WorldWideScience

Sample records for terrestrial rover field

  1. Lunar polar rover science operations: Lessons learned and mission architecture implications derived from the Mojave Volatiles Prospector (MVP) terrestrial field campaign

    Science.gov (United States)

    Heldmann, Jennifer L.; Colaprete, Anthony; Elphic, Richard C.; Lim, Darlene; Deans, Matthew; Cook, Amanda; Roush, Ted; Skok, J. R.; Button, Nicole E.; Karunatillake, S.; Stoker, Carol; Marquez, Jessica J.; Shirley, Mark; Kobayashi, Linda; Lees, David; Bresina, John; Hunt, Rusty

    2016-08-01

    The Mojave Volatiles Prospector (MVP) project is a science-driven field program with the goal of producing critical knowledge for conducting robotic exploration of the Moon. Specifically, MVP focuses on studying a lunar mission analog to characterize the form and distribution of lunar volatiles. Although lunar volatiles are known to be present near the poles of the Moon, the three dimensional distribution and physical characteristics of lunar polar volatiles are largely unknown. A landed mission with the ability to traverse the lunar surface is thus required to characterize the spatial distribution of lunar polar volatiles. NASA's Resource Prospector (RP) mission is a lunar polar rover mission that will operate primarily in sunlit regions near a lunar pole with near-real time operations to characterize the vertical and horizontal distribution of volatiles. The MVP project was conducted as a field campaign relevant to the RP lunar mission to provide science, payload, and operational lessons learned to the development of a real-time, short-duration lunar polar volatiles prospecting mission. To achieve these goals, the MVP project conducted a simulated lunar rover mission to investigate the composition and distribution of surface and subsurface volatiles in a natural environment with an unknown volatile distribution within the Mojave Desert, improving our understanding of how to find, characterize, and access volatiles on the Moon.

  2. Comparative Field Tests of Pressurised Rover Prototypes

    Science.gov (United States)

    Mann, G. A.; Wood, N. B.; Clarke, J. D.; Piechochinski, S.; Bamsey, M.; Laing, J. H.

    The conceptual designs, interior layouts and operational performances of three pressurised rover prototypes - Aonia, ARES and Everest - were field tested during a recent simulation at the Mars Desert Research Station in Utah. A human factors experiment, in which the same crew of three executed the same simulated science mission in each of the three vehicles, yielded comparative data on the capacity of each vehicle to safely and comfortably carry explorers away from the main base, enter and exit the vehicle in spacesuits, perform science tasks in the field, and manage geological and biological samples. As well as offering recommendations for design improvements for specific vehicles, the results suggest that a conventional Sports Utility Vehicle (SUV) would not be suitable for analog field work; that a pressurised docking tunnel to the main habitat is essential; that better provisions for spacesuit storage are required; and that a crew consisting of one driver/navigator and two field science crew specialists may be optimal. From a field operations viewpoint, a recurring conflict between rover and habitat crews at the time of return to the habitat was observed. An analysis of these incidents leads to proposed refinements of operational protocols, specific crew training for rover returns and again points to the need for a pressurised docking tunnel. Sound field testing, circulating of results, and building the lessons learned into new vehicles is advocated as a way of producing ever higher fidelity rover analogues.

  3. TU Berlin Rover Family for Terrestrial Testing of Complex Planetary Mission Scenarios

    Science.gov (United States)

    Kryza, L.; Brieß, K.

    2018-04-01

    The TU Berlin has developed a family of planetary rovers for educational use and research activities. The paper will introduce these cost-effective systems, which can be used for analogue mission demonstration on Earth.

  4. Visual Prediction of Rover Slip: Learning Algorithms and Field Experiments

    Science.gov (United States)

    2008-01-01

    of the terrain slope [29]. The results are also specific to the vehicle. For example, a small design modification in the pattern of the wheels can...robot has two front differential drive wheels and two rear caster wheels . 2This difference is not directly relevant to the goals of this work. 22 Figure...rover pose and is a quantity which measures the lack of progress of a wheeled ground robot while traversing some terrain. A trivial example of large

  5. 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.

  6. 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.

  7. Characterization of terrestrial hydrothermal alteration products with Mars analog instrumentation: Implications for current and future rover investigations

    Science.gov (United States)

    Black, Sarah R.; Hynek, Brian M.

    2018-06-01

    Interpretation of Martian geology relies heavily on our understanding of terrestrial analog deposits and our ability to obtain comprehensive and accurate mineralogical compositions. Many previous studies of terrestrial hydrothermal deposits relied on limited datasets and/or did not use instruments analogous to those deployed on Mars. We analyzed 100 hydrothermally altered basalts from Costa Rica, Nicaragua, and Iceland with Mars analog Visible to Short Wave Infrared (VSWIR) spectroscopy, X-ray Diffraction (XRD), and Raman laser spectrometry. Alteration mineralogy consisted of amorphous and crystalline SiO2 (cristobalite, tridymite, quartz), Ca/Al/Fe/Mg-sulfates (gypsum, anhydrite, alunite, jarosite, hexahydrite, alunogen), Fe-, Ti-, and Mg-oxides/hydroxides (hematite, goethite, anatase/brookite, brucite), elemental sulfur, and phyllosilicates (montmorillonite, kaolinite). Results indicate VSWIR is best suited for identification of X-ray amorphous materials such as hydrated SiO2 and phyllosilicates, while XRD is best utilized for highly ordered crystalline materials such as sulfates, crystalline SiO2 polymorphs, elemental sulfur, and Mg-hydroxides identification. Surprisingly, XRD had the lowest identification rates for Fe-oxides/hydroxides (42% compared to 61% and 75% for VNIR and Raman, respectively), and nearly equal identification rates as VSWIR for kaolinite (76% for VSWIR, 71% for XRD). Identification of phyllosilicates in XRD, while possible, is not as effective as VSWIR without extensive sample preparation. Our observed identification rates may be attributed to the relative abundance of materials-Fe-oxides/hydroxides being present as surface coatings, the presence of large amounts of kaolinite in some samples, and an increased particle size for kaolinite relative to other clays. Elemental sulfur and Fe- and Ti-oxides/hydroxides were more readily identified with Raman. With NASA's current focus on habitability, hydrothermally altered areas-which we know to

  8. 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.

  9. First results from the Mojave Volatiles Prospector (MVP) Field Campaign, a Lunar Polar Rover Mission Analog

    Science.gov (United States)

    Heldmann, J. L.; Colaprete, A.; Cook, A.; Deans, M. C.; Elphic, R. C.; Lim, D. S. S.; Skok, J. R.

    2014-12-01

    The Mojave Volatiles Prospector (MVP) project is a science-driven field program with the goal to produce critical knowledge for conducting robotic exploration of the Moon. MVP will feed science, payload, and operational lessons learned to the development of a real-time, short-duration lunar polar volatiles prospecting mission. MVP achieves these goals through a simulated lunar rover mission to investigate the composition and distribution of surface and subsurface volatiles in a natural and a priori unknown environment within the Mojave Desert, improving our understanding of how to find, characterize, and access volatiles on the Moon. The MVP field site is the Mojave Desert, selected for its low, naturally occurring water abundance. The Mojave typically has on the order of 2-6% water, making it a suitable lunar analog for this field test. MVP uses the Near Infrared and Visible Spectrometer Subsystem (NIRVSS), Neutron Spectrometer Subsystem (NSS), and a downward facing GroundCam camera on the KREX-2 rover to investigate the relationship between the distribution of volatiles and soil crust variation. Through this investigation, we mature robotic in situ instruments and concepts of instrument operations, improve ground software tools for real time science, and carry out publishable research on the water cycle and its connection to geomorphology and mineralogy in desert environments. A lunar polar rover mission is unlike prior space missions and requires a new concept of operations. The rover must navigate 3-5 km of terrain and examine multiple sites in in just ~6 days. Operational decisions must be made in real time, requiring constant situational awareness, data analysis and rapid turnaround decision support tools. This presentation will focus on the first science results and operational architecture findings from the MVP field deployment relevant to a lunar polar rover mission.

  10. Scaling up high throughput field phenotyping of corn and soy research plots using ground rovers

    Science.gov (United States)

    Peshlov, Boyan; Nakarmi, Akash; Baldwin, Steven; Essner, Scott; French, Jasenka

    2017-05-01

    Crop improvement programs require large and meticulous selection processes that effectively and accurately collect and analyze data to generate quality plant products as efficiently as possible, develop superior cropping and/or crop improvement methods. Typically, data collection for such testing is performed by field teams using hand-held instruments or manually-controlled devices. Although steps are taken to reduce error, the data collected in such manner can be unreliable due to human error and fatigue, which reduces the ability to make accurate selection decisions. Monsanto engineering teams have developed a high-clearance mobile platform (Rover) as a step towards high throughput and high accuracy phenotyping at an industrial scale. The rovers are equipped with GPS navigation, multiple cameras and sensors and on-board computers to acquire data and compute plant vigor metrics per plot. The supporting IT systems enable automatic path planning, plot identification, image and point cloud data QA/QC and near real-time analysis where results are streamed to enterprise databases for additional statistical analysis and product advancement decisions. Since the rover program was launched in North America in 2013, the number of research plots we can analyze in a growing season has expanded dramatically. This work describes some of the successes and challenges in scaling up of the rover platform for automated phenotyping to enable science at scale.

  11. Rover Technologies

    Data.gov (United States)

    National Aeronautics and Space Administration — Develop and mature rover technologies supporting robotic exploration including rover design, controlling rovers over time delay and for exploring . Technology...

  12. 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.

  13. Search for life on Mars in surface samples: Lessons from the 1999 Marsokhod rover field experiment

    Science.gov (United States)

    Newsom, Horton E.; Bishop, J.L.; Cockell, C.; Roush, T.L.; Johnson, J. R.

    2001-01-01

    The Marsokhod 1999 field experiment in the Mojave Desert included a simulation of a rover-based sample selection mission. As part of this mission, a test was made of strategies and analytical techniques for identifying past or present life in environments expected to be present on Mars. A combination of visual clues from high-resolution images and the detection of an important biomolecule (chlorophyll) with visible/near-infrared (NIR) spectroscopy led to the successful identification of a rock with evidence of cryptoendolithic organisms. The sample was identified in high-resolution images (3 times the resolution of the Imager for Mars Pathfinder camera) on the basis of a green tinge and textural information suggesting the presence of a thin, partially missing exfoliating layer revealing the organisms. The presence of chlorophyll bands in similar samples was observed in visible/NIR spectra of samples in the field and later confirmed in the laboratory using the same spectrometer. Raman spectroscopy in the laboratory, simulating a remote measurement technique, also detected evidence of carotenoids in samples from the same area. Laboratory analysis confirmed that the subsurface layer of the rock is inhabited by a community of coccoid Chroococcidioposis cyanobacteria. The identification of minerals in the field, including carbonates and serpentine, that are associated with aqueous processes was also demonstrated using the visible/NIR spectrometer. Other lessons learned that are applicable to future rover missions include the benefits of web-based programs for target selection and for daily mission planning and the need for involvement of the science team in optimizing image compression schemes based on the retention of visual signature characteristics. Copyright 2000 by the American Geophysical Union.

  14. Nomad rover field experiment, Atacama Desert, Chile 1. Science results overview

    Science.gov (United States)

    Cabrol, N. A.; Thomas, G.; Witzke, B.

    2001-04-01

    Nomad was deployed for a 45 day traverse in the Atacama Desert, Chile, during the summer of 1997. During this traverse, 1 week was devoted to science experiments. The goal of the science experiments was to test different planetary surface exploration strategies that included (1) a Mars mission simulation, (2) a science on the fly experiment, where the rover was kept moving 75% of the operation time. (The goal of this operation was to determine whether or not successful interpretation of the environment is related to the time spent on a target. The role of mobility in helping the interpretation was also assessed.) (3) a meteorite search using visual and instrumental methods to remotely identify meteorites in extreme environments, and (4) a time-delay experiment with and without using the panospheric camera. The results were as follow: the remote science team positively identified the main characteristics of the test site geological environment. The science on the fly experiment showed that the selection of appropriate targets might be even more critical than the time spent on a study area to reconstruct the history of a site. During the same operation the science team members identified and sampled a rock from a Jurassic outcrop that they proposed to be a fossil. The presence of paleolife indicators in this rock was confirmed later by laboratory analysis. Both visual and instrumental modes demonstrated the feasibility, in at least some conditions, of carrying out a field search for meteorites by using remote-controlled vehicles. Finally, metrics collected from the observation of the science team operations, and the use team members made of mission data, provided critical information on what operation sequences could be automated on board rovers in future planetary surface explorations.

  15. Smart Rotorcraft Field Assistants for Terrestrial and Planetary Science

    Science.gov (United States)

    Young, Larry A.; Aiken, Edwin W.; Briggs, Geoffrey A.

    2004-01-01

    Field science in extreme terrestrial environments is often difficult and sometimes dangerous. Field seasons are also often short in duration. Robotic field assistants, particularly small highly mobile rotary-wing platforms, have the potential to significantly augment a field season's scientific return on investment for geology and astrobiology researchers by providing an entirely new suite of sophisticated field tools. Robotic rotorcraft and other vertical lift planetary aerial vehicle also hold promise for supporting planetary science missions.

  16. Measurement of the terrestrial magnetic field and its anomalies

    International Nuclear Information System (INIS)

    Duret, D.

    1994-01-01

    After a presentation of the terrestrial magnetic field and its various anomalies, the different types of magnetometers commonly used are reviewed with their characteristics and performances: scalar magnetometers (free precession and continuous polarization proton magnetometers, dynamic polarization proton magnetometers, optical pumping magnetometers, electronic resonance scalar magnetometers (without pumping)); vectorial magnetometers (flux gate magnetometers, induction magnetometers, suspended magnet magnetometers, superconducting magnetometers, integrated magnetometers, resonance directional magnetometers). The magnetometry market and applications are discussed. 20 figs., 9 tabs., 72 refs

  17. Measuring planetary field parameters by scattered "SSSS" from the Husar-5 Rover

    Science.gov (United States)

    Lang, A.; Kocsis, A.; Balaskó, D.; Csóka, B.; Molnar, B.; Sztojka, A.; Bejó, M.; Joób, Z.

    2017-09-01

    HUSAR-5 Rover reloaded: 2 years ago the Hunveyor-Husar Team in our school made yet a similar project. The ground idea was, we try to keep step with the main trends in the space research, in our recent case with the so called MSSM (Micro Sized Space- Mothership) and NPSDR (Nano, Pico Space Devices and Robots). [1]Of course, we do not want to scatter the smaller probe-cubes from a mothership, but from the Husar rover, and to do it on the planetary surface after landing. We have fabricated the rover with the ejecting tower and we have shown it on the EPSC 2015.The word "reloaded" means not only a new shape of the bullets, but a new mission with a new team. There are more pupils working in this project. The new bullets "SSSS" will be printed by a 3D printer.The microcontroller in bullets can be programmed with Arduino, so the "new generation" is able to do it.

  18. 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.

  19. GIS Methodology for Planning Planetary-Rover Operations

    Science.gov (United States)

    Powell, Mark; Norris, Jeffrey; Fox, Jason; Rabe, Kenneth; Shu, I-Hsiang

    2007-01-01

    A document describes a methodology for utilizing image data downlinked from cameras aboard a robotic ground vehicle (rover) on a remote planet for analyzing and planning operations of the vehicle and of any associated spacecraft. Traditionally, the cataloging and presentation of large numbers of downlinked planetary-exploration images have been done by use of two organizational methods: temporal organization and correlation between activity plans and images. In contrast, the present methodology involves spatial indexing of image data by use of the computational discipline of geographic information systems (GIS), which has been maturing in terrestrial applications for decades, but, until now, has not been widely used in support of exploration of remote planets. The use of GIS to catalog data products for analysis is intended to increase efficiency and effectiveness in planning rover operations, just as GIS has proven to be a source of powerful computational tools in such terrestrial endeavors as law enforcement, military strategic planning, surveying, political science, and epidemiology. The use of GIS also satisfies the need for a map-based user interface that is intuitive to rover-activity planners, many of whom are deeply familiar with maps and know how to use them effectively in field geology.

  20. Field trial of a dual-wavelength fluorescent emission (L.I.F.E.) instrument and the Magma White rover during the MARS2013 Mars analog mission.

    Science.gov (United States)

    Groemer, Gernot; Sattler, Birgit; Weisleitner, Klemens; Hunger, Lars; Kohstall, Christoph; Frisch, Albert; Józefowicz, Mateusz; Meszyński, Sebastian; Storrie-Lombardi, Michael; Bothe, Claudia; Boyd, Andrea; Dinkelaker, Aline; Dissertori, Markus; Fasching, David; Fischer, Monika; Föger, Daniel; Foresta, Luca; Frischauf, Norbert; Fritsch, Lukas; Fuchs, Harald; Gautsch, Christoph; Gerard, Stephan; Goetzloff, Linda; Gołebiowska, Izabella; Gorur, Paavan; Groemer, Gerhard; Groll, Petra; Haider, Christian; Haider, Olivia; Hauth, Eva; Hauth, Stefan; Hettrich, Sebastian; Jais, Wolfgang; Jones, Natalie; Taj-Eddine, Kamal; Karl, Alexander; Kauerhoff, Tilo; Khan, Muhammad Shadab; Kjeldsen, Andreas; Klauck, Jan; Losiak, Anna; Luger, Markus; Luger, Thomas; Luger, Ulrich; McArthur, Jane; Moser, Linda; Neuner, Julia; Orgel, Csilla; Ori, Gian Gabriele; Paternesi, Roberta; Peschier, Jarno; Pfeil, Isabella; Prock, Silvia; Radinger, Josef; Ragonig, Christoph; Ramirez, Barbara; Ramo, Wissam; Rampey, Mike; Sams, Arnold; Sams, Elisabeth; Sams, Sebastian; Sandu, Oana; Sans, Alejandra; Sansone, Petra; Scheer, Daniela; Schildhammer, Daniel; Scornet, Quentin; Sejkora, Nina; Soucek, Alexander; Stadler, Andrea; Stummer, Florian; Stumptner, Willibald; Taraba, Michael; Tlustos, Reinhard; Toferer, Ernst; Turetschek, Thomas; Winter, Egon; Zanella-Kux, Katja

    2014-05-01

    Abstract We have developed a portable dual-wavelength laser fluorescence spectrometer as part of a multi-instrument optical probe to characterize mineral, organic, and microbial species in extreme environments. Operating at 405 and 532 nm, the instrument was originally designed for use by human explorers to produce a laser-induced fluorescence emission (L.I.F.E.) spectral database of the mineral and organic molecules found in the microbial communities of Earth's cryosphere. Recently, our team had the opportunity to explore the strengths and limitations of the instrument when it was deployed on a remote-controlled Mars analog rover. In February 2013, the instrument was deployed on board the Magma White rover platform during the MARS2013 Mars analog field mission in the Kess Kess formation near Erfoud, Morocco. During these tests, we followed tele-science work flows pertinent to Mars surface missions in a simulated spaceflight environment. We report on the L.I.F.E. instrument setup, data processing, and performance during field trials. A pilot postmission laboratory analysis determined that rock samples acquired during the field mission exhibited a fluorescence signal from the Sun-exposed side characteristic of chlorophyll a following excitation at 405 nm. A weak fluorescence response to excitation at 532 nm may have originated from another microbial photosynthetic pigment, phycoerythrin, but final assignment awaits development of a comprehensive database of mineral and organic fluorescence spectra. No chlorophyll fluorescence signal was detected from the shaded underside of the samples.

  1. Overview of Initial Results From Studies of the Bagnold Dune Field on Mars by the Curiosity Rover

    Science.gov (United States)

    Bridges, Nathan; Ehlmann, Bethany; Ewing, Ryan; Newman, Claire; Sullivan, Robert; Conrad, Pamela; Cousin, Agnes; Edgett, Kenneth; Fisk, Martin; Fraeman, Abigail; Johnson, Jeffrey; Lamb, Michael; Lapotre, Mathieu; Le Mouélic, Stéphane; Martinez, German; Meslin, Pierre-Yves; Thompson, Lucy; van Beek, Jason; Vasavada, Ashwin; Wiens, Roger

    2016-04-01

    The Curiosity Rover is currently studying the Bagnold Dunes in Gale Crater. Here we provide a general overview of results and note that other EGU presentations will focus on specific aspects. The in situ activities have not yet occurred as of this writing, but other analyses have been performed approaching and within the dunefield. ChemCam passive spectra of Bagnold Dune sands are consistent with the presence of olivine. Two APXS spots on the High Dune stoss slope margin, and two others in an engineering test sand patch, show less inferred dust, greater Si, and higher Fe/Mn than other "soils" in Gale Crater. ChemCam analyses of more than 300 soils along the Curiosity traverse show that both fine and coarse soils have increasing iron and alkali content as the Bagnold Dunes are approached, a trend that may reflect admixtures of local rocks (alkalis + iron) to the fines, but also a contribution of Bagnold-like sand (iron) that increases toward the dunefield. MAHLI images of sands on the lower east stoss slope of High Dune show medium and coarse sand in ripple forms, and very fine and fine sand in ripple troughs. Most grains are dark gray, but some are also brick-red/brown, white, green translucent, yellow, brown" colorless translucent, or vitreous spheres HiRISE orbital images show that the Bagnold Dunes migrate on the order of decimeters or more per Earth year. Prior to entering the dune field, wind disruption of dump piles and grain movement was observed over multi-sol time spans, demonstrating that winds are of sufficient strength to mobilize unconsolidated material, either through direct aerodynamic force or via the action of smaller impacting grains. Within the dune field, we are, as of this writing, engaged in change detection experiments with Mastcam and ChemCam's RMI camera. Data we have so far, spanning 8 sols from the same location, shows no changes. Mastcam and RMI images of the stoss sides of Namib, Noctivaga, and High Dune show that the "ripples" seen

  2. August 1972 solar-terrestrial events: interplanetary magnetic field observations

    Energy Technology Data Exchange (ETDEWEB)

    Smith, E J [Jet Propulsion Lab., Pasadena, Calif. (USA)

    1976-10-01

    A review is presented of the interplanetary magnetic field observations acquired in early August 1972 when four solar flares erupted in McMath Plage region 1976. Measurements of the interplanetary field were obtained by Earth satellites, HEOS-2 and Explorer 41, and by Pioneers 9 and 10 which, by good fortune, were radially aligned and only 45/sup 0/ east of the Earth-Sun direction. In response to the four flares, four interplanetary shocks were seen at Earth and at Pioneer 9, which was then at a heliocentric distance of 0.78 AU. However, at Pioneer 10, which was 2.2 AU from the Sun, only two forward shocks and one reverse shock were seen. The available magnetic field data acquired in the vicinity of the shocks are presented. Efforts to identify corresponding shocks at the several locations and to deduce their velocities of propagation between 0.8 and 2.2 AU are reviewed. The early studies were based on average velocities between the Sun and Pioneer 9, the Sun and Earth and the Sun and Pioneer 10. A large deceleration of the shocks between the Sun and 0.8 AU as well as between 0.8 and 2.2 AU was inferred. More recently the local velocities of the shocks at Pioneers 9 and 10 have become available. A comparision of these velocities shows little, if any, deceleration between 0.8 and 2.2 AU and implies that most or all of the deceleration actually occurred nearer the Sun. Evidence is also presented that shows a significant departure of the flare-generated shock fronts from spherical symmetry.

  3. Determining Symmetry Properties of Gravitational Fields of Terrestrial Group Planets

    Directory of Open Access Journals (Sweden)

    R.A. Kascheev

    2016-09-01

    Full Text Available Numerous models of gravity fields of the Solar system bodies have been constructed recently owing to successful space missions. These models are sets of harmonic coefficients of gravity potential expansion in series of spherical functions, which is Laplace series. The sets of coefficients are different in quantity of numerical parameters, sources and composition of the initial observational data, methods to obtain and process them, and, consequently, in a variety of properties and accuracy characteristics. For this reason, the task of comparison of different models of celestial bodies considered in the paper is of interest and relevant. The main purpose of this study is comparison of the models of gravitational potential of the Earth, Moon, Mars, and Venus with the quantitative criteria of different types of symmetries developed by us. It is assumed that some particular symmetry of the density distribution function of the planetary body causes similar symmetry of its gravitational potential. The symmetry of gravitational potential, in its turn, imposes additional conditions (restrictions, which must be satisfied by the harmonic coefficients. The paper deals with seven main types of symmetries: central, axial, two symmetries specular relative to the equatorial planes and prime meridian, as well as three rotational symmetries (at π angle around the coordinate system axes. According to the results of calculations carried out for the Earth, Moon, Mars, and Venus, the values of the criteria vary considerably for different types of symmetries and for different planets. It means that the specific value of each criterion corresponding to a particular celestial body is indicative of the properties and internal structure characteristics of the latter and, therefore, it can be used as a tool for comparative planetology. On the basis of the performed calculations, it is possible to distinguish two groups of celestial bodies having similar properties of

  4. Night Rover Challenge

    Data.gov (United States)

    National Aeronautics and Space Administration — The objective of the Night Rover Challenge was to foster innovations in energy storage technology. Specifically, this challenge asked competitors to create an energy...

  5. 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.

  6. Characterizing Tropical Forest Structure using Field-based Measurements and a Terrestrial Lidar

    Science.gov (United States)

    Palace, M. W.; Sullivan, F.; Ducey, M. J.; Herrick, C.

    2015-12-01

    Forest structure comprises numerous quantifiable components of forest biometric characteristics, one of which is tree architecture. This structural component is important in the understanding of the past and future trajectories of these biomes. Tropical forests are often considered the most structurally complex and yet least understood of forested ecosystems. New technologies have provided novel avenues for quantifying properties of forested ecosystems, one of which is LIght Detection And Ranging (lidar). This sensor can be deployed on satellite, aircraft, unmanned aerial vehicles, and terrestrial platforms. In this study we examined the efficacy of a terrestrial lidar scanner (TLS) system in a tropical forest to estimate forest structure. Our study was conducted in January 2012 at La Selva, Costa Rica at twenty locations in predominantly undisturbed forest. At these locations we collected field measured biometric attributes using a variable plot design. We also collected TLS data from the center of each plot. Using this data we developed relative vegetation profiles (RVPs) and calculated a series of parameters including entropy, FFT, number of layers and plant area index to develop statistical relationships with field data. We developed statistical models using multiple linear regressions, all of which converged on statistically significant relationships with the strongest relationship being for mean crown depth (r2 = 0.87, p information on tropical forest structure.

  7. STATISTICALLY DETERMINED DISPERSION RELATIONS OF MAGNETIC FIELD FLUCTUATIONS IN THE TERRESTRIAL FORESHOCK

    International Nuclear Information System (INIS)

    Hnat, B.; O’Connell, D.; Nakariakov, V. M.; Sundberg, T.

    2016-01-01

    We obtain dispersion relations of magnetic field fluctuations for two crossings of the terrestrial foreshock by Cluster spacecraft. These crossings cover plasma conditions that differ significantly in their plasma β and in the density of the reflected ion beam, but not in the properties of the encountered ion population, both showing shell-like distribution function. Dispersion relations are reconstructed using two-point instantaneous wave number estimations from pairs of Cluster spacecraft. The accessible range of wave vectors, limited by the available spacecraft separations, extends to ≈2 × 10 4 km. Results show multiple branches of dispersion relations, associated with different powers of magnetic field fluctuations. We find that sunward propagating fast magnetosonic waves and beam resonant modes are dominant for the high plasma β interval with a dense beam, while the dispersions of the interval with low beam density include Alfvén and fast magnetosonic modes propagating sunward and anti-sunward.

  8. STATISTICALLY DETERMINED DISPERSION RELATIONS OF MAGNETIC FIELD FLUCTUATIONS IN THE TERRESTRIAL FORESHOCK

    Energy Technology Data Exchange (ETDEWEB)

    Hnat, B.; O’Connell, D.; Nakariakov, V. M. [Centre for Fusion, Space and Astrophysics, University of Warwick (United Kingdom); Sundberg, T., E-mail: B.Hnat@warwick.ac.uk [School of Physics and Astronomy, Queen Mary University of London (United Kingdom)

    2016-08-20

    We obtain dispersion relations of magnetic field fluctuations for two crossings of the terrestrial foreshock by Cluster spacecraft. These crossings cover plasma conditions that differ significantly in their plasma β and in the density of the reflected ion beam, but not in the properties of the encountered ion population, both showing shell-like distribution function. Dispersion relations are reconstructed using two-point instantaneous wave number estimations from pairs of Cluster spacecraft. The accessible range of wave vectors, limited by the available spacecraft separations, extends to ≈2 × 10{sup 4} km. Results show multiple branches of dispersion relations, associated with different powers of magnetic field fluctuations. We find that sunward propagating fast magnetosonic waves and beam resonant modes are dominant for the high plasma β interval with a dense beam, while the dispersions of the interval with low beam density include Alfvén and fast magnetosonic modes propagating sunward and anti-sunward.

  9. 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.

  10. Rover waste assay system

    International Nuclear Information System (INIS)

    Akers, D.W.; Stoots, C.M.; Kraft, N.C.; Marts, D.J.

    1997-01-01

    The Rover Waste Assay System (RWAS) is a nondestructive assay system designed for the rapid assay of highly-enriched 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 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

  11. Ambler - An autonomous rover for planetary exploration

    Science.gov (United States)

    Bares, John; Hebert, Martial; Kanade, Takeo; Krotkov, Eric; Mitchell, Tom

    1989-01-01

    The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.

  12. Chemistry, mineralogy, and grain properties at Namib and High dunes, Bagnold dune field, Gale crater, Mars: A synthesis of Curiosity rover observations.

    Science.gov (United States)

    Ehlmann, B L; Edgett, K S; Sutter, B; Achilles, C N; Litvak, M L; Lapotre, M G A; Sullivan, R; Fraeman, A A; Arvidson, R E; Blake, D F; Bridges, N T; Conrad, P G; Cousin, A; Downs, R T; Gabriel, T S J; Gellert, R; Hamilton, V E; Hardgrove, C; Johnson, J R; Kuhn, S; Mahaffy, P R; Maurice, S; McHenry, M; Meslin, P-Y; Ming, D W; Minitti, M E; Morookian, J M; Morris, R V; O'Connell-Cooper, C D; Pinet, P C; Rowland, S K; Schröder, S; Siebach, K L; Stein, N T; Thompson, L M; Vaniman, D T; Vasavada, A R; Wellington, D F; Wiens, R C; Yen, A S

    2017-12-01

    The Mars Science Laboratory Curiosity rover performed coordinated measurements to examine the textures and compositions of aeolian sands in the active Bagnold dune field. The Bagnold sands are rounded to subrounded, very fine to medium sized (~45-500 μm) with ≥6 distinct grain colors. In contrast to sands examined by Curiosity in a dust-covered, inactive bedform called Rocknest and soils at other landing sites, Bagnold sands are darker, less red, better sorted, have fewer silt-sized or smaller grains, and show no evidence for cohesion. Nevertheless, Bagnold mineralogy and Rocknest mineralogy are similar with plagioclase, olivine, and pyroxenes in similar proportions comprising >90% of crystalline phases, along with a substantial amorphous component (35% ± 15%). Yet Bagnold and Rocknest bulk chemistry differ. Bagnold sands are Si enriched relative to other soils at Gale crater, and H 2 O, S, and Cl are lower relative to all previously measured Martian soils and most Gale crater rocks. Mg, Ni, Fe, and Mn are enriched in the coarse-sieved fraction of Bagnold sands, corroborated by visible/near-infrared spectra that suggest enrichment of olivine. Collectively, patterns in major element chemistry and volatile release data indicate two distinctive volatile reservoirs in Martian soils: (1) amorphous components in the sand-sized fraction (represented by Bagnold) that are Si-enriched, hydroxylated alteration products and/or H 2 O- or OH-bearing impact or volcanic glasses and (2) amorphous components in the fine fraction (<40 μm; represented by Rocknest and other bright soils) that are Fe, S, and Cl enriched with low Si and adsorbed and structural H 2 O.

  13. Preparing to Test Rover Mobility

    Science.gov (United States)

    2005-01-01

    Rover engineers prepare a mixture of sandy and powdery materials to simulate some difficult Mars driving conditions inside a facility at NASA's Jet Propulsion Laboratory, Pasadena, Calif. The tests in early May 2005 were designed to help plan the best way for the rover Opportunity to drive off of a soft-sand dune that the rover dug itself into the previous week.

  14. Bringing Terramechanics to bear on Planetary Rover Design

    Science.gov (United States)

    Richter, L.

    2007-08-01

    Thus far, planetary rovers have been successfully operated on the Earth's moon and on Mars. In particular, the two NASA Mars Exploration Rovers (MERs) ,Spirit' and ,Opportunity' are still in sustained daily operations at two sites on Mars more than 3 years after landing there. Currently, several new planetary rover missions are in development targeting Mars (the US Mars Science Lab vehicle for launch in 2009 and ESA's ExoMars rover for launch in 2013), with lunar rover missions under study by China and Japan for launches around 2012. Moreover, the US Constellation program is preparing pre-development of lunar rovers for initially unmanned and, subsequently, human missions to the Moon with a corresponding team dedicated to mobility system development having been set up at the NASA Glenn Research Center. Given this dynamic environment, it was found timely to establish an expert group on off-the-road mobility as relevant for robotic vehicles that would involve individuals representing the various on-going efforts on the different continents. This was realized through the International Society of Terrain-Vehicle Systems (ISTVS), a research organisation devoted to terramechanics and to the ,science' of off-the-road vehicle development which as a result is just now establishing a Technical Group on Terrestrial and Planetary Rovers. Members represent space-related as well as military research institutes and universities from the US, Germany, Italy, and Japan. The group's charter for 2007 is to define its objectives, functions, organizational structure and recommended research objectives to support planetary rover design and development. Expected areas of activity of the ISTVS-sponsored group include: the problem of terrain specification for planetary rovers; identification of limitations in modelling of rover mobility; a survey of existing rover mobility testbeds; the consolidation of mobility predictive models and their state of validation; sensing and real

  15. 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.

  16. Static terrestrial laser scanning of juvenile understory trees for field phenotyping

    Science.gov (United States)

    Wang, Huanhuan; Lin, Yi

    2014-11-01

    This study was to attempt the cutting-edge 3D remote sensing technique of static terrestrial laser scanning (TLS) for parametric 3D reconstruction of juvenile understory trees. The data for test was collected with a Leica HDS6100 TLS system in a single-scan way. The geometrical structures of juvenile understory trees are extracted by model fitting. Cones are used to model trunks and branches. Principal component analysis (PCA) is adopted to calculate their major axes. Coordinate transformation and orthogonal projection are used to estimate the parameters of the cones. Then, AutoCAD is utilized to simulate the morphological characteristics of the understory trees, and to add secondary branches and leaves in a random way. Comparison of the reference values and the estimated values gives the regression equation and shows that the proposed algorithm of extracting parameters is credible. The results have basically verified the applicability of TLS for field phenotyping of juvenile understory trees.

  17. Green Ocean Amazon 2014/15 Terrestrial Ecosystem Project (Geco) Field Campaign Report

    Energy Technology Data Exchange (ETDEWEB)

    Jardine, Kolby [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

    2016-06-01

    In conjunction with the U.S. Department of Energy (DOE)’s Atmospheric Radiation Measurement (ARM) Climate Research Facility GoAmazon campaign, the Terrestrial Ecosystem Science (TES)-funded Green Ocean Amazon (GoAmazon 2014/15) terrestrial ecosystem project (Geco) was designed to: • evaluate the strengths and weaknesses of leaf-level algorithms for biogenic volatile organic compounds (BVOCs) emissions in Amazon forests near Manaus, Brazil, and • conduct mechanistic field studies to characterize biochemical and physiological processes governing leaf- and landscape-scale tropical forest BVOC emissions, and the influence of environmental drivers that are expected to change with a warming climate. Through a close interaction between modeling and observational activities, including the training of MS and PhD graduate students, post-doctoral students, and technicians at the National Institute for Amazon Research (INPA), the study aimed at improving the representation of BVOC-mediated biosphere-atmosphere interactions and feedbacks under a warming climate. BVOCs can form cloud condensation nuclei (CCN) that influence precipitation dynamics and modify the quality of down welling radiation for photosynthesis. However, our ability to represent these coupled biosphere-atmosphere processes in Earth system models suffers from poor understanding of the functions, identities, quantities, and seasonal patterns of BVOC emissions from tropical forests as well as their biological and environmental controls. The Model of Emissions of Gases and Aerosols from Nature (MEGAN), the current BVOC sub-model of the Community Earth System Model (CESM), was evaluated to explore mechanistic controls over BVOC emissions. Based on that analysis, a combination of observations and experiments were studied in forests near Manaus, Brazil, to test existing parameterizations and algorithm structures in MEGAN. The model was actively modified as needed to improve tropical BVOC emission simulations on

  18. Electron Acceleration by Stochastic Electric Fields in Thunderstorms: Terrestrial Gamma-Ray Flashes

    Science.gov (United States)

    Alnussirat, S.; Miller, J. A.; Christian, H. J., Jr.; Fishman, G. J.

    2016-12-01

    Terrestrial gamma-ray flashes (TGFs) are energetic pulses of photons, which are intense and short, originating in the atmosphere during thunderstorm activity. Despite the number of observations, the production mechanism(s) of TGFs and other energetic particles is not well understood. However, two mechanisms have been suggested as a source of TGFs: (1) the relativistic runaway electron avalanche mechanism (RREA), and (2) the lightning leader mechanism. The RREA can account for the TGF observations, but requires restrictive or unrealistic assumptions. The lightning leader channel is also expected to produce runaway electrons, but through inhomogeneous, small scale, strong electric fields. In this work we use the Boltzmann equation to model the electron acceleration by the lightning leader mechanism, and we derive the gamma-ray spectrum from the electron distribution function. The electric fields at the tip of the leaders are assumed to be stochastic in space and time. Since the physics involved in the lightening leader is not known, we test different cases of the stochastic acceleration agent. From this modeling we hope to investigate the possibility and efficiency of stochastic acceleration in thunderstorm.

  19. Field studies on the terrestrial behavior of actinide elements in East Tennessee

    International Nuclear Information System (INIS)

    Garten, C.T. Jr.; Bondietti, E.A.; Trabalka, J.R.; Walker, R.L.; Scott, T.G.

    1984-01-01

    Field studies on the comparative uptake of various actinide elements ( 232 Th, 233 U, 238 U, 239 Pu, 241 Am, and 244 Cm) by plants and animals inhabiting historically contaminated environments on the Oak Ridge National Laboratory (ORNL) reservation in East Tennessee are summarized. The present-day pattern of actinide element bioaccumulation from a flood plain site contaminated with Pu in 1944 is U > Th approx. Pu. Thus the environmentally dispersed 239 Pu exhibits a transfer from floodplain soil to biota comparable to that of indigenous 232 Th and less than that of the indigenous 238 U. This ranking agrees with the chemical extractability of U, Th, and Pu from soil, using either weak acids or strongly basic reagents. The pattern of actinide element uptake from the shoreline of a historically contaminated pond is Pu 238 U = 233 U. This ranking also agrees with the chemical extractability of Pu, Am, Cm, and U from shoreline sediment, using weak acids. Results from field studies at ORNL agree with what has been generally inferred about the relative food chain transfer of the actinides, based on laboratory studies and field studies at other sites in the United States. Because they share the same valence state, there are apparent strong similarities in soil sorption, plant uptake, and animal uptake between trivalent Am and Cm and between tetravalent Pu and Th. Available evidence suggests that knowledge of the behavior of naturally occurring 232 Th in the terrestrial food chain can be useful for predicting the long-term fate of environmentally dispersed 239 Pu, while data on 238 U might be used to place an upper limit on the expected long-term food chain transfer of all transuranic elements except Np. 33 references, 5 figures, 1 table

  20. 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

  1. 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.

  2. Measurement of the terrestrial magnetic field and its anomalies; Mesures du champ magnetique terrestre et de ses anomalies

    Energy Technology Data Exchange (ETDEWEB)

    Duret, D.

    1994-12-31

    After a presentation of the terrestrial magnetic field and its various anomalies, the different types of magnetometers commonly used are reviewed with their characteristics and performances: scalar magnetometers (free precession and continuous polarization proton magnetometers, dynamic polarization proton magnetometers, optical pumping magnetometers, electronic resonance scalar magnetometers (without pumping)); vectorial magnetometers (flux gate magnetometers, induction magnetometers, suspended magnet magnetometers, superconducting magnetometers, integrated magnetometers, resonance directional magnetometers). The magnetometry market and applications are discussed. 20 figs., 9 tabs., 72 refs.

  3. Scout Rover Applications for Forward Acquisition of Soil and Terrain Data

    Science.gov (United States)

    Sonsalla, R.; Ahmed, M.; Fritsche, M.; Akpo, J.; Voegele, T.

    2014-04-01

    As opposed to the present mars exploration missions future mission concepts ask for a fast and safe traverse through vast and varied expanses of terrain. As seen during the Mars Exploration Rover (MER) mission the rovers suffered a lack of detailed soil and terrain information which caused Spirit to get permanently stuck in soft soil. The goal of the FASTER1 EU-FP7 project is to improve the mission safety and the effective traverse speed for planetary rover exploration by determining the traversability of the terrain and lowering the risk to enter hazardous areas. To achieve these goals, a scout rover will be used for soil and terrain sensing ahead of the main rover. This paper describes a highly mobile, and versatile micro scout rover that is used for soil and terrain sensing and is able to co-operate with a primary rover as part of the FASTER approach. The general reference mission idea and concept is addressed within this paper along with top-level requirements derived from the proposed ESA/NASA Mars Sample Return mission (MSR) [4]. Following the mission concept and requirements [3], a concept study for scout rover design and operations has been performed [5]. Based on this study the baseline for the Coyote II rover was designed and built as shown in Figure 1. Coyote II is equipped with a novel locomotion concept, providing high all terrain mobility and allowing to perform side-to-side steering maneuvers which reduce the soil disturbance as compared to common skid steering [6]. The rover serves as test platform for various scout rover application tests ranging from locomotion testing to dual rover operations. From the lessons learned from Coyote II and for an enhanced design, a second generation rover (namely Coyote III) as shown in Figure 2 is being built. This rover serves as scout rover platform for the envisaged FASTER proof of concept field trials. The rover design is based on the test results gained by the Coyote II trials. Coyote III is equipped with two

  4. 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

  5. Field evidence for transfer of plastic debris along a terrestrial food chain

    NARCIS (Netherlands)

    Huerta Lwanga, Esperanza; Mendoza Vega, Jorge; Ku Quej, Victor; Angeles Chi, de los Jesus; Sanchez del Cid, Lucero; Chi, Cesar; Escalona Segura, Griselda; Gertsen, Henny; Salánki, Tamás; Ploeg, van der Martine; Koelmans, Bart; Geissen, Violette

    2017-01-01

    Although plastic pollution happens globally, the micro- (<5 mm) and macroplastic (5–150 mm) transfer of plastic to terrestrial species relevant to human consumption has not been examined. We provide first-time evidence for micro- and macroplastic transfer from soil to chickens in traditional

  6. A vision system for a Mars rover

    Science.gov (United States)

    Wilcox, Brian H.; Gennery, Donald B.; Mishkin, Andrew H.; Cooper, Brian K.; Lawton, Teri B.; Lay, N. Keith; Katzmann, Steven P.

