorithm of the rover. All the planetary exploration rovers which have been developed until now receive the information of the height or width of the obstacle from such sensors before analyzing it in order to find out whether it is possible to overcome the obstacle or not. If it is decided to be better to overcome the obstacle in terms of the operating safety and the electric consumption of the rover, it is generally made to overcome it. Therefore, for the purpose of carrying out the planetary exploration task, it is necessary to design the proper suspension system of the rover which enables it to safely overcome any obstacle on the way on the surface in any unknown environment. This study focuses on the design of the new double 4-bar linkage type of suspension system applied to the Korea Aerospace Research Institute rover (a tentatively name that is currently in the process of development by our institute in order to develop the planetary exploration rover which absolutely requires the capacity of overcoming any obstacle. Throughout this study, the negative moment which harms the capacity of the rover for overcoming an obstacle was induced through the dynamical modeling process for the rocker-bogie applied to the Mars exploration rover of the US and the improved version of rocker-bogie as well as the suggested double 4-bar linkage type of suspension

  20. Spirit's Surroundings on 'West Spur,' Sol 305 (3-D)

    Science.gov (United States)

    2005-01-01

    [figure removed for brevity, see original site] Figure 1 [figure removed for brevity, see original site] Figure 2 This 360-degree stereo panorama shows the terrain surrounding NASA's Mars Exploration Rover Spirit as of the rover's 305th martian day, or sol, (Nov. 11, 2004). At that point, Spirit was climbing the 'West Spur' of the 'Columbia Hills.' The rover had just finished inspecting a rock called 'Lutefisk' and was heading uphill toward an area called 'Machu Picchu.' Spirit used its navigational camera to take the images combined into this mosaic. The rover's location when the images were taken is catalogued as the mission's site 89, position 205. The stereo-anaglyph view presented here is a cylindrical projection with geometric seam correction. Figure 1 is the left-eye view of a stereo pair and Figure 2 is the right-eye view of a stereo pair.

  1. Spirit Near 'Stapledon' on Sol 1802 (Vertical)

    Science.gov (United States)

    2009-01-01

    NASA Mars Exploration Rover Spirit used its navigation camera for the images assembled into this full-circle view of the rover's surroundings during the 1,802nd Martian day, or sol, (January 26, 2009) of Spirit's mission on the surface of Mars. North is at the top. This view is presented as a vertical projection with geometric seam correction. Spirit had driven down off the low plateau called 'Home Plate' on Sol 1782 (January 6, 2009) after spending 12 months on a north-facing slope on the northern edge of Home Plate. The position on the slope (at about the 9-o'clock position in this view) tilted Spirit's solar panels toward the sun, enabling the rover to generate enough electricity to survive its third Martian winter. Tracks at about the 11-o'clock position of this panorama can be seen leading back to that 'Winter Haven 3' site from the Sol 1802 position about 10 meters (33 feet) away. For scale, the distance between the parallel wheel tracks is about one meter (40 inches). Where the receding tracks bend to the left, a circular pattern resulted from Spirit turning in place at a soil target informally named 'Stapledon' after William Olaf Stapledon, a British philosopher and science-fiction author who lived from 1886 to 1950. Scientists on the rover team suspected that the soil in that area might have a high concentration of silica, resembling a high-silica soil patch discovered east of Home Plate in 2007. Bright material visible in the track furthest to the right was examined with Spirit's alpha partical X-ray spectrometer and found, indeed, to be rich in silica. The team laid plans to drive Spirit from this Sol 1802 location back up onto Home Plate, then southward for the rover's summer field season.

  2. Spirit Near 'Stapledon' on Sol 1802

    Science.gov (United States)

    2009-01-01

    NASA Mars Exploration Rover Spirit used its navigation camera for the images assembled into this full-circle view of the rover's surroundings during the 1,802nd Martian day, or sol, (January 26, 2009) of Spirit's mission on the surface of Mars. South is at the center; north is at both ends. Spirit had driven down off the low plateau called 'Home Plate' on Sol 1782 (January 6, 2009) after spending 12 months on a north-facing slope on the northern edge of Home Plate. The position on the slope (at about the 9-o'clock position in this view) tilted Spirit's solar panels toward the sun, enabling the rover to generate enough electricity to survive its third Martian winter. Tracks at about the 11-o'clock position of this panorama can be seen leading back to that 'Winter Haven 3' site from the Sol 1802 position about 10 meters (33 feet) away. For scale, the distance between the parallel wheel tracks is about one meter (40 inches). Where the receding tracks bend to the left, a circular pattern resulted from Spirit turning in place at a soil target informally named 'Stapledon' after William Olaf Stapledon, a British philosopher and science-fiction author who lived from 1886 to 1950. Scientists on the rover team suspected that the soil in that area might have a high concentration of silica, resembling a high-silica soil patch discovered east of Home Plate in 2007. Bright material visible in the track furthest to the right was examined with Spirit's alpha partical X-ray spectrometer and found, indeed, to be rich in silica. The team laid plans to drive Spirit from this Sol 1802 location back up onto Home Plate, then southward for the rover's summer field season. This view is presented as a cylindrical projection with geometric seam correction.

  3. Spirit Near 'Stapledon' on Sol 1802 (Polar)

    Science.gov (United States)

    2009-01-01

    NASA Mars Exploration Rover Spirit used its navigation camera for the images assembled into this full-circle view of the rover's surroundings during the 1,802nd Martian day, or sol, (January 26, 2009) of Spirit's mission on the surface of Mars. North is at the top. This view is presented as a polar projection with geometric seam correction. Spirit had driven down off the low plateau called 'Home Plate' on Sol 1782 (January 6, 2009) after spending 12 months on a north-facing slope on the northern edge of Home Plate. The position on the slope (at about the 9-o'clock position in this view) tilted Spirit's solar panels toward the sun, enabling the rover to generate enough electricity to survive its third Martian winter. Tracks at about the 11-o'clock position of this panorama can be seen leading back to that 'Winter Haven 3' site from the Sol 1802 position about 10 meters (33 feet) away. For scale, the distance between the parallel wheel tracks is about one meter (40 inches). Where the receding tracks bend to the left, a circular pattern resulted from Spirit turning in place at a soil target informally named 'Stapledon' after William Olaf Stapledon, a British philosopher and science-fiction author who lived from 1886 to 1950. Scientists on the rover team suspected that the soil in that area might have a high concentration of silica, resembling a high-silica soil patch discovered east of Home Plate in 2007. Bright material visible in the track furthest to the right was examined with Spirit's alpha partical X-ray spectrometer and found, indeed, to be rich in silica. The team laid plans to drive Spirit from this Sol 1802 location back up onto Home Plate, then southward for the rover's summer field season.

  4. Bright Soil Churned by Spirit's Sol 1861 Drive

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit drove 22.7 meters (74 feet) toward the southwest on the 1,861st Martian day, or sol, of Spirit's mission on Mars (March 28, 2009). After the drive, the rover took this image with its front hazard-avoidance camera, looking back at the tracks from the drive. As usual since losing the use of its right-front wheel in 2006, Spirit drove backwards. The immobile right-front wheel churned up a long stripe of bright soil during this drive. Where Spirit has found such bright soil in the past, subsequent analysis of the composition found concentrations of sulfur or silica that testified to past action of water at the site. When members of the rover team saw the large quantity of bright soil exposed by the Sol 1861 drive, they quickly laid plans to investigate the composition with Spirit's alpha particle X-ray spectrometer. The Sol 1861 drive took the rover past the northwest corner of the low plateau called 'Home Plate,' making progress on a route around the western side of Home Plate. The edge of Home Plate forms the horizon on the right side of this image. Husband Hill is on the horizon on the left side. For scale, the parallel rover wheel tracks are about 1 meter (40 inches) apart. The rover's hazard-avoidance cameras take 'fisheye' wide-angle images.

  5. Mars Rover Photos API

    Data.gov (United States)

    National Aeronautics and Space Administration — This API is designed to collect image data gathered by NASA's Curiosity, Opportunity, and Spirit rovers on Mars and make it more easily available to other...

  6. The Hardware Challenges for the Mars Exploration Rover Heat Rejection System

    Science.gov (United States)

    Tsuyuki, Glenn; Ganapathi, Gani; Bame, David; Patzold, Jack; Fisher, Richard; Theriault, Laurent

    2004-02-01

    The primary objective of the Mars Exploration Rover (MER) 2003 Project focused on the search for evidence of water on Mars. The launch of two identical flight systems occurred in June and July of 2003. The roving science vehicles are expected to land on the Martian surface in early and late January of 2004, respectively. The flight system design inherited many successfully features and approaches from the Mars Pathfinder Mission. This included the use of a mechanically-pumped fluid loop, known as the Heat Rejection System (HRS), to transport heat from the Rover to radiators on the Cruise Stage during the quiescent trek to Mars. While the heritage of the HRS was evident, application of this system for MER presented unique and difficult challenges with respect to hardware implementation. We will discuss these hardware challenges in each HRS hardware element: the integrated pump assembly, cruise stage HRS, lander HRS, and Rover HRS. These challenges span the entire development cycle including fabrication, assembly, and test. We will conclude by citing the usefulness of this system during launch operations, where in particular, the flight hardware inside the Rover was thermally conditioned by the HRS since there was no other effective means of maintaining its temperature.

  7. A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

    Energy Technology Data Exchange (ETDEWEB)

    Klarer, P.

    1994-03-01

    The design of a multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER) is described. The control system design attempts to ameliorate some of the problems noted by some researchers when implementing subsumption or behavioral control systems, particularly with regard to multiple processor systems and real-time operations. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules by taking advantage of intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the field are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development, and is briefly described.

  8. Dynamic Dust Accumulation and Dust Removal Observed on the Mars Exploration Rover Magnets

    Science.gov (United States)

    Bertelsen, P.; Bell, J. F., III; Goetz, W.; Gunnlaugsson, H. P.; Herkenhoff, K. E.; Hviid, S. F.; Johnson, J. R.; Kinch, K. M.; Knudsen, J. M.; Madsen, M. B.

    2005-01-01

    The Mars Exploration Rovers each carry a set of Magnetic Properties Experiments designed to investigate the properties of the airborne dust in the Martian atmosphere. It is a preferred interpretation of previous experiments that the airborne dust in the Martian atmosphere is primarily composed by composite silicate particles containing one or more highly magnetic minerals as a minor constituent. The ultimate goal of the magnetic properties experiments on the Mars Exploration Rover mission is to provide some information/ constraints on whether the dust is formed by volcanic, meteoritic, aqueous, or other processes. The first problem is to identify the magnetic mineral(s) in the airborne dust on Mars. While the overall results of the magnetic properties experiments are presented in, this abstract will focus on dust deposition and dust removal on some of the magnets.

  9. Choosing Mars-Time: Analysis of the Mars Exploration Rover Experience

    Science.gov (United States)

    Bass, Deborah S.; Wales,Roxana C.; Shalin, Valerie L.

    2004-01-01

    This paper focuses on the Mars Exploration Rover (MER) mission decision to work on Mars Time and the implications of that decision on the tactical surface operations process as personnel planned activities and created a new command load for work on each Martian sol. The paper also looks at tools that supported the complexities of Mars Time work, and makes some comparisons between Earth and Mars time scheduling.

  10. RAT magnet experiment on the Mars Exploration Rovers: Spirit and Opportunity beyond sol 500

    Czech Academy of Sciences Publication Activity Database

    Leer, K.; Goetz, W.; Chan, M. A.; Gorevan, S.; Hansen, M. F.; Jensen, Ch. L.; Kletetschka, Günther; Kusack, A.; Madsen, M. B.

    2011-01-01

    Roč. 116, č. 4 (2011), E00F18-E00F18 ISSN 0148-0227 Institutional research plan: CEZ:AV0Z30130516 Keywords : magnetic mineralogy * hematite * Mars Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics Impact factor: 3.021, year: 2011

  11. Magnetic Properties Experiments on the Mars exploration Rover Spirit at Gusev crater

    DEFF Research Database (Denmark)

    Bertelsen, Pernille; Goetz, W.; Madsen, M.B.

    2004-01-01

    The magnetic properties experiments are designed to help identify the magnetic minerals in the dust and rocks on Mars-and to determine whether liquid water was involved in the formation and alteration of these magnetic minerals. Almost all of the dust particles suspended in the martian atmosphere...

  12. A rover's geologic field campaign: Exploration of the Kimberley by Curiosity

    Science.gov (United States)

    Minitti, Michelle E.

    2017-03-01

    The Mars Science Laboratory Curiosity rover undertook comprehensive exploration of the Kimberley waypoint within Gale crater, Mars in order to understand its context within the larger geologic picture of Gale crater and its evidence for past Martian habitability. Coordinated observations from Curiosity's rich science payload revealed important insights into new Martian crustal compositions, the prevalence and diversity of sedimentary processes within Gale crater, and surface erosion rates. Exploration at the Kimberley, in part informed by a decade of orbital observations of Gale crater, underscored the critical synergy between landed and orbital observations and furthered understanding of complex geological processes on Mars.

  13. Dust Devil in Spirit's View Ahead on Sol 1854

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,854th Martian day, or sol, of Spirit's surface mission (March 21, 2009). The rover had driven 13.79 meters (45 feet) westward earlier on Sol 1854. West is at the center, where a dust devil is visible in the distance. North on the right, where Husband Hill dominates the horizon; Spirit was on top of Husband Hill in September and October 2005. South is on the left, where lighter-toned rock lines the edge of the low plateau called 'Home Plate.' This view is presented as a cylindrical projection with geometric seam correction.

  14. Time for a Change; Spirit's View on Sol 1843

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this full-circle view of the rover's surroundings during the 1,843rd Martian day, or sol, of Spirit's surface mission (March 10, 2009). South is in the middle. North is at both ends. The rover had driven 36 centimeters downhill earlier on Sol 1854, but had not been able to get free of ruts in soft material that had become an obstacle to getting around the northeastern corner of the low plateau called 'Home Plate.' The Sol 1854 drive, following two others in the preceding four sols that also achieved little progress in the soft ground, prompted the rover team to switch to a plan of getting around Home Plate counterclockwise, instead of clockwise. The drive direction in subsequent sols was westward past the northern edge of Home Plate. This view is presented as a cylindrical projection with geometric seam correction.

  15. Exploration of Mars with the ChemCam LIBS Instrument and the Curiosity Rover

    Science.gov (United States)

    Newsom, Horton E.

    2016-01-01

    The Mars Science Laboratory (MSL) Curiosity rover landed on Mars in August 2012, and has been exploring the planet ever since. Dr. Horton E. Newsom will discuss the MSL's design and main goal, which is to characterize past environments that may have been conducive to the evolution and sustainability of life. He will also discuss Curiosity's science payload, and remote sensing, analytical capabilities, and direct discoveries of the Chemistry & Camera (ChemCam) instrument, which is the first Laser Induced Breakdown Spectrometer (LIBS) to operate on another planetary surface and determine the chemistry of the rocks and soils.

  16. Overview of the magnetic properties experiments on the Mars Exploration Rovers

    DEFF Research Database (Denmark)

    Madsen, M. B.; Goetz, W.; Bertelsen, P.

    2009-01-01

    The Mars Exploration Rovers have accumulated airborne dust on different types of permanent magnets. Images of these magnets document the dynamics of dust capture and removal over time. The strongly magnetic subset of airborne dust appears dark brown to black in Panoramic Camera (Pancam) images...... show that some of the iron in magnetite is substituted by titanium and chromium. The good correlation of the amount of calcium and sulfur in the dust may be caused by the presence of a calcium sulfate related phase. The overall mineralogical composition points to a basaltic origin of the airborne dust...

  17. Ground Truthing Orbital Clay Mineral Observations with the APXS Onboard Mars Exploration Rover Opportunity

    Science.gov (United States)

    Schroeder, C.; Gellert, R.; VanBommel, S.; Clark, B. C.; Ming, D. W.; Mittlefehldt, D. S.; Yen, A. S.

    2016-01-01

    NASA's Mars Exploration Rover Opportunity has been exploring approximately 22 km diameter Endeavour crater since 2011. Its rim segments predate the Hesperian-age Burns formation and expose Noachian-age material, which is associated with orbital Fe3+-Mg-rich clay mineral observations [1,2]. Moving to an orders of magnitude smaller instrumental field of view on the ground, the clay minerals were challenging to pinpoint on the basis of geochemical data because they appear to be the result of near-isochemical weathering of the local bedrock [3,4]. However, the APXS revealed a more complex mineral story as fracture fills and so-called red zones appear to contain more Al-rich clay minerals [5,6], which had not been observed from orbit. These observations are important to constrain clay mineral formation processes. More detail will be added as Opportunity is heading into her 10th extended mission, during which she will investigate Noachian bedrock that predates Endeavour crater, study sedimentary rocks inside Endeavour crater, and explore a fluid-carved gully. ESA's ExoMars rover will land on Noachian-age Oxia Planum where abundant Fe3+-Mg-rich clay minerals have been observed from orbit, but the story will undoubtedly become more complex once seen from the ground.

  18. Principal Components Analysis of Reflectance Spectra Returned by the Mars Exploration Rover Opportunity

    Science.gov (United States)

    Mercer, C. M.; Cohen, Barbara A.

    2010-01-01

    The Mars Exploration Rover Opportunity has spent over six years exploring the Martian surface near its landing site at Meridiani Planum. Meridiani bedrock observed by the rover is largely characterized by sulfate-rich sandstones and hematite spherules, recording evidence of ancient aqueous environments [1]. The region is a deflationary surface, allowing hematite spherules, fragments of bedrock, and "cobbles" of foreign origin to collect loosely on the surface. These cobbles may be meteorites (e.g., Barberton, Heat Shield Rock, Santa Catarina) [2], or rock fragments of exotic composition derived from adjacent terranes or from the subsurface and delivered to Meridiani Planum as impact ejecta [3]. The cobbles provide a way to better understand Martian meteorites and the lithologic diversity of Meridiani Planum by examining the various rock types located there. In the summer of 2007, a global dust storm on Mars effectively disabled Opportunity's Miniature Thermal Emission Spectrometer (Mini-TES), which served as the Athena Science Team s primary tool for remotely identifying rocks of interest on a tactical timescale for efficient rover planning. While efforts are ongoing to recover use of the Mini-TES, the team is currently limited to identifying rocks of interest by visual inspection of images returned from Opportunity's Panoramic Camera (Pancam). This study builds off of previous efforts to characterize cobbles at Meridiani Planum using a database of reflectance spectra extracted from Pancam 13-Filter (13F) images [3]. We analyzed the variability of rock spectra in this database and identified physical characteristics of Martian rocks that could potentially account for the observed variance. By understanding such trends, we may be able to distinguish between rock types at Meridiani Planum and regain the capability to remotely identify locally unique rocks.

  19. The development of a virtual camera system for astronaut-rover planetary exploration.

    Science.gov (United States)

    Platt, Donald W; Boy, Guy A

    2012-01-01

    A virtual assistant is being developed for use by astronauts as they use rovers to explore the surface of other planets. This interactive database, called the Virtual Camera (VC), is an interactive database that allows the user to have better situational awareness for exploration. It can be used for training, data analysis and augmentation of actual surface exploration. This paper describes the development efforts and Human-Computer Interaction considerations for implementing a first-generation VC on a tablet mobile computer device. Scenarios for use will be presented. Evaluation and success criteria such as efficiency in terms of processing time and precision situational awareness, learnability, usability, and robustness will also be presented. Initial testing and the impact of HCI design considerations of manipulation and improvement in situational awareness using a prototype VC will be discussed.

  20. Spirit's View Beside 'Home Plate' on Sol 1823

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this 180-degree view of the rover's surroundings during the 1,823rd Martian day, or sol, of Spirit's surface mission (Feb. 17, 2009). The center of the view is toward the south-southwest. The rover had driven 7 meters (23 feet) eastward earlier on Sol 1823, part of maneuvering to get Spirit into a favorable position for climbing onto the low plateau called 'Home Plate.' However, after two driving attempts with negligible progress during the following three sols, the rover team changed its strategy for getting to destinations south of Home Plate. The team decided to drive Spirit at least partway around Home Plate, instead of ascending the northern edge and taking a shorter route across the top of the plateau. Layered rocks forming part of the northern edge of Home Plate can be seen near the center of the image. Rover wheel tracks are visible at the lower edge. This view is presented as a cylindrical projection with geometric seam correction.

  1. Identifying mechanical property parameters of planetary soil using in-situ data obtained from exploration rovers

    Science.gov (United States)

    Ding, Liang; Gao, Haibo; Liu, Zhen; Deng, Zongquan; Liu, Guangjun

    2015-12-01

    Identifying the mechanical property parameters of planetary soil based on terramechanics models using in-situ data obtained from autonomous planetary exploration rovers is both an important scientific goal and essential for control strategy optimization and high-fidelity simulations of rovers. However, identifying all the terrain parameters is a challenging task because of the nonlinear and coupling nature of the involved functions. Three parameter identification methods are presented in this paper to serve different purposes based on an improved terramechanics model that takes into account the effects of slip, wheel lugs, etc. Parameter sensitivity and coupling of the equations are analyzed, and the parameters are grouped according to their sensitivity to the normal force, resistance moment and drawbar pull. An iterative identification method using the original integral model is developed first. In order to realize real-time identification, the model is then simplified by linearizing the normal and shearing stresses to derive decoupled closed-form analytical equations. Each equation contains one or two groups of soil parameters, making step-by-step identification of all the unknowns feasible. Experiments were performed using six different types of single-wheels as well as a four-wheeled rover moving on planetary soil simulant. All the unknown model parameters were identified using the measured data and compared with the values obtained by conventional experiments. It is verified that the proposed iterative identification method provides improved accuracy, making it suitable for scientific studies of soil properties, whereas the step-by-step identification methods based on simplified models require less calculation time, making them more suitable for real-time applications. The models have less than 10% margin of error comparing with the measured results when predicting the interaction forces and moments using the corresponding identified parameters.

  2. New Record Five-Wheel Drive, Spirit's Sol 1856

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,856th Martian day, or sol, of Spirit's surface mission (March 23, 2009). The center of the view is toward the west-southwest. The rover had driven 25.82 meters (84.7 feet) west-northwestward earlier on Sol 1856. This is the longest drive on Mars so far by a rover using only five wheels. Spirit lost the use of its right-front wheel in March 2006. Before Sol 1856, the farthest Spirit had covered in a single sol's five-wheel drive was 24.83 meters (81.5 feet), on Sol 1363 (Nov. 3, 2007). The Sol 1856 drive made progress on a route planned for taking Spirit around the western side of the low plateau called 'Home Plate.' A portion of the northwestern edge of Home Plate is prominent in the left quarter of this image, toward the south. This view is presented as a cylindrical projection with geometric seam correction.

  3. Genotypic & Phenotypic Diversity of Microbial Isolates from the Mars Exploration Rovers

    Science.gov (United States)

    Arora-Williams, Keith

    2012-01-01

    Mars-bound rovers such as the Mars Exploration Rover (MER) endure strict planetary protection implementation campaigns to assess bioburden. The objective of this study is to identify cultivable microorganisms isolated by the NASA Standard Assay from spacecraft during pre-launch and evaluate their potential to survive conditions on the Martian surface. Of approximately 350 isolates collected from the MER spacecraft archive, 171 microorganisms were reconstituted for characterization via 16S rRNA fingerprinting. Alignment of 16S sequences revealed high levels of sequence similarity to spore-forming species, overwhelmingly of the genera Bacillus (73.7%) and Paenibacillus (14.0%). Samples underwent phenotype characterization employing multiple carbon sources and ion concentrations in an automated microarray format using the Omnilog system. Working and stock cultures were prepared to address the immediate needs for day-to-day culture utilization and long-term preservation, respectively. Results from this study produced details about the microbes that contaminate surfaces of spacecraft, as well as a preliminary evaluation of a rapid biochemical ID method that also provides a phenotypic assessment of contaminants. The overall outcome of this study will benefit emerging cleaning and sterilization technologies for preventing forward contamination that could negatively impact future life detection or sample return missions.

  4. A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

    Science.gov (United States)

    Klarer, P.

    1994-01-01

    An alternative methodology for designing an autonomous navigation and control system is discussed. This generalized hybrid system is based on a less sequential and less anthropomorphic approach than that used in the more traditional artificial intelligence (AI) technique. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules. This is accomplished by intertask communications channels which implement each behavior module and each interconnection node as a stand-alone task. The proposed design architecture allows for construction of hybrid systems which employ both subsumption and traditional AI techniques as well as providing for a teleoperator's interface. Implementation of the architecture is planned for the prototype Robotic All Terrain Lunar Explorer Rover (RATLER) which is described briefly.

  5. A multitasking behavioral control system for the Robotic All-Terrain Lunar Exploration Rover (RATLER)

    Science.gov (United States)

    Klarer, Paul

    1993-01-01

    An approach for a robotic control system which implements so called 'behavioral' control within a realtime multitasking architecture is proposed. The proposed system would attempt to ameliorate some of the problems noted by some researchers when implementing subsumptive or behavioral control systems, particularly with regard to multiple processor systems and realtime operations. The architecture is designed to allow synchronous operations between various behavior modules by taking advantage of a realtime multitasking system's intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the field are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development and is briefly described.

  6. Middleware and Web Services for the Collaborative Information Portal of NASA's Mars Exploration Rovers Mission

    Science.gov (United States)

    Sinderson, Elias; Magapu, Vish; Mak, Ronald

    2004-01-01

    We describe the design and deployment of the middleware for the Collaborative Information Portal (CIP), a mission critical J2EE application developed for NASA's 2003 Mars Exploration Rover mission. CIP enabled mission personnel to access data and images sent back from Mars, staff and event schedules, broadcast messages and clocks displaying various Earth and Mars time zones. We developed the CIP middleware in less than two years time usins cutting-edge technologies, including EJBs, servlets, JDBC, JNDI and JMS. The middleware was designed as a collection of independent, hot-deployable web services, providing secure access to back end file systems and databases. Throughout the middleware we enabled crosscutting capabilities such as runtime service configuration, security, logging and remote monitoring. This paper presents our approach to mitigating the challenges we faced, concluding with a review of the lessons we learned from this project and noting what we'd do differently and why.

  7. Principal Components Analysis of Reflectance Spectra from the Mars Exploration Rover Opportunity

    Science.gov (United States)

    Mercer, C. M.; Cohen, B. A.

    2010-01-01

    In the summer of 2007 a global dust storm on Mars effectively disabled Opportunity's Miniature Thermal Emission Spectrometer (Mini-TES), the primary instrument used by the Athena Science Team to identify locally unique rocks on the Martian surface. The science team needs another way to distinguish interesting rocks from their surroundings on a tactical timescale. This study was designed to develop the ability to identify locally unique rocks on the Martian surface remotely using the Mars Exploration Rovers' Panoramica Camera (PanCam) instrument. Meridiani bedrock observed by Opportunity is largely characterized by sulfate-rich sandstones and hematite spherules. Additionally, loose fragments of bedrock and "cobbles" of foreign origin collet on the surface, some of which are interpreted as meteorites.

  8. In-flight propulsion system characterization for both Mars Exploration Rover Spacecraft

    Science.gov (United States)

    Barber, Todd J.; Picha, Frank Q.

    2004-01-01

    Two Mars Exploration Rover spacecraft were dispensed to red planet in 2003, culminating in a phenomenally successful prime science mission. Twin cruise stage propulsion systems were developed in record time, largely through heritage with Mars Pathfinder. As expected, consumable usage was minimal during the short seven-month cruise for both spacecraft. Propellant usage models based on pressure and temperature agreed with throughput models with in a few percent. Trajectory correction maneuver performance was nominal, allowing the cancellation of near-Mars maneuvers. Spin thruster delivered impulse was 10-12% high vs. ground based models for the intial spin-down maneuvers, while turn performance was XX-XX% high/low vs. expectations. No clear indications for pressure transducer drift were noted during the brief MER missions.

  9. PicoBots -A small-sized exploration rover standard for universities

    Science.gov (United States)

    Weiß, André

    This paper will introduce a pico-class robotic platform primarily intended for future lunar exploration. Inspired by the Cubesat standard, an affordable and easy to fabricate design will be introduced allowing universities to develop and perform own rover-based missions. As all major space agencies have set the goal to go to Earths natural satellite in the near future, several opportunities will arise to piggyback to the moon. With a maximum weight of 1 kg, one or multiple PicoBots, plus an eventually needed base station, could easily fill mass budget margins. By utilizing the alternating tripod gait, adapted from simple insects like the cockroach, locomotion can be realized with only two actuators. In comparison to most exploration rovers, the chosen propulsion system leads to a lower number in `degrees of freedom' and therefore a much higher demand for a simple environment. Main advantage, on the other hand, is that it minimizes the complexity of the control-algorithm and reduces the mass as well as the cost. Thanks to the progress in the field of MEMS-based technologies, subsystem components and instruments are available in small sizes, are lightweight and with low power requirements. PicoBots could either be specifically designed for a single mechanical task, e.g. sampling and analysis of rocks, or numerous sensoric payloads, like the seismo-or gravimeter. Swarm intelligence and behavior could also be an interesting field of research. To protect the electronics from radiation, a complementary, multi-layered `spacesuit' will be offered. If needed the suit can also be pressurized thus allowing the use of components not functioning in the vacuum environment.

  10. Vibroacoustic analysis and experimental validation of the structural responses of NASA Mars Exploration Rover spacecraft due to acoustic launch load

    Science.gov (United States)

    Hwang, H. J.

    2003-01-01

    Structural responses of a spacecraft during liftoff are dominated by the intense acoustic pressure field imping on the exterior of the launch vehicle. Statistical Energy Analysis model of the NASA Mars Exploration Rover spacecraft has been developed and the SEA model was analyzed to predict vibroacoustic responses of the spacecraft under the diffuse acoustic loading condition.

  11. A Reliable Service-Oriented Architecture for NASA's Mars Exploration Rover Mission

    Science.gov (United States)

    Mak, Ronald; Walton, Joan; Keely, Leslie; Hehner, Dennis; Chan, Louise

    2005-01-01

    The Collaborative Information Portal (CIP) was enterprise software developed jointly by the NASA Ames Research Center and the Jet Propulsion Laboratory (JPL) for NASA's highly successful Mars Exploration Rover (MER) mission. Both MER and CIP have performed far beyond their original expectations. Mission managers and engineers ran CIP inside the mission control room at JPL, and the scientists ran CIP in their laboratories, homes, and offices. All the users connected securely over the Internet. Since the mission ran on Mars time, CIP displayed the current time in various Mars and Earth time zones, and it presented staffing and event schedules with Martian time scales. Users could send and receive broadcast messages, and they could view and download data and image files generated by the rovers' instruments. CIP had a three-tiered, service-oriented architecture (SOA) based on industry standards, including J2EE and web services, and it integrated commercial off-the-shelf software. A user's interactions with the graphical interface of the CIP client application generated web services requests to the CIP middleware. The middleware accessed the back-end data repositories if necessary and returned results for these requests. The client application could make multiple service requests for a single user action and then present a composition of the results. This happened transparently, and many users did not even realize that they were connecting to a server. CIP performed well and was extremely reliable; it attained better than 99% uptime during the course of the mission. In this paper, we present overviews of the MER mission and of CIP. We show how CIP helped to fulfill some of the mission needs and how people used it. We discuss the criteria for choosing its architecture, and we describe how the developers made the software so reliable. CIP's reliability did not come about by chance, but was the result of several key design decisions. We conclude with some of the important

  12. Rover's Wheel Churns Up Bright Martian Soil

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. Spirit acquired this mosaic with the panoramic camera's 753-nanometer, 535-nanometer, and 432-nanometer filters. The view presented here is an approximately true-color rendering.

  13. Overview of the magnetic properties experiments on the Mars Exploration Rovers

    Science.gov (United States)

    Madsen, M.B.; Goetz, W.; Bertelsen, P.; Binau, C.S.; Folkmann, F.; Gunnlaugsson, H.P.; Hjollum, J.I.; Hviid, S.F.; Jensen, J.; Kinch, K.M.; Leer, K.; Madsen, D.E.; Merrison, J.; Olsen, M.; Arneson, H.M.; Bell, J.F.; Gellert, Ralf; Herkenhoff, K. E.; Johnson, J. R.; Johnson, M.J.; Klingelhofer, G.; McCartney, E.; Ming, D. W.; Morris, R.V.; Proton, J.B.; Rodionov, D.; Sims, M.; Squyres, S. W.; Wdowiak, T.; Yen, A. S.

    2009-01-01

    The Mars Exploration Rovers have accumulated airborne dust on different types of permanent magnets. Images of these magnets document the dynamics of dust capture and removal over time. The strongly magnetic subset of airborne dust appears dark brown to black in Panoramic Camera (Pancam) images, while the weakly magnetic one is bright red. Images returned by the Microscopic Imager reveal the formation of magnetic chains diagnostic of magnetite-rich grains with substantial magnetization (>8 Am2 kg-1). On the basis of M??ssbauer spectra the dust contains magnetite, olivine, pyroxene, and nanophase oxides in varying proportions, depending on wind regime and landing site. The dust contains a larger amount of ferric iron (Fe3+/Fe tot ??? 0.6) than rocks in the Gusev plains (???0.1-0.2) or average Gusev soil (???0.3). Alpha Particle X-Ray Spectrometer data of the dust show that some of the iron in magnetite is substituted by titanium and chromium. The good correlation of the amount of calcium and sulfur in the dust may be caused by the presence of a calcium sulfate related phase. The overall mineralogical composition points to a basaltic origin of the airborne dust, although some alteration has taken place as indicated by the large degree of oxidation. Copyright 2009 by the American Geophysical Union.

  14. Meteorological predictions for Mars 2020 Exploration Rover high-priority landing sites throug MRAMS Mesoscale Modeling

    Science.gov (United States)

    Pla-García, Jorge; Rafkin, Scot C. R.

    2015-04-01

    The Mars Regional Atmospheric Modeling System (MRAMS) is used to predict meteorological conditions that are likely to be encountered by the Mars 2020 Exploration Rover at several proposed landing sites during entry, descent, and landing (EDL). The meteorology during the EDL window at most of the sites is dynamic. The intense heating of the lower atmosphere drives intense thermals and mesoscale thermal circulations. Moderate mean winds, wind shear, turbulence, and vertical air currents associated with convection are present and potentially hazardous to EDL [1]. Nine areas with specific high-priority landing ellipses of the 2020 Rover, are investigated: NE Syrtis, Nili Fossae, Nili Fossae Carbonates, Jezero Crater Delta, Holden Crater, McLaughlin Crater, Southwest Melas Basin, Mawrth Vallis and East Margaritifer Chloride. MRAMS was applied to the landing site regions using nested grids with a spacing of 330 meters on the innermost grid that is centered over each landing site. MRAMS is ideally suited for this investigation; the model is explicitly designed to simulate Mars' atmospheric thermal circulations at the mesoscale and smaller with realistic, high-resolution surface properties [2, 3]. Horizontal wind speeds, both vertical profiles and vertical cross-sections wind speeds, are studied. For some landing sites simulations, two example configurations -including and not including Hellas basin in the mother domain- were generated, in order to study how the basin affects the innermost grids circulations. Afternoon circulations at all sites pose some risk entry, descent, and landing. Most of the atmospheric hazards are not evident in current observational data and general circulation model simulations and can only be ascertained through mesoscale modeling of the region. Decide where to go first and then design a system that can tolerate the environment would greatly minimize risk. References: [1] Rafkin, S. C. R., and T. I. Michaels (2003), J. Geophys. Res., 108(E12

  15. The Utility of a Small Pressurized Rover with Suit Ports for Lunar Exploration: A Geologist's Perspective

    Science.gov (United States)

    Kring, David A.; Bleacher, Jacob E.; Garry, W. Brent; Love, Stanley G.; Young, Kelsey E.

    2017-01-01

    Rover trade study: As summarized recently, mission simulations at Black Point Lava Flow (Arizona) that included realistic extravehicular activity (EVA) tasking, accurate traverse timelines, and an in-loop science CAPCOM (or SciCOM) showed that a small pressurized rover (SPR) was a better mobility asset than an unpressurized rover (UPR). Traverses within the SPR were easier on crew than spending an entire day in a spacesuit, enhancing crew productivity at each station. The SPR, named Lunar Electric Rover (LER), and sometimes called the Space Exploration Vehicle (SEV), could also provide shelter during a suit malfunction, radiation event, or medical emergency that might occur on the Moon. Intravehicular activity (IVA) capabilities: From within the vehicle, crew could describe and photo-document distant features during drives between stations, as well as in the near-field, directly in front of the LER, providing an ability to begin EVA planning on approach to each outcrop prior to egress. The vehicle can rotate 360º without any lateral movement, providing views in all directions. It has high-visibility windows, a ForeCam, AftCam, port and starboard cameras, docking cameras, and a GigaPan camera. EVA capabilities: To reduce timeline, mass, and volumetric overhead, rapid egress and ingress were envisioned, replacing an airlock with lower cabin pressure than on the International Space Station and suit ports on the aft cabin wall [2]. When needed for closer inspection and sample collecting, crew could egress in about 10 minutes through suit ports. Crew use SuitCams for additional photo-documentation, transmit mobile observations verbally, and collect surface materials. Typical simulations involved 3 to 4 EVA stations/day and 2 to 3 hr/day of boots on the ground. This allowed crew to explore a far larger territory, with more complex geological and in situ resource utilization (ISRU) features, than would a single, longer-duration EVA at one location, while also minimizing

  16. Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

    Science.gov (United States)

    Trease, Brian P.; Lindeman, Randel A.; Arvidson, Raymond E.; Bennett, Keith; VanDyke, Lauren P.; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine

    2013-01-01

    The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files

  17. The Geologic Exploration of the Bagnold Dune Field at Gale Crater by the Curiosity Rover

    Science.gov (United States)

    Chojnacki, Matthew; Fenton, Lori K.

    2017-11-01

    The Mars Science Laboratory rover Curiosity engaged in a monthlong campaign investigating the Bagnold dune field in Gale crater. What represents the first in situ investigation of a dune field on another planet has resulted in a number of discoveries. Collectively, the Curiosity rover team has compiled the most comprehensive survey of any extraterrestrial aeolian system visited to date with results that yield important insights into a number of processes, including sediment transport, bed form morphology and structure, chemical and physical composition of aeolian sand, and wind regime characteristics. These findings and more are provided in detail by the JGR-Planets Special Issue Curiosity's Bagnold Dunes Campaign, Phase I.

  18. Spirit's View Beside 'Home Plate' on Sol 1823 (Stereo)

    Science.gov (United States)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11971 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11971 NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,823rd Martian day, or sol, of Spirit's surface mission (Feb. 17, 2009). This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left. The center of the view is toward the south-southwest. The rover had driven 7 meters (23 feet) eastward earlier on Sol 1823, part of maneuvering to get Spirit into a favorable position for climbing onto the low plateau called 'Home Plate.' However, after two driving attempts with negligible progress during the following three sols, the rover team changed its strategy for getting to destinations south of Home Plate. The team decided to drive Spirit at least partway around Home Plate, instead of ascending the northern edge and taking a shorter route across the top of the plateau. Layered rocks forming part of the northern edge of Home Plate can be seen near the center of the image. Rover wheel tracks are visible at the lower edge. This view is presented as a cylindrical-perspective projection with geometric seam correction.

  19. Silica-Rich Soil Found by Spirit

    Science.gov (United States)

    2007-01-01

    NASA's Mars Exploration Rover Spirit has found a patch of bright-toned soil so rich in silica that scientists propose water must have been involved in concentrating it. The silica-rich patch, informally named 'Gertrude Weise' after a player in the All-American Girls Professional Baseball League, was exposed when Spirit drove over it during the 1,150th Martian day, or sol, of Spirit's Mars surface mission (March 29, 2007). One of Spirit's six wheels no longer rotates, so it leaves a deep track as it drags through soil. Most patches of disturbed, bright soil that Spirit had investigated previously are rich in sulfur, but this one has very little sulfur and is about 90 percent silica. This image is a approximately true-color composite of three images taken through different filters by Spirit's panoramic camera on Sol 1,187 (May 6). The track of disturbed soil is roughly 20 centimeters (8 inches) wide. Spirit's miniature thermal emission spectrometer, which can assess a target's mineral composition from a distance, examined the Gertrude Weise patch on Sol 1,172 (April 20). The indications it found for silica in the overturned soil prompted a decision to drive Spirit close enough to touch the soil with the alpha particle X-ray spectrometer, a chemical analyzer at the end of Spirit's robotic arm. The alpha particle X-ray spectrometer collected data about this target on sols 1,189 and 1,190 (May 8 and May 9) and produced the finding of approximately 90 percent silica. Silica is silicon dioxide. On Earth, it commonly occurs as the crystalline mineral quartz and is the main ingredient in window glass. The Martian silica at Gertrude Weise is non-crystalline, with no detectable quartz. In most cases, water is required to produce such a concentrated deposit of silica, according to members of the rover science team. One possible origin for the silica could have been interaction of soil with acidic steam produced by volcanic activity. Another could have been from water in a hot

  20. New Record Five-Wheel Drive, Spirit's Sol 1856 (Stereo)

    Science.gov (United States)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11962 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11962 NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,856th Martian day, or sol, of Spirit's surface mission (March 23, 2009). The center of the view is toward the west-southwest. This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left. The rover had driven 25.82 meters (84.7 feet) west-northwestward earlier on Sol 1856. This is the longest drive on Mars so far by a rover using only five wheels. Spirit lost the use of its right-front wheel in March 2006. Before Sol 1856, the farthest Spirit had covered in a single sol's five-wheel drive was 24.83 meters (81.5 feet), on Sol 1363 (Nov. 3, 2007). The Sol 1856 drive made progress on a route planned for taking Spirit around the western side of the low plateau called 'Home Plate.' A portion of the northwestern edge of Home Plate is prominent in the left quarter of this image, toward the south. This view is presented as a cylindrical-perspective projection with geometric seam correction.

  1. Towards chemical profiling of ignitable liquids with comprehensive two-dimensional gas chromatography: Exploring forensic application to neat white spirits.

    Science.gov (United States)

    Sampat, Andjoe A S; Lopatka, Martin; Vivó-Truyols, Gabriel; Schoenmakers, Peter J; van Asten, Arian C

    2016-10-01

    The application of GC×GC-FID and GC×GC-MS for the chemical analysis and profiling of neat white spirit is explored and the benefit of the enhanced peak capacity offered by comprehensive two-dimensional gas chromatography is demonstrated. An extensive sampling exercise was conducted throughout The Netherlands and the production and logistics in terms of bottling and distribution of white spirits were studied. An exploratory approach based on target-peak tables and principal component analysis was employed to study the brand-to-brand differences and production variations over time. Despite the complex chemical composition of white spirit samples this study shows that chemical variation during productions is actually quite limited. Hence care has to be taken with the chemical comparison for forensic purposes. Although some clustering was noticed on brand level, the large scale production process leads to a very consistent composition across stores and brands. However, because of the broad specifications of this commodity product, substantial chemical variation was found over time. This temporal discrimination could be of forensic value when considering white spirits supplies in individual households. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  2. Integrating the Teaching of Space Science, Planetary Exploration And Robotics In Elementary And Middle School with Mars Rover Models

    Science.gov (United States)

    Bering, E. A.; Ramsey, J.; Smith, H.; Boyko, B. S.; Peck, S.; Arcenaux, W. H.

    2005-05-01

    The present aerospace engineering and science workforce is ageing. It is not clear that the US education system will produce enough qualified replacements to meet the need in the near future. Unfortunately, by the time many students get to high school, it is often too late to get them pointed toward an engineering or science career. Since some college programs require 6 units of high school mathematics for admission, students need to begin consciously preparing for a science or engineering curriculum as early as 6th or 7th grade. The challenge for educators is to convince elementary school students that science and engineering are both exciting, relevant and accessible career paths. This paper describes a program designed to help provide some excitement and relevance. It is based on the task of developing a mobile robot or "Rover" to explore the surface of Mars. There are two components to the program, a curriculum unit and a contest. The curriculum unit is structured as a 6-week planetary science unit for elementary school (grades 3-5). It can also be used as a curriculum unit, enrichment program or extracurricular activity in grades 6-8 by increasing the expected level of scientific sophistication in the mission design. The second component is a citywide competition to select the most outstanding models that is held annually at a local college or University. Primary (Grades 3-5) and middle school (Grades 6-8) students interested in science and engineering will design and build of a model of a Mars Rover to carry out a specific science mission on the surface of Mars. The students will build the models as part of a 6-week Fall semester classroom-learning or homework project on Mars. The students will be given design criteria for a rover, and be required to do basic research on Mars that will determine the operational objectives and structural features of their rover. This module may be used as part of a class studying general science, earth science, solar system

  3. Spirit Beside 'Home Plate,' Sol 1809 (Stereo)

    Science.gov (United States)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11803 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11803 NASA Mars Exploration Rover Spirit used its navigation camera to take the images assembled into this stereo, 120-degree view southward after a short drive during the 1,809th Martian day, or sol, of Spirit's mission on the surface of Mars (February 3, 2009). By combining images from the left-eye and right-eye sides of the navigation camera, the view appears three-dimensional when viewed through red-blue glasses with the red lens on the left. Spirit had driven about 2.6 meters (8.5 feet) that sol, continuing a clockwise route around a low plateau called 'Home Plate.' In this image, the rocks visible above the rovers' solar panels are on the slope at the northern edge of Home Plate. This view is presented as a cylindrical-perspective projection with geometric seam correction.

  4. Mars Rover Model Celebration: Using Planetary Exploration To Enrich STEM Teaching In Elementary And Middle School

    Science.gov (United States)

    Bering, E. A.; Ramsey, J.; Dominey, W.; Kapral, A.; Carlson, C.; Konstantinidis, I.; James, J.; Sweaney, S.; Mendez, R.

    2011-12-01

    The present aerospace engineering and science workforce is ageing. It is not clear that the US education system will produce enough qualified replacements to meet the need in the near future. Unfortunately, by the time many students get to high school, it is often too late to get them pointed toward an engineering or science career. Since some college programs require 6 units of high school mathematics for admission, students need to begin consciously preparing for a science or engineering curriculum as early as 6th or 7th grade. The challenge for educators is to convince elementary school students that science and engineering are both exciting, relevant and accessible career paths. The recent NASA Mars Rover missions capture the imagination of children, as NASA missions have done for decades. The University of Houston is in the process of developing a prototype of a flexible program that offers children an in-depth educational experience culminating in the design and construction of their own model rover. The existing prototype program is called the Mars Rover Model Celebration. It focuses on students, teachers and parents in grades 3-8. Students will design and build a model of a Mars rover to carry out a student selected science mission on the surface of Mars. The model will be a mock-up, constructed at a minimal cost from art supplies. The students will build the models as part of a project on Mars. The students will be given design criteria for a rover and will do basic research on Mars that will determine the objectives and features of their rover. This project may be used either informally as an after school club or youth group activity or formally as part of a class studying general science, earth science, solar system astronomy or robotics, or as a multi-disciplinary unit for a gifted and talented program. The program culminates in a capstone event held at the University of Houston (or other central location in the other communities that will be involved

  5. Rover's Wheel Churns Up Bright Martian Soil (Stereo)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. Multiple images taken with Spirit's panoramic camera are combined here into a stereo view that appears three-dimensional when seen through red-blue glasses, with the red lens on the left.

  6. Dust Devil in Spirit's View Ahead on Sol 1854 (Stereo)

    Science.gov (United States)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11960 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11960 NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, 180-degree view of the rover's surroundings during the 1,854th Martian day, or sol, of Spirit's surface mission (March 21, 2009). This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left. The rover had driven 13.79 meters (45 feet) westward earlier on Sol 1854. West is at the center, where a dust devil is visible in the distance. North on the right, where Husband Hill dominates the horizon; Spirit was on top of Husband Hill in September and October 2005. South is on the left, where lighter-toned rock lines the edge of the low plateau called 'Home Plate.' This view is presented as a cylindrical-perspective projection with geometric seam correction.

  7. Availability of feature-oriented scanning probe microscopy for remote-controlled measurements on board a space laboratory or planet exploration Rover.

    Science.gov (United States)

    Lapshin, Rostislav V

    2009-06-01

    Prospects for a feature-oriented scanning (FOS) approach to investigations of sample surfaces, at the micrometer and nanometer scales, with the use of scanning probe microscopy under space laboratory or planet exploration rover conditions, are examined. The problems discussed include decreasing sensitivity of the onboard scanning probe microscope (SPM) to temperature variations, providing autonomous operation, implementing the capabilities for remote control, self-checking, self-adjustment, and self-calibration. A number of topical problems of SPM measurements in outer space or on board a planet exploration rover may be solved via the application of recently proposed FOS methods.

  8. The Spirit and the meal as a model for Charismatic worship: A practical-theological exploration

    Directory of Open Access Journals (Sweden)

    Lindie Denny

    2013-01-01

    Full Text Available The purpose of this article is to present one aspect of a larger research project. The Spirit tradition (Charismatic and its liturgical rituals as well as the Meal tradition (Liturgical Movement and its liturgical rituals through history were researched as well as the concomitant theology. The aim was to gain a better understanding of whether the future of Charismatic worship can benefit from a somewhat closer integration of aspects of the meal tradition, especially the celebration of the Lord’s Supper. This article will mostly be focused on the empirical research done in this project within three Charismatic churches in Gauteng, South Africa. This research seeks to contribute to Robert Webber’s model of bringing old and new together in synergy. In the end, this article poses a new model for Charismatic worship when liturgical-rituals of the Spirit are combined with the celebration of communion in a way that worshippers experience as being more meaningful.