    1988-01-01

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

  7. 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

  8. Onboard autonomous mineral detectors for Mars rovers

    Science.gov (United States)

    Gilmore, M. S.; Bornstein, B.; Castano, R.; Merrill, M.; Greenwood, J.

    2005-12-01

    Mars rovers and orbiters currently collect far more data than can be downlinked to Earth, which reduces mission science return; this problem will be exacerbated by future rovers of enhanced capabilities and lifetimes. We are developing onboard intelligence sufficient to extract geologically meaningful data from spectrometer measurements of soil and rock samples, and thus to guide the selection, measurement and return of these data from significant targets at Mars. Here we report on techniques to construct mineral detectors capable of running on current and future rover and orbital hardware. We focus on carbonate and sulfate minerals which are of particular geologic importance because they can signal the presence of water and possibly life. Sulfates have also been discovered at the Eagle and Endurance craters in Meridiani Planum by the Mars Exploration Rover (MER) Opportunity and at other regions on Mars by the OMEGA instrument aboard Mars Express. We have developed highly accurate artificial neural network (ANN) and Support Vector Machine (SVM) based detectors capable of identifying calcite (CaCO3) and jarosite (KFe3(SO4)2(OH)6) in the visible/NIR (350-2500 nm) spectra of both laboratory specimens and rocks in Mars analogue field environments. To train the detectors, we used a generative model to create 1000s of linear mixtures of library end-member spectra in geologically realistic percentages. We have also augmented the model to include nonlinear mixing based on Hapke's models of bidirectional reflectance spectroscopy. Both detectors perform well on the spectra of real rocks that contain intimate mixtures of minerals, rocks in natural field environments, calcite covered by Mars analogue dust, and AVIRIS hyperspectral cubes. We will discuss the comparison of ANN and SVM classifiers for this task, technical challenges (weathering rinds, atmospheric compositions, and computational complexity), and plans for integration of these detectors into both the Coupled Layer

  9. Field evidence for transfer of plastic debris along a terrestrial food chain

    OpenAIRE

    Huerta Lwanga, Esperanza; Mendoza Vega, Jorge; Ku Quej, Victor; Chi, Jesus de los Angeles; Sanchez del Cid, Lucero; Chi, Cesar; Escalona Segura, Griselda; Gertsen, Henny; Salánki, Tamás; van der Ploeg, Martine; Koelmans, Albert A.; Geissen, Violette

    2017-01-01

    Although plastic pollution happens globally, the micro- (<5 mm) and macroplastic (5–150 mm) transfer of plastic to terrestrial species relevant to human consumption has not been examined. We provide first-time evidence for micro- and macroplastic transfer from soil to chickens in traditional Mayan home gardens in Southeast Mexico where waste mismanagement is common. We assessed micro- and macroplastic in soil, earthworm casts, chicken feces, crops and gizzards (used for human consumption)....

  10. 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.

  11. Terrestrial magnetosphere

    International Nuclear Information System (INIS)

    Pande, D.C.; Agarwal, D.C.

    1982-01-01

    This paper presents a review about terrestrial magnetosphere. During the last few years considerable investigation have been carried out about the properties of Solar Wind and its interaction with planetary magnetic fields. It is therefore of high importance to accumulate all the investigations in a comprehensive form. The paper reviews the property of earth's magnetosphere, magnetosheath, magneto pause, polar cusps, bow shook and plasma sheath. (author)

  12. Field evidence for transfer of plastic debris along a terrestrial food chain.

    Science.gov (United States)

    Huerta Lwanga, Esperanza; Mendoza Vega, Jorge; Ku Quej, Victor; Chi, Jesus de Los Angeles; Sanchez Del Cid, Lucero; Chi, Cesar; Escalona Segura, Griselda; Gertsen, Henny; Salánki, Tamás; van der Ploeg, Martine; Koelmans, Albert A; Geissen, Violette

    2017-10-26

    Although plastic pollution happens globally, the micro- (plastic to terrestrial species relevant to human consumption has not been examined. We provide first-time evidence for micro- and macroplastic transfer from soil to chickens in traditional Mayan home gardens in Southeast Mexico where waste mismanagement is common. We assessed micro- and macroplastic in soil, earthworm casts, chicken feces, crops and gizzards (used for human consumption). Microplastic concentrations increased from soil (0.87 ± 1.9 particles g -1 ), to earthworm casts (14.8 ± 28.8 particles g -1 ), to chicken feces (129.8 ± 82.3 particles g -1 ). Chicken gizzards contained 10.2 ± 13.8 microplastic particles, while no microplastic was found in crops. An average of 45.82 ± 42.6 macroplastic particles were found per gizzard and 11 ± 15.3 macroplastic particles per crop, with 1-10 mm particles being significantly more abundant per gizzard (31.8 ± 27.27 particles) compared to the crop (1 ± 2.2 particles). The data show that micro- and macroplastic are capable of entering terrestrial food webs.

  13. Planetary rover robotics experiment in education: carbonate rock collecting experiment of the Husar-5 rover

    Science.gov (United States)

    Szalay, Kristóf; Lang, Ágota; Horváth, Tamás; Prajczer, Péter; Bérczi, Szaniszló

    2013-04-01

    Introduction: The new experiment for the Husar-5 educational space probe rover consists of steps of the technology of procedure of finding carbonate speci-mens among the rocks on the field. 3 main steps were robotized: 1) identification of carbonate by acid test, 2) measuring the gases liberated by acid, and 3) magnetic test. Construction of the experiment: The basis of the robotic realization of the experiment is a romote-controlled rover which can move on the field. Onto this rover the mechanism of the experiments were built from Technics LEGO elements and we used LEGO-motors for making move these experiments. The operation was coordinated by an NXT-brick which was suitable to programming. Fort he acetic-test the drops should be passed to the selected area. Passing a drop to a locality: From the small holder of the acid using densified gas we pump some drop onto the selected rock. We promote this process by pumpig the atmospheric gas into another small gas-container, so we have another higher pressure gas there. This is pumped into the acid-holder. The effect of the reaction is observed by a wireless onboard camera In the next step we can identify the the liberated gas by the gas sensor. Using it we can confirm the liberation of the CO2 gas without outer observer. The third step is the controll of the paramagnetic properties.. In measuring this feature a LEGO-compass is our instrumentation. We use a electric current gener-ated magnet. During the measurements both the coil and the gas-sensor should be positioned to be near to the surface. This means, that a lowering and an uplifting machinery should be constructed. Summary: The sequence of the measurement is the following. 1) the camera - after giving panorama images - turns toward the soil surface, 2) the dropping onto the rock surface 3) at the same time the gas-sensor starts to move down above the rock 4) the compass sensor also moves down on the arm which holds both the gas-sensor and the compass-sensor 5

  14. Structural parallels between terrestrial microbialites and Martian sediments: are all cases of `Pareidolia'?

    Science.gov (United States)

    Rizzo, Vincenzo; Cantasano, Nicola

    2017-10-01

    The study analyses possible parallels of the microbialite-known structures with a set of similar settings selected by a systematic investigation from the wide record and data set of images shot by NASA rovers. Terrestrial cases involve structures both due to bio-mineralization processes and those induced by bacterial metabolism, that occur in a dimensional field longer than 0.1 mm, at micro, meso and macro scales. The study highlights occurrence on Martian sediments of widespread structures like microspherules, often organized into some higher-order settings. Such structures also occur on terrestrial stromatolites in a great variety of `Microscopic Induced Sedimentary Structures', such as voids, gas domes and layer deformations of microbial mats. We present a suite of analogies so compelling (i.e. different scales of morphological, structural and conceptual relevance), to make the case that similarities between Martian sediment structures and terrestrial microbialites are not all cases of `Pareidolia'.

  15. Exomars 2018 Rover Pasteur Payload

    Science.gov (United States)

    Debus, Andre; Bacher, M.; Ball, A.; Barcos, O.; Bethge, B.; Gaubert, F.; Haldemann, A.; Lindner, R.; Pacros, A.; Trautner, R.; Vag, J.

    ars programme is a joint ESA-NASA program having exobiology as one of the key science objectives. It is divided into 2 missions: the first mission is ESA-led with an ESA orbiter and an ESA Entry, Descent and Landing (EDL) demonstrator, launched in 2016 by NASA, and the second mission is NASA-led, launched in 2018 by NASA carrying an ESA rover and a NASA rover both deployed by a single NASA EDL system. For ESA, the ExoMars programme will demonstrate key flight and in situ enabling technologies in support of the European ambitions for future exploration missions, as outlined in the Aurora Declaration. While the ExoMars 2016 mission will accomplish a technological objective (Entry, Descent and Landing of a payload on the surface) and a Scientific objective (investigation of Martian atmospheric trace gases and their sources, focussing particularly on methane), the ExoMars 2018 ESA Rover will carry a comprehensive and coherent suite of analytical instruments dedicated to exobiology and geology research: the Pasteur Payload (PPL). This payload includes a selection of complementary instruments, having the following goals: to search for signs of past and present life on Mars and to investigate the water/geochemical environment as a function of depth in the shallow subsurface. The ExoMars Rover includes a drill for accessing underground materials, and a Sample Preparation and Distribution System. The Rover will travel several kilometres looking for sites warranting further investigation, where it will collect and analyse samples from within outcrops and from the subsurface for traces of complex organic molecules. In addition to further details on this Exomars 2018 rover mission, this presentation will focus on the scientific objectives and the instruments needed to achieve them, including details of how the Pasteur Payload as a whole addresses Mars research objectives.

  16. 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.

  17. CRAFT: Collaborative Rover and Astronauts Future Technology

    Science.gov (United States)

    Da-Poian, V. D. P.; Koryanov, V. V. K.

    2018-02-01

    Our project is focusing on the relationship between astronauts and rovers to best work together during surface explorations. Robots will help and assist astronauts, and will also work autonomously. Our project is to develop this type of rover.

  18. (Nearly) Seven Years on Mars: Adventure, Adversity, and Achievements with the NASA Mars Exploration Rovers Spirit and Opportunity

    Science.gov (United States)

    Bell, J. F.; Mars Exploration Rover Science; Engineering Teams

    2010-12-01

    NASA successfully landed twin rovers, Spirit and Opportunity, on Mars in January 2004, in the most ambitious mission of robotic exploration attempted to that time. Each rover is outfitted as a robot field geologist with an impressive array of scientific instruments--cameras, spectrometers, other sensors--designed to investigate the composition and geologic history of two distinctly-different landing sites. The sites were chosen because of their potential to reveal clues about the past history of water and climate on Mars, and thus to provide tests of the hypothesis that the planet may once have been an abode for life. In this presentation I will review the images, spectra, and chemical/mineralogic information that the rover team has been acquiring from the landing sites and along the rovers' 7.7 and 22.7 km traverse paths, respectively. The data and interpretations have been widely shared with the public and the scientific community through web sites, frequent press releases, and scientific publications, and they provide quantitative evidence that liquid water has played a role in the modification of the Martian surface during the earliest part of the planet's history. At the Spirit site in Gusev Crater, the role of water appears to have been relatively minor in general, although the recent discovery of enigmatic hydrated sulfate salt and amorphous silica deposits suggests that locally there may have been significant water-rock interactions, and perhaps even sustained hydrothermal activity. At the Opportunity site in Meridiani Planum, geologic and mineralogic evidence suggests that liquid water was stable at the surface and shallow subsurface for significant periods of early Martian geologic history. An exciting implication from both missions is that localized environments on early Mars may have been "habitable" by some terrestrial standards. As of early September 2010, the rovers had operated for 2210 and 2347 Martian days (sols), respectively, with the Spirit

  19. Intercomparison of Terrestrial Laser Scanning Instruments for Assessing Forested Ecosystems: A Brisbane Field Experiment

    Science.gov (United States)

    Armston, J.; Newnham, G.; Strahler, A. H.; Schaaf, C.; Danson, M.; Gaulton, R.; Zhang, Z.; Disney, M.; Sparrow, B.; Phinn, S. R.; Schaefer, M.; Burt, A.; Counter, S.; Erb, A.; Goodwin, N.; Hancock, S.; Howe, G.; Johansen, K.; Li, Z.; Lollback, G.; Martel, J.; Muir, J.; Paynter, I.; Saenz, E.; Scarth, P.; Tindall, D.; Walker, L.; Witte, C.; Woodgate, W.; Wu, S.

    2013-12-01

    During 28th July - 3rd August, 2013, an international group of researchers brought five terrestrial laser scanners (TLS) to long-term monitoring plots in three eucalyptus-dominated woodland sites near Brisbane, Queensland, Australia, to acquire scans at common locations for calibration and intercomparison.They included: DWEL - a dual-wavelength full-waveform laser scanner (Boston U., U. Massachusetts Lowell, U. Massachusetts Boston, USA) SALCA - a dual-wavelength full-waveform laser scanner (U. Salford, UK) CBL - a canopy biomass lidar, a small ultraportable low-cost multiple discrete return scanner (U. Massachusetts Boston, USA) Riegl VZ400 - a survey-grade commercial waveform scanner (Queensland Government and TERN, U. Queensland, Australia) FARO Focus 3D - a lightweight commercial phase-shift ranging laser scanner (U. Southern Queensland) Two plots were scanned at Karawatha Forest Park, a Terrestrial Ecosystem Research Network (TERN) Supersite, and one plot at D'Aguilar National Park. At each 50 x 100 m plot, a center scan point was surrounded by four scan points located 25 m away in a cross pattern allowing for 3-D reconstructions of scan sites in the form of point clouds. At several center points, multiple instrument configurations (i.e. different beam divergence, angular resolution, pulse rate) were acquired to test the impact of instrument specifications on separation of woody and non-woody materials and estimation of vegetation structure parameters. Three-dimensional Photopoint photographic panoramas were also acquired, providing reconstructions of stems in the form of point clouds using photogrammetric correlation methods. Calibrated reflectance targets were also scanned to compare instrument geometric and radiometric performance. Ancillary data included hemispherical photos, TRAC LAI/clumping measurements, spectra of leaves, bark, litter, and other target components. Wet and dry leaf weights determined water content. Planned intercomparison topics and

  20. Predicting sublethal effects of herbicides on terrestrial non-crop plant species in the field from greenhouse data

    International Nuclear Information System (INIS)

    Riemens, Marleen M.; Dueck, Thom; Kempenaar, Corne

    2008-01-01

    Guidelines provided by OECD and EPPO allow the use of data obtained in greenhouse experiments in the risk assessment for pesticides to non-target terrestrial plants in the field. The present study was undertaken to investigate the predictability of effects on field-grown plants using greenhouse data. In addition, the influence of plant development stage on plant sensitivity and herbicide efficacy, the influence of the surrounding vegetation on individual plant sensitivity and of sublethal herbicide doses on the biomass, recovery and reproduction of non-crop plants was studied. Results show that in the future, it might well be possible to translate results from greenhouse experiments to field situations, given sufficient experimental data. The results also suggest consequences at the population level. Even when only marginal effects on the biomass of non-target plants are expected, their seed production and thereby survival at the population level may be negatively affected. - The response of greenhouse-grown wild plant species to herbicide exposure could be related to the response of the same species when grown in the field

  1. 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.

  2. Mars Science Laboratory Rover System Thermal Test

    Science.gov (United States)

    Novak, Keith S.; Kempenaar, Joshua E.; Liu, Yuanming; Bhandari, Pradeep; Dudik, Brenda A.

    2012-01-01

    On November 26, 2011, NASA launched a large (900 kg) rover as part of the Mars Science Laboratory (MSL) mission to Mars. The MSL rover is scheduled to land on Mars on August 5, 2012. Prior to launch, the Rover was successfully operated in simulated mission extreme environments during a 16-day long Rover System Thermal Test (STT). This paper describes the MSL Rover STT, test planning, test execution, test results, thermal model correlation and flight predictions. The rover was tested in the JPL 25-Foot Diameter Space Simulator Facility at the Jet Propulsion Laboratory (JPL). The Rover operated in simulated Cruise (vacuum) and Mars Surface environments (8 Torr nitrogen gas) with mission extreme hot and cold boundary conditions. A Xenon lamp solar simulator was used to impose simulated solar loads on the rover during a bounding hot case and during a simulated Mars diurnal test case. All thermal hardware was exercised and performed nominally. The Rover Heat Rejection System, a liquid-phase fluid loop used to transport heat in and out of the electronics boxes inside the rover chassis, performed better than predicted. Steady state and transient data were collected to allow correlation of analytical thermal models. These thermal models were subsequently used to predict rover thermal performance for the MSL Gale Crater landing site. Models predict that critical hardware temperatures will be maintained within allowable flight limits over the entire 669 Sol surface mission.

  3. Technetium-99 behavior in the terrestrial environment. Field observations and radiotracer experiments

    International Nuclear Information System (INIS)

    Tagami, Keiko

    2003-01-01

    Obtaining data on 99 Tc in the rice paddy field environment is important because Tc is a redox sensitive element. The behavior of Tc is expected to be different under upland field and rice paddy field conditions since the redox conditions in the soil environment differ. However, most of the data on the nuclide behavior in soil were obtained under upland field conditions. To understand the global fallout 99 Tc distributions in soil samples collected in Japan, a simple and rapid separation method was developed in order to determine low-levels of 99 Tc in soil samples by an inductively coupled plasma mass spectrometry. Also, radiotracer experiments using soils under aerobic and anaerobic conditions were carried out to clarify the Tc behavior under paddy field conditions. The results of determination of global fallout 99 Tc in Japanese soils indicated that the radionuclide had been accumulating in rice paddy fields. The mechanisms can be explained by the immobilization of Tc in soil under anaerobic conditions. From the radiotracer experiments, it was clear that under waterlogged conditions, the highly mobile TcO 4 - in soil was readily changed to other immobilized forms, such as TcO 2 , TcS 2 and organically bound forms. To this immobilization, the microbial activity seemed to have an important role in Tc sorption reactions. When the soil, which was once kept in anaerobic conditions, was air-dried again and kept in aerobic conditions, the chemical forms of immobilized Tc did not change remarkably. Interestingly, the similar Tc behavior was observed in a real wet forest near the Chernobyl Reactor. (author)

  4. Influence of the terrestrial magnetic field geometry on the cutoff rigidity of cosmic ray particles

    International Nuclear Information System (INIS)

    Herbst, K.; Kopp, A.; Heber, B.

    2013-01-01

    Studies of the propagation of charged energetic particles in the Earth's magnetic field go back to Carl Stoermer. In the end, his investigations finally lead to the definition of the so-called cutoff rigidity RC; that is, the minimum momentum per charge a particle must have in order to reach a certain geographical location. Employing Monte Carlo simulations with the PLANETOCOSMICS code we investigate the correlation between the geomagnetic field structure and the cutoff rigidity. We show that the geometry of the magnetic field has a considerable influence on the resulting cutoff rigidity distribution. Furthermore, we will present a simple geometry-based parameter, δB, which is able to reflect the location-dependent cutoff rigidity. We show that this correlation is also visible in the temporal evolution of the Earth's magnetic field, at least over the last 100 yr. Using latitude scans with neutron monitors, changes of the relative counting rates at different positions are calculated, showing small variations for, e.g., Kiel and Moscow, while large ones occur at Mexico City as well as on the British Virgin Islands.

  5. Bumble Bees (Bombus terrestris use mechanosensory hairs to detect electric fields

    Directory of Open Access Journals (Sweden)

    Sutton Gregory

    2016-01-01

    Full Text Available Bees and flowers have an intricate relationship which benefits both organisms. Plants provide nectar bees, in turn, distribute pollen to fertilize plants. To make pollination work, flowers need a mechanism to incentivize individual bees to visit only a single species of flower. Flowers, like modern advertising agencies, use multiple senses to create a floral ‘brand’ that is easily recognized. Size, smell, colour, touch, and even temperature are used to allow bees to differentiate between flower species. Recently, a new sense has been found that is usable by bees to differentiate flowers, an ‘electric sense’: they can identify flowers based only on the flower’s electric field. This new sense provides a novel example of how flowers differentiate themselves to bees and has obvious implications for how bees and flowers interact with the electrical world around us. Bumble bees detect this electric field by using their body hairs, which bend in the presence of electric charge.

  6. Frost on Mars Rover Opportunity

    Science.gov (United States)

    2004-01-01

    Frost can form on surfaces if enough water is present and the temperature is sufficiently low. On each of NASA's Mars Exploration Rovers, the calibration target for the panoramic camera provides a good place to look for such events. A thin frost was observed by Opportunity's panoramic camera on the rover's 257th sol (Oct. 13, 2004) 11 minutes after sunrise (left image). The presence of the frost is most clearly seen on the post in the center of the target, particularly when compared with the unsegmented outer ring of the target, which is white. The post is normally black. For comparison, note the difference in appearance in the image on the right, taken about three hours later, after the frost had dissipated. Frost has not been observed at Spirit, where the amount of atmospheric water vapor is observed to be appreciably lower. Both images were taken through a filter centered at a wavelength of 440 nanometers (blue).

  7. The Athena Mars Rover Science Payload

    Science.gov (United States)

    Squyes, S. W.; Arvidson, R.; Bell, J. F., III; Carr, M.; Christensen, P.; DesMarais, D.; Economou, T.; Gorevan, S.; Klingelhoefer, G.; Haskin, L.

    1998-01-01

    The Mars Surveyor missions that will be launched in April of 2001 will include a highly capable rover that is a successor to the Mars Pathfinder mission's Sojourner rover. The design goals for this rover are a total traverse distance of at least 10 km and a total lifetime of at least one Earth year. The rover's job will be to explore a site in Mars' ancient terrain, searching for materials likely to preserve a record of ancient martian water, climate, and possibly biology. The rover will collect rock and soil samples, and will store them for return to Earth by a subsequent Mars Surveyor mission in 2005. The Athena Mars rover science payload is the suite of scientific instruments and sample collection tools that will be used to perform this job. The specific science objectives that NASA has identified for the '01 rover payload are 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. (4) Collect and store samples. The Athena payload has been designed to meet these objectives. The focus of the design is on field operations: making sure the rover can locate, characterize, and collect scientifically important samples in a dusty, dirty, real-world environment. The topography, morphology, and mineralogy of the scene around the rover will be revealed by Pancam/Mini-TES, an integrated imager and IR spectrometer. Pancam views the surface around the rover in stereo and color. It uses two high-resolution cameras that are identical in most respects to the rover's navigation cameras. The detectors are low-power, low-mass active pixel sensors with on-chip 12-bit analog-to-digital conversion. Filters provide 8-12 color spectral bandpasses over the spectral region from 0.4 to 1.1 micron Narrow-angle optics provide an angular resolution of 0

  8. Ring-testing and field-validation of a terrestrial model ecosystem TME) - An instrument for testing potentially harmful substances: conceptual approach and study design.

    NARCIS (Netherlands)

    Knacker, T.; van Gestel, C.A.M.; Jones, S.E.; Soares, A.M.V.M.; Schallnass, H.-J.; Förster, B.; Edwards, C.A.

    2004-01-01

    During spring and summer 1999 a ring-test and field-validation study with an open, intact Terrestrial Model Ecosystem (TME) was conducted at four different European sites (Amsterdam, The Netherlands; Bangor, U.K.; Coimbra, Portugal; Flörsheim, Germany). The objective of the study was to establish a

  9. Ring-testing and field-validation of a terrestrial model ecosystem (TME) - An instrument for testing potentially harmful substances: effects of carbendazim on enchytraeids.

    NARCIS (Netherlands)

    Moser, T.; van Gestel, C.A.M.; Jones, S.E.; Koolhaas, J.E.; Rodrigues, J.M.L.; Römbke, J.

    2004-01-01

    The effects of the fungicide carbendazim (applied in the formulation Derosal®) on enchytraeids were determined in Terrestrial Model Ecosystem (TME) tests and field-validation studies. TMEs consisted of intact soil columns (diameter 17.5 cm; length 40 cm) taken from a grassland or, in one case, from

  10. Ring-testing and field-validation of a terrestrial model ecosystem - An instrument for testing potentially harmful substances: effects of carbendazim on nutrient cycling.

    NARCIS (Netherlands)

    van Gestel, C.A.M.; Koolhaas, J.E.; Schallnass, H.-J.; Rodrigues, J.M.L.; Jones, S.E.

    2004-01-01

    The effect of the fungicide carbendazim (applied in the formulation Derosal®) on nutrient cycling in soil was determined in Terrestrial Model Ecosystem (TME) tests and corresponding field-validation studies, which were performed in four different countries (United Kingdom, Germany, Portugal, and The

  11. Ring-testing and field-validation of a terrestrial model ecosystem (TME) - An instrument for testing potentially harmful substances: effects of carbendazim on soil microarthropod communities.

    NARCIS (Netherlands)

    Koolhaas, J.E.; van Gestel, C.A.M.; Römbke, J.; Soares, A.M.V.M.; Jones, S.E.

    2004-01-01

    The effects of the fungicide carbendazim (applied in the formulation Derosal) on soil microarthropod communities was determined in three Terrestrial Model Ecosystem (TME) tests and a field-validation study for a period of 16 weeks after application. TMEs consisted of intact soil columns (diameter

  12. Ring-testing and field-validation of a terrestrial model ecosystem (TME) - An instrument for testing potentially harmful substances: effects of carbendazim on nematodes.

    NARCIS (Netherlands)

    Moser, T.; Schallnass, H.-J.; Jones, S.E.; van Gestel, C.A.M.; Koolhaas, J.E.; Rodrigues, J.M.L.; Römbke, J.

    2004-01-01

    The effects of the fungicide carbendazim (applied in the formulation Derosal®) on nematodes was determined in Terrestrial Model Ecosystem (TME) tests and field-validation studies. TMEs consisted of intact soil columns (diameter 17.5 cm; length 40 cm) taken from a grassland or, in one case, from an

  13. Shocklets, SLAMS, and Field-Aligned Ion Beams in the Terrestrial Foreshock

    Science.gov (United States)

    Wilson, L. B.; Koval, A.; Sibeck, D. G.; Szabo, A.; Cattell, C. A.; Kasper, J. C.; Maruca, B. A.; Pulupa, M.; Salem, C. S.; Wilber, M.

    2012-01-01

    We present Wind spacecraft observations of ion distributions showing field- aligned beams (FABs) and large-amplitude magnetic fluctuations composed of a series of shocklets and short large-amplitude magnetic structures (SLAMS). The FABs are found to have T(sub k) approx 80-850 eV, V(sub b)/V(sub sw) approx 1.3-2.4, T(sub perpendicular,b)/T(sub paralell,b) approx 1-8, and n(sub b)/n(sub o) approx 0.2-11%. Saturation amplitudes for ion/ion resonant and non-resonant instabilities are too small to explain the observed SLAMS amplitudes. We show two examples where groups of SLAMS can act like a local quasi-perpendicular shock reflecting ions to produce the FABs, a scenario distinct from the more-common production at the quasi-perpendicular bow shock. The SLAMS exhibit a foot-like magnetic enhancement with a leading magnetosonic whistler train, consistent with previous observations. Strong ion and electron heating are observed within the series of shocklets and SLAMS with temperatures increasing by factors approx > 5 and approx >3, respectively. Both the core and halo electron components show strong perpendicular heating inside the feature.

  14. PNAS Plus: Origin of first cells at terrestrial, anoxic geothermal fields

    Science.gov (United States)

    Mulkidjanian, Armen Y.; Bychkov, Andrew Yu.; Dibrova, Daria V.; Galperin, Michael Y.; Koonin, Eugene V.

    2012-04-01

    All cells contain much more potassium, phosphate, and transition metals than modern (or reconstructed primeval) oceans, lakes, or rivers. Cells maintain ion gradients by using sophisticated, energy-dependent membrane enzymes (membrane pumps) that are embedded in elaborate ion-tight membranes. The first cells could possess neither ion-tight membranes nor membrane pumps, so the concentrations of small inorganic molecules and ions within protocells and in their environment would equilibrate. Hence, the ion composition of modern cells might reflect the inorganic ion composition of the habitats of protocells. We attempted to reconstruct the "hatcheries" of the first cells by combining geochemical analysis with phylogenomic scrutiny of the inorganic ion requirements of universal components of modern cells. These ubiquitous, and by inference primordial, proteins and functional systems show affinity to and functional requirement for K+, Zn2+, Mn2+, and phosphate. Thus, protocells must have evolved in habitats with a high K+/Na+ ratio and relatively high concentrations of Zn, Mn, and phosphorous compounds. Geochemical reconstruction shows that the ionic composition conducive to the origin of cells could not have existed in marine settings but is compatible with emissions of vapor-dominated zones of inland geothermal systems. Under the anoxic, CO2-dominated primordial atmosphere, the chemistry of basins at geothermal fields would resemble the internal milieu of modern cells. The precellular stages of evolution might have transpired in shallow ponds of condensed and cooled geothermal vapor that were lined with porous silicate minerals mixed with metal sulfides and enriched in K+, Zn2+, and phosphorous compounds.

  15. Effects of the neonicotinoid pesticide thiamethoxam at field-realistic levels on microcolonies of Bombus terrestris worker bumble bees.

    Science.gov (United States)

    Laycock, Ian; Cotterell, Katie C; O'Shea-Wheller, Thomas A; Cresswell, James E

    2014-02-01

    Neonicotinoid pesticides are currently implicated in the decline of wild bee populations. Bumble bees, Bombus spp., are important wild pollinators that are detrimentally affected by ingestion of neonicotinoid residues. To date, imidacloprid has been the major focus of study into the effects of neonicotinoids on bumble bee health, but wild populations are increasingly exposed to alternative neonicotinoids such as thiamethoxam. To investigate whether environmentally realistic levels of thiamethoxam affect bumble bee performance over a realistic exposure period, we exposed queenless microcolonies of Bombus terrestris L. workers to a wide range of dosages up to 98 μgkg(-1) in dietary syrup for 17 days. Results showed that bumble bee workers survived fewer days when presented with syrup dosed at 98 μg thiamethoxamkg(-1), while production of brood (eggs and larvae) and consumption of syrup and pollen in microcolonies were significantly reduced by thiamethoxam only at the two highest concentrations (39, 98 μgkg(-1)). In contrast, we found no detectable effect of thiamethoxam at levels typically found in the nectars of treated crops (between 1 and 11 μgkg(-1)). By comparison with published data, we demonstrate that during an exposure to field-realistic concentrations lasting approximately two weeks, brood production in worker bumble bees is more sensitive to imidacloprid than thiamethoxam. We speculate that differential sensitivity arises because imidacloprid produces a stronger repression of feeding in bumble bees than thiamethoxam, which imposes a greater nutrient limitation on production of brood. © 2013 Published by Elsevier Inc.

  16. Using Wind Driven Tumbleweed Rovers to Explore Martian Gully Features

    Science.gov (United States)

    Antol, Jeffrey; Woodard, Stanley E.; Hajos, Gregory A.; Heldmann, Jennifer L.; Taylor, Bryant D.

    2005-01-01

    Gully features have been observed on the slopes of numerous Martian crater walls, valleys, pits, and graben. Several mechanisms for gully formation have been proposed, including: liquid water aquifers (shallow and deep), melting ground ice, snow melt, CO2 aquifers, and dry debris flow. Remote sensing observations indicate that the most likely erosional agent is liquid water. Debate concerns the source of this water. Observations favor a liquid water aquifer as the primary candidate. The current strategy in the search for life on Mars is to "follow the water." A new vehicle known as a Tumbleweed rover may be able to conduct in-situ investigations in the gullies, which are currently inaccessible by conventional rovers. Deriving mobility through use of the surface winds on Mars, Tumbleweed rovers would be lightweight and relatively inexpensive thus allowing multiple rovers to be deployed in a single mission to survey areas for future exploration. NASA Langley Research Center (LaRC) is developing deployable structure Tumbleweed concepts. An extremely lightweight measurement acquisition system and sensors are proposed for the Tumbleweed rover that greatly increases the number of measurements performed while having negligible mass increase. The key to this method is the use of magnetic field response sensors designed as passive inductor-capacitor circuits that produce magnetic field responses whose attributes correspond to values of physical properties for which the sensors measure. The sensors do not need a physical connection to a power source or to data acquisition equipment resulting in additional weight reduction. Many of the sensors and interrogating antennae can be directly placed on the Tumbleweed using film deposition methods such as photolithography thus providing further weight reduction. Concepts are presented herein for methods to measure subsurface water, subsurface metals, planetary winds and environmental gases.

  17. 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.

  18. The Raman Laser Spectrometer for the ExoMars Rover Mission to Mars

    Science.gov (United States)

    Rull, Fernando; Maurice, Sylvestre; Hutchinson, Ian; Moral, Andoni; Perez, Carlos; Diaz, Carlos; Colombo, Maria; Belenguer, Tomas; Lopez-Reyes, Guillermo; Sansano, Antonio; Forni, Olivier; Parot, Yann; Striebig, Nicolas; Woodward, Simon; Howe, Chris; Tarcea, Nicolau; Rodriguez, Pablo; Seoane, Laura; Santiago, Amaia; Rodriguez-Prieto, Jose A.; Medina, Jesús; Gallego, Paloma; Canchal, Rosario; Santamaría, Pilar; Ramos, Gonzalo; Vago, Jorge L.; RLS Team

    2017-07-01

    The Raman Laser Spectrometer (RLS) on board the ESA/Roscosmos ExoMars 2020 mission will provide precise identification of the mineral phases and the possibility to detect organics on the Red Planet. The RLS will work on the powdered samples prepared inside the Pasteur analytical suite and collected on the surface and subsurface by a drill system. Raman spectroscopy is a well-known analytical technique based on the inelastic scattering by matter of incident monochromatic light (the Raman effect) that has many applications in laboratory and industry, yet to be used in space applications. Raman spectrometers will be included in two Mars rovers scheduled to be launched in 2020. The Raman instrument for ExoMars 2020 consists of three main units: (1) a transmission spectrograph coupled to a CCD detector; (2) an electronics box, including the excitation laser that controls the instrument functions; and (3) an optical head with an autofocus mechanism illuminating and collecting the scattered light from the spot under investigation. The optical head is connected to the excitation laser and the spectrometer by optical fibers. The instrument also has two targets positioned inside the rover analytical laboratory for onboard Raman spectral calibration. The aim of this article was to present a detailed description of the RLS instrument, including its operation on Mars. To verify RLS operation before launch and to prepare science scenarios for the mission, a simulator of the sample analysis chain has been developed by the team. The results obtained are also discussed. Finally, the potential of the Raman instrument for use in field conditions is addressed. By using a ruggedized prototype, also developed by our team, a wide range of terrestrial analog sites across the world have been studied. These investigations allowed preparing a large collection of real, in situ spectra of samples from different geological processes and periods of Earth evolution. On this basis, we are working

  19. Laser-powered Martian rover

    Science.gov (United States)

    Harries, W. L.; Meador, W. E.; Miner, G. A.; Schuster, Gregory L.; Walker, G. H.; Williams, M. D.

    1989-01-01

    Two rover concepts were considered: an unpressurized skeleton vehicle having available 4.5 kW of electrical power and limited to a range of about 10 km from a temporary Martian base and a much larger surface exploration vehicle (SEV) operating on a maximum 75-kW power level and essentially unrestricted in range or mission. The only baseline reference system was a battery-operated skeleton vehicle with very limited mission capability and range and which would repeatedly return to its temporary base for battery recharging. It was quickly concluded that laser powering would be an uneconomical overkill for this concept. The SEV, on the other hand, is a new rover concept that is especially suited for powering by orbiting solar or electrically pumped lasers. Such vehicles are visualized as mobile habitats with full life-support systems onboard, having unlimited range over the Martian surface, and having extensive mission capability (e.g., core drilling and sampling, construction of shelters for protection from solar flares and dust storms, etc.). Laser power beaming to SEV's was shown to have the following advantages: (1) continuous energy supply by three orbiting lasers at 2000 km (no storage requirements as during Martian night with direct solar powering); (2) long-term supply without replacement; (3) very high power available (MW level possible); and (4) greatly enhanced mission enabling capability beyond anything currently conceived.

  20. 2D/3D Visual Tracker for Rover Mast

    Science.gov (United States)

    Bajracharya, Max; Madison, Richard W.; Nesnas, Issa A.; Bandari, Esfandiar; Kunz, Clayton; Deans, Matt; Bualat, Maria

    2006-01-01

    A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems

  1. International testing of a Mars rover prototype

    Science.gov (United States)

    Kemurjian, Alexsandr Leonovich; Linkin, V.; Friedman, L.

    1993-03-01

    Tests on a prototype engineering model of the Russian Mars 96 Rover were conducted by an international team in and near Death Valley in the United States in late May, 1992. These tests were part of a comprehensive design and testing program initiated by the three Russian groups responsible for the rover development. The specific objectives of the May tests were: (1) evaluate rover performance over different Mars-like terrains; (2) evaluate state-of-the-art teleoperation and autonomy development for Mars rover command, control and navigation; and (3) organize an international team to contribute expertise and capability on the rover development for the flight project. The range and performance that can be planned for the Mars mission is dependent on the degree of autonomy that will be possible to implement on the mission. Current plans are for limited autonomy, with Earth-based teleoperation for the nominal navigation system. Several types of television systems are being investigated for inclusion in the navigation system including panoramic camera, stereo, and framing cameras. The tests used each of these in teleoperation experiments. Experiments were included to consider use of such TV data in autonomy algorithms. Image processing and some aspects of closed-loop control software were also tested. A micro-rover was tested to help consider the value of such a device as a payload supplement to the main rover. The concept is for the micro-rover to serve like a mobile hand, with its own sensors including a television camera.

  2. Determining best practices in reconnoitering sites for habitability potential on Mars using a semi-autonomous rover: A GeoHeuristic Operational Strategies Test.

    Science.gov (United States)

    Yingst, R A; Berger, J; Cohen, B A; Hynek, B; Schmidt, M E

    2017-03-01

    We tested science operations strategies developed for use in remote mobile spacecraft missions, to determine whether reconnoitering a site of potential habitability prior to in-depth study (a walkabout-first strategy) can be a more efficient use of time and resources than the linear approach commonly used by planetary rover missions. Two field teams studied a sedimentary sequence in Utah to assess habitability potential. At each site one team commanded a human "rover" to execute observations and conducted data analysis and made follow-on decisions based solely on those observations. Another team followed the same traverse using traditional terrestrial field methods, and the results of the two teams were compared. Test results indicate that for a mission with goals similar to our field case, the walkabout-first strategy may save time and other mission resources, while improving science return. The approach enabled more informed choices and higher team confidence in choosing where to spend time and other consumable resources. The walkabout strategy may prove most efficient when many close sites must be triaged to a smaller subset for detailed study or sampling. This situation would arise when mission goals include finding, identifying, characterizing or sampling a specific material, feature or type of environment within a certain area.

  3. Rover deployment system for lunar landing mission

    Science.gov (United States)

    Sutoh, Masataku; Hoshino, Takeshi; Wakabayashi, Sachiko

    2017-09-01

    For lunar surface exploration, a deployment system is necessary to allow a rover to leave the lander. The system should be as lightweight as possible and stored retracted when launched. In this paper, two types of retractable deployment systems for lunar landing missions, telescopic- and fold-type ramps, are discussed. In the telescopic-type system, a ramp is stored with the sections overlapping and slides out during deployment. In the fold-type system, it is stored folded and unfolds for the deployment. For the development of these ramps, a design concept study and structural analysis were conducted first. Subsequently, ramp deployment and rover release tests were performed using the developed ramp prototypes. Through these tests, the validity of their design concepts and functions have been confirmed. In the rover release test, it was observed that the developed lightweight ramp was sufficiently strong for a 50-kg rover to descend. This result suggests that this ramp system is suitable for the deployment of a 300-kg-class rover on the Moon, where the gravity is about one-sixth that on Earth. The lightweight and sturdy ramp developed in this study will contribute to both safe rover deployment and increase of lander/rover payload.

  4. Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

    Science.gov (United States)

    Felder, Michael; Nesnas, Issa A.; Pivtoraiko, Mihail; Kelly, Alonzo; Volpe, Richard

    2011-01-01

    Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring in-situ measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover's mast cameras. The rover then autonomously traverse the rocky terrain for a distance of 10 - 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

  5. Mars rover local navigation and hazard avoidance

    Science.gov (United States)

    Wilcox, B. H.; Gennery, D. B.; Mishkin, A. H.

    1989-01-01

    A Mars rover sample return mission has been proposed for the late 1990's. Due to the long speed-of-light delays between earth and Mars, some autonomy on the rover is highly desirable. JPL has been conducting research in two possible modes of rover operation, Computer-Aided Remote Driving and Semiautonomous Navigation. A recently-completed research program used a half-scale testbed vehicle to explore several of the concepts in semiautonomous navigation. A new, full-scale vehicle with all computational and power resources on-board will be used in the coming year to demonstrate relatively fast semiautonomous navigation. The computational and power requirements for Mars rover local navigation and hazard avoidance are discussed.

  6. Electrostatic Spectrometer for Mars Rover Wheel

    Data.gov (United States)

    National Aeronautics and Space Administration — Develop a simple electrostatic spectrometer that can be mounted on the wheels of a Mars rover to continuously and unobtrusively determine the mineral composition and...

  7. 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.

  8. Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

    Science.gov (United States)

    Estlin, Tara A.; Gaines, Daniel M.; Chouinard, Caroline M.; Fisher, Forest W.; Castano, Rebecca; Judd, Michele J.; Nesnas, Issa A.

    2006-01-01

    With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.

  9. 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 ...

  10. Terrestrial Analogs to Mars

    Science.gov (United States)

    Farr, T. G.; Arcone, S.; Arvidson, R. W.; Baker, V.; Barlow, N. G.; Beaty, D.; Bell, M. S.; Blankenship, D. D.; Bridges, N.; Briggs, G.; Bulmer, M.; Carsey, F.; Clifford, S. M.; Craddock, R. A.; Dickerson, P. W.; Duxbury, N.; Galford, G. L.; Garvin, J.; Grant, J.; Green, J. R.; Gregg, T. K. P.; Guinness, E.; Hansen, V. L.; Hecht, M. H.; Holt, J.; Howard, A.; Keszthelyi, L. P.; Lee, P.; Lanagan, P. D.; Lentz, R. C. F.; Leverington, D. W.; Marinangeli, L.; Moersch, J. E.; Morris-Smith, P. A.; Mouginis-Mark, P.; Olhoeft, G. R.; Ori, G. G.; Paillou, P.; Reilly, J. F., II; Rice, J. W., Jr.; Robinson, C. A.; Sheridan, M.; Snook, K.; Thomson, B. J.; Watson, K.; Williams, K.; Yoshikawa, K.

    2002-08-01

    It is well recognized that interpretations of Mars must begin with the Earth as a reference. The most successful comparisons have focused on understanding geologic processes on the Earth well enough to extrapolate to Mars' environment. Several facets of terrestrial analog studies have been pursued and are continuing. These studies include field workshops, characterization of terrestrial analog sites, instrument tests, laboratory measurements (including analysis of Martian meteorites), and computer and laboratory modeling. The combination of all these activities allows scientists to constrain the processes operating in specific terrestrial environments and extrapolate how similar processes could affect Mars. The Terrestrial Analogs for Mars Community Panel has considered the following two key questions: (1) How do terrestrial analog studies tie in to the Mars Exploration Payload Assessment Group science questions about life, past climate, and geologic evolution of Mars, and (2) How can future instrumentation be used to address these questions. The panel has considered the issues of data collection, value of field workshops, data archiving, laboratory measurements and modeling, human exploration issues, association with other areas of solar system exploration, and education and public outreach activities.

  11. Arbuscular mycorrhizal colonization in field-collected terrestrial cordate gametophytes of pre-polypod leptosporangiate ferns (Osmundaceae, Gleicheniaceae, Plagiogyriaceae, Cyatheaceae).

    Science.gov (United States)

    Ogura-Tsujita, Yuki; Hirayama, Yumiko; Sakoda, Aki; Suzuki, Ayako; Ebihara, Atsushi; Morita, Nana; Imaichi, Ryoko

    2016-02-01

    To determine the mycorrhizal status of pteridophyte gametophytes in diverse taxa, the mycorrhizal colonization of wild gametophytes was investigated in terrestrial cordate gametophytes of pre-polypod leptosporangiate ferns, i.e., one species of Osmundaceae (Osmunda banksiifolia), two species of Gleicheniaceae (Diplopterygium glaucum, Dicranopteris linearis), and four species of Cyatheales including tree ferns (Plagiogyriaceae: Plagiogyria japonica, Plagiogyria euphlebia; Cyatheaceae: Cyathea podophylla, Cyathea lepifera). Microscopic observations revealed that 58 to 97% of gametophytes in all species were colonized with arbuscular mycorrhizal (AM) fungi. Fungal colonization was limited to the multilayered midrib (cushion) tissue in all gametophytes examined. Molecular identification using fungal SSU rDNA sequences indicated that the AM fungi in gametophytes primarily belonged to the Glomeraceae, but also included the Claroideoglomeraceae, Gigasporaceae, Acaulosporaceae, and Archaeosporales. This study provides the first evidence for AM fungal colonization of wild gametophytes in the Plagiogyriaceae and Cyatheaceae. Taxonomically divergent photosynthetic gametophytes are similarly colonized by AM fungi, suggesting that mycorrhizal associations with AM fungi could widely occur in terrestrial pteridophyte gametophytes.

  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. Mars Exploration Rover Heat Shield Recontact Analysis

    Science.gov (United States)

    Raiszadeh, Behzad; Desai, Prasun N.; Michelltree, Robert

    2011-01-01

    The twin Mars Exploration Rover missions landed successfully on Mars surface in January of 2004. Both missions used a parachute system to slow the rover s descent rate from supersonic to subsonic speeds. Shortly after parachute deployment, the heat shield, which protected the rover during the hypersonic entry phase of the mission, was jettisoned using push-off springs. Mission designers were concerned about the heat shield recontacting the lander after separation, so a separation analysis was conducted to quantify risks. This analysis was used to choose a proper heat shield ballast mass to ensure successful separation with low probability of recontact. This paper presents the details of such an analysis, its assumptions, and the results. During both landings, the radar was able to lock on to the heat shield, measuring its distance, as it descended away from the lander. This data is presented and is used to validate the heat shield separation/recontact analysis.

  14. Martian methane plume models for defining Mars rover methane source search strategies

    Science.gov (United States)

    Nicol, Christopher; Ellery, Alex; Lynch, Brian; Cloutis, Ed

    2018-07-01

    The detection of atmospheric methane on Mars implies an active methane source. This introduces the possibility of a biotic source with the implied need to determine whether the methane is indeed biotic in nature or geologically generated. There is a clear need for robotic algorithms which are capable of manoeuvring a rover through a methane plume on Mars to locate its source. We explore aspects of Mars methane plume modelling to reveal complex dynamics characterized by advection and diffusion. A statistical analysis of the plume model has been performed and compared to analyses of terrestrial plume models. Finally, we consider a robotic search strategy to find a methane plume source. We find that gradient-based techniques are ineffective, but that more sophisticated model-based search strategies are unlikely to be available in near-term rover missions.

  15. Exomars 2018 Rover Pasteur Payload Sample Analysis

    Science.gov (United States)

    Debus, Andre; Bacher, M.; Ball, A.; Barcos, O.; Bethge, B.; Gaubert, F.; Haldemann, A.; Kminek, G.; Lindner, R.; Pacros, A.; Rohr, T.; Trautner, R.; Vago, J.

    The ExoMars programme is a joint ESA-NASA program having exobiology as one of the key science objectives. It is divided into 2 missions: the first mission is ESA-led with an ESA orbiter and an ESA Entry, Descent and Landing (EDL) demonstrator, launched in 2016 by NASA, and the second mission is NASA-led, launched in 2018 by NASA including an ESA rover and a NASA rover both deployed by a single NASA EDL system. For ESA, the ExoMars programme will demonstrate key flight and in situ enabling technologies in support of the European ambitions for future exploration missions, as outlined in the Aurora Declaration. The ExoMars 2018 ESA Rover will carry a comprehensive and coherent suite of analytical instruments dedicated to exobiology and geology research: the Pasteur Payload (PPL). This payload includes a selection of complementary instruments, having the following goals: to search for signs of past and present life on Mars and to investigate the water/geochemical environment as a function of depth in the shallow subsurface. The ExoMars Rover will travel several kilometres searching for sites warranting further investigation. The Rover includes a drill and a Sample Preparation and Distribution System which will be used to collect and analyse samples from within outcrops and from the subsurface. The Rover systems and instruments, in particular those located inside the Analytical Laboratory Drawer must meet many stringent requirements to be compatible with exobiologic investigations: the samples must be maintained in a cold and uncontaminated environment, requiring sterile and ultraclean preparation of the instruments, to preserve volatile materials and to avoid false positive results. The value of the coordinated observations suggests that a significant return on investment is to be expected from this complex development. We will present the challenges facing the ExoMars PPL, and the plans for sending a robust exobiology laboratory to Mars in 2018.

  16. Mars 2020 Rover SHERLOC Calibration Target

    Science.gov (United States)

    Graff, Trevor; Fries, Marc; Burton, Aaron; Ross, Amy; Larson, Kristine; Garrison, Dan; Calaway, Mike; Tran, Vinh; Bhartia, Roh; Beegle, Luther

    2016-01-01

    The Scanning Habitable Environments with Raman & Luminescence for Organics & Chemicals (SHERLOC) instrument is a deep ultraviolet (UV) Raman Fluorescence instrument selected as part of the Mars 2020 rover instrument suite. SHERLOC will be mounted on the rover arm and its primary role is to identify carbonaceous species in martian samples. The SHERLOC instrument requires a calibration target which is being designed and fabricated at JSC as part of our continued science participation in Mars robotic missions. The SHERLOC calibration target will address a wide range of NASA goals to include basic science of interest to both the Science Mission Directorate and Human Exploration and Operations Mission Directorate.

  17. Recent Accomplishments in Mars Exploration: The Rover Perspective

    Science.gov (United States)

    McLennan, S. M.; McSween, H. Y.

    2018-04-01

    Mobile rovers have revolutionized our understanding of Mars geology by identifying habitable environments and addressing critical questions related to Mars science. Both the advances and limitations of rovers set the scene for Mars Sample Return.

  18. Real‐Time Measurement of Wheel Performance on a Rover

    Data.gov (United States)

    National Aeronautics and Space Administration — Wind-blown sand on Mars produces a high risk of entrapment for Mars rovers. This was evident when the Mars Exploration Rover Spirit was immobilized in a wind blown...

  19. Magnetically Attached Multifunction Maintenance Rover

    Science.gov (United States)

    Bar-Cohen, Yoseph; Joffe, Benjamin

    2005-01-01

    A versatile mobile telerobot, denoted the magnetically attached multifunction maintenance rover (MAGMER), has been proposed for use in the inspection and maintenance of the surfaces of ships, tanks containing petrochemicals, and other large ferromagnetic structures. As its name suggests, this robot would utilize magnetic attraction to adhere to a structure. As it moved along the surface of the structure, the MAGMER would perform tasks that could include close-up visual inspection by use of video cameras, various sensors, and/or removal of paint by water-jet blasting, laser heating, or induction heating. The water-jet nozzles would be mounted coaxially within compressed-air-powered venturi nozzles that would collect the paint debris dislodged by the jets. The MAGMER would be deployed, powered, and controlled from a truck, to which it would be connected by hoses for water, compressed air, and collection of debris and by cables for electric power and communication (see Figure 1). The operation of the MAGMER on a typical large structure would necessitate the use of long cables and hoses, which can be heavy. To reduce the load of the hoses and cables on the MAGMER and thereby ensure its ability to adhere to vertical and overhanging surfaces, the hoses and cables would be paid out through telescopic booms that would be parts of a MAGMER support system. The MAGMER would move by use of four motorized, steerable wheels, each of which would be mounted in an assembly that would include permanent magnets and four pole pieces (see Figure 2). The wheels would protrude from between the pole pieces by only about 3 mm, so that the gap between the pole pieces and the ferromagnetic surface would be just large enough to permit motion along the surface but not so large as to reduce the magnetic attraction excessively. In addition to the wheel assemblies, the MAGMER would include magnetic adherence enhancement fixtures, which would comprise arrays of permanent magnets and pole pieces

  20. 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.

  1. Correlation Of Terrestrial gamma flashes, Electric fields, and Lightning strikes (COTEL) in thunderstorms using networked balloon payloads developed by university and community college students

    Science.gov (United States)

    Landry, B. J.; Blair, D.; Causey, J.; Collins, J.; Davis, A.; Fernandez-Kim, V.; Kennedy, J.; Pate, N.; Kearney, C.; Schayer, C.; Turk, E.; Cherry, M. L.; Fava, C.; Granger, D.; Stewart, M.; Guzik, T. G.

    2017-12-01

    High energy gamma ray flashes from terrestrial sources have been observed by satellites for decades, but the actual mechanism, assumed to be thunderstorm lightning, has yet to be fully characterized. The goal of COTEL, funded by NASA through the University Student Instrument Project (USIP) program, is to correlate in time TGF events, lightning strikes, and electric fields inside of thunderstorms. This will be accomplished using a small network of balloon-borne payloads suspended in and around thunderstorm environments. The payloads will detect and timestamp gamma radiation bursts, lightning strikes, and the intensity of localized electric fields. While in flight, data collected by the payloads will be transmitted to a ground station in real-time and will be analyzed post-flight to investigate potential correlations between lightning, TGFs, and electric fields. The COTEL student team is in its second year of effort having spent the first year developing the basic balloon payloads and ground tracking system. Currently the team is focusing on prototype electric field and gamma radiation detectors. Testing and development of these systems will continue into 2018, and flight operations will take place during the spring 2018 Louisiana thunderstorm season. The presentation, led by undergraduate Physics student Brad Landry, will cover the student team effort in developing the COTEL system, an overview of the system architecture, balloon flight tests conducted to date, preliminary results from prototype detectors, lessons learned for student-led science projects, and future plans.

  2. Ground-based Fabry-Perot interferometry of the terrestrial nightglow with a bare charge-coupled device; Remote field site deployment

    International Nuclear Information System (INIS)

    Niciejewski, R.; Killeen, T.L.; Turnbull, M.

    1994-01-01

    The application of Fabry-Perot interferometers (FPIs) to the study of upper atmosphere thermodynamics has largely been restricted by the very low light levels in the terrestrial airglow as well as the limited range in wavelength of photomultiplier tube (PMT) technology. During the past decade, the development of the scientific grade charge-coupled device (CCD) has progressed to the stage in which the detector has become the logical replacement for the PMT. Small fast microcomputers have made it possible to ''upgrade'' the remote field sites which bare CCDs and not only retain the previous capabilities of the existing FPIs but expand the data coverage in both temporal and wavelength domains. The problems encountered and the solutions applied to the deployment of a bare CCD, with data acquisition and image reduction techniques, are discussed. Sample geophysical data determined from the FPI fringe profiles are shown for stations at Peach Mountain, Michigan, and Watson Lake, Yukon Territory

  3. 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.

  4. A PERFORMANCE COMPARISON OF FEATURE DETECTORS FOR PLANETARY ROVER MAPPING AND LOCALIZATION

    Directory of Open Access Journals (Sweden)

    W. Wan

    2017-07-01

    Full Text Available 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.

  5. Runaway breakdown in strong electric field as a source of terrestrial gamma flashes and gamma bursts in lightning leader steps

    Energy Technology Data Exchange (ETDEWEB)

    Gurevich, A.V. [P.N. Lebedev Physical Institute, Russian Academy of Sciences, 119991 Moscow (Russian Federation)]. E-mail: alex@lpi.ru; Zybin, K.P. [P.N. Lebedev Physical Institute, Russian Academy of Sciences, 119991 Moscow (Russian Federation); Medvedev, Yu.V. [Joint Institute for High Temperature, Russian Academy of Sciences, 127412 Moscow (Russian Federation)

    2007-01-22

    The new model of lightning step leader is proposed. It includes three main processes developing simultaneously in a strong electric field: conventional breakdown, effect of runaway electrons and runaway breakdown (RB). The theory of RB in strong electric field is developed. Comparison with the existing observational data shows that the model can serve as a background for the explanation of gamma bursts in step leader and TGF.

  6. Runaway breakdown in strong electric field as a source of terrestrial gamma flashes and gamma bursts in lightning leader steps

    International Nuclear Information System (INIS)

    Gurevich, A.V.; Zybin, K.P.; Medvedev, Yu.V.

    2007-01-01

    The new model of lightning step leader is proposed. It includes three main processes developing simultaneously in a strong electric field: conventional breakdown, effect of runaway electrons and runaway breakdown (RB). The theory of RB in strong electric field is developed. Comparison with the existing observational data shows that the model can serve as a background for the explanation of gamma bursts in step leader and TGF

  7. Atacama Rover Astrobiology Drilling Studies: Roving to Find Subsurface Preserved Biomarkers

    Science.gov (United States)

    Glass, B.; Davila, A.; Parro, V.; Quinn, R.; Willis, P.; Brinckerhoff, W.; DiRuggiero, J.; Williams, M.; Bergman, D.; Stoker, C.

    2016-05-01

    The ARADS project is a NASA PSTAR that will drill into a Mars analog site in search of biomarkers. Leading to a field test of an integrated rover-drill system with four prototype in-situ instruments for biomarker detection and analysis.

  8. Panoramic 3d Vision on the ExoMars Rover

    Science.gov (United States)

    Paar, G.; Griffiths, A. D.; Barnes, D. P.; Coates, A. J.; Jaumann, R.; Oberst, J.; Gao, Y.; Ellery, A.; Li, R.

    The Pasteur payload on the ESA ExoMars Rover 2011/2013 is designed to search for evidence of extant or extinct life either on or up to ˜2 m below the surface of Mars. The rover will be equipped by a panoramic imaging system to be developed by a UK, German, Austrian, Swiss, Italian and French team for visual characterization of the rover's surroundings and (in conjunction with an infrared imaging spectrometer) remote detection of potential sample sites. The Panoramic Camera system consists of a wide angle multispectral stereo pair with 65° field-of-view (WAC; 1.1 mrad/pixel) and a high resolution monoscopic camera (HRC; current design having 59.7 µrad/pixel with 3.5° field-of-view) . Its scientific goals and operational requirements can be summarized as follows: • Determination of objects to be investigated in situ by other instruments for operations planning • Backup and Support for the rover visual navigation system (path planning, determination of subsequent rover positions and orientation/tilt within the 3d environment), and localization of the landing site (by stellar navigation or by combination of orbiter and ground panoramic images) • Geological characterization (using narrow band geology filters) and cartography of the local environments (local Digital Terrain Model or DTM). • Study of atmospheric properties and variable phenomena near the Martian surface (e.g. aerosol opacity, water vapour column density, clouds, dust devils, meteors, surface frosts,) 1 • Geodetic studies (observations of Sun, bright stars, Phobos/Deimos). The performance of 3d data processing is a key element of mission planning and scientific data analysis. The 3d Vision Team within the Panoramic Camera development Consortium reports on the current status of development, consisting of the following items: • Hardware Layout & Engineering: The geometric setup of the system (location on the mast & viewing angles, mutual mounting between WAC and HRC) needs to be optimized w

  9. Mission-directed path planning for planetary rover exploration

    Science.gov (United States)

    Tompkins, Paul

    2005-07-01

    . Simulations exhibit that the new methodology succeeds where conventional path planners would fail. Three planetary-relevant field experiments demonstrate the power of mission-directed path planning in directing actual exploration robots. Offline mission-directed planning sustained a solar-powered rover in a 24-hour sun-synchronous traverse. Online planning and re-planning enabled full navigational autonomy of over 1 kilometer, and supported the execution of science activities distributed over hundreds of meters.

  10. Earth's Largest Terrestrial Landslide (The Markagunt Gravity Slide of Southwest Utah): Insights from the Catastrophic Collapse of a Volcanic Field

    Science.gov (United States)

    Hacker, D. B.; Biek, R. F.; Rowley, P. D.

    2015-12-01

    The newly discovered Miocene Markagunt gravity slide (MGS; Utah, USA) represents the largest volcanic landslide structure on Earth. Recent geologic mapping of the MGS indicates that it was a large contiguous volcanic sheet of allochthonous andesitic mudflow breccias and lava flows, volcaniclastic rocks, and intertonguing regional ash-flow tuffs that blanketed an area of at least 5000 km2 with an estimated volume of ~3000 km3. From its breakaway zone in the Tushar and Mineral Mountains to its southern limits, the MGS is over 95 km long and at least 65 km wide. The MGS consists of four distinct structural segments: 1) a high-angle breakaway segment, 2) a bedding-plane segment, ~60 km long and ~65 km wide, typically located within the volcaniclastic Eocene-Oligocene Brian Head Formation, 3) a ramp segment ~1-2 km wide where the slide cuts upsection, and 4) a former land surface segment where the upper-plate moved at least 35 km over the Miocene landscape. The presence of basal and lateral cataclastic breccias, clastic dikes, jigsaw puzzle fracturing, internal shears, pseudotachylytes, and the overall geometry of the MGS show that it represents a single catastrophic emplacement event. The MGS represents gravitationally induced collapse of the southwest sector of the Oligocene to Miocene Marysvale volcanic field. We suggest that continuous growth of the Marysvale volcanic field, loading more volcanic rocks on a structurally weak Brian Head basement, created conditions necessary for gravity sliding. In addition, inflation of the volcanic pile due to multiple magmatic intrusions tilted the strata gently southward, inducing lateral spreading of the sub-volcanic rocks prior to failure. Although similar smaller-scale failures have been recognized from individual volcanoes, the MGS represents a new class of low frequency but high impact hazards associated with catastrophic sector collapse of large volcanic fields containing multiple volcanoes. The relationship of the MGS to

  11. A Modular Re-configurable Rover System

    Science.gov (United States)

    Bouloubasis, A.; McKee, G.; Active Robotics Lab

    In this paper we present the novel concepts incorporated in a planetary surface exploration rover design that is currently under development. The Multitasking Rover (MTR) aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability [1]. The rover system has enhanced mobility characteristics. It operates in conjunction with Science Packs (SPs) and Tool Packs (TPs) - modules attached to the main frame of the rover, which are either special tools or science instruments and alter the operation capabilities of the system. To date, each rover system design is very much task driven for example, the scenario of cooperative transportation of extended payloads [2], comprises two rovers each equipped with a manipulator dedicated to the task [3]. The MTR approach focuses mostly on modularity and upgradeability presenting at the same time a fair amount of internal re-configurability for the sake of rough terrain stability. The rover itself does not carry any scientific instruments or tools. To carry out the scenario mentioned above, the MTR would have to locate and pick-up a TP with the associated manipulator. After the completion of the task the TP could be put away to a storage location enabling the rover to utilize a different Pack. The rover will not only offer mobility to these modules, but also use them as tools, transforming its role and functionality. The advantage of this approach is that instead of sending a large number of rovers to perform a variety of tasks, a smaller number of MTRs could be deployed with a large number of SPs/TPs, offering multiples of the functionality at a reduced payload. Two SPs or TPs (or a combination of) can be carried and deployed. One of the key elements in the design of the four wheeled rover, lies within its suspension system. It comprises a linear actuator located within each leg and also an active differential linking the two shoulders. This novel

  12. Autonomous Warplanes: NASA Rovers Lead the Way

    Science.gov (United States)

    2016-04-01

    Warplanes NASA Rovers Lead the Way Michael R. Schroer Major, Air National Guard Wright Flyer No. 54 Air University Press Air Force Research Institute...between most airports across the continent proved an excellent further education in aviation. Piloting a business jet on a weeklong, 11- hop trek across...Research con- ducted by the National Aeronautics and Space Administration ( NASA ) offers useful lessons for the development of future military RPAs

  13. 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.

  14. 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.

  15. Slip Validation and Prediction for Mars Exploration Rovers

    Directory of Open Access Journals (Sweden)

    Jeng Yen

    2008-04-01

    Full Text Available This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA’s Mars Exploration Rover mission (MER. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM from the stereo images of the terrain to formulate the equations of motion. The six wheel speed from the empirical encoder data comprises the vehicle's velocity, and the rover motion can be estimated using mixed differential and algebraic equations. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Rover Sequencing and Visualization Program (RSVP. This method, with the proper wheel slip and sliding factors, produces accurate simulation of the Mars Exploration rovers, which have been validated with the earth-testing vehicle. This computational technique has been deployed to the operation of the MER rovers in the extended mission period. Particularly, it yields high quality prediction of the rover motion on high slope areas. The simulated path of the rovers has been validated using the telemetry from the onboard Visual Odometry (VisOdom. Preliminary results indicate that the proposed simulation is very effective in planning the path of the rovers on the high-slope areas.

  16. Mission Operations of the Mars Exploration Rovers

    Science.gov (United States)

    Bass, Deborah; Lauback, Sharon; Mishkin, Andrew; Limonadi, Daniel

    2007-01-01

    A document describes a system of processes involved in planning, commanding, and monitoring operations of the rovers Spirit and Opportunity of the Mars Exploration Rover mission. The system is designed to minimize command turnaround time, given that inherent uncertainties in terrain conditions and in successful completion of planned landed spacecraft motions preclude planning of some spacecraft activities until the results of prior activities are known by the ground-based operations team. The processes are partitioned into those (designated as tactical) that must be tied to the Martian clock and those (designated strategic) that can, without loss, be completed in a more leisurely fashion. The tactical processes include assessment of downlinked data, refinement and validation of activity plans, sequencing of commands, and integration and validation of sequences. Strategic processes include communications planning and generation of long-term activity plans. The primary benefit of this partition is to enable the tactical portion of the team to focus solely on tasks that contribute directly to meeting the deadlines for commanding the rover s each sol (1 sol = 1 Martian day) - achieving a turnaround time of 18 hours or less, while facilitating strategic team interactions with other organizations that do not work on a Mars time schedule.

  17. 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.

  18. A New Capability for Automated Target Selection and Sampling for use with Remote Sensing Instruments on the MER Rovers

    Science.gov (United States)

    Castano, R.; Estlin, T.; Anderson, R. C.; Gaines, D.; Bornstein, B.; de Granville, C.; Tang, B.; Thompson, D.; Judd, M.

    2008-12-01

    The Onboard Autonomous Science Investigation System (OASIS) evaluates geologic data gathered by a planetary rover. The system is designed to operate onboard a rover identifying and reacting to serendipitous science opportunities, such as rocks with novel properties. OASIS operates by analyzing data the rover gathers, and then using machine learning techniques, prioritizing the data based on criteria set by the science team. This prioritization can be used to organize data for transmission back to Earth and it can be used to search for specific targets it has been told to find by the science team. If one of these targets is found, it is identified as a new science opportunity and a "science alert" is sent to a planning and scheduling system. After reviewing the rover's current operational status to ensure that it has enough resources to complete its traverse and act on the new science opportunity, OASIS can change the command sequence of the rover in order to obtain additional science measurements. Currently, OASIS is being applied on a new front. OASIS is providing a new rover mission technology that enables targeted remote-sensing science in an automated fashion during or after rover traverses. Currently, targets for remote sensing instruments, especially narrow field-of-view instruments (such as the MER Mini- TES spectrometer or the 2009 MSL ChemCam spectrometer) must be selected manually based on imagery already on the ground with the operations team. OASIS will enable the rover flight software to analyze imagery onboard in order to autonomously select and sequence targeted remote-sensing observations in an opportunistic fashion. We are in the process of scheduling an onboard MER experiment to demonstrate the OASIS capability in early 2009.

  19. The effect of glyphosate and nitrogen on plant communities and the soil fauna in terrestrial biotopes at field margins

    DEFF Research Database (Denmark)

    Damgaard, Christian; Strandberg, Beate; Dupont, Yoko

    were assessed at the ecosystem level by measuring biodiversity and functional traits. We have obtained an increased understanding of the causal relationship between plant communities and the soil fauna at the ecosystem level and increased knowledge on how and by what mechanisms important drivers...... that are known to affect plant communities may affect pollination and the soil fauna. The combined use of plant trait and soil fauna trait data in a full-factorial field experiment of glyphosate and nitrogen has never been explored before. The focus on plant and soil fauna traits rather than species enabled...... nitrogen, generally, resulted in increasing total plant cover and biomass, especially of fast-growing and competitive species as grasses and a few herbs such as Tanacetum vulgare. Using plant traits we found that increase in nitrogen promoted an increase in the average specific leaf area (SLA) and canopy...

  20. Real-Time Science Operations to Support a Lunar Polar Volatiles Rover Mission

    Science.gov (United States)

    Heldmann, Jennifer L.; Colaprete, Anthony; Elphic, Richard C.; Mattes, Greg; Ennico, Kimberly; Fritzler, Erin; Marinova, Margarita M.; McMurray, Robert; Morse, Stephanie; Roush, Ted L.; hide

    2014-01-01

    Future human exploration of the Moon will likely rely on in situ resource utilization (ISRU) to enable long duration lunar missions. Prior to utilizing ISRU on the Moon, the natural resources (in this case lunar volatiles) must be identified and characterized, and ISRU demonstrated on the lunar surface. To enable future uses of ISRU, NASA and the CSA are developing a lunar rover payload that can (1) locate near subsurface volatiles, (2) excavate and analyze samples of the volatile-bearing regolith, and (3) demonstrate the form, extractability and usefulness of the materials. Such investigations are important both for ISRU purposes and for understanding the scientific nature of these intriguing lunar volatile deposits. Temperature models and orbital data suggest near surface volatile concentrations may exist at briefly lit lunar polar locations outside persistently shadowed regions. A lunar rover could be remotely operated at some of these locations for the approx. 2-14 days of expected sunlight at relatively low cost. Due to the limited operational time available, both science and rover operations decisions must be made in real time, requiring immediate situational awareness, data analysis, and decision support tools. Given these constraints, such a mission requires a new concept of operations. In this paper we outline the results and lessons learned from an analog field campaign in July 2012 which tested operations for a lunar polar rover concept. A rover was operated in the analog environment of Hawaii by an off-site Flight Control Center, a rover navigation center in Canada, a Science Backroom at NASA Ames Research Center in California, and support teams at NASA Johnson Space Center in Texas and NASA Kennedy Space Center in Florida. We find that this type of mission requires highly efficient, real time, remotely operated rover operations to enable low cost, scientifically relevant exploration of the distribution and nature of lunar polar volatiles. The field

  1. Terrestrial ecology

    International Nuclear Information System (INIS)

    Anon.

    1977-01-01

    The main effort of the Terrestrial Ecology Division has been redirected to a comprehensive study of the Espiritu Santo Drainage Basin located in northeastern Puerto Rico. The general objective are to provide baseline ecological data for future environmental assessment studies at the local and regional levels, and to provide through an ecosystem approach data for the development of management alternatives for the wise utilization of energy, water, and land resources. The interrelationships among climate, vegetation, soils, and man, and their combined influence upon the hydrologic cycle will be described and evaluated. Environmental management involves planning and decision making, and both require an adequate data base. At present, little is known about the interworkings of a complete, integrated system such as a drainage basin. A literature survey of the main research areas confirmed that, although many individual ecologically oriented studies have been carried out in a tropical environment, few if any provide the data base required for environmental management. In view of rapidly changing socio-economic conditions and natural resources limitations, management urgently requires data from these systems: physical (climatological), biological, and cultural. This integrated drainage basin study has been designed to provide such data. The scope of this program covers the hydrologic cycle as it is affected by the interactions of the physical, biological, and cultural systems

  2. The Challenges in Applying Magnetroesistive Sensors on the 'Curiosity' Rover

    Science.gov (United States)

    Johnson, Michael R.

    2013-01-01

    Magnetoresistive Sensors were selected for use on the motor encoders throughout the Curiosity Rover for motor position feedback devices. The Rover contains 28 acuators with a corresponding number of encoder assemblies. The environment on Mars provides opportunities for challenges to any hardware design. The encoder assemblies presented several barriers that had to be vaulted in order to say the rover was ready to fly. The environment and encoder specific design features provided challenges that had to be solved in time to fly.

  3. 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.

  4. Automated Planning and Scheduling for Planetary Rover Distributed Operations

    Science.gov (United States)

    Backes, Paul G.; Rabideau, Gregg; Tso, Kam S.; Chien, Steve

    1999-01-01

    Automated planning and Scheduling, including automated path planning, has been integrated with an Internet-based distributed operations system for planetary rover operations. The resulting prototype system enables faster generation of valid rover command sequences by a distributed planetary rover operations team. The Web Interface for Telescience (WITS) provides Internet-based distributed collaboration, the Automated Scheduling and Planning Environment (ASPEN) provides automated planning and scheduling, and an automated path planner provided path planning. The system was demonstrated on the Rocky 7 research rover at JPL.

  5. Integrated Navigation System Design for Micro Planetary Rovers: Comparison of Absolute Heading Estimation Algorithms and Nonlinear Filtering

    Science.gov (United States)

    Ilyas, Muhammad; Hong, Beomjin; Cho, Kuk; Baeg, Seung-Ho; Park, Sangdeok

    2016-01-01

    This paper provides algorithms to fuse relative and absolute microelectromechanical systems (MEMS) navigation sensors, suitable for micro planetary rovers, to provide a more accurate estimation of navigation information, specifically, attitude and position. Planetary rovers have extremely slow speed (~1 cm/s) and lack conventional navigation sensors/systems, hence the general methods of terrestrial navigation may not be applicable to these applications. While relative attitude and position can be tracked in a way similar to those for ground robots, absolute navigation information is hard to achieve on a remote celestial body, like Moon or Mars, in contrast to terrestrial applications. In this study, two absolute attitude estimation algorithms were developed and compared for accuracy and robustness. The estimated absolute attitude was fused with the relative attitude sensors in a framework of nonlinear filters. The nonlinear Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) were compared in pursuit of better accuracy and reliability in this nonlinear estimation problem, using only on-board low cost MEMS sensors. Experimental results confirmed the viability of the proposed algorithms and the sensor suite, for low cost and low weight micro planetary rovers. It is demonstrated that integrating the relative and absolute navigation MEMS sensors reduces the navigation errors to the desired level. PMID:27223293

  6. Determining best practices in reconnoitering sites for habitability potential on Mars using a semi-autonomous rover: A GeoHeuristic Operational Strategies Test

    Science.gov (United States)

    Yingst, R.A.; Berger, J.; Cohen, B.A.; Hynek, B.; Schmidt, M.E.

    2017-01-01

    We tested science operations strategies developed for use in remote mobile spacecraft missions, to determine whether reconnoitering a site of potential habitability prior to in-depth study (a walkabout-first strategy) can be a more efficient use of time and resources than the linear approach commonly used by planetary rover missions. Two field teams studied a sedimentary sequence in Utah to assess habitability potential. At each site one team commanded a human “rover” to execute observations and conducted data analysis and made follow-on decisions based solely on those observations. Another team followed the same traverse using traditional terrestrial field methods, and the results of the two teams were compared. Test results indicate that for a mission with goals similar to our field case, the walkabout-first strategy may save time and other mission resources, while improving science return. The approach enabled more informed choices and higher team confidence in choosing where to spend time and other consumable resources. The walkabout strategy may prove most efficient when many close sites must be triaged to a smaller subset for detailed study or sampling. This situation would arise when mission goals include finding, identifying, characterizing or sampling a specific material, feature or type of environment within a certain area. PMID:29307922

  7. Assessment of planetary geologic mapping techniques for Mars using terrestrial analogs: The SP Mountain area of the San Francisco Volcanic Field, Arizona

    Science.gov (United States)

    Tanaka, K.L.; Skinner, J.A.; Crumpler, L.S.; Dohm, J.M.

    2009-01-01

    We photogeologically mapped the SP Mountain region of the San Francisco Volcanic Field in northern Arizona, USA to evaluate and improve the fidelity of approaches used in geologic mapping of Mars. This test site, which was previously mapped in the field, is chiefly composed of Late Cenozoic cinder cones, lava flows, and alluvium perched on Permian limestone of the Kaibab Formation. Faulting and folding has deformed the older rocks and some of the volcanic materials, and fluvial erosion has carved drainage systems and deposited alluvium. These geologic materials and their formational and modificational histories are similar to those for regions of the Martian surface. We independently prepared four geologic maps using topographic and image data at resolutions that mimic those that are commonly used to map the geology of Mars (where consideration was included for the fact that Martian features such as lava flows are commonly much larger than their terrestrial counterparts). We primarily based our map units and stratigraphic relations on geomorphology, color contrasts, and cross-cutting relationships. Afterward, we compared our results with previously published field-based mapping results, including detailed analyses of the stratigraphy and of the spatial overlap and proximity of the field-based vs. remote-based (photogeologic) map units, contacts, and structures. Results of these analyses provide insights into how to optimize the photogeologic mapping of Mars (and, by extension, other remotely observed planetary surfaces). We recommend the following: (1) photogeologic mapping as an excellent approach to recovering the general geology of a region, along with examination of local, high-resolution datasets to gain insights into the complexity of the geology at outcrop scales; (2) delineating volcanic vents and lava-flow sequences conservatively and understanding that flow abutment and flow overlap are difficult to distinguish in remote data sets; (3) taking care to

  8. Terrestrial 3D laser scanning to track the increase in canopy height of both monocot and dicot crop species under field conditions.

    Science.gov (United States)

    Friedli, Michael; Kirchgessner, Norbert; Grieder, Christoph; Liebisch, Frank; Mannale, Michael; Walter, Achim

    2016-01-01

    Plant growth is a good indicator of crop performance and can be measured by different methods and on different spatial and temporal scales. In this study, we measured the canopy height growth of maize (Zea mays), soybean (Glycine max) and wheat (Triticum aestivum) under field conditions by terrestrial laser scanning (TLS). We tested the hypotheses whether such measurements are capable to elucidate (1) differences in architecture that exist between genotypes; (2) genotypic differences between canopy height growth during the season and (3) short-term growth fluctuations (within 24 h), which could e.g. indicate responses to rapidly fluctuating environmental conditions. The canopies were scanned with a commercially available 3D laser scanner and canopy height growth over time was analyzed with a novel and simple approach using spherical targets with fixed positions during the whole season. This way, a high precision of the measurement was obtained allowing for comparison of canopy parameters (e.g. canopy height growth) at subsequent time points. Three filtering approaches for canopy height calculation from TLS were evaluated and the most suitable approach was used for the subsequent analyses. For wheat, high coefficients of determination (R(2)) of the linear regression between manually measured and TLS-derived canopy height were achieved. The temporal resolution that can be achieved with our approach depends on the scanned crop. For maize, a temporal resolution of several hours can be achieved, whereas soybean is ideally scanned only once per day, after leaves have reached their most horizontal orientation. Additionally, we could show for maize that plant architectural traits are potentially detectable with our method. The TLS approach presented here allows for measuring canopy height growth of different crops under field conditions with a high temporal resolution, depending on crop species. This method will enable advances in automated phenotyping for breeding and

  9. Mars Exploration Rovers Propulsive Maneuver Design

    Science.gov (United States)

    Potts, Christopher L.; Raofi, Behzad; Kangas, Julie A.

    2004-01-01

    The Mars Exploration Rovers Spirit and Opportunity successfully landed respectively at Gusev Crater and Meridiani Planum in January 2004. The rovers are essentially robotic geologists, sent on a mission to search for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. In order to conduct NASA's 'follow the water' strategy on opposite sides of the planet Mars, an interplanetary journey of over 300 million miles culminated with historic navigation precision. Rigorous trajectory targeting and control was necessary to achieve the atmospheric entry requirements for the selected landing sites. The propulsive maneuver design challenge was to meet or exceed these requirements while preserving the necessary design margin to accommodate additional project concerns. Landing site flexibility was maintained for both missions after launch, and even after the first trajectory correction maneuver for Spirit. The final targeting strategy was modified to improve delivery performance and reduce risk after revealing constraining trajectory control characteristics. Flight results are examined and summarized for the six trajectory correction maneuvers that were planned for each mission.

  10. CFD Analysis for Assessing the Effect of Wind on the Thermal Control of the Mars Science Laboratory Curiosity Rover

    Science.gov (United States)

    Bhandari, Pradeep; Anderson, Kevin

    2013-01-01

    The challenging range of landing sites for which the Mars Science Laboratory Rover was designed, 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 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 W of electrical power while generating waste heat equivalent to approximately 2000 W. Heat exchanger plates (hot plates) positioned close to the MMRTG pick up this survival heat from it by radiative heat transfer. Winds on Mars can be as fast as 15 m/s for extended periods. They can lead to significant heat loss from the MMRTG and the hot plates due to convective heat pick up from these surfaces. Estimation of this convective heat loss cannot be accurately and adequately achieved by simple textbook based calculations because of the very complicated flow fields around these surfaces, which are a function of wind direction and speed. Accurate calculations necessitated the employment of sophisticated Computational Fluid Dynamics (CFD) computer codes. This paper describes the methodology and results of these CFD calculations. Additionally, these results are compared to simple textbook based calculations that served as benchmarks and sanity checks for them. And finally, the overall RHRS system performance predictions will be shared to show how these results affected the overall rover thermal performance.

  11. 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.

  12. Criticality safety for deactivation of the Rover dry headend process

    International Nuclear Information System (INIS)

    Henrikson, D.J.

    1995-01-01

    The Rover dry headend process combusted Rover graphite fuels in preparation for dissolution and solvent extraction for the recovery of 235 U. At the end of the Rover processing campaign, significant quantities of 235 U were left in the dry system. The Rover Dry Headend Process Deactivation Project goal is to remove the remaining uranium bearing material (UBM) from the dry system and then decontaminate the cells. Criticality safety issues associated with the Rover Deactivation Project have been influenced by project design refinement and schedule acceleration initiatives. The uranium ash composition used for calculations must envelope a wide range of material compositions, and yet result in cost effective final packaging and storage. Innovative thinking must be used to provide a timely safety authorization basis while the project design continues to be refined

  13. Compositional Variations in Sands of the Bagnold Dunes, Gale Crater, Mars, from Visible-Shortwave Infrared Spectroscopy and Comparison to Ground-Truth from the Curiosity Rover

    OpenAIRE

    Lapotre, M. G. A.; Ehlmann, B. L.; Minson, S. E.; Arvidson, R. E.; Ayoub, F.; Fraeman, A. A.; Ewing, R. C.; Bridges, N. T.

    2017-01-01

    During its ascent up Mount Sharp, the Mars Science Laboratory Curiosity rover traversed the Bagnold Dune Field. We model sand modal mineralogy and grain size at four locations near the rover traverse, using orbital shortwave infrared single-scattering albedo spectra and a Markov chain Monte Carlo implementation of Hapke's radiative transfer theory to fully constrain uncertainties and permitted solutions. These predictions, evaluated against in situ measurements at one site from the Curiosity ...

  14. The new V8-Diesel engine for Land Rover; Der neue V8-Dieselmotor fuer Land Rover

    Energy Technology Data Exchange (ETDEWEB)

    Ernst, Roland [Ford Sued-Amerika (Brazil); Gruenert, Thomas; Turner, Paul [Ford Motor Company, Dagenham (United Kingdom)

    2007-04-15

    After the launch of the 2.7-l TDV6 diesel engine for Jaguar, Land Rover and PSA in the spring of 2004, here is a new member of the engine family. The new 3.6-l TDV8 Diesel engine was developed for Land Rover's Range Rover and Range Rover Sport models. The premium market segment positioning demands the best possible attributes from the engine, particularly torque as well as engine acoustics. According to the Land Rover specific requirements, the engine is fully off road capable and can be used in all world markets. The engine fulfills the Euro 4 emissions requirements and will be available with a regulated particle filter. (orig.)

  15. Applying FastSLAM to Articulated Rovers

    Science.gov (United States)

    Hewitt, Robert Alexander

    This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

  16. 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.

  17. 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

  18. 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).

  19. 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...

  20. A Lab-on-Chip Design for Miniature Autonomous Bio-Chemoprospecting Planetary Rovers

    Science.gov (United States)

    Santoli, S.

    The performance of the so-called ` Lab-on-Chip ' devices, featuring micrometre size components and employed at present for carrying out in a very fast and economic way the extremely high number of sequence determinations required in genomic analyses, can be largely improved as to further size reduction, decrease of power consumption and reaction efficiency through development of nanofluidics and of nano-to-micro inte- grated systems. As is shown, such new technologies would lead to robotic, fully autonomous, microwatt consumption and complete ` laboratory on a chip ' units for accurate, fast and cost-effective astrobiological and planetary exploration missions. The theory and the manufacturing technologies for the ` active chip ' of a miniature bio/chemoprospecting planetary rover working on micro- and nanofluidics are investigated. The chip would include micro- and nanoreactors, integrated MEMS (MicroElectroMechanical System) components, nanoelectronics and an intracavity nanolaser for highly accurate and fast chemical analysis as an application of such recently introduced solid state devices. Nano-reactors would be able to strongly speed up reaction kinetics as a result of increased frequency of reactive collisions. The reaction dynamics may also be altered with respect to standard macroscopic reactors. A built-in miniature telemetering unit would connect a network of other similar rovers and a central, ground-based or orbiting control unit for data collection and transmission to an Earth-based unit through a powerful antenna. The development of the ` Lab-on-Chip ' concept for space applications would affect the economy of space exploration missions, as the rover's ` Lab-on-Chip ' development would link space missions with the ever growing terrestrial market and business concerning such devices, largely employed in modern genomics and bioinformatics, so that it would allow the recoupment of space mission costs.

  1. Field measurements of horizontal forward motion velocities of terrestrial dust devils: Towards a proxy for ambient winds on Mars and Earth

    Science.gov (United States)

    Balme, M. R.; Pathare, A.; Metzger, S. M.; Towner, M. C.; Lewis, S. R.; Spiga, A.; Fenton, L. K.; Renno, N. O.; Elliott, H. M.; Saca, F. A.; Michaels, T. I.; Russell, P.; Verdasca, J.