  9. Time for a Change; Spirit's View on Sol 1843 (Stereo)

    Science.gov (United States)

    2009-01-01

    [figure removed for brevity, see original site] Left-eye view of a color stereo pair for PIA11973 [figure removed for brevity, see original site] Right-eye view of a color stereo pair for PIA11973 NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this stereo, full-circle view of the rover's surroundings during the 1,843rd Martian day, or sol, of Spirit's surface mission (March 10, 2009). South is in the middle. North is at both ends. This view combines images from the left-eye and right-eye sides of the navigation camera. It appears three-dimensional when viewed through red-blue glasses with the red lens on the left. The rover had driven 36 centimeters downhill earlier on Sol 1854, but had not been able to get free of ruts in soft material that had become an obstacle to getting around the northeastern corner of the low plateau called 'Home Plate.' The Sol 1854 drive, following two others in the preceding four sols that also achieved little progress in the soft ground, prompted the rover team to switch to a plan of getting around Home Plate counterclockwise, instead of clockwise. The drive direction in subsequent sols was westward past the northern edge of Home Plate. This view is presented as a cylindrical-perspective projection with geometric seam correction.

  10. Time for a Change; Spirit's View on Sol 1843 (Polar)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this full-circle view of the rover's surroundings during the 1,843rd Martian day, or sol, of Spirit's surface mission (March 10, 2009). South is in the middle. North is at both ends. This view is presented as a polar projection with geometric seam correction. North is at the top. The rover had driven 36 centimeters downhill earlier on Sol 1854, but had not been able to get free of ruts in soft material that had become an obstacle to getting around the northeastern corner of the low plateau called 'Home Plate.' The Sol 1854 drive, following two others in the preceding four sols that also achieved little progress in the soft ground, prompted the rover team to switch to a plan of getting around Home Plate counterclockwise, instead of clockwise. The drive direction in subsequent sols was westward past the northern edge of Home Plate.

  11. Time for a Change; Spirit's View on Sol 1843 (Vertical)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit used its navigation camera to take the images that have been combined into this full-circle view of the rover's surroundings during the 1,843rd Martian day, or sol, of Spirit's surface mission (March 10, 2009). South is in the middle. North is at both ends. This view is presented as a vertical projection with geometric seam correction. North is at the top. The rover had driven 36 centimeters downhill earlier on Sol 1854, but had not been able to get free of ruts in soft material that had become an obstacle to getting around the northeastern corner of the low plateau called 'Home Plate.' The Sol 1854 drive, following two others in the preceding four sols that also achieved little progress in the soft ground, prompted the rover team to switch to a plan of getting around Home Plate counterclockwise, instead of clockwise. The drive direction in subsequent sols was westward past the northern edge of Home Plate.

  12. Spirit, Too, Finds Hematite

    Science.gov (United States)

    2004-01-01

    These graphs, or spectra, shows evidence for the mineral hematite in the rock dubbed 'Pot of Gold,' located at Gusev Crater. The data was taken from the surface of the rock with the Mars Exploration Rover Spirit's Moessbauer spectrometer on sols 161 and 163 (June 16 and 18, 2004). The top red line is the spectrum for Pot of Gold, and the bottom blue line is for a typical basaltic, or volcanic, rock in Gusev Crater. The two large peaks in the center represent non-hematite, iron-containing minerals, while the smaller set of six peaks (two are hidden in the larger peaks) in the top spectrum is the signature of hematite. Hematite, which is found on Earth, can be formed in three different ways: in standing water; in small amounts of hot fluids (hydrothermal processes); and in volcanic rock. Scientists are planning further observations of this and other rocks in the area, which they hope will yield more insight into the hematite's origins.

  13. An Ontology for Requesting Distant Robotic Action: A Case Study in Naming and Action Identification for Planning on the Mars Exploration Rover Mission

    Science.gov (United States)

    Wales, Roxana C.; Shalin, Valerie L.; Bass, Deborah S.

    2004-01-01

    This paper focuses on the development and use of the abbreviated names as well as an emergent ontology associated with making requests for action of a distant robotic rover during the 2003-2004 NASA Mars Exploration Rover (MER) mission, run by the Jet Propulsion Laboratory. The infancy of the domain of Martian telerobotic science, in which specialists request work from a rover moving through the landscape, as well as the need to consider the interdisciplinary teams involved in the work required an empirical approach. The formulation of this ontology is grounded in human behavior and work practice. The purpose of this paper is to identify general issues for an ontology of action (specifically for requests for action), while maintaining sensitivity to the users, tools and the work system within a specific technical domain. We found that this ontology of action must take into account a dynamic environment, changing in response to the movement of the rover, changes on the rover itself, as well as be responsive to the purposeful intent of the science requestors. Analysis of MER mission events demonstrates that the work practice and even robotic tool usage changes over time. Therefore, an ontology must adapt and represent both incremental change and revolutionary change, and the ontology can never be more than a partial agreement on the conceptualizations involved. Although examined in a rather unique technical domain, the general issues pertain to the control of any complex, distributed work system as well as the archival record of its accomplishments.

  14. Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of this effort is to develop a mission architecture that allows the systematic and affordable in situ exploration of small Solar System bodies (such...

  15. Rover's Wheel Churns Up Bright Martian Soil (Vertical)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. The image is presented here as a vertical projection, as if looking straight down, and in false color, which brings out subtle color differences.

  16. Rover's Wheel Churns Up Bright Martian Soil (False Color)

    Science.gov (United States)

    2009-01-01

    NASA's Mars Exploration Rover Spirit acquired this mosaic on the mission's 1,202nd Martian day, or sol (May 21, 2007), while investigating the area east of the elevated plateau known as 'Home Plate' in the 'Columbia Hills.' The mosaic shows an area of disturbed soil, nicknamed 'Gertrude Weise' by scientists, made by Spirit's stuck right front wheel. The trench exposed a patch of nearly pure silica, with the composition of opal. It could have come from either a hot-spring environment or an environment called a fumarole, in which acidic, volcanic steam rises through cracks. Either way, its formation involved water, and on Earth, both of these types of settings teem with microbial life. The image is presented here in false color that is used to bring out subtle differences in color.

  17. Searching for Life with Rovers: Exploration Methods & Science Results from the 2004 Field Campaign of the "Life in the Atacama" Project and Applications to Future Mars Missions

    Science.gov (United States)

    Cabrol, N. A.a; Wettergreen, D. S.; Whittaker, R.; Grin, E. A.; Moersch, J.; Diaz, G. Chong; Cockell, C.; Coppin, P.; Dohm, J. M.; Fisher, G.

    2005-01-01

    The Life In The Atacama (LITA) project develops and field tests a long-range, solarpowered, automated rover platform (Zo ) and a science payload assembled to search for microbial life in the Atacama desert. Life is barely detectable over most of the driest desert on Earth. Its unique geological, climatic, and biological evolution have created a unique training site for designing and testing exploration strategies and life detection methods for the robotic search for life on Mars.

  18. The spirit of entrepreneurship : Exploring the essence of entrepreneurship through personal stories

    NARCIS (Netherlands)

    Nandram, S.S.; Samsom, K.J.

    2006-01-01

    What inspires people to leave behind certainty to pursue their vision through creativity and entrepreneurship? Sharda S. Nandram and Karel J. Samsom, entrepreneurial researchers at Nyenrode Business University, explore entrepreneurship through the lens of human behaviour. Creative vision, drive,

  19. Rover Magnets All Around

    Science.gov (United States)

    2004-01-01

    This illustration shows the locations of the various magnets on the Mars Exploration Rover, which are: its front side, or chest; its back, near the color calibration target; and on its rock abrasion tool. Scientists will use these tools to collect dust for detailed studies. The origins of martian dust are a mystery, although it is believed to come from at least one of three sources: volcanic ash, pulverized rocks or mineral precipitates from liqiud water. By studying the dust with the rover's two spectrometers, scientists hope to find an answer.

  20. Small rover exploration capabilities

    NARCIS (Netherlands)

    Salotti, J.; Laithier, C.; Machut, B.; van Marie, A.; Bruneau, A.; Groemer, G.; Foing, B.H.

    2015-01-01

    For a human mission to the Moon or Mars, an important question is to determine the best strategy for the choice of surface vehicles. Recent studies suggest that the first missions to Mars will be strongly constrained and that only small unpressurized vehicles will be available. We analyze the

  1. Arusha Rover Deployable Medical Workstation

    Science.gov (United States)

    Boswell, Tyrone; Hopson, Sonya; Marzette, Russell; Monroe, Gilena; Mustafa, Ruqayyah

    2014-01-01

    The NSBE Arusha rover concept offers a means of human transport and habitation during long-term exploration missions on the moon. This conceptual rover calls for the availability of medical supplies and equipment for crew members in order to aid in mission success. This paper addresses the need for a dedicated medical work station aboard the Arusha rover. The project team investigated multiple options for implementing a feasible deployable station to address both the medical and workstation layout needs of the rover and crew. Based on layout specifications and medical workstation requirements, the team has proposed a deployable workstation concept that can be accommodated within the volumetric constraints of the Arusha rover spacecraft

  2. Cerebellum Augmented Rover Development

    Science.gov (United States)

    King, Matthew

    2005-01-01

    Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

  3. Are symptoms of spirit possessed patients covered by the DSM-IV or DSM-5 criteria for possession trance disorder? A mixed-method explorative study in Uganda.

    Science.gov (United States)

    van Duijl, Marjolein; Kleijn, Wim; de Jong, Joop

    2013-09-01

    As in many cultures, spirit possession is a common idiom of distress in Uganda. The DSM-IV contains experimental research criteria for dissociative and possession trance disorder (DTD and PTD), which are under review for the DSM-5. In the current proposed categories of the DSM-5, PTD is subsumed under dissociative identity disorder (DID) and DTD under dissociative disorders not elsewhere classified. Evaluation of these criteria is currently urgently required. This study explores the match between local symptoms of spirit possession in Uganda and experimental research criteria for PTD in the DSM-IV and proposed criteria for DID in the DSM-5. A mixed-method approach was used combining qualitative and quantitative research methods. Local symptoms were explored of 119 spirit possessed patients, using illness narratives and a cultural dissociative symptoms' checklist. Possible meaningful clusters of symptoms were inventoried through multiple correspondence analysis. Finally, local symptoms were compared with experimental criteria for PTD in the DSM-IV and proposed criteria for DID in the DSM-5. Illness narratives revealed different phases of spirit possession, with passive-influence experiences preceding the actual possession states. Multiple correspondence analysis of symptoms revealed two dimensions: 'passive' and 'active' symptoms. Local symptoms, such as changes in consciousness, shaking movements, and talking in a voice attributed to spirits, match with DSM-IV-PTD and DSM-5-DID criteria. Passive-influence experiences, such as feeling influenced or held by powers from outside, strange dreams, and hearing voices, deserve to be more explicitly described in the proposed criteria for DID in the DSM-5. The suggested incorporation of PTD in DID in the DSM-5 and the envisioned separation of DTD and PTD in two distinctive categories have disputable aspects.

  4. Mineral Composition and Abundance of the Rocks and Soils at Gusev and Meridiani from the Mars Exploration Rover Mini-TES Instruments

    Science.gov (United States)

    Christensen, P. R.; Wyatt, M. B.; Glotch, T. D.; Rogers, A. D.; Anwar, S.; Arvidson, R. E.; Bandfield, J. L.; Blaney, D. L.; Budney, C.; Calvin, W. M.

    2005-01-01

    The Miniature Thermal Emission Spectrometer (Mini-TES) has provided remote measurements of mineralogy, thermophysical properties, and atmospheric temperature profile and composition of the outcrops, rocks, spherules, and soils surrounding the Spirit and Opportunity Rovers. The mineralogy of volcanic rocks provides insights into the composition of the source regions and the nature of martian igneous processes. Carbonates, sulfates, evaporites, and oxides provide information on the role of water in the surface evolution. Oxides, such as crystalline hematite, provide insight into aqueous weathering processes, as would the occurrence of clay minerals and other weathering products. Diurnal temperature measurements can be used to determine particle size and search for the effects of sub-surface layering, which in turn provide clues to the origin of surficial materials through rock disintegration, aeolian transport, atmospheric fallout, or induration. In addition to studying the surface properties, Mini-TES spectra have also been used to determine the temperature profile in the lower boundary layer, providing evidence for convective activity, and have determined the seasonal trends in atmospheric temperature and dust and cloud opacity.

  5. Mineral Composition and Abundance of the Rocks and Soils at Gusev and Meridiani from the Mars Exploration Rover Mini-TES Instruments

    Science.gov (United States)

    Christensen, P. R.

    2005-05-01

    The miniature Thermal Emission Spectrometer (Mini-TES) has provided remote measurements of the mineralogy and thermophysical properties of outcrops, rocks, spherules, and soils surrounding the Spirit and Opportunity Rovers [1, 2]. The composition of surface materials provides insight into the origin and evolution of the martian crust and the nature of igneous and sedimentary processes. At Gusev, undisturbed soil spectra closely match MGS TES bright-regions dust spectra, with features interpreted to be due to minor carbonates and bound water. Dark-toned soils observed on rover-disturbed surfaces are likely derived from rocks and have a derived mineralogy, with uncertainties of 5-10 vol.%, of 45% pyroxene (20% high-Ca pyroxene, 25% pigeonite), 40% sodic/intermediate plagioclase, and 15% olivine (Fo35-Fo55). Aeolian drift material has a unique spectral character with higher oxide abundances than disturbed soil. Along the rover's traverse from the lander into the Columbia Hills, at least three distinct rock types have been recognized: olivine rich basalt, a volcaniclastic rock dominated by an amorphous component (possibly basaltic glass and/or shocked plagioclase), and a second volcaniclastic rock dominated by plagioclase of intermediate composition with lesser pyroxene and olivine components. One (or possibly two) spectrally distinct coatings are observed on rocks, a possible indicator of the interaction of water, rock, and airfall dust. At Meridiani, the Mini-TES has identified coarse crystalline hematite and olivine basaltic sands as predicted from orbital TES spectroscopy [3, 4]. Basaltic materials have more plagioclase than pyroxene, contain olivine, and are similar in inferred mineral composition to basalt mapped by TES from orbit. Light-toned outcrops of aqueous origin exposed in crater walls are composed of 20 to 40% Mg and Ca sulfates, a high-silica component that is modeled as glass/feldspar/sheet silicates (~20-30%), and hematite. The Fe-bearing sulfate

  6. Correlating multispectral imaging and compositional data from the Mars Exploration Rovers and implications for Mars Science Laboratory

    Science.gov (United States)

    Anderson, Ryan B.; Bell, James F.

    2013-01-01

    In an effort to infer compositional information about distant targets based on multispectral imaging data, we investigated methods of relating Mars Exploration Rover (MER) Pancam multispectral remote sensing observations to in situ alpha particle X-ray spectrometer (APXS)-derived elemental abundances and Mössbauer (MB)-derived abundances of Fe-bearing phases at the MER field sites in Gusev crater and Meridiani Planum. The majority of the partial correlation coefficients between these data sets were not statistically significant. Restricting the targets to those that were abraded by the rock abrasion tool (RAT) led to improved Pearson’s correlations, most notably between the red–blue ratio (673 nm/434 nm) and Fe3+-bearing phases, but partial correlations were not statistically significant. Partial Least Squares (PLS) calculations relating Pancam 11-color visible to near-IR (VNIR; ∼400–1000 nm) “spectra” to APXS and Mössbauer element or mineral abundances showed generally poor performance, although the presence of compositional outliers led to improved PLS results for data from Meridiani. When the Meridiani PLS model for pyroxene was tested by predicting the pyroxene content of Gusev targets, the results were poor, indicating that the PLS models for Meridiani are not applicable to data from other sites. Soft Independent Modeling of Class Analogy (SIMCA) classification of Gusev crater data showed mixed results. Of the 24 Gusev test regions of interest (ROIs) with known classes, 11 had >30% of the pixels in the ROI classified correctly, while others were mis-classified or unclassified. k-Means clustering of APXS and Mössbauer data was used to assign Meridiani targets to compositional classes. The clustering-derived classes corresponded to meaningful geologic and/or color unit differences, and SIMCA classification using these classes was somewhat successful, with >30% of pixels correctly classified in 9 of the 11 ROIs with known classes. This work shows

  7. Chromatographic, Spectroscopic and Mass Spectrometric Approaches for Exploring the Habitability of Mars in 2012 and Beyond with the Curiosity Rover

    Science.gov (United States)

    Mahaffy, Paul

    2012-01-01

    The Sample Analysis at Mars (SAM) suite of instruments on the Curiosity Rover of Mars Science Laboratory Mission is designed to provide chemical and isotopic analysis of organic and inorganic volatiles for both atmospheric and solid samples. The goals of the science investigation enabled by the gas chromatograph mass spectrometer and tunable laser spectrometer instruments of SAM are to work together with the other MSL investigations is to quantitatively assess habitability through a series of chemical and geological measurements. We describe the multi-column gas chromatograph system employed on SAM and the approach to extraction and analysis of organic compounds that might be preserved in ancient martian rocks.

  8. Aerokats and Rover

    Science.gov (United States)

    Bland, G.; Miles, T.; Nagchaudhuri, A.; Henry, A.; Coronado, P.; Smith, S.; Bydlowski, D.; Gaines, J.; Hartman, C.

    2015-12-01

    Two novel tools are being developed for team-based environmental and science observations suitable for use in Middle School through Undergraduate settings. Partnerships with NASA's Goddard Space Flight Center are critical for this work, and the concepts and practices are aimed at providing affordable and easy-to-field hardware to the classroom. The Advanced Earth Research Observation Kites and Atmospheric and Terrestrial Sensors (AEROKATS) system brings affordable and easy-to-field remote sensing and in-situ measurements within reach for local-scale Earth observations and data gathering. Using commercial kites, a wide variety of sensors, and a new NASA technology, AEROKATS offers a quick-to-learn method to gather airborne remote sensing and in-situ data for classroom analysis. The Remotely Operated Vehicle for Education and Research (ROVER) project introduces team building for mission operations and research, using modern technologies for exploring aquatic environments. ROVER projects use hobby-type radio control hardware and common in-water instrumentation, to highlight the numerous roles and responsibilities needed in real-world research missions, such as technology, operations, and science disciplines. NASA GSFC's partnerships have enabled the fielding of several AEROKATS and ROVER prototypes, and results suggest application of these methods is feasible and engaging.

  9. Field reconnaissance geologic mapping of the Columbia Hills, Mars, based on Mars Exploration Rover Spirit and MRO HiRISE observations

    Science.gov (United States)

    Crumpler, L.S.; Arvidson, R. E.; Squyres, S. W.; McCoy, T.; Yingst, A.; Ruff, S.; Farrand, W.; McSween, Y.; Powell, M.; Ming, D. W.; Morris, R.V.; Bell, J.F.; Grant, J.; Greeley, R.; DesMarais, D.; Schmidt, M.; Cabrol, N.A.; Haldemann, A.; Lewis, K.W.; Wang, A.E.; Schroder, C.; Blaney, D.; Cohen, B.; Yen, A.; Farmer, J.; Gellert, Ralf; Guinness, E.A.; Herkenhoff, K. E.; Johnson, J. R.; Klingelhfer, G.; McEwen, A.; Rice, J.W.; Rice, M.; deSouza, P.; Hurowitz, J.

    2011-01-01

    Chemical, mineralogic, and lithologic ground truth was acquired for the first time on Mars in terrain units mapped using orbital Mars Reconnaissance Orbiter's High Resolution Imaging Science Experiment (MRO HiRISE) image data. Examination of several dozen outcrops shows that Mars is geologically complex at meter length scales, the record of its geologic history is well exposed, stratigraphic units may be identified and correlated across significant areas on the ground, and outcrops and geologic relationships between materials may be analyzed with techniques commonly employed in terrestrial field geology. Despite their burial during the course of Martian geologic time by widespread epiclastic materials, mobile fines, and fall deposits, the selective exhumation of deep and well-preserved geologic units has exposed undisturbed outcrops, stratigraphic sections, and structural information much as they are preserved and exposed on Earth. A rich geologic record awaits skilled future field investigators on Mars. The correlation of ground observations and orbital images enables construction of a corresponding geologic reconnaissance map. Most of the outcrops visited are interpreted to be pyroclastic, impactite, and epiclastic deposits overlying an unexposed substrate, probably related to a modified Gusev crater central peak. Fluids have altered chemistry and mineralogy of these protoliths in degrees that vary substantially within the same map unit. Examination of the rocks exposed above and below the major unconformity between the plains lavas and the Columbia Hills directly confirms the general conclusion from remote sensing in previous studies over past years that the early history of Mars was a time of more intense deposition and modification of the surface. Although the availability of fluids and the chemical and mineral activity declined from this early period, significant later volcanism and fluid convection enabled additional, if localized, chemical activity. Copyright ?? 2011 by the American Geophysical Union.

  10. Autonomous Path Tracking Steering Controller for Extraterrestrial Terrain Exporation Rover

    Science.gov (United States)

    Ahmed, Mohammed; Sonsalla, Roland; Kirchner, Frank

    Extraterrestrial surface missions typically use a robotic rover platform to carry the science instrumentation (e.g.,the twin MER rovers). Due to the risks in the rover path (i.e. low trafficability of unrecognized soil patches), it is proposed in the FASTER footnote{\\url{https://www.faster-fp7-space.eu}} project that two rovers should be used. A micro scout rover is used for determining the traversability of the terrain and collaborate with a primary rover to lower the risk of entering hazardous areas. That will improve the mission safety and the effective traverse speed for planetary rover exploration. This paper presents the design and implementation of the path following controller for micro scout rover. The objective to synthesize a control law which allows the rover to autonomously follow a desired path in a stable manner. Furthermore, the software architecture controlling the rover and all its subsystems is depicted. The performance of the designed controller is discussed and demonstrated with realistic simulations and experiments, conclusions and an outlook of future work are also given. Key words: Micro Rover, Scout Rover, Mars Exploration, Multi-Rover Team, Mobile, All-Terrain, Hybrid-Legged Wheel, Path Following, Automatic Steer, nonlinear systems.

  11. Robotic Arm of Rover 1

    Science.gov (United States)

    2003-01-01

    JPL engineers examine the robotic arm of Mars Exploration Rover 1. The arm is modeled after a human arm, complete with joints, and holds four devices on its end, the Rock Abrasion Tool which can grind into Martian rocks, a microscopic imager, and two spectrometers for elemental and iron-mineral identification.

  12. NASA Mars Science Laboratory Rover

    Science.gov (United States)

    Olson, Tim

    2017-01-01

    Since August 2012, the NASA Mars Science Laboratory (MSL) rover Curiosity has been operating on the Martian surface. The primary goal of the MSL mission is to assess whether Mars ever had an environment suitable for life. MSL Science Team member Dr. Tim Olson will provide an overview of the rover's capabilities and the major findings from the mission so far. He will also share some of his experiences of what it is like to operate Curiosity's science cameras and explore Mars as part of a large team of scientists and engineers.

  13. Hybrid Aerial/Rover Vehicle

    Science.gov (United States)

    Bachelder, Aaron

    2003-01-01

    A proposed instrumented robotic vehicle called an "aerover" would fly, roll along the ground, and/or float on bodies of liquid, as needed. The aerover would combine features of an aerobot (a robotic lighter-than-air balloon) and a wheeled robot of the "rover" class. An aerover would also look very much like a variant of the "beach-ball" rovers. Although the aerover was conceived for use in scientific exploration of Titan (the largest moon of the planet Saturn), the aerover concept could readily be adapted to similar uses on Earth.

  14. Sancti Spirit

    Directory of Open Access Journals (Sweden)

    Torroja, Eduardo

    1962-02-01

    Full Text Available Mucho más alto que el último pueblo del valle, a 1.500 metros de altitud, las aguas del San Nicolau, cansadas de saltar cascadas, se detienen a lo largo de unos pocos kilómetros, entreteniéndose en suaves meandros antes de volver a precipitarse en otra cascada mayor. La nieve cubre esa región la mayor parte del año, y en los meses de verano es lugar delicioso para el excursionista y el pescador de truchas. Sólo las tormentas bruscas, violentas y breves llegan con frecuencia a turbar la paz de su reposo en aquel edén. Puede cobijarse entonces bajo la media naranja del refugio, orientada a sotavento; y mientras pasa el aguacero, contemplar sus frescos inspirados por el nombre del lugar: Sancti Spirit.

  15. A GUPIX-based approach to interpreting the PIXE-plus-XRF spectra from the Mars Exploration rovers: II geochemical reference materials

    Energy Technology Data Exchange (ETDEWEB)

    Campbell, J.L., E-mail: icampbel@uoguelph.c [Guelph-Waterloo Physics Institute, University of Guelph, Guelph, Ontario, N1G 2W1 (Canada); McDonald, A.M. [Department of Earth Sciences, Laurentian University, Sudbury, Ontario, P3E 2E6 (Canada); Perrett, G.M. [Guelph-Waterloo Physics Institute, University of Guelph, Guelph, Ontario, N1G 2W1 (Canada); Taylor, S.M. [Department of Atmospheric and Oceanic Sciences, McGill University, Montreal, Quebec, H3A 2T5 (Canada)

    2011-01-01

    A detailed examination of the original calibration data for the laboratory version of the Mars Exploration Rover alpha particle X-ray spectrometer is undertaken to ascertain if the results from a suite of certified geochemical reference materials (GRMs) agree with the APXS calibration based upon homogeneous standards which was established in the previous paper. Various discrepancies, some of them large, are observed for specific elements in specific rock types, and it is argued on the basis of X-ray diffraction analyses of the GRMS that these are caused by the mineral phase structure of the rocks. Elements present in accessory mineral phases can be subject to very large errors, necessitating caution in interpretation of trace element results from the APXS. Some of the discrepancies can be dealt with by developing sub-calibrations, each of which is 'tuned' to a specific rock type. This approach has the potential to provide more accurate APXS analysis of unknown rocks than a calibration scheme based upon a simple averaging over many rock types within a GRM suite, or over a mix of rock and homogeneous standards. It also has the potential to measure the content of mineralogically bound water provided that a means of determining the distance from sample to detector is available.

  16. Mineral Composition and Abundance of the Rocks and Soils at Gusev and Meridiani from the Mars Exploration Rover Mini-TES Instruments: Implications for Aqueous Processes

    Science.gov (United States)

    Christensen, P.

    2004-12-01

    The Mini-TES instruments on Spirit and Opportunity have studied the mineral composition and abundance of the outcrops, rocks, spherules, and soils at Gusev Crater and the Meridiani Plains. At Gusev undisturbed soil spectra closely match MGS TES bright-region dust spectra, with features interpreted to be due to minor carbonates and bound water. Dark-toned soils observed on rover-disturbed surfaces are likely derived from rocks and has a derived mineralogy, with uncertainties of 5-10 percent, of 45 percent pyroxene (20 percent Ca-rich pyroxene, 25 percent pigeonite), 40 percent sodic/intermediate plagioclase, and 15 percent olivine (Fo45 ±~10). Rocks have complex spectra that are influenced by coatings and atmospheric downwelling radiance, as these high-thermal-inertia rocks are typically colder during the day than the atmosphere. Their Mini-TES spectra are consistent with olivine-rich basalts with varying degrees of dust and other coatings. Aeolian drift material has a unique spectral character with higher oxide abundances than disturbed soil. One (or possibly two) spectrally distinct coatings are observed on rocks, a possible indicator of the interaction of water, rock, and airfall dust. At Meridiani, the Mini-TES has identified coarse crystalline hematite and olivine basalt sands as predicted from orbital TES spectroscopy. Light-toned outcrops of aqueous origin exposed in crater walls are composed of 20 to 40 percent Mg and Ca sulfates, a high-silica component that is modeled as glass/feldspar/sheet silicates (~20-30 percent), and hematite. The Fe sulfate jarosite is not reliably identified in Mini-TES spectra. The mm-sized spherules appear from analysis of Mini-TES spectra to be dominated by hematite, with no other components detected. Basaltic materials have more plagioclase than pyroxene, contain olivine, and are similar in inferred mineral composition to basalt mapped by TES from orbit. Bounce Rock is dominated by clinopyroxene and is closer in inferred

  17. Mesoscale modeling of the water vapor cycle at Mawrth Vallis: a Mars2020 and ExoMars exploration rovers high-priority landing site

    Science.gov (United States)

    Pla-García, Jorge

    2017-04-01

    . During this transition, there is surface convergence into the rising branch (similar to the inter-tropical convergence zone on Earth), and dual Hadley cells with one circulation in each hemisphere. At this time, the mean surface winds flow from the high latitudes to equator in both hemispheres, providing the possibility for a direct vapor connection [5, 6]. It is likely that transient waves (e.g., storm systems) as well as boundary currents associated with planetary-scale stationary waves could advect and mix water equatorward, along the surface, in opposition to the Hadley Cell. Conclusion: We are studying whether moist air in northern spring/summer makes it to the surface of Mawrth at Ls 90, Ls 140 and Ls 180, three periods with high column abundance of water vapor at mid/high latitudes. The objective is to determine if the circulation (mean or regional) is favorable for the transport of water vapor from the north polar cap to MV where it might activate hygroscopic salts and/or chlorides [7]. Relative humidity at those different seasons is estimated to test for consistency with column abundances derived from orbit observations. If moist air makes it to MV during Ls90, 140 and/or 180, it should be a go-to site due to enhanced habitability implications. References: [1] Pla-García, J., & Rafkin, S. C., 2015: Meteorological predictions for Mars 2020 Exploration Rov-er high-priority landing sites throug MRAMS Mesoscale Modeling. In EGU General Assembly Conference Abstracts (Vol. 17, p. 12605). [2] Rafkin, S. C. R., Haberle, R. M., and T. I. Michaels, 2001: The Mars Regional Atmospheric Modeling System (MRAMS): Model description and selected simulations. Icarus, 151, 228-256. [3] Rafkin, S. C. R., M. R. V. Sta. Maria, and T. I. Michaels, 2002: Simulation of the atmospheric thermal circulation of a martian volcano using a mesoscale numerical model. Nature, 419, 697-699. [4] Jakosky, B.M., and C.B. Farmer, 1982: The seasonal and global behavior of water vapor in the Mars

  18. Two Years Onboard the MER Opportunity Rover

    Science.gov (United States)

    Estlin, Tara; Anderson, Robert C.; Bornstein, Benjamin; Burl, Michael; Castano, Rebecca; Gaines, Daniel; Judd, Michele; Thompson, David R.

    2012-01-01

    The Autonomous Exploration for Gathering Increased Science (AEGIS) system provides automated data collection for planetary rovers. AEGIS is currently being used onboard the Mars Exploration Rover (MER) mission's Opportunity to provide autonomous targeting of the MER Panoramic camera. Prior to AEGIS, targeted data was collected in a manual fashion where targets were manually identified in images transmitted to Earth and the rover had to remain in the same location for one to several communication cycles. AEGIS enables targeted data to be rapidly acquired with no delays for ground communication. Targets are selected by AEGIS through the use of onboard data analysis techniques that are guided by scientist-specified objectives. This paper provides an overview of the how AEGIS has been used on the Opportunity rover, focusing on usage that occurred during a 21 kilometer historic trek to the Mars Endeavour crater.

  19. Moessbauer and Electron Microprobe Studies of Density Separates of Martian Nakhlite Mil03346: Implications for Interpretation of Moessbauer Spectra Acquired by the Mars Exploration Rovers

    Science.gov (United States)

    Morris, R. V.; McKay, G. A.; Agresti, D. G.; Li, Loan

    2008-01-01

    Martian meteorite MIL03346 is described as an augite-rich cumulate rock with approx.80%, approx.3%, and approx.21% modal phase proportions of augite (CPX), olivine and glassy mesostasis, respectively, and is classified as a nakhlite [1]. The Mossbauer spectrum for whole rock (WR) MIL 03346 is unusual for Martian meteorites in that it has a distinct magnetite subspectrum (7% subspectral area) [2]. The meteorite also has products of pre-terrestrial aqueous alteration ("iddingsite") that is associated primarily with the basaltic glass and olivine. The Mossbauer spectrometers on the Mars Exploration Rovers have measured the Fe oxidation state and the Fe mineralogical composition of rocks and soils on the planet s surface since their landing in Gusev Crater and Meridiani Planum in January, 2004 [3,4]. The MIL 03346 meteorite provides an opportunity to "ground truth" or refine Fe phase identifications. This is particularly the case for the so-called "nanophase ferric oxide" (npOx) component. NpOx is a generic name for a ferric rich product of oxidative alteration. On Earth, where we can take samples apart and study individual phases, examples of npOx include ferrihydrite, schwertmannite, akagaaneite, and superparamagnetic (small particle) goethite and hematite. It is also possible for ferric iron to be associated to some unknown extent with igneous phases like pyroxene. We report here an electron microprobe (EMPA) and Moessbauer (MB) study of density separates of MIL 03346. The same separates were used for isotopic studies by [5]. Experimental techniques are described by [6,7].

  20. Zephyr: A Landsailing Rover for Venus

    Science.gov (United States)

    Landis, Geoffrey A.; Oleson, Steven R.; Grantier, David

    2014-01-01

    With an average temperature of 450C and a corrosive atmosphere at a pressure of 90 bars, the surface of Venus is the most hostile environment of any planetary surface in the solar system. Exploring the surface of Venus would be an exciting goal, since Venus is a planet with significant scientific mysteries, and interesting geology and geophysics. Technology to operate at the environmental conditions of Venus is under development. A rover on the surface of Venus with capability comparable to the rovers that have been sent to Mars would push the limits of technology in high-temperature electronics, robotics, and robust systems. Such a rover would require the ability to traverse the landscape on extremely low power levels. We have analyzed an innovative concept for a planetary rover: a sail-propelled rover to explore the surface of Venus. Such a rover can be implemented with only two moving parts; the sail, and the steering. Although the surface wind speeds are low (under 1 m/s), at Venus atmospheric density even low wind speeds develop significant force. Under funding by the NASA Innovative Advanced Concepts office, a conceptual design for such a rover has been done. Total landed mass of the system is 265 kg, somewhat less than that of the MER rovers, with a 12 square meter rigid sail. The rover folds into a 3.6 meter aeroshell for entry into the Venus atmosphere and subsequent parachute landing on the surface. Conceptual designs for a set of hightemperature scientific instruments and a UHF communication system were done. The mission design lifetime is 50 days, allowing operation during the sunlit portion of one Venus day. Although some technology development is needed to bring the high-temperature electronics to operational readiness, the study showed that such a mobility approach is feasible, and no major difficulties are seen.

  1. Pressurized Lunar Rover (PLR)

    Science.gov (United States)

    Creel, Kenneth; Frampton, Jeffrey; Honaker, David; McClure, Kerry; Zeinali, Mazyar; Bhardwaj, Manoj; Bulsara, Vatsal; Kokan, David; Shariff, Shaun; Svarverud, Eric

    The objective of this project was to design a manned pressurized lunar rover (PLR) for long-range transportation and for exploration of the lunar surface. The vehicle must be capable of operating on a 14-day mission, traveling within a radius of 500 km during a lunar day or within a 50-km radius during a lunar night. The vehicle must accommodate a nominal crew of four, support two 28-hour EVA's, and in case of emergency, support a crew of six when near the lunar base. A nominal speed of ten km/hr and capability of towing a trailer with a mass of two mt are required. Two preliminary designs have been developed by two independent student teams. The PLR 1 design proposes a seven meter long cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, lighting, robotic arms, tools, and equipment for exploratory experiments. The rover uses a simple mobility system with six wheels on the main vehicle and two on the trailer. The nonpressurized trailer contains a modular radioisotope thermoelectric generator (RTG) supplying 6.5 kW continuous power. A secondary energy storage for short-term peak power needs is provided by a bank of lithium-sulfur dioxide batteries. The life support system is partly a regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center allowing the center to be used as a safe haven during solar flares. The PLR 1 has a total mass of 6197 kg. It has a top speed of 18 km/hr and is capable of towing three metric tons, in addition to the RTG trailer. The PLR 2 configuration consists of two four-meter diameter, cylindrical hulls which are passively connected by a flexible passageway, resulting in the overall vehicle length of 11 m. The vehicle is driven by eight independently suspended wheels. The dual-cylinder concept allows articulated as well as double

  2. Mineral spirits poisoning

    Science.gov (United States)

    These substances may be found in: Mineral spirits ( Stoddard solvent ) Some paints Some floor and furniture waxes and polishes Some dry cleaning fluids White spirits Note: This list may not be all-inclusive.

  3. Rover and Telerobotics Technology Program

    Science.gov (United States)

    Weisbin, Charles R.

    1998-01-01

    The Jet Propulsion Laboratory's (JPL's) Rover and Telerobotics Technology Program, sponsored by the National Aeronautics and Space Administration (NASA), responds to opportunities presented by NASA space missions and systems, and seeds commerical applications of the emerging robotics technology. The scope of the JPL Rover and Telerobotics Technology Program comprises three major segments of activity: NASA robotic systems for planetary exploration, robotic technology and terrestrial spin-offs, and technology for non-NASA sponsors. Significant technical achievements have been reached in each of these areas, including complete telerobotic system prototypes that have built and tested in realistic scenarios relevant to prospective users. In addition, the program has conducted complementary basic research and created innovative technology and terrestrial applications, as well as enabled a variety of commercial spin-offs.

  4. The Athena Mars Rover Investigation

    Science.gov (United States)

    Squyres, S. W.; Arvidson, R. E.; Bell, J. F., III; Carr, M.; Christensen, P.; DesMarais, D.; Economou, T.; Gorevan, S.; Haskin, L.; Herkenhoff, K.

    2000-01-01

    The Mars Surveyor program requires tools for martian surface exploration, including remote sensing, in-situ sensing, and sample collection. The Athena Mars rover payload is a suite of scientific instruments and sample collection tools designed to: (1) Provide color stereo imaging of martian surface environments, and remotely-sensed point discrimination of mineralogical composition; (2) Determine the elemental and mineralogical composition of martian surface materials; (3) Determine the fine-scale textural properties of these materials; and (4) Collect and store samples. The Athena payload is designed to be implemented on a long-range rover such as the one now under consideration for the 2003 Mars opportunity. The payload is at a high state of maturity, and most of the instruments have now been built for flight.

  5. Lunar rover navigation concepts

    Science.gov (United States)

    Burke, James D.

    1993-01-01

    With regard to the navigation of mobile lunar vehicles on the surface, candidate techniques are reviewed and progress of simulations and experiments made up to now are described. Progress that can be made through precursor investigations on Earth is considered. In the early seventies the problem was examined in a series of relevant tests made in the California desert. Meanwhile, Apollo rovers made short exploratory sorties and robotic Lunokhods traveled over modest distances on the Moon. In these early missions some of the required methods were demonstrated. The navigation problem for a lunar traverse can be viewed in three parts: to determine the starting point with enough accuracy to enable the desired mission; to determine the event sequence required to reach the site of each traverse objective; and to redetermine actual positions enroute. The navigator's first tool is a map made from overhead imagery. The Moon was almost completely photographed at moderate resolution by spacecraft launched in the sixties, but that data set provides imprecise topographic and selenodetic information. Therefore, more advanced orbital missions are now proposed as part of a resumed lunar exploration program. With the mapping coverage expected from such orbiters, it will be possible to use a combination of visual landmark navigation and external radio and optical references (Earth and Sun) to achieve accurate surface navigation almost everywhere on the near side of the Moon. On the far side and in permanently dark polar areas, there are interesting exploration targets where additional techniques will have to be used.

  6. Beam-powered lunar rover design

    Energy Technology Data Exchange (ETDEWEB)

    Dagle, J.E.; Coomes, E.P.; Antoniak, Z.I.; Bamberger, J.A.; Bates, J.M.; Chiu, M.A.; Dodge, R.E.; Wise, J.A.

    1992-03-01

    Manned exploration of our nearest neighbors in the solar systems is the primary goal of the Space Exploration Initiative (SEI). An integral part of any manned lunar or planetary outpost will be a system for manned excursions over the surface of the planet. This report presents a preliminary design for a lunar rover capable of supporting four astronauts on long-duration excursions across the lunar landscape. The distinguishing feature of this rover design is that power is provided to rover via a laser beam from an independent orbiting power satellite. This system design provides very high power availability with minimal mass on the rover vehicle. With this abundance of power, and with a relatively small power-system mass contained in the rover, the vehicle can perform an impressive suite of mission-related activity. The rover might be used as the first outpost for the lunar surface (i.e., a mobile base). A mobile base has the advantage of providing extensive mission activities without the expense of establishing a fixed base. This concept has been referred to as Rove First.'' A manned over, powered through a laser beam, has been designed for travel on the lunar surface for round-trip distances in the range of 1000 km, although the actual distance traveled is not crucial since the propulsion system does not rely on energy storage. The life support system can support a 4-person crew for up to 30 days, and ample power is available for mission-related activities. The 8000-kg rover has 30 kW of continuous power available via a laser transmitter located at the Earth-moon L1 libration point, about 50,000 km above the surface of the moon. This rover, which is designed to operate in either day or night conditions, has the flexibility to perform a variety of power-intensive missions. 24 refs.

  7. Beam-powered lunar rover design

    Energy Technology Data Exchange (ETDEWEB)

    Dagle, J.E.; Coomes, E.P.; Antoniak, Z.I.; Bamberger, J.A.; Bates, J.M.; Chiu, M.A.; Dodge, R.E.; Wise, J.A.

    1992-03-01

    Manned exploration of our nearest neighbors in the solar systems is the primary goal of the Space Exploration Initiative (SEI). An integral part of any manned lunar or planetary outpost will be a system for manned excursions over the surface of the planet. This report presents a preliminary design for a lunar rover capable of supporting four astronauts on long-duration excursions across the lunar landscape. The distinguishing feature of this rover design is that power is provided to rover via a laser beam from an independent orbiting power satellite. This system design provides very high power availability with minimal mass on the rover vehicle. With this abundance of power, and with a relatively small power-system mass contained in the rover, the vehicle can perform an impressive suite of mission-related activity. The rover might be used as the first outpost for the lunar surface (i.e., a mobile base). A mobile base has the advantage of providing extensive mission activities without the expense of establishing a fixed base. This concept has been referred to as ``Rove First.`` A manned over, powered through a laser beam, has been designed for travel on the lunar surface for round-trip distances in the range of 1000 km, although the actual distance traveled is not crucial since the propulsion system does not rely on energy storage. The life support system can support a 4-person crew for up to 30 days, and ample power is available for mission-related activities. The 8000-kg rover has 30 kW of continuous power available via a laser transmitter located at the Earth-moon L1 libration point, about 50,000 km above the surface of the moon. This rover, which is designed to operate in either day or night conditions, has the flexibility to perform a variety of power-intensive missions. 24 refs.

  8. Learning to behave: adaptive behavior for planetary surface rovers

    Science.gov (United States)

    Huntsberger, Terry; Aghazarian, Hrand

    2004-01-01

    Robotic missions to planetary surfaces are becoming more ambitious and of longer duration. The nominal mission timeline for the MER called Spirit currently on the Martian surface is 90 days, with extensions to 180 days depending on rover health. The upcoming 2009 MSL mission is planned to be 300-500 days and will possibly involve traverses on the order of a kilometer or more.

  9. Automation Rover for Extreme Environments

    Science.gov (United States)

    Sauder, Jonathan; Hilgemann, Evan; Johnson, Michael; Parness, Aaron; Hall, Jeffrey; Kawata, Jessie; Stack, Kathryn

    2017-01-01

    Almost 2,300 years ago the ancient Greeks built the Antikythera automaton. This purely mechanical computer accurately predicted past and future astronomical events long before electronics existed1. Automata have been credibly used for hundreds of years as computers, art pieces, and clocks. However, in the past several decades automata have become less popular as the capabilities of electronics increased, leaving them an unexplored solution for robotic spacecraft. The Automaton Rover for Extreme Environments (AREE) proposes an exciting paradigm shift from electronics to a fully mechanical system, enabling longitudinal exploration of the most extreme environments within the solar system.

  10. Are symptoms of spirit possessed patients covered by the DSM-IV or DSM-5 criteria for possession trance disorder? A mixed-method explorative study in Uganda

    NARCIS (Netherlands)

    van Duijl, M.; Kleyn, W.; de Jong, J.

    2013-01-01

    Introduction and aims As in many cultures, spirit possession is a common idiom of distress in Uganda. The DSM-IV contains experimental research criteria for dissociative and possession trance disorder (DTD and PTD), which are under review for the DSM-5. In the current proposed categories of the

  11. Rover waste assay system

    Energy Technology Data Exchange (ETDEWEB)

    Akers, D.W.; Stoots, C.M.; Kraft, N.C.; Marts, D.J. [Idaho National Engineering Lab., Idaho Falls, ID (United States)

    1997-11-01

    The Rover Waste Assay System (RWAS) is a nondestructive assay system designed for the rapid assay of highly-enriched {sup 235}U contaminated piping, tank sections, and debris from the Rover nuclear rocket fuel processing facility at the Idaho Chemical Processing Plant. A scanning system translates a NaI(Tl) detector/collimator system over the structural components where both relative and calibrated measurements for {sup 137}Cs are made. Uranium-235 concentrations are in operation and is sufficiently automated that most functions are performed by the computer system. These functions include system calibration, problem identification, collimator control, data analysis, and reporting. Calibration of the system was done through a combination of measurements on calibration standards and benchmarked modeling. A description of the system is presented along with the methods and uncertainties associated with the calibration and analysis of the system for components from the Rover facility. 4 refs., 2 figs., 4 tabs.

  12. Curiosity rover LEGO® version could land soon

    Science.gov (United States)

    Showstack, Randy

    2012-09-01

    Now that NASA's Curiosity rover has landed on Mars, a smaller LEGO® plastic brick construction version could be landing in toy stores. Less than 2 weeks after Curiosity set down on 5 August, a LEGO® set concept model designed by a mechanical and aerospace engineer who worked on the real rover garnered its 10,000th supporter on the Web site of CUUSOO, a Japanese partner of the LEGO® group. That milestone triggered a company review that began in September 2012 to test the model's “playability, safety, and ft with the LEGO® brand,” according to a congratulatory statement from the company to designer Stephen Pakbaz. Pakbaz told Eos that he has been an avid LEGO® and space exploration fan for most of his life. “For me, creating a LEGO® model of Curiosity using my firsthand knowledge of the rover was inevitable. What I enjoyed most was being able to faithfully replicate and subsequently demonstrate the rocker-bogie suspension system to friends, family, and coworkers,” he noted, referring to the suspension system that allows the rover to climb over obstacles while keeping its wheels on the ground. Pakbaz, who is currently with Orbital Sciences Corporation, was involved with aspects of the rover while working at the Jet Propulsion Laboratory from 2007 to 2011 as a mechanical engineer.

  13. The Spirit of Public Service

    DEFF Research Database (Denmark)

    Hassall Thomsen, Line Hassall; Willig, Ida

    Research on public service broadcasting tends to highlight norms and values at the strategic level. This paper explores ‘public service’ as an institutional logic guiding the everyday practice of journalists. The theoretical framework draws on Pierre Bourdieus’ field theory and recent works...... on cultural production and news work. Through fieldwork and interviews with Danish and British reporters/editors from DR 1, TV 2, BBC 1 and ITV we identify three components of a strong public service spirit present in the journalist’s understanding of the self: mass audience orientation, democratic...... responsibility and unbiased reporting. These three components can be found in both British and Danish newsrooms suggesting a trans-national, institutional spirit of public service. At the same time, the three components are interpreted differently from newsroom to newsroom suggesting different practices...

  14. Wind-driven particle mobility on Mars: Insights from Mars Exploration Rover observations at "El Dorado" and surroundings at Gusev Crater

    Science.gov (United States)

    Sullivan, R.; Arvidson, R.; Bell, J.F.; Gellert, Ralf; Golombek, M.; Greeley, R.; Herkenhoff, K.; Johnson, J.; Thompson, S.; Whelley, P.; Wray, J.

    2008-01-01

    The ripple field known as 'El Dorado' was a unique stop on Spirit's traverse where dust-raising, active mafic sand ripples and larger inactive coarse-grained ripples interact, illuminating several long-standing issues of Martian dust mobility, sand mobility, and the origin of transverse aeolian ridges. Strong regional wind events endured by Spirit caused perceptible migration of ripple crests in deposits SSE of El Dorado, erasure of tracks in sandy areas, and changes to dust mantling the site. Localized thermal vortices swept across El Dorado, leaving paths of reduced dust but without perceptibly damaging nearly cohesionless sandy ripple crests. From orbit, winds responsible for frequently raising clay-sized dust into the atmosphere do not seem to significantly affect dunes composed of (more easily entrained) sand-sized particles, a long-standing paradox. This disparity between dust mobilization and sand mobilization on Mars is due largely to two factors: (1) dust occurs on the surface as fragile, low-density, sand-sized aggregates that are easily entrained and disrupted, compared with clay-sized air fall particles; and (2) induration of regolith is pervasive. Light-toned bed forms investigated at Gusev are coarse-grained ripples, an interpretation we propose for many of the smallest linear, light-toned bed forms of uncertain origin seen in high-resolution orbital images across Mars. On Earth, wind can organize bimodal or poorly sorted loose sediment into coarse-grained ripples. Coarse-grained ripples could be relatively common on Mars because development of durable, well-sorted sediments analogous to terrestrial aeolian quartz sand deposits is restricted by the lack of free quartz and limited hydraulic sediment processing. Copyright 2008 by the American Geophysical Union.

  15. Building and Executing Rover Plans with Contingent Tasks Project

    Data.gov (United States)

    National Aeronautics and Space Administration — During recent robotic field tests, NASA investigated the use of intelligent planetary rovers to improve the productivity of human explorers on planetary surfaces....

  16. Extraterrestrial Moessbauer Spectroscopy: More than Three Years of Mars Exploration and Developments for Future Missions

    Science.gov (United States)

    Schroeder, Christian; Klingelhoefer, Goestar; Morris, Richard V.; Rodionov, Daniel S.; Fleischer, Iris; Blumers, Mathias

    2007-01-01

    The NASA Mars Exploration Rovers (MER), Spirit and Opportunity, landed on the Red Planet in January 2004. Both rovers are equipped with a miniaturized Moessbauer spectrometer MIMOS II. Designed for a three months mission, both rovers and both Moessbauer instruments are still working after more than three years of exploring the Martian surface. At the beginning of the mission, with a landed intensity of the Moessbauer source of 150 mCi, a 30 minute touch and go measurement produced scientifically valuable data while a good quality Moessbauer spectrum was obtained after approximately eight hours. Now, after about five halflives of the sources have passed, Moessbauer integrations are routinely planned to last approx.48 hours. Because of this and other age-related hardware degradations of the two rover systems, measurements now occur less frequently, but are still of outstanding quality and scientific importance. Summarizing important Moessbauer results, Spirit has traversed the plains from her landing site in Gusev crater and is now, for the greater part of the mission, investigating the stratigraphically older Columbia Hills. Olivine in rocks and soils in the plains suggests that physical rather than chemical processes are currently active.

  17. Mars rover rock abrasion tool performance enhanced by ultrasonic technology.

    Science.gov (United States)

    Macartney, A.; Li, X.; Harkness, P.

    2016-12-01

    The Mars exploration Athena science goal is to explore areas where water may have been present on the early surface of Mars, and investigate the palaeo-environmental conditions of these areas in relation to the existence of life. The Rock Abrasion Tool (RAT) designed by Honeybee Robotics has been one of four key Athena science payload instruments mounted on the mechanical arm of the Spirit, Opportunity and Curiosity Mars Exploration Rovers. Exposed rock surfaces weather and chemically alter over time. Although such weathered rock can present geological interest in itself, there is a limit to what can be learned. If the geological history of a landing site is to be constructed, then it is important to analyse the unweathered rock interior as clearly as possible. The rock abrasion tool's role is to substitute for a geologist's hammer, removing the weathered and chemically altered outer surface of rocks in order to view the pristine interior. The RAT uses a diamond resin standard common grinding technique, producing a 5mm depth grind with a relatively high surface roughness, achieved over a number of hours per grind and consumes approximately 11 watts of energy. This study assesses the benefits of using ultrasonic assisted grinding to improve surface smoothness. A prototype Micro-Optic UltraSonic Exfoliator (MOUSE) is tested on a range of rock types and demonstrates a number of advantages over the RAT. In addition to a smoother grind finish, these advantages include a lower rate of tool tip wear when using a tungsten carbide tip as opposed to diamond resin, less moving parts, a grind speed of minutes instead of hours, and a power consumption of only 1-5 Watts.

  18. Pressurized lunar rover

    Science.gov (United States)

    Creel, Kenneth; Frampton, Jeffrey; Honaker, David; McClure, Kerry; Zeinali, Mazyar

    1992-05-01

    The pressurized lunar rover (PLR) consists of a 7 m long, 3 m diameter cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, directional lighting, cameras, and equipment for exploratory experiments. The PLR shell is constructed of a layered carbon-fiber/foam composite. The rover has six 1.5 m diameter wheels on the main body and two 1.5 m diameter wheels on the trailer. The wheels are constructed of composites and flex to increase traction and shock absorption. The wheels are each attached to a double A-arm aluminum suspension, which allows each wheel 1 m of vertical motion. In conjunction with a 0.75 m ground clearance, the suspension aids the rover in negotiating the uneven lunar terrain. The 15 N-m torque brushless electric motors are mounted with harmonic drive units inside each of the wheels. The rover is steered by electrically varying the speeds of the wheels on either side of the rover. The PLR trailer contains a radiosotope thermoelectric generator providing 6.7 kW. A secondary back-up energy storage system for short-term high-power needs is provided by a bank of batteries. The trailer can be detached to facilitate docking of the main body with the lunar base via an airlock located in the rear of the PLR. The airlock is also used for EVA operation during missions. Life support is a partly regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center. The water absorbs any damaging radiation, allowing the command center to be used as a safe haven during solar flares. Guidance, navigation, and control are supplied by a strapdown inertial measurement unit that works with the on-board computer. Star mappers provide periodic error correction.

  19. Discerning the Spirits

    DEFF Research Database (Denmark)

    Pedersen, Else Marie Wiberg

    2007-01-01

    This response to Swedish scholar Jayne Svenungsson's keynote on the return of spirituality sets off by agreeing in general to her thesis that there is a return of spirituality - or rather a return of the Spirit. But whilst Svenungsson in her paper endeavours to see the return of spirituality....../the Spirit by way of postmodern philosophy and theology (for example Lévinas and Vattimo), this response discovers a number of traits in Svenungsson's paper that resembles those of radical orthodoxy, primarily Milbank. Thus, Svenungsson's opposition towards simplistic or reductive accounts of religion....../theology, and even more so her reconstruction of a rational yet metaphysical theology and the understanding of the church as the only locus of the Holy Spirit and the learning of the grammar of radical ethics are identical with Milbank's views. Since Svenungsson conclusively opts for a radical (and metaphysical...

  20. Design Concept for a Nuclear Reactor-Powered Mars Rover

    Science.gov (United States)

    Elliott, John; Poston, Dave; Lipinski, Ron

    2007-01-01

    A report presents a design concept for an instrumented robotic vehicle (rover) to be used on a future mission of exploration of the planet Mars. The design incorporates a nuclear fission power system to provide long range, long life, and high power capabilities unachievable through the use of alternative solar or radioisotope power systems. The concept described in the report draws on previous rover designs developed for the 2009 Mars Science laboratory (MSL) mission to minimize the need for new technology developments.

  1. NASA Mars 2020 Rover Mission: New Frontiers in Science

    Science.gov (United States)

    Calle, Carlos I.

    2014-01-01

    The Mars 2020 rover mission is the next step in NASAs robotic exploration of the red planet. The rover, based on the Mars Science Laboratory Curiosity rover now on Mars, will address key questions about the potential for life on Mars. The mission would also provide opportunities to gather knowledge and demonstrate technologies that address the challenges of future human expeditions to Mars.Like the Mars Science Laboratory rover, which has been exploring Mars since 2012, the Mars 2020 spacecraft will use a guided entry, descent, and landing system which includes a parachute, descent vehicle, and, during the provides the ability to land a very large, heavy rover on the surface of Mars in a more precise landing area. The Mars 2020 mission is designed to accomplish several high-priority planetary science goals and will be an important step toward meeting NASAs challenge to send humans to Mars in the 2030s. The mission will conduct geological assessments of the rover's landing site, determine the habitability of the environment, search for signs of ancient Martian life, and assess natural resources and hazards for future human explorers. The science instruments aboard the rover also will enable scientists to identify and select a collection of rock and soil samples that will be stored for potential return to Earth in the future. The rover also may help designers of a human expedition understand the hazards posed by Martian dust and demonstrate how to collect carbon dioxide from the atmosphere, which could be a valuable resource for producing oxygen and rocket fuel.

  2. Student Participation in Rover Field Trials

    Science.gov (United States)

    Bowman, C. D.; Arvidson, R. E.; Nelson, S. V.; Sherman, D. M.; Squyres, S. W.

    2001-12-01

    The LAPIS program was developed in 1999 as part of the Athena Science Payload education and public outreach, funded by the JPL Mars Program Office. For the past three years, the Athena Science Team has been preparing for 2003 Mars Exploration Rover Mission operations using the JPL prototype Field Integrated Design and Operations (FIDO) rover in extended rover field trials. Students and teachers participating in LAPIS work with them each year to develop a complementary mission plan and implement an actual portion of the annual tests using FIDO and its instruments. LAPIS is designed to mirror an end-to-end mission: Small, geographically distributed groups of students form an integrated mission team, working together with Athena Science Team members and FIDO engineers to plan, implement, and archive a two-day test mission, controlling FIDO remotely over the Internet using the Web Interface for Telescience (WITS) and communicating with each other by email, the web, and teleconferences. The overarching goal of LAPIS is to get students excited about science and related fields. The program provides students with the opportunity to apply knowledge learned in school, such as geometry and geology, to a "real world" situation and to explore careers in science and engineering through continuous one-on-one interactions with teachers, Athena Science Team mentors, and FIDO engineers. A secondary goal is to help students develop improved communication skills and appreciation of teamwork, enhanced problem-solving skills, and increased self-confidence. The LAPIS program will provide a model for outreach associated with future FIDO field trials and the 2003 Mars mission operations. The base of participation will be broadened beyond the original four sites by taking advantage of the wide geographic distribution of Athena team member locations. This will provide greater numbers of students with the opportunity to actively engage in rover testing and to explore the possibilities of

  3. INCULCATING ENTREPRENEURIAL SPIRIT THROUGH ...

    African Journals Online (AJOL)

    JONATHAN

    opportunity for economic development. This paper advocates the use of indigenous languages in inculcating entrepreneurial spirit in the young Igbo youths. The work supports starting entrepreneurial education as early as elementary school and progressing through all levels of education. The work is classified into.

  4. SPIRIT 2013 Statement

    DEFF Research Database (Denmark)

    Chan, An-Wen; Tetzlaff, Jennifer M; Altman, Douglas G

    2013-01-01

    The protocol of a clinical trial serves as the foundation for study planning, conduct, reporting, and appraisal. However, trial protocols and existing protocol guidelines vary greatly in content and quality. This article describes the systematic development and scope of SPIRIT (Standard Protocol ...

  5. Roll over, Rover

    Science.gov (United States)

    Shaw, Mike

    2011-04-01

    Here's a quick, simple, and inexpensive demonstration of an induced static charge. Everyone has probably demonstrated static induction by first rubbing a balloon across his or her hair or animal fur and then sticking it on a wall, whiteboard, or chalkboard. Now you can add a humorous twist to that golden oldie. You will need two balloons (the type clowns use to make animal shapes), an animal fur friction pad or your hair, and a marking pen. Inflate both balloons to their full length and tie off the openings. Along the center of one balloon, in large letters write the word "Rover." Allow the ink to dry and you are ready for the demonstration.

  6. Circolo enogastronomico "Della Rovere" = The Della Rovere Club

    Index Scriptorium Estoniae

    2012-01-01

    Della Rovere Klubist, mis on Itaalia Önogastronoomiliste Ühenduste Föderatsiooni ja Euroopa Önogastronoomia Vennaskondade Nõukogu liige ja mille missiooniks on kohalike traditsioonide säilitamine, erinevate toiduainete omaduste tutvustamine, veinikultuuri õpetamine jne

  7. Positive-Buoyancy Rover for Under Ice Mobility

    Science.gov (United States)

    Leichty, John M.; Klesh, Andrew T.; Berisford, Daniel F.; Matthews, Jaret B.; Hand, Kevin P.

    2013-01-01

    A buoyant rover has been developed to traverse the underside of ice-covered lakes and seas. The rover operates at the ice/water interface and permits direct observation and measurement of processes affecting freeze- over and thaw events in lake and marine environments. Operating along the 2- D ice-water interface simplifies many aspects of underwater exploration, especially when compared to submersibles, which have difficulty in station-keeping and precision mobility. The buoyant rover consists of an all aluminum body with two aluminum sawtooth wheels. The two independent body segments are sandwiched between four actuators that permit isolation of wheel movement from movement of the central tether spool. For normal operations, the wheels move while the tether spool feeds out line and the cameras on each segment maintain a user-controlled fixed position. Typically one camera targets the ice/water interface and one camera looks down to the lake floor to identify seep sources. Each wheel can be operated independently for precision turning and adjustments. The rover is controlled by a touch- tablet interface and wireless goggles enable real-time viewing of video streamed from the rover cameras. The buoyant rover was successfully deployed and tested during an October 2012 field campaign to investigate methane trapped in ice in lakes along the North Slope of Alaska.

  8. Reconfigurable Autonomy for Future Planetary Rovers

    Science.gov (United States)

    Burroughes, Guy

    Extra-terrestrial Planetary rover systems are uniquely remote, placing constraints in regard to communication, environmental uncertainty, and limited physical resources, and requiring a high level of fault tolerance and resistance to hardware degradation. This thesis presents a novel self-reconfiguring autonomous software architecture designed to meet the needs of extraterrestrial planetary environments. At runtime it can safely reconfigure low-level control systems, high-level decisional autonomy systems, and managed software architecture. The architecture can perform automatic Verification and Validation of self-reconfiguration at run-time, and enables a system to be self-optimising, self-protecting, and self-healing. A novel self-monitoring system, which is non-invasive, efficient, tunable, and autonomously deploying, is also presented. The architecture was validated through the use-case of a highly autonomous extra-terrestrial planetary exploration rover. Three major forms of reconfiguration were demonstrated and tested: first, high level adjustment of system internal architecture and goal; second, software module modification; and third, low level alteration of hardware control in response to degradation of hardware and environmental change. The architecture was demonstrated to be robust and effective in a Mars sample return mission use-case testing the operational aspects of a novel, reconfigurable guidance, navigation, and control system for a planetary rover, all operating in concert through a scenario that required reconfiguration of all elements of the system.

  9. Science Operations for Onboard Autonomous Rover Science

    Science.gov (United States)

    Estlin, T.; Castano, R.; Haldemann, A. F.; McHenry, M.; Bornstein, B.; Gaines, D.; Burl, M.; Anderson, R. C.; Powell, M.; Shu, I.; Farr, T.; Nesnas, I.; Jain, A.; Judd, M.

    2006-12-01

    Onboard autonomous science represents one means to balance the large amounts of scientific data that current and future rovers can acquire with the limited ability to download it to Earth. Several systems are under development to perform autonomous rover science. The use of such systems represents a departure from standard operations, which closely resemble batch tele-operation. It is important for the science operations team to understand the capabilities and limitations of the onboard system to effectively use the tool of autonomous onboard science to increase overall mission science return, however it is difficult for the science team to get a feel for the onboard system without hands on experience in an operational system setting. This past year, the OASIS (Onboard Autonomous Science Investigation System) team has been working with the SOOPS (Science Operations On Planetary Surfaces) task to investigate how science returns for surface missions can be improved through the use of science autonomy. A limited version of OASIS was tested at the system level. The test involved a high-fidelity software simulation of a rover exploring a remote terrain using realistic operational interfaces. By using the simulation environment it is feasible to run many more experiments than testing with physical rover. Further, the simulation environment combined with the integrated operational system provides situational awareness for the science operations team along with greater flexibility and control over experiments to help answer "what if" questions that can lead to identifying the most effective ways to use the onboard system. In the tests, OASIS applied predetermined criteria provided by the scientists to prioritize which data collected during a traverse to send home, given specified bandwidth constraints. In addition, rock summary information (which requires very little bandwidth) was returned and provided as both a table and a map to the science team. We discuss the results

  10. Spirit of place: Bridging the 'epistemological gap'

    Science.gov (United States)

    Dudley, Nickola B. N.

    My work explores the psychological gap between humans and nature. Also how humanity is a parcel of nature and that the philosophy of spirit of place can create oneness through imagery, describing the landscape while also encompassing the 'larger frame' within the aesthetic. These transcendental moments connect with not only the landscape but to earth as a spiritual entity. My work is a response to the landscape and these moments.

  11. Robotic exploration of the solar system

    CERN Document Server

    Ulivi, Paolo

    In Robotic Exploration of the Solar System, Paolo Ulivi and David Harland provide a comprehensive account of the design and managment of deep-space missions, the spacecraft involved - some flown, others not - their instruments, and their scientific results. This third volume in the series covers launches in the period 1997 to 2003 and features: - a chapter entirely devoted to the Cassini-Huygens mission to Saturn; - coverage of planetary missions of the period, including the Deep Space 1 mission and the Stardust and Hayabusa sample returns from comets and asteroids; - extensive coverage of Mars exploration, the failed 1999 missions, Mars Odyssey, Mars Express, and the twin rovers Spirit and Opportunity. The story will continue in Part 4.

  12. The Spirit of Logotherapy

    Directory of Open Access Journals (Sweden)

    Stephen J. Costello

    2015-12-01

    Full Text Available The aim of this paper is to adduce the meaning of Viktor Frankl’s logotherapy and existential analysis—the spirit of logotherapy—in the two-fold sense of its core teachings, as well as its emphasis on the spiritual dimension of the human person. Firstly, I situate Frankl’s tri-dimensional ontology—his philosophical anthropology—within a Platonic perspective, asserting that it was Plato who first gave us a picture and model of mental health which he based on the harmony of the disparate parts of the personality—the aim to become One instead of Many, which finds a modern parallel in Viktor Frankl’s logotherapy, which likewise stresses the importance of inner wholeness (an anthropological oneness despite our ontological differences. Classical Greek philosophers all pointed to the Logos as source of order—to the horizon of meaning-potentials, so I visit the various understandings of this term from the pre-Socratics to Frankl, albeit briefly, to avoid semantic confusion in what is to follow. I then discuss in some detail the exact meaning that logos/spirit has in Frankl’s philosophical conceptualisations. Disorders of logos may be seen in various psychopathologies and pnemopathologies which I go on to consider, highlighting the differences between various terms that are commonly left unclarified. Next, I adumbrate the differences between psychotherapy and logotherapy, which ultimately revolves around the difference between instincts and spirit before demarcating the boundaries between religion (as salvation and logotherapy (as sanity. The question I pose next is: what exactly constitutes the spiritual in logotherapy, as in life? An example is given to concretise the conceptual considerations previously elucidated before drawing on another distinction, that between “ultimate meaning” and “the meaning of the moment”. The paper concludes with a brief excursus into the work of Ken Wilber by way of enabling us to appreciate and

  13. Emphasizing humanities in medical education: Promoting the integration of medical scientific spirit and medical humanistic spirit.

    Science.gov (United States)

    Song, Peipei; Tang, Wei

    2017-05-23

    In the era of the biological-psychological-social medicine model, an ideal of modern medicine is to enhance the humanities in medical education, to foster medical talents with humanistic spirit, and to promote the integration of scientific spirit and humanistic spirit in medicine. Throughout the United States (US), United Kingdom (UK), other Western countries, and some Asian countries like Japan, many medical universities have already integrated the learning of medical humanities in their curricula and recognized their value. While in China, although medical education reform over the past decade has emphasized the topic of medical humanities to increase the professionalism of future physicians, the integration of medical humanity courses in medical universities has lagged behind the pace in Western countries. In addition, current courses in medical humanities were arbitrarily established due to a lack of organizational independence. For various reasons like a shortage of instructors, medical universities have failed to pay sufficient attention to medical humanities education given the urgent needs of society. The medical problems in contemporary Chinese society are not solely the purview of biomedical technology; what matters more is enhancing the humanities in medical education and fostering medical talents with humanistic spirit. Emphasizing the humanities in medical education and promoting the integration of medical scientific spirit and medical humanistic spirit have become one of the most pressing issues China must address. Greater attention should be paid to reasonable integration of humanities into the medical curriculum, creation of medical courses related to humanities and optimization of the curriculum, and actively allocating abundant teaching resources and exploring better methods of instruction.

  14. The Mars Surveyor '01 Rover and Robotic Arm

    Science.gov (United States)

    Bonitz, Robert G.; Nguyen, Tam T.; Kim, Won S.

    1999-01-01

    The Mars Surveyor 2001 Lander will carry with it both a Robotic Arm and Rover to support various science and technology experiments. The Marie Curie Rover, the twin sister to Sojourner Truth, is expected to explore the surface of Mars in early 2002. Scientific investigations to determine the elemental composition of surface rocks and soil using the Alpha Proton X-Ray Spectrometer (APXS) will be conducted along with several technology experiments including the Mars Experiment on Electrostatic Charging (MEEC) and the Wheel Abrasion Experiment (WAE). The Rover will follow uplinked operational sequences each day, but will be capable of autonomous reactions to the unpredictable features of the Martian environment. The Mars Surveyor 2001 Robotic Arm will perform rover deployment, and support various positioning, digging, and sample acquiring functions for MECA (Mars Environmental Compatibility Assessment) and Mossbauer Spectrometer experiments. The Robotic Arm will also collect its own sensor data for engineering data analysis. The Robotic Arm Camera (RAC) mounted on the forearm of the Robotic Arm will capture various images with a wide range of focal length adjustment during scientific experiments and rover deployment

  15. Human Robotic Systems (HRS): Rover Technologies Project

    Data.gov (United States)

    National Aeronautics and Space Administration — In FY15, the HRS Rover Technologies will begin design of a prototype rover designed for the lunar surface, begin development of resource efficient navigation...

  16. Lunar Surface Operations with Dual Rovers

    Science.gov (United States)

    Horz, Friedrich; Lofgren, Gary E.; Eppler, Dean E.; Ming, Douglas

    2010-01-01

    Lunar Electric Rovers (LER) are currently being developed that are substantially more capable than the Apollo vehicle (LRN ,"). Unlike the LRV, the new LERs provide a pressurized cabin that serves as short-sleeve environment for the crew of two, including sleeping accommodations and other provisions that allow for long tern stays, possibly up to 60 days, on the hear surface, without the need to replenish consumables from some outside source, such as a lander or outpost. As a consequence, significantly larger regions may be explored in the future and traverse distances may be measured in a few hundred kilometers (1, 2). However, crew safety remains an overriding concern, and methods other than "walk back", the major operational constraint of all Apollo traverses, must be implemented to assure -at any time- the safe return of the crew to the lander or outpost. This then causes current Constellation plans to envision long-tern traverses to be conducted with 2 LERs exclusively, each carrying a crew of two: in case one rover fails, the other will rescue the stranded crew and return all 4 astronauts in a single LER to base camp. Recent Desert Research and Technology Studies (DRATS) analog field tests simulated a continuous 14 day traverse (3), covering some 135 km, and included a rescue operation that transferred the crew and diverse consumables from one LER to another these successful tests add substantial realism to the development of long-term, dual rover operations. The simultaneous utilization of 2 LERs is of course totally unlike Apollo and raises interesting issues regarding science productivity and mission operations, the thrust of this note.

  17. SPIRIT 2013 explanation and elaboration

    DEFF Research Database (Denmark)

    Chan, An-Wen; Tetzlaff, Jennifer M; Gøtzsche, Peter C

    2013-01-01

    (Standard Protocol Items: Recommendations for Interventional Trials). The SPIRIT Statement provides guidance in the form of a checklist of recommended items to include in a clinical trial protocol. This SPIRIT 2013 Explanation and Elaboration paper provides important information to promote full...... understanding of the checklist recommendations. For each checklist item, we provide a rationale and detailed description; a model example from an actual protocol; and relevant references supporting its importance. We strongly recommend that this explanatory paper be used in conjunction with the SPIRIT Statement...

  18. Confucianism Ethic and the Spirit of Capitalism

    Directory of Open Access Journals (Sweden)

    Usman Usman

    2016-08-01

    Full Text Available This article tries to explore the fundamental values of Confucianism ethics and its influence to the emergence of Capitalism. By using Weber's thesis on the relationship between Protestant ethics and the spirit of capitalism, this paper concludes that the three important values of Confucianism Ethics (ren: benevolence, humaneness, li: rightness, righteousness, and fittingness, and yi: rules of proper conduct, ritual, and rites are proposing people on how to become good human beings. If the Confucian follows these ethics properly, he/she will get the successful life. Although it is not guaranteed but the Confucianism ethics are still relevant to be practiced in contemporary situation. Some research findings recently showed that Confucianism ethics have really influence people to fulfill the "calling" (Weber's term and it has also power to increase the spirit of capitalism. The rise of Japan, China, and the four little dragons (including South Korea, Taiwan, Hong Kong, and Singapore is related to the development of Confucianism, and it directly brings down Weber's view point, which taught that Confucianism did not have the spirit of capitalism.

  19. 27 CFR 30.43 - Packaged spirits.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Packaged spirits. 30.43... Packaged spirits. When the quantity of spirits (including denatured spirits when gauged by weight) in... by weighing each package on an accurate weighing beam or platform scale having a beam or dial showing...

  20. 27 CFR 27.40 - Distilled spirits.

    Science.gov (United States)

    2010-04-01

    ... OF THE TREASURY LIQUORS IMPORTATION OF DISTILLED SPIRITS, WINES, AND BEER Tax On Imported Distilled Spirits, Wines, and Beer Distilled Spirits § 27.40 Distilled spirits. (a) A tax is imposed on all... each proof gallon. All products of distillation, by whatever name known, which contain distilled...

  1. Education and entrepreneurial spirit

    Directory of Open Access Journals (Sweden)

    Paul Marinescu

    2015-12-01

    Full Text Available The attitude of a man is influenced by the quality of education. Too often we use to exclusively impute to the system the educational problems of individuals and groups. It is necessary to look lucidly and to identify the role of family, civil society and individuals in education. Exercising leadership means continuously learning and, therefore, it is difficult to separate the educational dynamics from the team evolution at organizational level. The training of individuals occurs in variable contexts that they create or in which they are involved. From the leadership perspective, education is also a problem of assuming responsibilities. The set of values that outlines a social behaviour imposes also disclaimers. In such context, disclaimers can define the understanding of the efficient use of resources in favour of the group and not in one’s own interest. Hence, the management lesson for those who will be prepared to lead begins. That’s how the practical management and leadership lessons can contribute to the creation of complex personalities. Leaders and managers define a reality in which education plays a central role. Therefore, selfeducation becomes a must because it will impose the development of the spirit of initiative and the selection of those having both potential and skills to become leaders, managers and entrepreneurs. We can say that it is imperative to move on from “the game of chance” to the real performance standards in training tomorrow’s decision-makers.

  2. Library Spirit and Genius Loci

    DEFF Research Database (Denmark)

    Dahlkild, Nan

    2009-01-01

    The architecture and design of Nyborg Public Library in the light of the concepts "Library Spirit" and "Genius Loci", related to contemporary social and cultural movements, the development of the early welfare state and the "Scandinavian Style".......The architecture and design of Nyborg Public Library in the light of the concepts "Library Spirit" and "Genius Loci", related to contemporary social and cultural movements, the development of the early welfare state and the "Scandinavian Style"....

  3. Invigorating Entrepreneurial Spirit among Workforce

    OpenAIRE

    AL MUTAIRI ANED O; AL MUTAIRI ALYA O.

    2013-01-01

    With the key intent of stimulating entrepreneurial spirit among the workforce, this paper identifies the diverse entrepreneurial qualities required to propel the entrepreneurial spirit unremittingly. These relevant personal skills and strategies of New Venture Creation further aid in the successful creation and subsequent maintenance of an entrepreneur business. Prior to application of the identified skills, this paper vividly demonstrates the importance of such skills to any entrepreneurial ...

  4. Pathfinder Lander Rover Recharge System, and MARCO POLO Controls and ACME Regolith Feed System Controls and Integration

    Science.gov (United States)

    Tran, Sarah Diem

    2015-01-01

    This project stems from the Exploration, Research, and Technology Directorate (UB) Projects Division, and one of their main initiatives is the "Journey to Mars". Landing on the surface of Mars which is millions of miles away is an incredibly large challenge. The terrain is covered in boulders, deep canyons, volcanic mountains, and spotted with sand dunes. The robotic lander is a kind of spacecraft with multiple purposes. One purpose is to be the protective shell for the Martian rover and absorb the impact from the landing forces; another purpose is to be a place where the rovers can come back to, actively communicate with, and recharge their batteries from. Rovers have been instrumental to the Journey to Mars initiative. They have been performing key research on the terrain of the red planet, trying to unlock the mysteries of the land for over a decade. The rovers that will need charging will not all have the same kind of internal battery either. RASSOR batteries may differ from the PbAC batteries inside Red Rover's chassis. NASA has invested heavily in the exploration of the surface of Mars. A driving force behind further exploration is the need for a more efficient operation of Martian rovers. One way is to reduce the weight as much as possible to reduce power consumption given the same mission parameters. In order to reduce the mass of the rovers, power generation, communication, and sample analysis systems currently onboard Martian rovers can be moved to a stationary lander deck. Positioning these systems from the rover to the Lander deck allows a taskforce of smaller, lighter rovers to perform the same tasks currently performed by or planned for larger rovers. A major task in transferring these systems to a stationary lander deck is ensuring that power can be transferred to the rovers.

  5. Mars 2001 Orbiter, Lander and Rover

    Science.gov (United States)

    Saunders, R. S.

    1999-09-01

    The Mars 2001 mission is well equipped to analyze the surface of Mars. The mission: 1) completes MO objectives with gamma ray spectrometer elemental mapping, 2) explores a new region of the Martian surface, and 3) is the first in the combined Mars strategy of the Human Exploration and Development of Space (HEDS) and Space Science Enterprises of NASA. The mission demonstrates technologies and collects environmental data that provide the basis for permanent outposts or a decision to send humans to Mars. Potential sites include ancient crust and ancient aqueous environments. The orbiter carries the gamma ray spectrometer, a thermal emission spectrometer (THEMIS) and imager that will map the mineral abundance at selected sites and a radiation experiment, Marie, to assess radiation hazards. The lander carries a suite of Space Science and HEDS instruments including a robotic arm with camera. The arm will deploy a Moessbauer spectrometer to determine the state of iron in the soil. The arm will deploy the rover and dig up to 0.5 m to deliver soil to MECA, the soil and dust characterization experiments. The Mars In Situ Propellant Precursor Experiment (MIP) will assess in situ propellant production technology and produce oxygen from the Martian atmosphere. The landed Marie radiation experiment will assess radiation hazards on the surface. The lander carries a panoramic camera bore-sighted with a thermal emission spectrometer (PanCam/MiniTES) to allow comparison between mineralogical data and elemental data. The descent imaging system (MARDI) will image from parachute deployment to the surface. The rover is Sojourner class, with an upgraded Alpha Proton X-ray Spectrometer (APXS) experiment carefully calibrated on Earth and on Mars. The instruments will be operated in an integrated mode to provide maximum capability to explore and characterize a new region on Mars. MSP-01 is a NASA/JPL Mission.

  6. A Raman Spectrometer for the ExoMars 2020 Rover

    Science.gov (United States)

    Moral, A. G.; Rull, F.; Maurice, S.; Hutchinson, I.; Canora, C. P.; Seoane, L.; Rodríguez, P.; Canchal, R.; Gallego, P.; Ramos, G.; López, G.; Prieto, J. A. R.; Santiago, A.; Santamaría, P.; Colombo, M.; Belenguer, T.; Forni, O.

    2017-09-01

    The Raman project is devoted to the development of a Raman spectrometer and the support science associated for the rover EXOMARS mission to be launched in 2020. ExoMars is a double mission with two different launch opportunities, first one launched in March 2016 allowed to put in orbit the TGO with the communication system for the next mission. And the second one in 2020, deploying a rover which includes for the first time in the robotic exploration of Mars, a drill capable to obtain samples from the subsurface up to 2 meters depth. These samples will be crushed into a fine powder and delivered to the analytical instruments suite inside the rover by means of a dosing station. The EQM has been already qualified under a very demanding thermo mechanical environment, and under EMC tests, finally achieving required scientific performances. The RLS Engineering and Qualification Model has been manufactured and is expected to be delivered by May 2017, after a full qualification testing campaign developed during 2016 Q4, and 2017 Q1. It will finally delivered to ESA, by July 2017. December 2017 at TAS-I premises will do RLS FM delivery to ESA, for its final integration on the ExoMars 2020 Rover.

  7. Rover Traverse Planning to Support a Lunar Polar Volatiles Mission

    Science.gov (United States)

    Heldmann, J.L.; Colaprete, A.C.; Elphic, R. C.; Bussey, B.; McGovern, A.; Beyer, R.; Lees, D.; Deans, M. C.; Otten, N.; Jones, H.; hide

    2015-01-01

    Studies of lunar polar volatile depositsare of interest for scientific purposes to understandthe nature and evolution of the volatiles, and alsofor exploration reasons as a possible in situ resource toenable long term exploration and settlement of theMoon. Both theoretical and observational studies havesuggested that significant quantities of volatiles exist inthe polar regions, although the lateral and horizontaldistribution remains unknown at the km scale and finerresolution. A lunar polar rover mission is required tofurther characterize the distribution, quantity, andcharacter of lunar polar volatile deposits at thesehigher spatial resolutions. Here we present two casestudies for NASA’s Resource Prospector (RP) missionconcept for a lunar polar rover and utilize this missionarchitecture and associated constraints to evaluatewhether a suitable landing site exists to support an RPflight mission.

  8. Electrostatic Dust Control for Planetary Rovers

    Science.gov (United States)

    Clark, P. E.; Curtis, S. A.; Farrell, W. M.; Nuth, J. A.; Stubbs, T. J.; Rilee, M. L.

    2005-12-01

    Detailed study of the physical and chemical nature of the fine particulate portion of the regoliths of these bodies is a key to understanding micrometeorite bombardment and the nature of regolith formation. Thus, missions to sample the surfaces of atmosphereless bodies, including the Moon, asteroids, and Mercury, have been identified as crucial components of solar system exploration over the next decades. We have proposed autonomous reconfigurable robotic manual assistants and lander/rovers for such missions. On the other hand, dust poses problems for mechanisms and exposed surfaces on landers/rovers sent to such bodies. Compromise of seals and loss of sample material, as well as mechanical damage to systems and surfaces, occurred after hours of operation during the Apollo missions. Thus both dust mitigation and dust collection are issues which must be addressed for sampling missions. Dust activity on atmosphereless bodies is ubiquitous and induced by complex interactions of fine particulates, environmentally-dependent fields, and charged particles with vehicle surfaces and mechanisms. Dust particles are both abrasive and adhesive as a result of the melting and crushing from micrometeorite bombardment. Thus, dust dynamics result from the interplay between mechanical and electrostatic forces and are a critical environmental factor with which all rover technologies must deal. We have considered various strategies for dust mitigation. Passive ones include the use of conducting surfaces and O-ring sealing of all mechanisms. Several active mechanisms for not only removing but collecting dust are under consideration. Our inter-disciplinary team is investigating the feasibility of an electrostatically based concept for a dust control. Relatively little work has been done on empirically simulating what happens when another surface is introduced into a non-conducting, dusty regolith. We plan to test our concept by performing empirical simulations of the interaction between

  9. An Embarrassment of Spirits: Spirits, Hauntology and Democracy in Indonesia

    DEFF Research Database (Denmark)

    Bubandt, Nils Ole

    2014-01-01

    Kyai Muzakkin is the spiritual leader of a Koranic school (pesantren) in East Java that he claims is the only pesantren in the world that is attended entirely by spirits (jin). Kyai Muzakkin is also the founder of an anti-corruption NGO. In 2009, he gained national notoriety and infamy when he co...

  10. Democracy, Corruption and the Politics of Spirits in Contemporary Indonesia

    DEFF Research Database (Denmark)

    Bubandt, Nils Ole

    contentious area of democracy in Indonesia – elections, corruption, decentralization, and regional representation. The chapters explore the intimate ways in which the political world and the spirit world are entangled. The core argument of the book is that Indonesia’s seemingly peculiar problems...

  11. APXS on board Chandrayaan-2 Rover

    Science.gov (United States)

    Shanmugam, M.; Sripada, V. S. Murty; Acharya, Y. B.; Goyal, S. K.

    2012-07-01

    Alpha Particle X-ray Spectrometer (APXS) is a well proven instrument for quantitative in situ elemental analysis of the planetary surfaces and has been successfully employed for Mars surface exploration. Chandrayaan-2, ISRO's second lunar mission having an Orbiter, Lander and Rover has provided an opportunity to explore the lunar surface with superior detectors such as Silicon Drift Detector (SDD) with energy resolution of about 150eV @ 5.9keV. The objective of the APXS instrument is to analyse several soil/rock samples along the rover traverse for the major elements with characteristic X-rays in 1 to 25keV range. The working principle of APXS involves measuring the intensity of characteristic X-rays emitted from the sample due to Alpha Particle Induced X-ray Emission (PIXE) and X-ray florescence (XRF) processes using suitable radioactive sources, allowing the determination of elements from Na to Br, spanning the energy range of 0.9 to 16keV. For this experiment ^{244}Cm radioactive source has been chosen which emits both Alpha particles (5.8MeV) and X-rays (14.1keV, 18keV). APXS uses six Alpha sources, each about 5mCi activity. Unlike Mars, lunar environment poses additional challenges due to the regolith and extreme surface temperature changes, to operate the APXS. Our APXS instrument consists of two packages namely APXS sensor head and APXS signal electronics. The sensor head assembly contains SDD, six alpha sources and front end electronic circuits such as preamplifier and shaper circuits and will be mounted on a robotic arm which on command brings the sensor head close to the lunar surface at a height of 35±10mm. SDD module to be used in the experiment has 30mm ^{2} active detector area with in-built peltier cooler and heat sink to maintain the detector at about -35°C. The detector is covered with 8 micron thick Be window which results in the low energy threshold of about 1keV. The size of the APXS sensor head is 70x70x70mm ^{3} (approx). APXS signal

  12. A Wind-powered Rover for a Low-Cost Venus Mission

    Science.gov (United States)

    Benigno, Gina; Hoza, Kathleen; Motiwala, Samira; Landis, Geoffrey A.; Colozza, Anthony J.

    2013-01-01

    Venus, with a surface temperature of 450 C and an atmospheric pressure 90 times higher than that of the Earth, is a difficult target for exploration. However, high-temperature electronics and power systems now being developed make it possible that future missions may be able to operate in the Venus environment. Powering such a rover within the scope of a Discovery class mission will be difficult, but harnessing Venus' surface winds provides a possible way to keep a powered rover small and light. This project scopes out the feasibility of a wind-powered rover for Venus surface missions. Two rover concepts, a land-sailing rover and a wind-turbine-powered rover, were considered. The turbine-powered rover design is selected as being a low-risk and low-cost strategy. Turbine detailed analysis and design shows that the turbine can meet mission requirements across the desired range of wind speeds by utilizing three constant voltage generators at fixed gear ratios.

  13. Integrating Principles Underlying Ancestral Spirits Belief in ...

    African Journals Online (AJOL)

    , associated with ancestral spirits and its use as powerful therapeutic agent for influencing behavior or lifestyle changes. Explanatory models of attachment to ancestral spirits by living descendants are first discussed, followed by a discussion ...

  14. The spirit of hypnosis: doing hypnosis versus being hypnotic.

    Science.gov (United States)

    Yapko, Michael D

    2014-01-01

    The spirit of hypnosis is reflected in the belief that people are more resourceful than they realize and through hypnosis can create meaningful possibilities. Thus, it is puzzling why hypnosis isn't better regarded. Do we present as too internally conflicted to inspire others' confidence? Do we overstate the dangers of hypnosis and scare people away? Do we define hypnosis as such a unique approach that others don't see its relevance for their work? Self-exploration is important if we want to ensure we are not unwittingly adding to our image problems as a field. Beyond these considerations, the novel and spirited application of hypnosis in the context of captive elephant breeding is discussed, as is a personal acknowledgment of some of the pioneers who manifested the spirit of hypnosis.

  15. Spirit Boxes: Expressions of Culture.

    Science.gov (United States)

    DeMuro, Ted

    1984-01-01

    After studying the culture and art of the ancient civilizations of South America, Mesopotamia, Greece, and Egypt, secondary level art students made spirit boxes as expressions of the various cultures. How to make the boxes and how to prepare the face molds are described. (RM)

  16. The Spirit of the Teacher

    Science.gov (United States)

    Smith, Olynda

    2013-01-01

    "The real preparation for education is a study of one's self. The training of the teacher who is to help life is something far more than a learning of ideas. It includes the training of character, it is a preparation of the spirit."--Maria Montessori". It is common knowledge among Montessorians that spiritual preparation was…

  17. The Spirit and the church

    Directory of Open Access Journals (Sweden)

    Harald Hegstad

    2014-05-01

    Full Text Available In what way is the Holy Spirit present in the life of the church? Questions of ecclesiology and pneumatology have traditionally divided denominations. Today these questions are at the centre of renewed ecumenical rapprochement. This article presents the contribution of the classic study on Martin Luther’s pneumatology, Spiritus Creator (1946, by the Danish theologian Regin Prenter (1907–1990. One basic insight in Prenter’s interpretation of Luther is the Spirit’s role of conveying the real presence of Christ in the life of the believer. This also means that the Spirit conveys the experience of Christ. As a Lutheran, Prenter underlines the role of word and sacrament as the tool of transmitting the Spirit. This does not mean that the Spirit is limited to word and sacrament, as an institutionally oriented reading of the Augsburg Confession may advocate. A pneumatologically oriented ecclesiology inspired by Prenter’s reading of Luther may open new possibilities for a “re-ceptive ecumenism”, including insights from Pentecostal and Charismatic theology in a Lutheran context.

  18. Spirit-ness at Work: Connections between Workplace Spirituality, Transformative Learning, and Social Justice

    Science.gov (United States)

    Tolliver, Derise E.

    2016-01-01

    The workplace is a place where we show up as human beings, subject to human experience. People are no longer willing to leave their spirit-ness at the door. In reality, spirit-ness shows up "without permission" as a revolutionary, powerful, and transformative way of being in a world that too often supports status quo activities that are…

  19. Themes in Spirit Possession in Ugandan Christianity

    African Journals Online (AJOL)

    Rob and Jean

    note Nigerian influence in at least some Ugandan expressions of the experience of spirit possession. ... This paper records observations and interviews made in Uganda about spirit possession and witchcraft. ..... Horton makes the point that talk of spirits in African religion is usually about adding a theoretical level of.

  20. the holy spirit's indwelling in the church

    African Journals Online (AJOL)

    bound to the Church, not as though the Spirit were captured in the church, but because church is created wherever the Spirit works. This has to do with the understanding of Logos and Spirit in early. Christianity. Both are God's presence in the world, whereby God works in. 1 Justinus Martyr, Apologia I, 46. Numbering of the ...

  1. Mars Science Laboratory Rover and Descent Stage

    Science.gov (United States)

    2009-01-01

    In this February 17, 2009, image, NASA's Mars Science Laboratory rover is attached to the spacecraft's descent stage. The image was taken inside the Spacecraft Assembly Facility at NASA's Jet Propulsion Laboratory, Pasadena, Calif. This is the way the spacecraft will look after it comes out of its protective aeroshell and is descending to the Martian surface in 2012. Here, the descent stage sits on top of the rover, with its eight main engines straddling the rover structure. The rover is the big white box below the descent stage. At this point, the rover lacks its appendages (robotic arm, mast and most wheels), as these elements are still being assembled and were not needed for space-simulation testing of the spacecraft in late 2008.

  2. 27 CFR 19.99 - Spirits in customs custody.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Spirits in customs custody... Conveyance of Spirits Or Wines on Plant Premises § 19.99 Spirits in customs custody. Spirits in customs custody may be conveyed, when necessary, across distilled spirits plant premises if: (a) The spirits are...

  3. Optical designs for the Mars '03 rover cameras

    Science.gov (United States)

    Smith, Gregory H.; Hagerott, Edward C.; Scherr, Lawrence M.; Herkenhoff, Kenneth E.; Bell, James F.

    2001-12-01

    In 2003, NASA is planning to send two robotic rover vehicles to explore the surface of Mars. The spacecraft will land on airbags in different, carefully chosen locations. The search for evidence indicating conditions favorable for past or present life will be a high priority. Each rover will carry a total of ten cameras of five various types. There will be a stereo pair of color panoramic cameras, a stereo pair of wide- field navigation cameras, one close-up camera on a movable arm, two stereo pairs of fisheye cameras for hazard avoidance, and one Sun sensor camera. This paper discusses the lenses for these cameras. Included are the specifications, design approaches, expected optical performances, prescriptions, and tolerances.

  4. Localization and physical properties experiments conducted by Spirit at Gusev Crater

    Science.gov (United States)

    Arvidson, R. E.; Anderson, R. C.; Bartlett, P.; Bell, J. F., III; Blaney, D.; Christensen, P. R.; Chu, P.; Crumpler, L.; Davis, K.; Ehlmann, B. L.; hide

    2004-01-01

    The precise location and relative elevation of Spirit during its traverses from the Columbia Memorial station to Bonneville crater were determined with bundle-adjusted retrievals from rover wheel turns, suspension and tilt angles, and overlapping images. Physical properties experiments show a decrease of 0.2% per Mars solar day in solar cell output resulting from deposition of airborne dust, cohesive soil-like deposits in plains and hollows, bright and dark rock coatings, and relatively weak volcanic rocks of basaltic composition. Volcanic, impact, aeolian, and water-related processes produced the encountered landforms and materials.

  5. Textures of the soils and rocks at Gusev crater from Spirit's Microscopic Imager

    DEFF Research Database (Denmark)

    Herkenhoff, K.E.; Squyres, S.W.; Arvidson, R.

    2004-01-01

    The Microscopic Imager on the Spirit rover analyzed the textures of the soil and rocks at Gusev crater on Mars at a resolution of 100 micrometers. Weakly bound agglomerates of dust are present in the soil near the Columbia Memorial Station. Some of the brushed or abraded rock surfaces show igneous...... textures and evidence for alteration rinds, coatings, and veins consistent with secondary mineralization. The rock textures are consistent with a volcanic origin and subsequent alteration and/or weathering by impact events, wind, and possibly water....

  6. Healing spirits of South Kanara.

    Science.gov (United States)

    Shields, N K

    1987-12-01

    In South Kanara, India (formerly the kingdom of Tulunadu), and area stretching some 150 miles along the Arabian Sea and 25 to 50 miles inland, ancient forms of rural pageantry in honor of particular local Spirits are enacted yearly. These ritualized performances include elements of masked folk drama and epic recitation and serve a valued social role as a form of healing and counselling within village communities. Contemporary practitioner-patient interactions are part of an intricate tapestry partaking of customs occurring since times long past, such as the kinship structure (aliya-santana or nephew inheritance), the geopolitical milieu and the myths of Tulunadu. The power of these healing Spirits lies in their ability to reproduce social form through the cultural idiom of therapeutic efficacy.

  7. Technologies for Lunar Exploration

    Science.gov (United States)

    Zacny, K.; Indyk, S.

    2017-10-01

    Honeybee Robotics, with its partners, developed numerous technologies for lunar exploration. Most of these technologies are at high TRL and have been designed for small landers, rovers, as well as astronauts. This abstract presents several of these technologies.

  8. Researches on hazard avoidance cameras calibration of Lunar Rover

    Science.gov (United States)

    Li, Chunyan; Wang, Li; Lu, Xin; Chen, Jihua; Fan, Shenghong

    2017-11-01

    Lunar Lander and Rover of China will be launched in 2013. It will finish the mission targets of lunar soft landing and patrol exploration. Lunar Rover has forward facing stereo camera pair (Hazcams) for hazard avoidance. Hazcams calibration is essential for stereo vision. The Hazcam optics are f-theta fish-eye lenses with a 120°×120° horizontal/vertical field of view (FOV) and a 170° diagonal FOV. They introduce significant distortion in images and the acquired images are quite warped, which makes conventional camera calibration algorithms no longer work well. A photogrammetric calibration method of geometric model for the type of optical fish-eye constructions is investigated in this paper. In the method, Hazcams model is represented by collinearity equations with interior orientation and exterior orientation parameters [1] [2]. For high-precision applications, the accurate calibration model is formulated with the radial symmetric distortion and the decentering distortion as well as parameters to model affinity and shear based on the fisheye deformation model [3] [4]. The proposed method has been applied to the stereo camera calibration system for Lunar Rover.

  9. Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks

    Science.gov (United States)

    Wood, S. J.; Dean, S. L.; De Dios, Y. E.; Moore, S. T.

    2010-01-01

    INTRODUCTION: Following long-duration exploration transits, pressurized rovers will enhance surface mobility to explore multiple sites across Mars and other planetary bodies. Multiple rovers with docking capabilities are envisioned to expand the range of exploration. However, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely navigate and perform docking tasks shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify post-flight decrements in spatial navigation and docking performance during a rover simulation. METHODS: Eight crewmembers returning from the International Space Station will be tested on a motion simulator during four pre-flight and three post-flight sessions over the first 8 days following landing. The rover simulation consists of a serial presentation of discrete tasks to be completed within a scheduled 10 min block. The tasks are based on navigating around a Martian outpost spread over a 970 sq m terrain. Each task is subdivided into three components to be performed as quickly and accurately as possible: (1) Perspective taking: Subjects use a joystick to indicate direction of target after presentation of a map detailing current orientation and location of the rover with the task to be performed. (2) Navigation: Subjects drive the rover to the desired location while avoiding obstacles. (3) Docking: Fine positioning of the rover is required to dock with another object or align a camera view. Overall operator proficiency will be based on how many tasks the crewmember can complete during the 10 min time block. EXPECTED RESULTS: Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to a wide variety of simulated vehicle designs to provide sensorimotor assessments for other operational and civilian populations.

  10. Social network analysis and dual rover communications

    Science.gov (United States)

    Litaker, Harry L.; Howard, Robert L.

    2013-10-01

    Social network analysis (SNA) refers to the collection of techniques, tools, and methods used in sociometry aiming at the analysis of social networks to investigate decision making, group communication, and the distribution of information. Human factors engineers at the National Aeronautics and Space Administration (NASA) conducted a social network analysis on communication data collected during a 14-day field study operating a dual rover exploration mission to better understand the relationships between certain network groups such as ground control, flight teams, and planetary science. The analysis identified two communication network structures for the continuous communication and Twice-a-Day Communication scenarios as a split network and negotiated network respectfully. The major nodes or groups for the networks' architecture, transmittal status, and information were identified using graphical network mapping, quantitative analysis of subjective impressions, and quantified statistical analysis using Sociometric Statue and Centrality. Post-questionnaire analysis along with interviews revealed advantages and disadvantages of each network structure with team members identifying the need for a more stable continuous communication network, improved robustness of voice loops, and better systems training/capabilities for scientific imagery data and operational data during Twice-a-Day Communications.

  11. Transforming schools of social work into spaces of social action: a critical exploration of Project Interaction, The Gay, Lesbian, Bisexual and Two-Spirit Initiative of McGill University's School of Social Work.

    Science.gov (United States)

    Chervin, Michael; Brotman, Shari; Ryan, Bill; Mullin, Heather

    2003-01-01

    This article examines the question of how universities can be encouraged to address the mental health concerns of GLBT-SQ people and communities from a perspective of solidarity. In so doing, the authors take a case study approach, using Project Interaction: The Gay, Lesbian, Bisexual and Two-Spirit Initiative of McGill University's School of Social Work, to critically reflect upon the challenges arising from the development of an alternative organization within academia. The purpose of this reflection is to highlight how normal operations at work on university campuses, and within health and allied health curriculum, can be disrupted with the goal of providing momentum for the creation of affirmative space, the advancement of educational initiatives, and the building of opportunities for social change.

  12. Mars Rover Curiosity Traverses of Sand Ripples

    Science.gov (United States)

    Stein, N.; Arvidson, R. E.; Zhou, F.; Heverly, M.; Maimone, M.; Hartman, F.; Bellutta, P.; Iagnemma, K.; Senatore, C.