    2012-11-01

    Dust devils - convective vortices made visible by the dust and debris they entrain - are common in arid environments and have been observed on Earth and Mars. Martian dust devils have been identified both in images taken at the surface and in remote sensing observations from orbiting spacecraft. Observations from landing craft and orbiting instruments have allowed the dust devil translational forward motion (ground velocity) to be calculated, but it is unclear how these velocities relate to the local ambient wind conditions, for (i) only model wind speeds are generally available for Mars, and (ii) on Earth only anecdotal evidence exists that compares dust devil ground velocity with ambient wind velocity. If dust devil ground velocity can be reliably correlated to the ambient wind regime, observations of dust devils could provide a proxy for wind speed and direction measurements on Mars. Hence, dust devil ground velocities could be used to probe the circulation of the martian boundary layer and help constrain climate models or assess the safety of future landing sites. We present results from a field study of terrestrial dust devils performed in the southwest USA in which we measured dust devil horizontal velocity as a function of ambient wind velocity. We acquired stereo images of more than a 100 active dust devils and recorded multiple size and position measurements for each dust devil. We used these data to calculate dust devil translational velocity. The dust devils were within a study area bounded by 10 m high meteorology towers such that dust devil speed and direction could be correlated with the local ambient wind speed and direction measurements. Daily (10:00-16:00 local time) and 2-h averaged dust devil ground speeds correlate well with ambient wind speeds averaged over the same period. Unsurprisingly, individual measurements of dust devil ground speed match instantaneous measurements of ambient wind speed more poorly; a 20-min smoothing window applied to

  2. 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

  3. Autonomous navigation and control of a Mars rover

    Science.gov (United States)

    Miller, D. P.; Atkinson, D. J.; Wilcox, B. H.; Mishkin, A. H.

    1990-01-01

    A Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.

  4. 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

  5. Soft-Robotic Rover with Electrodynamic Power Scavenging

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose a rover architecture for Europa and other planetary environments where soft robotics enables scientific investigation or human-precursor missions that...

  6. Microbiological cleanliness of the Mars Exploration Rover spacecraft

    Science.gov (United States)

    Newlin, L.; Barengoltz, J.; Chung, S.; Kirschner, L.; Koukol, R.; Morales, F.

    2002-01-01

    Planetary protection for Mars missions is described, and the approach being taken by the Mars Exploration Rover Project is discussed. Specific topics include alcohol wiping, dry heat microbial reduction, microbiological assays, and the Kennedy Space center's PHSF clean room.

  7. MSR Fetch Rover Capability Development at the Canadian Space Agency

    Science.gov (United States)

    Picard, M.; Hipkin, V.; Gingras, D.; Allard, P.; Lamarche, T.; Rocheleau, S. G.; Gemme, S.

    2018-04-01

    Describes Fetch Rover technology testing during CSA's 2016 Mars Sample Return Analogue Deployment which demonstrated autonomous navigation to 'cache depots' of M-2020-like sample tubes, acquisition of six such tubes, and transfer to a MAV mock up.

  8. 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.

  9. Pilot-plant development of a Rover waste calcination flowsheet

    International Nuclear Information System (INIS)

    Birrer, S.A.

    1978-04-01

    Results of eight runs, six using the 10-cm dia and two using the 30-cm dia pilot-plant calciners, in which simulated first-cycle Rover waste was calcined, are described. Results of the tests showed that a feed blend consisting of one volume simulated first-cycle Rover waste and one or two volumes simulated first-cycle zirconium waste could not be successfully calcined. 5 figs., 8 tables

  10. (abstract) Telecommunications for Mars Rovers and Robotic Missions

    Science.gov (United States)

    Cesarone, Robert J.; Hastrup, Rolf C.; Horne, William; McOmber, Robert

    1997-01-01

    Telecommunications plays a key role in all rover and robotic missions to Mars both as a conduit for command information to the mission and for scientific data from the mission. Telecommunications to the Earth may be accomplished using direct-to-Earth links via the Deep Space Network (DSN) or by relay links supported by other missions at Mars. This paper reviews current plans for missions to Mars through the 2005 launch opportunity and their capabilities in support of rover and robotic telecommunications.

  11. Multi-rover navigation on the lunar surface

    Science.gov (United States)

    Dabrowski, Borys; Banaszkiewicz, Marek

    2008-07-01

    The paper presents a method of determination an accurate position of a target (rover, immobile sensor, astronaut) on surface of the Moon or other celestial body devoid of navigation infrastructure (like Global Positioning System), by using a group of self-calibrating rovers, which serves as mobile reference points. The rovers are equipped with low-precision clocks synchronized by external broadcasting signal, to measure the moments of receiving radio signals sent by localized target. Based on the registered times, distances between transmitter and receivers installed on beacons are calculated. Each rover determines and corrects its own absolute position and orientation by using odometry navigation and measurements of relative distances and angles to other mobile reference points. Accuracy of navigation has been improved by the use of a calibration algorithm based on the extended Kalman filter, which uses internal encoder readings as inputs and relative measurements of distances and orientations between beacons as feedback information. The key idea in obtaining reliable values of absolute position and orientation of beacons is to first calibrate one of the rovers, using the remaining ones as reference points and then allow the whole group to move together and calibrate all the rovers in-motion. We consider a number of cases, in which basic modeling parameters such as terrain roughness, formation size and shape as well as availability of distance and angle measurements are varied.

  12. Origin of Chlorobenzene Detected by the Curiosity Rover in Yellowknife Bay: Evidence for Martian Organics in the Sheepbed Mudstone

    Science.gov (United States)

    Glavin, D.; Freissnet, C.; Eigenbrode, J.; Miller, K.; Martin, M.; Summons, R. E.; Steele, A.; Archer, D.; Brunner, A.; Buch, A.; hide

    2014-01-01

    The Sample Analysis at Mars (SAM) instrument on the Curiosity rover is designed to determine the inventory of organic and inorganic volatiles thermally evolved from solid samples using a combination of evolved gas analysis (EGA), gas chromatography mass spectrometry (GCMS), and tunable laser spectroscopy. Here we discuss the SAM EGA and GCMS measurements of volatiles released from the Sheepbed mudstone. We focus primarily on the elevated CBZ detections at CB and laboratory analog experiments conducted to help determine if CBZ is derived from primarily terrestrial, martian, or a combination of sources. Here we discuss the SAM EGA and GCMS measurements of volatiles released from the Sheepbed mudstone. We focus primarily on the elevated CBZ detections at CB and laboratory analog experiments conducted to help determine if CBZ is derived from primarily terrestrial, martian, or a combination of sources.

  13. Mars Exploration Rovers Landing Dispersion Analysis

    Science.gov (United States)

    Knocke, Philip C.; Wawrzyniak, Geoffrey G.; Kennedy, Brian M.; Desai, Prasun N.; Parker, TImothy J.; Golombek, Matthew P.; Duxbury, Thomas C.; Kass, David M.

    2004-01-01

    Landing dispersion estimates for the Mars Exploration Rover missions were key elements in the site targeting process and in the evaluation of landing risk. This paper addresses the process and results of the landing dispersion analyses performed for both Spirit and Opportunity. The several contributors to landing dispersions (navigation and atmospheric uncertainties, spacecraft modeling, winds, and margins) are discussed, as are the analysis tools used. JPL's MarsLS program, a MATLAB-based landing dispersion visualization and statistical analysis tool, was used to calculate the probability of landing within hazardous areas. By convolving this with the probability of landing within flight system limits (in-spec landing) for each hazard area, a single overall measure of landing risk was calculated for each landing ellipse. In-spec probability contours were also generated, allowing a more synoptic view of site risks, illustrating the sensitivity to changes in landing location, and quantifying the possible consequences of anomalies such as incomplete maneuvers. Data and products required to support these analyses are described, including the landing footprints calculated by NASA Langley's POST program and JPL's AEPL program, cartographically registered base maps and hazard maps, and flight system estimates of in-spec landing probabilities for each hazard terrain type. Various factors encountered during operations, including evolving navigation estimates and changing atmospheric models, are discussed and final landing points are compared with approach estimates.

  14. Infrared Spectrometer for ExoMars: A Mast-Mounted Instrument for the Rover

    Science.gov (United States)

    Korablev, Oleg I.; Dobrolensky, Yurii; Evdokimova, Nadezhda; Fedorova, Anna A.; Kuzmin, Ruslan O.; Mantsevich, Sergei N.; Cloutis, Edward A.; Carter, John; Poulet, Francois; Flahaut, Jessica; Griffiths, Andrew; Gunn, Matthew; Schmitz, Nicole; Martín-Torres, Javier; Zorzano, Maria-Paz; Rodionov, Daniil S.; Vago, Jorge L.; Stepanov, Alexander V.; Titov, Andrei Yu.; Vyazovetsky, Nikita A.; Trokhimovskiy, Alexander Yu.; Sapgir, Alexander G.; Kalinnikov, Yurii K.; Ivanov, Yurii S.; Shapkin, Alexei A.; Ivanov, Andrei Yu.

    2017-07-01

    ISEM (Infrared Spectrometer for ExoMars) is a pencil-beam infrared spectrometer that will measure reflected solar radiation in the near infrared range for context assessment of the surface mineralogy in the vicinity of the ExoMars rover. The instrument will be accommodated on the mast of the rover and will be operated together with the panoramic camera (PanCam), high-resolution camera (HRC). ISEM will study the mineralogical and petrographic composition of the martian surface in the vicinity of the rover, and in combination with the other remote sensing instruments, it will aid in the selection of potential targets for close-up investigations and drilling sites. Of particular scientific interest are water-bearing minerals, such as phyllosilicates, sulfates, carbonates, and minerals indicative of astrobiological potential, such as borates, nitrates, and ammonium-bearing minerals. The instrument has an ˜1° field of view and covers the spectral range between 1.15 and 3.30 μm with a spectral resolution varying from 3.3 nm at 1.15 μm to 28 nm at 3.30 μm. The ISEM optical head is mounted on the mast, and its electronics box is located inside the rover's body. The spectrometer uses an acousto-optic tunable filter and a Peltier-cooled InAs detector. The mass of ISEM is 1.74 kg, including the electronics and harness. The science objectives of the experiment, the instrument design, and operational scenarios are described.

  15. Top-down approach from satellite to terrestrial rover application for environmental monitoring of landfills.

    Science.gov (United States)

    Manzo, C; Mei, A; Zampetti, E; Bassani, C; Paciucci, L; Manetti, P

    2017-04-15

    This paper describes a methodology to perform chemical analyses in landfill areas by integrating multisource geomatic data. We used a top-down approach to identify Environmental Point of Interest (EPI) based on very high-resolution satellite data (Pleiades and WorldView 2) and on in situ thermal and photogrammetric surveys. Change detection techniques and geostatistical analysis supported the chemical survey, undertaken using an accumulation chamber and an RIIA, an unmanned ground vehicle developed by CNR IIA, equipped with a multiparameter sensor platform for environmental monitoring. Such an approach improves site characterization, identifying the key environmental points of interest where it is necessary to perform detailed chemical analyses. Copyright © 2017 Elsevier B.V. All rights reserved.

  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. PMID:22438761

  17. Development of "Remotely Operated Vehicles for Education and Research" (ROVERs)

    Science.gov (United States)

    Gaines, J. E.; Bland, G.; Bydlowski, D.

    2017-12-01

    The University of South Florida is a team member for the AREN project which develops educational technologies for data acquisition. "Remotely Operated Vehicles for Education and Research" (ROVERs) are floatable data acquisition systems used for Earth science measurements. The USF partnership was productive in the first year, resulting in new autonomous ROVER platforms being developed and used during a 5 week STEM summer camp by middle school youth. ROVERs were outfitted with GPS and temperature sensors and programmed to move forward, backwards, and to turn autonomously using the National Instruments myRIO embedded system. GLOBE protocols were used to collect data. The outreach program's structure lended itself to accomplishing an essential development effort for the AREN project towards the use of the ROVER platform in informal educational settings. A primary objective of the partnership is curriculum development to integrate GLOBE protocols and NASA technology and hardware/ROVER development wher new ROVER platforms are explored. The USF partnership resulted in two design prototypes for ROVERs, both of which can be created from recyclable materials for flotation and either 3D printed or laser cut components. In addition, both use the National Instruments myRIO for autonomous control. We will present two prototypes designed for use during the USF outreach program, the structure of the program, and details on the fabrication of prototype Z during the program by middle school students. Considering the 5-year objective of the AREN project is to "develop approaches, learning plans, and specific tools that can be affordably implemented nationwide (globally)", the USF partnership is key as it contributes to each part of the objective in a unique and impactful way.

  18. Characterizing Terrestrial Exoplanets

    Science.gov (United States)

    Meadows, V. S.; Lustig-Yaeger, J.; Lincowski, A.; Arney, G. N.; Robinson, T. D.; Schwieterman, E. W.; Deming, L. D.; Tovar, G.

    2017-11-01

    We will provide an overview of the measurements, techniques, and upcoming missions required to characterize terrestrial planet environments and evolution, and search for signs of habitability and life.

  19. Solar-terrestrial physics

    International Nuclear Information System (INIS)

    Patel, V.L.

    1977-01-01

    The Glossary is designed to be a technical dictionary that will provide solar workers of various specialties, students, other astronomers and theoreticians with concise information on the nature and the properties of phenomena of solar and solar-terrestrial physics. Each term, or group of related terms, is given a concise phenomenological and quantitative description, including the relationship to other phenomena and an interpretation in terms of physical processes. The references are intended to lead the non-specialist reader into the literature. This section deals with: geomagnetic field; coordinate systems; geomagnetic indices; Dst index; auroral electrojet index AE; daily, 27-day and semi-annual variations of geomagnetic field; micropulsation; geomagnetic storms; storm sudden commencement (SSC) or sudden commencement (SC); initial phase; ring current; sudden impulses; ionosphere; D region; polar cap absorption; sudden ionospheric disturbance; E region; sporadic E; equatorial electrojet; solar flare effect; F 1 and F 2 regions; spread F; travelling ionospheric disturbances; magnetosphere; magnetospheric coordinate systems; plasmasphere; magnetosheath; magnetospheric tail; substorm; radiation belts or Van Allen belts; whistlers; VLF emissions; aurora; auroral forms; auroral oval and auroral zones; auroral intensity; stable auroral red arcs; pulsing aurora; polar glow aurora; and airglow. (B.R.H.)

  20. 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

  1. Major accomplishments of America's nuclear rocket program (ROVER)

    International Nuclear Information System (INIS)

    Finseth, J.L.

    1991-01-01

    The United States embarked on a program to develop nuclear rocket engines in 1955. This program was known as project Rover. Initially nuclear rockets were considered as a potential backup for intercontinental ballistic missile propulsion but later proposed applications included both a lunar second stage as well as 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 Rover program would have led to the development of a flight engine had the program continued through a logical continuation. The Rover program was responsible for a number of technological achievements. The successful operation of nuclear rocket engines on a system level represents the pinnacle of accomplishment. This paper will discuss the engine test program as well as several subsystems

  2. Archiving Data From the 2003 Mars Exploration Rover Mission

    Science.gov (United States)

    Arvidson, R. E.

    2002-12-01

    The two Mars Exploration Rovers will touch down on the red planet in January 2004 and each will operate for at least 90 sols, traversing hundreds of meters across the surface and acquiring data from the Athena Science Payload (mast-based multi-spectral, stereo-imaging data and emission spectra; arm-based in-situ Alpha Particle X-Ray (APXS) and Mössbauer Spectroscopy, microscopic imaging, coupled with use of a rock abrasion tool) at a number of locations. In addition, the rovers will acquire science and engineering data along traverses to characterize terrain properties and perhaps be used to dig trenches. An "Analyst's Notebook" concept has been developed to capture, organize, archive and distribute raw and derived data sets and documentation (http://wufs.wustl.edu/rover). The Notebooks will be implemented in ways that will allow users to "playback" the mission, using executed commands to drive animated views of rover activities, and pop-up windows to show why particular observations were acquired, along with displays of raw and derived data products. In addition, the archive will include standard Planetary Data System files and software for processing to higher-level products. The Notebooks will exist both as an online system and as a set of distributable Digital Video Discs or other appropriate media. The Notebooks will be made available through the Planetary Data System within six months after the end of observations for the relevant rovers.

  3. Grazing livestock are exposed to terrestrial cyanobacteria

    OpenAIRE

    McGorum , Bruce C; Pirie , R Scott; Glendinning , Laura; McLachlan , Gerry; Metcalf , James S; Banack , Sandra A; Cox , Paul A; Codd , Geoffrey A

    2015-01-01

    While toxins from aquatic cyanobacteria are a well-recognised cause of disease in birds and animals, exposure of grazing livestock to terrestrial cyanobacteria has not been described. This study identified terrestrial cyanobacteria, predominantly Phormidium spp., in the biofilm of plants from most livestock fields investigated. Lower numbers of other cyanobacteria, microalgae and fungi were present on many plants. Cyanobacterial 16S rDNA, predominantly from Phormidium spp., was detected in al...

  4. V. Terrestrial vertebrates

    Science.gov (United States)

    Dean Pearson; Deborah Finch

    2011-01-01

    Within the Interior West, terrestrial vertebrates do not represent a large number of invasive species relative to invasive weeds, aquatic vertebrates, and invertebrates. However, several invasive terrestrial vertebrate species do cause substantial economic and ecological damage in the U.S. and in this region (Pimental 2000, 2007; Bergman and others 2002; Finch and...

  5. A compact led lidar system fitted for a mars rover - design and ground experiment

    Science.gov (United States)

    Ong, Prane Mariel B.; Shiina, Tatsuo; Manago, Naohiro; Kuze, Hiroaki; Senshu, Hiroki; Otobe, Naohito; Hashimoto, George; Kawabata, Yasuhiro

    2018-04-01

    A compact LED lidar was constructed and fieldtested with the aim to observe the Mars' dust devils. To be able to fit it on the Mars rover, a specialized Cassegrain telescope was designed to be within a 10 cm-cube, with a field of view of 3mrad. The transmitter has 385 nm LED light source with 3 cmϕ opening, 70mrad divergence, 0.75W (7.5nJ/10ns) pulse power, and 500 kHz repetition frequency. The configuration of the optical system is biaxial to easily configure the overlap between their optical axes.

  6. A compact led lidar system fitted for a mars rover – design and ground experiment

    Directory of Open Access Journals (Sweden)

    Ong Prane Mariel B.

    2018-01-01

    Full Text Available A compact LED lidar was constructed and fieldtested with the aim to observe the Mars’ dust devils. To be able to fit it on the Mars rover, a specialized Cassegrain telescope was designed to be within a 10 cm-cube, with a field of view of 3mrad. The transmitter has 385 nm LED light source with 3 cmϕ opening, 70mrad divergence, 0.75W (7.5nJ/10ns pulse power, and 500 kHz repetition frequency. The configuration of the optical system is biaxial to easily configure the overlap between their optical axes.

  7. Swarmie User Manual: A Rover Used for Multi-agent Swarm Research

    Science.gov (United States)

    Montague, Gilbert

    2014-01-01

    The ability to create multiple functional yet cost effective robots is crucial for conducting swarming robotics research. The Center Innovation Fund (CIF) swarming robotics project is a collaboration among the KSC Granular Mechanics and Regolith Operations (GMRO) group, the University of New Mexico Biological Computation Lab, and the NASA Ames Intelligent Robotics Group (IRG) that uses rovers, dubbed "Swarmies", as test platforms for genetic search algorithms. This fall, I assisted in the development of the software modules used on the Swarmies and created this guide to provide thorough instructions on how to configure your workspace to operate a Swarmie both in simulation and out in the field.

  8. 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.

  9. Propulsive maneuver design for the Mars Exploration Rover mission

    Science.gov (United States)

    Potts, Christopher L.; Kangas, Julie A.; Raofi, Behzad

    2006-01-01

    Starting from approximately 150 candidate Martian landing sites, two distinct sites have been selected for further investigation by sophisticated rovers. The two rovers, named 'Spirit' and 'Opportunity', begin the surface mission respectively to Gusec Crater and Meridiani Planum in January 2004. the rovers are essentially robotic geologists, sent on a mission to research for evidence in the rocks and soil pertaining to the historical presence of water and the ability to possibly sustain life. Before this scientific search can commence, precise trajectory targeting and control is necessary to achieve the entry requirements for the selected landing sites within the constraints of the flight system. The maneuver design challenge is to meet or exceed these requirements while maintaining the necessary design flexibility to accommodate additional project concerns. Opportunities to improve performance and reduce risk based on trajectory control characteristics are also evaluated.

  10. An update on Lab Rover: A hospital material transporter

    Science.gov (United States)

    Mattaboni, Paul

    1994-01-01

    The development of a hospital material transporter, 'Lab Rover', is described. Conventional material transport now utilizes people power, push carts, pneumatic tubes and tracked vehicles. Hospitals are faced with enormous pressure to reduce operating costs. Cyberotics, Inc. developed an Autonomous Intelligent Vehicle (AIV). This battery operated service robot was designed specifically for health care institutions. Applications for the AIV include distribution of clinical lab samples, pharmacy drugs, administrative records, x-ray distribution, meal tray delivery, and certain emergency room applications. The first AIV was installed at Lahey Clinic in Burlington, Mass. Lab Rover was beta tested for one year and has been 'on line' for an additional 2 years.

  11. Nuclear thermal rocket workshop reference system Rover/NERVA

    International Nuclear Information System (INIS)

    Borowski, S.K.

    1991-01-01

    The Rover/NERVA engine system is to be used as a reference, against which each of the other concepts presented in the workshop will be compared. The following topics are reviewed: the operational characteristics of the nuclear thermal rocket (NTR); the accomplishments of the Rover/NERVA programs; and performance characteristics of the NERVA-type systems for both Mars and lunar mission applications. Also, the issues of ground testing, NTR safety, NASA's nuclear propulsion project plans, and NTR development cost estimates are briefly discussed

  12. A Rover Mobility Platform with Autonomous Capability to Enable Mars Sample Return

    Science.gov (United States)

    Fulford, P.; Langley, C.; Shaw, A.

    2018-04-01

    The next step in understanding Mars is sample return. In Fall 2016, the CSA conducted an analogue deployment using the Mars Exploration Science Rover. An objective was to demonstrate the maturity of the rover's guidance, navigation, and control.

  13. Introduced Terrestrial Species (Future)

    Data.gov (United States)

    U.S. Environmental Protection Agency — These data represent predicted future potential distributions of terrestrial plants, animals, and pathogens non-native to the Middle-Atlantic region. These data are...

  14. 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.

  15. Estimation and Control for Autonomous Coring from a Rover Manipulator

    Science.gov (United States)

    Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

    2010-01-01

    A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

  16. Simulations of the magnetic properties experiment on Mars Exploration Rovers

    International Nuclear Information System (INIS)

    Gunnlaugsson, H. P.; Worm, E. S.; Bertelsen, P.; Goetz, W.; Kinch, K.; Madsen, M. B.; Merrison, J. P.; Nornberg, P.

    2005-01-01

    We present some of the main findings from simulation studies of the Magnetic Properties Experiment on the Mars Exploration Rovers. The results suggest that the dust has formed via mechanical breakdown of surface rocks through the geological history of the planet, and that liquid water need not have played any significant role in the dust formation processes.

  17. 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.

  18. 78 FR 19742 - Centennial Challenges: 2014 Night Rover Challenge

    Science.gov (United States)

    2013-04-02

    ... NATIONAL AERONAUTICS AND SPACE ADMINISTRATION [Notice 13-032] Centennial Challenges: 2014 Night... Centennial Challenges 2014 Night Rover Challenge. SUMMARY: This notice is issued in accordance with 51 U.S.C.... Centennial Challenges is a program of prize competitions to stimulate innovation in technologies of interest...

  19. 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.

  20. Terrestrial ecosystems and biodiversity

    CSIR Research Space (South Africa)

    Davis-Reddy, Claire

    2017-10-01

    Full Text Available Ecoregions Terrestrial Biomes Protected Areas Climate Risk and Vulnerability: A Handbook for Southern Africa | 75 7.2. Non-climatic drivers of ecosystem change 7.2.1. Land-use change, habitat loss and fragmentation Land-use change and landscape... concentrations of endemic plant and animal species, but these mainly occur in areas that are most threatened by human activity. Diverse terrestrial ecosystems in the region include tropical and sub-tropical forests, deserts, savannas, grasslands, mangroves...

  1. Measuring Soil Moisture in Skeletal Soils Using a COSMOS Rover

    Science.gov (United States)

    Medina, C.; Neely, H.; Desilets, D.; Mohanty, B.; Moore, G. W.

    2017-12-01

    The presence of coarse fragments directly influences the volumetric water content of the soil. Current surface soil moisture sensors often do not account for the presence of coarse fragments, and little research has been done to calibrate these sensors under such conditions. The cosmic-ray soil moisture observation system (COSMOS) rover is a passive, non-invasive surface soil moisture sensor with a footprint greater than 100 m. Despite its potential, the COSMOS rover has yet to be validated in skeletal soils. The goal of this study was to validate measurements of surface soil moisture as taken by a COSMOS rover on a Texas skeletal soil. Data was collected for two soils, a Marfla clay loam and Chinati-Boracho-Berrend association, in West Texas. Three levels of data were collected: 1) COSMOS surveys at three different soil moistures, 2) electrical conductivity surveys within those COSMOS surveys, and 3) ground-truth measurements. Surveys with the COSMOS rover covered an 8000-h area and were taken both after large rain events (>2") and a long dry period. Within the COSMOS surveys, the EM38-MK2 was used to estimate the spatial distribution of coarse fragments in the soil around two COSMOS points. Ground truth measurements included coarse fragment mass and volume, bulk density, and water content at 3 locations within each EM38 survey. Ground-truth measurements were weighted using EM38 data, and COSMOS measurements were validated by their distance from the samples. There was a decrease in water content as the percent volume of coarse fragment increased. COSMOS estimations responded to both changes in coarse fragment percent volume and the ground-truth volumetric water content. Further research will focus on creating digital soil maps using landform data and water content estimations from the COSMOS rover.

  2. Conceptual Design and Dynamics Testing and Modeling of a Mars Tumbleweed Rover

    Science.gov (United States)

    Calhoun Philip C.; Harris, Steven B.; Raiszadeh, Behzad; Zaleski, Kristina D.

    2005-01-01

    The NASA Langley Research Center has been developing a novel concept for a Mars planetary rover called the Mars Tumbleweed. This concept utilizes the wind to propel the rover along the Mars surface, bringing it the potential to cover vast distances not possible with current Mars rover technology. This vehicle, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from rest on the Mars surface. One Tumbleweed design concept that satisfies these considerations is called the Eggbeater-Dandelion. This paper describes the basic design considerations and a proposed dynamics model of the concept for use in simulation studies. It includes a summary of rolling/bouncing dynamics tests that used videogrammetry to better understand, characterize, and validate the dynamics model assumptions, especially the effective rolling resistance in bouncing/rolling dynamic conditions. The dynamics test used cameras to capture the motion of 32 targets affixed to a test article s outer structure. Proper placement of the cameras and alignment of their respective fields of view provided adequate image resolution of multiple targets along the trajectory as the test article proceeded down the ramp. Image processing of the frames from multiple cameras was used to determine the target positions. Position data from a set of these test runs was compared with results of a three dimensional, flexible dynamics model. Model input parameters were adjusted to match the test data for runs conducted. This process presented herein provided the means to characterize the dynamics and validate the simulation of the Eggbeater-Dandelion concept. The simulation model was used to demonstrate full scale Tumbleweed motion from a stationary condition on a flat-sloped terrain using representative Mars environment parameters.

  3. Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning

    Science.gov (United States)

    Ono, Masahiro; Fuchs, Thoams J.; Steffy, Amanda; Maimone, Mark; Yen, Jeng

    2015-01-01

    Identifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.

  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. 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

  6. 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

  7. Abundance and Isotopic Composition of Gases in the Martian Atmosphere: First Results from the Mars Curiosity Rover

    Science.gov (United States)

    Mahaffy, Paul; Webster, Chris R.; Atreya, Sushil K.; Franz, Heather; Wong, Michael; Conrad, Pamela G.; Harpold, Dan; Jones, John J.; Leshin, Laurie, A.; Manning, Heidi; hide

    2013-01-01

    Repeated measurements of the composition of the Mars atmosphere from Curiosity Rover yield a (40)Ar/N2 ratio 1.7 times greater and the (40)Ar/(36)Ar ratio 1.6 times smaller than the Viking Lander values in 1976. The unexpected change in (40)Ar/N2 ratio probably results from different instrument characteristics although we cannot yet rule out some unknown atmospheric process. The new (40)Ar/(36)Ar ratio is more aligned with Martian meteoritic values. Besides Ar and N2 the Sample Analysis at Mars instrument suite on the Curiosity Rover has measured the other principal components of the atmosphere and the isotopes. The resulting volume mixing ratios are: CO2 0.960(+/- 0.007); (40)Ar 0.0193(+/- 0.0001); N2 0.0189(+/- 0.0003); O2 1.45(+/- 0.09) x 10(exp -3); and CO 5.45(+/- 3.62) x 10(exp 4); and the isotopes (40)Ar/(36)Ar 1.9(+/- 0.3) x 10(exp 3), and delta (13)C and delta (18)O from CO2 that are both several tens of per mil more positive than the terrestrial averages. Heavy isotope enrichments support the hypothesis of large atmospheric loss. Moreover, the data are consistent with values measured in Martian meteorites, providing additional strong support for a Martian origin for these rocks.

  8. 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

  9. 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

  10. 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.

  11. Terrestrial and extraterrestrial fullerenes

    Energy Technology Data Exchange (ETDEWEB)

    Heymann, D.; Jenneskens, L.W.; Jehlicka, J; Koper, C.; Vlietstra, E. [Rice Univ, Houston, TX (United States). Dept. of Earth Science

    2003-07-01

    This paper reviews reports of occurrences of fullerenes in circumstellar media, interstellar media, meteorites, interplanetary dust particles (IDPs), lunar rocks, hard terrestrial rocks from Shunga (Russia), Sudbury (Canada) and Mitov (Czech Republic), coal, terrestrial sediments from the Cretaceous-Tertiary-Boundary and Pennian-Triassic-Boundary, fulgurite, ink sticks, dinosaur eggs, and a tree char. The occurrences are discussed in the context of known and postulated processes of fullerene formation, including the suggestion that some natural fullerenes might have formed from biological (algal) remains.

  12. The Athena Science Payload for the 2003 Mars Exploration Rovers

    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.

    2001-01-01

    The Athena Mars rover payload is a suite of scientific instruments and tools for geologic exploration of the martian surface. It is 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, including soils, rock surfaces, and rock interiors. (3) Determine the fine-scale textural properties of these materials. Two identical copies of the Athena payload will be flown in 2003 on the two Mars Exploration Rovers. The payload is at a high state of maturity, and first copies of several of the instruments have already been built and tested for flight.

  13. NASA Curiosity rover hits organic pay dirt on Mars

    Science.gov (United States)

    Voosen, Paul

    2018-06-01

    Since NASA's Curiosity rover landed on Mars in 2012, it has sifted samples of soil and ground-up rock for signs of organic molecules—the complex carbon chains that on Earth form the building blocks of life. Past detections have been so faint that they could be just contamination. Now, samples taken from two different drill sites on an ancient lakebed have yielded complex organic macromolecules that look strikingly similar to kerogen, the goopy fossilized building blocks of oil and gas on Earth. At a few dozen parts per million, the detected levels are 100 times higher than previous finds, but scientists still cannot say whether they have origins in biology or geology. The discovery positions scientists to begin searching for direct evidence of past life on Mars and bolsters the case for returning rock samples from the planet, an effort that begins with the Mars 2020 rover.

  14. Mars Exploration Rovers Launch Performance and TCM-1 Maneuver Design

    Science.gov (United States)

    Kangas, Julie A.; Potts, Christopher L.; Raofi, Behzad

    2004-01-01

    The Mars Exploration Rover (MER) project successfully landed two identical rovers on Mars in order to remotely conduct geologic investigations, including characterization of rocks and soils that may hold clues to past water activity. Two landing sites, Gusev crater and Meridiani Planum, were selected out of nearly 200 candidate sites after balancing science returns and flight system engineering and safety. Precise trajectory targeting and control was necessary to achieve the atmospheric entry requirements for the selected landing sites within the flight system constraints. This paper discusses the expected and achieved launch vehicle performance and the impacts of that performance on the first Trajectory Correction Maneuver (TCM-1) while maintaining targeting flexibility in accommodating additional project concerns about landing site safety and possible in-flight retargeting to alternate landing sites.

  15. Low computation vision-based navigation for a Martian rover

    Science.gov (United States)

    Gavin, Andrew S.; Brooks, Rodney A.

    1994-01-01

    Construction and design details of the Mobot Vision System, a small, self-contained, mobile vision system, are presented. This system uses the view from the top of a small, roving, robotic vehicle to supply data that is processed in real-time to safely navigate the surface of Mars. A simple, low-computation algorithm for constructing a 3-D navigational map of the Martian environment to be used by the rover is discussed.

  16. Reasoning with inaccurate spatial knowledge. [for Planetary Rover

    Science.gov (United States)

    Doshi, Rajkumar S.; White, James E.; Lam, Raymond; Atkinson, David J.

    1988-01-01

    This paper describes work in progress on spatial planning for a semiautonomous mobile robot vehicle. The overall objective is to design a semiautonomous rover to plan routes in unknown, natural terrains. The approach to spatial planning involves deduction of common-sense spatial knowledge using geographical information, natural terrain representations, and assimilation of new and possibly conflicting terrain information. This report describes the ongoing research and implementation.

  17. Documenting of Geologic Field Activities in Real-Time in Four Dimensions: Apollo 17 as a Case Study for Terrestrial Analogues and Future Exploration

    Science.gov (United States)

    Feist, B.; Bleacher, J. E.; Petro, N. E.; Niles, P. B.

    2018-01-01

    During the Apollo exploration of the lunar surface, thousands of still images, 16 mm videos, TV footage, samples, and surface experiments were captured and collected. In addition, observations and descriptions of what was observed was radioed to Mission Control as part of standard communications and subsequently transcribed. The archive of this material represents perhaps the best recorded set of geologic field campaigns and will serve as the example of how to conduct field work on other planetary bodies for decades to come. However, that archive of material exists in disparate locations and formats with varying levels of completeness, making it not easily cross-referenceable. While video and audio exist for the missions, it is not time synchronized, and images taken during the missions are not time or location tagged. Sample data, while robust, is not easily available in a context of where the samples were collected, their descriptions by the astronauts are not connected to them, or the video footage of their collection (if available). A more than five year undertaking to reconstruct and reconcile the Apollo 17 mission archive, from launch through splashdown, has generated an integrated record of the entire mission, resulting in searchable, synchronized image, voice, and video data, with geologic context provided at the time each sample was collected. Through www.apollo17.org the documentation of the field investigation conducted by the Apollo 17 crew is presented in chronologic sequence, with additional context provided by high-resolution Lunar Reconnaissance Orbiter Camera (LROC) Narrow Angle Camera (NAC) images and a corresponding digital terrain model (DTM) of the Taurus-Littrow Valley.

  18. Mars Exploration Rover Spirit End of Mission Report

    Science.gov (United States)

    Callas, John L.

    2015-01-01

    The Mars Exploration Rover (MER) Spirit landed in Gusev crater on Mars on January 4, 2004, for a prime mission designed to last three months (90 sols). After more than six years operating on the surface of Mars, the last communication received from Spirit occurred on Sol 2210 (March 22, 2010). Following the loss of signal, the Mars Exploration Rover Project radiated over 1400 commands to Mars in an attempt to elicit a response from the rover. Attempts were made utilizing Deep Space Network X-Band and UHF relay via both Mars Odyssey and the Mars Reconnaissance Orbiter. Search and recovery efforts concluded on July 13, 2011. It is the MER project's assessment that Spirit succumbed to the extreme environmental conditions experienced during its fourth winter on Mars. Focusing on the time period from the end of the third Martian winter through the fourth winter and end of recovery activities, this report describes possible explanations for the loss of the vehicle and the extent of recovery efforts that were performed. It offers lessons learned and provides an overall mission summary.

  19. Histories of terrestrial planets

    International Nuclear Information System (INIS)

    Benes, K.

    1981-01-01

    The uneven historical development of terrestrial planets - Mercury, Venus, Earth, Moon and Mars - is probably due to the differences in their size, weight and rotational dynamics in association with the internal planet structure, their distance from the Sun, etc. A systematic study of extraterrestrial planets showed that the time span of internal activity was not the same for all bodies. It is assumed that the initial history of all terrestrial planets was marked with catastrophic events connected with the overall dynamic development of the solar system. In view of the fact that the cores of small terrestrial bodies cooled quicker, their geological development almost stagnated after two or three thousand million years. This is what probably happened to the Mercury and the Moon as well as the Mars. Therefore, traces of previous catastrophic events were preserved on the surface of the planets. On the other hand, the Earth is the most metamorphosed terrestrial planet and compared to the other planets appears to be atypical. Its biosphere is significantly developed as well as the other shell components, its hydrosphere and atmosphere, and its crust is considerably differentiated. (J.P.)

  20. Terrestrial planet formation.

    Science.gov (United States)

    Righter, K; O'Brien, D P

    2011-11-29

    Advances in our understanding of terrestrial planet formation have come from a multidisciplinary approach. Studies of the ages and compositions of primitive meteorites with compositions similar to the Sun have helped to constrain the nature of the building blocks of planets. This information helps to guide numerical models for the three stages of planet formation from dust to planetesimals (~10(6) y), followed by planetesimals to embryos (lunar to Mars-sized objects; few 10(6) y), and finally embryos to planets (10(7)-10(8) y). Defining the role of turbulence in the early nebula is a key to understanding the growth of solids larger than meter size. The initiation of runaway growth of embryos from planetesimals ultimately leads to the growth of large terrestrial planets via large impacts. Dynamical models can produce inner Solar System configurations that closely resemble our Solar System, especially when the orbital effects of large planets (Jupiter and Saturn) and damping mechanisms, such as gas drag, are included. Experimental studies of terrestrial planet interiors provide additional constraints on the conditions of differentiation and, therefore, origin. A more complete understanding of terrestrial planet formation might be possible via a combination of chemical and physical modeling, as well as obtaining samples and new geophysical data from other planets (Venus, Mars, or Mercury) and asteroids.

  1. Radionuclides in terrestrial ecosystems

    International Nuclear Information System (INIS)

    Bocock, K.L.

    1981-01-01

    This report summarizes information on the distribution and movement of radionuclides in semi-natural terrestrial ecosystems in north-west England with particular emphasis on inputs to, and outputs from ecosystems; on plant and soil aspects; and on radionuclides in fallout and in discharges by the nuclear industry. (author)

  2. 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.

  3. Electric field of the power terrestrial sources observed by microsatellite Chibis-M in the Earth's ionosphere in frequency range 1-60 Hz

    Science.gov (United States)

    Dudkin, Fedir; Korepanov, Valery; Dudkin, Denis; Pilipenko, Vyacheslav; Pronenko, Vira; Klimov, Stanislav

    2015-07-01

    The power line emission (PLE) 50/60 Hz and the Schumann resonance (SR) harmonics were detected by the use of a compact electrical field sensor of length 0.42 m during microsatellite Chibis-M mission in years 2012-2014. The initial orbit of Chibis-M has altitude 500 km and inclination 52°. We present the space distribution of PLE and its connections with the possible overhead power lines. PLE has been recorded both in the shade and sunlit parts of the orbits as opposed to SR which have been recorded only in the nightside of the Earth. The cases of an extra long distance of PLE propagation in the Earth's ionosphere and increased value of SR Q factor have been also observed. These results should stimulate the ionosphere model refinement for ultralow frequency and extremely low frequency electromagnetic wave propagation as well as a study on new possibility of the ionosphere diagnostics.

  4. 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

  5. The early evolution of the atmospheres of terrestrial planets

    CERN Document Server

    Raulin, François; Muller, Christian; Nixon, Conor; Astrophysics and Space Science Proceedings : Volume 35

    2013-01-01

    “The Early Evolution of the Atmospheres of Terrestrial Planets” presents the main processes participating in the atmospheric evolution of terrestrial planets. A group of experts in the different fields provide an update of our current knowledge on this topic. Several papers in this book discuss the key role of nitrogen in the atmospheric evolution of terrestrial planets. The earliest setting and evolution of planetary atmospheres of terrestrial planets is directly associated with accretion, chemical differentiation, outgassing, stochastic impacts, and extremely high energy fluxes from their host stars. This book provides an overview of the present knowledge of the initial atmospheric composition of the terrestrial planets. Additionally it includes some papers about the current exoplanet discoveries and provides additional clues to our understanding of Earth’s transition from a hot accretionary phase into a habitable world. All papers included were reviewed by experts in their respective fields. We are ...

  6. 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

    smaller than those of most other simulants. Smaller shear strength, coupled with much smaller bulk unit weight as compared to other simulants, results in smaller bearing and shearing resistances allowing for better simulation of the intended high-sinkage, high-slip behavior for rover mobility studies. The results of the normal bevameter tests were used to determine parameters for two models available in the literature - the Bekker model and the New Model of Mobility (N2M) model. These parameters were then used to predict the sinkage of a Spirit rover wheel if the rover were to be used on Fillite. The predicted sinkage of a Spirit rover wheel in Fillite was 84% of the wheel diameter, which was within the observed sinkage of 50 to 90% of the wheel diameter of the Spirit rover on Mars. Shear bevameter tests were also performed on Fillite to assess the shear stresses and shear deformations imparted by wheels under torsional loads. The results compared well to the estimated shear stresses and deformations of Martian soil caused by the wheels of the Spirit rover. When compared to other simulants (e.g. GRC-1), the pressure-sinkage and shear stress-shear deformation behaviors of Fillite confirm that Fillite is more suitable for high-sinkage and high-slip rover studies than other typical simulants derived from natural terrestrial soils and rocks.

  7. Broadband Ground Penetrating Radar with conformal antennas for subsurface imaging from a rover

    Science.gov (United States)

    Stillman, D. E.; Oden, C. P.; Grimm, R. E.; Ragusa, M.

    2015-12-01

    Ground-Penetrating Radar (GPR) allows subsurface imaging to provide geologic context and will be flown on the next two martian rovers (WISDOM on ExoMars and RIMFAX on Mars 2020). The motivation of our research is to minimize the engineering challenges of mounting a GPR antenna to a spacecraft, while maximizing the scientific capabilities of the GPR. The scientific capabilities increase with the bandwidth as it controls the resolution. Furthermore, ultra-wide bandwidth surveys allow certain mineralogies and rock units to be discriminated based on their frequency-dependent EM or scattering properties. We have designed and field-tested a prototype GPR that utilizes bi-static circularly polarized spiral antennas. Each antenna has a physical size of 61 x 61 x 4 cm, therefore two antennas could be mounted to the underbelly of a MSL-class rover. Spiral antennas were chosen because they have an inherent broadband response and provide a better low frequency response compared with similarly sized linearly polarized antennas. A horizontal spiral radiator emits energy both upward and downward directions. After the radiator is mounted to a metal surface (i.e. the underside of a rover), a cavity is formed that causes the upward traveling energy to reverberate and cause unwanted interference. This interference is minimized by 1) using a high metallization ratio on the spiral to reduce cavity emissions, and 2) placing absorbing material inside the cavity. The resulting antennas provide high gain (0 to 8 dBi) from 200 to 1000 MHz. The low frequency response can be improved by increasing the antenna thickness (i.e., cavity depth). In an initial field test, the antennas were combined with impulse GPR electronics that had ~140 dB of dynamic range (not including antennas) and a sand/clay interface 7 feet deep was detected. To utilize the full bandwidth the antennas, a gated Frequency Modulated Continuous Waveform system will be developed - similar to RIMFAX. The goal is to reach a

  8. Working group 4: Terrestrial

    International Nuclear Information System (INIS)

    Anon.

    1993-01-01

    A working group at a Canada/USA symposium on climate change and the Arctic identified major concerns and issues related to terrestrial resources. The group examined the need for, and the means of, involving resource managers and users at local and territorial levels in the process of identifying and examining the impacts and consequences of climatic change. Climatic change will be important to the Arctic because of the magnitude of the change projected for northern latitudes; the apparent sensitivity of its terrestrial ecosystems, natural resources, and human support systems; and the dependence of the social, cultural, and economic welfare of Arctic communities, businesses, and industries on the health and quality of their environment. Impacts of climatic change on the physical, biological, and associated socio-economic environment are outlined. Gaps in knowledge needed to quantify these impacts are listed along with their relationships with resource management. Finally, potential actions for response and adaptation are presented

  9. Phytopharmacology of Tribulus terrestris.

    Science.gov (United States)

    Shahid, M; Riaz, M; Talpur, M M A; Pirzada, T

    2016-01-01

    Tribulus terrestris is an annual herb which belongs to the Zygophyllaceae family. This plant has been used in traditional medicine for the treatment of various diseases for hundreds of decades. The main active phytoconstituents of this plant include flavonoids, alkaloids, saponins, lignin, amides, and glycosides. The plant parts have different pharmacological activities including aphrodisiac, antiinflammatory, antimicrobial and antioxidant potential. T. terrestris is most often used for infertility and loss of libido. It has potential application as immunomodulatory, hepatoprotective, hypolipidemic, anthelmintic and anticarcinogenic activities. The aim of the present article is to create a database for further investigation of the phytopharmacological properties of this plant to promote research. This study will definitely help to confirm its traditional use along with its value-added utility, eventually leading to higher revenues from the plant.

  10. Lunar Surface Scenarios: Habitation and Life Support Systems for a Pressurized Rover

    Science.gov (United States)

    Anderson, Molly; Hanford, Anthony; Howard, Robert; Toups, Larry

    2006-01-01

    Pressurized rovers will be a critical component of successful lunar exploration to enable safe investigation of sites distant from the outpost location. A pressurized rover is a complex system with the same functions as any other crewed vehicle. Designs for a pressurized rover need to take into account significant constraints, a multitude of tasks to be performed inside and out, and the complexity of life support systems to support the crew. In future studies, pressurized rovers should be given the same level of consideration as any other vehicle occupied by the crew.

  11. Terrestrial plant methane production

    DEFF Research Database (Denmark)

    Mikkelsen, Teis Nørgaard; Bruhn, Dan; Møller, Ian M.

    We evaluate all experimental work published on the phenomenon of aerobic methane (CH4) generation in terrestrial plants. We conclude that the phenomenon is true. Four stimulating factors have been observed to induce aerobic plant CH4 production, i.e. cutting injuries, increasing temperature...... the aerobic methane emission in plants. Future work is needed for establishing the relative contribution of several proven potential CH4 precursors in plant material....

  12. 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.

  13. Quantitative analysis of digital outcrop data obtained from stereo-imagery using an emulator for the PanCam camera system for the ExoMars 2020 rover

    Science.gov (United States)

    Barnes, Robert; Gupta, Sanjeev; Gunn, Matt; Paar, Gerhard; Balme, Matt; Huber, Ben; Bauer, Arnold; Furya, Komyo; Caballo-Perucha, Maria del Pilar; Traxler, Chris; Hesina, Gerd; Ortner, Thomas; Banham, Steven; Harris, Jennifer; Muller, Jan-Peter; Tao, Yu

    2017-04-01

    A key focus of planetary rover missions is to use panoramic camera systems to image outcrops along rover traverses, in order to characterise their geology in search of ancient life. This data can be processed to create 3D point clouds of rock outcrops to be quantitatively analysed. The Mars Utah Rover Field Investigation (MURFI 2016) is a Mars Rover field analogue mission run by the UK Space Agency (UKSA) in collaboration with the Canadian Space Agency (CSA). It took place between 22nd October and 13th November 2016 and consisted of a science team based in Harwell, UK, and a field team including an instrumented Rover platform at the field site near Hanksville (Utah, USA). The Aberystwyth University PanCam Emulator 3 (AUPE3) camera system was used to collect stereo panoramas of the terrain the rover encountered during the field trials. Stereo-imagery processed in PRoViP is rendered as Ordered Point Clouds (OPCs) in PRo3D, enabling the user to zoom, rotate and translate the 3D outcrop model. Interpretations can be digitised directly onto the 3D surface, and simple measurements can be taken of the dimensions of the outcrop and sedimentary features, including grain size. Dip and strike of bedding planes, stratigraphic and sedimentological boundaries and fractures is calculated within PRo3D from mapped bedding contacts and fracture traces. Merging of rover-derived imagery with UAV and orbital datasets, to build semi-regional multi-resolution 3D models of the area of operations for immersive analysis and contextual understanding. In-simulation, AUPE3 was mounted onto the rover mast, collecting 16 stereo panoramas over 9 'sols'. 5 out-of-simulation datasets were collected in the Hanksville-Burpee Quarry. Stereo panoramas were processed using an automated pipeline and data transfer through an ftp server. PRo3D has been used for visualisation and analysis of this stereo data. Features of interest in the area could be annotated, and their distances between to the rover

  14. Applied design methodology for lunar rover elastic wheel

    Science.gov (United States)

    Cardile, Diego; Viola, Nicole; Chiesa, Sergio; Rougier, Alessandro

    2012-12-01

    In recent years an increasing interest in the Moon surface operations has been experienced. In the future robotic and manned missions of Moon surface exploration will be fundamental in order to lay the groundwork for more ambitious space exploration programs. Surface mobility systems will be the key elements to ensure an efficient and safe Moon exploration. Future lunar rovers are likely to be heavier and able to travel longer distances than the previously developed Moon rover systems. The Lunar Roving Vehicle (LRV) is the only manned rover, which has so far been launched and used on the Moon surface. Its mobility system included flexible wheels that cannot be scaled to the heavier and longer range vehicles. Thus the previously developed wheels are likely not to be suitable for the new larger vehicles. Taking all these considerations into account, on the basis of the system requirements and assumptions, several wheel concepts have been discussed and evaluated through a trade-off analysis. Semi-empirical equations have been utilized to predict the wheel geometrical characteristics, as well as to estimate the motion resistances and the ability of the system to generate thrust. A numerical model has also been implemented, in order to define more into the details the whole wheel design, in terms of wheel geometry and physical properties. As a result of the trade-off analysis, the ellipse wheel concept has shown the best behavior in terms of stiffness, mass budget and dynamic performance. The results presented in the paper have been obtained in cooperation with Thales Alenia Space-Italy and Sicme motori, in the framework of a regional program called STEPS . STEPS-Sistemi e Tecnologie per l'EsPlorazione Spaziale is a research project co-financed by Piedmont Region and firms and universities of the Piedmont Aerospace District in the ambit of the P.O.R-F.E.S.R. 2007-2013 program.

  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. 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

  17. Comparative Climatology of Terrestrial Planets

    Science.gov (United States)

    Mackwell, Stephen J.; Simon-Miller, Amy A.; Harder, Jerald W.; Bullock, Mark A.

    to a future volume. Our authors have taken on the task to look at climate on the terrestrial planets in the broadest sense possible — by comparing the atmospheric processes at work on the four terrestrial bodies, Earth, Venus, Mars, and Titan (Titan is included because it hosts many of the common processes), and on terrestrial planets around other stars. These processes include the interactions of shortwave and thermal radiation with the atmosphere, condensation and vaporization of volatiles, atmospheric dynamics, chemistry and aerosol formation, and the role of the surface and interior in the long-term evolution of climate. Chapters herein compare the scientific questions, analysis methods, numerical models, and spacecraft remote sensing experiments of Earth and the other terrestrial planets, emphasizing the underlying commonality of physical processes. We look to the future by identifying objectives for ongoing research and new missions. Through these pages we challenge practicing planetary scientists, and most importantly new students of any age, to find pathways and synergies for advancing the field. In Part I, Foundations, we introduce the fundamental physics of climate on terrestrial planets. Starting with the best studied planet by far, Earth, the first chapters discuss what is known and what is not known about the atmospheres and climates of the terrestrial planets of the solar system and beyond. In Part II, Greenhouse Effect and Atmospheric Dynamics, we focus on the processes that govern atmospheric motion and the role that general circulation models play in our current understanding. In Part III, Clouds and Hazes, we provide an in-depth look at the many effects of clouds and aerosols on planetary climate. Although this is a vigorous area of research in the Earth sciences, and very strongly influences climate modeling, the important role that aerosols and clouds play in the climate of all planets is not yet well constrained. This section is intended to

  18. Scientific Results of the Mars Exploration Rovers Spirit and Opportunity

    Science.gov (United States)

    Banerdt, W. B.

    2006-08-01

    NASA's Mars Exploration Rover project launched two robotic geologists, Spirit and Opportunity, toward Mars in June and July of 2003, reaching Mars the following January. The science objectives for this mission are focused on delineating the geologic history for two locations on Mars, with an emphasis on the history of water. Although they were designed for a 90-day mission, both rovers have lasted more than two years on the surface and each has covered more than four miles while investigating Martian geology. Spirit was targeted to Gusev Crater, a 300-km diameter impact basin that was suspected to be the site of an ancient lake. Initial investigations of the plains in the vicinity of the landing site found no evidence of such a lake, but were instead consistent with unaltered (by water) basaltic plains. But after a 3-km trek to an adjacent range of hills it found a quite different situation, with abundant chemical and morphological evidence for a complex geological history. Opportunity has been exploring Meridiani Planum, which was known from orbital data to contain the mineral hematite, which generally forms in the presence of water. The rocks exposed in Meridiani are highly chemically altered, and appear to have been exposed to significant amounts of water. By descending into the 130-m diameter Endurance Crater, Opportunity was able to analyze a 10-m vertical section of this rock unit, which showed significant gradations in chemistry and morphology.

  19. Radiation shield analysis for a manned Mars rover

    International Nuclear Information System (INIS)

    Morley, N.J.; ElGenk, M.S.

    1991-01-01

    Radiation shielding for unmanned space missions has been extensively studied; however, designs of man-rated shields are minimal. Engle et al.'s analysis of a man-rated, multilayered shield composed of two and three cycles (a cycle consists of a tungsten and a lithium hydride layer) is the basis for the work reported in this paper. The authors present the results of a recent study of shield designs for a manned Mars rover powered by a 500-kW(thermal) nuclear reactor. A train-type rover vehicle was developed, which consists of four cars and is powered by an SP-100-type nuclear reactor heat source. The maximum permissible dose rate (MPD) from all sources is given by the National Council on Radiation Protection and Measurements as 500 mSv/yr (50 rem/yr) A 3-yr Mars mission (2-yr round trip and 1-yr stay) will deliver a 1-Sv natural radiation dose without a solar particle event, 450 mSv/yr in flight, and an additional 100 mSv on the planet surface. An anomalously large solar particle event could increase the natural radiation dose for unshielded astronauts on the Martian surface to 200 mSv. This limits the MPD to crew members from the nuclear reactor to 300 mSv

  20. Introduction into a two-dimensional model of the photochemistry of the stratosphere of precipitations of galactic and solar protons: case of the present terrestrial magnetic field and of field reversal

    International Nuclear Information System (INIS)

    Brard, D.

    1982-11-01

    In the aim of studying the climatic variations related to the reversal of the geomagnetic field, an analysis has been made of the effects of precipitations of galactic and solar protons, on oxide of nitrogen (NOsub(x) and NO) and ozone. Modifications are introduced into the one- and two-dimensional models which take into account the structure of the magnetic field. In situ measurements after the solar event of August 1972 enable changes due to the solar cycles to be introduced and the use of a 2D model to be justified [fr

  1. 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...

  2. Arctic Terrestrial Biodiversity Monitoring Plan

    DEFF Research Database (Denmark)

    Christensen, Tom; Payne, J.; Doyle, M.

    The Conservation of Arctic Flora and Fauna (CAFF), the biodiversity working group of the Arctic Council, established the Circumpolar Biodiversity Monitoring Program (CBMP) to address the need for coordinated and standardized monitoring of Arctic environments. The CBMP includes an international...... on developing and implementing long-term plans for monitoring the integrity of Arctic biomes: terrestrial, marine, freshwater, and coastal (under development) environments. The CBMP Terrestrial Expert Monitoring Group (CBMP-TEMG) has developed the Arctic Terrestrial Biodiversity Monitoring Plan (CBMP......-Terrestrial Plan/the Plan) as the framework for coordinated, long-term Arctic terrestrial biodiversity monitoring. The goal of the CBMP-Terrestrial Plan is to improve the collective ability of Arctic traditional knowledge (TK) holders, northern communities, and scientists to detect, understand and report on long...

  3. The University Rover Challenge: A competition highlighting Human and Robotic partnerships for exploration

    Science.gov (United States)

    Smith, Heather; Duncan, Andrew

    2016-07-01

    The University Rover Challenge began in 2006 with 4 American college teams competing, now in it's 10th year there are 63 teams from 12 countries registered to compete for the top rover designed to assist humans in the exploration of Mars. The Rovers compete aided by the University teams in four tasks (3 engineering and 1 science) in the Mars analog environment of the Utah Southern Desert in the United States. In this presentation we show amazing rover designs with videos demonstrating the incredible ingenuity, skill and determination of the world's most talented college students. We describe the purpose and results of each of the tasks: Astronaut Assistant, Rover Dexterity, Terrain maneuvering, and Science. We explain the evolution of the competition and common challenges faced by the robotic explorers

  4. Non-Detection of Methane in the Mars Atmosphere by the Curiosity Rover

    Science.gov (United States)

    Webster, Chris R.; Mahaffy, Paul R.; Atreya, Sushil K.; Flesch, Gregory J.; Farley, Kenneth A.

    2014-01-01

    By analogy with Earth, methane in the atmosphere of Mars is a potential signature of ongoing or past biological activity on the planet. During the last decade, Earth-based telescopic and Mars orbit remote sensing instruments have reported significant abundances of methane in the Martian atmosphere ranging from several to tens of parts-per-billion by volume (ppbv). Observations from Earth showed plumes of methane with variations on timescales much faster than expected and inconsistent with localized patches seen from orbit, prompting speculation of sources from sub-surface methanogen bacteria, geological water-rock reactions or infall from comets, micro-meteorites or interplanetary dust. From measurements on NASAs Curiosity Rover that landed near Gale Crater on 5th August 2012, we here report no definitive detection of methane in the near-surface Martian atmosphere. Our in situ measurements were made using the Tunable Laser Spectrometer (TLS) in the Sample Analysis at Mars (SAM) instrument suite6 that made three separate searches on Martian sols 79, 81 and 106 after landing. The measured mean value of 0.39 plus or minus 1.4 ppbv corresponds to an upper limit for methane abundance of 2.7 ppbv at the 95 confidence level. This result is in disagreement with both the remote sensing spacecraft observations taken at lower sensitivity and the telescopic observations that relied on subtraction of a very large contribution from terrestrial methane in the intervening observation path. Since the expected lifetime of methane in the Martian atmosphere is hundreds of years, our results question earlier observations and set a low upper limit on the present day abundance, reducing the probability of significant current methanogenic microbial activity on Mars.

  5. Contaminant exposure in terrestrial vertebrates

    International Nuclear Information System (INIS)

    Smith, Philip N.; Cobb, George P.; Godard-Codding, Celine; Hoff, Dale; McMurry, Scott T.; Rainwater, Thomas R.; Reynolds, Kevin D.

    2007-01-01

    Here we review mechanisms and factors influencing contaminant exposure among terrestrial vertebrate wildlife. There exists a complex mixture of biotic and abiotic factors that dictate potential for contaminant exposure among terrestrial and semi-terrestrial vertebrates. Chemical fate and transport in the environment determine contaminant bioaccessibility. Species-specific natural history characteristics and behavioral traits then play significant roles in the likelihood that exposure pathways, from source to receptor, are complete. Detailed knowledge of natural history traits of receptors considered in conjunction with the knowledge of contaminant behavior and distribution on a site are critical when assessing and quantifying exposure. We review limitations in our understanding of elements of exposure and the unique aspects of exposure associated with terrestrial and semi-terrestrial taxa. We provide insight on taxa-specific traits that contribute, or limit exposure to, transport phenomenon that influence exposure throughout terrestrial systems, novel contaminants, bioavailability, exposure data analysis, and uncertainty associated with exposure in wildlife risk assessments. Lastly, we identify areas related to exposure among terrestrial and semi-terrestrial organisms that warrant additional research. - Both biotic and abiotic factors determine chemical exposure for terrestrial vertebrates

  6. The Antarctic permafrost as a testbed for REMS (Rover Environmental Monitoring Station-Mars Science Laboratory)

    Science.gov (United States)

    Esteban, B.; Ramos, M.; Sebastián, E.; Armiens, C.; Gómez-Elvira, J.; Cabos, W.; de Pablo, M. A.

    2009-04-01

    The present climatic characteristics of Mars favor the presence of extense permafrost areas in this lonely planet. Therefore environmental parameters that are included in Martian Rover missions are also used for monitoring thermal soil surface evolution in order to study the permafrost active layer thickness and the energy balance in the soil-atmosphere boundary limit layer. The REMS (Rover Environmental Monitoring Station) is an environmental station designed by the Centro de Astrobiología (CAB- Spain) with the collaboration of national and international partners (CRISA/EADS, UPC and FMI), which is part of the payload of the MSL (Mars Science Laboratory) NASA mission to Mars (http://mars.jpl.nasa.gov/msl/overview/). This mission is expected to be launched in the final months of 2009, and mainly consists of a Rover, with a complete set of scientific instruments; the Rover will carry the biggest, most advanced suite of instruments for scientific studies ever sent to the Martian surface. Five sensors compose the REMS instrument: ground (GT-REMS) and air temperatures, wind speed and direction, pressure, humidity and ultraviolet radiation (UV-REMS). A simplified setup of the REMS was deployed on Antarctica in the surroundings of the Spanish Antarctic Stations on Livingston and Deception Islands (Maritime Antarctica), where the permafrost distribution is well-known. The aim of the experiment was to check REMS's sensors response against hard environmental conditions and calibrates their measures with standard Antarctic devices. The experimental apparatuses included some standard meteorological and thermopiles sensors corresponding to the REMS. All the sensors are mounted in a 1.8 m mast and include a Pt100 air temperature sensor with shield solar protection on the mast top, a Kipp and Zonnen CNR1 net radiometer for measuring infrared (5-50 μm) and short wave solar (305-2800 nm) radiation at 1.5 m high, GT-REMS sensor and its amplification box at 0.7 m high and finally

  7. Terrestrial Water Storage

    Science.gov (United States)

    Rodell, M.; Chambers, D. P.; Famiglietti, J. S.

    2015-01-01

    During 2014 dryness continued in the Northern Hemisphere and relative wetness continued in the Southern Hemisphere (Fig. 2.21; Plate 2.1g). These largely canceled out such that the global land surface began and ended the year with a terrestrial water storage (TWS) anomaly slightly below 0 cm (equivalent height of water; Fig. 2.22). TWS is the sum of groundwater, soil moisture, surface water, snow, and ice. Groundwater responds more slowly to meteorological phenomena than the other components because the overlying soil acts as a low pass filter, but often it has a larger range of variability on multiannual timescales (Rodell and Famiglietti 2001; Alley et al. 2002).In situ groundwater data are only archived and made and Tanzania. The rest of the continent experienced mixed to dry conditions. Significant reductions in TWS in Greenland, Antarctica, and southern coastal Alaska reflect ongoing ice sheet and glacier ablation, not groundwater depletion.

  8. 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.

  9. Mars Rover Sample Return aerocapture configuration design and packaging constraints

    Science.gov (United States)

    Lawson, Shelby J.

    1989-01-01

    This paper discusses the aerodynamics requirements, volume and mass constraints that lead to a biconic aeroshell vehicle design that protects the Mars Rover Sample Return (MRSR) mission elements from launch to Mars landing. The aerodynamic requirements for Mars aerocapture and entry and packaging constraints for the MRSR elements result in a symmetric biconic aeroshell that develops a L/D of 1.0 at 27.0 deg angle of attack. A significant problem in the study is obtaining a cg that provides adequate aerodynamic stability and performance within the mission imposed constraints. Packaging methods that relieve the cg problems include forward placement of aeroshell propellant tanks and incorporating aeroshell structure as lander structure. The MRSR missions developed during the pre-phase A study are discussed with dimensional and mass data included. Further study is needed for some missions to minimize MRSR element volume so that launch mass constraints can be met.

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. The Mars Science Laboratory Curiosity rover Mastcam instruments: Preflight and in-flight calibration, validation, and data archiving

    Science.gov (United States)

    Bell, James F.; Godber, A.; McNair, S.; Caplinger, M.A.; Maki, J.N.; Lemmon, M.T.; Van Beek, J.; Malin, M.C.; Wellington, D.; Kinch, K.M.; Madsen, M.B.; Hardgrove, C.; Ravine, M.A.; Jensen, E.; Harker, D.; Anderson, Ryan; Herkenhoff, Kenneth E.; Morris, R.V.; Cisneros, E.; Deen, R.G.

    2017-01-01

    The NASA Curiosity rover Mast Camera (Mastcam) system is a pair of fixed-focal length, multispectral, color CCD imagers mounted ~2 m above the surface on the rover's remote sensing mast, along with associated electronics and an onboard calibration target. The left Mastcam (M-34) has a 34 mm focal length, an instantaneous field of view (IFOV) of 0.22 mrad, and a FOV of 20° × 15° over the full 1648 × 1200 pixel span of its Kodak KAI-2020 CCD. The right Mastcam (M-100) has a 100 mm focal length, an IFOV of 0.074 mrad, and a FOV of 6.8° × 5.1° using the same detector. The cameras are separated by 24.2 cm on the mast, allowing stereo images to be obtained at the resolution of the M-34 camera. Each camera has an eight-position filter wheel, enabling it to take Bayer pattern red, green, and blue (RGB) “true color” images, multispectral images in nine additional bands spanning ~400–1100 nm, and images of the Sun in two colors through neutral density-coated filters. An associated Digital Electronics Assembly provides command and data interfaces to the rover, 8 Gb of image storage per camera, 11 bit to 8 bit companding, JPEG compression, and acquisition of high-definition video. Here we describe the preflight and in-flight calibration of Mastcam images, the ways that they are being archived in the NASA Planetary Data System, and the ways that calibration refinements are being developed as the investigation progresses on Mars. We also provide some examples of data sets and analyses that help to validate the accuracy and precision of the calibration

  15. The Mars Science Laboratory Curiosity rover Mastcam instruments: Preflight and in-flight calibration, validation, and data archiving

    Science.gov (United States)

    Bell, J. F.; Godber, A.; McNair, S.; Caplinger, M. A.; Maki, J. N.; Lemmon, M. T.; Van Beek, J.; Malin, M. C.; Wellington, D.; Kinch, K. M.; Madsen, M. B.; Hardgrove, C.; Ravine, M. A.; Jensen, E.; Harker, D.; Anderson, R. B.; Herkenhoff, K. E.; Morris, R. V.; Cisneros, E.; Deen, R. G.

    2017-07-01

    The NASA Curiosity rover Mast Camera (Mastcam) system is a pair of fixed-focal length, multispectral, color CCD imagers mounted 2 m above the surface on the rover's remote sensing mast, along with associated electronics and an onboard calibration target. The left Mastcam (M-34) has a 34 mm focal length, an instantaneous field of view (IFOV) of 0.22 mrad, and a FOV of 20° × 15° over the full 1648 × 1200 pixel span of its Kodak KAI-2020 CCD. The right Mastcam (M-100) has a 100 mm focal length, an IFOV of 0.074 mrad, and a FOV of 6.8° × 5.1° using the same detector. The cameras are separated by 24.2 cm on the mast, allowing stereo images to be obtained at the resolution of the M-34 camera. Each camera has an eight-position filter wheel, enabling it to take Bayer pattern red, green, and blue (RGB) "true color" images, multispectral images in nine additional bands spanning 400-1100 nm, and images of the Sun in two colors through neutral density-coated filters. An associated Digital Electronics Assembly provides command and data interfaces to the rover, 8 Gb of image storage per camera, 11 bit to 8 bit companding, JPEG compression, and acquisition of high-definition video. Here we describe the preflight and in-flight calibration of Mastcam images, the ways that they are being archived in the NASA Planetary Data System, and the ways that calibration refinements are being developed as the investigation progresses on Mars. We also provide some examples of data sets and analyses that help to validate the accuracy and precision of the calibration.

  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. Grand scheme for solar-terrestrial research

    International Nuclear Information System (INIS)

    Intriligator, D.S.

    1985-01-01

    The study of solar wind and its interaction with magnetic fields and electrical currents is examined. The effects of magnetic storms caused by solar wind interaction with magnetic fields in the magnetosphere and ionosphere are described. The effect of magnetospheric plasma processes on spacecraft operations and the operation of ground-based systems are explained. The development of an International Solar Terrestrial Physics program, which will be designed to place diagnostic experiments on a collection of spacecraft positioned near space is discussed; the components of the program are described

  18. Handbook of the Solar-Terrestrial Environment

    CERN Document Server

    Kamide, Y

    2007-01-01

    The Handbook of the Solar-Terrestrial Environment is a unique compendium. Recognized international leaders in their field contribute chapters on basic topics of solar physics, space plasmas and the Earth's magnetosphere, and on applied topics like the aurora, magnetospheric storms, space weather, space climatology and planetary science. This book will be of highest value as a reference for researchers working in the area of planetary and space science. However, it is also written in a style accessible to graduate students majoring in those fields.

  19. Sampling Terrestrial Environments for Bacterial Polyketides

    Directory of Open Access Journals (Sweden)

    Patrick Hill

    2017-04-01

    Full Text Available Bacterial polyketides are highly biologically active molecules that are frequently used as drugs, particularly as antibiotics and anticancer agents, thus the discovery of new polyketides is of major interest. Since the 1980s discovery of polyketides has slowed dramatically due in large part to the repeated rediscovery of known compounds. While recent scientific and technical advances have improved our ability to discover new polyketides, one key area has been under addressed, namely the distribution of polyketide-producing bacteria in the environment. Identifying environments where producing bacteria are abundant and diverse should improve our ability to discover (bioprospect new polyketides. This review summarizes for the bioprospector the state-of-the-field in terrestrial microbial ecology. It provides insight into the scientific and technical challenges limiting the application of microbial ecology discoveries for bioprospecting and summarizes key developments in the field that will enable more effective bioprospecting. The major recent efforts by researchers to sample new environments for polyketide discovery is also reviewed and key emerging environments such as insect associated bacteria, desert soils, disease suppressive soils, and caves are highlighted. Finally strategies for taking and characterizing terrestrial samples to help maximize discovery efforts are proposed and the inclusion of non-actinomycetal bacteria in any terrestrial discovery strategy is recommended.

  20. Spiral arms, comets and terrestrial catastrophism

    International Nuclear Information System (INIS)

    Clube, S.V.M.; Napier, W.M.

    1982-01-01

    A review is presented of an hypothesis of terrestrial catastrophism in which comets grow in molecular clouds and are captured by the Sun as it passes through the spiral arms of the Galaxy. Assuming that comets are a major supplier of the Earth-crossing (Appollo) asteroid population, the latter fluctuates correspondingly and leads to episodes of terrestrial bombardment. Changes in the rotational momentum of core and mantle, generated by impacts, lead to episodes of magnetic field reversal and tectonic activity, while surface phenomena lead to ice-ages and mass extinctions. An episodic geophysical history with an interstellar connection is thus implied. If comets in spiral arms are necessary intermediaries in the process of star formation, the theory also has implications relating to early solar system history and galactic chemistry. These aspects are briefly discussed with special reference to the nature of spiral arms. (author)

  1. Assessment of Proficiency During Simulated Rover Operations Following Long-Duration Spaceflight

    Science.gov (United States)

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

    2011-01-01

    Following long-duration space travel, pressurized rovers will enhance crew mobility to explore Mars and other planetary surfaces. Adaptive changes in sensorimotor function may limit the crew s proficiency when performing some rover operations shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify postflight decrements in operational proficiency in a motion-based rover simulation after International Space Station (ISS) expeditions. Given that postflight performance will also be influenced by the level of preflight proficiency attained, a ground-based normative study was conducted to characterize the acquisition of skills over multiple sessions.

  2. Tidally Heated Terrestrial Exoplanets

    Science.gov (United States)

    Henning, Wade Garrett

    This work models the surface and internal temperatures for hypothetical terrestrial planets in situations involving extreme tidal heating. The feasibility of such planets is evaluated in terms of the orbital perturbations that may give rise to them, their required proximity to a hoststar, and the potential for the input tidal heating to cause significant partial melting of the mantle. Trapping terrestrial planets into 2:1 resonances with migrating Hot Jupiters is considered as a reasonable way for Earth-like worlds to both maintain high eccentricities and to move to short enough orbital periods (1-20 days) for extreme tidal heating to occur. Secular resonance and secular orbital perturbations may support moderate tidal heating at a low equilibrium eccentricity. At orbital periods below 10-30 days, with eccentricities from 0.01 to 0.1, tidal heat may greatly exceed radiogenic heat production. It is unlikely to exceed insolation, except when orbiting very low luminosity hosts, and thus will have limited surface temperature expression. Observations of such bodies many not be able to detect tidal surface enhancements given a few percent uncertainty in albedo, except on the nightside of spin synchronous airless objects. Otherwise detection may occur via spectral detection of hotspots or high volcanic gas concentrations including sulfur dioxide and hydrogen sulfide. The most extreme cases may be able to produce magma oceans, or magma slush mantles with up to 40-60% melt fractions. Tides may alter the habitable zones for smaller red dwarf stars, but are generally detrimental. Multiple viscoelastic models, including the Maxwell, Voigt-Kelvin, Standard Anelastic Solid, and Burgers rheologies are explored and applied to objects such as Io and the super-Earth planet GJ 876d. The complex valued Love number for the Burgers rheology is derived and found to be a useful improvement when modeling the low temperature behavior of tidal bodies, particularly during low eccentricity

  3. Ecological transfer mechanisms - Terrestrial

    International Nuclear Information System (INIS)

    Martin, W.E.; Raines, Gilbert E.; Bloom, S.G.; Levin, A.A.

    1969-01-01

    Radionuclides produced by nuclear excavation detonations and released to the environment may enter a variety of biogeochemical cycles and follow essentially the same transfer pathways as their stable-element counterparts. Estimation of potential internal radiation doses to individuals and/or populations living in or near fallout-contaminated areas requires analysis of the food-chain and other ecological pathways by which radionuclides released to the environment may be returned to man. A generalized materials transfer diagram, applicable to the forest, agricultural, freshwater and marine ecosystems providing food and water to the indigenous population of Panama and Colombia in regions that could be affected by nuclear excavation of a sea-level canal between the Atlantic and Pacific Oceans, is presented. Transfer mechanisms effecting the movement of stable elements and radionuclides in terrestrial ecosystems are discussed, and methods used to simulate these processes by means of mathematical models are described to show how intake values are calculated for different radionuclides in the major ecological pathways leading to man. These data provide a basis for estimating potential internal radiation doses for comparison with the radiation protection criteria established by recognized authorities; and this, in turn, provides a basis for recommending measures to insure the radiological safety of the nuclear operation plan. (author)

  4. Ecological transfer mechanisms - Terrestrial

    Energy Technology Data Exchange (ETDEWEB)

    Martin, W E; Raines, Gilbert E; Bloom, S G; Levin, A A [Battelle Memorial Institute, CoIumbus, OH (United States)

    1969-07-01

    Radionuclides produced by nuclear excavation detonations and released to the environment may enter a variety of biogeochemical cycles and follow essentially the same transfer pathways as their stable-element counterparts. Estimation of potential internal radiation doses to individuals and/or populations living in or near fallout-contaminated areas requires analysis of the food-chain and other ecological pathways by which radionuclides released to the environment may be returned to man. A generalized materials transfer diagram, applicable to the forest, agricultural, freshwater and marine ecosystems providing food and water to the indigenous population of Panama and Colombia in regions that could be affected by nuclear excavation of a sea-level canal between the Atlantic and Pacific Oceans, is presented. Transfer mechanisms effecting the movement of stable elements and radionuclides in terrestrial ecosystems are discussed, and methods used to simulate these processes by means of mathematical models are described to show how intake values are calculated for different radionuclides in the major ecological pathways leading to man. These data provide a basis for estimating potential internal radiation doses for comparison with the radiation protection criteria established by recognized authorities; and this, in turn, provides a basis for recommending measures to insure the radiological safety of the nuclear operation plan. (author)

  5. Use of a Novel Rover-mounted Fluorescence Imager and Fluorescent Probes to Detect Biological Material in the Atacama Desert in Daylight

    Science.gov (United States)

    Weinstein, S.; Pane, D.; Warren-Rhodes, K.; Cockell, C.; Ernst, L. A.; Minkley, E.; Fisher, G.; Emani, S.; Wettergreen, D. S.; Wagner, M.

    2005-01-01

    We have developed an imaging system, the Fluorescence Imager (FI), for detecting fluorescence signals from sparse microorganisms and biofilms during autonomous rover exploration. The fluorescence signals arise both from naturally occurring chromophores, such as chlorophyll of cyanobacteria and lichens, and from fluorescent probes applied to soil and rocks. Daylight imaging has been accomplished by a novel use of a high-powered flashlamp synchronized to a CCD camera. The fluorescent probes are cell permanent stains that have extremely low intrinsic fluorescence (quantum yields less than 0.01) and a large fluorescence enhancement (quantum yields greater than 0.4) when bound to the target. Each probe specifically targets either carbohydrates, proteins, nucleic acids or membrane lipids, the four classes of macromolecules found in terrestrial life. The intent of the probes is to interrogate the environment for surface and endolithic life forms.

  6. Mars Hand Lens Imager (MAHLI) Efforts and Observations at the Rocknest Eolian Sand Shadow in Curiosity's Gale Crater Field Site

    Science.gov (United States)

    Edgett, K. S.; Yingst, R. A.; Minitti, M. E.; Goetz, W.; Kah, L. C.; Kennedy, M. R.; Lipkaman, L. J.; Jensen, E. H.; Anderson, R. C.; Beegle, L. W.; hide

    2013-01-01

    The Mars Science Laboratory (MSL) mission is focused on assessing the past or present habitability of Mars, through interrogation of environment and environmental records at the Curiosity rover field site in Gale crater. The MSL team has two methods available to collect, process and deliver samples to onboard analytical laboratories, the Chemistry and Mineralogy instrument (CheMin) and the Sample Analysis at Mars (SAM) instrument suite. One approach obtains samples by drilling into a rock, the other uses a scoop to collect loose regolith fines. Scooping was planned to be first method performed on Mars because materials could be readily scooped multiple times and used to remove any remaining, minute terrestrial contaminants from the sample processing system, the Collection and Handling for In-Situ Martian Rock Analysis (CHIMRA). Because of this cleaning effort, the ideal first material to be scooped would consist of fine to very fine sand, like the interior of the Serpent Dune studied by the Mars Exploration Rover (MER) Spirit team in 2004 [1]. The MSL team selected a linear eolian deposit in the lee of a group of cobbles they named Rocknest (Fig. 1) as likely to be similar to Serpent Dune. Following the definitions in Chapter 13 of Bagnold [2], the deposit is termed a sand shadow. The scooping campaign occurred over approximately 6 weeks in October and November 2012. To support these activities, the Mars Hand Lens Imager (MAHLI) acquired images for engineering support/assessment and scientific inquiry.

  7. Aquatic and Terrestrial Environment 2004

    DEFF Research Database (Denmark)

    Andersen, J. M.; Boutrup, S.; Bijl, L. van der

    This report presents the 2004 results of the Danish National Monitoring and Assess-ment Programme for the Aquatic and Terrestrial Environments (NOVANA). 2004 was the first year in which terrestrial nature was included in the monitoring pro-gramme. The report reviews the state of the groundwater......, watercourses, lakes and marine waters and the pressures upon them and reviews the monitoring of terrestrial natural habitats and selected plants and animals. The report is based on the annual reports prepared for each subprogramme by the Topic Centres. The latter reports are mainly based on data collected...

  8. Terrestrial gamma ray flash production by active lightning leader channels

    OpenAIRE

    İnan, Umran Savaş; Carlson, B. E.; Lehtinen, N. G.

    2017-01-01

    The production of terrestrial gamma ray flashes (TGFs) requires a seed energetic electron source and a strong electric field. Lightning leaders naturally provide seed electrons by cold runaway and strong electric fields by charge accumulation on the channel. We model possible TGF production in such fields by simulating the charges and currents on the channel. The resulting electric fields then drive simulations of runaway relativistic electron avalanche and photon emission. Photon spectra and...

  9. 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.

  10. A Virtual Simulation Environment for Lunar Rover: Framework and Key Technologies

    Directory of Open Access Journals (Sweden)

    Yan-chun Yang

    2008-06-01

    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.

  11. 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.

  12. An Overview of a Regenerative Fuel Cell Concept for a Mars Surface Mobile Element (Mars Rover)

    Science.gov (United States)

    Andersson, T.

    2018-04-01

    This paper outlines an overview of a regenerative fuel cell concept for a Mars rover. The objectives of the system are to provide electrical and thermal power during the Mars night and to provide electrical power for the operational cycles.

  13. Origin of Chlorobenzene Detected by the Curiosity Rover in Yellowknife Bay: Evidence for Martian Organics in the Sheepbed Mudstone?

    Science.gov (United States)

    Glavin, Daniel P.; Freissinet, Caroline; Eigenbrode, J.; Miller, K.; Martin, M.; Summons, R.; Steele, A.; Franz, H.; Archer, D.; Brinkerhoff, W.; hide

    2014-01-01

    The Sample Analysis at Mars (SAM) instrument on the Curiosity rover is designed to determine the inventory of organic and inorganic volatiles thermally evolved from solid samples using a combination of evolved gas analysis (EGA), gas chromatography mass spectrometry (GCMS), and tunable laser spectroscopy. The first solid samples analyzed by SAM, a scoop of windblown dust and sand at Rocknest (RN), revealed chlorinated hydrocarbons derived primarily from reactions between a martian oxychlorine phase (e.g. perchlorate) and terrestrial carbon from N-methyl-N-(tert-butyldimethylsilyl)-trifluoroacetamide (MTBSTFA) vapor present in the SAM instrument background. Chlorobenzene (CBZ) was also identified by SAM GCMS at RN at trace levels (approx.0.007 nmol) and was attributed to the reaction of chlorine with the Tenax polymers used in the hydrocarbon traps. After the RN analyses, Curiosity traveled to Yellowknife Bay and drilled two separate holes designated John Klein (JK) and Cumberland (CB). Analyses of JK and CB by both SAM and the CheMin x-ray diffraction instrument revealed a mudstone consisting of approx.20 wt% smectite clays, which on Earth are known to aid the concentration and preservation of organic matter. In addition, higher abundances and a more diverse suite of chlorinated hydrocarbons in CB compared to RN suggests that martian or meteoritic organic sources may be preserved in the mudstone. Here we discuss the SAM EGA and GCMS measurements of volatiles released from the Sheepbed mudstone. We focus primarily on the elevated CBZ detections at CB and laboratory analog experiments conducted to help determine if CBZ is derived from primarily terrestrial, martian, or a combination of sources.

  14. Assessment of Mars Exploration Rover Landing Site Predictions

    Science.gov (United States)

    Golombek, M. P.

    2005-05-01

    Comprehensive analyses of remote sensing data during the 3-year effort to select the Mars Exploration Rover landing sites at Gusev crater and Meridiani Planum correctly predicted the safe and trafficable surfaces explored by the two rovers. Gusev crater was predicted to be a relatively low relief surface that was comparably dusty, but less rocky than the Viking landing sites. Available data for Meridiani Planum indicated a very flat plain composed of basaltic sand to granules and hematite that would look completely unlike any of the existing landing sites with a dark, low albedo surface, little dust and very few rocks. Orbital thermal inertia measurements of 315 J m-2 s-0.5 K-1 at Gusev suggested surfaces dominated by duricrust to cemented soil-like materials or cohesionless sand or granules, which is consistent with observed soil characteristics and measured thermal inertias from the surface. THEMIS thermal inertias along the traverse at Gusev vary from 285 at the landing site to 330 around Bonneville rim and show systematic variations that can be related to the observed increase in rock abundance (5-30%). Meridiani has an orbital bulk inertia of ~200, similar to measured surface inertias that correspond to observed surfaces dominated by 0.2 mm sand size particles. Rock abundance derived from orbital thermal differencing techniques suggested that Meridiani Planum would have very low rock abundance, consistent with the rock free plain traversed by Opportunity. Spirit landed in an 8% orbital rock abundance pixel, consistent with the measured 7% of the surface covered by rocks >0.04 m diameter at the landing site, which is representative of the plains away from craters. The orbital albedo of the Spirit traverse varies from 0.19 to 0.30, consistent with surface measurements in and out of dust devil tracks. Opportunity is the first landing in a low albedo portion of Mars as seen from orbit, which is consistent with the dark, dust-free surface and measured albedos. The

  15. Fast Optical Hazard Detection for Planetary Rovers Using Multiple Spot Laser Triangulation

    Science.gov (United States)

    Matthies, L.; Balch, T.; Wilcox, B.

    1997-01-01

    A new laser-based optical sensor system that provides hazard detection for planetary rovers is presented. It is anticipated that the sensor can support safe travel at speeds up to 6cm/second for large (1m) rovers in full sunlight on Earth or Mars. The system overcomes limitations in an older design that require image differencing ot detect a laser stripe in full sun.

  16. Pancam and microscopic imager observations of dust on the Spirit Rovers

    DEFF Research Database (Denmark)

    Vaughan....[], Alicia F.; Johnson, Jeffrey R.; Walter, Goetz

    2010-01-01

    This work describes dust deposits on the Spirit Rover over 2000 sols through examination of Pancam and Microscopic Imager observations of specific locations on the rover body, including portions of the solar array, Pancam and Mini-TES calibration targets, and the magnets. This data set reveals...... the three "cleaning events" experienced by Spirit to date, the spectral properties of dust, and the tendency of dust particles to form aggregates 100 um and larger...