    2014-12-01

    Martian sand ripples present a challenge for rover mobility, with drives over ripples often characterized by high wheel sinkage and slippage that can lead to incipient embedding. Since landing in Gale Crater, Curiosity has traversed multiple sand ripples, including the transverse aeolian ridge (TAR) straddling Dingo Gap on sols 533 and 535. On sol 672, Curiosity crossed backward over a series of sand ripples before ending its drive after high motor currents initiated visual odometry (VO) processing, which detected 77% slip, well in excess of the imposed 60% slip limit. At the end of the drive, the right front wheel was deeply embedded at the base of a ripple flank with >20 cm sinkage and the rear wheels were near a ripple crest. As Curiosity continues its approach to Mount Sharp it will have to cross multiple ripples, and thus it is important to understand Curiosity's performance on sol 672 and over similar ripples. To this end the sol 672 drive was simulated in ARTEMIS (Adams-Based Rover Terramechanics Interaction Simulator), a software tool consisting of realistic rover mechanical models, a wheel-terrain interaction module for deformable and non-deformable surfaces, and realistic terrain models. ARTEMIS results, Dumont Dunes tests performed in the Mojave Desert using the Scarecrow test rover, and single wheel tests performed at MIT indicate that the high slip encountered on sol 672 likely occurred due to a combination of rover attack angle, ripple geometry, and soil properties. When ripple wavelength approaches vehicle length, the rover can reach orientations in which the leading wheels carry minimal normal loads and the trailing wheels sink deeply, resulting in high slippage and insufficient thrust to propel the rover over ripples. Even on relatively benign (i.e. low tilt) terrains, local morphology can impose high sinkage, thus impeding rover motion. Work is underway to quantify Curiosity's drive performance over various ripple geometries to retrieve soil

  13. LED minilidar for Mars rover

    Science.gov (United States)

    Shiina, Tatsuo; Yamada, Sonoko; Senshu, Hiroki; Otobe, Naohito; Hashimoto, George; Kawabata, Yasuhiro

    2016-10-01

    A mini-lidar to observe the activity of Martian atmosphere is developed. The 10cm-cube LED mini-lidar was designed to be onboard a Mars rover. The light source of the mini-lidar is a high powered LED of 385nm. LED was adopted as light source because of its toughness against circumference change and physical shock for launch. The pulsed power and the pulse repetition frequency of LED beam were designed as 0.75W (=7.5nJ/10ns) and 500kHz, respectively. Lidar echoes were caught by the specially designed Cassegrain telescope, which has the shorter telescope tube than the usual to meet the 10cm-cube size limit. The high-speed photon counter was developed to pursue to the pulse repetition frequency of the LED light. The measurement range is no shorter than 30m depending back-ground condition. Its spatial resolution was improved as 0.15m (=1ns) by this photon counter. The demonstrative experiment was conducted at large wind tunnel facility of Japan Meteorological Agency. The measurement target was smoke of glycerin particles. The smoke was flowed in the wind tunnel with wind speed of 0 - 5m. Smoke diffusion and its propagation due to the wind flow were observed by the LED mini-lidar. This result suggests that the developed lidar can pursue the structure and the motion of dust devil of >2m.

  14. Mars Surface Mobility: Comparison of Past, Present, and Future Rover Systems

    Science.gov (United States)

    Wilson, G. R.; Andringa, J. M.; Beegle, L. W.; Jordan, J. F.; Mungus, G. S.; Muliere, D. A.; Vozoff, J.; Wilson, T. J.

    2005-01-01

    The future robotic and human exploration of Mars will rely heavily on mobile system to meet exploration objectives. In particular, the next decade of exploration (2009-2020) will utilize rovers and other mobile surface platforms to conduct a wide variety of tasks, including in the search for water and life, characterization of terrain and its geology, and conduct precursor measurements prepare for future human exploration.

  15. The Spirit of the Body of Christ: The Holy Spirit's indwelling in the ...

    African Journals Online (AJOL)

    ... the author argues that the church is the exclusive place of the work of the Holy Spirit, with reference to early church fathers such as Cyprian and Augustine, and to the New Testament. The Spirit is the presence of Christ who indwells his body. Therefore, the concept of social Trinity is rejected. As the Spirit of the Crucified, ...

  16. Doping in sport: the spirit of sports, human rights and human resource development dilemma

    OpenAIRE

    KURGAT P.K.; KURGAT A.J.

    2014-01-01

    The spirit of sports, namely ethics, fair play and honesty; health; excellence in performance; character and education; fun and joy; teamwork; dedication and commitment; respect for rules and laws; respect for self and other participants; courage; community and solidarity. Sports governing bodies consider the principal policy of anti-doping regulation as a creation of a level playing field. This article explores the spirit of sport, namely, ethics, fair play, honesty, health, excellence in pe...

  17. A Polar Rover for Large-Scale Scientific Surveys: Design, Implementation and Field Test Results

    Directory of Open Access Journals (Sweden)

    Yuqing He

    2015-10-01

    Full Text Available Exploration of polar regions is of great importance to scientific research. Unfortunately, due to the harsh environment, most of the regions on the Antarctic continent are still unreachable for humankind. Therefore, in 2011, the Chinese National Antarctic Research Expedition (CHINARE launched a project to design a rover to conduct large-scale scientific surveys on the Antarctic. The main challenges for the rover are twofold: one is the mobility, i.e., how to make a rover that could survive the harsh environment and safely move on the uneven, icy and snowy terrain; the other is the autonomy, in that the robot should be able to move at a relatively high speed with little or no human intervention so that it can explore a large region in a limit time interval under the communication constraints. In this paper, the corresponding techniques, especially the polar rover's design and autonomous navigation algorithms, are introduced in detail. Subsequently, an experimental report of the fields tests on the Antarctic is given to show some preliminary evaluation of the rover. Finally, experiences and existing challenging problems are summarized.

  18. Field Experiments using Telepresence and Virtual Reality to Control Remote Vehicles: Application to Mars Rover Missions

    Science.gov (United States)

    Stoker, Carol

    1994-01-01

    This paper will describe a series of field experiments to develop and demonstrate file use of Telepresence and Virtual Reality systems for controlling rover vehicles on planetary surfaces. In 1993, NASA Ames deployed a Telepresence-Controlled Remotely Operated underwater Vehicle (TROV) into an ice-covered sea environment in Antarctica. The goal of the mission was to perform scientific exploration of an unknown environment using a remote vehicle with telepresence and virtual reality as a user interface. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research center, for over two months. Remote control used a bidirectional Internet link to the vehicle control computer. The operator viewed live stereo video from the TROV along with a computer-gene rated graphic representation of the underwater terrain showing file vehicle state and other related information. Tile actual vehicle could be driven either from within the virtual environment or through a telepresence interface. In March 1994, a second field experiment was performed in which [lie remote control system developed for the Antarctic TROV mission was used to control the Russian Marsokhod Rover, an advanced planetary surface rover intended for launch in 1998. Marsokhod consists of a 6-wheel chassis and is capable of traversing several kilometers of terrain each day, The rover can be controlled remotely, but is also capable of performing autonomous traverses. The rover was outfitted with a manipulator arm capable of deploying a small instrument, collecting soil samples, etc. The Marsokhod rover was deployed at Amboy Crater in the Mojave desert, a Mars analog site, and controlled remotely from Los Angeles. in two operating modes: (1) a Mars rover mission simulation with long time delay and (2) a Lunar rover mission simulation with live action video. A team of planetary

  19. Renewing the Spirit of the Liberal Arts

    Science.gov (United States)

    Noddings, Nel

    2013-01-01

    The spirit of the liberal arts has been undermined by overspecialization, and it has been further damaged by the increase in emphasis on the economic purpose of education. The spirit might be renewed by using the aims of the liberal arts to develop every course we teach.

  20. Supporting Increased Autonomy for a Mars Rover

    Science.gov (United States)

    Estlin, Tara; Castano, Rebecca; Gaines, Dan; Bornstein, Ben; Judd, Michele; Anderson, Robert C.; Nesnas, Issa

    2008-01-01

    This paper presents an architecture and a set of technology for performing autonomous science and commanding for a planetary rover. The MER rovers have outperformed all expectations by lasting over 1100 sols (or Martian days), which is an order of magnitude longer than their original mission goal. The longevity of these vehicles will have significant effects on future mission goals, such as objectives for the Mars Science Laboratory rover mission (scheduled to fly in 2009) and the Astrobiology Field Lab rover mission (scheduled to potentially fly in 2016). Common objectives for future rover missions to Mars include the handling of opportunistic science, long-range or multi-sol driving, and onboard fault diagnosis and recovery. To handle these goals, a number of new technologies have been developed and integrated as part of the CLARAty architecture. CLARAty is a unified and reusable robotic architecture that was designed to simplify the integration, testing and maturation of robotic technologies for future missions. This paper focuses on technology comprising the CLARAty Decision Layer, which was designed to support and validate high-level autonomy technologies, such as automated planning and scheduling and onboard data analysis.

  1. Exploration

    Science.gov (United States)

    Wilburn, D.R.

    2001-01-01

    Part of an annual review of mines and mineral resources in the U.S. An overview of nonfuel-mineral exploration in 2000 is presented. Principal exploration target was gold exploration in Latin America, Australia, and the U.S. There was a decrease of 18 percent in the exploration budget for gold as compared with the budget for 1999. Statistical information on nonfuel-mineral exploration worldwide is presented, analyzed, and interpreted.

  2. Decreased taxation, spirits consumption and alcohol-related problems in Switzerland.

    Science.gov (United States)

    Mohler-Kuo, Meichun; Rehm, Jürgen; Heeb, Jean-Luc; Gmel, Gerhard

    2004-03-01

    The spirits market in Switzerland was reformed in 1999 in accordance with the World Trade Organization agreement. The resulting tax reform and increased competition have resulted in markedly reduced prices for foreign spirits, and a previous study showed that spirits consumption increased significantly after the tax reform. The present study examined whether alcohol-related problems also increased at follow-up and if they did, whether the increase was the result of increased spirits consumption. Further correlates of alcohol-related problems were also explored. Data were obtained from a longitudinal study on changes in alcohol consumption in Switzerland. The baseline survey was conducted 3 months before the tax reform, and the follow-up was conducted 28 months after the tax reform. A randomly selected sample of 4,007 residents aged 15 years or older participated in the baseline survey, and 73% of this sample participated in the follow-up survey. Alcohol consumption was measured on the basis of a graduated frequency, and alcohol-related problems were measured by items taken from the Alcohol Use Disorder Identification Test (AUDIT). Findings indicate that alcohol-related problems increased significantly at follow-up. The significance disappeared, however, after controlling for spirits consumption, indicating that the increase of alcohol-related problems at follow-up was mainly mediated through increased consumption of spirits. The multiple regression models showed that spirits, beer and wine consumption, gender, Age*Spirits Consumption interaction, region, smoking status, heavy-drinking frequency and average number of drinks were significant correlates of alcohol-related problems. Alcohol-related problems increased at the follow-up, particularly among younger age groups who consumed more spirits. Prevention programs on alcohol-related problems should target young people.

  3. Reflection on the Role of the Spirit in Finding Meaning and Healing as Clinicians.

    Science.gov (United States)

    Jacobs, Carolyn

    2018-01-01

    Reflections on the Role of the Spirit in Finding Meaning and Healing as Clinicians is based on a presentation for the George Washington Spirituality and Health Summer Institute on July 13, 2017. The presentation invited health care professionals to explore contemplative practices as ways to invite the Spirit to strengthening their resilience in caring for themselves and others. As clinicians, there is often a longing to be grounded in a regular contemplative practice centering one's inner life and to acknowledge the creative energy of the Spirit in relationships. This reflection draws on resilience research that finds that contemplative practices such as deep breathing, meditation, reflective writing, and peer or community support enhance ways of meaning making and healing. Contemplative practices are provided, which can connect clinicians to the Spirit with the purpose of leading to increased meaning and healing in self and relationships. Copyright © 2017 American Academy of Hospice and Palliative Medicine. Published by Elsevier Inc. All rights reserved.

  4. The ADRON-RM Instrument Onboard the ExoMars Rover.

    Science.gov (United States)

    Mitrofanov, I G; Litvak, M L; Nikiforov, S Y; Jun, I; Bobrovnitsky, Y I; Golovin, D V; Grebennikov, A S; Fedosov, F S; Kozyrev, A S; Lisov, D I; Malakhov, A V; Mokrousov, M I; Sanin, A B; Shvetsov, V N; Timoshenko, G N; Tomilina, T M; Tret'yakov, V I; Vostrukhin, A A

    This overview presents the physical principles, design, measurement capabilities, and summary of planned operations of the autonomous detector of radiation of neutrons onboard rover at Mars (ADRON-RM) on the surface of Mars. ADRON-RM is a Russian project selected for the joint European Space Agency-Roscosmos ExoMars 2020 landing mission. A compact passive neutron spectrometer, ADRON-RM, was designed to study the abundance and distribution of water and neutron absorption elements (such as Cl, Fe, and others) in the martian subsurface along the path of the ExoMars rover. Key Words: Mars exploration-Surface-Neutron Spectroscopy-Water. Astrobiology 17, 585-594.

  5. Non-Flow-Through Fuel Cell System Test Results and Demonstration on the SCARAB Rover

    Science.gov (United States)

    Scheidegger, Brianne, T.; Burke, Kenneth A.; Jakupca, Ian J.

    2012-01-01

    This paper describes the results of the demonstration of a non-flow-through PEM fuel cell as part of a power system on the SCARAB rover. A 16-cell non-flow-through fuel cell stack from Infinity Fuel Cell and Hydrogen, Inc. was incorporated into a power system designed to act as a range extender by providing power to the rover s hotel loads. This work represents the first attempt at a ground demonstration of this new technology aboard a mobile test platform. Development and demonstration were supported by the Office of the Chief Technologist s Space Power Systems Project and the Advanced Exploration System Modular Power Systems Project.

  6. Non-Flow Through Fuel Cell Power Module Demonstration on the SCARAB Rover

    Science.gov (United States)

    Jakupca, Ian; Guzik, Monica; Bennett, William R.; Edwards, Lawrence

    2017-01-01

    NASA demonstrated the Advanced Product Water Removal (APWR) Non-Flow-Through (NFT) PEM fuel cell technology by powering the Scarab rover over three-(3) days of field operations. The latest generation APWR NFT fuel cell stackwas packaged by the Advanced Exploration Systems (AES) Modular Power Systems (AMPS) team into a nominallyrated 1-kW fuel cell power module. This power module was functionally verified in a laboratory prior to field operations on the Scarab rover, which concluded on 2 September 2015. During this demonstration, the power module satisfied all required success criteria by supporting all electrical loads as the Scarab navigated the NASA Glenn Research Center.

  7. Mars Science Laboratory Rover Taking Shape

    Science.gov (United States)

    2008-01-01

    This image taken in August 2008 in a clean room at NASA's Jet Propulsion Laboratory, Pasadena, Calif., shows NASA's next Mars rover, the Mars Science Laboratory, in the course of its assembly, before additions of its arm, mast, laboratory instruments and other equipment. The rover is about 9 feet wide and 10 feet long. Viewing progress on the assembly are, from left: NASA Associate Administrator for Science Ed Weiler, California Institute of Technology President Jean-Lou Chameau, JPL Director Charles Elachi, and JPL Associate Director for Flight Projects and Mission Success Tom Gavin. JPL, a division of Caltech, manages the Mars Science Laboratory project for the NASA Science Mission Directorate, Washington.

  8. A Four-Wheel-Rhombus-Arranged Mobility System for a New Lunar Robotic Rover

    Directory of Open Access Journals (Sweden)

    Guilin Wen

    2013-10-01

    Full Text Available Different from traditional ground vehicles, planetary robotic rovers with limited weight and power need to travel in unfamiliar and extremely arduous environments. In this paper, a newly developed four-wheel-rhombus-arranged (FWRA mobility system is presented as a lunar robotic rover with high mobility and a low-weight structure. The mobility system integrates independent active suspensions with a passive rotary link structure. The active suspension with swing arms improves the rover's capacity to escape from a trapped environment whereas the passive rotary link structure guarantees continuous contact between the four wheels and the terrain. The four-wheel-three-axis rhombus configuration of the mobility system gives a high degree of lightweight structure because it has a simple mechanism with the minimum number of wheels among wheeled rovers with three-axis off-road mobility. The performance evaluation of the lightweight nature of the structure, manoeuvrability and the mobility required in a planetary exploring environment are illustrated by theoretical analysis and partly shown by experiments on the developed rover prototype.

  9. Rover-Based Instrumentation and Scientific Investigations During the 2012 Analog Field Test on Mauna Kea Volcano, Hawaii

    Science.gov (United States)

    Graham, L. D.; Graff, T. G.

    2013-01-01

    Rover-based 2012 Moon and Mars Analog Mission Activities (MMAMA) were recently completed on Mauna Kea Volcano, Hawaii. Scientific investigations, scientific input, and operational constraints were tested in the context of existing project and protocols for the field activities designed to help NASA achieve the Vision for Space Exploration [1]. Several investigations were conducted by the rover mounted instruments to determine key geophysical and geochemical properties of the site, as well as capture the geological context of the area and the samples investigated. The rover traverse and associated science investigations were conducted over a three day period on the southeast flank of the Mauna Kea Volcano, Hawaii. The test area was at an elevation of 11,500 feet and is known as "Apollo Valley" (Fig. 1). Here we report the integration and operation of the rover-mounted instruments, as well as the scientific investigations that were conducted.

  10. Characterization of Fillite as a planetary soil simulant in support of rover mobility assessment in high-sinkage/high-slip environments

    Science.gov (United States)

    Edwards, Michael

    This thesis presents the results of a research program characterizing a soil simulant called Fillite, which is composed of alumino-silicate hollow microspheres harvested from the pulverized fuel ash of coal-fired power plants. Fillite is available in large quantities at a reasonable cost and it is chemically inert. Fillite has been selected by the National Aeronautics and Space Administration (NASA) Glenn Research Center to simulate high-sinkage/high-slip environment in a large test bed such as the ones encountered by the Spirit rover on Mars in 2009 when it became entrapped in a pocket of soft, loose regolith on Mars. The terms high-sinkage and high-slip used here describe the interaction of soils with typical rover wheels. High-sinkage refers to a wheel sinking with little to no applied force while high-slip refers to a spinning wheel with minimal traction. Standard material properties (density, specific gravity, compression index, Young's modulus, and Poisson's ratio) of Fillite were determined from a series of laboratory tests conducted in general accordance with ASTM standards. Tests were also performed to determine some less standard material properties of Fillite such as the small strain shear wave velocity, maximum shear modulus, and several pressure-sinkage parameters for use in pressure-sinkage models. The experiments include an extensive series of triaxial compression tests, bender element tests, and normal and shear bevameter tests. The unit weight of Fillite on Earth ranges between 3.9 and 4.8 kN/m 3, which is similar to that of Martian regolith (about 3.7 -- 5.6 kN/m3) on Mars and close to the range of the unit weight of lunar regolith (about 1.4 -- 2.9 kN/m3) on the Moon. The data presented here support that Fillite has many physical and mechanical properties that are similar to what is known about Martian regolith. These properties are also comparable to lunar regolith. Fillite is quite dilatant; its peak and critical angles of internal friction are

  11. Evaluation of simple deployment mechanism of multiple rovers by microgravity experiments using a drop tower

    Science.gov (United States)

    Yoshimitsu, Tetsuo; Yano, Hajime; Kubota, Takashi; Adachi, Tadashi; Ishigami, Genya

    2012-07-01

    Introduction, Japan has announced the official development of ``Hayabusa-2'', the second sample return mission to a Near-Earth asteroid. When the development is made smoothly, Hayabusa-2 will be launched in 2014. The predecessor spacecraft ``Hayabusa'' made a great success when it returned to the Earth in June 2010 with a capsule containing some particles obtained from S-type asteroid ``Itokawa.'' Rover system, The authors installed a tiny hopping rover called ``MINERVA'' into Hayabusa spacecraft. MINERVA weights only 591[g] but has an autonomous exploration capability on the microgravity environment on the small solar system bodies. MINERVA was successfully deployed from the mother spacecraft on 12 Nov 2005 at the vicinity of the target asteroid. But unfortunately it became a solar orbiting satellite since the relative position and the speed of the mother spacecraft around the target asteroid were worst. Nevertheless it worked well, demonstrating an autnomous capability and had survived until the comunication link was lost. The authors plan to install some rovers also into Hayabusa-2. The total concept is the same but this time multiple rovers are considered. Deployment mechanism, Two rovers are installed in one container and are developed at the same time. The maximum allowed weight for the container including two rovers is 2.5[kg] and we have to seek for a simple and a light-weighted deployment system. We developed a new deployment system drastically sophisticated from the one used for MINERVA in Hayabusa mission. Both the cover and the rovers are pushed by the springs after the tightly winded wire has been cut by the deployment trigger form the spacecraft. The new deployment system enables the following things. The cover and the rovers are deployed in different directions in one action. The uncertainty of the deployment speed is decreased. Microgravity experiment, Thanks to the courtesy of DLR (German Aerospace Center) based on the international cooperation

  12. The Curiosity Mars Rover's Fault Protection Engine

    Science.gov (United States)

    Benowitz, Ed

    2014-01-01

    The Curiosity Rover, currently operating on Mars, contains flight software onboard to autonomously handle aspects of system fault protection. Over 1000 monitors and 39 responses are present in the flight software. Orchestrating these behaviors is the flight software's fault protection engine. In this paper, we discuss the engine's design, responsibilities, and present some lessons learned for future missions.

  13. Development, Integration and Utilization of Surface Nuclear Energy Sources for Exploration Missions

    Science.gov (United States)

    Houts, Michael G.; Schmidt, George R.; Bragg-Sitton, Shannon; Hickman, Robert; Hissam, Andy; Houston, Vance; Martin, Jim; Mireles, Omar; Reid, Bob; Schneider, Todd

    2005-01-01

    Throughout the past five decades numerous studies have identified nuclear energy as an enhancing or enabling technology for human surface exploration missions. Nuclear energy sources were used to provide electricity on Apollo missions 12, 14, 15, 16, and 17, and on the Mars Viking landers. Nuclear energy sources were used to provide heat on the Pathfinder; Spirit, and Discovery rovers. Scenarios have been proposed that utilize -1 kWe radioisotope systems for early missions, followed by fission systems in the 10 - 30 kWe range when energy requirements increase. A fission energy source unit size of approximately 150 kWt has been proposed based on previous lunar and Mars base architecture studies. Such a unit could support both early and advanced bases through a building block approach.

  14. Lunar rovers and local positioning system

    Science.gov (United States)

    Avery, James; Su, Renjeng

    1991-11-01

    Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In

  15. Jung, spirits and madness: lessons for cultural psychiatry.

    Science.gov (United States)

    Koss-Chioino, Joan D

    2003-06-01

    An understanding of the nature and meaning of 'dissociative,' 'altered' or unusual states ultimately turns on the meaning and definition of consciousness. The view of consciousness from the discipline of psychiatry is largely based on a biomedically endorsed, culturally specific perspective of 'normal' consciousness as an integrated pattern of quotidian relationships with the 'observable' physical world. This perspective underlies the nosology for mental disorders, particularly psychoses, suggesting irreconcilable difference in cognition and affect of persons with these diagnostic labels. This article reviews some theories of Carl Gustav Jung regarding the structure and content of human consciousness and their relationship to aspects of 'dementia praecox' or 'schizophrenia.' It traces the origin and development of these ideas in part to Jung's early contact with, and intense interest in spiritualists and spirits, to later influences comprised of his own altered states (dreams and fantasies) and his involvement with patients diagnosed as schizophrenic. Data on current Spiritist beliefs and healing practices focused on 'madness' (i.e. most often diagnosed as schizophrenia in mental health settings), are described to explore parallels with Jung's ideas on the structure and dynamics of the psyche. These parallels are of special interest because the experience of spirits is ubiquitous, not well explained and often rejected as meaningful by psychiatrists and clinical psychologists. Jung, however, offers a cogent explanation of spirit phenomena as manifestations of the unconscious. A concluding section suggests contributions to cultural psychiatry by Jung.

  16. Managing PV Power on Mars - MER Rovers

    Science.gov (United States)

    Stella, Paul M.; Chin, Keith; Wood, Eric; Herman, Jennifer; Ewell, Richard

    2009-01-01

    The MER Rovers have recently completed over 5 years of operation! This is a remarkable demonstration of the capabilities of PV power on the Martian surface. The extended mission required the development of an efficient process to predict the power available to the rovers on a day-to-day basis. The performance of the MER solar arrays is quite unlike that of any other Space array and perhaps more akin to Terrestrial PV operation, although even severe by that comparison. The impact of unpredictable factors, such as atmospheric conditions and dust accumulation (and removal) on the panels limits the accurate prediction of array power to short time spans. Based on the above, it is clear that long term power predictions are not sufficiently accurate to allow for detailed long term planning. Instead, the power assessment is essentially a daily activity, effectively resetting the boundary points for the overall predictive power model. A typical analysis begins with the importing of the telemetry from each rover's previous day's power subsystem activities. This includes the array power generated, battery state-of-charge, rover power loads, and rover orientation, all as functions of time. The predicted performance for that day is compared to the actual performance to identify the extent of any differences. The model is then corrected for these changes. Details of JPL's MER power analysis procedure are presented, including the description of steps needed to provide the final prediction for the mission planners. A dust cleaning event of the solar array is also highlighted to illustrate the impact of Martian weather on solar array performance

  17. 27 CFR 24.234 - Other use of spirits.

    Science.gov (United States)

    2010-04-01

    ... on bonded wine premises. The spirits will remain in the original container in the storeroom until..., DEPARTMENT OF THE TREASURY LIQUORS WINE Spirits § 24.234 Other use of spirits. The proprietor producing sparkling wine, artificially carbonated wine, formula wine, or essences for which spirits are required may...

  18. 27 CFR 24.233 - Addition of spirits to wine.

    Science.gov (United States)

    2010-04-01

    ... wine. 24.233 Section 24.233 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS WINE Spirits § 24.233 Addition of spirits to wine. (a) Prior to the addition of spirits. Wine will be placed in tanks approved for the addition of spirits. The...

  19. Reinvigorating the Entrepreneurial Spirit of NASA

    Science.gov (United States)

    Cepollina, Frank

    2015-01-01

    This talk gives a rundown of a career in servicing and looks to the future of servicing and scientific missions working together. The talk attempts to reinvigorate the old NASA entrepreneurial spirit.

  20. Spirit Lake Water Resource Management NPDES Permit

    Science.gov (United States)

    Under NPDES permit ND-0031101, Spirit Lake Water Resource Management is authorized to discharge to an unnamed intermittent tributary to Devils Lake which is tributary to Sheyenne River in North Dakota.

  1. The spirit of capitalism and savings behavior

    OpenAIRE

    Heng-fu Zou

    1995-01-01

    This paper presents a capitalist-spirit model of savings by including wealth in the intertemporal utility function. While this model includes the life-cycle model and bequest model as two special cases, it sheds light on why wealth holding has tended to increase with age, why decumulation of wealth after retirement has not happened, and why households with and without children have not shown significant differences in their savings behavior. The capitalist-spirit approach is especially useful...

  2. Autonomous Warplanes: NASA Rovers Lead the Way

    Science.gov (United States)

    2016-04-01

    rover performance. The So- journer was a suitcase -sized, solar -powered vehicle, while the Curiosity is a nuclear-powered vehicle comparable in size...available in each satel- lite’s footprint. The capability faces further degradation by environmental factors, such as terrestrial weather and solar ...such as radio frequency interference, thunderstorms near the satellite ground station, solar flares and charged particle events in space, and poor

  3. Electrical power technology for robotic planetary rovers

    Science.gov (United States)

    Bankston, C. P.; Shirbacheh, M.; Bents, D. J.; Bozek, J. M.

    1993-01-01

    Power technologies which will enable a range of robotic rover vehicle missions by the end of the 1990s and beyond are discussed. The electrical power system is the most critical system for reliability and life, since all other on board functions (mobility, navigation, command and data, communications, and the scientific payload instruments) require electrical power. The following are discussed: power generation, energy storage, power management and distribution, and thermal management.

  4. Requirements and Designs for Mars Rover RTGs

    Energy Technology Data Exchange (ETDEWEB)

    Schock, Alfred; Shirbacheh, M; Sankarankandath, V

    2012-01-19

    The current-generation RTGs (both GPHS and MOD) are designed for operation in a vacuum environment. The multifoil thermal insulation used in those RTGs only functions well in a good vacuum. Current RTGs are designed to operate with an inert cover gas before launch, and to be vented to space vacuum after launch. Both RTGs are sealed with a large number of metallic C-rings. Those seals are adequate for retaining the inert-gas overpressure during short-term launch operations, but would not be adequate to prevent intrusion of the Martian atmospheric gases during long-term operations there. Therefore, for the Mars Rover application, those RTGs just be modified to prevent the buildup of significant pressures of Mars atmosphere or of helium (from alpha decay of the fuel). In addition, a Mars Rover RTG needs to withstand a long-term dynamic environment that is much more severe than that seen by an RTG on an orbiting spacecraft or on a stationary planetary lander. This paper describes a typical Rover mission, its requirements, the environment it imposes on the RTG, and a design approach for making the RTG operable in such an environment. Specific RTG designs for various thermoelectric element alternatives are presented.; Reference CID #9268 and CID #9276.

  5. Spirit drinks: a source of dietary polyphenols

    Directory of Open Access Journals (Sweden)

    Sanja Posavec

    2012-01-01

    Full Text Available There is a long tradition in the production of spirit drinks and using them in the human diet, especially in the Southeast European and Mediterranean regions. The objective of this study was to evaluate whether and which spirits can serve, and to what extent, as a source of biologically active compounds in the human diet. Polyphenolic compounds are biologically active compounds of fruits, vegetables and derived beverages, which have been implicated in their antioxidant activity. Therefore, the total polyphenol content (TPC and antioxidative properties of 46 spirit drinks and liqueurs produced in Croatia were examined. The total polyphenol content and antioxidant activity were estimated using spectrophotometric methods (Folin-Ciocalteu, DPPH and FRAP, while certain phenols were detected by the HPLC. It was established that spirit drinks aged in wooden casks, such as wine or plum brandy, contain polyphenols ranging from 40-90 mg GAE/L (gallic acid equivalents, whereas walnut or sour cherry liquors contain much more polyphenols ranging from 680-3360 mg GAE/L. The antioxidant activity of analyzed spirit drinks was in correlation with TPC. Walnut and sour cherry liqueur samples had very high antioxidant activity, within the range of those obtained with 1.26 mM Trolox-DPPH assay and 9.5 mM Trolox-FRAP assay.

  6. Physicochemical and Sensorial Characterization of Honey Spirits.

    Science.gov (United States)

    Anjos, Ofélia; Frazão, David; Caldeira, Ilda

    2017-07-27

    Distilled spirits are usually made from fermented sugar-based materials, such as wines or fermented fruits, but other products can be used, namely berries or honey. In this work, an evaluation of honey spirits is done based on its physicochemical and sensory characteristics. Fourteen honey spirit samples of different brands of honey spirit were purchased at the market and from artisan Portuguese producers. Several analytical determinations, namely alcoholic strength, dry matter, density, total acidity, chromatic characteristics, methanol, acetaldehyde, ethyl acetate and higher alcohols were done to characterize all samples. The results pointed out several differences in physicochemical composition of samples. In general, these drinks are characterized by an alcohol strength between 37.4% and 53.0% and a low methanol content, quite null for most samples. Samples with higher ethanol content corresponded to the artisanal samples. Significant differences (p < 0.05) were also observed in the volatile composition and chromatic characteristics suggesting different production technologies. A first list of sensory attributes was obtained for this beverage. Therefore, further research must be done in order to characterize this spirit drink, which has gained market value.

  7. Cross-Coupled Control for All-Terrain Rovers

    Directory of Open Access Journals (Sweden)

    Giulio Reina

    2013-01-01

    Full Text Available Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors’ control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.

  8. Cross-coupled control for all-terrain rovers.

    Science.gov (United States)

    Reina, Giulio

    2013-01-08

    Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors.

  9. Investigation of Life in the Atacama Desert by Astrobiology Rover

    Science.gov (United States)

    Wettergreen, D.; Cabrol, N.

    2005-12-01

    The Atacama Desert is the most arid region on Earth and in several ways analogous to Mars. It has been suggested that the interior of the desert is the most lifeless place on Earth, yet it is known that microorganisms exist on rocks and in soils where the desert meets the coastal range. The Life in the Atacama (LITA) project is investigating the distribution and diversity of life and habitats in the desert using an rover guided by a remote science team. The Atacama Desert presents an excellent analogue to Mars because it is extremely dry, but also, like Mars it experiences high levels of ultraviolet radiation due to its altitude and atmospheric transparency. The soils in the Atacama have been found to be particularly high in oxidants, which lead to the rapid breakdown of organic material. The result is that in some regions of desert almost no biogenic material can be found on the surface. To the benefit of analogue studies for Mars exploration, the desert visually resembles Mars as seen through rover cameras. For these reasons: aridity, ultraviolet radiation and soil composition we believe the Atacama is analogous to Mars and an excellent location for rover field experiments. To support our astrobiologic investigation, we have created a mobile robot, Zo, that makes the measurement of the distribution and diversity of microorganisms possible. Mobility is crucial as habitats are hypothesized to depend on locally variable conditions including moisture, solar flux, and rock/soil composition. The ability to traverse tens to hundreds of kilometers while deploying sensors is a fundamental requirement because only by visiting many sites will the few in which organisms exist be found. Many observations provide the basis for statistically valid analysis of distribution. Zo's instrument payload combines complementary elements, some directed towards remote sensing of the environment (geology, morphology, mineralogy, climate) for the detection of conditions favorable to

  10. Aromatic characterization of pot distilled kiwi spirits.

    Science.gov (United States)

    López-Vázquez, Cristina; García-Llobodanin, Laura; Pérez-Correa, José Ricardo; López, Francisco; Blanco, Pilar; Orriols, Ignacio

    2012-03-07

    This study contributes fundamental knowledge that will help to develop a distillate of kiwi wine, made from kiwis of the Hayward variety grown in the southwest of Galicia (Spain). Two yeast strains, L1 (Saccharomyces cerevisiae ALB-6 from the EVEGA yeast collection) and L2 (S. cerevisiae Uvaferm BDX from Lallemand) were assessed to obtain a highly aromatic distillate. The kiwi spirits obtained were compared with other fruit spirits, in terms of higher alcohols, minor alcohols, monoterpenols, and other minor compounds, which are relevant in determining the quality and taste of the kiwi spirits. It was found that the kiwi juice fermented with yeast L1 produced a more aromatic distillate. In addition, kiwi distillates produced with both yeasts had the same ratio of trans-3-hexen-1-ol and cis-3-hexen-1-ol, which is lower than that found in other fruit distillates.

  11. Random vibration test of Mars Exploration Rover spacecraft

    Science.gov (United States)

    Scharton, T.; Lee, D.

    2003-01-01

    The primary objective of the random vibration test was to identify any hardware problems, which might compromise the mission. The test objectives, configuration, and requirements are briefly described in this presentation, and a representative sample of the measured data is presented.

  12. A visual display aid for planning rover traversals

    Science.gov (United States)

    Bernard, Herbert F.; Ellis, Stephen R.

    1992-01-01

    An interactive graphical planning system has been developed, which allows a human operator to design and check traversals (cross-country paths) for a planetary rover vehicle. The display provides the operator with necessary information about the terrain and indicates violations of operational or dynamic constraints on the rover. The operator can select different kinds of two-dimensional maps as well as a perspective view of the rover environment to plan the traversals. An experiment has been carried out to determine the ability of the operator to estimate the rover attitude in a large variety of situations. It turned out that the estimation error is highly dependent on the rover attitude itself. This result can be used to determine a vertical scale for the perspective representation of the terrain which avoids an underestimation of dangerous rover attitudes.

  13. Life and death in Kardecist Spiritism

    Directory of Open Access Journals (Sweden)

    Maria Laura Viveiros de Castro Cavalcanti

    2006-01-01

    Full Text Available The paper analyses from an anthropological perspective how Brazilian Spiritism resignifies the current notions of life and death, comparing the notion of reincarnation with the Christian and Catholic notion of purgatory. The search for understanding of the processes of identity construction in this religious system leads to the examination of the notions of reincarnation, karma, evolution, mediumship and probation, which are central to Kardecian cosmology. With this active set of notions, Spiritism proposes a rich set of perspectives about the self, and simultaneously graduates and softens the otherness of death.

  14. Dissociative symptoms and reported trauma among patients with spirit possession and matched healthy controls in Uganda

    NARCIS (Netherlands)

    van Duijl, M.; Nijenhuis, E.; Komproe, I.; Gernaat, H.B.P.E; de Jong, J.T.V.M.

    2010-01-01

    Spirit possession is a common, worldwide phenomenon with dissociative features. Studies in Europe and the United States have revealed associations among psychoform and somatoform dissociation and (reported) potential traumatic events. The aim of this study was to explore the relationships among

  15. Autonomous Rovers for Polar Science Campaigns

    Science.gov (United States)

    Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

    2012-12-01

    We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero

  16. From Powerlessness to Control: Psychosis, Spirit Possession and Recovery in the Western Desert of Egypt

    Directory of Open Access Journals (Sweden)

    M. A. Rashed

    2015-12-01

    Full Text Available This article explores an aspect of the cultural modulation of recovery in psychosis. It begins with the idea that recovery hinges on the ability of subjects to relate to their distressing experiences in ways that expand rather than diminish agency.  Based on fieldwork in the Dakhla oasis of Egypt and subsequent analysis, it is argued that interpretations of psychosis as spirit possession offer a broader range of intentionality than biomedical interpretations and therefore broader possibilities of relating to psychotic states. Modes of relating to spirits may take active or passive forms, the former consistent with the recovery goal of symptom control. Factors constitutive of the active, agency-expanding mode of relating include: the nature of spirits; the values and beliefs of the subject; the broader cultural/religious discourses which may make it either more or less likely for the subject to achieve the desired state of control over symptoms.

  17. the holy spirit's indwelling in the church

    African Journals Online (AJOL)

    of self-realisation. He borrows many of his ideas from the panentheism of the process theology of Alfred Whitehead and John Cobb. Then again, others view the Spirit especially as an inspiring power for the good and the beautiful (e.g. Lampe 1977; Bracken 1991). This is a common notion. Where people struggle for new ...

  18. Science-its Philosophy and Spirit

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 1; Issue 7. Science - its Philosophy and Spirit. Hermann Bondi. Reflections Volume 1 Issue 7 July 1996 pp 82-95. Fulltext. Click here to view fulltext PDF. Permanent link: http://www.ias.ac.in/article/fulltext/reso/001/07/0082-0095. Author Affiliations.

  19. CHINCHIRISI: THE PHENOMENON OF "SPIRIT CHILDREN ...

    African Journals Online (AJOL)

    religio-cultural phenomenon a challenge to euthanasia, human rights and rural development in the contemporary :;ociety? This paper examines the phenomenon of 'spirit children' from an insider perspective. I. Introduction. The shift from generalizations to specific contextual studies in the study of Africa's religio-cultural ...

  20. Methanol levels in methylated spirit drinking alcoholics.

    Science.gov (United States)

    Caldwell, K

    1986-10-08

    On three different occasions, blood samples sent to this laboratory from the accident and emergency department were found to contain potentially toxic amounts of methanol (30, 34 and 41 mmol/l) during analysis for ethanol by a gas chromatographic method. It is suggested that the simultaneous determination of both alcohols may be clinically important in methylated spirit drinking alcoholics.

  1. Klubi "Spirit" = Club Spirit / Hanno Soans ; tõlk. Liisi Ojamaa

    Index Scriptorium Estoniae

    Soans, Hanno, 1974-

    2000-01-01

    Eesti klubikultuurist 1990-ndatel. Klubi "Spirit" kujundusest. Sisearhitektid Tarmo Piirmets, Martti Siimann. Arhitekt Jüri Irik Arhitektuuribüroost Ehala & Irik. Projekt ja klubi valmis 2000. Flaierid kujundas Aadam Kaarma. 10 ill. Vaated, korruste plaanid

  2. Autonomous Vision-Based Tethered-Assisted Rover Docking

    Science.gov (United States)

    Tsai, Dorian; Nesnas, Issa A.D.; Zarzhitsky, Dimitri

    2013-01-01

    Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

  3. First Gravity Traverse on the Martian Surface from the Curiosity Rover

    Science.gov (United States)

    Lewis, K. W.; Peters, S. F.; Gonter, K. A.; Vasavada, A. R.

    2016-12-01

    Orbital gravity surveys have been a key tool in understanding planetary interiors and shallow crustal structure, exemplified by recent missions such as GRAIL and Juno. However, due to the loss of spatial resolution with altitude, airborne and ground-based survey methods are typically employed on the Earth. Previously, the Lunar Traverse Gravimeter experiment on the Apollo 17 mission has been the only attempt to collect surface gravity measurements on another planetary body. We will describe the results of the first gravity survey on the Martian surface, using data from the Curiosity rover over its >10 km traverse across the floor of Gale crater and lower slopes of Mount Sharp. These results enable us to estimate bulk rock density, and to search for potential subsurface density anomalies. To measure local gravitational acceleration, we use one of the two onboard Rover Inertial Measurement Units (RIMU-A), designed for rover position and fine attitude determination. The IMU contains three-axis micro-electromechanical (MEMS) accelerometers and fiber-optic gyros, and is used for gyrocompassing by integrating data for several minutes on sols with no drive or arm motions (roughly 50% of sols to date). Raw acceleration data are calibrated for biases induced by temperature effects and rover orientation, along with rover elevation over the course of the mission using multiple regression. We use the best fit linear relationship between topographic height and gravitational acceleration to estimate a Bouguer correction for the observed change in magnitude over the mission as the rover has ascended over 100 meters up the lower slopes of Mount Sharp. We find a relatively low best-fit density of 1600 +/- 500 kg/m^3 for the rocks of Mount Sharp, consistent with rover-based measurements of thermal inertial, and potentially indicating pervasive fracturing, high porosity and/or low compaction within the original sediments at least to depths of order 100 meters. Future measurements

  4. 27 CFR 19.65 - Experimental distilled spirits plants.

    Science.gov (United States)

    2010-04-01

    ... spirits plants. 19.65 Section 19.65 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS DISTILLED SPIRITS PLANTS Administrative and Miscellaneous Provisions Activities Not Subject to This Part § 19.65 Experimental distilled spirits plants. The...

  5. 27 CFR 19.830 - Application of distilled spirits tax.

    Science.gov (United States)

    2010-04-01

    ... Vaporizing Process Administrative and Miscellaneous § 19.830 Application of distilled spirits tax. The internal revenue tax must be paid on any distilled spirits produced in or removed from the premises of a... spirits tax. 19.830 Section 19.830 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND...

  6. 27 CFR 19.597 - Kind of spirits.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Kind of spirits. 19.597 Section 19.597 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT... and such spirits shall be branded accordingly. (d) Spirits for nonindustrial use. The provisions of...

  7. 27 CFR 19.459 - Mixing of denatured spirits.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Mixing of denatured spirits. 19.459 Section 19.459 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE... of Articles Denaturation § 19.459 Mixing of denatured spirits. (a) Denatured spirits produced under...

  8. 27 CFR 19.583 - Spirits for industrial use.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Spirits for industrial use... for industrial use. (a) Containers. (1) Denatured spirits may be filled into glass or metal containers of a capacity not greater than 10 gallons. (2) Other spirits for industrial use may be filled into (i...

  9. 7 CFR 160.7 - Gum spirits of turpentine.

    Science.gov (United States)

    2010-01-01

    ... Agriculture Regulations of the Department of Agriculture (Continued) AGRICULTURAL MARKETING SERVICE (Standards... STANDARDS FOR NAVAL STORES General § 160.7 Gum spirits of turpentine. The designation “gum spirits of turpentine” shall refer to the kind of spirits of turpentine obtained by distillation of the oleoresin (gum...

  10. The Role of the Holy Spirit in Human Deification

    Directory of Open Access Journals (Sweden)

    Marek Ławreszuk

    2016-12-01

    Full Text Available This article focuses on introducing the teaching on the Holy Spirit and His relation with man. This article’s main objective is to demonstrate the role of the Holy Spirit in human deification (theosis and the experience of human relations with the Holy Spirit in Orthodox theology. When speaking of the gifts of the Holy Spirit and His grace, Orthodox theology also speaks of the kenosis of the Third Person of the Holy Trinity and human participation in the Holy Spirit.

  11. Spirit and prospects of ITER

    Energy Technology Data Exchange (ETDEWEB)

    Velikhov, E.P. [Kurchatov Institute of Atomic Energy, Moscow (Russian Federation)

    2002-10-01

    ITER is the unique and the most straightforward way to study the burning plasma science in the nearest future. ITER has a firm physics ground based on the results from the world tokamaks in terms of confinement, stability, heating, current drive, divertor, energetic particle confinement to an extend required in ITER. The flexibility of ITER will allow the exploration of broad operation space of fusion power, beta, pulse length and Q values in various operational scenarios. Success of the engineering R and D programs has demonstrated that all party has an enough capability to produce all the necessary equipment in agreement with the specifications of ITER. The acquired knowledge and technologies in ITER project allow us to demonstrate the scientific and technical feasibility of a fusion reactor. It can be concluded that ITER must be constructed in the nearest future. (author)

  12. Lunar Rover Model - Reengineering of an Existing Mobile Platform towards the realization of a Rover Autonomy Testbed

    NARCIS (Netherlands)

    Gounaris, Alexandros Frantzis; Poulakis, Pantelis; Chautems, Christophe; Raffaela, Carloni; Stramigioli, Stefano

    2011-01-01

    The Automation & Robotics Section of the European Space Agency (ESA) is developing a platform for investigation of different levels of autonomy of planetary rovers. Within this scope a physical flight model is required and the Lunar Rover Model (LRM) is chosen. The LRM is a 4 wheel, medium-scale

  13. Performance Characterization of a Rover Navigation Algorithm Using Large-Scale Simulation

    Directory of Open Access Journals (Sweden)

    Richard Madison

    2007-01-01

    Full Text Available Autonomous rover navigation is a critical technology for robotic exploration of Mars. Simulation allows more extensive testing of such technologies than would be possible with hardware test beds alone. A large number of simulations, running in parallel, can test an algorithm under many different operating conditions to quickly identify the operational envelope of the technology and identify failure modes that were not discovered in more limited testing. GESTALT is the autonomous navigation algorithm developed for NASA's Mars rovers. ROAMS is a rover simulator developed to support the Mars program. We have integrated GESTALT into ROAMS to test closed-loop, autonomous navigation in simulation. We have developed a prototype capability to run many copies of ROAMS in parallel on a supercomputer, varying input parameters to rapidly explore GESTALT's performance across a parameter space. Using these tools, we have demonstrated that large scale simulation can identify performance limits and unexpected behaviors in an algorithm. Such parallel simulation was able to test approximately 500 parameter combinations in the time required for a single test on a hardware test bed.

  14. Autonomous Rover for Polar GPR Surveys

    Science.gov (United States)

    Ray, L.; Lever, J. H.; Courville, Z.; Walker, B.; Arcone, S. A.

    2015-12-01

    We deployed Yeti, an 80-kg, 4WD battery-powered rover to conduct ground-penetrating radar (GPR) surveys over crevasse-ridden ice sheets in Antarctica and Greenland. The rover navigated using GPS waypoint following and had 3 - 4 hr endurance at 5 km/hr while towing 60 - 70 kg of GPR equipment. Yeti's low ground pressure allowed it to cross thinly bridged crevasses without interrupting a survey. In Feb - Mar 2014, Yeti executed 23 autonomous GPR surveys covering 94 km of terrain on the ice transition to the main ice sheet in northwest Greenland. This was the first robotic effort directly to support manual crevasse surveys to map a safe route for vehicle travel, in this case a resupply traverse to Summit Station. Yeti towed a radar controller, 400 MHz antenna, GPS receiver and battery pack. Radar scan rate was 16 scans/m and pulse timing allowed good spatial resolution to about 20-m depth. The resulting data allowed us to map hundreds of subsurface crevasses and provide the results nightly to the manual survey team to compliment its efforts. We met our objectives: (a) to enhance operational efficiency of the concurrent manual surveys, and (b) to create a geo-referenced database of crevasse signatures to validate aerial- and satellite-based crevasse-mapping platforms. In Oct - Nov 2014, we deployed Yeti in Antarctica to conduct systematic GPR surveys across a crevasse-ridden section of the shear margin between the Ross and McMurdo ice shelves and thereby gain insight into its state of fracture and long-term stability. Yeti flawlessly executed a total of 613 km of autonomous GPR surveys at temperatures as low as - 33ºC. The rover towed a a radar controlling a 400 MHz and a 200 MHz antenna, the latter added to profile 160 m through the ice sheet. The main survey grid covered 5.7 km x 5.0 km, with survey lines at 50-m spacing oriented west-east across the Shear Zone (575 km total length). Yeti's tracks normally deviated only 1 - 2 m from a straight line between the two

  15. Relay Telecommunications for the Coming Decade of Mars Exploration

    Science.gov (United States)

    Edwards, C.; DePaula, R.

    2010-01-01

    Over the past decade, an evolving network of relay-equipped orbiters has advanced our capabilities for Mars exploration. NASA's Mars Global Surveyor, 2001 Mars Odyssey, and Mars Reconnaissance Orbiter (MRO), as well as ESA's Mars Express Orbiter, have provided telecommunications relay services to the 2003 Mars Exploration Rovers, Spirit and Opportunity, and to the 2007 Phoenix Lander. Based on these successes, a roadmap for continued Mars relay services is in place for the coming decade. MRO and Odyssey will provide key relay support to the 2011 Mars Science Laboratory (MSL) mission, including capture of critical event telemetry during entry, descent, and landing, as well as support for command and telemetry during surface operations, utilizing new capabilities of the Electra relay payload on MRO and the Electra-Lite payload on MSL to allow significant increase in data return relative to earlier missions. Over the remainder of the decade a number of additional orbiter and lander missions are planned, representing new orbital relay service providers and new landed relay users. In this paper we will outline this Mars relay roadmap, quantifying relay performance over time, illustrating planned support scenarios, and identifying key challenges and technology infusion opportunities.

  16. Developing An Autonomy Infusion Infrastructure for Robotic Exploration

    Science.gov (United States)

    Bualat, Maria G.; Kunz, Clayton G.; Wright, Anne R.; Nesnas, Issa A. D.

    2003-01-01

    Future robotic exploration missions will require autonomy in order to accomplish mission goals for operational efficiency and science return. For example, it will require three communication cycles for the Mars Exploration Rovers, Spirit and Opportunity, to place an instrument on a science target. Reducing this time necessitates highly accurate navigation, obstacle avoidance, target tracking, target analysis, manipulation, and fault diagnosis. Technologies to address these and other operational elements are currently being developed at NASA and within academia. However, infusion into missions has always been a difficult task for researchers. In order to keep risk down, mission managers are reluctant to include new technologies unless they have undergone extensive testing and verification under flight-realistic conditions. Furthermore, infusion of new technologies into missions is made more difficult by the variety of software frameworks under which these technologies are developed. Missions would like to see competing solutions demonstrated on a common platform so that they can compare performance and choose the solution best suited to their application.

  17. The Spirit of The Age and the Fate of Philosophical Thinking

    Directory of Open Access Journals (Sweden)

    Toula Nicolacopoulos

    2007-12-01

    Full Text Available Drawing on Hegelrsquo;s claim that lsquo;it belongs to the weakness of our time not to be able to bear the greatness, the immensity of the claims made by the human spirit, to feel crushed before them, and to flee from them faint-heartedrsquo;, this essay explores the possibility of a renewed encounter with Hegelrsquo;s thought. Arguing that it is not the acceptance or rejection of the lessons of Hegelrsquo;s thought that is important, but rather that ever since Hegel, philosophers are challenged to experience philosophy as such as the happening of the spirit of the age. It further asks the question how is it that the spirit of the age might emerge in an otherwise spiritless age? From this perspective the question for us is whether philosophizing today has the power to generate a level of intensity, not so much for the spirit of our own age to emerge clearly and distinctively, but for the spirit of the age to emerge at all. Perhaps, instead, the real issue for those of us who come after Hegel is whether we are strong enough to intensify and withstand the intensity that Hegelrsquo;s thinking has already released. From this perspective to encounter the spirit of the age can be neither to look for it in the developments of the twenty-first century world nor to produce a radically new philosophy. The essay suggests that the fate of those of us who follow the arriving of Hegel, the revolutionary thinker, is to face the challenge of dwelling in his arriving.

  18. The SPIRIT Telescope Initiative: six years on

    Science.gov (United States)

    Luckas, Paul

    2017-06-01

    Now in its sixth year of operation, the SPIRIT initiative remains unique in Australia, as a robust web-enabled robotic telescope initiative funded for education and outreach. With multiple modes of operation catering for a variety of usage scenarios and a fully supported education program, SPIRIT provides free access to contemporary astronomical tools for students and educators in Western Australia and beyond. The technical solution itself provides an excellent model for low cost robotic telescope installations, and the education program has evolved over time to include a broad range of student experiences-from engagement activities to authentic science. This paper details the robotic telescope solution, student interface and educational philosophy, summarises achievements and lessons learned and examines the possibilities for future enhancement including spectroscopy.

  19. Choosing a public-spirited leader

    DEFF Research Database (Denmark)

    Markussen, Thomas; Tyran, Jean-robert

    2017-01-01

    In this experiment, voters select a leader who can either act in the public interest, i.e. make efficient and equitable policy choices, or act in a corrupt way, i.e. use public funds for private gain. Voters can observe candidates⿿ pro-social behavior and their score in a cognitive ability test...... prior to the election, and this fact is known to candidates. Therefore, self-interested candidates have incentives to act in a pro-social manner, i.e. to pretend to be public-spirited leaders. We find that both truly pro-social and egoistic leaders co-exist, but that political selection is ineffective...... in choosing public-spirited leaders. The main reason is that egoistic candidates strategically pretend to be pro-social to increase their chances of winning the election....

  20. Decolonizing Education: Nourishing the Learning Spirit

    Directory of Open Access Journals (Sweden)

    Jennifer Brant

    2014-10-01

    Full Text Available As an emerging Indigenous scholar completing a mainstream doctoral program, I was immediately drawn to the work of Marie Battiste. Her work inspires my commitment to approach my degree as a decolonizing journey that nourishes my own learning spirit. Battiste (1998 captures the paradox of mainstream education as it is experienced by Aboriginal students. As she pointed out while Aboriginal students are looking to liberate themselves and their communities through education, they are faced with a strenuous curriculum that does not “mirror” them. As a result, students experience a “fragmented existence” (p. 24. This has indeed been my experience. Her recent book, Decolonizing Education: Nourishing the Learning Spirit expresses the tensions Indigenous learners face in all levels of mainstream education. These are the very tensions I personally experienced throughout the entirety of my educational experience as I have attempted to secure my own space and sense of place as a student and now aspiring professor.

  1. Robots Explore the Farthest Reaches of Earth and Space

    Science.gov (United States)

    2008-01-01

    "We were the first that ever burst/Into that silent sea," the title character recounts in Samuel Taylor Coleridge s opus Rime of the Ancient Mariner. This famous couplet is equally applicable to undersea exploration today as surface voyages then, and has recently been applied to space travel in the title of a chronicle of the early years of human space flight ("Into That Silent Sea: Trailblazers of the Space Era, 1961-1965"), companion to the +n the Shadow of the Moon book and movie. The parallel is certainly fitting, considering both fields explore unknown, harsh, and tantalizingly inhospitable environments. For starters, exploring the Briny Deep and the Final Frontier requires special vehicles, and the most economical and safest means for each employ remotely operated vehicles (ROVs). ROVs have proven the tool of choice for exploring remote locations, allowing scientists to explore the deepest part of the sea and the furthest reaches of the solar system with the least weight penalty, the most flexibility and specialization of design, and without the need to provide for sustaining human life, or the risk of jeopardizing that life. Most NASA probes, including the historic Voyager I and II spacecraft and especially the Mars rovers, Spirit and Opportunity, feature remote operation, but new missions and new planetary environments will demand new capabilities from the robotic explorers of the future. NASA has an acute interest in the development of specialized ROVs, as new lessons learned on Earth can be applied to new environments and increasingly complex missions in the future of space exploration.

  2. Mining remote-image repositories with application to Mars Rover stereoscopic image datasets

    Science.gov (United States)

    Willis, Andrew; Shadid, Waseem; Eppes, Martha C.

    2009-02-01

    As of December 2008, the two Mars rover spacecraft Spirit and Opportunity have collected more than 4 years worth of data from nine imaging instruments producing greater than 200k images which includes both raw image data from spacecraft instruments and images generated by post-processing algorithms developed by NASA's Multimission Image Processing Laboratory (MIPL). This paper describes a prototype software system that allows scientists to browse and data-mine the images produced from NASA's Mars Exploratory Rover (MER) missions with emphasis on the automatic detection of images containing rocks that are of interest for geological research. We highlight two aspects of our prototype system: (1) software design for mining remote data repositories, (2) a computationally efficient image search engine for detecting MER images that containing rocks. Datatype abstractions made at the software design level allow users to access and visualize the source data through a single simple-to-use interface when the underlying data may originate from a local or remote image repository. Data mining queries into the MER image data are specified over chronological intervals denoted (sols) as each interval is a solar day. As in other mining applications, an automatic detection and classification algorithm is used to compute a relevance score that represents how relevant a given recorded image is to the user-specified query. Query results are presented as list of records, sorted by their relevance score, which the user may then visualize and investigate to extract information of interest. Several standard image analysis tools are provided for investigation of 2D images (e.g., histogram equalization, edge detection, etc.) and, when available, stereoscopic data is integrated with the image data using multiple windows which show both the 2D image and 3D surface geometry. The combination of data mining and a high-quality visualization interface provides MER researchers unprecedented access

  3. Search for magnetic minerals in Martian rocks: Overview of the Rock Abrasion Tool (RAT) magnet investigation on Spirit and Opportunity

    DEFF Research Database (Denmark)

    Goetz, W.; Leer, K.; Gunnlaugsson, H.P.

    2008-01-01

    The Rock Abrasion Tool (RAT) on board the Mars Exploration Rovers (MER) is a grinding tool designed to remove dust coatings and/or weathering rinds from rocks and expose fresh rock material. Four magnets of different strengths that are built into the structure of the RAT have been attracting...

  4. Exploring Mars for Evidence of Habitable Environments and Life

    Science.gov (United States)

    DesMarais, David J.

    2014-01-01

    candidates. The Mars Exploration Rover (MER) Opportunity revealed that water once flowed to the surface across the vast Meridiani plains, creating saline lakes whose waters were roiled by ancient winds that also sculptured their salt deposits into sand dunes. Opportunity then drove more than 30 km to explore even older deposits on a crater rim. MER Spirit found evidence that thermal waters (heated by volcanism or by impacts?) altered rocks to create sulfate salts, and siliceous sinters. These discoveries indicate that an early hydrological cycle apparently sustained precipitation, streams and lakes. Liquid water participated in rock weathering reactions, such as iron and sulfur oxidation, that created distinctive weathering regimes. Volcanism, impacts, groundwater and ice interacted at least locally. Redox chemical energy from volcanism, hydrothermal activity and weathering of crustal materials would have been available for any life. Thus conditions might have supported life in the past, at least locally. The main objective of the Mars Science Laboratory (MSL) Curiosity rover is to determine the extent to which Gale crater hosted environments capable of supporting microbial life. The rover has already found stream gravels as well as sediments that might have been deposited in an ancient lake. The rover is now traversing to Mt. Sharp, a 5 km-high mound that is located on the crater floor and that exhibits layered sedimentary rocks having diverse minerals (sulfates and clays) that apparently formed in the presence of liquid water. This rock sequence was deposited over an extended time period in diverse potentially habitable watery environments. Curiosity is poised to characterize a a well-preserved rock record of hundreds of millions of years of diverse environments and profound climate change.

  5. A Mars Rover Mission Simulation on Kilauea Volcano

    Science.gov (United States)

    Stoker, Carol; Cuzzi, Jeffery N. (Technical Monitor)

    1995-01-01

    A field experiment to simulate a rover mission on Mars was performed using the Russian Marsokhod rover deployed on Kilauea Volcano HI in February, 1995. A Russian Marsokhod rover chassis was equipped with American avionics equipment, stereo cameras on a pan and tilt platform, a digital high resolution body-mounted camera, and a manipulator arm on which was mounted a camera with a close-up lens. The six wheeled rover is 2 meters long and has a mass of 120 kg. The imaging system was designed to simulate that used on the planned "Mars Together" mission. The rover was deployed on Kilauea Volcano HI and operated from NASA Ames by a team of planetary geologists and exobiologists. Two modes of mission operations were simulated for three days each: (1) long time delay, low data bandwidth (simulating a Mars mission), and (2) live video, wide-bandwidth data (allowing active control simulating a Lunar rover mission or a Mars rover mission controlled from on or near the Martian surface). Simulated descent images (aerial photographs) were used to plan traverses to address a detailed set of science questions. The actual route taken was determined by the science team and the traverse path was frequently changed in response to the data acquired and to unforeseen operational issues. Traverses were thereby optimized to efficiently answer scientific questions. During the Mars simulation, the rover traversed a distance of 800 m. Based on the time delay between Earth and Mars, we estimate that the same operation would have taken 30 days to perform on Mars. This paper will describe the mission simulation and make recommendations about incorporating rovers into the Mars surveyor program.

  6. Volatile composition and sensory characters of commercial Galician orujo spirits.

    Science.gov (United States)

    Diéguez, Sandra C; de la Peña, M Luisa G; Gómez, Esperanza F

    2005-08-24

    Nineteen samples of commercial Galician orujo spirits were analyzed by gas chromatography and distinguished from one another on the basis of the concentrations of major volatile compounds (methanol, higher alcohols, esters, acetates, and aldehydes). The spirits were also sensorily analyzed to emphasize this differentiation and to establish a sensory profile as a function of the attributes defined by the tasters. The results show that the Galician orujo spirits present notably significant differences in the concentrations of 2-butanol, methanol, acetaldehyde, and ethyl lactate, whereas their ethylic esters contents are similar. Sensorily, the orujo spirits can be differentiated by taste but have similar characteristics of bouquet, the best of which are from the Godello variety. The descriptions employed to define the orujo spirits were herbaceous, floral, fruity, vegetal, alcohol, toasted, and "others". Floral and fruity were predominant in the Albariño orujo spirits; herbaceous was predominant in the plurivarietal orujo spirits, vegetal in the Godello spirits, and dried fruit or toasted in the Mencia spirits. The orujo spirits from Treixadura have the most diverse profile, with the participation of most of the attributes.

  7. Using Multi-Core Systems for Rover Autonomy

    Science.gov (United States)

    Clement, Brad; Estlin, Tara; Bornstein, Benjamin; Springer, Paul; Anderson, Robert C.

    2010-01-01

    Task Objectives are: (1) Develop and demonstrate key capabilities for rover long-range science operations using multi-core computing, (a) Adapt three rover technologies to execute on SOA multi-core processor (b) Illustrate performance improvements achieved (c) Demonstrate adapted capabilities with rover hardware, (2) Targeting three high-level autonomy technologies (a) Two for onboard data analysis (b) One for onboard command sequencing/planning, (3) Technologies identified as enabling for future missions, (4)Benefits will be measured along several metrics: (a) Execution time / Power requirements (b) Number of data products processed per unit time (c) Solution quality

  8. Major accomplishments of America's nuclear rocket program (Rover)

    Science.gov (United States)

    Finseth, J. L.

    The United States embarked on a program called Rover to develop nuclear rocket engines in 1955. Initially, nuclear rockets were considered as a potential backup for intercontinental ballistic missile propulsion, but later proposed applications included both a lunar second stage and use in manned Mars flights. Under the Rover program, 19 different reactors were built and tested during the period of 1959-1969. Additionally, several cold flow (non-fuelled) reactors were tested, as well as a nuclear fuels test cell. The Rover program was terminated in 1973 due to budget constraints and an evolving political climate. The author reviews the engine test program and discusses several subsystems.

  9. Conceptual studies on the integration of a nuclear reactor system to a manned rover for Mars missions

    Science.gov (United States)

    El-Genk, Mohamed S.; Morley, Nicholas J.

    1991-07-01

    Multiyear civilian manned missions to explore the surface of Mars are thought by NASA to be possible early in the next century. Expeditions to Mars, as well as permanent bases, are envisioned to require enhanced piloted vehicles to conduct science and exploration activities. Piloted rovers, with 30 kWe user net power (for drilling, sampling and sample analysis, onboard computer and computer instrumentation, vehicle thermal management, and astronaut life support systems) in addition to mobility are being considered. The rover design, for this study, included a four car train type vehicle complete with a hybrid solar photovoltaic/regenerative fuel cell auxiliary power system (APS). This system was designed to power the primary control vehicle. The APS supplies life support power for four astronauts and a limited degree of mobility allowing the primary control vehicle to limp back to either a permanent base or an accent vehicle. The results showed that the APS described above, with a mass of 667 kg, was sufficient to provide live support power and a top speed of five km/h for 6 hours per day. It was also seen that the factors that had the largest effect on the APS mass were the life support power, the number of astronauts, and the PV cell efficiency. The topics covered include: (1) power system options; (2) rover layout and design; (3) parametric analysis of total mass and power requirements for a manned Mars rover; (4) radiation shield design; and (5) energy conversion systems.

  10. Conceptual studies on the integration of a nuclear reactor system to a manned rover for Mars missions

    Science.gov (United States)

    El-Genk, Mohamed S.; Morley, Nicholas J.

    1991-01-01

    Multiyear civilian manned missions to explore the surface of Mars are thought by NASA to be possible early in the next century. Expeditions to Mars, as well as permanent bases, are envisioned to require enhanced piloted vehicles to conduct science and exploration activities. Piloted rovers, with 30 kWe user net power (for drilling, sampling and sample analysis, onboard computer and computer instrumentation, vehicle thermal management, and astronaut life support systems) in addition to mobility are being considered. The rover design, for this study, included a four car train type vehicle complete with a hybrid solar photovoltaic/regenerative fuel cell auxiliary power system (APS). This system was designed to power the primary control vehicle. The APS supplies life support power for four astronauts and a limited degree of mobility allowing the primary control vehicle to limp back to either a permanent base or an accent vehicle. The results showed that the APS described above, with a mass of 667 kg, was sufficient to provide live support power and a top speed of five km/h for 6 hours per day. It was also seen that the factors that had the largest effect on the APS mass were the life support power, the number of astronauts, and the PV cell efficiency. The topics covered include: (1) power system options; (2) rover layout and design; (3) parametric analysis of total mass and power requirements for a manned Mars rover; (4) radiation shield design; and (5) energy conversion systems.

  11. Mars exploration: follow the water

    Science.gov (United States)

    Park, Young Ho

    2004-01-01

    Over the centuries, the red planet Mars has been a subject of imagination as well as intense scientific interest. As the overwhelming success of two Mars Exploration Rovers unfolds before us, this article provides an overview of and rationale for NASA's Mars exploration program.

  12. Consciousness, Mind, and Spirit: Three Levels of Human Cognition

    Directory of Open Access Journals (Sweden)

    Andrej Ule

    2015-10-01

    Full Text Available The article elucidates three important concepts and realities that refer to cognitive phenomena and are often (mistakenly used as synonyms: consciousness (slo. zavest, mind (slo. um, and spirit (slo. duh. They present three levels of human cognition: individual-experiential, individual-mental, and trans-individual-mental. Simply put: the concept of consciousness pertains to the waking mental life of a human being, while the concept of mind pertains to the ability and activity to consciously comprehend and understand contents and objects of human activity. I delineate three “types” of spirit: personal spirit, objective spirit, and the objectification of spirit in productions of human culture; I have doubts, however, about the existence of cosmic or super-cosmic dimensions of spirit, although some interpretations of quantum physics and modern cosmology suggest that such dimensions are possible.

  13. Airbag Trails

    Science.gov (United States)

    2004-01-01

    This segment of the first color image from the panoramic camera on the Mars Exploration Rover Spirit shows the rover's airbag trails. These depressions in the soil were made when the airbags were deflated and retracted after landing.

  14. Airbag Deflates on Mars

    Science.gov (United States)

    2004-01-01

    This image, taken by the navigation camera onboard the Mars Exploration Rover Spirit, shows the airbags used to protect the rover during landing. One bright, dust-covered bag is slightly puffed up against the lander.

  15. Airbag Trails-2

    Science.gov (United States)

    2004-01-01

    This segment of the first color image from the panoramic camera on the Mars Exploration Rover Spirit shows the rover's airbag trails (upper left). These depressions in the soil were made when the airbags were deflated and retracted after landing.

  16. Machine learning challenges in Mars rover traverse science

    Science.gov (United States)

    Castano, R.; Judd, M.; Anderson, R. C.; Estlin, T.

    2003-01-01

    The successful implementation of machine learning in autonomous rover traverse science requires addressing challenges that range from the analytical technical realm, to the fuzzy, philosophical domain of entrenched belief systems within scientists and mission managers.

  17. The ExoMars Rover Science Archive: Status and Plans

    Science.gov (United States)

    Heather, D.; Lim, T.; Metcalfe, L.

    2017-09-01

    The ExoMars program is a co-operation between ESA and Roscosmos comprising two missions: the first, launched on 14 March 2016, included the Trace Gas Orbiter and Schiaparelli lander; the second, due for launch in 2020, will be a Rover and Surface Platform (RSP). The ExoMars Rover and Surface Platform deliveries will be among the first data in the PSA to be formatted according to the new PDS4 Standards, and will be the first rover data to be hosted within the archive at all. The archiving and management of the science data to be returned from ExoMars will require a significant development effort for the new Planetary Science Archive (PSA). This presentation will outline the current plans for archiving of the ExoMars Rover and Surface Platform science data.

  18. On beliefs in non-shamanic guardian spirits among Saamis

    Directory of Open Access Journals (Sweden)

    Åke Hultkrantz

    1987-01-01

    Full Text Available Often the saiva (or saivo spirits have been defined as the guardian and helping spirits of the shaman. In this way, Saami shamanism appears as a counterpart to shamanism in Siberia and North America where guardian-spirit beliefs have similarly played a distinctive role. These beliefs should be considered as one of the constituent elements of shamanism. However, the concept of guardian spirits is not necessarily limited to shamans. The intention of this paper is to try to prove the occurrence of a non-shamanic guardian-spirit belief among the Saamis, and to discuss its religio-historical import. Apparently not only shamans but also other Saamis formerly owned guardian spirits that were handed down in the family. Among the western Saamis these spirits were anthropomorphic (if we may believe the sources, among the eastern Skolt Saamis they were zoomorphic. There is also some information on the purchase of guardian spirits. It seems, furthermore, that some persons—not just the shamans—could achieve guardian spirits through their own efforts. The reasons why the occurrence of this non-shamanic guardian-spirit belief has been so slightly dealt with by research are in particular the following. Firstly, scholarly interest has been directed towards shamanism and the role of the guardian spirits within the shamanic complex. Secondly, the early source writers turned primarily to the shamans in order to secure information on Saami religion, and the shamans of course described saivo from their own points of interest. Seen from a comprehensive circumpolar and circumboreal perspective, the Saami saivo complex may be interpreted as a European counterpart to the North American Indian belief in guardian spirits.

  19. Monod and the spirit of molecular biology.

    Science.gov (United States)

    Morange, Michel

    2015-06-01

    The founders of molecular biology shared views on the place of biology within science, as well as on the relations of molecular biology to Darwinism. Jacques Monod was no exception, but the study of his writings is particularly interesting because he expressed his point of view very clearly and pushed the implications of some of his choices further than most of his contemporaries. The spirit of molecular biology is no longer the same as in the 1960s but, interestingly, Monod anticipated some recent evolutions of this discipline. Copyright © 2015 Académie des sciences. Published by Elsevier SAS. All rights reserved.

  20. Finding the Spirit Within: A Critical Analysis of Film Techniques in "Spirited Away"

    Science.gov (United States)

    Cooper, Damon

    2010-01-01

    In 2008 the New South Wales Board of Studies included Hayao Miyazaki's film "Spirited Away" as the prescribed text for the Higher School Certificate Japanese Extension course. A study of the film in this context requires students to engage with the text in three distinct ways: through language, cultural symbolism and relevance, and…

  1. 'Do not quench the Spirit!' The discourse of the Holy Spirit in earliest ...

    African Journals Online (AJOL)

    The Trinitarian discourse of the 4th and 5th centuries grew out of earlier developments, whilst at the same time reflecting a renewal over against the language of the earliest Christian sources. This article reflects on the way in which early Christianity thought about the Holy Spirit and developed a new discourse on the basis ...

  2. In-situ soil sensing for planetary micro-rovers with hybrid wheel-leg systems

    Science.gov (United States)

    Comin Cabrera, Francisco Jose

    Rover missions exploring other planets are tightly constrained regarding the trade-off between safety and traversal speed. Detecting and avoiding hazards during navigation is capital to preserve the mobility of a rover. Low traversal speeds are often enforced to assure that wheeled rovers do not become stuck in challenging terrain, hindering the performance and scientific return of the mission. Even such precautions do not guarantee safe navigation due to non-geometric hazards hidden in the terrain, such as sand traps beneath thin duricrusts. These issues motivate the research of the interaction with rough and sandy planetary terrains of conventional and innovative robot locomotion concepts. Hybrid wheel-legs combine the mechanical and control simplicity of wheeled locomotion with the enhanced mobility of legged locomotion. This concept has been rarely proposed for planetary exploration and the study of its interaction with granular terrains is at a very early stage. This research focuses on advancing the state-of-the-art of wheel-leg-soil interaction analysis and applying it through in-situ sensing to simultaneously improve the speed and safety of planetary rover missions. The semi-empirical approach used combines both theoretical modelling and experimental analysis of data obtained in laboratory and field analogues. A novel light-weight, low-power sensor system, capable of reliably detecting wheel-leg sinkage and slippage phenomena on-the-fly, is designed, implemented and tested both as part of a simplified single-wheel-leg test bed and integrated in a fully mobile micro-rover. Moreover, existing analytical models for the interaction between deformable terrain and heavily-loaded wheels or lightly-loaded legs are adapted to the generalised medium-loaded multi-legged wheel-leg case and combined into hybrid approaches for better accuracy, as validated against experimental data. Finally, the soil sensor system and analytical models proposed are used to develop and

  3. Acquisition of Skill Proficiency Over Multiple Sessions of a Novel Rover Simulation

    Science.gov (United States)

    Dean, S. L.; DeDios,Y. E.; MacDougall, H. G.; Moore, S. T.; Wood, S. J.

    2011-01-01

    Following long-duration exploration transits, adaptive changes in sensorimotor function may impair the crew's ability to safely perform manual control tasks such as operating pressurized rovers. Postflight performance will also be influenced by the level of preflight skill proficiency they have attained. The purpose of this study was to characterize the acquisition of skills in a motion-based rover simulation over multiple sessions, and to investigate the effects of varying the simulation scenarios. METHODS: Twenty healthy subjects were tested in 5 sessions, with 1-3 days between sessions. Each session consisted of a serial presentation of 8 discrete tasks to be completed as quickly and accurately as possible. Each task consisted of 1) perspective-taking, using a map that defined a docking target, 2) navigation toward the target around a Martian outpost, and 3) docking a side hatch of the rover to a visually guided target. The simulator utilized a Stewart-type motion base (CKAS, Australia), single-seat cabin with triple scene projection covering 150 deg horizontal by 50 deg vertical, and joystick controller. Subjects were randomly assigned to a control group (tasks identical in the first 4 sessions) or a varied-practice group. The dependent variables for each task included accuracy toward the target and time to completion. RESULTS: The greatest improvements in time to completion occurred during the docking phase. The varied-practice group showed more improvement in perspective-taking accuracy. Perspective-taking accuracy was also affected by the relative orientation of the rover to the docking target. Skill acquisition was correlated with self-ratings of previous gaming experience. DISCUSSION: Varying task selection and difficulty will optimize the preflight acquisition of skills when performing novel operational tasks. Simulation of operational manual control will provide functionally relevant evidence regarding the impact of sensorimotor adaptation on early

  4. The Scale of Exploration: Planetary Missions Set in the Context of Tourist Destinations on Earth

    Science.gov (United States)

    Garry, W. B.; Bleacher, L. V.; Bleacher, J. E.; Petro, N. E.; Mest, S. C.; Williams, S. H.

    2012-03-01

    What if the Apollo astronauts explored Washington, DC, or the Mars Exploration Rovers explored Disney World? We present educational versions of the traverse maps for Apollo and MER missions set in the context of popular tourist destinations on Earth.

  5. A Rover Operations Protocol for Maintaining Compliance with Planetary Protection Requirements

    Science.gov (United States)

    Jones, Melissa; Vasavada, Ashwin

    2016-07-01

    day would be brought into a discussion. Typically the tactical team has a mix of experts in geology, astrobiology, geological materials, geochemistry, and meteorology. If this team cannot rule out the concern of introducing rover hardware into a potential Special Region, arm and wheel usage would be prohibited in that day's planning. This halt in tactical operations would allow a separate Special Regions Team to re-consider the data more deliberately, but still on timeline that would allow rover operations to resume as quickly as possible. This team is chosen in advance to have a broad range of expertise that can weigh the evidence for a potential Special Region, including representatives from the institutional planetary protection organization and involvement of the MSL Project Manager. If this team cannot rule out the concern, rover operations continue to hold while the NASA Planetary Protection Office is engaged to determine the best course of action for the mission. It is worth noting that evidence of modern, fluid-formed features at Gale Crater is not expected and would represent a major scientific discovery for the mission and Mars Exploration Program. However, this low-likelihood outcome still requires vigilance to ensure compliance with planetary protection requirements.

  6. The Familier Spirits in Tatar Mythology

    Directory of Open Access Journals (Sweden)

    Rasilya KARİMOVA

    2016-12-01

    Full Text Available Tatar’s mythology is important and special for Kazan Tatars’ life and folk literature. Tatar mythology has colorful, rich and various patterns. In this study, it is dealt with the important subjects which is significant for Tatars’ mythology and beliefs in Tatars’. In daily life of modern Kazan Tatars there are some familiar spirits such as Su Dedesi, Su İyesi, Su Anası (Su Kızı, Su Atası; Çeşme İyesi, Dağ İyesi, Ev İyesi, Ahır İyesi, Munça (Hamam/Sauna İyesi, Orman İyesi, Cami İyesi etc. Although historical developments and modernity weakened the belief of the proprietors, Tatars are going on on believing them. As the principle poet of Tatars Abdullah Tukay, other poet, author and artists should take it into consideration and handle these proprietors, by this way they will survive more strongly and be turned over to new generations. Proprietors, which are holy spirits are in a good relation with nature. Proprietors have features like organising people-nature relationship and sustain it in a respectful way, supporting good habits and punishing bad habits. In this study, some proprietors which are related to Kazan Tatars public beliefs are taken into consideration and some informations about there proprietors are used

  7. Perspectives on the changing spirit of GATT

    Directory of Open Access Journals (Sweden)

    Norbert Weinrichter

    1999-10-01

    Full Text Available Traditionally, the ECJ has treated the international legal framework of the external trade law of the Community with judicial self restraint. Especially the GATT was perceived as a forum for interstate negotiations driven by the spirit of intergovernmental reciprocity. Thus, the ECJ has concluded that the GATT should be protected from intrusion by national authorities and cannot be invoked directly before the court. However, in the context of new developments, GATT and WTO-law are increasingly seen differently: International trade rules can serve as a quasi-constitutional constraint on excessive national trade policy. Basic principles such as the Most Favored Nation clause, the principle of non-discrimination and the prohibition of quantitative restrictions are reinterpreted as protection of economic rights of individuals rather than as protection of interstate reciprocity. Application of GATT-rules by national authorities is thus essential for the effective implementation of the spirit of GATT to fight a potential bias in favor of protectionism. This article comments on the historic conditions and the development of this fundamental change in the perception of the spitit of the GATT and tries to assess its consequences.

  8. In-motion initial alignment and positioning with INS/CNS/ODO integrated navigation system for lunar rovers

    Science.gov (United States)

    Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang; Liu, Ming

    2017-06-01

    Many countries have been paying great attention to space exploration, especially about the Moon and the Mars. Autonomous and high-accuracy navigation systems are needed for probers and rovers to accomplish missions. Inertial navigation system (INS)/celestial navigation system (CNS) based navigation system has been used widely on the lunar rovers. Initialization is a particularly important step for navigation. This paper presents an in-motion alignment and positioning method for lunar rovers by INS/CNS/odometer integrated navigation. The method can estimate not only the position and attitude errors, but also the biases of the accelerometers and gyros using the standard Kalman filter. The differences between the platform star azimuth, elevation angles and the computed star azimuth, elevation angles, and the difference between the velocity measured by odometer and the velocity measured by inertial sensors are taken as measurements. The semi-physical experiments are implemented to demonstrate that the position error can reduce to 10 m and attitude error is within 2″ during 5 min. The experiment results prove that it is an effective and attractive initialization approach for lunar rovers.

  9. Potential of Probing the Lunar Regolith using Rover-Mounted Ground Penetrating Radar: Moses Lake Dune Field Analog Study

    Science.gov (United States)

    Horz, F.; Heggy, E.; Fong, T.; Kring, D.; Deans, M.; Anglade, A.; Mahiouz, K.; Bualat, M.; Lee, P.; Bluethmann, W.

    2009-01-01

    Probing radars have been widely recognized by the science community to be an efficient tool to explore lunar subsurface providing a unique capability to address several scientific and operational issues. A wideband (200 to 1200 MHz) Ground Penetrating Radar (GPR) mounted on a surface rover can provide high vertical resolution and probing depth from few tens of centimeters to few tens of meters depending on the sounding frequency and the ground conductivity. This in term can provide a better understand regolith thickness, elemental iron concentration (including ilmenite), volatile presence, structural anomalies and fracturing. All those objectives are of important significance for understanding the local geology and potential sustainable resources for future landing sites in particular exploring the thickness, structural heterogeneity and potential volatiles presence in the lunar regolith. While the operation and data collection of GPR is a straightforward case for most terrestrial surveys, it is a challenging task for remote planetary study especially on robotic platforms due to the complexity of remote operation in rough terrains and the data collection constrains imposed by the mechanical motion of the rover and limitation in data transfer. Nevertheless, Rover mounted GPR can be of great support to perform systematic subsurface surveys for a given landing site as it can provide scientific and operational support in exploring subsurface resources and sample collections which can increase the efficiency of the EVA activities for potential human crews as part of the NASA Constellation Program. In this study we attempt to explore the operational challenges and their impact on the EVA scientific return for operating a rover mounted GPR in support of potential human activity on the moon. In this first field study, we mainly focused on the ability of GPR to support subsurface sample collection and explore shallow subsurface volatiles.

  10. Rim Structure, Stratigraphy, and Aqueous Alteration Exposures Along Opportunity Rover's Traverse of the Noachian Endeavour Crater

    Science.gov (United States)

    Crumpler, L.S.; Arvidson, R. E.; Golombek, M.; Grant, J. A.; Jolliff, B. L.; Mittlefehldt, D. W.

    2017-01-01

    The Mars Exploration Rover Opportunity has traversed 10.2 kilometers along segments of the west rim of the 22-kilometer-diameter Noachian Endeavour impact crater as of sol 4608 (01/09/17). The stratigraphy, attitude of units, lithology, and degradation state of bedrock outcrops exposed on the crater rim have been examined in situ and placed in geologic context. Structures within the rim and differences in physical properties of the identified lithologies have played important roles in localizing outcrops bearing evidence of aqueous alteration.

  11. 27 CFR 19.67 - Spirits produced in industrial processes.

    Science.gov (United States)

    2010-04-01

    ... industrial processes. 19.67 Section 19.67 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS DISTILLED SPIRITS PLANTS Administrative and Miscellaneous Provisions Activities Not Subject to This Part § 19.67 Spirits produced in industrial processes...

  12. 27 CFR 17.184 - Distilled spirits container marks.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Distilled spirits container marks. 17.184 Section 17.184 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND... MANUFACTURING NONBEVERAGE PRODUCTS Miscellaneous Provisions § 17.184 Distilled spirits container marks. All...

  13. 27 CFR 20.213 - Reuse of recovered spirits.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Reuse of recovered spirits. 20.213 Section 20.213 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU... Alcohol, Specially Denatured Rum, or Articles § 20.213 Reuse of recovered spirits. (a) If the denatured...

  14. A system architecture for a planetary rover

    Science.gov (United States)

    Smith, D. B.; Matijevic, J. R.

    1989-01-01

    Each planetary mission requires a complex space vehicle which integrates several functions to accomplish the mission and science objectives. A Mars Rover is one of these vehicles, and extends the normal spacecraft functionality with two additional functions: surface mobility and sample acquisition. All functions are assembled into a hierarchical and structured format to understand the complexities of interactions between functions during different mission times. It can graphically show data flow between functions, and most importantly, the necessary control flow to avoid unambiguous results. Diagrams are presented organizing the functions into a structured, block format where each block represents a major function at the system level. As such, there are six blocks representing telecomm, power, thermal, science, mobility and sampling under a supervisory block called Data Management/Executive. Each block is a simple collection of state machines arranged into a hierarchical order very close to the NASREM model for Telerobotics. Each layer within a block represents a level of control for a set of state machines that do the three primary interface functions: command, telemetry, and fault protection. This latter function is expanded to include automatic reactions to the environment as well as internal faults. Lastly, diagrams are presented that trace the system operations involved in moving from site to site after site selection. The diagrams clearly illustrate both the data and control flows. They also illustrate inter-block data transfers and a hierarchical approach to fault protection. This systems architecture can be used to determine functional requirements, interface specifications and be used as a mechanism for grouping subsystems (i.e., collecting groups of machines, or blocks consistent with good and testable implementations).

  15. The PRo3D View Planner - interactive simulation of Mars rover camera views to optimise capturing parameters

    Science.gov (United States)

    Traxler, Christoph; Ortner, Thomas; Hesina, Gerd; Barnes, Robert; Gupta, Sanjeev; Paar, Gerhard

    2017-04-01

    High resolution Digital Terrain Models (DTM) and Digital Outcrop Models (DOM) are highly useful for geological analysis and mission planning in planetary rover missions. PRo3D, developed as part of the EU-FP7 PRoViDE project, is a 3D viewer in which orbital DTMs and DOMs derived from rover stereo imagery can be rendered in a virtual environment for exploration and analysis. It allows fluent navigation over planetary surface models and provides a variety of measurement and annotation tools to complete an extensive geological interpretation. A key aspect of the image collection during planetary rover missions is determining the optimal viewing positions of rover instruments from different positions ('wide baseline stereo'). For the collection of high quality panoramas and stereo imagery the visibility of regions of interest from those positions, and the amount of common features shared by each stereo-pair, or image bundle is crucial. The creation of a highly accurate and reliable 3D surface, in the form of an Ordered Point Cloud (OPC), of the planetary surface, with a low rate of error and a minimum of artefacts, is greatly enhanced by using images that share a high amount of features and a sufficient overlap for wide baseline stereo or target selection. To support users in the selection of adequate viewpoints an interactive View Planner was integrated into PRo3D. The users choose from a set of different rovers and their respective instruments. PRo3D supports for instance the PanCam instrument of ESA's ExoMars 2020 rover mission or the Mastcam-Z camera of NASA's Mars2020 mission. The View Planner uses a DTM obtained from orbiter imagery, which can also be complemented with rover-derived DOMs as the mission progresses. The selected rover is placed onto a position on the terrain - interactively or using the current rover pose as known from the mission. The rover's base polygon and its local coordinate axes, and the chosen instrument's up- and forward vectors are

  16. Learning from the Mars Rover Mission: Scientific Discovery, Learning and Memory

    Science.gov (United States)

    Linde, Charlotte

    2005-01-01

    Purpose: Knowledge management for space exploration is part of a multi-generational effort. Each mission builds on knowledge from prior missions, and learning is the first step in knowledge production. This paper uses the Mars Exploration Rover mission as a site to explore this process. Approach: Observational study and analysis of the work of the MER science and engineering team during rover operations, to investigate how learning occurs, how it is recorded, and how these representations might be made available for subsequent missions. Findings: Learning occurred in many areas: planning science strategy, using instrumen?s within the constraints of the martian environment, the Deep Space Network, and the mission requirements; using software tools effectively; and running two teams on Mars time for three months. This learning is preserved in many ways. Primarily it resides in individual s memories. It is also encoded in stories, procedures, programming sequences, published reports, and lessons learned databases. Research implications: Shows the earliest stages of knowledge creation in a scientific mission, and demonstrates that knowledge management must begin with an understanding of knowledge creation. Practical implications: Shows that studying learning and knowledge creation suggests proactive ways to capture and use knowledge across multiple missions and generations. Value: This paper provides a unique analysis of the learning process of a scientific space mission, relevant for knowledge management researchers and designers, as well as demonstrating in detail how new learning occurs in a learning organization.

  17. Astrobiology, Mars Exploration and Lassen Volcanic National Park

    Science.gov (United States)

    Des Marais, David J.

    2015-01-01

    The search for evidence of life beyond Earth illustrates how the charters of NASA and the National Park Service share common ground. The mission of NPS is to preserve unimpaired the natural and cultural resources of the National Park System for the enjoyment, education and inspiration of this and future generations. NASA's Astrobiology program seeks to understand the origins, evolution and distribution of life in the universe, and it abides by the principles of planetary stewardship, public outreach, and education. We cannot subject planetary exploration destinations to Earthly biological contamination both for ethical reasons and to preserve their scientific value for astrobiology. We respond to the public's interest in the mysteries of life and the cosmos by honoring their desire to participate in the process of discovery. We involve youth in order to motivate career choices in science and technology and to perpetuate space exploration. The search for evidence of past life on Mars illustrates how the missions of NASA and NPS can become synergistic. Volcanic activity occurs on all rocky planets in our Solar System and beyond, and it frequently interacts with water to create hydrothermal systems. On Earth these systems are oases for microbial life. The Mars Exploration Rover Spirit has found evidence of extinct hydrothermal system in Gusev crater, Mars. Lassen Volcanic National Park provides a pristine laboratory for investigating how microorganisms can both thrive and leave evidence of their former presence in hydrothermal systems. NASA scientists, NPS interpretation personnel and teachers can collaborate on field-oriented programs that enhance Mars mission planning, engage students and the public in science and technology, and emphasize the ethics of responsible exploration.

  18. Solidarity and Community Spirit during Evil Times

    Directory of Open Access Journals (Sweden)

    SIMONA-GRAZIA DIMA,

    2010-04-01

    Full Text Available The article aims both at identifying the various facets under which human solidarity manifested itself during the War of ethnic cleansing in Bosnia-Herzegovina (1992-1995 and at highlighting the growing awareness of the community spirit in the same period of time, resulting in a part of the population being saved and in many spiritual and material values being preserved. The analysis is based on genuine interviews given by subjects involved in the events, all of which being collected in the volume Good People in an Evil Time by Dr. Svetlana Broz, a journalist, social activist and cardiologist (now president of the Bosnia-Herzegovina branch of GARIWO International. This book has been a best seller, and has been translated in many languages and presented over many tours in about 50 universities in the USA.

  19. A Reliable Distributed Computing System Architecture for Planetary Rover

    Science.gov (United States)

    Jingping, C.; Yunde, J.

    Computing system is one of the most important parts in planetary rover Computing system is crucial to the rover function capability and survival probability When the planetary rover executes some tasks it needs to react to the events in time and to tolerant the faults cause by the environment or itself To meet the requirements the planetary rover computing system architecture should be reactive high reliable adaptable consistent and extendible This paper introduces reliable distributed computing system architecture for planetary rover This architecture integrates the new ideas and technologies of hardware architecture software architecture network architecture fault tolerant technology and the intelligent control system architecture The planetary computing system architecture defines three dimensions of fault containment regions the channel dimension the lane dimension and the integrity dimension The whole computing system has three channels The channels provide the main fault containment regions for system hardware It is the ultimate line of defense of a single physical fault The lanes are the secondary fault containment regions for physical faults It can be used to improve the capability for fault diagnosis within a channel and can improve the coverage with respect to design faults through hardware and software diversity It also can be used as backups for each others to improve the availability and can improve the computing capability The integrity dimension provides faults containment region for software design Its purpose

  20. Benefit of "Push-pull" Locomotion for Planetary Rover Mobility

    Science.gov (United States)

    Creager, Colin M.; Moreland, Scott Jared; Skonieczny, K.; Johnson, K.; Asnani, V.; Gilligan, R.

    2011-01-01

    As NASAs exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in which all wheels are either driven or free-rolling is very efficient on flat hard ground, but does not always provide enough traction to propel the vehicle through soft or steep terrain. This paper presents an alternative mode of travel and investigates the fundamental differences between these locomotion modes. The methods of push-pull locomotion discussed can be used with articulated wheeled vehicles and are identified as walking or inchinginch-worming. In both cases, the braked non-rolling wheels provide increased thrust. An in-depth study of how soil reacts under a rolling wheel vs. a braked wheel was performed by visually observing the motion of particles beneath the surface. This novel technique consists of driving or dragging a wheel in a soil bin against a transparent wall while high resolution, high-rate photographs are taken. Optical flow software was then used to determine shearing patterns in the soil. Different failure modes were observed for the rolling and braked wheel cases. A quantitative comparison of inching vs. conventional driving was also performed on a full-scale vehicle through a series of drawbar pull tests in the Lunar terrain strength simulant, GRC-1. The effect of tire stiffness was also compared; typically compliant tires provide better traction when driving in soft soil, however its been observed that rigid wheels may provide better thrust when non-rolling. Initial tests indicate up to a possible 40 increase in pull force capability at high slip when inching vs. rolling.

  1. Experimental Results of Rover-Based Coring and Caching

    Science.gov (United States)

    Backes, Paul G.; Younse, Paulo; DiCicco, Matthew; Hudson, Nicolas; Collins, Curtis; Allwood, Abigail; Paolini, Robert; Male, Cason; Ma, Jeremy; Steele, Andrew; hide

    2011-01-01

    Experimental results are presented for experiments performed using a prototype rover-based sample coring and caching system. The system consists of a rotary percussive coring tool on a five degree-of-freedom manipulator arm mounted on a FIDO-class rover and a sample caching subsystem mounted on the rover. Coring and caching experiments were performed in a laboratory setting and in a field test at Mono Lake, California. Rock abrasion experiments using an abrading bit on the coring tool were also performed. The experiments indicate that the sample acquisition and caching architecture is viable for use in a 2018 timeframe Mars caching mission and that rock abrasion using an abrading bit may be feasible in place of a dedicated rock abrasion tool.

  2. A Battery Health Monitoring Framework for Planetary Rovers

    Science.gov (United States)

    Daigle, Matthew J.; Kulkarni, Chetan Shrikant

    2014-01-01

    Batteries have seen an increased use in electric ground and air vehicles for commercial, military, and space applications as the primary energy source. An important aspect of using batteries in such contexts is battery health monitoring. Batteries must be carefully monitored such that the battery health can be determined, and end of discharge and end of usable life events may be accurately predicted. For planetary rovers, battery health estimation and prediction is critical to mission planning and decision-making. We develop a model-based approach utilizing computaitonally efficient and accurate electrochemistry models of batteries. An unscented Kalman filter yields state estimates, which are then used to predict the future behavior of the batteries and, specifically, end of discharge. The prediction algorithm accounts for possible future power demands on the rover batteries in order to provide meaningful results and an accurate representation of prediction uncertainty. The framework is demonstrated on a set of lithium-ion batteries powering a rover at NASA.

  3. Draft of the Orthodox theology about Holy Spirit.

    Directory of Open Access Journals (Sweden)

    ks. Henryk Paprocki

    2014-11-01

    Full Text Available The role of the Holy Spirit is much more in the centre of spirituality of the Eastern Church than is the case in the Western Church. Nevertheless, to say that Orthodox thought has finally and fully developed systematic theology of the Holy Spirit, would be excessive. The science of the Holy Spirit is based primarily on the experience of the community (liturgy and on individual experience (personal prayer. It is these two aspects that the article is devoted to. At the same time it attempts to present Orthodox Church’s teaching of the Holy Spirit not only on the basis of dogmatic formulation, but principally through the experience of the mystics, which found resonance in the practice and theory of hesychasm. Especially helpful in this approach is the Orthodox liturgy, rich in inexhaustible theological perspective. Hesychia is also linked to the contemplation of icons. The combination of these different threads leads to deep spiritual experiences. However, it was the Church where a clear revelation of the Holy Spirit succeeded, which is particularly emphasized by St. Gregory of Nazianzus, the Theologian: “The Old Testament proclaimed the Father clearly, but the Son more obscurely. The New Testament revealed the Son and gave us a glimpse of the divinity of the Spirit. Now the Spirit dwells among us and grants us a clearer vision of himself ”.

  4. Aerial Explorers and Robotic Ecosystems

    Science.gov (United States)

    Young, Larry A.; Pisanich, Greg

    2004-01-01

    A unique bio-inspired approach to autonomous aerial vehicle, a.k.a. aerial explorer technology is discussed. The work is focused on defining and studying aerial explorer mission concepts, both as an individual robotic system and as a member of a small robotic "ecosystem." Members of this robotic ecosystem include the aerial explorer, air-deployed sensors and robotic symbiotes, and other assets such as rovers, landers, and orbiters.

  5. The Development of the Chemin Mineralogy Instrument and Its Deployment on Mars (and Latest Results from the Mars Science Laboratory Rover Curiosity)

    Science.gov (United States)

    Blake, David F.

    2014-01-01

    The CheMin instrument (short for "Chemistry and Mineralogy") on the Mars Science Laboratory rover Curiosity is one of two "laboratory quality" instruments on board the Curiosity rover that is exploring Gale crater, Mars. CheMin is an X-ray diffractometer that has for the first time returned definitive and fully quantitative mineral identifications of Mars soil and drilled rock. I will describe CheMin's 23-year development from an idea to a spacecraft qualified instrument, and report on some of the discoveries that Curiosity has made since its entry, descent and landing on Aug. 6, 2012, including the discovery and characterization of the first habitable environment on Mars.

  6. Visualisation of very high resolution Martian topographic data and its application on landing site selection and rover route navigation

    Science.gov (United States)

    Kim, J.; Lin, S.; Hong, J.; Park, D.; Yoon, S.; Kim, Y.