  17. INTERNATIONAL CORPORATE RELATIONS : Strategic Alliance and M&A : The Case of Honda, Rover and BMW

    OpenAIRE

    勝二, 俊和; ショウジ, トシカズ; TOSHIKAZU, SHOJI

    1998-01-01

    The primary objective of the dissertation is to compare and contrast two strategies of international corporate relations; "strategic alliances" and "mergers and acquisitions". The focus would be on Honda, Rover and BMW which exhibited characteristics, strengths and weaknesses of both "strategic alliances" and "mergers and acquisitions" The thesis will also demonstrate how the BMW deal caused instability and thus made the alliance vulnerable. When companies like Honda, Rover and BMW adopt eith...

  18. Design of a nuclear-powered rover for lunar or Martian exploration

    International Nuclear Information System (INIS)

    Trellue, H.R.; Trautner, R.; Houts, M.G.; Poston, D.I.; Giovig, K.; Baca, J.A.; Lipinski, R.J.

    1998-08-01

    To perform more advanced studies on the surface of the moon or Mars, a rover must provide long-term power (≥10 kW e ). However, a majority of rovers in the past have been designed for much lower power levels (i.e., on the order of watts) or for shorter operating periods using stored power. Thus, more advanced systems are required to generate additional power. One possible design for a more highly powered rover involves using a nuclear reactor to supply energy to the rover and material from the surface of the moon or Mars to shield the electronics from high neutron fluxes and gamma doses. Typically, one of the main disadvantages of using a nuclear-powered rover is that the required shielding would be heavy and expensive to include as part of the payload on a mission. Obtaining most of the required shielding material from the surface of the moon or Mars would reduce the cost of the mission and still provide the necessary power. This paper describes the basic design of a rover that uses the Heatpipe Power System (HPS) as an energy source, including the shielding and reactor control issues associated with the design. It also discusses briefly the amount of power that can be produced by other power methods (solar/photovoltaic cells, radioisotope power supplies, dynamic radioisotope power systems, and the production of methane or acetylene fuel from the surface of Mars) as a comparison to the HPS

  19. Compositional variations in sands of the Bagnold Dunes, Gale Crater, Mars, from visible-shortwave infrared spectroscopy and comparison with ground truth from the Curiosity Rover

    Science.gov (United States)

    Lapotre, Mathieu G.A.; Ehlmann, B. L.; Minson, Sarah E.; Arvidson, R. E.; Ayoub, F.; Fraeman, A. A.; Ewing, R. C.; Bridges, N. T.

    2017-01-01

    During its ascent up Mount Sharp, the Mars Science Laboratory Curiosity rover traversed the Bagnold Dune Field. We model sand modal mineralogy and grain size at four locations near the rover traverse, using orbital shortwave infrared single scattering albedo spectra and a Markov-Chain Monte Carlo implementation of Hapke's radiative transfer theory to fully constrain uncertainties and permitted solutions. These predictions, evaluated against in situ measurements at one site from the Curiosity rover, show that XRD-measured mineralogy of the basaltic sands is within the 95% confidence interval of model predictions. However, predictions are relatively insensitive to grain size and are non-unique, especially when modeling the composition of minerals with solid solutions. We find an overall basaltic mineralogy and show subtle spatial variations in composition in and around the Bagnold dunes, consistent with a mafic enrichment of sands with cumulative transport distance by sorting of olivine, pyroxene, and plagioclase grains during aeolian saltation. Furthermore, the large variations in Fe and Mg abundances (~20 wt%) at the Bagnold Dunes suggest that compositional variability induced by wind sorting may be enhanced by local mixing with proximal sand sources. Our estimates demonstrate a method for orbital quantification of composition with rigorous uncertainty determination and provide key constraints for interpreting in situ measurements of compositional variability within martian aeolian sandstones.

  20. Compositional variations in sands of the Bagnold Dunes, Gale crater, Mars, from visible-shortwave infrared spectroscopy and comparison with ground truth from the Curiosity rover

    Science.gov (United States)

    Lapotre, M. G. A.; Ehlmann, B. L.; Minson, S. E.; Arvidson, R. E.; Ayoub, F.; Fraeman, A. A.; Ewing, R. C.; Bridges, N. T.

    2017-12-01

    During its ascent up Mount Sharp, the Mars Science Laboratory Curiosity rover traversed the Bagnold Dune Field. We model sand modal mineralogy and grain size at four locations near the rover traverse, using orbital shortwave infrared single-scattering albedo spectra and a Markov chain Monte Carlo implementation of Hapke's radiative transfer theory to fully constrain uncertainties and permitted solutions. These predictions, evaluated against in situ measurements at one site from the Curiosity rover, show that X-ray diffraction-measured mineralogy of the basaltic sands is within the 95% confidence interval of model predictions. However, predictions are relatively insensitive to grain size and are nonunique, especially when modeling the composition of minerals with solid solutions. We find an overall basaltic mineralogy and show subtle spatial variations in composition in and around the Bagnold Dunes, consistent with a mafic enrichment of sands with cumulative aeolian-transport distance by sorting of olivine, pyroxene, and plagioclase grains. Furthermore, the large variations in Fe and Mg abundances ( 20 wt %) at the Bagnold Dunes suggest that compositional variability may be enhanced by local mixing of well-sorted sand with proximal sand sources. Our estimates demonstrate a method for orbital quantification of composition with rigorous uncertainty determination and provide key constraints for interpreting in situ measurements of compositional variability within Martian aeolian sandstones.

  1. Design and operation of the Rover vacuum system

    International Nuclear Information System (INIS)

    Wagner, E.P. Jr.; Griffith, D.L.; Rivera, J.M.

    1997-01-01

    The Rover process for recovering unused uranium from graphite fuels was operated during 1983 and 1984, and then shut down in 1984. The first steps of the process used fluidized alumina beds to burn away the graphite and produce a uranium bearing ash. The ash was then transferred to a different process cell for acid dissolution. At the time of shutdown, a significant, but unmeasureable, quantity of highly enriched uranium was left in the process vessels. Normal decontamination procedures could not be used due to plugged process lines and the exclusion of moderator materials (water or finely divided organic substances) for criticality safety. The presence of highly enriched uranium in poorly defined quantity and configuration led to concerns for criticality safety, nuclear materials accountability, and physical security. A project was established to eliminate these concerns by cleaning and/or removing the process vessels, piping, and cells and sending the recovered Uranium Bearing Material (UBM) to secure storage. A key element of this project was the design of a system for collecting and transporting dry solids to a location where they could be loaded into critically favorable storage cans

  2. Cumulus convection and the terrestrial water-vapor distribution

    Science.gov (United States)

    Donner, Leo J.

    1988-01-01

    Cumulus convection plays a significant role in determining the structure of the terrestrial water vapor field. Cumulus convection acts directly on the moisture field by condensing and precipitating water vapor and by redistributing water vapor through cumulus induced eddy circulations. The mechanisms by which cumulus convection influences the terrestrial water vapor distribution is outlined. Calculations using a theory due to Kuo is used to illustrate the mechanisms by which cumulus convection works. Understanding of these processes greatly aids the ability of researchers to interpret the seasonal and spatial distribution of atmospheric water vapor by providing information on the nature of sources and sinks and the global circulation.

  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. An obstacle detection system using binocular stereo fisheye lenses for planetary rover navigation

    Science.gov (United States)

    Liu, L.; Jia, J.; Li, L.

    In this paper we present an implementation of an obstacle detection system using binocular stereo fisheye lenses for planetary rover navigation The fisheye lenses can improve image acquisition efficiency and handle minimal clearance recovery problem because they provide a large field of view However the fisheye lens introduces significant distortion in the image and this will make it much more difficult to find a one-to-one correspondence In addition we have to improve the system accuracy and efficiency for robot navigation To compute dense depth maps accurately in real time the following five key issues are considered 1 using lookup tables for a tradeoff between time and space in fisheye distortion correction and correspondence matching 2 using an improved incremental calculation scheme for algorithmic optimization 3 multimedia instruction set MMX implementation 4 consistency check to remove wrong stereo matching problems suffering from occlusions or mismatches 5 constraints of the recovery space To realize obstacle detection robustly we use the following three steps 1 extracting the ground plane parameters using Randomized Hough Transform 2 filtering the ground and background 3 locating the obstacles by using connected region detection Experimental results show the system can run at 3 2fps in 2 0GHz PC with 640X480 pixels

  5. Terrestrial Ecology Guide.

    Science.gov (United States)

    Morrison, James W., Ed.; Hall, James A., Ed.

    This collection of study units focuses on the study of the ecology of land habitats. Considered are such topics as map reading, field techniques, forest ecosystem, birds, insects, small mammals, soils, plant ecology, preparation of terrariums, air pollution, photography, and essentials of an environmental studies program. Each unit contains…

  6. 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.

  7. Rover Low Gain Antenna Qualification for Deep Space Thermal Environments

    Science.gov (United States)

    Ramesham, Rajeshuni; Amaro, Luis R.; Brown, Paula R.; Usiskin, Robert; Prater, Jack L.

    2013-01-01

    A method to qualify the Rover Low Gain Antenna (RLGA) for use during the Mars Science Laboratory (MSL) mission has been devised. The RLGA antenna must survive all ground operations, plus the nominal 670 Martian sol mission that includes the summer and winter seasons of the Mars thermal environment. This qualification effort was performed to verify that the RLGA design, its bonding, and packaging processes are adequate. The qualification test was designed to demonstrate a survival life of three times more than all expected ground testing, plus a nominal 670 Martian sol missions. Baseline RF tests and a visual inspection were performed on the RLGA hardware before the start of the qualification test. Functional intermittent RF tests were performed during thermal chamber breaks over the course of the complete qualification test. For the return loss measurements, the RLGA antenna was moved to a test area. A vector network analyzer was calibrated over the operational frequency range of the antenna. For the RLGA, a simple return loss measurement was performed. A total of 2,010 (3 670 or 3 times mission thermal cycles) thermal cycles was performed. Visual inspection of the RLGA hardware did not show any anomalies due to the thermal cycling. The return loss measurement results of the RLGA antenna after the PQV (Package Qualification and Verification) test did not show any anomalies. The antenna pattern data taken before and after the PQV test at the uplink and downlink frequencies were unchanged. Therefore, the developed design of RLGA is qualified for a long-duration MSL mission.

  8. Utilization of the terrestrial cyanobacteria

    Science.gov (United States)

    Katoh, Hiroshi; Tomita-Yokotani, Kaori; Furukawa, Jun; Kimura, Shunta; Yokoshima, Mika; Yamaguchi, Yuji; Takenaka, Hiroyuki

    The terrestrial, N _{2}-fixing cyanobacterium, Nostoc commune has expected to utilize for agriculture, food and terraforming cause of its extracellular polysaccharide, desiccation tolerance and nitrogen fixation. Previously, the first author indicated that desiccation related genes were analyzed and the suggested that the genes were related to nitrogen fixation and metabolisms. In this report, we suggest possibility of agriculture, using the cyanobacterium. Further, we also found radioactive compounds accumulated N. commune (cyanobacterium) in Fukushima, Japan after nuclear accident. Thus, it is investigated to decontaminate radioactive compounds from the surface soil by the cyanobacterium and showed to accumulate radioactive compounds using the cyanobacterium. We will discuss utilization of terrestrial cyanobacteria under closed environment. Keyword: Desiccation, terrestrial cyanobacteria, bioremediation, agriculture

  9. Grazing livestock are exposed to terrestrial cyanobacteria.

    Science.gov (United States)

    McGorum, Bruce C; Pirie, R Scott; Glendinning, Laura; McLachlan, Gerry; Metcalf, James S; Banack, Sandra A; Cox, Paul A; Codd, Geoffrey A

    2015-02-25

    While toxins from aquatic cyanobacteria are a well-recognised cause of disease in birds and animals, exposure of grazing livestock to terrestrial cyanobacteria has not been described. This study identified terrestrial cyanobacteria, predominantly Phormidium spp., in the biofilm of plants from most livestock fields investigated. Lower numbers of other cyanobacteria, microalgae and fungi were present on many plants. Cyanobacterial 16S rDNA, predominantly from Phormidium spp., was detected in all samples tested, including 6 plant washings, 1 soil sample and ileal contents from 2 grazing horses. Further work was performed to test the hypothesis that ingestion of cyanotoxins contributes to the pathogenesis of some currently unexplained diseases of grazing horses, including equine grass sickness (EGS), equine motor neuron disease (EMND) and hepatopathy. Phormidium population density was significantly higher on EGS fields than on control fields. The cyanobacterial neurotoxic amino acid 2,4-diaminobutyric acid (DAB) was detected in plant washings from EGS fields, but worst case scenario estimations suggested the dose would be insufficient to cause disease. Neither DAB nor the cyanobacterial neurotoxins β-N-methylamino-L-alanine and N-(2-aminoethyl) glycine were detected in neural tissue from 6 EGS horses, 2 EMND horses and 7 control horses. Phormidium was present in low numbers on plants where horses had unexplained hepatopathy. This study did not yield evidence linking known cyanotoxins with disease in grazing horses. However, further study is warranted to identify and quantify toxins produced by cyanobacteria on livestock fields, and determine whether, under appropriate conditions, known or unknown cyanotoxins contribute to currently unexplained diseases in grazing livestock.

  10. Community Decadal Panel for Terrestrial Analogs to Mars

    Science.gov (United States)

    Barlow, N. G.; Farr, T.; Baker, V. R.; Bridges, N.; Carsey, F.; Duxbury, N.; Gilmore, M. S.; Green, J. R.; Grin, E.; Hansen, V.; Keszthelyi, L.; Lanagan, P.; Lentz, R.; Marinangeli, L.; Morris, P. A.; Ori, G. G.; Paillou, P.; Robinson, C.; Thomson, B.

    2001-11-01

    It is well recognized that interpretations of Mars must begin with the Earth as a reference. The most successful comparisons have focused on understanding geologic processes on the Earth well enough to extrapolate to Mars' environment. Several facets of terrestrial analog studies have been pursued and are continuing. These studies include field workshops, characterization of terrestrial analog sites for Mars, instrument tests, laboratory measurements (including analysis of martian meteorites), and computer and laboratory modeling. The combination of all these activities allows scientists to constrain the processes operating in specific terrestrial environments and extrapolate how similar processes could affect Mars. The Terrestrial Analogs for Mars Community Panel is considering the following two key questions: (1) How do terrestrial analog studies tie in to the MEPAG science questions about life, past climate, and geologic evolution of Mars, and (2) How can future instrumentation be used to address these questions. The panel is considering the issues of data collection, value of field workshops, data archiving, laboratory measurements and modeling, human exploration issues, association with other areas of solar system exploration, and education and public outreach activities.

  11. Extra-terrestrial construction processes - Advancements, opportunities and challenges

    Science.gov (United States)

    Lim, Sungwoo; Prabhu, Vibha Levin; Anand, Mahesh; Taylor, Lawrence A.

    2017-10-01

    Government space agencies, including NASA and ESA, are conducting preliminary studies on building alternative space-habitat systems for deep-space exploration. Such studies include development of advanced technologies for planetary surface exploration, including an in-depth understanding of the use of local resources. Currently, NASA plans to land humans on Mars in the 2030s. Similarly, other space agencies from Europe (ESA), Canada (CSA), Russia (Roscosmos), India (ISRO), Japan (JAXA) and China (CNSA) have already initiated or announced their plans for launching a series of lunar missions over the next decade, ranging from orbiters, landers and rovers for extended stays on the lunar surface. As the Space Odyssey is one of humanity's oldest dreams, there has been a series of research works for establishing temporary or permanent settlement on other planetary bodies, including the Moon and Mars. This paper reviews current projects developing extra-terrestrial construction, broadly categorised as: (i) ISRU-based construction materials; (ii) fabrication methods; and (iii) construction processes. It also discusses four categories of challenges to developing an appropriate construction process: (i) lunar simulants; (ii) material fabrication and curing; (iii) microwave-sintering based fabrication; and (iv) fully autonomous and scaled-up construction processes.

  12. Terrestrial Sagnac delay constraining modified gravity models

    Science.gov (United States)

    Karimov, R. Kh.; Izmailov, R. N.; Potapov, A. A.; Nandi, K. K.

    2018-04-01

    Modified gravity theories include f(R)-gravity models that are usually constrained by the cosmological evolutionary scenario. However, it has been recently shown that they can also be constrained by the signatures of accretion disk around constant Ricci curvature Kerr-f(R0) stellar sized black holes. Our aim here is to use another experimental fact, viz., the terrestrial Sagnac delay to constrain the parameters of specific f(R)-gravity prescriptions. We shall assume that a Kerr-f(R0) solution asymptotically describes Earth's weak gravity near its surface. In this spacetime, we shall study oppositely directed light beams from source/observer moving on non-geodesic and geodesic circular trajectories and calculate the time gap, when the beams re-unite. We obtain the exact time gap called Sagnac delay in both cases and expand it to show how the flat space value is corrected by the Ricci curvature, the mass and the spin of the gravitating source. Under the assumption that the magnitude of corrections are of the order of residual uncertainties in the delay measurement, we derive the allowed intervals for Ricci curvature. We conclude that the terrestrial Sagnac delay can be used to constrain the parameters of specific f(R) prescriptions. Despite using the weak field gravity near Earth's surface, it turns out that the model parameter ranges still remain the same as those obtained from the strong field accretion disk phenomenon.

  13. fields

    Directory of Open Access Journals (Sweden)

    Brad J. Arnold

    2014-07-01

    Full Text Available Surface irrigation, such as flood or furrow, is the predominant form of irrigation in California for agronomic crops. Compared to other irrigation methods, however, it is inefficient in terms of water use; large quantities of water, instead of being used for crop production, are lost to excess deep percolation and tail runoff. In surface-irrigated fields, irrigators commonly cut off the inflow of water when the water advance reaches a familiar or convenient location downfield, but this experience-based strategy has not been very successful in reducing the tail runoff water. Our study compared conventional cutoff practices to a retroactively applied model-based cutoff method in four commercially producing alfalfa fields in Northern California, and evaluated the model using a simple sensor system for practical application in typical alfalfa fields. These field tests illustrated that the model can be used to reduce tail runoff in typical surface-irrigated fields, and using it with a wireless sensor system saves time and labor as well as water.

  14. Soil and terrestrial biology studies

    International Nuclear Information System (INIS)

    Anon.

    1976-01-01

    Soil and terrestrial biology studies focused on developing an understanding of the uptake of gaseous substances from the atmosphere by plants, biodegradation of oil, and the movement of Pu in the terrestrial ecosystems of the southeastern United States. Mathematical models were developed for SO 2 and tritium uptake from the atmosphere by plants; the uptake of tritium by soil microorganisms was measured; and the relationships among the Pu content of soil, plants, and animals of the Savannah River Plant area were studied. Preliminary results are reported for studies on the biodegradation of waste oil on soil surfaces

  15. Structure of the terrestrial planets

    International Nuclear Information System (INIS)

    Lyttleton, R.A.

    1977-01-01

    Recent reviews (cf. Runcorn, 1968; or Cook, 1972, 1975) on the structure of the planets omit reference to the phase-change hypothesis for the nature of the terrestrial core, despite that numerous prior predictions of the theory based on this hypothesis have subsequently been borne out as correct. These reviews also ignore the existence of theoretical calculations of the internal structure of Venus which can be computed with high accuracy by use of the terrestrial seismic data. Several examples of numerous mistakes committed in these reviews are pointed out. (Auth.)

  16. Priapism caused by 'Tribulus terrestris'.

    Science.gov (United States)

    Campanelli, M; De Thomasis, R; Tenaglia, R L

    2016-01-01

    A 36-year-old Caucasian man was diagnosed with a 72-h-lasting priapism that occurred after the assumption of a Herbal supplement based on Tribulus terrestris, which is becoming increasingly popular for the treatment of sexual dysfunction. The patient underwent a cavernoglandular shunt (Ebbehoj shunt) in order to obtain complete detumescence, from which derived negative post-episode outcomes on sexual function. All patients consuming non-FDA-approved alternative supplements such as Tribulus terrestris should be warned about the possible serious side effects.

  17. Radionuclides in terrestrial ecosystems

    International Nuclear Information System (INIS)

    Howard, B.J.; Kennedy, V.H.; Nelson, A.

    1983-06-01

    A bibliographical database has been developed to provide quick access to research and background literature in the field of radioecology. This is a development of an earlier database described by Nelson (Bocock 1981). ITE's particular fields of interest have led to a subject bias in the bibliography towards studies in Cumbria, especially those concerned with radionuclides originating from the reprocessing plant at Sellafield, and towards ecological research studies that are complementary to radionuclide studies. Other subjects covered, include the chemistry of radionuclides, budgets and transfers within ecosystems and techniques for the analysis of environmental samples. ITE's research objectives have led to the establishment of a specialized database which is intended to complement rather than compete with the large international databases made available by suppliers such as IRS-DIALTECH or DIALOG. Currently the database holds about 1900 references which are stored on a 2 1/2 megabyte hard disk on a Digital PDP11/34 computer operating under a time shared system. The references follow a standard format. (author)

  18. 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.

  19. 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.

  20. Integration of Satellite and Terrestrial Networks at JPL

    Science.gov (United States)

    Pinck, D. S.

    1995-01-01

    This presentation focuses on the activities at JPL on the integration of satellite and terrestrial networks for mobile and personal communications. Activities fall into two categories: 1)advanced systems work, and 2)laboratory and field experimentation. Results of a workshop held at JPL on PCS integration and interoperability will be presented. Experiments will be described.

  1. The Planetary Terrestrial Analogues Library (PTAL)

    Science.gov (United States)

    Werner, S. C.; Dypvik, H.; Poulet, F.; Rull Perez, F.; Bibring, J.-P.; Bultel, B.; Casanova Roque, C.; Carter, J.; Cousin, A.; Guzman, A.; Hamm, V.; Hellevang, H.; Lantz, C.; Lopez-Reyes, G.; Manrique, J. A.; Maurice, S.; Medina Garcia, J.; Navarro, R.; Negro, J. I.; Neumann, E. R.; Pilorget, C.; Riu, L.; Sætre, C.; Sansano Caramazana, A.; Sanz Arranz, A.; Sobron Grañón, F.; Veneranda, M.; Viennet, J.-C.; PTAL Team

    2018-04-01

    The Planetary Terrestrial Analogues Library project aims to build and exploit a spectral data base for the characterisation of the mineralogical and geological evolution of terrestrial planets and small solar system bodies.

  2. 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.

  3. SEI power source alternatives for rovers and other multi-kWe distributed surface applications

    Science.gov (United States)

    Bents, David J.; Kohout, L. L.; Mckissock, Barbara I.; Rodriguez, C. D.; Withrow, C. A.; Colozza, A.; Hanlon, James C.; Schmitz, Paul C.

    1991-01-01

    To support the Space Exploration Initiative (SEI), a study was performed to investigate power system alternatives for the rover vehicles and servicers that were subsequently generated for each of these rovers and servicers, candidate power sources incorporating various power generation and energy storage technologies were identified. The technologies were those believed most appropriate to the SEI missions, and included solar, electrochemical, and isotope systems. The candidates were characterized with respect to system mass, deployed area, and volume. For each of the missions a preliminary selection was made. Results of this study depict the available power sources in light of mission requirements as they are currently defined.

  4. Busting dust: from cosmic grains to terrestrial microbes

    International Nuclear Information System (INIS)

    Mendis, D.A.

    2001-01-01

    Electrostatic charging can have important consequences for both the growth and disruption of microparticulates immersed in a plasma. In this topical review, my emphasis is on the latter process, while I extend the term microparticulates not only to include ordinary inanimate cosmic or terrestrial dust but also to include terrestrial microbes whose sizes range from tens of nanometers (viruses) to tens of micrometers (bacteria). Following a description of the basic mechanism of electrostatic disruption of a solid body, I will discuss the role of size, shape and surface irregularity on the process. I will also consider the mitigating role of electric field emission of electrons on the disruption process of a negatively charged grain as its size falls below a critical size. I will conclude by reviewing some early evidence for the electrostatic disruption of cosmic grains, and the very recent evidence for the electrostatic disruption of the bacterial cell membranes in terrestrial sterilization experiments. (orig.)

  5. Terrestrial Steering Group. 2014. Arctic Terrestrial Biodiversity Monitoring Plan

    DEFF Research Database (Denmark)

    Aastrup, Peter; Aronsson, Mora; Barry, Tom

    capacity and information may be currently available and (b) to outline near-term required steps to begin implementing the plan and reporting on an initial set of Arctic terrestrial biodiversity focal ecosystem component attributes. The specific objectives of the workshop were to: Identify key products...... for TSG for the next two years. Identify key components of a pan-Arctic status report for priority focal ecosystem components (FEC) attributes for policy and decision makers. Develop a prioritized set of activities to meet reporting objectives. Identify key milestones and timelines for the successful...... implementation of the Arctic Terrestrial Biodiversity Monitoring Plan for the next two years. Identify expert networks required for successful implementation of the plan. Identify key gaps and opportunities for the TSG related to plan implementation and identify near-term next steps to address gaps....

  6. Terrestrial Analogs to Mars: NRC Community Panel Decadal Report

    Science.gov (United States)

    Farr, T. G.

    2002-12-01

    A report was completed recently by a Community Panel for the NRC Decadal Study of Solar System Exploration. The desire was for a review of the current state of knowledge and for recommendations for action over the next decade. The topic of this panel, Terrestrial Analogs to Mars, was chosen to bring attention to the need for an increase in analog studies in support of the increased pace of Mars exploration. It is well recognized that interpretations of Mars must begin with the Earth as a reference. The most successful comparisons have focused on understanding geologic processes on the Earth well enough to extrapolate to Mars' environment. Several facets of terrestrial analog studies have been pursued and are continuing. These studies include field workshops, characterization of terrestrial analog sites, instrument tests, laboratory measurements (including analysis of martian meteorites), and computer and laboratory modeling. The combination of all of these activities allows scientists to constrain the processes operating in specific terrestrial environments and extrapolate how similar processes could affect Mars. The Terrestrial Analogs for Mars Community Panel has considered the following two key questions: (1) How do terrestrial analog studies tie in to the overarching science questions about life, past climate, and geologic evolution of Mars, and (2) How can future instrumentation be used to address these questions. The panel considered the issues of data collection and archiving, value of field workshops, laboratory measurements and modeling, human exploration issues, association with other areas of solar system exploration, and education and public outreach activities. Parts of this work were performed under contract to NASA.

  7. Lunar and Planetary Science XXXV: Mars: Remote Sensing and Terrestrial Analogs

    Science.gov (United States)

    2004-01-01

    The session "Mars: Remote Sensing and Terrestrial Analogs" included the following:Physical Meaning of the Hapke Parameter for Macroscopic Roughness: Experimental Determination for Planetary Regolith Surface Analogs and Numerical Approach; Near-Infrared Spectra of Martian Pyroxene Separates: First Results from Mars Spectroscopy Consortium; Anomalous Spectra of High-Ca Pyroxenes: Correlation Between Ir and M ssbauer Patterns; THEMIS-IR Emissivity Spectrum of a Large Dark Streak near Olympus Mons; Geomorphologic/Thermophysical Mapping of the Athabasca Region, Mars, Using THEMIS Infrared Imaging; Mars Thermal Inertia from THEMIS Data; Multispectral Analysis Methods for Mapping Aqueous Mineral Depostis in Proposed Paleolake Basins on Mars Using THEMIS Data; Joint Analysis of Mars Odyssey THEMIS Visible and Infrared Images: A Magic Airbrush for Qualitative and Quantitative Morphology; Analysis of Mars Thermal Emission Spectrometer Data Using Large Mineral Reference Libraries ; Negative Abundance : A Problem in Compositional Modeling of Hyperspectral Images; Mars-LAB: First Remote Sensing Data of Mineralogy Exposed at Small Mars-Analog Craters, Nevada Test Site; A Tool for the 2003 Rover Mini-TES: Downwelling Radiance Compensation Using Integrated Line-Sight Sky Measurements; Learning About Mars Geology Using Thermal Infrared Spectral Imaging: Orbiter and Rover Perspectives; Classifying Terrestrial Volcanic Alteration Processes and Defining Alteration Processes they Represent on Mars; Cemented Volcanic Soils, Martian Spectra and Implications for the Martian Climate; Palagonitic Mars: A Basalt Centric View of Surface Composition and Aqueous Alteration; Combining a Non Linear Unmixing Model and the Tetracorder Algorithm: Application to the ISM Dataset; Spectral Reflectance Properties of Some Basaltic Weathering Products; Morphometric LIDAR Analysis of Amboy Crater, California: Application to MOLA Analysis of Analog Features on Mars; Airborne Radar Study of Soil Moisture at

  8. Spatial vision in Bombus terrestris

    Directory of Open Access Journals (Sweden)

    Aravin eChakravarthi

    2016-02-01

    Full Text Available Bombus terrestris is one of the most commonly used insect models to investigate visually guided behavior and spatial vision in particular. Two fundamental measures of spatial vision are spatial resolution and contrast sensitivity. In this study, we report the threshold of spatial resolution in B. terrestris and characterize the contrast sensitivity function of the bumblebee visual system for a dual choice discrimination task. We trained bumblebees in a Y-maze experimental set-up to associate a vertical sinusoidal grating with a sucrose reward, and a horizontal grating with absence of a reward. Using a logistic psychometric function, we estimated a resolution threshold of 0.21 cycles deg-1 of visual angle. This resolution is in the same range but slightly lower than that found in honeybees (Apis mellifera and A. cerana and another bumblebee species (B. impatiens. We also found that the contrast sensitivity of B. terrestris was 1.57 for the spatial frequency 0.09 cycles deg-1 and 1.26. for 0.18 cycles deg-1.

  9. Solar terrestrial coupling through space plasma processes

    International Nuclear Information System (INIS)

    Birn, J.

    2000-01-01

    This is the final report of a three-year, Laboratory-Directed Research and Development (LDRD) project at the Los Alamos National Laboratory (LANL). The project investigates plasma processes that govern the interaction between the solar wind, charged particles ejected from the sun, and the earth's magnetosphere, the region above the ionosphere governed by the terrestrial magnetic field. Primary regions of interest are the regions where different plasma populations interact with each other. These are regions of particularly dynamic plasma behavior, associated with magnetic flux and energy transfer and dynamic energy release. The investigations concerned charged particle transport and energization, and microscopic and macroscopic instabilities in the magnetosphere and adjacent regions. The approaches combined space data analysis with theory and computer simulations

  10. Radio techniques for probing the terrestrial ionosphere.

    Science.gov (United States)

    Hunsucker, R. D.

    The subject of the book is a description of the basic principles of operation, plus the capabilities and limitations of all generic radio techniques employed to investigate the terrestrial ionosphere. The purpose of this book is to present to the reader a balanced treatment of each technique so they can understand how to interpret ionospheric data and decide which techniques are most effective for studying specific phenomena. The first two chapters outline the basic theory underlying the techniques, and each following chapter discusses a separate technique. This monograph is entirely devoted to techniques in aeronomy and space physics. The approach is unique in its presentation of the principles, capabilities and limitations of the most important presently used radio techniques. Typical examples of data are shown for the various techniques, and a brief historical account of the technique development is presented. An extended annotated bibliography of the salient papers in the field is included.

  11. Accelerated stress testing of terrestrial solar cells

    Science.gov (United States)

    Lathrop, J. W.; Hawkins, D. C.; Prince, J. L.; Walker, H. A.

    1982-01-01

    The development of an accelerated test schedule for terrestrial solar cells is described. This schedule, based on anticipated failure modes deduced from a consideration of IC failure mechanisms, involves bias-temperature testing, humidity testing (including both 85-85 and pressure cooker stress), and thermal-cycle thermal-shock testing. Results are described for 12 different unencapsulated cell types. Both gradual electrical degradation and sudden catastrophic mechanical change were observed. These effects can be used to discriminate between cell types and technologies relative to their reliability attributes. Consideration is given to identifying laboratory failure modes which might lead to severe degradation in the field through second quadrant operation. Test results indicate that the ability of most cell types to withstand accelerated stress testing depends more on the manufacturer's design, processing, and worksmanship than on the particular metallization system. Preliminary tests comparing accelerated test results on encapsulated and unencapsulated cells are described.

  12. Autonomously generating operations sequences for a Mars Rover using AI-based planning

    Science.gov (United States)

    Sherwood, Rob; Mishkin, Andrew; Estlin, Tara; Chien, Steve; Backes, Paul; Cooper, Brian; Maxwell, Scott; Rabideau, Gregg

    2001-01-01

    This paper discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from highlevel 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.

  13. Photometric Observations of Soils and Rocks at the Mars Exploration Rover Landing Sites

    Science.gov (United States)

    Johnson, J. R.; Arvidson, R. A.; Bell, J. F., III; Farrand, W.; Guinness, E.; Johnson, M.; Herkenhoff, K. E.; Lemmon, M.; Morris, R. V.; Seelos, F., IV

    2005-01-01

    The Panoramic Cameras (Pancam) on the Spirit and Opportunity Mars Exploration Rovers have acquired multispectral reflectance observations of rocks and soils at different incidence, emission, and phase angles that will be used for photometric modeling of surface materials. Phase angle coverage at both sites extends from approx. 0 deg. to approx. 155 deg.

  14. Mars' surface radiation environment measured with the Mars science laboratory's curiosity rover

    NARCIS (Netherlands)

    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. We report and discuss measurements of the absorbed dose and dose

  15. 78 FR 16040 - Petition for Exemption From the Vehicle Theft Prevention Standard; Jaguar Land Rover North...

    Science.gov (United States)

    2013-03-13

    ... From the Vehicle Theft Prevention Standard; Jaguar Land Rover North America Llc AGENCY: National... in reducing and deterring motor vehicle theft as compliance with the parts-marking requirements of... Part 543, Exemption from Vehicle Theft Prevention Standard, based on the installation of an antitheft...

  16. The real-time control of planetary rovers through behavior modification

    Science.gov (United States)

    Miller, David P.

    1991-01-01

    It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed.

  17. Dual-EKF-Based Real-Time Celestial Navigation for Lunar Rover

    Directory of Open Access Journals (Sweden)

    Li Xie

    2012-01-01

    Full Text Available A key requirement of lunar rover autonomous navigation is to acquire state information accurately in real-time during its motion and set up a gradual parameter-based nonlinear kinematics model for the rover. In this paper, we propose a dual-extended-Kalman-filter- (dual-EKF- based real-time celestial navigation (RCN method. The proposed method considers the rover position and velocity on the lunar surface as the system parameters and establishes a constant velocity (CV model. In addition, the attitude quaternion is considered as the system state, and the quaternion differential equation is established as the state equation, which incorporates the output of angular rate gyroscope. Therefore, the measurement equation can be established with sun direction vector from the sun sensor and speed observation from the speedometer. The gyro continuous output ensures the algorithm real-time operation. Finally, we use the dual-EKF method to solve the system equations. Simulation results show that the proposed method can acquire the rover position and heading information in real time and greatly improve the navigation accuracy. Our method overcomes the disadvantage of the cumulative error in inertial navigation.

  18. Transformation procedures in 3D terrestrial coordinate systems

    Directory of Open Access Journals (Sweden)

    Sedlák Vladimír

    2001-12-01

    Full Text Available Transformation procedures belong to the main tasks of surveyor working in a field of geodesy, for example in satellite geodesy or astronomical geodesy. It is necessary to know transformation procedures in 3D terrestrial (Earth coordinate systems. Increasingly a dynamic advance growth of application of satellite navigation systems, for example GPS (Global Positioning System into engineering surveying, real estate register and others spheres of applied geodesy and geo-surveying (mine surveying exacts knowledge of these transformation procedures between coordinates in various coordinate systems. These tasks are common for daily work for various practical surveyors too, not only for theoretical scientific working surveyors.Conventional Terrestrial System is 3D coordinate system what is the most important coordinate system in global geodesy. Conventional Terrestrial System is an approximation of the nature coordinate system of the Earth. The origin of this coordinate system is placed in the earth substantial centre of gravity and in the centre of geoid. Conventional Terrestrial System is the Cartesian right-handed coordinate system, i.e. positive one. The Local Astronomical System is 3D coordinate system too and it belongs to an important coordinate system in geodesy from its practical point of view. Many geodetic measurements are realized in this coordinate system. Designation of this coordinate system as astronomical system expresses its sticking to a normal line to an equipotential plane, i.e. to a vertical. Local Astronomical system is the left-handed cartesian coordinate system.Transformation procedures in 3D terrestrial coordinate systems with theory of these systems are presented in the paper. Transformation in the local astronomical coordinate system presents common transformation in a frame of an adjustment of various local geodetic networks. In a case of satellite measurements (GPS, satellite altimetry, etc. transformation between local and

  19. Linking terrestrial and marine conservation planning and threats analysis.

    Science.gov (United States)

    Tallis, Heather; Ferdaña, Zach; Gray, Elizabeth

    2008-02-01

    The existence of the Gulf of Mexico dead zone makes it clear that marine ecosystems can be damaged by terrestrial inputs. Marine and terrestrial conservation planning need to be aligned in an explicit fashion to fully represent threats to marine systems. To integrate conservation planning for terrestrial and marine systems, we used a novel threats assessment that included 5 cross-system threats in a site-prioritization exercise for the Pacific Northwest coast ecoregion (U.S.A.). Cross-system threats are actions or features in one ecological realm that have effects on species in another realm. We considered bulkheads and other forms of shoreline hardening threats to terrestrial systems and roads, logging, agriculture, and urban areas threats to marine systems. We used 2 proxies of freshwater influence on marine environments, validated against a mechanistic model and field observations, to propagate land-based threats into marine sites. We evaluated the influence of cross-system threats on conservation priorities by comparing MARXAN outputs for 3 scenarios that identified terrestrial and marine priorities simultaneously: (1) no threats, (2) single-system threats, and (3) single- and cross-system threats. Including cross-system threats changed the threat landscape dramatically. As a result the best plan that included only single-system threats identified 323 sites (161,500 ha) at risk from cross-system threats. Including these threats changed the location of best sites. By comparing the best and sum solutions of the single- and cross-system scenarios, we identified areas ideal for preservation or restoration through integrated management. Our findings lend quantitative support to the call for explicitly integrated decision making and management action in terrestrial and marine ecosystems.

  20. 2017 Annual Terrestrial Sampling Plan for Sandia National Laboratories/New Mexico on Kirtland Air Force Base

    Energy Technology Data Exchange (ETDEWEB)

    Griffith, Stacy R. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2017-02-01

    The 2017 Annual Terrestrial Sampling Plan for Sandia National Laboratories/New Mexico on Kirtland Air Force Base has been prepared in accordance with the “Letter of Agreement Between Department of Energy, National Nuclear Security Administration, Sandia Field Office (DOE/NNSA/SFO) and 377th Air Base Wing (ABW), Kirtland Air Force Base (KAFB) for Terrestrial Sampling” (signed January 2017), Sandia National Laboratories, New Mexico (SNL/NM). The Letter of Agreement requires submittal of an annual terrestrial sampling plan.

  1. 2018 Annual Terrestrial Sampling Plan for Sandia National Laboratories/New Mexico on Kirtland Air Force Base.

    Energy Technology Data Exchange (ETDEWEB)

    Griffith, Stacy R. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2018-01-01

    The 2018 Annual Terrestrial Sampling Plan for Sandia National Laboratories/New Mexico on Kirtland Air Force Base has been prepared in accordance with the “Letter of Agreement Between Department of Energy, National Nuclear Security Administration, Sandia Field Office (DOE/NNSA/SFO) and 377th Air Base Wing (ABW), Kirtland Air Force Base (KAFB) for Terrestrial Sampling” (signed January 2017), Sandia National Laboratories, New Mexico (SNL/NM). The Letter of Agreement requires submittal of an annual terrestrial sampling plan.

  2. Groundwater and Terrestrial Water Storage

    Science.gov (United States)

    Rodell, Matthew; Chambers, Don P.; Famiglietti, James S.

    2014-01-01

    Terrestrial water storage (TWS) comprises groundwater, soil moisture, surface water, snow,and ice. Groundwater typically varies more slowly than the other TWS components because itis not in direct contact with the atmosphere, but often it has a larger range of variability onmultiannual timescales (Rodell and Famiglietti, 2001; Alley et al., 2002). In situ groundwaterdata are only archived and made available by a few countries. However, monthly TWSvariations observed by the Gravity Recovery and Climate Experiment (GRACE; Tapley et al.,2004) satellite mission, which launched in 2002, are a reasonable proxy for unconfinedgroundwater at climatic scales.

  3. Testing the efficiency of rover science protocols for robotic sample selection: A GeoHeuristic Operational Strategies Test

    Science.gov (United States)

    Yingst, R. A.; Bartley, J. K.; Chidsey, T. C.; Cohen, B. A.; Gilleaudeau, G. J.; Hynek, B. M.; Kah, L. C.; Minitti, M. E.; Williams, R. M. E.; Black, S.; Gemperline, J.; Schaufler, R.; Thomas, R. J.

    2018-05-01

    The GHOST field tests are designed to isolate and test science-driven rover operations protocols, to determine best practices. During a recent field test at a potential Mars 2020 landing site analog, we tested two Mars Science Laboratory data-acquisition and decision-making methods to assess resulting science return and sample quality: a linear method, where sites of interest are studied in the order encountered, and a "walkabout-first" method, where sites of interest are examined remotely before down-selecting to a subset of sites that are interrogated with more resource-intensive instruments. The walkabout method cost less time and fewer resources, while increasing confidence in interpretations. Contextual data critical to evaluating site geology was acquired earlier than for the linear method, and given a higher priority, which resulted in development of more mature hypotheses earlier in the analysis process. Combined, this saved time and energy in the collection of data with more limited spatial coverage. Based on these results, we suggest that the walkabout method be used where doing so would provide early context and time for the science team to develop hypotheses-critical tests; and that in gathering context, coverage may be more important than higher resolution.

  4. Holographic Rovers: Augmented Reality and the Microsoft HoloLens

    Science.gov (United States)

    Toler, Laura

    2017-01-01

    Augmented Reality is an emerging field in technology, and encompasses Head Mounted Displays, smartphone apps, and even projected images. HMDs include the Meta 2, Magic Leap, Avegant Light Field, and the Microsoft HoloLens, which is evaluated specifically. The Microsoft HoloLens is designed to be used as an AR personal computer, and is being optimized with that goal in mind. Microsoft allied with the Unity3D game engine to create an SDK for interested application developers that can be used in the Unity environment.