    2010-12-01

    High resolution satellite imagery acquired from orbiters are able to provide detailed topographic information and therefore are recognised as an important tool for investigating planetary and terrestrial topography. The heritage of in-orbit high resolution imaging technology is now implemented in a series of Martian Missions, such as HiRISE (High Resolution Imaging Science Experiment) and CTX (Context Camera) onboard the MRO (Mars Reconnaissance Orbiter). In order to fully utilise the data derived from image systems carried on various Mars orbiters, the generalised algorithms of image processing and photogrammetric Mars DTM extraction have been developed and implemented by Kim and Muller (2009), in which non-rigorous sensor model and hierarchical geomatics control were employed. Due to the successful “from medium to high” control strategy performed during processing, stable horizontal and vertical photogrammetric accuracy of resultant Mars DTM was achievable when compared with MOLA (Mars Obiter Laser Altimeter) DTM. Recently, the algorithms developed in Kim and Muller (2009) were further updated by employing advanced image matcher and improved sensor model. As the photogrammetric qualities of the updated topographic products are verified and the spatial solution can be up to sub-meter scale, they are of great value to be exploited for Martian rover landing site selection and rover route navigation. To this purpose, the DTMs and ortho-rectified imagery obtained from CTX and HiRISE covering potential future rovers and existing MER (Mars Exploration Rover) landing sites were firstly processed. For landing site selection, the engineering constraints such as slope and surface roughness were computed from DTMs. In addition, the combination of virtual topography and the estimated rover location was able to produce a sophisticated environment simulation of rover’s landing site. Regarding the rover navigation, the orbital DTMs and the images taken from cameras

  7. Traverses for lunar rovers and sample return teleoperated from Earth or cislunar orbit

    Science.gov (United States)

    Kamps, Oscar; Foing, Bernard H.; Flahaut, Jessica

    2016-07-01

    Most interesting sites for exploration are near the poles of the Moon where water and other ices and volatiles could be stable in the permanent shaded regions. Several instruments on multiple orbiters have indicated the presence of hydrogen or hydration but the relation with the illumination conditions are not as clear. Which other variables are involved to trap water near the poles is not known. This ignorance makes it of high interest to do in-situ research on the Moon. ESA, NASA and other agencies are studying a teleoperated mission from cislunar orbit with Orion (eg. HERACLES international lunar exploration architecture) with the possibility of long rover traverses, and human assisted sample return. This mission concept was used for this study on a rover traverse. This study focuses on both the North as South Pole. The site selection for a traverse was based on the temperature map from Diviner. Regions of interests were made as primary selection and cover areas where the maximum temperature is lower than the sublimation temperature of CO2. Data from neutron spectrometer from the Prospector, and crater epoch according to the USGS were used to make a selection of regions of interest. These selected sites where studied on their accessibility for a rover, based on the slope map made from the LOLA elevation model. A landing site was selected based on assumptions that it should be at least one kilometre in diameter and have a slope lower than 5 degrees. The temperature difference (Tmax-Tmin from the Diviner measurements) was used select a scientifically interesting site between the landing site and destination inside a PSR. It was thought that a site with a temperature difference larger than 150K is interesting to study volatile migration processes. Eventually for the traverse planning a tool in ArcGIS was used which calculates the easiest from one location to another where the slope is used as limiting factor. We give the example study of rover traverse planning

  8. Photonic measurement of apparent presence of spirit using a computer automated system.

    Science.gov (United States)

    Schwartz, Gary E

    2011-01-01

    Research investigating the potential of detecting the purported presence of spirit (POS) has been hampered by the necessity of employing a human being to collect the data. To infer the presence of alleged spirit, it is essential to remove the simultaneous presence of an experimenter (POE), thereby eliminating his or her physical energy as well as accompanying conscious intentions and expectations. The purpose of these two proof of concept experiments was to explore the feasibility of completely automating data collection in the absence of an experimenter to determine if evidence consistent with POS was still obtained. A computer automated system was developed making it possible to collect all data in the absence of an experimenter (thereby achieving complete experimenter blinding). In the evenings, the computer would perform as follows: (1) start the experimental run at random times, (2) conduct 30-minute baseline as well as POS trials involving two different alleged spirits, and (3) record background light in a completely dark chamber with a highly sensitive low-light Princeton Instruments charge-coupled device (CCD) camera system. The CCD camera and light-tight recording chamber were housed in a light-tight room; the computer, large screen monitor, and speakers were housed in a separate control room. The participants were two purported spirits involved in previous research published in this journal, in which a silicon photomultiplier system was used. The primary intervention was the computer selecting and presenting visual and auditory information inviting Spirit 1 or Spirit 2 to enter the chamber in the absence of experimenter presence and awareness. The CCD camera provided 512 × 512 pixel images of 30-minute exposures (reflecting a combination of possible background light plus instrument dark noise). The images were imported into image processing software, and two-dimensional fast fourier transform (FFT) analyses were performed. Visual examinations of the FFT

  9. Seasonal and interannual variability of solar radiation at Spirit, Opportunity and Curiosity landing sites

    Energy Technology Data Exchange (ETDEWEB)

    Vicente-Retortillo, A.; Lemmon, M.T.; Martinez, G.; Valero, F.; Vazquez, L.; Martin, M.L.

    2016-07-01

    In this article we characterize the radiative environment at the landing sites of NASA's Mars Exploration Rover (MER) and Mars Science Laboratory (MSL) missions. We use opacity values obtained at the surface from direct imaging of the Sun and our radiative transfer model COMIMART to analyze the seasonal and interannual variability of the daily irradiation at the MER and MSL landing sites. In addition, we analyze the behavior of the direct and diffuse components of the solar radiation at these landing sites. (Author)

  10. A Field Reconfigurable Manipulator for Rovers Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robotic systems will be deeply integrated into future human exploration of the lunar surface. Prior to human arrival, they will conduct scientific investigations,...

  11. A Field Reconfigurable Manipulator for Rovers Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots will be precursors to human exploration of the lunar surface. They will be expected to prepare the lunar surface for human habitation as well as conduct...

  12. Electrical and computer architecture of an autonomous Mars sample return rover prototype

    Science.gov (United States)

    Leslie, Caleb Thomas

    Space truly is the final frontier. As man looks to explore beyond the confines of our planet, we use the lessons learned from traveling to the Moon and orbiting in the International Space Station, and we set our sights upon Mars. For decades, Martian probes consisting of orbiters, landers, and even robotic rovers have been sent to study Mars. Their discoveries have yielded a wealth of new scientific knowledge regarding the Martian environment and the secrets it holds. Armed with this knowledge, NASA and others have begun preparations to send humans to Mars with the ultimate goal of colonization and permanent human habitation. The ultimate success of any long term manned mission to Mars will require in situ resource utilization techniques and technologies to both support their stay and make a return trip to Earth viable. A sample return mission to Mars will play a pivotal role in developing these necessary technologies to ensure such an endeavor to be a successful one. This thesis describes an electrical and computer architecture for autonomous robotic applications. The architecture is one that is modular, scalable, and adaptable. These traits are achieved by maximizing commonality and reusability within modules that can be added, removed, or reconfigured within the system. This architecture, called the Modular Architecture for Autonomous Robotic Systems (MAARS), was implemented on the University of Alabama's Collection and Extraction Rover for Extraterrestrial Samples (CERES). The CERES rover competed in the 2016 NASA Sample Return Robot Challenge where robots were tasked with autonomously finding, collecting, and returning samples to the landing site.

  13. Haunted Headwaters: Ecotourism, Animism, and the Blurry Line Between Science and Spirits

    Directory of Open Access Journals (Sweden)

    McCann Gregory

    2014-01-01

    Full Text Available The highlanders of Ratanakiri, Cambodia believe that certain mountains cannot be hunted or logged because they are the abode of powerful spirits. They are convinced that mountain spirits will exact revenge on them in the form of serious injury or illness if they do not follow the animist behavioral etiquette regarding these sacred peaks. It may seem easy to dismiss these convictions as ancient superstitions, and many scientists do because biological explanations can explain the illnesses suffered in these remote locales: deep forests are home to more disease-carrying ticks, malaria-carrying mosquitoes, poisonous snakes, and dangerous microbes, parasites, and animals. However, scientific explanations do not disprove the animist beliefs; the illness are still happening, but for different reasons. In this sense, science proves the animist superstitions to be correct. We explore the blurry line between fact and fiction in the disappearing animist world of spirits, jungles, and highlander traditions in Ratanakiri, and also at how to maintain these ancient belief systems by teaching them to village youth and sharing them with ecotourists. A new type of ecotourism—what we call “Animistic Ecotourism”—might be the last chance to save what remains of highlander Animism.

  14. 27 CFR 27.75 - Samples of distilled spirits, wine, and beer for quality control purposes.

    Science.gov (United States)

    2010-04-01

    ... spirits, wine, and beer for quality control purposes. 27.75 Section 27.75 Alcohol, Tobacco Products and... DISTILLED SPIRITS, WINES, AND BEER General Requirements Exemptions § 27.75 Samples of distilled spirits, wine, and beer for quality control purposes. Samples of distilled spirits, wine, and beer in containers...

  15. 27 CFR 19.372 - Receipt of spirits, wines and alcoholic flavoring materials for processing.

    Science.gov (United States)

    2010-04-01

    .... 5215; or (4) Alcoholic flavoring materials. (b) Spirits and wines received in bulk containers or... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Receipt of spirits, wines... Spirits, Wines and Alcoholic Flavoring Materials § 19.372 Receipt of spirits, wines and alcoholic...

  16. Pressure and Relative Humidity Measurement Devices for Mars 2020 Rover

    Science.gov (United States)

    Hieta, M.; Genzer, M.; Nikkanen, T.; Haukka, H.; Harri, A.-M.; Polkko, J.; Rodriguez-Manfredi, J. A.

    2017-09-01

    One of the scientific payloads onboard the NASA Mars 2020 rover mission is Mars Environmental Dynamic Analyzer (MEDA): a set of environmental sensors for Mars surface weather measurements. Finnish Meteorological Institute (FMI) provides a pressure measurement device (MEDA PS) and a relative humidity measurement device (MEDA HS) for MEDA.

  17. Absolute Navigation Information Estimation for Micro Planetary Rovers

    Directory of Open Access Journals (Sweden)

    Muhammad Ilyas

    2016-03-01

    Full Text Available This paper provides algorithms to estimate absolute navigation information, e.g., absolute attitude and position, by using low power, weight and volume Microelectromechanical Systems-type (MEMS sensors that are suitable for micro planetary rovers. Planetary rovers appear to be easily navigable robots due to their extreme slow speed and rotation but, unfortunately, the sensor suites available for terrestrial robots are not always available for planetary rover navigation. This makes them difficult to navigate in a completely unexplored, harsh and complex environment. Whereas the relative attitude and position can be tracked in a similar way as for ground robots, absolute navigation information, unlike in terrestrial applications, is difficult to obtain for a remote celestial body, such as Mars or the Moon. In this paper, an algorithm called the EASI algorithm (Estimation of Attitude using Sun sensor and Inclinometer is presented to estimate the absolute attitude using a MEMS-type sun sensor and inclinometer, only. Moreover, the output of the EASI algorithm is fused with MEMS gyros to produce more accurate and reliable attitude estimates. An absolute position estimation algorithm has also been presented based on these on-board sensors. Experimental results demonstrate the viability of the proposed algorithms and the sensor suite for low-cost and low-weight micro planetary rovers.

  18. Using a Multicore Processor for Rover Autonomous Science

    Science.gov (United States)

    Bornstein, Benjamin; Estlin, Tara; Clement, Bradley; Springer, Paul

    2011-01-01

    Multicore processing promises to be a critical component of future spacecraft. It provides immense increases in onboard processing power and provides an environment for directly supporting fault-tolerant computing. This paper discusses using a state-of-the-art multicore processor to efficiently perform image analysis onboard a Mars rover in support of autonomous science activities.

  19. Mars Rover/Sample Return - Phase A cost estimation

    Science.gov (United States)

    Stancati, Michael L.; Spadoni, Daniel J.

    1990-01-01

    This paper presents a preliminary cost estimate for the design and development of the Mars Rover/Sample Return (MRSR) mission. The estimate was generated using a modeling tool specifically built to provide useful cost estimates from design parameters of the type and fidelity usually available during early phases of mission design. The model approach and its application to MRSR are described.

  20. Autonomous navigation and mobility for a planetary rover

    Science.gov (United States)

    Miller, David P.; Mishkin, Andrew H.; Lambert, Kenneth E.; Bickler, Donald; Bernard, Douglas E.

    1989-01-01

    This paper presents an overview of the onboard subsystems that will be used in guiding a planetary rover. Particular emphasis is placed on the planning and sensing systems and their associated costs, particularly in computation. Issues that will be used in evaluating trades between the navigation system and mobility system are also presented.

  1. Timeline: exorcizing the animal spirits: Jan Swammerdam on nerve function.

    Science.gov (United States)

    Cobb, M

    2002-05-01

    For more than 1,500 years, nerves were thought to function through the action of 'animal spirits'. In the seventeenth century, René Descartes conceived of these 'spirits' as liquids or gases, and used the idea to explain reflex action. But he was rapidly proven wrong by a young Dutchman, Jan Swammerdam. Swammerdam's elegant experiments pioneered the frog nerve muscle preparation and laid the foundation of our modern understanding of nerve function.

  2. A Small Lunar Rover for Reconnaissance in the Framework of ExoGeoLab Project, System Level Design

    Science.gov (United States)

    Noroozi, A.; Ha, L.; van Dalen, P.; Maas, A.; de Raedt, S.; Poulakis, P.; Foing, B. H.

    2009-04-01

    Scientific research is based on accurate measurement and so depends on the possibilities of accurate instruments. In planetary science and exploration it is often difficult or even impossible in some cases to gather accurate and direct information from a specified target. It is important to gather as much information as possible to be able to analyze and extract scientific data from them. One possibility to do so is to send equipments to the target and perform the measurements locally. The measurement data is then sent to base station for further analysis. To send measurement instruments to measurement point it is important to have a good estimation of the environmental situation there. This information can be collected by sending a pilot rover to the area of interest to collect visual information. The aim of this work is to develop a tele-operated small rover, Google Lunar X-Prize (GLXP) class, which is capable of surviving in the Moon environment and perform reconnaissance to provide visual information to base station of ExoGeoLab project of ESA/ESTEC. Using the state of the art developments in electronics, software and communication technologies allows us to achieve increase in accuracy while reducing size and power consumption. Target mass of the rover is lees than 5 kg and its target dimension is 300 x 60 x 80 mm3. The small size of the rover gives the possibility of accessing places which are normally out of reach. The required power for operation and the cost of launch is considerably reduced compared to large rovers which makes the mission more cost effective. The mission of the rover is to capture high resolution images and transmit them to base station. Data link between lover and base station is wireless and rover should supply its own energy. The base station can be either a habitat or a relay station. The navigation of the rover is controlled by an operator in a habitat who has a view from the stereo camera on the rover. This stereo camera gives image

  3. Novel Rock Detection Intelligence for Space Exploration Based on Non-Symbolic Algorithms and Concepts

    Science.gov (United States)

    Yildirim, Sule; Beachell, Ronald L.; Veflingstad, Henning

    2007-01-01

    Future space exploration can utilize artificial intelligence as an integral part of next generation space rover technology to make the rovers more autonomous in performing mission objectives. The main advantage of the increased autonomy through a higher degree of intelligence is that it allows for greater utilization of rover resources by reducing the frequency of time consuming communications between rover and earth. In this paper, we propose a space exploration application of our research on a non-symbolic algorithm and concepts model. This model is based on one of the most recent approaches of cognitive science and artificial intelligence research, a parallel distributed processing approach. We use the Mars rovers. Sprit and Opportunity, as a starting point for proposing what rovers in the future could do if the presented model of non-symbolic algorithms and concepts is embedded in a future space rover. The chosen space exploration application for this paper, novel rock detection, is only one of many potential space exploration applications which can be optimized (through reduction of the frequency of rover-earth communications. collection and transmission of only data that is distinctive/novel) through the use of artificial intelligence technology compared to existing approaches.

  4. Performance of the Mechanically Pumped Fluid Loop Rover Heat Rejection System Used for Thermal Control of the Mars Science Laboratory Curiosity Rover on the Surface of Mars

    Science.gov (United States)

    Bhandari, Pradeep; Birur, Gajanana; Bame, David; Mastropietro, A. J.; Miller, Jennifer; Karlmann, Paul; Liu, Yuanming; Anderson, Kevin

    2013-01-01

    The challenging range of landing sites for which the Mars Science Laboratory Rover was designed, required a rover thermal management system that is capable of keeping temperatures controlled across a wide variety of environmental conditions. On the Martian surface where temperatures can be as cold as -123 C and as warm as 38 C, the Rover relies upon a Mechanically Pumped Fluid Loop (MPFL) Rover Heat Rejection System (RHRS) and external radiators to maintain the temperature of sensitive electronics and science instruments within a -40 C to +50 C range. The RHRS harnesses some of the waste heat generated from the Rover power source, known as the Multi Mission Radioisotope Thermoelectric Generator (MMRTG), for use as survival heat for the rover during cold conditions. The MMRTG produces 110 Watts of electrical power while generating waste heat equivalent to approximately 2000 Watts. Heat exchanger plates (hot plates) positioned close to the MMRTG pick up this survival heat from it by radiative heat transfer and supply it to the rover. This design is the first instance of use of a RHRS for thermal control of a rover or lander on the surface of a planet. After an extremely successful landing on Mars (August 5), the rover and the RHRS have performed flawlessly for close to an earth year (half the nominal mission life). This paper will share the performance of the RHRS on the Martian surface as well as compare it to its predictions.

  5. FCJ-205 Life and Labour of Rovers on Mars: Toward Post-Terrestrial Futures of Creative Robotics

    Directory of Open Access Journals (Sweden)

    Katarina Damjanov

    2016-12-01

    Full Text Available Four Earth-born, human-made robotic rovers have successfully landed on Mars. Equipped with a range of sophisticated technical instruments for imaging, sensing, measuring, data processing, communication and navigation, these semi-autonomous devices follow the directives of their human “drivers”, performing exploratory observations, assessments and evaluations and reporting the findings back to their command centres on Earth. In this paper I explore the ways in which robotic exploration of Mars facilitates productive exchanges within the ontological nexus of the human–technological, forging new configurations between the ambits of life and labour which may determine the prospects of post-terrestrial robotic futures.

  6. Mars Rover Model Celebration: Developing Inquiry Based Lesson Plans to Teach Planetary Science In Elementary And Middle School

    Science.gov (United States)

    Bering, E. A.; Slagle, E.; Nieser, K.; Carlson, C.; Kapral, A.; Dominey, W.; Ramsey, J.; Konstantinidis, I.; James, J.; Sweaney, S.; Mendez, R.

    2012-12-01

    The recent NASA Mars Rover missions capture the imagination of children, as NASA missions have done for decades. The University of Houston is in the process of developing a prototype of a flexible program that offers children an in-depth educational experience culminating in the design and construction of their own model rover. The existing prototype program is called the Mars Rover Model Celebration. It focuses on students, teachers and parents in grades 3-8. Students will design and build a model of a Mars rover to carry out a student selected science mission on the surface of Mars. The model will be a mock-up, constructed at a minimal cost from art supplies. The students will build the models as part of a project on Mars. The students will be given design criteria for a rover and will do basic research on Mars that will determine the objectives and features of their rover. This project may be used either informally as an after school club or youth group activity or formally as part of a class studying general science, earth science, solar system astronomy or robotics, or as a multi-disciplinary unit for a gifted and talented program. The project's unique strength lies in engaging students in the process of spacecraft design and interesting them in aerospace engineering careers. The project is aimed at elementary and secondary education. Not only will these students learn about scientific fields relevant to the mission (space science, physics, geology, robotics, and more), they will gain an appreciation for how this knowledge is used to tackle complex problems. The low cost of the event makes it an ideal enrichment vehicle for low income schools. It provides activities that provide professional development to educators, curricular support resources using NASA Science Mission Directorate (SMD) content, and provides family opportunities for involvement in K-12 student learning. This paper will describe the development of a detailed set of new 5E lesson plans to

  7. Equipping an FPGA-Based Mars Rover With an LN-200 IMU

    Science.gov (United States)

    Zola, Nicholas J.

    2005-01-01

    The Mars Exploration Rovers (MER) currently navigating the surface of Mars are outfitted with an advanced stereovision correlation algorithm which allows them to "see" three-dimensionally and autonomously avoid obstac'les in their path. A bottleneck of this system is that it is computationally intense and requires 3 minutes of processing for every correlated image and path choice. Taking advantage of the optimization and reprogrammability of FPGAs, the Mobility Avionics lab has reduced this process to under a second. The lab is demonstrating the advancement with a prototype rover, complete with an LN-200 inertial measurement unit (IMU), which is a flight spare from MER. The LN-200 is a space-grade, six degrees-of-freedom IMU using three fiber-optic gyroscopes and three silicon accelerometers and no moving parts. It has particular power-sequencing needs and communicates with a specialized serial protocol (SDLC over RS-422), requiring specific hardware and software for proper functionality and interfacing with an FPGA. The process of incorporating the LN-200 into the system is described herein.

  8. Children enacting idioms of witchcraft and spirit possession as a response to trauma: therapeutically beneficial, and for whom?

    Science.gov (United States)

    Reis, Ria

    2013-10-01

    This article examines children's enactment of spirit possession idioms and witchcraft in Africa including the meanings such idioms provide and the local healing resources they mobilize. Idioms of haunting spirits in Northern Uganda and witch-children elsewhere in Africa can be interpreted as manifestations of social crises and mass traumatic stress. On the other hand, such idioms also allow children to articulate, reflect upon, and communicate the complex feelings resulting from their precarious positions within families and communities under duress. With the help of Dow's transactional model of symbolic healing, this article explores obstacles to the effectivity of the rich variety of symbolic healing available for haunting spirits in Uganda and points to the generational gap between children and their families and communities. Elsewhere, witchcraft idioms may act as a healing resource at the group level, but at the expense of the accused child. The idioms of evil spirits and witchcraft speak of these children's navigation of the moral universe of their postconflict communities. Given that children's appraisal of their experiences through these notions may also exacerbate their anxiety, interdisciplinary research examining the microprocesses that lead to children being haunted or accused, including emotional and physiological levels effects, is urgently needed.

  9. Determining Wheel-Soil Interaction Loads Using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design

    Science.gov (United States)

    Contreras, Michael T.; Peng, Chia-Yen; Wang, Dongdong; Chen, Jiun-Shyan

    2012-01-01

    A wheel experiencing sinkage and slippage events poses a high risk to rover missions as evidenced by recent mobility challenges on the Mars Exploration Rover (MER) project. Because several factors contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc., there are significant benefits to modeling these events to a sufficient degree of complexity. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree finite element approaches enable simulations that capture sufficient detail of wheel-soil interaction while remaining computationally feasible. This study demonstrates some of the large deformation modeling capability of meshfree methods and the realistic solutions obtained by accounting for the soil material properties. A benchmark wheel-soil interaction problem is developed and analyzed using a specific class of meshfree methods called Reproducing Kernel Particle Method (RKPM). The benchmark problem is also analyzed using a commercially available finite element approach with Lagrangian meshing for comparison. RKPM results are comparable to classical pressure-sinkage terramechanics relationships proposed by Bekker-Wong. Pending experimental calibration by future work, the meshfree modeling technique will be a viable simulation tool for trade studies assisting rover wheel design.

  10. Development of the science instrument CLUPI: the close-up imager on board the ExoMars rover

    Science.gov (United States)

    Josset, J.-L.; Beauvivre, S.; Cessa, V.; Martin, P.

    2017-11-01

    First mission of the Aurora Exploration Programme of ESA, ExoMars will demonstrate key flight and in situ enabling technologies, and will pursue fundamental scientific investigations. Planned for launch in 2013, ExoMars will send a robotic rover to the surface of Mars. The Close-UP Imager (CLUPI) instrument is part of the Pasteur Payload of the rover fixed on the robotic arm. It is a robotic replacement of one of the most useful instruments of the field geologist: the hand lens. Imaging of surfaces of rocks, soils and wind drift deposits at high resolution is crucial for the understanding of the geological context of any site where the Pasteur rover may be active on Mars. At the resolution provided by CLUPI (approx. 15 micrometer/pixel), rocks show a plethora of surface and internal structures, to name just a few: crystals in igneous rocks, sedimentary structures such as bedding, fracture mineralization, secondary minerals, details of the surface morphology, sedimentary bedding, sediment components, surface marks in sediments, soil particles. It is conceivable that even textures resulting from ancient biological activity can be visualized, such as fine lamination due to microbial mats (stromatolites) and textures resulting from colonies of filamentous microbes, potentially present in sediments and in palaeocavitites in any rock type. CLUPI is a complete imaging system, consisting of an APS (Active Pixel Sensor) camera with 27° FOV optics. The sensor is sensitive to light between 400 and 900 nm with 12 bits digitization. The fixed focus optics provides well focused images of 4 cm x 2.4 cm rock area at a distance of about 10 cm. This challenging camera system, less than 200g, is an independent scientific instrument linked to the rover on board computer via a SpaceWire interface. After the science goals and specifications presentation, the development of this complex high performance miniaturized imaging system will be described.

  11. WATER ON MARS: EVIDENCE FROM MER MISSION RESULTS

    Science.gov (United States)

    Landis, Geoffrey A.

    2006-01-01

    The Mars Exploration Rover (MER) mission landed two rovers on Mars, equipped with a highly-capable suite of science instruments. The Spirit rover landed on the inside Gusev Crater on January 5, 2004, and the Opportunity rover three weeks later on Meridiani Planum. This paper summarizes some of the findings from the MER rovers related to the NASA science strategy of investigating past and present water on Mars.

  12. Sugarcane spirit market share simulation: an application of conjoint analysis

    Directory of Open Access Journals (Sweden)

    João de Deus Souza Carneiro

    2012-12-01

    Full Text Available This study evaluated the influence of packaging and labeling attributes of sugarcane spirit on consumers' behavior by applying the results of conjoint analysis in sugarcane spirit market share simulation. Firstly, a conjoint analysis was performed aiming to estimate the part-worths of each consumer for some sugarcane spirit packaging and labeling attributes. These part-worths were used in the market share simulation using the maximum utility model. It was observed that some packaging and labeling attributes affected consumer's purchase intention and that most consumers showed a similar preference pattern regarding these attributes. These consumers showed preference for the Seleta brand, which was bottled in 700 mL clear glass bottles with a metal screw cap that bore a label illustration unrelated to sugarcane spirit production process and had the information "aged 36 months in oak barrels". This study also showed that conjoint analysis and the use of its results in the market share simulation proved important tools to better understand consumer behavior towards intention to purchase sugarcane spirit.

  13. A Plume Tracing, Source Identifying Technique for Mars Rovers

    Science.gov (United States)

    Banfield, Don; Lamb, Brian; Hovde, Chris; Ferrara, Tom

    2015-11-01

    We have developed and field-tested a technique to identify and characterize the source of an effluent plume (biogenic or otherwise) on Mars, using a slow-moving vehicle like a Mars Rover. The technique is based on terrestrial plume characterization methods (EPA Method 33a), and uses puff models of variable complexity to predict the plume behavior for a given source. The technique is developed assuming that a Mars Rover would be equipped with a high-performance eddy-sensing 3-D anemometer (e.g., a Martian Sonic Anemometer), as well as a fast-response tracer molecule-specific sensor (e.g., a TLS methane sensor). The platform is assumed to move only once a day, but have the ability to observe throughout the day and night. Data obtained from any one sol while the effluent plume meanders across the rover can be used to estimate the azimuth, range and strength of the source, but combining observations from multiple sols and locations is used to improve the estimate of the souce location and strength.We have conducted preliminary field tests using a Sonic Anemometer (Gill and Campbell) and fast-response methane sensors (LICOR and Picarro) on mobile platforms using both controlled and existing methane releases to prove our algorithm in simple terrain, and with varying atmospheric stability. We will discuss our results and the efficacy of our algorithm in real world conditions.

  14. [Isolated burns after white-spirit ingestion in attempted suicide].

    Science.gov (United States)

    Perrot, J L; Tardy, B; Barthélémy, C; Cambazard, F

    1994-01-01

    We report an unusual complications of prolonged contact with white spirit leading to caustic burns. A 20-year-old patient was seen for caustic perianal burns several hours after ingesting one-half liter of white spirit in an attempted suicide. Motor diarrhoea also occurred quickly and a prolonged anal evacuation of white spirit. Complementary examinations did not reveal any lesions of the buccal, oesophageal, gastric or rectosigmoidal mucosa. Necrosis of the skin due to prolonged contact with petrol products is well known. Usually due to the delapidating action of dissolved petrol products on the superficial hydrolipid film and subjacent cell membranes. The absence of digestive tract lesions could be explained by the rapid onset of motor diarrhoea which may have limited the time of contact and thus protected the digestive tract mucosa which has a high content of mucopoly-saccharides and a low lipid content.

  15. Spiritual Treatment for Depression in Brazil: An Experience From Spiritism.

    Science.gov (United States)

    Lucchetti, Alessandra L Granero; Peres, Mario F Prieto; Vallada, Homero P; Lucchetti, Giancarlo

    2015-01-01

    Spiritism has been strongly connected with mental health in Brazil. However, there is a lack of descriptions of spiritual treatment provided by thousands of Brazilian Spiritist centers. The present study aims to describe the spiritual care for depression provided by one large Spiritist center in São Paulo, Brazil. This is a descriptive study carried out in 2012 at "São Paulo Spiritist Federation." Authors visited the "spiritual intervention sections," observed the therapies provided, listened to the "spirits' communication," and interviewed two patients. The assistance consists on a 90-min "Spiritual healing" session which includes educational lectures, "disobsession" (spirit release therapy), "passe" (laying on of hands) and person advice. Both patients had remitted depression when they were interviewed. Further studies would be necessary to report other religious/spiritual treatments in order to improve our understanding of the available practices used by patients and optimize the integration of conventional care with spiritual treatments. Copyright © 2015 Elsevier Inc. All rights reserved.

  16. Analytical color analysis of irradiated sugar cane spirit with grapes

    Energy Technology Data Exchange (ETDEWEB)

    Pires, Juliana A.; Delabio, Aline S., E-mail: jujuba_angelo@yahoo.com.br, E-mail: aline_sd_timao@hotmail.com [Faculdade de Tecnologia em Piracicaba (FATEP), Piracicaba, SP (Brazil); Harder, Marcia N.C.; Moraes, Liz M.B.; Silva, Lucia C.A.; Arthur, Paula B.; Arthur, Valter, E-mail: mnharder@terra.com.br, E-mail: lizmarybueno@gmail.com, E-mail: lcasilva@cena.usp.br, E-mail: paula.arthur@hotmail.com, E-mail: arthur@cena.usp.br [Centro de Energia Nuclear na Agricultura (CENA/USP), Piracicaba, SP (Brazil)

    2013-07-01

    The aim of this work was to irradiate a Sugar Cane Spirit with grapes by gamma radiation (Co60) aiming the color alteration like an aging parameter. The Sugar Cane Spirit is a distilled beverage and in order that bouquet and flavor are enhanced, usually the Sugar Cane Spirit goes through a process of maturation in wooden barrels or in bottles with the presence of wood chips, which alters their appearance. However, is possible to get this same result with the use of gamma radiation from Co60 and there is a possibility of indicative the premature aging by the Sugar Cane Spirit color change, through the extraction of grape phenolic compounds. The Sugar Cane Spirit samples were prepared with grapes type Crimson in polypropylene bottles. The samples was irradiated at doses of 0 (control); 0.3KGy; 2kGy and 6kGy, subsequently were performed the colorimetric analyzes in periods of 5; 10; 20 and 50 days after the irradiation treatment. There was no significant statistical difference for the parameters L; a; b; Chrome and Hue-Angle, at 5; 10 and 20 days. On the 50th day only the parameter a shows significant statistical difference at the dose of 0.3kGy, that was higher than 2kGy and 6kGy doses, but not differ the between the control sample. So by the showed results was concluded that the irradiation at doses of 0.3Gy, 2kGy and 6kGy, do not change the color of the Sugar Cane Spirit. (author)

  17. BIOLOGICALLY ACTIVE SUBSTANCES OF SPIRIT PRODUCTION WASTE

    Directory of Open Access Journals (Sweden)

    A. S. Kayshev

    2014-01-01

    Full Text Available A content of biologically active compounds (BAC with signified pharmacological activity in distillers grains was proved. It is prospective for applications of these grains as a raw material resource of pharmaceuticals. A composition of BAC distillers grains received from wheat, corn, barley, millet at different spirit enterprises which use hydro fermentative grain processing. Considering polydispersity of distillers grains they were separated on solid and liquid phases preliminary. Physical and chemical characteristics of distillers grains' liquid base were identified. Elementary composition of distillers grains is signified by active accumulation of biogenic elements (phosphorus, potassium, magnesium, calcium, sodium, iron and low content of heavy metals. The solid phase of distillers grains accumulates carbon, hydrogen and nitrogen in high concentration. The liquid phase of distillers grains contains: proteins and amino acids (20-46%, reducing sugars (5,6%-17,5%, galacturonides (0,8-1,4%, ascorbic acid (6,2-11,4 mg%. The solid base of distillers grains contains: galacturonides (3,4-5,3%, fatty oil (8,4-11,1% with predomination of essential fatty acids, proteins and amino acids (2,1-2,5%, flavonoids (0,4-0,9%, tocopherols (3,4-7,7 mg%. A method of complex processing of distillers grains based on application of membrane filtering of liquid phase and liquid extraction by inorganic and organic solvents of solid phase, which allows almost full extraction of the sum of biologically active compounds (BAC from liquid phase (Biobardin BM and solid phase (Biobardin UL. Biobardin BM comprises the following elements: proteins and amino acids (41-69%, reducing sugars (3,5-15,6%, fatty oil (0,2-0,3%, flavonoids (0,2-0,7%, ascorbic acid (17-37 mg%. Biobardin UL includes: oligouronids (16,4-19,5%, proteins and amino acids (11-21%, fatty oil (3,2-4,9% which includes essential acids; flavonoids (0,6-1,5%, tocopherols (6,6-10,2 mg%, carotinoids (0,13-0,21 mg

  18. 'Serpent' Untouched

    Science.gov (United States)

    2004-01-01

    A drift dubbed 'Serpent' stretches in front of NASA's Mars Exploration Rover Spirit in this picture from the left eye of Spirit's front hazard-avoidance camera. Spirit took the image during its 71st martian day, or sol, on Mars (March 15, 2004) while exploring the rim of the crater nicknamed 'Bonneville.' The following sol, the rover used its wheels to dig into the drift and expose material under the surface.

  19. Comparing different methods for assessing ground truth of rover data analysis for the 2005 season of the Life in the Atacama Project

    Science.gov (United States)

    Thomas, G. W.; Peate, I. Ukstins; Nakamoto, J.; Pudenz, E.; Glasgow, J.; Bretthauer, J.; Cabrol, N.; Wettergreen, D.; Grin, E.; Coppin, P.; Dohm, J. M.; Piatek, J. L.; Warren-Rhodes, K.; Hock, A. N.; Weinstein, S.; Fisher, G.; Diaz, G. Chong; Cockell, C.; Marinangeli, L.; Minkley, N.; Moersch, J.; Ori, G. G.; Smith, T.; Stubb, K.; Wagner, M.; Waggoner, A. S.

    2007-12-01

    The scientific success of a remote exploration rover mission depends on the right combination of technology, teamwork and scientific insight. In order to quantitatively evaluate the success of a rover field trial, it is necessary to assess the accuracy of scientific interpretations made during the field test. This work compares three structured approaches to assessing the ground truth of scientific findings from a science team conducting a remote investigation of a locale using an autonomous rover. For the first approach, independent assessment, the daily science summaries were analyzed and reduced to a series of 1082 factual statements, which were treated as hypotheses. An independent scientist traveled to the field area to assess these hypotheses. For the second approach, guided self-study, the mission scientists themselves traveled to the field area and evaluated their own scientific interpretations. The third approach, discrepancy investigation, searched for the root causes of differences between the scientific interpretations made in the control room and those made in the field. The independent investigation provided sensitive, quantitative data, but suffered from the lack of context and continuity developed in the mission control room. The guided evaluation benefited from the context of the mission, but lacked clarity and consistency. The discrepancy investigation provided insight into the root causes behind the discrepancies, but was expensive and time consuming. The independent investigation method yielded particularly compelling results, but each method offers advantages and a comprehensive rover field trial assessment should include a combination of all three.

  20. The Ambushed Spirit: Perspective, Violence and Downsizing.

    Science.gov (United States)

    Truty, Daniela

    A study explored downsizing from the perspective of the person separated from the job and its connection to violence and peace studies. Literature on downsizing, violence, peace studies, and organizational studies was reviewed. Participants were 28 white-collar employees, including the researcher, separated from the same organization. Data were…

  1. Autonomous Decision Making for Planetary Rovers Using Diagnostic and Prognostic Information

    Data.gov (United States)

    National Aeronautics and Space Administration — Rover missions typically involve visiting a set of predetermined waypoints to perform science functions, such as sample collection. Given the communication delay...

  2. The Spirit of Adventure and the Art of Creation

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 19; Issue 7. The Spirit of Adventure and the Art of Creation: Camphor to Vitamin B12. Setty Mallikarjuna Babu Subramania Ranganathan. General Article Volume 19 Issue 7 July 2014 pp 593-623 ...

  3. Themes in Spirit Possession in Ugandan Christianity | James ...

    African Journals Online (AJOL)

    . This paper discerns a number of common themes that run through many of these experiences. In particular, sex as a motif for deviance and evil is noted as a common feature of many of the possession stories and all contact with spirits is seen ...

  4. The Spirit of Creativity and Innovation in Mathematics

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 12; Issue 1. The Spirit of Creativity and Innovation in Mathematics. S Ramanan. Reflections Volume 12 Issue 1 January 2007 pp 82-90. Fulltext. Click here to view fulltext PDF. Permanent link: http://www.ias.ac.in/article/fulltext/reso/012/01/0082-0090 ...

  5. some orthodox perspectives on the spirit and the church

    African Journals Online (AJOL)

    In paradise, human beings had to obey only one commandment which included, in itself, the entire natural ethical law and which, by extrapolation, represented the indispensible condition of the existence of the entire creation through its relationship with God.5 Human internal unity, the harmony between body and spirit,.

  6. Body-Mind-Spirit Practice for Healthy Aging

    Science.gov (United States)

    Lee, Eun-Kyoung Othelia; Yoon, Hyunsook; Lee, Jungui; Yoon, Jiyoung; Chang, Eunjin

    2012-01-01

    This community-based, health promotion intervention for seniors provided a comprehensive review of the effect of body-mind-spirit (BMS) interventions on health behaviors. The 12-week curriculum offered sessions on exercise, nutrition, sexuality, leisure, stress management, cognitive behavioral therapy, forgiveness, and happiness. Gerontological…

  7. The spirit of capitalism, social status, money, and accumulation

    OpenAIRE

    Heng-fu Zou

    1998-01-01

    This paper demonstrates the unambiguous existence of the Tobin portfolio-shift effect in the wealth-is-status and the spirit-of-capitalism models of growth. Namely, higher inflation leads to higher capital stock in the long run, and inflation increases the endogenous-growth rate of the economy.

  8. The SPIRIT collection: an overview of a large web collection

    OpenAIRE

    Joho, H.; Sanderson, M.

    2004-01-01

    A large scale collection of web pages has been essential for research in information retrieval and related areas. This paper provides an overview of a large web collection used in the SPIRIT project for the design and testing of spatially-aware retrieval systems. Several statistics are derived and presented to show the characteristics of the collection.

  9. GOD'S HOLY SPIRIT: A BACK- STORY FROM THE JOSEPH ...

    African Journals Online (AJOL)

    journey of transformation – presumably guided by God's widening and inspiring. Spirit, with special attention given to the scene (Genesis 44) where Judah must persuade his (unrecognized) brother Joseph, serving as Viceroy of Egypt, to allow. Judah to take punishment in place of their brother Benjamin for the sake of their.

  10. Divine empowerment: The Holy Spirit and church revitalisation

    Directory of Open Access Journals (Sweden)

    Brian A. DeVries

    2015-07-01

    Full Text Available How do principles of church revitalisation correlate with the divine work of the Holy Spirit? This article argues that the Spirit is the primary agent of church revitalisation, and churchleaders should cooperate with the Spirit as he works for revitalisation. Thus the Spirit empowers church leaders who are used by him to revive, renew, and revitalise a church community. After briefly defining the Spirit’s empowerment with biblical examples, this article examines the underlying principles of empowerment for church leaders, followed by briefly considering methodology for church revitalisation. The author concludes by suggesting several signs of biblical empowerment in a local church community. Goddelike bemagtiging: Die Heilige Gees en kerkherstel. Watter plek beklee die goddelike werking van die Heilige Gees in die beginsels van kerkherstel? Hierdie artikel poneer dat die Heilige Gees die primêre agent is om nuwe lewe in die kerk te bring en kerkleiers behoort onder leiding van die Heilige Gees hulle hiervoor te beywer. Die Heilige Gees bemagtig dus die kerkleiers wat Hy gebruik om ’n kerklike gemeenskap te laat herleef, te vernuwe en hulle te besiel met lewenskragtigheid. Die Gees se bemagtiging word kortliks aan die hand van bybelse voorbeelde gedefineer, waarna die grondliggende beginsels vir die bemagtiging van die kerkleiers ondersoek word. Daarna word die metodologie om nuwe lewenskrag in die kerk te bring kortliks oorweeg. Die outeur sluit af deur verskeie tekens uit te lig wat op skriftuurlike bemagtiging van die Heilige Gees in die plaaslike kerkgemeenskap dui.

  11. Engaging in Educational Leadership: The Generosity of Spirit

    Science.gov (United States)

    Benham, Maenette; Murakami-Ramalho, Elizabeth

    2010-01-01

    This study presents key principles and a model of engaged leadership in indigenous communities. Engaged leadership champions children and youth, delivers learning and teaching within the context of place and spirit, and occurs in partnerships with diverse communities. Stories of educational leaders grounded in the concepts of "ha," place,…

  12. The Rule and its Exceptions: Spirit Possession in Two African ...

    African Journals Online (AJOL)

    The Rule and its Exceptions: Spirit Possession in Two African Societies. JG Platvoet. Abstract. No Abstract. Full Text: EMAIL FULL TEXT EMAIL FULL TEXT · DOWNLOAD FULL TEXT DOWNLOAD FULL TEXT. Article Metrics. Metrics Loading ... Metrics powered by PLOS ALM · AJOL African Journals Online. HOW TO USE ...

  13. Chinchirisi: The Phenomenon of "Spirit Children" Among the ...

    African Journals Online (AJOL)

    ... what others say or do, 'it is in our blood', they say. This raises concerns. In what ways and to what extent is this religio-cultural phenomenon a challenge to euthanasia, human rights and rural development in the contemporary society? This paper examines the phenomenon of 'spirit children' from an insider perspective.

  14. Discursive investigation into John's internalised spirit identity and its ...

    African Journals Online (AJOL)

    In reading the gospel of John, one gets the impression that faithful disciples, the Holy Spirit and morality are exclusively located within the Johannine community and can only permeate to the outside through the good work of the insiders – the disciples. Everything is asymmetric – morality, ideal disciples and good virtues ...

  15. Book Reviews: The Spirit Level | Turok | New Agenda: South African ...

    African Journals Online (AJOL)

    The spirit level - Why more equal societies almost always do better. Richard Wilkinson, Kate Pickett. Allen Lane: London. 2009. 340 pp. Full Text: EMAIL FULL TEXT EMAIL FULL TEXT · DOWNLOAD FULL TEXT DOWNLOAD FULL TEXT · AJOL African Journals Online. HOW TO USE AJOL... for Researchers · for Librarians ...

  16. The discourse of the Holy Spirit in earliest Christianity

    African Journals Online (AJOL)

    2015-09-30

    Sep 30, 2015 ... the Lord and Giver of Live, who proceeds from the Father, who with the Father and the Son together is worshiped and glorified, who ..... The book opens with the magisterial dedication: 'To my grand-daughters Helen,. Anna ... later, patristic concept, and although Father, Son, and Holy Spirit are of the utmost.

  17. Performing the Holy Spirit: Ritualised Manifestation of Faith in an ...

    African Journals Online (AJOL)

    This research examines the aesthetic manifestations of religious belief, particularly in the Holy Spirit, through consideration of the performative dimensions and ritualised behaviours in the church services of an African Independent Church, namely, the New Gospel Church in Zion of Africa (NGCZA). The significance of ...

  18. A laboratory yeast strain suitable for spirit production.

    Science.gov (United States)

    Schehl, Beatus; Müller, Christine; Senn, Thomas; Heinisch, Jürgen J

    2004-12-01

    Yeast strains of the species Saccharomyces cerevisiae currently in use for the production of consumable alcohols such as beer, wine and spirits are genetically largely undefined. This prevents the use of standard genetic manipulations, such as crossings and tetrad analysis, for strain improvement. Furthermore, it complicates the application of the majority of modern methods developed in yeast molecular biology. Here we used two haploid laboratory strains with suitable auxotrophic markers for the construction of a genetically well defined, prototrophic diploid production strain. This strain was tested for its fermentative and sensory performances in comparison to commercially available yeasts. Three different fruit mashes (cherries, plums and pears) were fermented in a 90 kg scale. These were then subjected to distillation and used for the production of spirits with a final ethanol content of 40% (v/v). Fermentation parameters assayed included growth, sugar utilization, ethanol production and generation of volatile compounds, higher alcohols and glycerol. The spirits were also tested for their sensory performances and the data obtained statistically consolidated. Our results clearly demonstrate that this laboratory strain does not display any disadvantage compared with commercial yeasts in spirit production for any of the parameters tested, yet it offers the potential to apply both classical breeding and modern molecular genetic techniques for adjusting yeast physiology to special production schemes.

  19. AIAA Educator Academy - Mars Rover Curriculum: A 6 week multidisciplinary space science based curriculum

    Science.gov (United States)

    Henriquez, E.; Bering, E. A.; Slagle, E.; Nieser, K.; Carlson, C.; Kapral, A.

    2013-12-01

    The Curiosity mission has captured the imagination of children, as NASA missions have done for decades. The AIAA and the University of Houston have developed a flexible curriculum program that offers children in-depth science and language arts learning culminating in the design and construction of their own model rover. The program is called the Mars Rover Model Celebration. It focuses on students, teachers and parents in grades 3-8. Students learn to research Mars in order to pick a science question about Mars that is of interest to them. They learn principles of spacecraft design in order to build a model of a Mars rover to carry out their mission on the surface of Mars. The model is a mock-up, constructed at a minimal cost from art supplies. This project may be used either informally as an after school club or youth group activity or formally as part of a class studying general science, earth science, solar system astronomy or robotics, or as a multi-disciplinary unit for a gifted and talented program. The project's unique strength lies in engaging students in the process of spacecraft design and interesting them in aerospace engineering careers. The project is aimed at elementary and secondary education. Not only will these students learn about scientific fields relevant to the mission (space science, physics, geology, robotics, and more), they will gain an appreciation for how this knowledge is used to tackle complex problems. The low cost of the event makes it an ideal enrichment vehicle for low income schools. It provides activities that provide professional development to educators, curricular support resources using NASA Science Mission Directorate (SMD) content, and provides family opportunities for involvement in K-12 student learning. This paper will describe the structure and organization of the 6 week curriculum. A set of 30 new 5E lesson plans have been written to support this project as a classroom activity. The challenge of developing interactive

  20. Dynamics of the spirit possession phenomenon in Eastern Tanzania

    Directory of Open Access Journals (Sweden)

    Marja-Liisa Swantz

    1976-01-01

    Full Text Available The discussion on the spirit possession phenomenon is related in this study to the more general question of the role of religious institutions as part in the development process of a people living in a limited geographical area of a wider national society. It is assumed that religion, like culture in general, has its specific institutional forms as result of the historical development of a society, but at the same time religion is a force shaping that history. People's cultural resources influence their social and economic development and form a potential creative element in it'. Some of the questions to be asked are: "How are specific religious practices related to the dynamics of change in the societies in question? What is the social and religious context in which the spirit possession phenomenon occurs in them? What social and economic relations get their expression in them? To what extent is spirit possession in this case a means of exerting values and creatively overcoming a crisis or conflict which the changing social and economic relations impose on the people? The established spirit possession cults are here seen as the institutional forms of religious experience. At the same time it becomes evident that there is institutionalization in process as well as deinstitutionalization of spirit possession where it occurs outside established institutional forms. Institution is taken as a socially shared form of behaviour the significance of which is commonly recognized by those who share it. By the term spirit possession cult is meant a ritual form of spirit possession of a group which is loosely organized and without strict membership. The context of the study is four ethnic groups in Eastern Tanzania, near the coast of the Indian Ocean. The general theme of the project is The Role of Culture in the Restructuring of Tanzanian Rural Areas. The restructuring refers to a villagisation programme carried out in the whole country. People are being

  1. American Aerospace Power: Reinvigorating Our Adventurous Spirit

    Science.gov (United States)

    2015-02-03

    I read about dogfights between F-86 Sabre Jets and Chinese MiGs in Korea .”2 However, military aerial heroics and civilian commercial travel are...1927 Charles Lindbergh became the first person to complete a solo flight across the Atlantic between North America and mainland Europe. For his...opportunity to conquer the unknown of space stoked the fires of adventurism for the explorers, engineers, and public alike. The Mercury 7 astronauts

  2. 77 FR 38758 - Proposed Amendment to the Standards of Identity for Distilled Spirits; Comment Period Extension

    Science.gov (United States)

    2012-06-29

    ... proposes to amend the standards of identity regulations for distilled spirits to include ``Cacha a'' as a... amend its regulations concerning the standards of identity for distilled spirits at 27 CFR 5.22 to... of Identity for Distilled Spirits; Comment Period Extension AGENCY: Alcohol and Tobacco Tax and Trade...

  3. “Bond of love”: The action of the spirit | Williams | Acta Theologica

    African Journals Online (AJOL)

    The ancient idea, seen especially in Augustine, is that the main activity of the Spirit is that of providing relationship, as the “bond of love”; this provides a key concept which undergirds the work of the Spirit in creation, redemption, sanctification and empowering. It is hoped that increased understanding of the work of the Spirit ...

  4. 27 CFR 19.396 - Spirits removed for shipment to Puerto Rico.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Spirits removed for shipment to Puerto Rico. 19.396 Section 19.396 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO... § 19.396 Spirits removed for shipment to Puerto Rico. Spirits removed for shipment to Puerto Rico with...

  5. 27 CFR 28.58 - Operations or unit bond-distilled spirits.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Operations or unit bond... § 28.58 Operations or unit bond—distilled spirits. (a) Spirits. Where spirits are withdrawn without... application of the proprietor thereof, the operations or unit bond, given by the proprietor and approved under...

  6. 27 CFR 26.230 - Containers of distilled spirits to bear closures.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Containers of distilled spirits to bear closures. 26.230 Section 26.230 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO... distilled spirits to bear closures. Containers of 1 gallon (3.785 liters) or less of distilled spirits, upon...

  7. 27 CFR 19.589 - Restrictions on disposition of bulk spirits.

    Science.gov (United States)

    2010-04-01

    ... nonindustrial use may be sold or disposed of in containers holding more than 1 wine gallon only to the persons... spirits (other than alcohol or neutral spirits) withdrawn from bond in containers holding more than 1 wine... TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS DISTILLED SPIRITS PLANTS Containers and Marks...

  8. 27 CFR 19.686 - Return of spirits withdrawn without payment of tax.

    Science.gov (United States)

    2010-04-01

    ... premises of any plant authorized to produce or process distilled spirits, for redistillation; or (2) To the... withdrawn for use in wine production. Wine spirits withdrawn under § 19.532 for use in wine production, and... proprietor shall obtain approval, as provided in § 19.506. The wine spirits shall be removed from the winery...

  9. 27 CFR 19.241 - Operations bond-distilled spirits plant and adjacent bonded wine cellar.

    Science.gov (United States)

    2010-04-01

    ... spirits plant and adjacent bonded wine cellar. 19.241 Section 19.241 Alcohol, Tobacco Products and... wine cellar. (a) General. A wine cellar under the provisions of 27 CFR part 24 shall be treated as... subpart G for the production of distilled spirits; and (2) Such wine cellar and distilled spirits plant...

  10. 27 CFR 28.40 - Evidence of exportation: distilled spirits and wine.

    Science.gov (United States)

    2010-04-01

    ...: distilled spirits and wine. 28.40 Section 28.40 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO... Provisions Evidence of Exportation and Use § 28.40 Evidence of exportation: distilled spirits and wine. The exportation of any shipment of distilled spirits or wine may be evidenced by: (a) A copy of the export bill of...

  11. 27 CFR 1.83 - Acquiring or receiving distilled spirits in bulk for addition to wine.

    Science.gov (United States)

    2010-04-01

    ... distilled spirits in bulk for addition to wine. 1.83 Section 1.83 Alcohol, Tobacco Products and Firearms... UNDER THE FEDERAL ALCOHOL ADMINISTRATION ACT, NONINDUSTRIAL USE OF DISTILLED SPIRITS AND WINE, BULK... Bottling § 1.83 Acquiring or receiving distilled spirits in bulk for addition to wine. Persons holding...

  12. Investigation of a Major Stratigraphic Unconformity with the Curiosity Rover

    Science.gov (United States)

    Lewis, K. W.; Grotzinger, J. P.; Gupta, S.; Rubin, D. M.

    2015-12-01

    Since its departure from the plains of Aeolis Palus, the Curiosity rover has traversed through a number of new geologic units at the base of Mount Sharp in Gale crater. These have included both units inferred to comprise the lower strata of Mount Sharp itself, along with units that appear to superpose Mount Sharp. Over the last 100 sols, Curiosity has documented several occurrences of a stratigraphic contact between fine-grained mudstones of the Murray Formation, and coarser sandstones of the overlying Stimson Unit. Detailed mapping from both orbital and rover image and topographic data suggests an unconformable relationship between the two units. From orbit, inferred exposures of the unconformity span at least several tens of meters, climbing up the lowermost slopes of Mount Sharp. Although the absolute timing of the two units is poorly constrained, this unconformity between likely represents a geologically significant gap in time. Deposition of the overlying Stimson Unit is inferred to post-date the large-scale erosion of Mount Sharp, likely requiring late stage aqueous interaction in the lithification of the Stimson Unit. From the rover, stereo imaging reveals the small-scale topography preserved at the Murray-Stimson contact, and allows the determination of bedding geometries within the units. Where laminations are expressed, the basal Mount Sharp rocks exhibit planar stratification at low angles to horizontal. In contrast, the coarser-grained Stimson Unit exhibits large-scale cross stratification. Three dimensional bedding geometry within this unit indicates a predominant southward transport direction uphill towards Mount Sharp. The observation of rounded calcium sulfate clasts in the lowermost Stimson Unit, interpreted to be reworked veins from the underlying Murray formation, supports the interpretation of an erosional unconformity. Investigations at the boundary between these two distinct units present a unique opportunity to probe the long

  13. Rocky 7 prototype Mars rover field geology experiments 1. Lavic Lake and sunshine volcanic field, California

    Science.gov (United States)

    Arvidson, R. E.; Acton, C.; Blaney, D.; Bowman, J.; Kim, S.; Klingelhofer, G.; Marshall, J.; Niebur, C.; Plescia, J.; Saunders, R.S.; Ulmer, C.T.

    1998-01-01

    Experiments with the Rocky 7 rover were performed in the Mojave Desert to better understand how to conduct rover-based, long-distance (kilometers) geological traverses on Mars. The rover was equipped with stereo imaging systems for remote sensing science and hazard avoidance and 57Fe Mo??ssbauer and nuclear magnetic resonance spectrometers for in situ determination of mineralogy of unprepared rock and soil surfaces. Laboratory data were also obtained using the spectrometers and an X ray diffraction (XRD)/XRF instrument for unprepared samples collected from the rover sites. Simulated orbital and descent image data assembled for the test sites were found to be critical for assessing the geologic setting, formulating hypotheses to be tested with rover observations, planning traverses, locating the rover, and providing a regional context for interpretation of rover-based observations. Analyses of remote sensing and in situ observations acquired by the rover confirmed inferences made from orbital and simulated descent images that the Sunshine Volcanic Field is composed of basalt flows. Rover data confirmed the idea that Lavic Lake is a recharge playa and that an alluvial fan composed of sediments with felsic compositions has prograded onto the playa. Rover-based discoveries include the inference that the basalt flows are mantled with aeolian sediment and covered with a dense pavement of varnished basalt cobbles. Results demonstrate that the combination of rover remote sensing and in situ analytical observations will significantly increase our understanding of Mars and provide key connecting links between orbital and descent data and analyses of returned samples. Copyright 1998 by the American Geophysical Union.

  14. Beware of the Spirits that You Call!

    DEFF Research Database (Denmark)

    Vasquez, Consuelo; Schoeneborn, Dennis; Sergi, Viviane

    This article proposes to study the constitution of organization by acknowledging the fundamentally intertwined nature of order and disorder. Adopting a dialectical lens, we explore the (dis)ordering properties of communication by focusing on both the symbolic and the material dimensions of language...... use in texts. Drawing on empirical material from three qualitative case studies on project organizing, we show that attempts to create order through texts (i.e. by closing and fixing meaning) simultaneously trigger disorder (i.e. open up the possibility of multiple meanings). As we argue, this dynamic...

  15. Evolutionary mind conversations on science, imagination & spirit

    CERN Document Server

    Sheldrake, Rupert; Abraham, Ralph

    2013-01-01

    Stimulating and often startling discussions between three friends, all highly original thinkers: Rupert Sheldrake, controversial biologist, Terence McKenna , psychedelic visionary, and Ralph Abraham , chaos mathematician. Their passion is to break out of paradigms that retard our evolution and to explore new possibilities. Through challenge and synergy they venture where few have gone before, leading their readers on an exciting journey of discovery. Their discussions focus on the evolution of the mind, the role of psychedelics, skepticism, the psychic powers of animals, the structure

  16. Improved Tracking of Targets by Cameras on a Mars Rover

    Science.gov (United States)

    Kim, Won; Ansar, Adnan; Steele, Robert

    2007-01-01

    A paper describes a method devised to increase the robustness and accuracy of tracking of targets by means of three stereoscopic pairs of video cameras on a Mars-rover-type exploratory robotic vehicle. Two of the camera pairs are mounted on a mast that can be adjusted in pan and tilt; the third camera pair is mounted on the main vehicle body. Elements of the method include a mast calibration, a camera-pointing algorithm, and a purely geometric technique for handing off tracking between different camera pairs at critical distances as the rover approaches a target of interest. The mast calibration is an extension of camera calibration in which the camera images of calibration targets at known positions are collected at various pan and tilt angles. In the camerapointing algorithm, pan and tilt angles are computed by a closed-form, non-iterative solution of inverse kinematics of the mast combined with mathematical models of the cameras. The purely geometric camera-handoff technique involves the use of stereoscopic views of a target of interest in conjunction with the mast calibration.

  17. Looking Back at Arena of Exploration

    Science.gov (United States)

    2008-01-01

    NASA's Mars Exploration Rover Opportunity climbed out of 'Victoria Crater' following the tracks it had made when it descended into the 800-meter-diameter (half-mile-diameter) bowl nearly a year earlier. The rover's navigation camera captured this view back into the crater just after finishing a 6.8-meter (22-foot) drive that brought Opportunity out onto level ground during the mission's 1,634th Martian day, or sol (Aug. 28, 2008). The rover laid down the first tracks at this entry and exit point during its 1,291st sol (Sept. 11, 2007), after about a year of exploring around the outside of Victoria Crater for the best access route to the interior. On that sol, Opportunity drove a short distance into the crater and then backed out to check that the footing was good enough to trust this point as an exit route when the work in the crater was finished. Two sols later, Opportunity drove in again for its extended investigation of the rock layers exposed inside the crater. While inside, the rover spent several months using the contact instruments on its robotic arm to analyze the composition of the rock layers it could drive across on the surface of the upper slope. Then Opportunity drove close to the base of the 'Cape Verde' promontory that forms part of the crater rim and appears in the upper center of this image. From that perspective, the rover used its panoramic camera to examine details of layering in the 6-meter-tall (20-foot-tall) cliff. For scale, the distance between the parallel tracks left by the rover's wheels is about 1 meter (39 inches) from the middle of one track to the middle of the other. After getting past the top of the inner slope of the crater, the Sol 1634 drive also got through a sand ripple where the tracks appear deepest.

  18. Autonomously Generating Operations Sequences for a Mars Rover Using Artificial Intelligence-Based Planning

    Science.gov (United States)

    Sherwood, R.; Mutz, D.; Estlin, T.; Chien, S.; Backes, P.; Norris, J.; Tran, D.; Cooper, B.; Rabideau, G.; Mishkin, A.; Maxwell, S.

    2001-07-01

    This article discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from high-level science and engineering activities. This prototype is based on ASPEN, the Automated Scheduling and Planning Environment. This artificial intelligence (AI)-based planning and scheduling system will automatically generate a command sequence that will execute within resource constraints and satisfy flight rules. An automated planning and scheduling system encodes rover design knowledge and uses search and reasoning techniques to automatically generate low-level command sequences while respecting rover operability constraints, science and engineering preferences, environmental predictions, and also adhering to hard temporal constraints. This prototype planning system has been field-tested using the Rocky 7 rover at JPL and will be field-tested on more complex rovers to prove its effectiveness before transferring the technology to flight operations for an upcoming NASA mission. Enabling goal-driven commanding of planetary rovers greatly reduces the requirements for highly skilled rover engineering personnel. This in turn greatly reduces mission operations costs. In addition, goal-driven commanding permits a faster response to changes in rover state (e.g., faults) or science discoveries by removing the time-consuming manual sequence validation process, allowing rapid "what-if" analyses, and thus reducing overall cycle times.

  19. Mimicking Martian dust: An in-vacuum dust deposition system for testing the ultraviolet sensors on the Curiosity rover

    Energy Technology Data Exchange (ETDEWEB)

    Sobrado, J. M., E-mail: sobradovj@inta.es; Martín-Soler, J. [Centro de Astrobiología (CAB), INTA-CSIC, Torrejón de Ardoz, 28850 Madrid (Spain); Martín-Gago, J. A. [Centro de Astrobiología (CAB), INTA-CSIC, Torrejón de Ardoz, 28850 Madrid (Spain); Instituto de Ciencias de Materiales de Madrid (ICMM–CSIC), Cantoblanco, 28049 Madrid (Spain)

    2015-10-15

    We have designed and developed an in-vacuum dust deposition system specifically conceived to simulate and study the effect of accumulation of Martian dust on the electronic instruments of scientific planetary exploration missions. We have used this device to characterize the dust effect on the UV sensor of the Rover Environmental Monitoring Station in the Mars science Laboratory mission of NASA in similar conditions to those found on Mars surface. The UV sensor includes six photodiodes for measuring the radiation in all UV wavelengths (direct incidence and reflected); it is placed on the body of Curiosity rover and it is severely affected by the dust deposited on it. Our experimental setup can help to estimate the duration of reliable reading of this instrument during operation. We have used an analogous of the Martian dust in chemical composition (magnetic species), color, and density, which has been characterized by X-ray spectroscopy. To ensure a Brownian motion of the dust during its fall and a homogeneous coverage on the instrumentation, the operating conditions of the vacuum vessel, determined by partial pressures and temperature, have to be modified to account for the different gravities of Mars with respect to Earth. We propose that our designed device and operational protocol can be of interest to test optoelectronic instrumentation affected by the opacity of dust, as can be the degradation of UV photodiodes in planetary exploration.

  20. The SPIRIT Telescope Initiative: Six Years On (Abstract)

    Science.gov (United States)

    Luckas, P.

    2017-12-01

    (Abstract only) Now in its sixth year of operation, the SPIRIT initiative remains unique in Australia, as a robust web-enabled robotic telescope initiative funded for education and outreach. With multiple modes of operation catering for a variety of usage scenarios and a fully supported education program, SPIRIT provides free access to contemporary astronomical tools for students and educators in Western Australia and beyond. The technical solution itself provides an excellent model for low cost robotic telescope installations, and the education program has evolved over time to include a broad range of student experiences - from engagement activities to authentic science. This paper details the robotic telescope solution, student interface, and educational philosophy, summarizes achievements and lessons learned, and examines the possibilities for future enhancement including spectroscopy.

  1. Economic Crises and the Complexity of Animal Spirits Modeling

    Directory of Open Access Journals (Sweden)

    Grigore PIROŞCĂ

    2011-02-01

    Full Text Available The rationale of this research goes into the origins of the economic crises from a different way of economic thinking, hence the professional interest on bringing again into the light the concept of animal spirits, used for the first time from classic liberals like David Hume, developed by doctrine founder John Maynard Keynes, and captured as groundbreaking economic crisis hypothesis in Nobel Prize laureates’ books like George Akerlof. A familiar account of the last financial crisis underlines the collapse of confidence and evaporation of trust which leaded to failure of corporate governance and easy money policy. Nor were these problems of recent origin; they were rooted in deep structural changes in the economy that date back many years. Financial innovations overheated the world economy and gained steam because of irrational exuberance over a risk free better future. Considering the evidence analyzed in this paper work, this approach of economic crisis through animal spirits puts forward new highlights of economic thought.

  2. Evidence of a Christmas spirit network in the brain

    DEFF Research Database (Denmark)

    Hougaard, Anders; Lindberg, Ulrich; Arngrim, Nanna

    2015-01-01

    OBJECTIVE: To detect and localise the Christmas spirit in the human brain. DESIGN: Single blinded, cross cultural group study with functional magnetic resonance imaging (fMRI). SETTING: Functional imaging unit and department of clinical physiology, nuclear medicine and PET in Denmark. PARTICIPANTS...... theme. METHODS: Functional brain scans optimised for detection of the blood oxygen level dependent (BOLD) response were performed while participants viewed a series of images with Christmas themes interleaved with neutral images having similar characteristics but containing nothing that symbolises...... spirit network" in the human brain comprising several cortical areas. This network had a significantly higher activation in a people who celebrate Christmas with positive associations as opposed to a people who have no Christmas traditions and neutral associations. Further research is necessary...

  3. Forma dat esse: a Christian ontology of human spirit

    Directory of Open Access Journals (Sweden)

    Joan Martínez Porcell

    2015-09-01

    Full Text Available Forma dat esse was initially high fertility existential anthropology. Christian philosophy inherited although explanations hylemorphic with explaining human nature knew register the being and doing of the person inside the ontology of created spirits. The presence of human corporeality was a spirit that existed in the boundary and the horizon of eternity. The plasticity of human tendencies was a sign of his intelligence and it should be defined by their spirituality. The word was being-communication and love was the most important act of his life fertility. No wonder that we offer existential self as memory itself and the presence of the soul from the patenting of his spiritual being.

  4. 27 CFR 27.56 - Distilled spirits containers of a capacity of not more than 1 gallon.

    Science.gov (United States)

    2010-04-01

    ... containers of a capacity of not more than 1 gallon. 27.56 Section 27.56 Alcohol, Tobacco Products and... DISTILLED SPIRITS, WINES, AND BEER General Requirements Packaging and Marking of Distilled Spirits § 27.56 Distilled spirits containers of a capacity of not more than 1 gallon. Bottled distilled spirits imported...

  5. Open Veins: Spirits of Violence and Grief in Venezuela

    OpenAIRE

    Ferrándiz Martín, Francisco

    2009-01-01

    Transnational processes of stigmatization and criminalization of poverty associated to neoliberal models of development unfold locally in various modalities and intensities of de-pacification of everyday life. In this framework, this article presents the case study of a well-known spirit possession devotion in Venezuela, the cult of María Lionza, where the enormous symbolic, structural and repressive pressure exerted on shantytown dwellers, particularly male youngsters, is recycled — in a sor...

  6. Puumeelsuse ülistus - Spirit of Nature / Agneta Land

    Index Scriptorium Estoniae

    Land, Agneta

    2008-01-01

    Rahvusvaheline puitarhitektuuri näitus 11.09.- 31.10.2008 Lahtis (Soome) Pro Puu galeriis. Eksponeeritakse Renzo Piano (Itaalia), Kengo Kuma (Jaapan), Richard Leplastrier'i (Austraalia), Peter Zumthor'i (Šveits) ja Jose Cruz Ovalle (Tšiili) loomingut. 2008. aastal pälvis Spirit of Nature auhinna tšiili arhitekt Jose Cruz Ovalle (sünd. 1948). Tema eluloolisi andmeid, looming, portreefoto

  7. Is there a spirit of overseas Chinese capitalism?

    OpenAIRE

    Chuah, Swee Hoon; Hoffmann, Robert; Ramasamy, B; Tan, Jonathan H.W.

    2016-01-01

    The economic miracle of the Chinese Diaspora in Southeast Asia has been attributed to their unique economic culture forged from Confucian thought and the emigration experience. However, this Spirit of Overseas Chinese Capitalism (SOCC) hypothesis, based largely on qualitative research, has not been validated through quantitative work. This paper provides, for the first time, empirical evidence from a values survey and experiment which show that only some of the hypothesised SOCC values and be...

  8. Consciousness, Mind, and Spirit: Three Levels of Human Cognition

    OpenAIRE

    Andrej Ule

    2015-01-01

    The article elucidates three important concepts and realities that refer to cognitive phenomena and are often (mistakenly) used as synonyms: consciousness (slo. zavest), mind (slo. um), and spirit (slo. duh). They present three levels of human cognition: individual-experiential, individual-mental, and trans-individual-mental. Simply put: the concept of consciousness pertains to the waking mental life of a human being, while the concept of mind pertains to the ability and activity to conscious...

  9. Evolution of Volatile Compounds during the Distillation of Cognac Spirit.

    Science.gov (United States)

    Awad, Pierre; Athès, Violaine; Decloux, Martine Esteban; Ferrari, Gérald; Snakkers, Guillaume; Raguenaud, Patrick; Giampaoli, Pierre

    2017-09-06

    Cognac wine spirit has a complex composition in volatile compounds which contributes to its organoleptic profile. This work focused on the batch distillation process and, in particular, on volatile compounds specifically produced by chemical reactions during the distillation of Cognac wine spirit, traditionally conducted in two steps with charentais pot stills. The aim of this study was to characterize these volatile compounds formed during distillation. Sampling has been performed on the distillates and inside the boiler during a typical Cognac distillation. The analysis of these samples allowed us to perform a mass balance and to point out several types of volatile compounds whose quantities strongly increased during the distillation process. These compounds were distinguished by their chemical family. It has been found that the first distillation step was decisive for the formation of volatile compounds. Moreover, 2 esters, 3 aldehydes, 12 norisoprenoids, and 3 terpenes were shown to be generated during the process. These results suggest that some volatile compounds found in Cognac spirit are formed during distillation due to chemical reactions induced by high temperature. These findings give important indications to professional distillers in order to enhance the product's quality.

  10. Brazilian organic sugarcane spirits: Physicochemical and chromatographic profile

    Directory of Open Access Journals (Sweden)

    Felipe Cimino Duarte

    Full Text Available ABSTRACT There has been a growing demand for products from organic agriculture for the food market. Brazil leads the production of sugarcane spirits and produces about 1.6 billion liters/year. New technologies have been sought throughout the supply chain to improve production, and organic raw material has been used in the production of sugar cane for the production of beverages. This study aimed to define the physicochemical and chromatographic profiles of eleven organic sugarcane spirits samples from various Brazilian states. The secondary components and contaminants were identified and quantified through physicochemical analyses, HPLC and gas chromatography (GC. A significant percentage of the organic sugarcane spirits samples contained concentrations of components that were above the limits required by the Ministry of Agriculture, Livestock and Provisioning (MAPA, specifically the esters (18.20%, copper and dry extract (9.10%. This contamination is caused by bad conditions employed during the production process, which are not in compliance with the good manufacturing practices determined and legislated by Brazilian law.

  11. Robotic vehicles for planetary exploration

    Science.gov (United States)

    Wilcox, Brian; Matthies, Larry; Gennery, Donald; Cooper, Brian; Nguyen, Tam; Litwin, Todd; Mishkin, Andrew; Stone, Henry

    1992-01-01

    A program to develop planetary rover technology is underway at the Jet Propulsion Laboratory (JPL) under sponsorship of the National Aeronautics and Space Administration. Developmental systems with the necessary sensing, computing, power, and mobility resources to demonstrate realistic forms of control for various missions have been developed, and initial testing has been completed. These testbed systems and the associated navigation techniques used are described. Particular emphasis is placed on three technologies: Computer-Aided Remote Driving (CARD), Semiautonomous Navigation (SAN), and behavior control. It is concluded that, through the development and evaluation of such technologies, research at JPL has expanded the set of viable planetary rover mission possibilities beyond the limits of remotely teleoperated systems such as Lunakhod. These are potentially applicable to exploration of all the solid planetary surfaces in the solar system, including Mars, Venus, and the moons of the gas giant planets.

  12. Identification and Analysis of Landing sites for the ESA ExoMars Rover (2018)

    Science.gov (United States)

    Balme, Matthew; Bridges, John; Fawdon, Peter; Grindrod, Peter; Gupta, Sanjeev; Michalski, Joe; Conway, Susan

    2014-05-01

    The exploration and search for life on Mars forms a cornerstone of international solar system exploration. In 2018, the European Space agency will launch the ExoMars Rover and Lander to further this exploration. The key science objectives of the ExoMars Rover are to: 1) search for signs of past and present life on Mars; 2) investigate the water/geochemical environment as a function of depth in the shallow subsurface; and 3) to characterise the surface environment. To meet these objectives ExoMars will drill into the sub-surface to look for indicators of past life using a range of complementary techniques, including assessment of morphology (potential fossil organisms), mineralogy (past environments) and a search for organic molecules and their chirality (biomarkers). The choice of landing site is vital if ExoMars' scientific objectives are to be met. The landing site must: (i) be ancient (≥3.6 Ga); (ii) show abundant morphological and mineral evidence for long-term, or frequently reoccurring, aqueous activity; (iii) include numerous sedimentary outcrops that (iv) are distributed over the landing region (the typical Rover traverse range is only a few km, but the uncertainty in the location of the landing site forms an elliptical of size ~ 100 by 15 km); and (v) have little dust coverage. In addition, in order to land and operate safely, various 'engineering constraints' apply, including: (i) latitude limited to 5º S to 25º N; (ii) maximum altitude of the landing site 2 km below Mars's datum, (iii) few steep slopes within the uncertainty ellipse. These constraints are onerous. In particular, the objective to drill into sediments, the requirement for distributed targets within the ellipse, and the ellipse size, make ExoMars site selection extremely challenging. To meet these challenges, we have begun an intensive study of the martian landscape to identify as many possible ExoMars landing sites as possible. We have converted the current engineering constraints into

  13. Study of the repartition of phthalate esters during distillation of wine for spirit production.

    Science.gov (United States)

    Montevecchi, Giuseppe; Masino, Francesca; Di Pascale, Nicolas; Vasile Simone, Giuseppe; Antonelli, Andrea

    2017-12-15

    Due to health concerns and legal matters, an investigation to limit phthalates esters (PEAs) in spirits is necessary. A lab still was used to perform pilot distillations according to the official method for brandy production in order to explore the repartition into the distilled fractions of each PAE. The process was divided in two steps: a première chauffe and a bonne chauffe. The former step included the cut into heads, heart and tails, while the latter into heads, brandy, secondes, and tails. The behaviour of each PAE during distillation was affected by its own chemical nature. Dibutyl phthalate (DBP) was entirely carried over into the distillate, while bis(2-ethylhexyl) phthalate (DEHP) only partially, and diisononyl phthalate (DINP) accumulated in the stillage. During the bonne chauffe, DBP and DEHP accumulated in the secondes more than in the brandy. A rectification step of the secondes was demonstrated to considerably reduce PAEs concentration. Copyright © 2017. Published by Elsevier Ltd.

  14. AJAPÜJAWA (DREAM SPIRIT IN THE WAYUU DEATH AND VENGEANCE RITUALS

    Directory of Open Access Journals (Sweden)

    Fanny Longa Romero

    2010-12-01

    Full Text Available The wayuu are an Indian people of the Arawak linguistic family which lives in the Guajira Peninsula, in Northeast Colombia, on the Caribbean Sea, and the Western border of Venezuela. This paper studies the relation between existing and expressed ajapüjawa (dream spirit and other beings (plants, dead people, with intent, that will guide and influence the daily practices of the wayuu. The purpose here is to explore the agency from these existing rituals of death and revenge. I claim that these rituals provide information about the construction of the notion of person by the wayuu people through a symbolic economy of alterity. The wayuu people build, experience, and signify their cultural dynamics through the interference of active spiritual entities that impinge both upon life and death as two continuous, though separate, realms of social life.

  15. Mind, medicine, and metaphysics: reflections on the reclamation of the human spirit.

    Science.gov (United States)

    Penn, Michael L; Wilson, Lindsay

    2003-01-01

    Following the publication of such works as Auguste Comte's Cour de Philosophie Positive (1830-1842), in which he argued the inherent immaturity of metaphysical discourse, metaphysics, for Western intellectuals--and especially for Western intellectuals committed to science--has largely been abandoned. In recent years, however, we have seen renewed interest in metaphysics among some researchers and clinicians, due, in part, to increasing attempts to integrate diverse fields of study into some unified and coherent understanding of human life. For many psychologists and psychiatrists, this renewed interest is accompanied by an implicit, and sometimes explicit, re-embrace of the notion of the "human spirit." In this paper we explore some of the processes animating this movement and some of the clinical implications that flow from it.

  16. xLuna - D emonstrator on ESA Mars Rover

    Science.gov (United States)

    Braga, P.; Henriques, L.; Carvalho, B.; Chevalley, P.; Zulianello, M.

    2008-08-01

    There is a significant gap between the services offered by existing space qualified Real-Time Operating Systems (RTOS) and those required by the most demanding future space applications. New requirements for autonomy, terrain mapping and navigation, Simultaneous Location and Mapping (SLAM), improvement of the throughput of science tasks, all demand high level services such as file systems or POSIX compliant interfaces. xLuna is an operating system that aims fulfilling these new requirements. Besides providing the typical services that of an RTOS (tasks and interrupts management, timers, message queues, etc), it also includes most of the features available in modern general-purpose operating systems, such as Linux. This paper describes a case study that proposes to demonstrate the usage of xLuna on board a rover currently in use for the development of algorithms in preparation of a mission to Mars.

  17. High Ethanol Contents of Spirit Drinks in Kibera Slums, Kenya: Implications for Public Health.

    Science.gov (United States)

    Okaru, Alex O; Abuga, Kennedy O; Kibwage, Isaac O; Lachenmeier, Dirk W

    2017-10-17

    Cheap licit and artisanal illicit spirit drinks have been associated with numerous outbreaks of alcohol poisoning especially with methanol. This study aimed to evaluate the quality of cheap spirit drinks in Kibera slums in Nairobi County, Kenya. The samples consisted of cheap licit spirits (n = 11) and the artisanal spirit drink, 'chang'aa', (n = 28). The parameters of alcoholic strength and volatile composition were used as indicators of quality and were determined using gas chromatography with flame ionization detection (GC-FID) and gas chromatography-mass spectrometry (GC-MS) respectively. The ranges for alcoholic strength were 42.8-85.8% vol and 28.3-56.7% vol for chang'aa and licit spirit drinks respectively, while the pH ranges were 3.3-4.2 and 4.4-4.8 for chang'aa and licit spirit drinks respectively. The majority of volatiles were found in artisanal spirits and they included higher alcohols, ethyl esters and carbonyl compounds. The alcoholic strength of all the artisanal spirits (100%) and 91% of the licit spirits was above the 40% vol of standard spirits such as vodka. The high ethanol content of the alcohol products was the only element of public health significance in this study.

  18. High Ethanol Contents of Spirit Drinks in Kibera Slums, Kenya: Implications for Public Health

    Directory of Open Access Journals (Sweden)

    Alex O. Okaru

    2017-10-01

    Full Text Available Cheap licit and artisanal illicit spirit drinks have been associated with numerous outbreaks of alcohol poisoning especially with methanol. This study aimed to evaluate the quality of cheap spirit drinks in Kibera slums in Nairobi County, Kenya. The samples consisted of cheap licit spirits (n = 11 and the artisanal spirit drink, ‘chang’aa’, (n = 28. The parameters of alcoholic strength and volatile composition were used as indicators of quality and were determined using gas chromatography with flame ionization detection (GC-FID and gas chromatography-mass spectrometry (GC-MS respectively. The ranges for alcoholic strength were 42.8–85.8% vol and 28.3–56.7% vol for chang’aa and licit spirit drinks respectively, while the pH ranges were 3.3–4.2 and 4.4–4.8 for chang’aa and licit spirit drinks respectively. The majority of volatiles were found in artisanal spirits and they included higher alcohols, ethyl esters and carbonyl compounds. The alcoholic strength of all the artisanal spirits (100% and 91% of the licit spirits was above the 40% vol of standard spirits such as vodka. The high ethanol content of the alcohol products was the only element of public health significance in this study.

  19. Titan LEAF: A Sky Rover Granting Targeted Access to Titan's Lakes and Plains

    Science.gov (United States)

    Ross, Floyd; Lee, Greg; Sokol, Daniel; Goldman, Benjamin; Bolisay, Linden

    2016-10-01

    Northrop Grumman, in collaboration with L'Garde Inc. and Global Aerospace Corporation (GAC), has been developing the Titan Lifting Entry Atmospheric Flight (T-LEAF) sky rover to roam the atmosphere and observe at close quarters the lakes and plains of Titan. T-LEAF also supports surface exploration and science by providing precision delivery of in situ instruments to the surface.T-LEAF is a maneuverable, buoyant air vehicle. Its aerodynamic shape provides its maneuverability, and its internal helium envelope reduces propulsion power requirements and also the risk of crashing. Because of these features, T-LEAF is not restricted to following prevailing wind patterns. This freedom of mobility allows it be commanded to follow the shorelines of Titan's methane lakes, for example, or to target very specific surface locations.T-LEAF utilizes a variable power propulsion system, from high power at ~200W to low power at ~50W. High power mode uses the propellers and control surfaces for additional mobility and maneuverability. It also allows the vehicle to hover over specific locations for long duration surface observations. Low power mode utilizes GAC's Titan Winged Aerobot (TWA) concept, currently being developed with NASA funding, which achieves guided flight without the use of propellers or control surfaces. Although slower than high powered flight, this mode grants increased power to science instruments while still maintaining control over direction of travel.Additionally, T-LEAF is its own entry vehicle, with its leading edges protected by flexible thermal protection system (f-TPS) materials already being tested by NASA's Hypersonic Inflatable Aerodynamic Decelerator (HIAD) group. This f-TPS technology allows T-LEAF to inflate in space, like HIAD, and then enter the atmosphere fully deployed. This approach accommodates entry velocities from as low as ~1.8 km/s if entering from Titan orbit, up to ~6 km/s if entering directly from Saturn orbit, like the Huygens probe

  20. Spirits Trade After Reform in 1863: To the Issue of Efficiency of State Regulation of Spirits Turnover in Terms of Free Trade

    Directory of Open Access Journals (Sweden)

    Natalia Ye. Goryushkina

    2015-12-01

    Full Text Available On the grounds of published and non-published archive materials the article estimates efficiency of state regulation of spirits turnover in terms of excise taxation period. It also states types of spirits trade, types of public houses, groups of people that have obtained the right for wholesale, retail and that of small amount tradeoff spirits. License gaining procedures are widely described as well. The author pays significant attention to the areas in cities and countryside, where the public houses should not have been opened as well as the individuals who were admitted to spirits trade; also he states events which influenced the sale of spirits. The requirements to interior of public houses, working hours, quality and volumes of trade are also specified. It is pointed out that the officials of excise tax board were to control the regulations of spirit trade, their authority extended to public houses control in 1885. The author comes to the conclusion that regulatory means of excise tax was efficient and by increasing and decreasing of license cost, complication and simplification of new public houses opening all together allowed to regulate the turnover of spirits in terms of free trade thus influencing the number, types, density, range and quality of spirits. However, there was distinct ambiguity in Ministry of Finance policy during the stated excise taxation period. On the one hand it limited free sale of spirits, eradicating public houses which were considered detrimental. On the other hand, the Ministry was set not to notice abuse in trade which gave the opportunity to gain greater benefits at public cost from spirits sales.

  1. The meteorology of Gale Crater as determined from Rover Environmental Monitoring Station observations and numerical modeling. Part II: Interpretation

    Science.gov (United States)

    Rafkin, Scot C. R.; Pla-Garcia, Jorge; Kahre, Melinda; Gomez-Elvira, Javier; Hamilton, Victoria E.; Marín, Mercedes; Navarro, Sara; Torres, Josefina; Vasavada, Ashwin

    2016-12-01

    Numerical modeling results from the Mars Regional Atmospheric Modeling System are used to interpret the landed meteorological data from the Rover Environmental Monitoring Station onboard the Mars Science Laboratory rover Curiosity. In order to characterize seasonal changes throughout the Martian year, simulations are conducted at Ls 0, 90, 180 and 270. Two additional simulations at Ls 225 and 315 are explored to better understand the unique meteorological setting centered on Ls 270. The synergistic combination of model and observations reveals a complex meteorological environment within the crater. Seasonal planetary circulations, the thermal tide, slope flows along the topographic dichotomy, mesoscale waves, slope flows along the crater slopes and Mt. Sharp, and turbulent motions all interact in nonlinear ways to produce the observed weather. Ls 270 is shown to be an anomalous season when air within and outside the crater is well mixed by strong, flushing northerly flow and large amplitude, breaking mountain waves. At other seasons, the air in the crater is more isolated from the surrounding environment. The potential impact of the partially isolated crater air mass on the dust, water, noncondensable and methane cycles is also considered. In contrast to previous studies, the large amplitude diurnal pressure signal is attributed primarily to necessary hydrostatic adjustments associated with topography of different elevations, with contributions of less than 25% to the diurnal amplitude from the crater circulation itself. The crater circulation is shown to induce a suppressed boundary layer.

  2. ExoGeoLab Test Bench for Landers, Rovers and Instruments

    Science.gov (United States)

    Foing, B. H.

    2009-04-01

    In the frame of ESTEC technology and research pilot project, we have started a small pilot facility with a ExoGeoLab and a mini-Habitat, supported by two design and control offices in the European Space Incubator (ESI), as well as infrastructure support and manpower. We have in addition to contribution on external instruments and manpower from partner institutes. From this test bench and kit of ExoGeoLab instruments, we plan to operate comprehensive instruments packages that could help in the technical research and science preparation of lander/rover missions studied in the frame of Cosmic Vision or the Exploration programme. The ExoGeoLab research incubator project includes a sequence of activities: - Data analysis and interpretation of remote sensing data (MEX, SMART-1, VEX, Cassini-Huygens) and in-situ (Huygens, MER) , and merging of multi-scale data sets - Procurement and integration of geophysical, geochemical and astrobiological breadboard instruments in an surface station and rover (ExoGeoLab) - Research operations and exploitation of ExoGeoLab test bench for various conceptual configurations (Moon, Mars, NEO, Titan) - Contribution to the exploitation of surface lander results (MER, Phenix, MSL, preparation Exomars) - Scientific simulation of planetary surfaces using laboratory and modelling tools - Support research for definition and design of science surface packages on the Moon, Mars, NEO, Titan - Research support to community preparation of payload for surface lander opportunities Specific goals and methods of ESTEC ExoGeoLab: we have started to integrate instruments in an ExoGeoLab crossing various techniques. The methodic steps for this hands-on research are: 1) We have procured and adapted instruments to equip a mid-size ExoGeoRover (made available in collaboration with ESTEC robotics section), and a small surface station. 2) This terrestrial payload (instruments, sensors, data handling) will be deployed, operated and used as collaborative research

  3. Uncanny Love: Schelling’s Meditations on the Spirit World

    Directory of Open Access Journals (Sweden)

    Laurie Johnson

    2010-08-01

    Full Text Available

     

    Abstract (E: This essay analyses a little-known fragment which Schelling wrote shortly after his wife Caroline’s death, entitled Clara: Or, on Nature's Connection to the Spirit World (1810-1811, in which Schelling deploys several themes that Freud will identify as uncanny, including animism, omnipotence of thoughts and man’s attitude toward death. Although it nominally participates in a contemporary discussion about clairvoyance and immortality, the fragment focuses far more on the commemoration and representation of the dead, and the uncanny re-insertion of the dead into the everyday of the living. The hypothesis maintained here is that Clara can be read as a legitimate part of Schelling’s philosophy rather than as only an ode to Caroline, and hence also as a meaningful contribution to Romantic thought and to the historical trajectory of the uncanny.

    Abstract (F:

     

    Radar Sounding Investigations of the Martian Subsurface by the 2018 ExoMars-C Rover

    OpenAIRE

    Ciarletti, Valérie; Plettemeier, Dirk; Cais, Ph.; Clifford, Stephen

    2011-01-01

    International audience; The WISDOM (Water Ice Subsurface Deposit Observation on Mars) Ground Penetrating Radar will fly on the ESA-NASA 2018 ExoMars-C mission, which combines the science payload of the original ESA ExoMars Rover with the robotic arm and sample cache of NASA's Max-C Rover into a single rover, whose samples will ult imately be retrieved by a future Mars Sample Return mission. WISDOM was designed to investigate the nearsubsurface down to a depth of ~2-3 m, commensurate with the ...

  4. Self-sacrificial behavior and its explanation in terms of Max Scheler's concept of spirit.

    Science.gov (United States)

    Alyushin, Alexey

    2014-12-01

    One of the key concepts of the German philosopher Max Scheler (1874-1928) is his concept of spirit. He understands spirit as one of several naturally functioning human mental agencies, such as consciousness, will, memory, etc. That is, he treats the mental agency of spirit in a scientific way and avoids any esoteric or religious connotations that this peculiar term may involve. The nature of human spirit, according to Scheler, is the ability to withstand and deliberately redirect biological imperatives and instinctive drives, up to the point of purposefully throwing away one's own life. The presence of spirit constitutes the essence of the human being that differentiates him qualitatively from all animals. In this article, I argue that it is human spirit that plays the determinative role in causing heroic and self-sacrificial behavior. I also argue that the individual human spirit experiences its inherent development, thus having several rather dissimilar stages and manifestations. I discuss the meaning that the term 'spirit' has in the English and the American philosophical and psychological traditions and the meaning of the corresponding term 'der Geist' in the German traditions. The specific English-language understanding of the term 'spirit', compared to its German counterpart 'der Geist', namely, less scientific and more religious and esoteric and metaphorical for the former, makes it alien and almost unusable in the English and American traditions. The linguistic difference leads to the misunderstanding of some very important ideas brought by the concept of spirit as introduced by Scheler. My purpose is to overcome this discrepancy and omission and to introduce the notion and the concept of spirit, in their scientific understanding, into the arsenal of modern English-language cognitive science, psychology, and philosophy in order to provide for the full explanatory force of the hitherto neglected concept of spirit.

  5. Commodity tax competition – purchases of spirits in the Scandinavian countries

    OpenAIRE

    Nygård, Odd Erik

    2009-01-01

    A simulation model consisting of a representative consumer for each Scandinavian country is constructed and calibrated, in which consumers consume two goods: spirits and 'other goods'. Spirits is exposed to cross-border shopping, and the countries engage in tax competition. The equilibrium tax rates show large price differentials on spirits in Scandinavia. The findings also suggest that Norway and Denmark pay more attention to cross-border shopping and tax competition when setting the tax rat...

  6. Tourism Product Development : Case: Christmas Tourism - Kuhmo Kalevala Spirit Christmas Village

    OpenAIRE

    Golotina, Irina

    2011-01-01

    Kuhmo Kalevala Spirit Christmas Village offers to its customers the experience of local folklore as a unique possibility for a Christmas adventure, taking place in winter season. All year around, Kalevala Spirit Oy offers services mainly for foreigners, but for local customers, as well. In winter season it attracts Russian tourists, who visit Vuokatti, with this Christmas adventure for families. The purpose of this thesis was to identify gaps in services of Kuhmo Kalevala Spirit Christmas...

  7. The Ghostly Novae of Spirits: Candidates, Confirmations, and Classifications

    Science.gov (United States)

    Corgan, David William

    2015-08-01

    The SPIRITS (SPitzer InfraRed Intensive Transients Survey) project has surveyed 242 galaxies across multiple epochs for over a year, searching for gap transient and variable star activity. To date, a wealth of candidate objects has been discovered in the warm Spitzer data being used, with the current total at 1426 individual detections. The discovery, confirmation, follow-up, and comparison to prediction rates of these candidates is presented. Employing subjective detection methods, discussed herein, individual discovery to group confirmation rates were found to be less than 3.6%. Photometric confirmation with correlated team instruments left 53 sources of interest remaining for further study. These targets ranged across 30 different galaxies including IC2163, Messier 101, and NGC3198. Follow-up ground observations in the 1.2, 1.6, and 2.2 µm wavelengths with the legacy 2MASS instrument at MLOF (Mount Lemmon Observing Facility) are highlighted. The data reduction process which has evolved to improve detections by ~.6mag is also detailed. These results are supplemented by SPIRITS team input from a variety of world-class infrared facilities to produce overall nova candidate characteristics, which are included. In some cases this extends to light curves from confirmed and observed novae to depths of ~20mag, while in others it is restricted to limiting magnitudes of ~18 at sight of occurrence (the true “ghosts” of SPIRITS). Candidate novae have been separated into classes where data allows, including the possible discovery of a new variable type coined SMIRTS (Super Massive InfraRed TransientS), and probable members of the elusive Luminous Red Novae category. Finally, comparison of numerical survey results to nova prediction rates is undertaken and results presented. Where deviations from luminosity curve fittings occur, such as in the overly active M81 and IC0342 galaxies, possible causes are proposed.

  8. Framing the policy debate over spirits excise tax in Poland.

    Science.gov (United States)

    Zatoński, Mateusz; Hawkins, Benjamin; McKee, Martin

    2016-12-23

    Industry lobbying remains an obstacle to effective health-oriented alcohol policy. In 2013, an increase in excise tax on spirits was announced by the Polish government. This article presents a qualitative analysis of the public debate that ensued on the potential economic, health and social effects of the policy. It focuses on how competing groups, including industry actors, framed their position and sought to dominate the debate. Online archives of five Polish national newspapers, two spirits trade associations, and parliamentary and ministerial archives were searched. A thematic content analysis of the identified sources was conducted. The overall findings were compared with existing research on the framing of the Minimum Unit Pricing (MUP) debate in the UK. A total of 155 sources were analysed. Two main frames were identified: health, and economic The spirits industry successfully promoted the economic frame in their own publications and in the media. The debate was dominated by arguments about potential growth of the grey market and losses in tax revenue that might result from the excise tax increase. The framing of the debate in Poland differed from the framing of the MUP debate in the United Kingdom. The Polish public health community was unsuccessful in making health considerations a significant element of the alcohol policy debate. The strategies pursued by UK health advocates offer lessons for how to make a more substantial impact on media coverage and promote health-oriented legislation. © The Author 2016. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  9. Performing the Holy Spirit: Ritualised Manifestations of Faith in an African Independent Church

    National Research Council Canada - National Science Library

    Skelton, Colin

    2010-01-01

    This research examines the aesthetic manifestations of religious belief, particularly in the Holy Spirit, through consideration of the performative dimensions and ritualised behaviours in the church...

  10. Using panel data to determine the effect of advertising on brand-level distilled spirits sales.

    Science.gov (United States)

    Gius, M P

    1996-01-01

    The purpose of the present study is to determine the effect that brand-level advertising has on brand-level spirits demand. Using a panel data set consisting of 16 brands and 14 years of data, a fixed effects model of brand-level spirits demand was estimated. It was found that own-brand advertising, income, rival-brand price, a time trend and brand loyalty all have a significant effect on brand-level spirits demand. These results indicate that brand-level spirits advertising results only in brand switching and does not increase the overall size of the market.

  11. Lunar surface exploration using mobile robots

    Science.gov (United States)

    Nishida, Shin-Ichiro; Wakabayashi, Sachiko

    2012-06-01

    A lunar exploration architecture study is being carried out by space agencies. JAXA is carrying out research and development of a mobile robot (rover) to be deployed on the lunar surface for exploration and outpost construction. The main target areas for outpost construction and lunar exploration are mountainous zones. The moon's surface is covered by regolith. Achieving a steady traversal of such irregular terrain constitutes the major technical problem for rovers. A newly developed lightweight crawler mechanism can effectively traverse such irregular terrain because of its low contact force with the ground. This fact was determined on the basis of the mass and expected payload of the rover. This paper describes a plan for Japanese lunar surface exploration using mobile robots, and presents the results of testing and analysis needed in their development. This paper also gives an overview of the lunar exploration robot to be deployed in the SELENE follow-on mission, and the composition of its mobility, navigation, and control systems.

  12. Managerial Spirit from de Social Representations: Venezuelan case

    Directory of Open Access Journals (Sweden)

    Leslie Borjas de Xena

    2010-11-01

    Full Text Available This research seeks to characterize the central and peripheral structures of the Social Representations (SR on Entrepreneurial Spirit (ES. The SR are ways of social thinking that include information, beliefs, attitudes, practices and experiences. This type of research is complementary. The methodology called for the analysis of content found in secondary literature and in depth interviews. The corpus includes 65 articles in the 2006-2009 period. The results showed that the anchorage of the SR in the Venezuelan context could be characterized as “highly” entrepreneur

  13. Mothers and Spirits: Religious Identity, Alcohol, and Death

    Directory of Open Access Journals (Sweden)

    Candi K. Cann

    2016-07-01

    Full Text Available Mothers and Spirits examines the intersection of women, alcohol, and death through a comparative analysis. Offering a brief history of the study of drinking, followed by a short analysis of drinking in European and Chinese cultures, Cann examines two religious texts central to the roles of women and alcohol in Chinese religious thought and Christianity. Finally, Cann utilizes the historical and textual background to contextualize her ethnographic study of women, alcohol, and death in Mexican Catholicism, Chinese religions, and American Southern Baptist Christianity. Cann argues that both alcohol and temperance are used as a way to forge, cement, and create gender identity, constructing alternate discourses of power and inclusivity.

  14. Body, spirit and gender in Maria Komornicka’s poetry

    Directory of Open Access Journals (Sweden)

    Katarzyna Lisowska

    2011-06-01

    Full Text Available This paper concerns three significant concepts in Maria Komornicka’s writings: body, spirit and gender. The first two are closely related to each other, thus initial paragraphs are devoted to them both. On the basis of these reflections, I draw some conclusion about the image of gender created by the poet. The notion of gender is analysed in terms of Young Poland discourse of gender and from the perspective of modern methodologies: feminist criticism as well as gender and queer studies. This paper aims at encouraging the reader to reinterpret M. Komornicka’s output with contemporary awareness.

  15. Green waste from spirit; Gruener Abfall zu Sprit

    Energy Technology Data Exchange (ETDEWEB)

    Heida, Lydia

    2013-05-15

    Bio MCN (Almere, The Netherlands) has built the largest factory of the world for the production of bio-methanol. This factory produces 250 million liter methanol annually from natural gas, green gas (from the fermentation of sugar beet residues) and crude glycerol. Crude glycerol arises from the biodiesel production. As part of the Wood Spirit Project, Bio MCN constructs an additional plant that converts 750,000 tons of wood waste to 250 million liters of methanol. The waste wood is chipped and converted to biochar by means of torrefaction. Biochar is pulverized and converted to synthesis gas. This synthesis gas is converted to methanol by means of a chemical catalyst.

  16. Biogenic iron mineralization at Iron Mountain, CA with implications for detection with the Mars Curiosity rover

    Science.gov (United States)

    Williams, Amy J.; Sumner, Dawn Y.; Alpers, Charles N.; Campbell, Kate M.; Nordstrom, D. Kirk

    2014-01-01

    (Introduction) Microbe-mineral interactions and biosignature preservation in oxidized sulfidic ore bodies (gossans) are prime candidates for astrobiological study. Such oxidized iron systems have been proposed as analogs for some Martian environments. Recent studies identified microbial fossils preserved as mineral-coated filaments. This study documents microbially-mediated mineral biosignatures in hydrous ferric oxide (HFO) and ferric oxyhydroxysulfates (FOHS) in three environments at Iron Mountain, CA. We investigated microbial community preservation via HFO and FOHS precipitation and the formation of filamentous mineral biosignatures. These environments included 1) actively precipitating (1000's yrs), naturally weathered HFO from in situ gossan, and 3) remobilized iron deposits, which contained lithified clastics and zones of HFO precipitate. We used published biogenicity criteria as guidelines to characterize the biogenicity of mineral filaments. These criteria included A) an actively precipitating environment where microbes are known to be coated in minerals, B) presence of extant microbial communities with carbon signatures, C) structures observable as a part of the host rock, and D) biological morphology, including cellular lumina, multiple member population, numerous taxa, variable and 3-D preservation, biological size ranges, uniform diameter, and evidence of flexibility. This study explores the relevance and detection of these biosignatures to possible Martian biosignatures. Similar filamentous biosignatures are resolvable by the Mars Hand Lens Imager (MAHLI) onboard the Mars Science Laboratory (MSL) rover, Curiosity, and may be identifiable as biogenic if present on Mars.