  5. Dietary characterization of terrestrial mammals.

    Science.gov (United States)

    Pineda-Munoz, Silvia; Alroy, John

    2014-08-22

    Understanding the feeding behaviour of the species that make up any ecosystem is essential for designing further research. Mammals have been studied intensively, but the criteria used for classifying their diets are far from being standardized. We built a database summarizing the dietary preferences of terrestrial mammals using published data regarding their stomach contents. We performed multivariate analyses in order to set up a standardized classification scheme. Ideally, food consumption percentages should be used instead of qualitative classifications. However, when highly detailed information is not available we propose classifying animals based on their main feeding resources. They should be classified as generalists when none of the feeding resources constitute over 50% of the diet. The term 'omnivore' should be avoided because it does not communicate all the complexity inherent to food choice. Moreover, the so-called omnivore diets actually involve several distinctive adaptations. Our dataset shows that terrestrial mammals are generally highly specialized and that some degree of food mixing may even be required for most species.

  6. Terrestrial Zone Exoplanets and Life

    Science.gov (United States)

    Matthews, Brenda

    2018-01-01

    One of the most exciting results from ALMA has been the detection of significant substructure within protoplanetary disks that can be linked to planet formation processes. For the first time, we are able to observe the process of assembly of material into larger bodies within such disks. It is not possible, however, for ALMA to probe the growth of planets in protoplanetary disks at small radii, i.e., in the terrestrial zone, where we expect rocky terrestrial planets to form. In this regime, the optical depths prohibit observation at the high frequencies observed by ALMA. To probe the effects of planet building processes and detect telltale gaps and signatures of planetary mass bodies at such small separations from the parent star, we require a facility of superior resolution and sensitivity at lower frequencies. The ngVLA is just such a facility. We will present the fundamental science that will be enabled by the ngVLA in protoplanetary disk structure and the formation of planets. In addition, we will discuss the potential for an ngVLA facility to detect the molecules that are the building blocks of life, reaching limits well beyond those reachable with the current generation of telescopes, and also to determine whether such planets will be habitable based on studies of the impact of stars on their nearest planetary neighbours.

  7. Terrestrial gravity data analysis for interim gravity model improvement

    Science.gov (United States)

    1987-01-01

    This is the first status report for the Interim Gravity Model research effort that was started on June 30, 1986. The basic theme of this study is to develop appropriate models and adjustment procedures for estimating potential coefficients from terrestrial gravity data. The plan is to use the latest gravity data sets to produce coefficient estimates as well as to provide normal equations to NASA for use in the TOPEX/POSEIDON gravity field modeling program.

  8. Terrestrial gamma ray flash production by lightning current pulses

    OpenAIRE

    İnan, Umran Savaş; Carlson, B. E.; Lehtinen, N. G.

    2017-01-01

    Terrestrial gamma ray flashes (TGFs) are brief bursts of gamma rays observed by satellites, typically in coincidence with detectable lightning. We incorporate TGF observations and the key physics behind current TGF production theories with lightning physics to produce constraints on TGF production mechanisms. The combined constraints naturally suggest a mechanism for TGF production by current pulses in lightning leader channels. The mechanism involves local field enhancements due to charge re...

  9. Riparian vegetation in the alpine connectome: Terrestrial-aquatic and terrestrial-terrestrial interactions.

    Science.gov (United States)

    Zaharescu, Dragos G; Palanca-Soler, Antonio; Hooda, Peter S; Tanase, Catalin; Burghelea, Carmen I; Lester, Richard N

    2017-12-01

    Alpine regions are under increased attention worldwide for their critical role in early biogeochemical cycles, their high sensitivity to environmental change, and as repositories of natural resources of high quality. Their riparian ecosystems, at the interface between aquatic and terrestrial environments, play important geochemical functions in the watershed and are biodiversity hotspots, despite a harsh climate and topographic setting. With climate change rapidly affecting the alpine biome, we still lack a comprehensive understanding of the extent of interactions between riparian surface, lake and catchment environments. A total of 189 glacial - origin lakes were surveyed in the Central Pyrenees to test how key elements of the lake and terrestrial environments interact at different scales to shape riparian plant composition. Secondly, we evaluated how underlying ecotope features drive the formation of natural communities potentially sensitive to environmental change and assessed their habitat distribution. At the macroscale, vegetation composition responded to pan-climatic gradients altitude and latitude, which captured in a narrow geographic area the transition between large European climatic zones. Hydrodynamics was the main catchment-scale factor connecting riparian vegetation with major water fluxes, followed by topography and geomorphology. Lake sediment Mg and Pb, and water Mn and Fe contents reflected local influences from mafic bedrock and soil water saturation. Community analysis identified four keystone ecosystems: (i) damp ecotone, (ii) snow bed-silicate bedrock, (iii) wet heath, and (iv) calcareous substrate. These communities and their connections with ecotope elements could be at risk from a number of environmental change factors including warmer seasons, snow line and lowland species advancement, increased nutrient/metal input and water level fluctuations. The results imply important natural terrestrial-aquatic linkages in the riparian environment

  10. Plans for Selection and In-Situ Investigation of Return Samples by the Supercam Instrument Onboard the Mars 2020 Rover

    Science.gov (United States)

    Wiens, R. C.; Maurice, S.; Mangold, N.; Anderson, R.; Beyssac, O.; Bonal, L.; Clegg, S.; Cousin, A.; DeFlores, L.; Dromart, G.; Fisher, W.; Forni, O.; Fouchet, T.; Gasnault, O.; Grotzinger, J.; Johnson, J.; Martinez-Frias, J.; McLennan, S.; Meslin, P.-Y.; Montmessin, F.; Poulet, F.; Rull, F.; Sharma, S.

    2018-04-01

    The SuperCam instrument onboard Rover 2020 still provides a complementary set of analyses with IR reflectance and Raman spectroscopy for mineralogy, LIBS for chemistry, and a color imager in order to investigate in-situ samples to return.

  11. Habitability on Early Mars and the Search for Biosignatures with the ExoMars Rover

    Science.gov (United States)

    Westall, Frances; Coates, Andrew J.; Jaumann, Ralf; Korablev, Oleg; Ciarletti, Valérie; Mitrofanov, Igor; Josset, Jean-Luc; De Sanctis, Maria Cristina; Bibring, Jean-Pierre; Goesmann, Fred; Steininger, Harald; Brinckerhoff, William; Szopa, Cyril; Raulin, François; Westall, Frances; Edwards, Howell G. M.; Whyte, Lyle G.; Fairén, Alberto G.; Bibring, Jean-Pierre; Bridges, John; Hauber, Ernst; Ori, Gian Gabriele; Werner, Stephanie; Loizeau, Damien; Kuzmin, Ruslan O.; Williams, Rebecca M. E.; Flahaut, Jessica; Forget, François; Rodionov, Daniel; Korablev, Oleg; Svedhem, Håkan; Sefton-Nash, Elliot; Kminek, Gerhard; Lorenzoni, Leila; Joudrier, Luc; Mikhailov, Viktor; Zashchirinskiy, Alexander; Alexashkin, Sergei; Calantropio, Fabio; Merlo, Andrea; Poulakis, Pantelis; Witasse, Olivier; Bayle, Olivier; Bayón, Silvia; Meierhenrich, Uwe; Carter, John; García-Ruiz, Juan Manuel; Baglioni, Pietro; Haldemann, Albert; Ball, Andrew J.; Debus, André; Lindner, Robert; Haessig, Frédéric; Monteiro, David; Trautner, Roland; Voland, Christoph; Rebeyre, Pierre; Goulty, Duncan; Didot, Frédéric; Durrant, Stephen; Zekri, Eric; Koschny, Detlef; Toni, Andrea; Visentin, Gianfranco; Zwick, Martin; van Winnendael, Michel; Azkarate, Martín; Carreau, Christophe

    2017-01-01

    Abstract The second ExoMars mission will be launched in 2020 to target an ancient location interpreted to have strong potential for past habitability and for preserving physical and chemical biosignatures (as well as abiotic/prebiotic organics). The mission will deliver a lander with instruments for atmospheric and geophysical investigations and a rover tasked with searching for signs of extinct life. The ExoMars rover will be equipped with a drill to collect material from outcrops and at depth down to 2 m. This subsurface sampling capability will provide the best chance yet to gain access to chemical biosignatures. Using the powerful Pasteur payload instruments, the ExoMars science team will conduct a holistic search for traces of life and seek corroborating geological context information. Key Words: Biosignatures—ExoMars—Landing sites—Mars rover—Search for life. Astrobiology 17, 471–510.

  12. Preliminary Dynamic Feasibility and Analysis of a Spherical, Wind-Driven (Tumbleweed), Martian Rover

    Science.gov (United States)

    Flick, John J.; Toniolo, Matthew D.

    2005-01-01

    The process and findings are presented from a preliminary feasibility study examining the dynamics characteristics of a spherical wind-driven (or Tumbleweed) rover, which is intended for exploration of the Martian surface. The results of an initial feasibility study involving several worst-case mobility situations that a Tumbleweed rover might encounter on the surface of Mars are discussed. Additional topics include the evaluation of several commercially available analysis software packages that were examined as possible platforms for the development of a Monte Carlo Tumbleweed mission simulation tool. This evaluation lead to the development of the Mars Tumbleweed Monte Carlo Simulator (or Tumbleweed Simulator) using the Vortex physics software package from CM-Labs, Inc. Discussions regarding the development and evaluation of the Tumbleweed Simulator, as well as the results of a preliminary analysis using the tool are also presented. Finally, a brief conclusions section is presented.

  13. Habitability on Early Mars and the Search for Biosignatures with the ExoMars Rover

    Science.gov (United States)

    Vago, Jorge L.; Westall, Frances; Pasteur Instrument Team; Pasteur Landing Team; Coates, Andrew J.; Jaumann, Ralf; Korablev, Oleg; Ciarletti, Valérie; Mitrofanov, Igor; Josset, Jean-Luc; De Sanctis, Maria Cristina; Bibring, Jean-Pierre; Rull, Fernando; Goesmann, Fred; Steininger, Harald; Goetz, Walter; Brinckerhoff, William; Szopa, Cyril; Raulin, François; Westall, Frances; Edwards, Howell G. M.; Whyte, Lyle G.; Fairén, Alberto G.; Bibring, Jean-Pierre; Bridges, John; Hauber, Ernst; Ori, Gian Gabriele; Werner, Stephanie; Loizeau, Damien; Kuzmin, Ruslan O.; Williams, Rebecca M. E.; Flahaut, Jessica; Forget, François; Vago, Jorge L.; Rodionov, Daniel; Korablev, Oleg; Svedhem, Håkan; Sefton-Nash, Elliot; Kminek, Gerhard; Lorenzoni, Leila; Joudrier, Luc; Mikhailov, Viktor; Zashchirinskiy, Alexander; Alexashkin, Sergei; Calantropio, Fabio; Merlo, Andrea; Poulakis, Pantelis; Witasse, Olivier; Bayle, Olivier; Bayón, Silvia; Meierhenrich, Uwe; Carter, John; García-Ruiz, Juan Manuel; Baglioni, Pietro; Haldemann, Albert; Ball, Andrew J.; Debus, André; Lindner, Robert; Haessig, Frédéric; Monteiro, David; Trautner, Roland; Voland, Christoph; Rebeyre, Pierre; Goulty, Duncan; Didot, Frédéric; Durrant, Stephen; Zekri, Eric; Koschny, Detlef; Toni, Andrea; Visentin, Gianfranco; Zwick, Martin; van Winnendael, Michel; Azkarate, Martín; Carreau, Christophe; ExoMars Project Team

    2017-07-01

    The second ExoMars mission will be launched in 2020 to target an ancient location interpreted to have strong potential for past habitability and for preserving physical and chemical biosignatures (as well as abiotic/prebiotic organics). The mission will deliver a lander with instruments for atmospheric and geophysical investigations and a rover tasked with searching for signs of extinct life. The ExoMars rover will be equipped with a drill to collect material from outcrops and at depth down to 2 m. This subsurface sampling capability will provide the best chance yet to gain access to chemical biosignatures. Using the powerful Pasteur payload instruments, the ExoMars science team will conduct a holistic search for traces of life and seek corroborating geological context information.

  14. The design and engineering of curiosity how the Mars Rover performs its job

    CERN Document Server

    Lakdawalla, Emily

    2018-01-01

    This book describes the most complex machine ever sent to another planet: Curiosity. It is a one-ton robot with two brains, seventeen cameras, six wheels, nuclear power, and a laser beam on its head. No one human understands how all of its systems and instruments work. This essential reference to the Curiosity mission explains the engineering behind every system on the rover, from its rocket-powered jetpack to its radioisotope thermoelectric generator to its fiendishly complex sample handling system. Its lavishly illustrated text explains how all the instruments work -- its cameras, spectrometers, sample-cooking oven, and weather station -- and describes the instruments' abilities and limitations. It tells you how the systems have functioned on Mars, and how scientists and engineers have worked around problems developed on a faraway planet: holey wheels and broken focus lasers. And it explains the grueling mission operations schedule that keeps the rover working day in and day out.   .

  15. Pancam and Microscopic Imager observations of dust on the Spirit Rover: Cleaning events, spectral properties, and aggregates

    Science.gov (United States)

    Vaughan, Alicia F.; Johnson, Jeffrey R.; Herkenhoff, Kenneth E.; Sullivan, Robert; Landis, Geoffrey A.; Goetz, Walter; Madsen, Morten B.

    2010-01-01

    This work describes dust deposits on the Spirit Rover over 2000 sols through examination of Pancam and Microscopic Imager observations of specific locations on the rover body, including portions of the solar array, Pancam and Mini-TES calibration targets, and the magnets. This data set reveals the three "cleaning events" experienced by Spirit to date, the spectral properties of dust, and the tendency of dust particles to form aggregates 100 um and larger.

  16. Volatiles and Isotopes and the Exploration of Ancient and Modern Martian Habitability with the Curiosity Rover

    Science.gov (United States)

    Mhaffy, P. R.

    2015-01-01

    The Mars Science Laboratory Mission was designed to pave the way for the study of life beyond Earth through a search for a habitable environment in a carefully selected landing site on Mars. Its ongoing exploration of Gale Crater with the Curiosity Rover has provided a rich data set that revealed such an environment in an ancient lakebed [1]. Volatile and isotope measurements of both the atmosphere and solids contribute to our growing understanding of both modern and ancient environments.

  17. Rover exploration on the lunar surface; a science proposal for SELENE-B mission

    Science.gov (United States)

    Sasaki, S.; Kubota, T.; Akiyama, H.; Hirata, N.; Kunii, Y.; Matsumoto, K.; Okada, T.; Otake, M.; Saiki, K.; Sugihara, T.

    LUNARSURFACE:ASCIENCES. Sasaki (1), T. Kubota (2) , H. Akiyama (1) , N. Hirata (3), Y. Kunii (4), K. Matsumoto (5), T. Okada (2), M. Otake (3), K. Saiki (6), T. Sugihara (3) (1) Department of Earth and Planetary Science, Univ. Tokyo, (2) Institute of Space and Astronautical Sciences, (3) National Space Development Agency of Japan, (4) Department of Electrical and Electronic Engineering, Chuo Univ., (5) National Aerospace Laboratory of Japan, (6) Research Institute of Materials and Resources, Akita Univ. sho@eps.s.u -tokyo.ac.jp/Fax:+81-3-5841-4569 A new lunar landing mission (SELENE-B) is now in consideration in Japan. Scientific investigation plans using a rover are proposed. To clarify the origin and evolution of the moon, the early crustal formation and later mare volcanic processes are still unveiled. We proposed two geological investigation plans: exploration of a crater central peak to discover subsurface materials and exploration of dome-cone structures on young mare region. We propose multi-band macro/micro camera using AOTF, X-ray spectrometer/diffractometer and gamma ray spectrometer. Since observation of rock fragments in brecciaed rocks is necessary, the rover should have cutting or scraping mechanism of rocks. In our current scenario, landing should be performed about 500m from the main target (foot of a crater central peak or a cone/dome). After the spectral survey by multi-band camera on the lander, the rover should be deployed for geological investigation. The rover should make a short (a few tens meter) round trip at first, then it should perform traverse observation toward the main target. Some technological investigations on SELENE-B project will be also presented.

  18. Terrestrial gamma-ray flashes

    Science.gov (United States)

    Marisaldi, Martino; Fuschino, Fabio; Labanti, Claudio; Tavani, Marco; Argan, Andrea; Del Monte, Ettore; Longo, Francesco; Barbiellini, Guido; Giuliani, Andrea; Trois, Alessio; Bulgarelli, Andrea; Gianotti, Fulvio; Trifoglio, Massimo

    2013-08-01

    Lightning and thunderstorm systems in general have been recently recognized as powerful particle accelerators, capable of producing electrons, positrons, gamma-rays and neutrons with energies as high as several tens of MeV. In fact, these natural systems turn out to be the highest energy and most efficient natural particle accelerators on Earth. Terrestrial Gamma-ray Flashes (TGFs) are millisecond long, very intense bursts of gamma-rays and are one of the most intriguing manifestation of these natural accelerators. Only three currently operative missions are capable of detecting TGFs from space: the RHESSI, Fermi and AGILE satellites. In this paper we review the characteristics of TGFs, including energy spectrum, timing structure, beam geometry and correlation with lightning, and the basic principles of the associated production models. Then we focus on the recent AGILE discoveries concerning the high energy extension of the TGF spectrum up to 100 MeV, which is difficult to reconcile with current theoretical models.

  19. Terrestrial gamma-ray flashes

    International Nuclear Information System (INIS)

    Marisaldi, Martino; Fuschino, Fabio; Labanti, Claudio; Tavani, Marco; Argan, Andrea; Del Monte, Ettore; Longo, Francesco; Barbiellini, Guido; Giuliani, Andrea; Trois, Alessio; Bulgarelli, Andrea; Gianotti, Fulvio; Trifoglio, Massimo

    2013-01-01

    Lightning and thunderstorm systems in general have been recently recognized as powerful particle accelerators, capable of producing electrons, positrons, gamma-rays and neutrons with energies as high as several tens of MeV. In fact, these natural systems turn out to be the highest energy and most efficient natural particle accelerators on Earth. Terrestrial Gamma-ray Flashes (TGFs) are millisecond long, very intense bursts of gamma-rays and are one of the most intriguing manifestation of these natural accelerators. Only three currently operative missions are capable of detecting TGFs from space: the RHESSI, Fermi and AGILE satellites. In this paper we review the characteristics of TGFs, including energy spectrum, timing structure, beam geometry and correlation with lightning, and the basic principles of the associated production models. Then we focus on the recent AGILE discoveries concerning the high energy extension of the TGF spectrum up to 100 MeV, which is difficult to reconcile with current theoretical models

  20. The Solar-Terrestrial Environment

    Science.gov (United States)

    Hargreaves, John Keith

    1995-05-01

    The book begins with three introductory chapters that provide some basic physics and explain the principles of physical investigation. The principal material contained in the main part of the book covers the neutral and ionized upper atmosphere, the magnetosphere, and structures, dynamics, disturbances, and irregularities. The concluding chapter deals with technological applications. The account is introductory, at a level suitable for readers with a basic background in engineering or physics. The intent is to present basic concepts, and for that reason, the mathematical treatment is not complex. SI units are given throughout, with helpful notes on cgs units where these are likely to be encountered in the research literature. This book is suitable for advanced undergraduate and graduate students who are taking introductory courses on upper atmospheric, ionospheric, or magnetospheric physics. This is a successor to The Upper Atmosphere and Solar-Terrestrial Relations, published in 1979.

  1. Radionuclide transfer in terrestrial animals

    International Nuclear Information System (INIS)

    DiGregorio, D.; Kitchings, T.; Van Voris, P.

    1978-01-01

    The analysis of dispersion of radionuclides in terrestrial food chains, generally, is a series of equations identifying the fractional input and outflow rates from trophic level to trophic level. Data that are prerequisite inputs for these food chain transport models include: (1) identification of specific transport pathway, (2) assimilation at each pathway link, and (3) the turnover rate or retention function by successive receptor species in the appropriate food chain. In this report, assimilation coefficients, biological half-lives, and excretion rates for a wide variety of vertebrate and invertebrate species and radionuclides have been compiled from an extensive search of the available literature. Using the information accumulated from the literature, correlations of nuclide metabolism and body weight are also discussed. (author)

  2. Methyl mercury in terrestrial compartments

    International Nuclear Information System (INIS)

    Stoeppler, M.; Burow, M.; Padberg, S.; May, K.

    1993-09-01

    On the basis of the analytical methodology available at present the state of the art for the determination of total mercury and of various organometallic compounds of mercury in air, precipitation, limnic systems, soils, plants and biota is reviewed. This is followed by the presentation and discussion of examples for the data obtained hitherto for trace and ultratrace levels of total mercury and mainly methyl mercury in terrestrial and limnic environments as well as in biota. The data discussed stem predominantly from the past decade in which, due to significant methodological progress, many new aspects were elucidated. They include the most important results in this area achieved by the Research Centre (KFA) Juelich within the project 'Origin and Fate of Methyl Mercury' (contracts EV4V-0138-D and STEP-CT90-0057) supported by the Commission of the European Communities, Brussels. (orig.) [de

  3. Traumatic insemination in terrestrial arthropods.

    Science.gov (United States)

    Tatarnic, Nikolai J; Cassis, Gerasimos; Siva-Jothy, Michael T

    2014-01-01

    Traumatic insemination is a bizarre form of mating practiced by some invertebrates in which males use hypodermic genitalia to penetrate their partner's body wall during copulation, frequently bypassing the female genital tract and ejaculating into their blood system. The requirements for traumatic insemination to evolve are stringent, yet surprisingly it has arisen multiple times within invertebrates. In terrestrial arthropods traumatic insemination is most prevalent in the true bug infraorder Cimicomorpha, where it has evolved independently at least three times. Traumatic insemination is thought to occur in the Strepsiptera and has recently been recorded in fruit fly and spider lineages. We review the putative selective pressures that may have led to the evolution of traumatic insemination across these lineages, as well as the pressures that continue to drive divergence in male and female reproductive morphology and behavior. Traumatic insemination mechanisms and attributes are compared across independent lineages.

  4. Phytopharmacological overview of Tribulus terrestris

    Science.gov (United States)

    Chhatre, Saurabh; Nesari, Tanuja; Somani, Gauresh; Kanchan, Divya; Sathaye, Sadhana

    2014-01-01

    Tribulus terrestris (family Zygophyllaceae), commonly known as Gokshur or Gokharu or puncture vine, has been used for a long time in both the Indian and Chinese systems of medicine for treatment of various kinds of diseases. Its various parts contain a variety of chemical constituents which are medicinally important, such as flavonoids, flavonol glycosides, steroidal saponins, and alkaloids. It has diuretic, aphrodisiac, antiurolithic, immunomodulatory, antidiabetic, absorption enhancing, hypolipidemic, cardiotonic, central nervous system, hepatoprotective, anti-inflammatory, analgesic, antispasmodic, anticancer, antibacterial, anthelmintic, larvicidal, and anticariogenic activities. For the last few decades or so, extensive research work has been done to prove its biological activities and the pharmacology of its extracts. The aim of this review is to create a database for further investigations of the discovered phytochemical and pharmacological properties of this plant to promote research. This will help in confirmation of its traditional use along with its value-added utility, eventually leading to higher revenues from the plant. PMID:24600195

  5. Terrestrial atmosphere, water and astrobiology

    Directory of Open Access Journals (Sweden)

    Coradini M.

    2010-12-01

    Full Text Available Primitive life, defined as a chemical system capable to transfer its molecular information via self-replication and also capable to evolve, originated about 4 billion years ago from the processing of organic molecules by liquid water. Terrestrial atmosphere played a key role in the process by allowing the permanent presence of liquid water and by participating in the production of carbon-based molecules. Water molecules exhibit specific properties mainly due to a dense network of hydrogen bonds. The carbon-based molecules were either home made in the atmosphere and/or in submarine hydrothermal systems or delivered by meteorites and micrometeorites. The search for possible places beyond the earth where the trilogy atmosphere/water/life could exist is the main objective of astrobiology. Within the Solar System, exploration missions are dedicated to Mars, Europa, Titan and the icy bodies. The discovery of several hundreds of extrasolar planets opens the quest to the whole Milky Way.

  6. Terrestrial pathways of radionuclide particulates

    International Nuclear Information System (INIS)

    Boone, F.W.; Ng, Y.C.

    1981-01-01

    Formulations are developed for computing potential human intake of 13 radionuclides via the terrestrial food chains. The formulations are an extension of the NRC methodology. Specific regional crop and livestock transfer and fractional distribution data from the southern part of the U.S.A. are provided and used in the computation of comparative values with those computed by means of USNRC Regulatory Guide 1.109 formulations. In the development of the model, emphasis was also placed on identifying the various time-delay compartments of the food chains and accounting for all of the activity initially deposited. For all radionuclides considered, except 137 Cs, the new formulations predict lower potential intakes from the total of all food chains combined than do the comparable Regulatory Guide formulations by as much as a factor of 40. For 137 Cs the new formulations predict 10% higher potential intakes. (author)

  7. A Spherical Aerial Terrestrial Robot

    Science.gov (United States)

    Dudley, Christopher J.

    This thesis focuses on the design of a novel, ultra-lightweight spherical aerial terrestrial robot (ATR). The ATR has the ability to fly through the air or roll on the ground, for applications that include search and rescue, mapping, surveillance, environmental sensing, and entertainment. The design centers around a micro-quadcopter encased in a lightweight spherical exoskeleton that can rotate about the quadcopter. The spherical exoskeleton offers agile ground locomotion while maintaining characteristics of a basic aerial robot in flying mode. A model of the system dynamics for both modes of locomotion is presented and utilized in simulations to generate potential trajectories for aerial and terrestrial locomotion. Details of the quadcopter and exoskeleton design and fabrication are discussed, including the robot's turning characteristic over ground and the spring-steel exoskeleton with carbon fiber axle. The capabilities of the ATR are experimentally tested and are in good agreement with model-simulated performance. An energy analysis is presented to validate the overall efficiency of the robot in both modes of locomotion. Experimentally-supported estimates show that the ATR can roll along the ground for over 12 minutes and cover the distance of 1.7 km, or it can fly for 4.82 minutes and travel 469 m, on a single 350 mAh battery. Compared to a traditional flying-only robot, the ATR traveling over the same distance in rolling mode is 2.63-times more efficient, and in flying mode the system is only 39 percent less efficient. Experimental results also demonstrate the ATR's transition from rolling to flying mode.

  8. Development of Disk Rover, wall-climbing robot using permanent magnet disk

    International Nuclear Information System (INIS)

    Hirose, Shigeo; Tsutsumitake; Hiroshi; Toyama, Ryousei; Kobayashi, Kengo.

    1992-01-01

    A new type of wall climbing robot, named Disk Rover, using permanent magnet disks are developed. The newly introduced permanent magnet disk is to rotate the magnet disk on the surface of wall with partly contacted posture. It allows to produce high magnetic attraction force compared with conventional permanent wheel which utilizes only a small portion of the magnet installed around the wheel. The optimum design of the magnetic wheel is done by using finit element method and it is shown that the magnetic attraction force vs. weight ratio can be designed about three times higher than conventional type magnet wheel. The developed Disk Rover is 25 kg in weight including controller and battery, about 685 mm in diameter, 239 mm in height and has a pair of permanent magnet disks. It is demonstrated by the experiments that the Disk Rover can move around on the surface of the wall quite smoothly by radio control and has payload of about its own weight. Several considerations are also done in order to surmount bead weld. (author)

  9. Brake Failure from Residual Magnetism in the Mars Exploration Rover Lander Petal Actuator

    Science.gov (United States)

    Jandura, Louise

    2004-01-01

    In January 2004, two Mars Exploration Rover spacecraft arrived at Mars. Each safely delivered an identical rover to the Martian surface in a tetrahedral lander encased in airbags. Upon landing, the airbags deflated and three Lander Petal Actuators opened the three deployable Lander side petals enabling the rover to exit the Lander. Approximately nine weeks prior to the scheduled launch of the first spacecraft, one of these mission-critical Lander Petal Actuators exhibited a brake stuck-open failure during its final flight stow at Kennedy Space Center. Residual magnetism was the definitive conclusion from the failure investigation. Although residual magnetism was recognized as an issue in the design, the lack of an appropriately specified lower bound on brake drop-out voltage inhibited the discovery of this problem earlier in the program. In addition, the brakes had more unit-to-unit variation in drop-out voltage than expected, likely due to a larger than expected variation in the magnetic properties of the 15-5 PH stainless steel brake plates. Failure analysis and subsequent rework of two other Lander Petal Actuators with marginal brakes was completed in three weeks, causing no impact to the launch date.

  10. Fault-Tolerant Control Strategy for Steering Failures in Wheeled Planetary Rovers

    Directory of Open Access Journals (Sweden)

    Alexandre Carvalho Leite

    2012-01-01

    Full Text Available Fault-tolerant control design of wheeled planetary rovers is described. This paper covers all steps of the design process, from modeling/simulation to experimentation. A simplified contact model is used with a multibody simulation model and tuned to fit the experimental data. The nominal mode controller is designed to be stable and has its parameters optimized to improve tracking performance and cope with physical boundaries and actuator saturations. This controller was implemented in the real rover and validated experimentally. An impact analysis defines the repertory of faults to be handled. Failures in steering joints are chosen as fault modes; they combined six fault modes and a total of 63 possible configurations of these faults. The fault-tolerant controller is designed as a two-step procedure to provide alternative steering and reuse the nominal controller in a way that resembles a crab-like driving mode. Three fault modes are injected (one, two, and three failed steering joints in the real rover to evaluate the response of the nonreconfigured and reconfigured control systems in face of these faults. The experimental results justify our proposed fault-tolerant controller very satisfactorily. Additional concluding comments and an outlook summarize the lessons learned during the whole design process and foresee the next steps of the research.

  11. Hepatoprotective and Antioxidant Activities of Tribulus Terrestris

    NARCIS (Netherlands)

    Harraz, Fathalla M; Ghazy, Nabila M; Hammoda, Hala M; Nafeaa, Abeer A.; Abdallah, Ingy I.

    2015-01-01

    Tribulus terrestris L. has been used in folk medicine throughout history. The present study examined the acute toxicity of the total ethanolic extract of T. Terrestris followed by investigation of the hepatoprotective activity of the total ethanolic extract and different fractions of the aerial

  12. Satellite and terrestrial radio positioning techniques a signal processing perspective

    CERN Document Server

    Dardari, Davide; Falletti, Emanuela

    2014-01-01

    * The first book to combine satellite and terrestrial positioning techniques - vital for the understanding and development of new technologies * Written and edited by leading experts in the field, with contributors belonging to the European Commission's FP7 Network of Excellence NEWCOM++ Applications to a wide range of fields, including sensor networks, emergency services, military use, location-based billing, location-based advertising, intelligent transportation, and leisure Location-aware personal devices and location-based services have become ever more prominent in the past few years

  13. 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

  14. Maps of the Martian Landing Sites and Rover Traverses: Viking 1 and 2, Mars Pathfinder, and Phoenix Landers, and the Mars Exploration Rovers.

    Science.gov (United States)

    Parker, T. J.; Calef, F. J., III; Deen, R. G.; Gengl, H.

    2016-12-01

    The traverse maps produced tactically for the MER and MSL rover missions are the first step in placing the observations made by each vehicle into a local and regional geologic context. For the MER, Phoenix and MSL missions, 25cm/pixel HiRISE data is available for accurately localizing the vehicles. Viking and Mars Pathfinder, however, relied on Viking Orbiter images of several tens of m/pixel to triangulate to horizon features visible both from the ground and from orbit. After Pathfinder, MGS MOC images became available for these landing sites, enabling much better correlations to horizon features and localization predictions to be made, that were then corroborated with HiRISE images beginning 9 years ago. By combining topography data from MGS, Mars Express, and stereo processing of MRO CTX and HiRISE images into orthomosaics (ORRs) and digital elevation models (DEMs), it is possible to localize all the landers and rover positions to an accuracy of a few tens of meters with respect to the Mars global control net, and to better than half a meter with respect to other features within a HiRISE orthomosaic. JPL's MIPL produces point clouds of the MER Navcam stereo images that can be processed into 1cm/pixel ORR/DEMs that are then georeferenced to a HiRISE/CTX base map and DEM. This allows compilation of seamless mosaics of the lander and rover camera-based ORR/DEMs with the HiRISE ORR/DEM that can be viewed in 3 dimensions with GIS programs with that capability. We are re-processing the Viking Lander, Mars Pathfinder, and Phoenix lander data to allow similar ORR/DEM products to be made for those missions. For the fixed landers and Spirit, we will compile merged surface/CTX/HiRISE ORR/DEMs, that will enable accurate local and regional mapping of these landing sites, and allow comparisons of the results from these missions to be made with current and future surface missions.

  15. Terrestrial Microgravity Model and Threshold Gravity Simulation using Magnetic Levitation

    Science.gov (United States)

    Ramachandran, N.

    2005-01-01

    What is the threshold gravity (minimum gravity level) required for the nominal functioning of the human system? What dosage is required? Do human cell lines behave differently in microgravity in response to an external stimulus? The critical need for such a gravity simulator is emphasized by recent experiments on human epithelial cells and lymphocytes on the Space Shuttle clearly showing that cell growth and function are markedly different from those observed terrestrially. Those differences are also dramatic between cells grown in space and those in Rotating Wall Vessels (RWV), or NASA bioreactor often used to simulate microgravity, indicating that although morphological growth patterns (three dimensional growth) can be successfully simulated using RWVs, cell function performance is not reproduced - a critical difference. If cell function is dramatically affected by gravity off-loading, then cell response to stimuli such as radiation, stress, etc. can be very different from terrestrial cell lines. Yet, we have no good gravity simulator for use in study of these phenomena. This represents a profound shortcoming for countermeasures research. We postulate that we can use magnetic levitation of cells and tissue, through the use of strong magnetic fields and field gradients, as a terrestrial microgravity model to study human cells. Specific objectives of the research are: 1. To develop a tried, tested and benchmarked terrestrial microgravity model for cell culture studies; 2. Gravity threshold determination; 3. Dosage (magnitude and duration) of g-level required for nominal functioning of cells; 4. Comparisons of magnetic levitation model to other models such as RWV, hind limb suspension, etc. and 5. Cellular response to reduced gravity levels of Moon and Mars. The paper will discuss experiments md modeling work to date in support of this project.

  16. Terrestrial Microgravity Model and Threshold Gravity Simulation sing Magnetic Levitation

    Science.gov (United States)

    Ramachandran, N.

    2005-01-01

    What is the threshold gravity (minimum gravity level) required for the nominal functioning of the human system? What dosage is required? Do human cell lines behave differently in microgravity in response to an external stimulus? The critical need for such a gravity simulator is emphasized by recent experiments on human epithelial cells and lymphocytes on the Space Shuttle clearly showing that cell growth and function are markedly different from those observed terrestrially. Those differences are also dramatic between cells grown in space and those in Rotating Wall Vessels (RWV), or NASA bioreactor often used to simulate microgravity, indicating that although morphological growth patterns (three dimensional growth) can be successiblly simulated using RWVs, cell function performance is not reproduced - a critical difference. If cell function is dramatically affected by gravity off-loading, then cell response to stimuli such as radiation, stress, etc. can be very different from terrestrial cell lines. Yet, we have no good gravity simulator for use in study of these phenomena. This represents a profound shortcoming for countermeasures research. We postulate that we can use magnetic levitation of cells and tissue, through the use of strong magnetic fields and field gradients, as a terrestrial microgravity model to study human cells. Specific objectives of the research are: 1. To develop a tried, tested and benchmarked terrestrial microgravity model for cell culture studies; 2. Gravity threshold determination; 3. Dosage (magnitude and duration) of g-level required for nominal functioning of cells; 4. Comparisons of magnetic levitation model to other models such as RWV, hind limb suspension, etc. and 5. Cellular response to reduced gravity levels of Moon and Mars.

  17. Does terrestrial epidemiology apply to marine systems?

    Science.gov (United States)

    McCallum, Hamish I.; Kuris, Armand M.; Harvell, C. Drew; Lafferty, Kevin D.; Smith, Garriet W.; Porter, James

    2004-01-01

    Most of epidemiological theory has been developed for terrestrial systems, but the significance of disease in the ocean is now being recognized. However, the extent to which terrestrial epidemiology can be directly transferred to marine systems is uncertain. Many broad types of disease-causing organism occur both on land and in the sea, and it is clear that some emergent disease problems in marine environments are caused by pathogens moving from terrestrial to marine systems. However, marine systems are qualitatively different from terrestrial environments, and these differences affect the application of modelling and management approaches that have been developed for terrestrial systems. Phyla and body plans are more diverse in marine environments and marine organisms have different life histories and probably different disease transmission modes than many of their terrestrial counterparts. Marine populations are typically more open than terrestrial ones, with the potential for long-distance dispersal of larvae. Potentially, this might enable unusually rapid propagation of epidemics in marine systems, and there are several examples of this. Taken together, these differences will require the development of new approaches to modelling and control of infectious disease in the ocean.

  18. Steroidal saponins from Tribulus terrestris.

    Science.gov (United States)

    Kang, Li-Ping; Wu, Ke-Lei; Yu, He-Shui; Pang, Xu; Liu, Jie; Han, Li-Feng; Zhang, Jie; Zhao, Yang; Xiong, Cheng-Qi; Song, Xin-Bo; Liu, Chao; Cong, Yu-Wen; Ma, Bai-Ping

    2014-11-01

    Sixteen steroidal saponins, including seven previously unreported compounds, were isolated from Tribulus terrestris. The structures of the saponins were established using 1D and 2D NMR spectroscopy, mass spectrometry, and chemical methods. They were identified as: 26-O-β-d-glucopyranosyl-(25R)-furost-4-en-2α,3β,22α,26-tetrol-12-one (terrestrinin C), 26-O-β-d-glucopyranosyl-(25R)-furost-4-en-22α,26-diol-3,12-dione (terrestrinin D), 26-O-β-d-glucopyranosyl-(25S)-furost-4-en-22α,26-diol-3,6,12-trione (terrestrinin E), 26-O-β-d-glucopyranosyl-(25R)-5α-furostan-3β,22α,26-triol-12-one (terrestrinin F), 26-O-β-d-glucopyranosyl-(25R)-furost-4-en-12β,22α,26-triol-3-one (terrestrinin G), 26-O-β-d-glucopyranosyl-(1→6)-β-d-glucopyranosyl-(25R)-furost-4-en-22α,26-diol-3,12-dione (terrestrinin H), and 24-O-β-d-glucopyranosyl-(25S)-5α-spirostan-3β,24β-diol-12-one-3-O-β-d-glucopyranosyl-(1→4)-β-d-galactopyranoside (terrestrinin I). The isolated compounds were evaluated for their platelet aggregation activities. Three of the known saponins exhibited strong effects on the induction of platelet aggregation. Copyright © 2014 Elsevier Ltd. All rights reserved.

  19. Sex ratio variation in the bumblebee Bombus terrestris

    DEFF Research Database (Denmark)

    Duchateau, Marie José; Velthuis, Hayo H. W.; Boomsma, Jacobus Jan

    2004-01-01

    Bombus terrestris, bumblebees, colony development, queen control, reproductive strategies, sex allocation......Bombus terrestris, bumblebees, colony development, queen control, reproductive strategies, sex allocation...

  20. The Mars Astrobiology Explorer-Cacher (MAX-C): a potential rover mission for 2018. Final report of the Mars Mid-Range Rover Science Analysis Group (MRR-SAG) October 14, 2009.

    Science.gov (United States)

    2010-03-01

    This report documents the work of the Mid-Range Rover Science Analysis Group (MRR-SAG), which was assigned to formulate a concept for a potential rover mission that could be launched to Mars in 2018. Based on programmatic and engineering considerations as of April 2009, our deliberations assumed that the potential mission would use the Mars Science Laboratory (MSL) sky-crane landing system and include a single solar-powered rover. The mission would also have a targeting accuracy of approximately 7 km (semimajor axis landing ellipse), a mobility range of at least 10 km, and a lifetime on the martian surface of at least 1 Earth year. An additional key consideration, given recently declining budgets and cost growth issues with MSL, is that the proposed rover must have lower cost and cost risk than those of MSL--this is an essential consideration for the Mars Exploration Program Analysis Group (MEPAG). The MRR-SAG was asked to formulate a mission concept that would address two general objectives: (1) conduct high priority in situ science and (2) make concrete steps toward the potential return of samples to Earth. The proposed means of achieving these two goals while balancing the trade-offs between them are described here in detail. We propose the name Mars Astrobiology Explorer-Cacher(MAX-C) to reflect the dual purpose of this potential 2018 rover mission.

  1. The Circumpolar Biodiversity Monitoring Program Terrestrial Plan

    DEFF Research Database (Denmark)

    Christensen, Tom; Payne, J.; Doyle, M.

    , understand and report on long-term change in Arctic terrestrial ecosystems and biodiversity, and to identify knowledge gaps and priorities. This poster will outline the key management questions the plan aims to address and the proposed nested, multi-scaled approach linking targeted, research based monitoring...... and coastal environments. The CBMP Terrestrial Plan is a framework to focus and coordinate monitoring of terrestrial biodiversity across the Arctic. The goal of the plan is to improve the collective ability of Arctic traditional knowledge (TK) holders, northern communities, and scientists to detect...

  2. A Multispectral Micro-Imager for Lunar Field Geology

    Science.gov (United States)

    Nunez, Jorge; Farmer, Jack; Sellar, Glenn; Allen, Carlton

    2009-01-01

    Field geologists routinely assign rocks to one of three basic petrogenetic categories (igneous, sedimentary or metamorphic) based on microtextural and mineralogical information acquired with a simple magnifying lens. Indeed, such observations often comprise the core of interpretations of geological processes and history. The Multispectral Microscopic Imager (MMI) uses multi-wavelength, light-emitting diodes (LEDs) and a substrate-removed InGaAs focal-plane array to create multispectral, microscale reflectance images of geological samples (FOV 32 X 40 mm). Each pixel (62.5 microns) of an image is comprised of 21 spectral bands that extend from 470 to 1750 nm, enabling the discrimination of a wide variety of rock-forming minerals, especially Fe-bearing phases. MMI images provide crucial context information for in situ robotic analyses using other onboard analytical instruments (e.g. XRD), or for the selection of return samples for analysis in terrestrial labs. To further assess the value of the MMI as a tool for lunar exploration, we used a field-portable, tripod-mounted version of the MMI to image a variety of Apollo samples housed at the Lunar Experiment Laboratory, NASA s Johnson Space Center. MMI images faithfully resolved the microtextural features of samples, while the application of ENVI-based spectral end member mapping methods revealed the distribution of Fe-bearing mineral phases (olivine, pyroxene and magnetite), along with plagioclase feldspars within samples. Samples included a broad range of lithologies and grain sizes. Our MMI-based petrogenetic interpretations compared favorably with thin section-based descriptions published in the Lunar Sample Compendium, revealing the value of MMI images for astronaut and rover-mediated lunar exploration.