  17. A Virtual Simulation Environment for Lunar Rover: Framework and Key Technologies

    Directory of Open Access Journals (Sweden)

    Yan-chun Yang

    2008-11-01

    Full Text Available Lunar rover development involves a large amount of validation works in realistic operational conditions, including its mechanical subsystem and on-board software. Real tests require equipped rover platform and a realistic terrain. It is very time consuming and high cost. To improve the development efficiency, a rover simulation environment called RSVE that affords real time capabilities with high fidelity has been developed. It uses fractional Brown motion (fBm technique and statistical properties to generate lunar surface. Thus, various terrain models for simulation can be generated through changing several parameters. To simulate lunar rover evolving on natural and unstructured surface with high realism, the whole dynamics of the multi-body systems and complex interactions with soft ground is integrated in this environment. An example for path planning algorithm and controlling algorithm testing in this environment is tested. This simulation environment runs on PC or Silicon Graphics.

  18. The Preparation for and Execution of Engineering Operations for the Mars Curiosity Rover Mission

    Science.gov (United States)

    Samuels, Jessica A.

    2013-01-01

    The Mars Science Laboratory Curiosity Rover mission is the most complex and scientifically packed rover that has ever been operated on the surface of Mars. The preparation leading up to the surface mission involved various tests, contingency planning and integration of plans between various teams and scientists for determining how operation of the spacecraft (s/c) would be facilitated. In addition, a focused set of initial set of health checks needed to be defined and created in order to ensure successful operation of rover subsystems before embarking on a two year science journey. This paper will define the role and responsibilities of the Engineering Operations team, the process involved in preparing the team for rover surface operations, the predefined engineering activities performed during the early portion of the mission, and the evaluation process used for initial and day to day spacecraft operational assessment.

  19. Mars' surface radiation environment measured with the Mars science laboratory's curiosity rover

    National Research Council Canada - National Science Library

    Hassler, D.M; Zeitlin, C; Wimmer-Schweingruber, R.F; Ehresmann, B; Rafkin, S; Eigenbrode, J.L; Brinza, D.E; Weigle, G; Böttcher, S; Böhm, E; Burmeister, S; Guo, J; Köhler, J; Martin, C; Reitz, G; Cucinotta, F.A; Kim, M.-H; Grinspoon, D; Bullock, M.A; Posner, A; Gómez-Elvira, J; Vasavada, A; Grotzinger, J.P; MSL Science Team, the|info:eu-repo/dai/nl/292012217

    2014-01-01

    The Radiation Assessment Detector (RAD) on the Mars Science Laboratory’s Curiosity rover began making detailed measurements of the cosmic ray and energetic particle radiation environment on the surface of Mars on 7 August 2012...

  1. Rover Radar for Surface Navigation, Hazard Detection and Negative Obstacle Avoidance Project

    Data.gov (United States)

    National Aeronautics and Space Administration — In Topic X1.03 NASA (JPL) is seeking to extend and implement long distance exploratory surface rover missions to gain knowledge of surface topology and roughness....

  2. The effects of in vitro exposure to white spirit on [Ca2+] in synaptosomes from rats exposed prenatally to white spirit

    DEFF Research Database (Denmark)

    Edelfors, S.; Hass, Ulla; Ravn-Jonsen, A.

    1999-01-01

    using the FURA-2 technique. The results show that cytosolic calcium was increased in synaptosomes from rats exposed to white spirit prenatally compared to synaptosomes from unexposed rats. When synaptosomes were exposed to white spirit in vitro, the cytosolic calcium concentration changes were identical...... in all groups of rats. The membrane leakage measured as FURA-2 leakage from the synaptosomes identical in all three groups of animals. The results suggest that prenatal exposure to white spirit induces long-lasting and possibly irreversible changes in calcium homeostasis in the rat nervous system....

  3. ExoGeoLab Pilot Project for Landers, Rovers and Instruments

    Science.gov (United States)

    Foing, Bernard

    2010-05-01

    We have developed a pilot facility with a Robotic Test Bench (ExoGeoLab) and a Mobile Lab Habitat (ExoHab). They can be used to validate concepts and external instruments from partner institutes. The ExoGeoLab research incubator project, has started in the frame of a collaboration between ILEWG (International Lunar Exploration working Group http://sci.esa.int/ilewg), ESTEC, NASA and academic partners, supported by a design and control desk in the European Space Incubator (ESI), as well as infrastructure. ExoGeoLab includes a sequence of technology and research pilot project activities: - Data analysis and interpretation of remote sensing and in-situ data, and merging of multi-scale data sets - Procurement and integration of geophysical, geo-chemical and astrobiological breadboard instruments on a surface station and rovers - Integration of cameras, environment and solar sensors, Visible and near IR spectrometer, Raman spectrometer, sample handling, cooperative rovers - Delivery of a generic small planetary lander demonstrator (ExoGeoLab lander, Sept 2009) as a platform for multi-instruments tests - Research operations and exploitation of ExoGeoLab test bench for various conceptual configurations, and support for definition and design of science surface packages (Moon, Mars, NEOs, outer moons) - Field tests of lander, rovers and instruments in analogue sites (Utah MDRS 2009 & 2010, Eifel volcanic park in Sept 2009, and future campaigns). Co-authors, ILEWG ExoGeoLab & ExoHab Team: B.H. Foing(1,11)*#, C. Stoker(2,11)*, P. Ehrenfreund(10,11), L. Boche-Sauvan(1,11)*, L. Wendt(8)*, C. Gross(8, 11)*, C. Thiel(9)*, S. Peters(1,6)*, A. Borst(1,6)*, J. Zavaleta(2)*, P. Sarrazin(2)*, D. Blake(2), J. Page(1,4,11), V. Pletser(5,11)*, E. Monaghan(1)*, P. Mahapatra(1)#, A. Noroozi(3), P. Giannopoulos(1,11) , A. Calzada(1,6,11), R. Walker(7), T. Zegers(1, 15) #, G. Groemer(12)# , W. Stumptner(12)#, B. Foing(2,5), J. K. Blom(3)#, A. Perrin(14)#, M. Mikolajczak(14)#, S. Chevrier(14

  4. PDS MSL Analyst's Notebook: Supporting Active Rover Missions and Adding Value to Planetary Data Archives

    Science.gov (United States)

    Stein, Thomas

    Planetary data archives of surface missions contain data from numerous hosted instruments. Because of the nondeterministic nature of surface missions, it is not possible to assess the data without understanding the context in which they were collected. The PDS Analyst’s Notebook (http://an.rsl.wustl.edu) provides access to Mars Science Laboratory (MSL) data archives by integrating sequence information, engineering and science data, observation planning and targeting, and documentation into web-accessible pages to facilitate “mission replay.” In addition, Mars Exploration Rover (MER), Mars Phoenix Lander, Lunar Apollo surface mission, and LCROSS mission data are available in the Analyst’s Notebook concept, and a Notebook is planned for the Insight mission. The MSL Analyst’s Notebook contains data, documentation, and support files for the Curiosity rovers. The inputs are incorporated on a daily basis into a science team version of the Notebook. The public version of the Analyst’s Notebook is comprised of peer-reviewed, released data and is updated coincident with PDS data releases as defined in mission archive plans. The data are provided by the instrument teams and are supported by documentation describing data format, content, and calibration. Both operations and science data products are included. The operations versions are generated to support mission planning and operations on a daily basis. They are geared toward researchers working on machine vision and engineering operations. Science versions of observations from some instruments are provided for those interested in radiometric and photometric analyses. Both data set documentation and sol (i.e., Mars day) documents are included in the Notebook. The sol documents are the mission manager and documentarian reports that provide a view into science operations—insight into why and how particular observations were made. Data set documents contain detailed information regarding the mission, spacecraft

  5. Design and Laboratory Implementation of Autonomous Optimal Motion Planning for Non-Holonomic Planetary Rovers

    Science.gov (United States)

    2012-12-01

    Pseudospectral Optimal Control, Trajectory Optimization, Path Planning, Robotics Manipulator, Collision Avoidance, DIDO, Autonomous Robotic Control 15. NUMBER OF...you for the many hours you dedicated to assisting with my thesis. I respect your vision, guidance, and insight with the use of robotics and...communications and recharging of the individual land rovers. In this scenario (see Figure 3 for a artists ’ rendition), the land rovers conduct routine

  6. Belly Dancing on Mars

    Science.gov (United States)

    2004-01-01

    This image shows a screenshot from the software used by engineers to drive the Mars Exploration Rover Spirit. The software simulates the rover's movements across the martian terrain, helping to plot a safe course for the rover. The virtual 3-D world around the rover is built from images taken by Spirit's stereo navigation cameras. Regions for which the rover has not yet acquired 3-D data are represented in beige. The red dart to the left shows a target destination for the rover. Red lines indicate the path the rover's wheels will follow to reach the target, and the blue line denotes the path of the rover's 'belly button,' as engineers like to call it.

  7. Spirit-possession in theory and practice: séances with Tibetan spirit-mediums in Nepal

    Directory of Open Access Journals (Sweden)

    Per-Arne Berglie

    1982-01-01

    Full Text Available This paper describes a short study of the séances and trance-performances of three Tibetan spirit-mediums (dpa' bo from a refugee-community in Nepal. The field-work on which this study is based was carried out in a Tibetan refugee-village in Nepal during 1970 and 1971. For each dpa' bo: dBang phyug, Sri gcod, and Nyi ma don grub, a summary of personal thoughts and beliefs concerning possession is provided, followed by an example of how a séance was structured. A common feature is that when all the gods summoned have arrived, possession took place by the god most suited to carry out the task of the evening. The actual change of the ritual status of the spirit-medium is marked by the putting on of the headdress. From now on, until it falls off at the end of the séance, it is the god who speaks and acts through the medium, who afterwards claims that he has no recollection whatsoever of what then passes. A necessary condition for the activity of a spirit-medium is, of course, the conviction that their possession is genuine. Theoretically, when a dpa' bo has passed the period of calling and has been tested and has received the necessary training, this genuineness is proved. Of an established dpa' bo no further proofs are therefore required in addition to the satisfactory solution of the problems put to him at the séances. If, after all, someone has doubts about a dpa' bo, he can call a lama.

  8. Soil and Rock Physical Properties at the Mars Exploration Rover Landing Sites: Early Returns

    Science.gov (United States)

    Ming, D. W.; Anderson, R. C.; Arvidson, R. E.; Bell, J. F., III; Biesiadecki, J.; Christensen, P. H.; Gorevan, S. P.; Ehlmann, B. L.; Guinness, E. A.; Graff, T. G.

    2004-01-01

    The purpose of this paper is to report the 'early returns' on the physical properties of soil units and rocks at the MER landing sites. Because we are still very early in the mission at Meridiani Planum, results from the Gusev Crater Landing Site are emphasized here.

  9. Spacecraft/Rover Hybrids for the Exploration of Small Solar System Bodies Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The actuation of the hybrids relies on spinning three internal flywheels, which allows all subsystems to be packaged in one sealed enclosure and enables the...

  10. Robotic Lunar Rover Technologies and SEI Supporting Technologies at Sandia National Laboratories

    Science.gov (United States)

    Klarer, Paul R.

    1992-01-01

    Existing robotic rover technologies at Sandia National Laboratories (SNL) can be applied toward the realization of a robotic lunar rover mission in the near term. Recent activities at the SNL-RVR have demonstrated the utility of existing rover technologies for performing remote field geology tasks similar to those envisioned on a robotic lunar rover mission. Specific technologies demonstrated include low-data-rate teleoperation, multivehicle control, remote site and sample inspection, standard bandwidth stereo vision, and autonomous path following based on both internal dead reckoning and an external position location update system. These activities serve to support the use of robotic rovers for an early return to the lunar surface by demonstrating capabilities that are attainable with off-the-shelf technology and existing control techniques. The breadth of technical activities at SNL provides many supporting technology areas for robotic rover development. These range from core competency areas and microsensor fabrication facilities, to actual space qualification of flight components that are designed and fabricated in-house.

  11. Japanese lunar robotics exploration by co-operation with lander and ...

    Indian Academy of Sciences (India)

    Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed. A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of ...

  12. Japanese lunar robotics exploration by co-operation with lander and ...

    Indian Academy of Sciences (India)

    Unmanned mobile robots for surface exploration of the Moon or planets have been extensively studied and developed.A lunar rover is expected to travel safely in a wide area and explore in detail. Japanese lunar robotics exploration is under study to conduct an unmanned geological survey in the vicinity of central peaks of ...

  13. Does price matter? The effect of decreased price on spirits consumption in Switzerland.

    Science.gov (United States)

    Kuo, Meichun; Heeb, Jean-Luc; Gmel, Gerhard; Rehm, Jürgen

    2003-04-01

    On July 1st, 1999, the spirits market in Switzerland was reformed based on the World Trade Organization (WTO) agreement. The tax reform, in addition to increased competition, has resulted in a 30-50% decrease in price for foreign spirits (liquor). The purpose of the present study is to examine whether decreased prices due to the tax reform and the liberalized spirits market in Switzerland have had an effect on spirits consumption, and whether the effect differs by demographic and other correlates. The present study uses data from a longitudinal study on changes in alcohol consumption in Switzerland's resident population. The baseline survey was conducted 3 months before the tax reform and the follow-up was conducted 28 months after the tax reform. A randomly selected sample of 4007 residents aged 15 years or older participated in the baseline survey and 73% in the follow-up survey. The data were obtained by computer-assisted telephone interview, including detailed questions on alcohol consumption, drinking habits, problem drinking, purchase of spirits and socio-demographic characteristics. Consumption of spirits increased after the price of spirits decreased. The increase in spirits consumption was consistent across subgroups, with the exception of the group aged 60 or older. Moreover, the increase in spirits consumption persisted even after adjustment for significant correlates of spirits consumption. Apart from age, there was no evidence that the increase in spirits consumption differed between subgroups as defined by sex, region, working status, education, smoking, drinking frequency, or average number of drinks. The findings demonstrate that younger people are more affected by price than older persons. This study demonstrated that price should be considered an effective policy to reduce alcohol misuse and alcohol-related problems, especially among the younger population.

  14. Improving Planetary Rover Attitude Estimation via MEMS Sensor Characterization

    Science.gov (United States)

    Hidalgo, Javier; Poulakis, Pantelis; Köhler, Johan; Del-Cerro, Jaime; Barrientos, Antonio

    2012-01-01

    Micro Electro-Mechanical Systems (MEMS) are currently being considered in the space sector due to its suitable level of performance for spacecrafts in terms of mechanical robustness with low power consumption, small mass and size, and significant advantage in system design and accommodation. However, there is still a lack of understanding regarding the performance and testing of these new sensors, especially in planetary robotics. This paper presents what is missing in the field: a complete methodology regarding the characterization and modeling of MEMS sensors with direct application. A reproducible and complete approach including all the intermediate steps, tools and laboratory equipment is described. The process of sensor error characterization and modeling through to the final integration in the sensor fusion scheme is explained with detail. Although the concept of fusion is relatively easy to comprehend, carefully characterizing and filtering sensor information is not an easy task and is essential for good performance. The strength of the approach has been verified with representative tests of novel high-grade MEMS inertia sensors and exemplary planetary rover platforms with promising results. PMID:22438761

  15. Mineralogical Results from the Mars Science Laboratory Rover Curiosity

    Science.gov (United States)

    Blake, David Frederick.

    2017-01-01

    NASA's CheMin instrument, the first X-ray Diffractometer flown in space, has been operating on Mars for nearly five years. CheMin was first to establish the quantitative mineralogy of the Mars global soil (1). The instrument was next used to determine the mineralogy of a 3.7 billion year old lacustrine mudstone, a result that, together with findings from other instruments on the MSL Curiosity rover, documented the first habitable environment found on another planet (2). The mineralogy of this mudstone from an ancient playa lake was also used to derive the maximum concentration of CO2 in the early Mars atmosphere, a surprisingly low value that calls into question the current theory that CO2 greenhouse warming was responsible for the warm and wet environment of early Mars. CheMin later identified the mineral tridymite, indicative of silica-rich volcanism, in mudstones of the Murray formation on Mt. Sharp. This discovery challenges the paradigm of Mars as a basaltic planet and ushers in a new chapter of comparative terrestrial planetology (3). CheMin is now being used to systematically sample the sedimentary layers that comprise the lower strata of Mt. Sharp, a 5,000 meter sequence of sedimentary rock laid down in what was once a crater lake, characterizing isochemical sediments that through their changing mineralogy, document the oxidation and drying out of the Mars in early Hesperian time.

  16. Improving planetary rover attitude estimation via MEMS sensor characterization.

    Science.gov (United States)

    Hidalgo, Javier; Poulakis, Pantelis; Köhler, Johan; Del-Cerro, Jaime; Barrientos, Antonio

    2012-01-01

    Micro Electro-Mechanical Systems (MEMS) are currently being considered in the space sector due to its suitable level of performance for spacecrafts in terms of mechanical robustness with low power consumption, small mass and size, and significant advantage in system design and accommodation. However, there is still a lack of understanding regarding the performance and testing of these new sensors, especially in planetary robotics. This paper presents what is missing in the field: a complete methodology regarding the characterization and modeling of MEMS sensors with direct application. A reproducible and complete approach including all the intermediate steps, tools and laboratory equipment is described. The process of sensor error characterization and modeling through to the final integration in the sensor fusion scheme is explained with detail. Although the concept of fusion is relatively easy to comprehend, carefully characterizing and filtering sensor information is not an easy task and is essential for good performance. The strength of the approach has been verified with representative tests of novel high-grade MEMS inertia sensors and exemplary planetary rover platforms with promising results.

  17. A DTM-based path planning method for planetary rovers

    Science.gov (United States)

    Morlans, R.; Liegeois, A.

    1993-01-01

    Algorithms that automatically find the feasible routes for a mobile robot in a partially known three dimensional environment are proposed. The system is especially devised keeping in mind a planetary rover mission. Starting with a low resolution digital terrain model (DTM), relevant points (saddle points) of the relief are first automatically extracted and a connected network of traversable lines is constructed in a 'structuralist' way: the starting points for the algorithm are the saddle points; the criteria, taking into account the smoothness and the slope of the constructed line, are used to compute the network iteratively. Lines and points of this network are used as arcs and nodes to create a search graph on which an A(star) algorithm is applied to find the optimal route minimizing traveling time or energy while insuring safety. This edge constrained solution serves to initiate shortcut finding laws allowing the vehicle to cross the regions bounded by the lines of the network. The motion across each region is characterized by a cost function computed from the elevation data: mean slope roughness. Examples using a 1000 by 1000 pixel DTM are given.

  18. Unravelling the spirits’ message: a study of help-seeking steps and explanatory models among patients suffering from spirit possession in Uganda

    Science.gov (United States)

    2014-01-01

    As in many cultures, also in Uganda spirit possession is a common idiom of distress associated with traumatic experiences. In the DSM-IV and -5, possession trance disorders can be classified as dissociative disorders. Dissociation in Western countries is associated with complicated, time-consuming and costly therapies. Patients with spirit possession in SW Uganda, however, often report partial or full recovery after treatment by traditional healers. The aim of this study is to explore how the development of symptoms concomitant help-seeking steps, and explanatory models (EM) eventually contributed to healing of patients with spirit possession in SW Uganda. Illness narratives of 119 patients with spirit possession referred by traditional healers were analysed using a mixed-method approach. Treatments of two-thirds of the patients were unsuccessful when first seeking help in the medical sector. Their initially physical symptoms subsequently developed into dissociative possession symptoms. After an average of two help-seeking steps, patients reached a healing place where 99% of them found satisfactory EM and effective healing. During healing sessions, possessing agents were summoned to identify themselves and underlying problems were addressed. Often-mentioned explanations were the following: neglect of rituals and of responsibilities towards relatives and inheritance, the call to become a healer, witchcraft, grief, and land conflicts. The results demonstrate that traditional healing processes of spirit possession can play a role in restoring connections with the supra-, inter-, intra-, and extra-human worlds. It does not always seem necessary to address individual traumatic experiences per se, which is in line with other research in this field. The study leads to additional perspectives on treatment of trauma-related dissociation in Western countries and on developing effective mental health services in low -and middle-income countries. PMID:24940355

  19. 77 FR 25382 - Proposed Amendment to the Standards of Identity for Distilled Spirits

    Science.gov (United States)

    2012-04-30

    ... amend the regulations setting forth the standards of identity for distilled spirits to include ``Cacha a... terms of TTB's current labeling regulations. The standard of identity for rum is set forth in Sec. 5.22... of Identity for Distilled Spirits AGENCY: Alcohol and Tobacco Tax and Trade Bureau, Treasury. ACTION...

  20. The Atom: Time, Space and Spirit--Keys to Scientific Literacy Series.

    Science.gov (United States)

    Stonebarger, Bill

    Discoveries, background information, and facts concerning atomic structures and atomic energy are detailed in this booklet. The discussion considers time, space, and spirit. Time refers to a sense of history; space refers to geography; and spirit refers to life and thought. Several chapters regarding the concept of the atom, a time line of the…

  1. Scientific Methods and Values: Time, Space and Spirit--Keys to Scientific Literacy Series.

    Science.gov (United States)

    Stonebarger, Bill

    This booklet considers scientific methods and values from three aspects; time, space, and spirit. Time refers to a sense of history; space refers to geography; and spirit refers to life and thought. Several chapters on the history and values of science, a time line related to the concepts, a map of the important geography related to these…

  2. The Computer: Time, Space and Spirit--Keys to Scientific Literacy Series.

    Science.gov (United States)

    Stonebarger, Bill

    This booklet about computers considers time, space, and spirit. Time refers to a sense of history; space refers to geography; and spirit referes to life and thought. Several chapters on the history and concepts of computers, a time line related to the concepts, a map of the important geography related to these concepts, a glossary of important…

  3. Ecosystems: Time, Space and Spirit--Keys to Scientific Literacy Series.

    Science.gov (United States)

    Stonebarger, Bill

    This booklet on ecosystems considers time, space, and spirit. Time refers to a sense of history; space refers to geography; and spirit refers to lfe and thought. Several chapters on the history and concepts of ecology, a time line related to the concepts, a map of the important geography related to these concepts, a glossary of important terms,…

  4. 27 CFR 19.133 - Use of distilled spirits plant premises.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Use of distilled spirits plant premises. 19.133 Section 19.133 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS DISTILLED SPIRITS PLANTS Location and Use § 19.133 Use...

  5. 27 CFR 19.134 - Bonded warehouses not on premises qualified for production of spirits.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Bonded warehouses not on premises qualified for production of spirits. 19.134 Section 19.134 Alcohol, Tobacco Products and Firearms... Location and Use § 19.134 Bonded warehouses not on premises qualified for production of spirits. (a...

  6. Radiation: Time, Space and Spirit--Keys to Scientific Literacy Series.

    Science.gov (United States)

    Stonebarger, Bill

    This discussion of radiation considers the spectrum of electromagnetic energy including light, x-rays, radioactivity, and other waves. Radiation is considered from three aspects; time, space, and spirit. Time refers to a sense of history; space refers to geography; and spirit refers to life and thought. Several chapters on the history and concepts…

  7. The Expanding Universe: Time, Space and Spirit--Keys to Scientific Literacy Series.

    Science.gov (United States)

    Stonebarger, Bill

    Nearly every culture has made important discoveries about the universe. Most cultures have searched for a better understanding of the cosmos and how the earth and human life relate. The discussion in this booklet considers time, space, and spirit. Time refers to a sense of history; space refers to geography; and spirit refers to life and thought.…

  8. 27 CFR 20.163 - Receipt and storage of specially denatured spirits.

    Science.gov (United States)

    2010-04-01

    ... of bill or lading which identifies the quantities, formula number(s), and serial numbers of... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Receipt and storage of... Spirits § 20.163 Receipt and storage of specially denatured spirits. (a) Receipt of bulk conveyances or by...

  9. 27 CFR 19.57 - Recovery and reuse of denatured spirits in manufacturing processes.

    Science.gov (United States)

    2010-04-01

    ... denatured spirits in manufacturing processes. 19.57 Section 19.57 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS DISTILLED SPIRITS PLANTS Administrative and Miscellaneous Provisions Activities Not Subject to This Part § 19.57 Recovery and reuse of...

  10. Energy and Society: Time, Space and Spirit--Keys to Scientific Literacy Series.

    Science.gov (United States)

    Stonebarger, Bill

    Humans have a large advantage over other life forms on earth in that they have been able to use their superior hand and brain power to invent ways to harness energy resources. The discussion in this booklet considers time, space, and spirit. Time refers to a sense of history; space refers to geography; and spirit refers to life and thought.…

  11. 27 CFR 24.237 - Spirits added to juice or concentrated fruit juice.

    Science.gov (United States)

    2010-04-01

    ... concentrated fruit juice. 24.237 Section 24.237 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX... concentrated fruit juice. Juice or concentrated fruit juice to which spirits have been added may not have an... fruit juice to which spirits have been added will be included in the appropriate tax class of any wine...

  12. 27 CFR 27.1 - Imported distilled spirits, wines, and beer.

    Science.gov (United States)

    2010-04-01

    ..., wines, and beer. 27.1 Section 27.1 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS IMPORTATION OF DISTILLED SPIRITS, WINES, AND BEER Scope of Regulations § 27.1 Imported distilled spirits, wines, and beer. This part, “Importation of...

  13. 27 CFR 27.48 - Imported distilled spirits, wines, and beer.

    Science.gov (United States)

    2010-04-01

    ..., wines, and beer. 27.48 Section 27.48 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS IMPORTATION OF DISTILLED SPIRITS, WINES, AND BEER Tax On Imported Distilled Spirits, Wines, and Beer Collection of Internal Revenue Taxes § 27.48 Imported...

  14. 27 CFR 27.61 - Containers of distilled spirits to bear closures.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Containers of distilled spirits to bear closures. 27.61 Section 27.61 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO... spirits to bear closures. No person shall transport, buy, possess, or sell, or transfer any imported...

  15. 27 CFR 26.135 - Containers of distilled spirits to bear closures.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Containers of distilled spirits to bear closures. 26.135 Section 26.135 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO... to bear closures. Containers of 1 gallon (3.785 liters) or less of distilled spirits, upon which all...

  16. 27 CFR 24.231 - Receipt of spirits in sealed bulk containers.

    Science.gov (United States)

    2010-04-01

    ... received at the bonded wine premises to verify that the containers are the same as those described on the... sealed bulk containers. 24.231 Section 24.231 Alcohol, Tobacco Products and Firearms ALCOHOL AND TOBACCO TAX AND TRADE BUREAU, DEPARTMENT OF THE TREASURY LIQUORS WINE Spirits § 24.231 Receipt of spirits in...

  17. 19 CFR 11.6 - Distilled spirits, wines, and malt liquors in bulk.

    Science.gov (United States)

    2010-04-01

    ... 19 Customs Duties 1 2010-04-01 2010-04-01 false Distilled spirits, wines, and malt liquors in bulk...; DEPARTMENT OF THE TREASURY PACKING AND STAMPING; MARKING Packing and Stamping § 11.6 Distilled spirits, wines..., labels, or similar devices to be placed on any bulk container used for holding, storing, transferring, or...

  18. Research on Key Technology in Remote Education System of Spirit Diagnosing by Eye in TCM

    Science.gov (United States)

    Guo, Feng; Li, Shaozi; Dai, Ying; Zhou, Changle; Lin, Ying

    2011-01-01

    Spirit diagnosing is an important theory in TCM (Traditional Chinese Medicine), by which a TCM doctor can diagnose a patient's body state. But this theory is complicated and difficult to master simply learned from books. To further the theory and skill of spirit diagnosing, in this paper, the authors propose a remote education system that can…

  19. A Facility of the Agenzia Spaziale Italiana to Test Operations, Instruments and Landing Systems for Mars Exploration: The PLANLAB Project of the Ibn Battuta Centre at Marrakech (Morocco)

    Science.gov (United States)

    Ori, G. G.; Flamini, E.; Dell'Arciprete, I.; Taj-Eddine, K.

    2009-03-01

    The Agenzia Spaziale Italiana in collaboration with the IRSPS has started a program (PLANLAB) to prepare and execute tests of rovers, landing systems, instruments and operations related to the exploration of Mars.

  20. A Comprehensive Review of Spirit Drink Safety Standards and Regulations from an International Perspective.

    Science.gov (United States)

    Pang, Xiao-Na; Li, Zhao-Jie; Chen, Jing-Yu; Gao, Li-Juan; Han, Bei-Zhong

    2017-03-01

    Standards and regulations related to spirit drinks have been established by different countries and international organizations to ensure the safety and quality of spirits. Here, we introduce the principles of food safety and quality standards for alcoholic beverages and then compare the key indicators used in the distinct standards of the Codex Alimentarius Commission, the European Union, the People's Republic of China, the United States, Canada, and Australia. We also discuss in detail the "maximum level" of the following main contaminants of spirit drinks: methanol, higher alcohols, ethyl carbamate, hydrocyanic acid, heavy metals, mycotoxins, phthalates, and aldehydes. Furthermore, the control measures used for potential hazards are introduced. Harmonization of the current requirements based on comprehensive scope analysis and the risk assessment approach will enhance both the trade and quality of distilled spirits. This review article provides valuable information that will enable producers, traders, governments, and researchers to increase their knowledge of spirit drink safety requirements, control measures, and research trends.

  1. Neurological effects of white spirit: Contribution of animal studies during a 30-year period

    DEFF Research Database (Denmark)

    Nielsen, Gunnar Damgård; Lund, Søren Peter; Ladefoged, Ole

    2006-01-01

    , but the neurophysiological tests showed adverse effects at this level. Fourth, neurophysiological methods may be more sensitive than histopathological, neurobehavioural and neurochemical methods. Overall, white spirit with a high and a low content of aromatics showed no overt difference in long-term effects in animals......Numerous studies have suggested that long-term occupational exposure to white spirit may cause chronic toxic encephalopathy (WHO 1996). This review summarizes the chronic nervous system effects of white spirit in animal studies during a 30-year period. First, routine histopathology was consistently...... unable to reveal adverse peripheral or central nervous system effects after inhalation of white spirit. Second, neurobehavioural studies in animals showed no adverse effect after inhalation of white spirit with a high content of aromatics in contrast to what was found with products with a low content...

  2. Nuclear Energy in Space Exploration

    Energy Technology Data Exchange (ETDEWEB)

    Seaborg, Glenn T.

    1968-01-01

    Nuclear space programs under development by the Atomic Energy Commission are reviewed including the Rover Program, systems for nuclear rocket propulsion and, the SNAP Program, systems for generating electric power in space. The letters S-N-A-P stands for Systems for Nuclear Auxiliary Power. Some of the projected uses of nuclear systems in space are briefly discussed including lunar orbit, lunar transportation from lunar orbit to lunar surface and base stations; planetary exploration, and longer space missions. The limitations of other sources of energy such as solar, fuel cells, and electric batteries are discussed. The excitement and visionary possibilities of the Age of Space are discussed.

  3. The Spirit counts - People at and around CERN

    CERN Multimedia

    CERN. Geneva

    2014-01-01

    After a few biographical remarks I shall concentrate on human aspects which are not covered by official documents, but which are as important to the success of CERN as scientific and technical competence. The approval of LEP, general problems of the project management and the approval of the LEP experiments under conditions never encountered before at CERN will be covered. The special spirit created at CERN based on the competence and solidarity of the CERN staff and its users made it possible to find new ways of successful international collaboration combining competition with cooperation. Career Summary Physics diploma and doctorate from Hamburg University, now Prof. emer.; research assistant at Stockholm Technical University (with Lise Meitner); Cavendish Laboratory UK (with O.R.Frisch); Cornell University (with R.R. Wilson); research in optics, nuclear and elementary particle physics. various professorships in Germany and director of university institutes; Director of DESY, Hamburg, 1973-1980...

  4. Behavioural characteristics of adulterated Premium Motor Spirit (PMS

    Directory of Open Access Journals (Sweden)

    M.C. Onojake

    2012-12-01

    Full Text Available Distillation profiles and chemical characteristics of ten suspected adulterated Premium Motor Spirit samples randomly collected from different dispensing points were analysed to determine the chemical characteristics of these samples when compared to a reference sample that is not adulterated. Results of the analyses show, Research Octane Number values ranged from 60.10 to 93.30, specific gravity ranged from 0.75 to 0.79, Reid Vapour Pressure ranged from 0.28 kgf/cm2 to 0.60 kgf/cm2 while Atmospheric distillation ranged from 189 to 251 °C. The results of this research reveal that most of the products are highly adulterated and may pose problems when sent to the market for intended end users.

  5. Acute hydrocarbon pneumonia after white spirit aspiration: sequential HRCT findings

    Energy Technology Data Exchange (ETDEWEB)

    Facon, David; Coumbaras, Jean; Bigot, Emmanuelle; Bahlouli, Fouad; Bellin, Marie-France [Universite Paris 11, Department of Radiology, Hopital Paul-Brousse, AP-HP, Villejuif Cedex (France); Boissonnas, Alain [Universite Paris 11, Department of Internal Medicine, Hopital Paul-Brousse, AP-HP, Villejuif Cedex (France)

    2005-01-01

    Hydrocarbon pneumonia is a very uncommon condition resulting from aspiration of mineral oil into the lung. We report the first description of early and sequential high-resolution computed tomographic (HRCT) findings of hydrocarbon pneumonia following attempted suicide by white spirit aspiration. Initial HRCT showed patchy opacities of coalescing masses with well-defined walls. They were visible in the middle lobe, lingula and lower lobes. Follow-up CT showed regression of the alveolar opacities, the presence of pneumatoceles and right asymptomatic pneumothorax. After 23 months of follow-up, the patient remained asymptomatic, and the follow-up CT scan was considered normal. The radiological features and a review of the relevant literature are briefly discussed. (orig.)

  6. Book Review: Gift & Giver: The Holy Spirit for Today

    Directory of Open Access Journals (Sweden)

    John Paul Lathrop

    2017-05-01

    Full Text Available Dr. Craig Keener has established himself as a highly respected New Testament scholar. Over the years he has written a number of very significant commentaries including works on the gospels of Matthew and John, and the book of Acts. His highly acclaimed IVP Bible Background Commentary: New Testament is one of his best known works. In addition, he has produced books devoted to specific biblical topics such as miracles, women in marriage and ministry, and divorce and remarriage. He is not one to shy away from controversial subjects. In this present volume Keener writes about the Holy Spirit including the sometimes controversial charismatic aspects of His ministry. Gift & Giver was first published in theUnited States in 2001. More recently it has been translated into Indonesian and published inIndonesia.

  7. Community Adaptation to the Hebei-Spirit Oil Spill

    Directory of Open Access Journals (Sweden)

    So-Min Cheong

    2012-09-01

    Full Text Available The focus of the research is the significance of dependence for communities to survive and adapt in times of environmental disasters. It shifts the emphasis on self-reliant communities for survival and examines the types and effects of dependence and external linkages by analyzing the range of community responses that include initial responses, early social impact, compensation, and conflicts after the Hebei-Spirit oil spill in December 2007 in Korea. The findings reveal that dependence is necessary, and the effects of dependence can be both positive and negative depending on the relations between external entities and affected communities as well as the community capacity to absorb resources and information.

  8. Time and History in Hegel’s Phenomenology of Spirit

    Directory of Open Access Journals (Sweden)

    Luis Mariano De La Maza

    2007-04-01

    Full Text Available Resumen:En este artículo se presenta una interpretación de las tesis fundamentales de Hegel en la Fenomenología del Espíritu acerca de la relación entre tiempo, historia y filosofía especulativa o ciencia. Para Hegel la formación de la conciencia individual hacia la ciencia se conecta con la historia universal y el concepto de la historia es inseparable del concepto del espíritu. Se distinguen los distintos sentidos del tiempo en la Fenomenología para centrar la atención principalmente en uno de ellos, que corresponde a la organización fenomenológico-conceptual de la historia. Finalmente, se ofrece una reflexión sobre la cuestión más general de la relación entre filosofía y temporalidad desde una perspectiva actual.Abstract:This article offers an interpretation of Hegel's fundamental theses in the Phenomenology of spirit concerning the relationship between time, history and speculative philosophy or science. For Hegel, the formation of individual consciousness is connected to world history, and the concept of history is inseparable from the concept of spirit. The different senses of time in the Phenomenology are distinguished, and special attention is given to one of them, the phenomenological-conceptual organization of history. Finally, some thoughts are provided on the more general question of the relationship between philosophy and temporality from a contemporary point of view.

  9. Ethnic related variations from the cass model of homosexual identity formation: the experiences of two-spirit, lesbian and gay Native Americans.

    Science.gov (United States)

    Adams, Heather L; Phillips, Layli

    2009-01-01

    Synthesis of current research with the self-stories of Native American two-spirit, lesbian and gay people suggests differences in social locations that may produce sexual orientation identity development processes absent from the current literature. We employed a modified form of grounded theory analysis to explore the identity experiences of six self-identified two-spirit, lesbian or gay Native Americans recounted during in-depth interviews. The resulting five themes are presented with quotes from participants for clarification and support, along with a discussion of their fit with the Cass Model of Homosexual Identity Development and interpersonal congruency theory. Results suggest two developmental pathways, one following the course of Cass' model and a second path notable for its absence of many of the key experiences specified by Cass.

  10. 27 CFR 28.41 - Evidence of lading for use on vessels or aircraft: distilled spirits and wine.

    Science.gov (United States)

    2010-04-01

    ... 27 Alcohol, Tobacco Products and Firearms 1 2010-04-01 2010-04-01 false Evidence of lading for use on vessels or aircraft: distilled spirits and wine. 28.41 Section 28.41 Alcohol, Tobacco Products and... vessels or aircraft: distilled spirits and wine. The lading of distilled spirits or wine for use on...

  11. 41 CFR 102-41.205 - Do we report all forfeited distilled spirits, wine, and beer to GSA for disposal?

    Science.gov (United States)

    2010-07-01

    ... forfeited distilled spirits, wine, and beer to GSA for disposal? 102-41.205 Section 102-41.205 Public..., and Beer § 102-41.205 Do we report all forfeited distilled spirits, wine, and beer to GSA for disposal? (a) Yes, except do not report distilled spirits, wine, and beer not fit for human consumption or for...

  12. Design and Preliminary Thermal Performance of the Mars Science Laboratory Rover Heat Exchangers

    Science.gov (United States)

    Mastropietro, A. J.; Beatty, John; Kelly, Frank; Birur, Gajanana; Bhandari, Pradeep; Pauken, Michael; Illsley, Peter; Liu, Yuanming; Bame, David; Miller, Jennifer

    2010-01-01

    The challenging range of proposed landing sites for the Mars Science Laboratory Rover requires a rover thermal management system that is capable of keeping temperatures controlled across a wide variety of environmental conditions. On the Martian surface where temperatures can be as cold as -123 degrees Centigrade and as warm as 38 degrees Centigrade, the Rover relies upon a Mechanically Pumped Fluid Loop (MPFL) and external radiators to maintain the temperature of sensitive electronics and science instruments within a -40 degrees Centigrade to 50 degrees Centigrade range. The MPFL also manages significant waste heat generated from the Rover power source, known as the Multi Mission Radioisotope Thermoelectric Generator (MMRTG). The MMRTG produces 110 Watts of electrical power while generating waste heat equivalent to approximately 2000 Watts. Two similar Heat Exchanger (HX) assemblies were designed to both acquire the heat from the MMRTG and radiate waste heat from the onboard electronics to the surrounding Martian environment. Heat acquisition is accomplished on the interior surface of each HX while heat rejection is accomplished on the exterior surface of each HX. Since these two surfaces need to be at very different temperatures in order for the MPFL to perform efficiently, they need to be thermally isolated from one another. The HXs were therefore designed for high in-plane thermal conductivity and extremely low through-thickness thermal conductivity by using aerogel as an insulator inside composite honeycomb sandwich panels. A complex assembly of hand welded and uniquely bent aluminum tubes are bonded onto the HX panels and were specifically designed to be easily mated and demated to the rest of the Rover Heat Recovery and Rejection System (RHRS) in order to ease the integration effort. During the cruise phase to Mars, the HX assemblies serve the additional function of transferring heat from the Rover MPFL to the separate Cruise Stage MPFL so that heat

  13. Winds measured by the Rover Environmental Monitoring Station (REMS) during Curiosity's Bagnold Dunes Campaign

    Science.gov (United States)

    Newman, Claire E.; Gomez-Elvira, Javier; Navarro Lopez, Sara; Marin Jimenez, Mercedes; Torres Redondo, Josefina; Richardson, Mark I.

    2016-10-01

    Curiosity's damaged wind sensor has trouble measuring winds coming from behind the rover, due to the loss of its side-pointing boom during landing. During the Bagnold Dunes Campaign, however, the rover was turned to permit measurements of winds from missing directions, capturing upslope/downslope day-night flow on the slopes of Aeolis Mons and blocking of wind in the lee of a dune.The rover's heading is generally determined by the drive direction and often varies little over many tens of sols. Good wind measurements are made when the wind comes from the hemisphere to the front of the rover, but there are sometimes long periods during which winds from certain directions (i.e., at certain times of sol) are largely missed. Since rover turns are often precluded by rover safety and other operational constraints, it is usually not possible to turn to measure such winds properly.During the Bagnold Dunes Campaign, wind measurements were prioritized to provide context for aeolian dune studies. Rover headings were optimized for three wind investigations covering a period of about 90 sols. The first investigation characterized the wind field on approach to the dunes, with the rover turned to face two unusual headings for several sols each and monitoring focused on the 'missing' winds / times of sol. This confirmed the expected primary wind pattern of daytime roughly upslope winds (from ~NW/N) and nighttime downslope winds (from ~S/SE) on the slopes of Aeolis Mons, with significant sol-to-sol variability in e.g. the timing of the reversals. Comparison with the previous year suggests an increasingly upslope-downslope pattern as Curiosity approached the slope.The second investigation studied changes to the wind pattern in the lee of the Namib Dune. This revealed the blocking of northerly winds by the large dune, leaving primarily a westerly component to the daytime winds with weaker wind speeds.The third investigation characterized the wind field at the side of Namib Dune. The

  14. Fiery Spirits in the context of institutional entrepreneurship in Swedish healthcare.

    Science.gov (United States)

    Eriksson, Nomie; Ujvari, Sandor

    2015-01-01

    Clinical governance and leadership concepts can lead to more or less successful implementations of new clinical practice. The purpose of this paper is to examine how Fiery Spirits, as institutional entrepreneurs can, working in a team, implement sustained change in hospital clinical practice. This paper describes two case studies, conducted at two Swedish hospitals over a period of two years, in which changes in clinical practice were implemented. In both cases, key-actors, termed Fiery Spirits, played critical roles in these changes. The authors use a qualitative approach and take an intra-organizational perspective with semi-structured in-depth interviews and document analysis. The new clinical practices were successfully implemented with a considerable influence of the Fiery Spirits who played a pivotal role in the change efforts. The Fiery Spirits persuasively, based on their structural and normative legitimacy and the adoption of learning processes, advocated, and supported change. Fiery Spirits, given flexibility and opportunity, can be powerful forces for change outside the trajectory of management-inspired and management-directed change. Team members, when inspired and encouraged by Fiery Spirits, are less resistant to change and more willing to test new clinical practices. The paper complements literature on how the Fiery Spirit concept aligns with concepts of clinical governance and leadership and how change can be achieved. Additionally, the findings show the effects of legitimacy and learning processes on change in clinical practice.

  15. Chemical profile of sugarcane spirits produced by double distillation methodologies in rectifying still

    Directory of Open Access Journals (Sweden)

    André Ricardo Alcarde

    2011-06-01

    Full Text Available The objective of this study was to determine the chemical profile of sugarcane spirits produced by different double distillation methodologies in rectifying still. Fermented sugarcane juice was distilled in rectifying still according to three double distillation methodologies: the methodology used for cognac production; the methodology used for whisky production; and the 10-80-10 percentage composition methodology, referring to the volumes of head, heart and tail of the distillate fractions from the second distillation. For comparison purposes, a simple distilled spirit was also produced. The distillates were analyzed for concentrations of ethanol, copper, volatile acidity, furfural and hydroxymethylfurfural, aldehydes, esters, methanol and higher alcohols. The spirits were also evaluated on the sensory attributes of aroma, taste and preference. Compared to simple distillation, double distillation improved the chemical quality of the spirits, since it has reduced the concentrations of acids, aldehydes, esters, methanol, higher alcohols and, consequently, their coefficient of congeners. Regardless of the methodology employed, the double distillation improved the sensory quality of the spirits since they obtained higher sensory acceptance in relation to spirits produced by simple distillation. Among double distilled spirits, the one produced according to whisky methodology obtained the best scores from appraisers on the aroma and flavor parameters and it was also the most preferred.

  16. Contamination Knowledge Strategy for the Mars 2020 Sample-Collecting Rover

    Science.gov (United States)

    Farley, K. A.; Williford, K.; Beaty, D W.; McSween, H. Y.; Czaja, A. D.; Goreva, Y. S.; Hausrath, E.; Herd, C. D. K.; Humayun, M.; McCubbin, F. M.; hide

    2017-01-01

    The Mars 2020 rover will collect carefully selected samples of rock and regolith as it explores a potentially habitable ancient environment on Mars. Using the drill, rock cores and regolith will be collected directly into ultraclean sample tubes that are hermetically sealed and, later, deposited on the surface of Mars for potential return to Earth by a subsequent mission. Thorough characterization of any contamination of the samples at the time of their analysis will be essential for achieving the objectives of Mars returned sample science (RSS). We refer to this characterization as contamination knowledge (CK), which is distinct from contamination control (CC). CC is the set of activities that limits the input of contaminating species into a sample, and is specified by requirement thresholds. CK consists of identifying and characterizing both potential and realized contamination to better inform scientific investigations of the returned samples. Based on lessons learned by other sample return missions with contamination-sensitive scientific objectives, CC needs to be "owned" by engineering, but CK needs to be "owned" by science. Contamination present at the time of sample analysis will reflect the sum of contributions from all contamination vectors up to that point in time. For this reason, understanding the integrated history of contamination may be crucial for deciphering potentially confusing contaminant-sensitive observations. Thus, CK collected during the Mars sample return (MSR) campaign must cover the time period from the initiation of hardware construction through analysis of returned samples in labs on Earth. Because of the disciplinary breadth of the scientific objectives of MSR, CK must include a broad spectrum of contaminants covering inorganic (i.e., major, minor, and trace elements), organic, and biological molecules and materials.

  17. Possible use of pattern recognition for the analysis of Mars rover X-ray fluorescence spectra

    Science.gov (United States)

    Yin, Lo I; Trombka, Jacob I.; Seltzer, Stephen M.; Johnson, Robert G.; Philpotts, John A.

    1989-01-01

    On the Mars rover sample-return mission, the rover vehicle will collect and select samples from different locations on the Martian surface to be brought back to earth for laboratory studies. It is anticipated that an in situ energy-dispersive X-ray fluorescence (XRF) spectrometer will be on board the rover. On such a mission, sample selection is of higher priority than in situ quantitative chemical anlaysis. With this in mind, a pattern recognition technique is proposed as a simple, direct, and speedy alternative to detailed chemical analysis of the XRF spectra. The validity and efficacy of the pattern recognition technique are demonstrated by the analyses of laboratory XRF spectra obtained from a series of geological samples, in the form both of standardized pressed pellets and as unprepared rocks. It is found that pattern recognition techniques applied to the raw XRF spectra can provide for the same discrimination among samples as a knowledge of their actual chemical composition.

  18. a Performance Comparison of Feature Detectors for Planetary Rover Mapping and Localization

    Science.gov (United States)

    Wan, W.; Peng, M.; Xing, Y.; Wang, Y.; Liu, Z.; Di, K.; Teng, B.; Mao, X.; Zhao, Q.; Xin, X.; Jia, M.

    2017-07-01

    Feature detection and matching are key techniques in computer vision and robotics, and have been successfully implemented in many fields. So far there is no performance comparison of feature detectors and matching methods for planetary mapping and rover localization using rover stereo images. In this research, we present a comprehensive evaluation and comparison of six feature detectors, including Moravec, Förstner, Harris, FAST, SIFT and SURF, aiming for optimal implementation of feature-based matching in planetary surface environment. To facilitate quantitative analysis, a series of evaluation criteria, including distribution evenness of matched points, coverage of detected points, and feature matching accuracy, are developed in the research. In order to perform exhaustive evaluation, stereo images, simulated under different baseline, pitch angle, and interval of adjacent rover locations, are taken as experimental data source. The comparison results show that SIFT offers the best overall performance, especially it is less sensitive to changes of image taken at adjacent locations.

  19. Ethanol as Internal Standard for Quantitative Determination of Volatile Compounds in Spirit Drinks by Gas Chromatography

    CERN Document Server

    Charapitsa, Siarhei V; Kulevich, Nikita V; Makoed, Nicolai M; Mazanik, Arkadzi L; Sytova, Svetlana N

    2012-01-01

    The new methodical approach of using ethanol as internal standard in gas chromatographic analysis of volatile compounds in spirit drinks in daily practice of testing laboratories is proposed. This method provides determination of volatile compounds concentrations in spirit drinks directly expressed in milligrams per liter (mg/L) of absolute alcohol according to official methods without measuring of alcohol strength of analyzed sample. The experimental demonstration of this method for determination of volatile compounds in spirit drinks by gas chromatography is described. Its validation was carried out by comparison with experimental results obtained by internal standard method and external standard method.

  20. Behavioural effects in rats after prenatal exposure to dearomatized white spirit

    DEFF Research Database (Denmark)

    Hass, Ulla; Ladefoged, Ole; Lam, H.R.

    2001-01-01

    The purpose of the study was to investigate the potential developmental neurotoxicity of the widely used organic solvent, white spirit. Rats (Mol:WIST) were exposed to 0 or 800 ppm dearomatized white spirit for 6 hr per day on gestation days 7-20. Developmental and neurobehavioural effects...... months, learning and memory deficits were observed in exposed offspring. The differences were not related to poorer swimming capabilities. because swim speeds were similar to control values. The results show that prenatal exposure to 800 ppm white spirit caused longlasting learning and memory deficits...