  3. Data Processing and Primary results of Lunar Penetrating Radar on Board the Chinese Yutu Rover

    Science.gov (United States)

    Su, Yan; Xing, Shuguo; Feng, Jianqing; Dai, Shun; Ding, Chunyu; Xiao, Yuan; Zhang, Hongbo; Zhao, Shu; Xue, Xiping; Zhang, Xiaoxia; Liu, Bin; Yao, Meijuan; Li, Chunlai

    2015-04-01

    Radar is an attractive and powerful technique to observe the Moon. Radar mapping of the Moon's topography was first done by the Arecibo telescope at a wave- length of 70 cm in 1964 (Thompson & Dyce 1966). Chang'e-3 (CE-3) was successfully launched on 2013 December 2, and the landing place is in Mare Imbrium, about 40km south of the 6km diameter Laplace F crater, at 44.1214ON, 19.5116OW. The Lunar ground-Penetrating Radar (LPR) is one of scientific payloads of the Yutu rover, aiming to achieve the first direct measurements and explore the lunar subsurface structure. Compared with ALSE and LRS, LPR works at higher frequencies of 60 MHz and 500 MHz. Thus it can probe regions with shallower depth including the regolith and lunar crust at higher range resolution. The LPR uses one transmitting and one receiving dipole antenna for 60 MHz which are installed at the back of the rover. For 500 MHz, one transmitting and two bow-tie receiving antennas are attached to the bottom of the rover. It transmits a pulsed signal and receives the radar echo signal along the path that the Yutu rover traverses. The free space range resolutions are ~ 50 cm and ~ 25 m for 60 MHz and 500 MHz respectively. The radar data stop being sampled and are sent back to Earth when Yutu is stationary. Observations are simultaneously carried out at frequencies of 60 MHz and 500 MHz. Since the Yutu rover had severe problems during its second lunar day, it is pity that the Yutu rover only transversed a limited distance of 114.8m. In total, 566 MB of data were obtained. The scientific data are archived and distributed by National Astronomical Observatories, Chinese Academy of Sciences. Data processing has been done in order to eliminate the effect of the instrument. To obtain clear radar images, more data processing need to be applied such as coordinate transformation, data editing, background removal, the operations of smoothing and gain resetting. The radar signal could detect hundreds of meters deep at

  4. Methane emissions form terrestrial plants

    Energy Technology Data Exchange (ETDEWEB)

    Bergamaschi, P.; Dentener, F.; Grassi, G.; Leip, A.; Somogyi, Z.; Federici, S.; Seufert, G.; Raes, F. [European Commission, DG Joint Research Centre, Institute for Environment and Sustainability, Ispra (Italy)

    2006-07-01

    In a recent issue of Nature Keppler et al. (2006) report the discovery that terrestrial plants emit CH4 under aerobic conditions. Until now it was thought that bacterial decomposition of plant material under anaerobic conditions, such as in wetlands and water flooded rice paddies, is the main process leading to emissions from terrestrial ecosystems. In a first attempt to upscale these measurements, the authors estimate that global total emissions may be 149 Tg CH4/yr (62-236 Tg CH4/yr), with the main contribution estimated from tropical forests and grasslands (107 Tg CH4/yr with a range of 46-169 Tg CH4/yr). If confirmed, this new source of emission would constitute a significant fraction of the total global methane sources (estimated 500-600 Tg CH4/yr for present day total natural and anthropogenic sources) and have important implications for the global CH4 budget. To accommodate it within the present budget some sources would need to be re-assessed downwards and/or some sinks re-assessed upwards. Furthermore, also considering that methane is a {approx}23 times more powerful greenhouse gas than CO2, the possible feedbacks of these hitherto unknown CH4 emissions on global warming and their impacts on greenhouse gases (GHG) mitigation strategies need to be carefully evaluated. The merit of the paper is without doubt related to the remarkable discovery of a new process of methane emissions active under aerobic conditions. However, we think that the applied approach of scaling up emissions from the leaf level to global totals by using only few measured data (mainly from herbaceous species) and the Net Primary Productivity of the main biomes is scientifically questionable and tends to overestimate considerably the global estimates, especially for forest biomes. Furthermore, some significant constraints on the upper limit of the global natural CH4 emissions arise from the pre-industrial CH4 budget. Pre-industrial atmospheric CH4 mixing ratios have been measured

  5. Possible climates on terrestrial exoplanets.

    Science.gov (United States)

    Forget, F; Leconte, J

    2014-04-28

    What kind of environment may exist on terrestrial planets around other stars? In spite of the lack of direct observations, it may not be premature to speculate on exoplanetary climates, for instance, to optimize future telescopic observations or to assess the probability of habitable worlds. To begin with, climate primarily depends on (i) the atmospheric composition and the volatile inventory; (ii) the incident stellar flux; and (iii) the tidal evolution of the planetary spin, which can notably lock a planet with a permanent night side. The atmospheric composition and mass depends on complex processes, which are difficult to model: origins of volatiles, atmospheric escape, geochemistry, photochemistry, etc. We discuss physical constraints, which can help us to speculate on the possible type of atmosphere, depending on the planet size, its final distance for its star and the star type. Assuming that the atmosphere is known, the possible climates can be explored using global climate models analogous to the ones developed to simulate the Earth as well as the other telluric atmospheres in the solar system. Our experience with Mars, Titan and Venus suggests that realistic climate simulators can be developed by combining components, such as a 'dynamical core', a radiative transfer solver, a parametrization of subgrid-scale turbulence and convection, a thermal ground model and a volatile phase change code. On this basis, we can aspire to build reliable climate predictors for exoplanets. However, whatever the accuracy of the models, predicting the actual climate regime on a specific planet will remain challenging because climate systems are affected by strong positive feedbacks. They can drive planets with very similar forcing and volatile inventory to completely different states. For instance, the coupling among temperature, volatile phase changes and radiative properties results in instabilities, such as runaway glaciations and runaway greenhouse effect.

  6. Technical and regulatory review of the Rover nuclear fuel process for use on Fort St. Vrain fuel

    International Nuclear Information System (INIS)

    Hertzler, T.

    1993-02-01

    This report describes the results of an analysis for processing and final disposal of Fort St. Vrain (FSV) irradiated fuel in Rover-type equipment or technologies. This analysis includes an evaluation of the current Rover equipment status and the applicability of this technology in processing FSV fuel. The analyses are based on the physical characteristics of the FSV fuel and processing capabilities of the Rover equipment. Alternate FSV fuel disposal options are also considered including fuel-rod removal from the block, disposal of the empty block, or disposal of the entire fuel-containing block. The results of these analyses document that the current Rover hardware is not operable for any purpose, and any effort to restart this hardware will require extensive modifications and re-evaluation. However, various aspects of the Rover technology, such as the successful fluid-bed burner design, can be applied with modification to FSV fuel processing. The current regulatory climate and technical knowledge are not adequately defined to allow a complete analysis and conclusion with respect to the disposal of intact fuel blocks with or without the fuel rods removed. The primary unknowns include the various aspects of fuel-rod removal from the block, concentration of radionuclides remaining in the graphite block after rod removal, and acceptability of carbon in the form of graphite in a high level waste repository

  7. Comparing orbiter and rover image-based mapping of an ancient sedimentary environment, Aeolis Palus, Gale crater, Mars

    Science.gov (United States)

    Stack, Kathryn M.; Edwards, Christopher; Grotzinger, J. P.; Gupta, S.; Sumner, D.; Edgar, Lauren; Fraeman, A.; Jacob, S.; LeDeit, L.; Lewis, K.W.; Rice, M.S.; Rubin, D.; Calef, F.; Edgett, K.; Williams, R.M.E.; Williford, K.H.

    2016-01-01

    This study provides the first systematic comparison of orbital facies maps with detailed ground-based geology observations from the Mars Science Laboratory (MSL) Curiosity rover to examine the validity of geologic interpretations derived from orbital image data. Orbital facies maps were constructed for the Darwin, Cooperstown, and Kimberley waypoints visited by the Curiosity rover using High Resolution Imaging Science Experiment (HiRISE) images. These maps, which represent the most detailed orbital analysis of these areas to date, were compared with rover image-based geologic maps and stratigraphic columns derived from Curiosity’s Mast Camera (Mastcam) and Mars Hand Lens Imager (MAHLI). Results show that bedrock outcrops can generally be distinguished from unconsolidated surficial deposits in high-resolution orbital images and that orbital facies mapping can be used to recognize geologic contacts between well-exposed bedrock units. However, process-based interpretations derived from orbital image mapping are difficult to infer without known regional context or observable paleogeomorphic indicators, and layer-cake models of stratigraphy derived from orbital maps oversimplify depositional relationships as revealed from a rover perspective. This study also shows that fine-scale orbital image-based mapping of current and future Mars landing sites is essential for optimizing the efficiency and science return of rover surface operations.

  8. Durable terrestrial bedrock predicts submarine canyon formation

    Science.gov (United States)

    Smith, Elliot; Finnegan, Noah J.; Mueller, Erich R.; Best, Rebecca J.

    2017-01-01

    Though submarine canyons are first-order topographic features of Earth, the processes responsible for their occurrence remain poorly understood. Potentially analogous studies of terrestrial rivers show that the flux and caliber of transported bedload are significant controls on bedrock incision. Here we hypothesize that coarse sediment load could exert a similar role in the formation of submarine canyons. We conducted a comprehensive empirical analysis of canyon occurrence along the West Coast of the contiguous United States which indicates that submarine canyon occurrence is best predicted by the occurrence of durable crystalline bedrock in adjacent terrestrial catchments. Canyon occurrence is also predicted by the flux of bed sediment to shore from terrestrial streams. Surprisingly, no significant correlation was observed between canyon occurrence and the slope or width of the continental shelf. These findings suggest that canyon incision is promoted by greater yields of durable terrestrial clasts to the shore.

  9. Methods and decision making on a Mars rover for identification of fossils

    Science.gov (United States)

    Eberlein, Susan; Yates, Gigi

    1989-01-01

    A system for automated fusion and interpretation of image data from multiple sensors, including multispectral data from an imaging spectrometer is being developed. Classical artificial intelligence techniques and artificial neural networks are employed to make real time decision based on current input and known scientific goals. Emphasis is placed on identifying minerals which could indicate past life activity or an environment supportive of life. Multispectral data can be used for geological analysis because different minerals have characteristic spectral reflectance in the visible and near infrared range. Classification of each spectrum into a broad class, based on overall spectral shape and locations of absorption bands is possible in real time using artificial neural networks. The goal of the system is twofold: multisensor and multispectral data must be interpreted in real time so that potentially interesting sites can be flagged and investigated in more detail while the rover is near those sites; and the sensed data must be reduced to the most compact form possible without loss of crucial information. Autonomous decision making will allow a rover to achieve maximum scientific benefit from a mission. Both a classical rule based approach and a decision neural network for making real time choices are being considered. Neural nets may work well for adaptive decision making. A neural net can be trained to work in two steps. First, the actual input state is mapped to the closest of a number of memorized states. After weighing the importance of various input parameters, the net produces an output decision based on the matched memory state. Real time, autonomous image data analysis and decision making capabilities are required for achieving maximum scientific benefit from a rover mission. The system under development will enhance the chances of identifying fossils or environments capable of supporting life on Mars

  10. The solar generation childhood and adolescence of terrestrial photovoltaics

    CERN Document Server

    Wolfe, Philip R

    2018-01-01

    The first book to address the early development of the photovoltaic industry, and the pioneering researchers and companies in the sector. Well before the end of this century, solar power will be the world's dominant power source. This book looks at the origins of this smart sustainable energy technology, tracing the pioneering years from its inception following the 1973 oil crisis to the end of the last millennium—just as the sector was poised for explosive growth. It focuses on the progress of the early terrestrial photovoltaic sector, often in the face of skepticism or apathy. It also covers the research and achievements of people and organizations within the PV business. Written by a leader in the field with more than 40 years of experience and an international reputation in the sustainable energy industry, The Solar Generation: Childhood and Adolescence of Terrestrial Photovoltaics offers enlightening coverage on the terrestrial PV industry. The first part of this 3-volume set provides a historical bac...

  11. Solar cosmic rays in the system of solar terrestrial relations

    Science.gov (United States)

    Miroshnichenko, Leonty I.

    2008-02-01

    In this brief review, we discuss a number of geophysical effects of solar energetic particles (SEPs) or solar cosmic rays (SCR). We concentrate mainly on the observational evidence and proposed mechanisms of some expected effects and/or poor-studied phenomena discovered within the last three decades, in particular, depletion of the ozone layer, perturbations in the global electric current, effects on the winter storm vorticity, change of the atmospheric transparency and production of nitrates. Some "archaeological" data on SCR fluxes in the past and upper limit of total energy induced by SEPs are also discussed. Due attention is paid to the periodicities in the solar particle fluxes. Actually, many solar, heliospheric and terrestrial parameters changing generally in phase with the solar activity are subjected to a temporary depression close to the solar maximum ("Gnevyshev Gap"). A similar gap has been found recently in the yearly numbers of the >10 MeV proton events. All the above-mentioned findings are evidently of great importance in the studies of general proton emissivity of the Sun and long-term trends in the behaviour of solar magnetic fields. In addition, these data can be very helpful for elaborating the methods for prediction of the radiation conditions in space and for estimation of the SEPs' contribution to solar effects on the geosphere, their relative role in the formation of terrestrial weather and climate and in the problem of solar-terrestrial relations (STR) on the whole.

  12. HOVE-Wedge-Filtering of Geomorphologic Terrestrial Laser Scan Data

    Directory of Open Access Journals (Sweden)

    Helmut Panholzer

    2018-02-01

    Full Text Available Terrestrial laser scanning has become an important surveying technique in many fields such as natural hazard assessment. To analyse earth surface processes, it is useful to generate a digital terrain model originated from laser scan point cloud data. To determine the terrain surface as precisely as possible, it is often necessary to filter out points that do not represent the terrain surface. Examples are vegetation, vehicles, and animals. In mountainous terrain with a small-structured topography, filtering is very difficult. Here, automatic filtering solutions usually designed for airborne laser scan data often lead to unsatisfactory results. In this work, we further develop an existing approach for automated filtering of terrestrial laser scan data, which is based on the assumption that no other surface point can be located in the area above a direct line of sight between scanner and another measured point. By taking into account several environmental variables and a repetitive calculation method, the modified method leads to significantly better results. The root-mean-square-error (RSME for the same test measurement area could be reduced from 5.284 to 1.610. In addition, a new approach for filtering and interpolation of terrestrial laser scanning data is presented using a grid with horizontal and vertical angular data and the measurement length.

  13. Carbon dioxide efficiency of terrestrial enhanced weathering

    OpenAIRE

    Moosdorf, Nils; Renforth, Philip; Hartmann, Jens

    2014-01-01

    Terrestrial enhanced weathering, the spreading of ultramafic silicate rock flour to enhance natural weathering rates, has been suggested as part of a strategy to reduce global atmospheric CO2 levels. We budget potential CO2 sequestration against associated CO2 emissions to assess the net CO2 removal of terrestrial enhanced weathering. We combine global spatial data sets of potential source rocks, transport networks, and application areas with associated CO2 emissions in optimistic and pessimi...

  14. Parallel Computing for Terrestrial Ecosystem Carbon Modeling

    International Nuclear Information System (INIS)

    Wang, Dali; Post, Wilfred M.; Ricciuto, Daniel M.; Berry, Michael

    2011-01-01

    Terrestrial ecosystems are a primary component of research on global environmental change. Observational and modeling research on terrestrial ecosystems at the global scale, however, has lagged behind their counterparts for oceanic and atmospheric systems, largely because the unique challenges associated with the tremendous diversity and complexity of terrestrial ecosystems. There are 8 major types of terrestrial ecosystem: tropical rain forest, savannas, deserts, temperate grassland, deciduous forest, coniferous forest, tundra, and chaparral. The carbon cycle is an important mechanism in the coupling of terrestrial ecosystems with climate through biological fluxes of CO 2 . The influence of terrestrial ecosystems on atmospheric CO 2 can be modeled via several means at different timescales. Important processes include plant dynamics, change in land use, as well as ecosystem biogeography. Over the past several decades, many terrestrial ecosystem models (see the 'Model developments' section) have been developed to understand the interactions between terrestrial carbon storage and CO 2 concentration in the atmosphere, as well as the consequences of these interactions. Early TECMs generally adapted simple box-flow exchange models, in which photosynthetic CO 2 uptake and respiratory CO 2 release are simulated in an empirical manner with a small number of vegetation and soil carbon pools. Demands on kinds and amount of information required from global TECMs have grown. Recently, along with the rapid development of parallel computing, spatially explicit TECMs with detailed process based representations of carbon dynamics become attractive, because those models can readily incorporate a variety of additional ecosystem processes (such as dispersal, establishment, growth, mortality etc.) and environmental factors (such as landscape position, pest populations, disturbances, resource manipulations, etc.), and provide information to frame policy options for climate change

  15. Integrated Results from Analysis of the Rocknest Aeolian Deposit by the Curiosity Rover

    Science.gov (United States)

    Leshin, L. A.; Grotzinger, J. P.; Blake, D. F.; Edgett, K. S.; Gellert, R.; Mahaffy, P. R.; Malin, M. C.; Wiens, R. C.; Treiman, A. H.; Ming, D. W.; hide

    2013-01-01

    The Mars Science Laboratory Curiosity rover spent 45 sols (from sol 56-101) at an area called Rocknest (Fig. 1), characterizing local geology and ingesting its aeolian fines into the analytical instruments CheMin and SAM for mineralogical and chemical analysis. Many abstracts at this meeting present the contextual information and detailed data on these first solid samples analyzed in detail by Curiosity at Rocknest. Here, we present an integrated view of the results from Rocknest - the general agreement from discussions among the entire MSL Science Team.

  16. 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.

  17. The Mars 2020 Rover Mission: EISD Participation in Mission Science and Exploration

    Science.gov (United States)

    Fries, M.; Bhartia, R.; Beegle, L.; Burton, A. S.; Ross, A.

    2014-01-01

    The Mars 2020 Rover mission will search for potential biosignatures on the martian surface, use new techniques to search for and identify tracelevel organics, and prepare a cache of samples for potential return to Earth. Identifying trace organic compounds is an important tenet of searching for potential biosignatures. Previous landed missions have experienced difficulty identifying unambiguously martian, unaltered organic compounds, possibly because any organic species have been destroyed on heating in the presence of martian perchlorates and/or other oxidants. The SHERLOC instrument on Mars 2020 will use ultraviolet (UV) fluorescence and Raman spectroscopy to identify trace organic compounds without heating the samples.

  18. Rescuing Rover: A First Aid and Disaster Guide for Dog Owners

    OpenAIRE

    Heath, Sebastian E.

    1998-01-01

    Whether you're hiking with your canine friend in a remote area or work with a dog on a search-and-rescue team or police force, you need to be prepared for emergencies when veterinary service is not available. Rescuing Rover: A First Aid and Disaster Guide for Dog Owners provides dog owners, handlers, and emergency physicians with an understandable guide for safe treatment until the dog can be transported to a veterinarian. Although a number of books describe some techniques for the emergency ...

  19. Design and Demonstration of a Miniature Lidar System for Rover Applications

    Science.gov (United States)

    Robinson, Benjamin

    2010-01-01

    A basic small and portable lidar system for rover applications has been designed. It uses a 20 Hz Nd:YAG pulsed laser, a 4-inch diameter telescope receiver, a custom-built power distribution unit (PDU), and a custom-built 532 nm photomultiplier tube (PMT) to measure the lidar signal. The receiving optics have been designed, but not constructed yet. LabVIEW and MATLAB programs have also been written to control the system, acquire data, and analyze data. The proposed system design, along with some measurements, is described. Future work to be completed is also discussed.

  20. 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.

  1. A Mars orbiter/rover/penetrator mission for the 1984 opportunity

    Science.gov (United States)

    Hastrup, R.; Driver, J.; Nagorski, R.

    1977-01-01

    A point design mission is described that utilizes the 1984 opportunity to extend the exploration of Mars after the successful Viking operations and provide the additional scientific information needed before conducting a sample return mission. Two identical multi-element spacecraft are employed, each consisting of (1) an orbiter, (2) a Viking-derived landing system that delivers a heavily instrumented, semi-autonomous rover, and (3) three penetrators deployed from the approach trajectory. Selection of the orbit profiles requires consideration of several important factors in order to satisfy all of the mission goals.

  2. Linking animals aloft with the terrestrial landscape

    Science.gov (United States)

    Buler, Jeffrey J.; Barrow, Wylie; Boone, Matthew; Dawson, Deanna K.; Diehl, Robert H.; Moore, Frank R.; Randall, Lori A.; Schreckengost, Timothy; Smolinsky, Jaclyn A.

    2018-01-01

    Despite using the aerosphere for many facets of their life, most flying animals (i.e., birds, bats, some insects) are still bound to terrestrial habitats for resting, feeding, and reproduction. Comprehensive broad-scale observations by weather surveillance radars of animals as they leave terrestrial habitats for migration or feeding flights can be used to map their terrestrial distributions either as point locations (e.g., communal roosts) or as continuous surface layers (e.g., animal densities in habitats across a landscape). We discuss some of the technical challenges to reducing measurement biases related to how radars sample the aerosphere and the flight behavior of animals. We highlight a recently developed methodological approach that precisely and quantitatively links the horizontal spatial structure of birds aloft to their terrestrial distributions and provides novel insights into avian ecology and conservation across broad landscapes. Specifically, we present case studies that (1) elucidate how migrating birds contend with crossing ecological barriers and extreme weather events, (2) identify important stopover areas and habitat use patterns of birds along their migration routes, and (3) assess waterfowl response to wetland habitat management and restoration. These studies aid our understanding of how anthropogenic modification of the terrestrial landscape (e.g., urbanization, habitat management), natural geographic features, and weather (e.g., hurricanes) can affect the terrestrial distributions of flying animals.

  3. Anthropogenic transformation of the terrestrial biosphere.

    Science.gov (United States)

    Ellis, Erle C

    2011-03-13

    Human populations and their use of land have transformed most of the terrestrial biosphere into anthropogenic biomes (anthromes), causing a variety of novel ecological patterns and processes to emerge. To assess whether human populations and their use of land have directly altered the terrestrial biosphere sufficiently to indicate that the Earth system has entered a new geological epoch, spatially explicit global estimates of human populations and their use of land were analysed across the Holocene for their potential to induce irreversible novel transformation of the terrestrial biosphere. Human alteration of the terrestrial biosphere has been significant for more than 8000 years. However, only in the past century has the majority of the terrestrial biosphere been transformed into intensively used anthromes with predominantly novel anthropogenic ecological processes. At present, even were human populations to decline substantially or use of land become far more efficient, the current global extent, duration, type and intensity of human transformation of ecosystems have already irreversibly altered the terrestrial biosphere at levels sufficient to leave an unambiguous geological record differing substantially from that of the Holocene or any prior epoch. It remains to be seen whether the anthropogenic biosphere will be sustained and continue to evolve.

  4. Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions.

    Science.gov (United States)

    Schuerger, Andrew C; Lee, Pascal

    2015-06-01

    Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20°C to -1°C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle.

  5. The Design of Two Nano-Rovers for Lunar Surface Exploration in the Context of the Google Lunar X Prize

    Science.gov (United States)

    Gill, E.; Honfi Camilo, L.; Kuystermans, P.; Maas, A. S. B. B.; Buutfeld, B. A. M.; van der Pols, R. H.

    2008-09-01

    This paper summarizes a study performed by ten students at the Delft University of Technology on a lunar exploration vehicle suited for competing in the Google Lunar X Prize1. The design philosophy aimed at a quick and simple design process, to comply with the mission constraints. This is achieved by using conventional technology and performing the mission with two identical rovers, increasing reliability and simplicity of systems. Both rovers are however capable of operating independently. The required subsystems have been designed for survival and operation on the lunar surface for an estimated mission lifetime of five days. This preliminary study shows that it is possible for two nano-rovers to perform the basic exploration tasks. The mission has been devised such that after launch the rovers endure a 160 hour voyage to the Moon after which they will land on Sinus Medii with a dedicated lunar transfer/lander vehicle. The mission outline itself has the two nano-rovers travelling in the same direction, moving simultaneously. This mission characteristic allows a quick take-over of the required tasks by the second rover in case of one rover breakdown. The main structure of the rovers will consist of Aluminium 2219 T851, due to its good thermal properties and high hardness. Because of the small dimensions of the rovers, the vehicles will use rigid caterpillar tracks as locomotion system. The track systems are sealed from lunar dust using closed track to prevent interference with the mechanisms. This also prevents any damage to the electronics inside the tracks. For the movement speed a velocity of 0.055 m/s has been determined. This is about 90% of the maximum rover velocity, allowing direct control from Earth. The rovers are operated by a direct control loop, involving the mission control center. In order to direct the rovers safely, a continuous video link with the Earth is necessary to assess its immediate surroundings. Two forward pointing navigational cameras

  6. Paleo-environmental Setting of the Murray Formation of Aeolis Mons, Gale Crater, Mars, as Explored by the Curiosity Rover

    Science.gov (United States)

    Lewis, K. W.; Fedo, C.; Grotzinger, J. P.; Gupta, S.; Stein, N.; Rivera-Hernandez, F.; Watkins, J. A.; Banham, S.; Edgett, K. S.; Minitti, M. E.; Schieber, J.; Edgar, L. A.; Siebach, K. L.; Stack, K.; Newsom, H. E.; House, C. H.; Sumner, D. Y.; Vasavada, A. R.

    2017-12-01

    Since landing, the Mars Science Laboratory Curiosity rover climbed 300 meters in elevation from the floor of north Gale crater up the lower northwest flank of Aeolis Mons ("Mount Sharp"). Nearly 200 meters of this ascent was accomplished in the 1.5 years alone, as the rover was driven up-section through the sedimentary rocks of the informally designated "Murray" formation. This unit comprises a large fraction of the lower strata of Mt. Sharp along the rover traverse. Our exploration of the Murray formation reveals a diverse suite of fine-grained facies. Grain sizes range from finer grains than can be resolved by the MAHLI imager (particles bearing Vera Rubin Ridge, continues to reveal the complex and long-lived depositional history of the Gale crater basin.

  7. Groundwater and Terrestrial Water Storage

    Science.gov (United States)

    Rodell, Matthew; Chambers, Don P.; Famiglietti, James S.

    2011-01-01

    Most people think of groundwater as a resource, but it is also a useful indicator of climate variability and human impacts on the environment. Groundwater storage varies slowly relative to other non-frozen components of the water cycle, encapsulating long period variations and trends in surface meteorology. On seasonal to interannual timescales, groundwater is as dynamic as soil moisture, and it has been shown that groundwater storage changes have contributed to sea level variations. Groundwater monitoring well measurements are too sporadic and poorly assembled outside of the United States and a few other nations to permit direct global assessment of groundwater variability. However, observational estimates of terrestrial water storage (TWS) variations from the GRACE satellites largely represent groundwater storage variations on an interannual basis, save for high latitude/altitude (dominated by snow and ice) and wet tropical (surface water) regions. A figure maps changes in mean annual TWS from 2009 to 2010, based on GRACE, reflecting hydroclimatic conditions in 2010. Severe droughts impacted Russia and the Amazon, and drier than normal weather also affected the Indochinese peninsula, parts of central and southern Africa, and western Australia. Groundwater depletion continued in northern India, while heavy rains in California helped to replenish aquifers that have been depleted by drought and withdrawals for irrigation, though they are still below normal levels. Droughts in northern Argentina and western China similarly abated. Wet weather raised aquifer levels broadly across western Europe. Rains in eastern Australia caused flooding to the north and helped to mitigate a decade long drought in the south. Significant reductions in TWS seen in the coast of Alaska and the Patagonian Andes represent ongoing glacier melt, not groundwater depletion. Figures plot time series of zonal mean and global GRACE derived non-seasonal TWS anomalies (deviation from the mean of

  8. NEON terrestrial field observations: designing continental scale, standardized sampling

    Science.gov (United States)

    R. H. Kao; C.M. Gibson; R. E. Gallery; C. L. Meier; D. T. Barnett; K. M. Docherty; K. K. Blevins; P. D. Travers; E. Azuaje; Y. P. Springer; K. M. Thibault; V. J. McKenzie; M. Keller; L. F. Alves; E. L. S. Hinckley; J. Parnell; D. Schimel

    2012-01-01

    Rapid changes in climate and land use and the resulting shifts in species distributions and ecosystem functions have motivated the development of the National Ecological Observatory Network (NEON). Integrating across spatial scales from ground sampling to remote sensing, NEON will provide data for users to address ecological responses to changes in climate, land use,...

  9. Tritium persistence pattern in some terrestrial plants-field investigations

    International Nuclear Information System (INIS)

    Soman, S.D.; Iyengar, T.S.; Krishnamoorthy, T.M.; Sadarangani, S.H.; Vaze, P.K.; Gogate, S.S.; Deo, J.V.

    1977-01-01

    The uptake and release pattern of tritium in certain trees in their natural conditions of growth were investigated by artificial simulation of active conditions by incorporating tritium in the system through stem or roots. These trees are grown in some of the nuclear sites wherein a number of nuclear facilities are located. The species studied include palms, casuarinas and banana trees. In most of the cases a single component corresponding to the tree compartment tritium was obtained. The second component of the tissue free water tritium and the tissue bound compartment of tritium were not easily resolvable due to tremendous variation caused by the environmental conditions such as rain, humidity etc. Repeated humps were observed in certain cases of root uptake studies due to the variation in the meteorological factors. In most of the cases the half residence times for tritium (Tsub(1/2)) (tissue free water tritium) were found to be below two days. (author)

  10. VLF emissions in the Venus foreshock - Comparison with terrestrial observations

    Science.gov (United States)

    Crawford, G. K.; Strangeway, R. J.; Russell, C. T.

    1993-01-01

    An examination is conducted of ELF/VLF emissions observed in the solar wind upstream of the Venus shock, for the 100 Hz-30 kHz range, using data from the Pioneer Venus Orbiter's electric field detector and magnetometer instruments. Detailed comparisons are made with terrestrial measurements for both the electron and ion foreshocks. The results obtained support the Crawford et al. (1990) identification of the Venus electron foreshock emissions as electron plasma oscillations, whose waves are generated in situ and act to isotropize the electron distributions.

  11. Variations of Terrestrial Net Primary Productivity in East Asia

    Directory of Open Access Journals (Sweden)

    Fangmin Zhang

    2012-01-01

    Full Text Available Due to the heterogeneity and complexity of terrestrial ecosystems of East Asia, a better understanding of relationships between climate change and net primary productivity (NPP distribution is important to predict future carbon dynamics. The objective of this study is to analyze the temporal-spatial patterns of NPP in East Asia (10°S - 55°N, 60 - 155°E from 1982 to 2006 using the process-based Boreal Ecosystem Productivity Simulator (BEPS model. Prior to the regional simulation, the annual simulated NPP was validated using field observed NPP demonstrating the ability of BEPS to simulate NPP in different ecosystems of East Asia.

  12. Topographic-driven instabilities in terrestrial bodies

    Science.gov (United States)

    Vantieghem, S.; Cebron, D.; Herreman, W.; Lacaze, L.

    2013-12-01

    Models of internal planetary fluid layers (core flows, subsurface oceans) commonly assume that these fluid envelopes have a spherical shape. This approximation however entails a serious restriction from the fluid dynamics point of view. Indeed, in the presence of mechanical forcings (precession, libration, nutation or tides) due to gravitational interaction with orbiting partners, boundary topography (e.g. of the core-mantle boundary) may excite flow instabilities and space-filling turbulence. These phenomena may affect heat transport and dissipation at the main order. Here, we focus on instabilities driven by longitudinal libration. Using a suite of theoretical tools and numerical simulations, we are able to discern a parameter range for which instability may be excited. We thereby consider deformations of different azimuthal order. This study gives the first numerical evidence of the tripolar instability. Furthermore, we explore the non-linear regime and investigate the amplitude as well as the dissipation of the saturated instability. Indeed, these two quantities control the torques on the solid layers and the thermal transport. Furthermore, based on this results, we address the issue of magnetic field generation associated with these flows (by induction or by dynamo process). This instability mechanism applies to both synchronized as non-synchronized bodies. As such, our results show that a tripolar instability might be present in various terrestrial bodies (Early Moon, Gallilean moons, asteroids, etc.), where it could participate in dynamo action. Simulation of a libration-driven tripolar instability in a deformed spherical fluid layer: snapshot of the velocity magnitude, where a complex 3D flow pattern is established.

  13. What Can the Curiosity Rover Tell Us About the Climate of Mars?

    Science.gov (United States)

    Haberle, Robert M.

    2013-01-01

    What Can the Curiosity Rover Tell Us About the Climate of Mars? Assessing the habitability of Gale Crater is the goal of the Curiosity Rover, which has been gathering data since landing on the Red Planet last August. To meet that goal, Curiosity brought with it a suite of instruments to measure the biological potential of the landing site, the geology and chemistry of its surface, and local environmental conditions. Some of these instruments illuminate the nature of the planet fs atmosphere and climate system, both for present day conditions as well as for conditions that existed billions of years ago. For present day conditions, Curiosity has a standard meteorology package that measures pressure, temperature, winds and humidity, plus a sensor the measures the UV flux. These data confirm what we learned from previous missions namely that today Mars is a cold, dry, and barren desert-like planet. For past conditions, however, wetter and probably warmer conditions are indicated. Curiosities cameras reveal gravel beds that must have formed by flowing rivers, and sedimentary deposits of layered sand and mudstones possibly associated with lakes. An ancient aqueous environment is further supported by the presence of sulfate veins coursing through some of the rocks in Yellowknife Bay where Curiosity is planning its first drilling activity. I will discuss these results and their implications in this lecture.

  14. Estimates of power requirements for a Manned Mars Rover powered by a nuclear reactor

    Science.gov (United States)

    Morley, Nicholas J.; El-Genk, Mohamed S.; Cataldo, Robert; Bloomfield, Harvey

    1991-01-01

    This paper assesses the power requirement for a Manned Mars Rover vehicle. Auxiliary power needs are fulfilled using a hybrid solar photovoltaic/regenerative fuel cell system, while the primary power needs are meet using an SP-100 type reactor. The primary electric power needs, which include 30-kW(e) net user power, depend on the reactor thermal power and the efficiency of the power conversion system. Results show that an SP-100 type reactor coupled to a Free Piston Stirling Engine yields the lowest total vehicle mass and lowest specific mass for the power system. The second lowest mass was for a SP-100 reactor coupled to a Closed Brayton Cycle using He/Xe as the working fluid. The specific mass of the nuclear reactor power system, including a man-rated radiation shield, ranged from 150-kg/kW(e) to 190-kg/KW(e) and the total mass of the Rover vehicle varied depend upon the cruising speed.

  15. The new Athena alpha particle X-ray spectrometer for the Mars Exploration Rovers

    Science.gov (United States)

    Rieder, R.; Gellert, R.; Brückner, J.; Klingelhöfer, G.; Dreibus, G.; Yen, A.; Squyres, S. W.

    2003-11-01

    The new alpha particle X-ray spectrometer (APXS) is part of the Athena payload of the two Mars Exploration Rovers (MER). The APXS sensor head is attached to the turret of the instrument deployment device (IDD) of the rover. The APXS is a very light-weight instrument for determining the major and minor elemental composition of Martian soils, rocks, and other geological materials at the MER landing sites. The sensor head has simply to be docked by the IDD on the surface of the selected sample. X-ray radiation, excited by alpha particles and X rays of the radioactive sources, is recorded by a high-resolution X-ray detector. The X-ray spectra show elements starting from sodium up to yttrium, depending on their concentrations. The backscattered alpha spectra, measured by a ring of detectors, provide additional data on carbon and oxygen. By means of a proper calibration, the elemental concentrations are derived. Together with data from the two other Athena instruments mounted on the IDD, the samples under investigation can be fully characterized. Key APXS objectives are the determination of the chemistry of crustal rocks and soils and the examination of water-related deposits, sediments, or evaporates. Using the rock abrasion tool attached to the IDD, issues of weathering can be addressed by measuring natural and abraded surfaces of rocks.

  16. Preface: The Chang'e-3 lander and rover mission to the Moon

    International Nuclear Information System (INIS)

    Ip Wing-Huen; Yan Jun; Li Chun-Lai; Ouyang Zi-Yuan

    2014-01-01

    The Chang'e-3 (CE-3) lander and rover mission to the Moon was an intermediate step in China's lunar exploration program, which will be followed by a sample return mission. The lander was equipped with a number of remote-sensing instruments including a pair of cameras (Landing Camera and Terrain Camera) for recording the landing process and surveying terrain, an extreme ultraviolet camera for monitoring activities in the Earth's plasmasphere, and a first-ever Moon-based ultraviolet telescope for astronomical observations. The Yutu rover successfully carried out close-up observations with the Panoramic Camera, mineralogical investigations with the VIS-NIR Imaging Spectrometer, study of elemental abundances with the Active Particle-induced X-ray Spectrometer, and pioneering measurements of the lunar subsurface with Lunar Penetrating Radar. This special issue provides a collection of key information on the instrumental designs, calibration methods and data processing procedures used by these experiments with a perspective of facilitating further analyses of scientific data from CE-3 in preparation for future missions

  17. Preface: The Chang'e-3 lander and rover mission to the Moon

    Science.gov (United States)

    Ip, Wing-Huen; Yan, Jun; Li, Chun-Lai; Ouyang, Zi-Yuan

    2014-12-01

    The Chang'e-3 (CE-3) lander and rover mission to the Moon was an intermediate step in China's lunar exploration program, which will be followed by a sample return mission. The lander was equipped with a number of remote-sensing instruments including a pair of cameras (Landing Camera and Terrain Camera) for recording the landing process and surveying terrain, an extreme ultraviolet camera for monitoring activities in the Earth's plasmasphere, and a first-ever Moon-based ultraviolet telescope for astronomical observations. The Yutu rover successfully carried out close-up observations with the Panoramic Camera, mineralogical investigations with the VIS-NIR Imaging Spectrometer, study of elemental abundances with the Active Particle-induced X-ray Spectrometer, and pioneering measurements of the lunar subsurface with Lunar Penetrating Radar. This special issue provides a collection of key information on the instrumental designs, calibration methods and data processing procedures used by these experiments with a perspective of facilitating further analyses of scientific data from CE-3 in preparation for future missions.

  18. Lunar ground penetrating radar: Minimizing potential data artifacts caused by signal interaction with a rover body

    Science.gov (United States)

    Angelopoulos, Michael; Redman, David; Pollard, Wayne H.; Haltigin, Timothy W.; Dietrich, Peter

    2014-11-01

    Ground-penetrating radar (GPR) is the leading geophysical candidate technology for future lunar missions aimed at mapping shallow stratigraphy (lunar materials, as well as its small size and lightweight components, make it a very attractive option from both a scientific and engineering perspective. However, the interaction between a GPR signal and the rover body is poorly understood and must be investigated prior to a space mission. In doing so, engineering and survey design strategies should be developed to enhance GPR performance in the context of the scientific question being asked. This paper explores the effects of a rover (simulated with a vertical metal plate) on GPR results for a range of heights above the surface and antenna configurations at two sites: (i) a standard GPR testing site with targets of known position, size, and material properties, and; (ii) a frozen lake for surface reflectivity experiments. Our results demonstrate that the GPR antenna configuration is a key variable dictating instrument design, with the XX polarization considered optimal for minimizing data artifact generation. These findings could thus be used to help guide design requirements for an eventual flight instrument.

  19. 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.

  20. Isodose mapping of terrestrial gamma radiation dose rate of Selangor state, Kuala Lumpur and Putrajaya, Malaysia

    International Nuclear Information System (INIS)

    Sanusi, M.S.M.; Ramli, A.T.; Gabdo, H.T.; Garba, N.N.; Heryanshah, A.; Wagiran, H.; Said, M.N.

    2014-01-01

    A terrestrial gamma radiation survey for the state of Selangor, Kuala Lumpur and Putrajaya was conducted to obtain baseline data for environmental radiological health practices. Based on soil type, geological background and information from airborne survey maps, 95 survey points statistically representing the study area were determined. The measured doses varied according to geological background and soil types. They ranged from 17 nGy h −1 to 500 nGy h −1 . The mean terrestrial gamma dose rate in air above the ground was 182 ± 81 nGy h −1 . This is two times higher than the average dose rate of terrestrial gamma radiation in Malaysia which is 92 nGy h −1 (UNSCEAR 2000). An isodose map was produced to represent exposure rate from natural sources of terrestrial gamma radiation. - Highlights: • A methodology is presented to reduce terrestrial gamma dose rate field survey. • Geological background of acid intrusive of granitic type has the highest dose rates. • The mean dose rate is 2 times higher than the world average. • Isodose map of terrestrial gamma radiation for Selangor, Kuala Lumpur and Putrajaya was produced

  1. Microplastics in the terrestrial ecosystem: Implications for Lumbricus terrestris (Oligochaeta, Lumbricidae)

    NARCIS (Netherlands)

    Huerta Lwanga, Esperanza; Gertsen, H.F.; Gooren, H.; Peters, P.D.; Salanki, T.E.; Ploeg, van der M.J.C.; Besseling, E.; Koelmans, A.A.; Geissen, V.

    2016-01-01

    Plastic debris is widespread in the environment, but information on the effects of microplastics on terrestrial fauna is completely lacking. Here, we studied the survival and fitness of the earthworm Lumbricus terrestris (Oligochaeta, Lumbricidae) exposed to microplastics (Polyethylene, <150 μm)

  2. Biological control of the terrestrial carbon sink

    Science.gov (United States)

    Schulze, E.-D.

    2006-03-01

    This lecture reviews the past (since 1964 when the International Biological Program began) and the future of our understanding of terrestrial carbon fluxes with focus on photosynthesis, respiration, primary-, ecosystem-, and biome-productivity. Photosynthetic capacity is related to the nitrogen concentration of leaves, but the capacity is only rarely reached under field conditions. Average rates of photosynthesis and stomatal conductance are closely correlated and operate near 50% of their maximal rate, with light being the limiting factor in humid regions and air humidity and soil water the limiting factor in arid climates. Leaf area is the main factor to extrapolate from leaves to canopies, with maximum surface conductance being dependent on leaf level stomatal conductance. Additionally, gas exchange depends also on rooting depth which determines the water and nutrient availability and on mycorrhizae which regulate the nutrient status. An important anthropogenic disturbance is the nitrogen uptake from air pollutants, which is not balanced by cation uptake from roots and this may lead to damage and breakdown of the plant cover. Photosynthesis is the main carbon input into ecosystems, but it alone does not represent the ecosystem carbon balance, which is determined by respiration of various kinds. Plant respiration and photosynthesis determine growth (net primary production) and microbial respiration balances the net ecosystem flux. In a spruce forest, 30% of the assimilatory carbon gain is used for respiration of needles, 20% is used for respiration in stems. Soil respiration is about 50% the carbon gain, half of which is root respiration, half is microbial respiration. In addition, disturbances lead to carbon losses, where fire, harvest and grazing bypass the chain of respiration. In total, the carbon balance at the biome level is only about 1% of the photosynthetic carbon input, or may indeed become negative. The recent observed increase in plant growth has

  3. Biological control of the terrestrial carbon sink

    Directory of Open Access Journals (Sweden)

    E.-D. Schulze

    2006-01-01

    Full Text Available This lecture reviews the past (since 1964 when the International Biological Program began and the future of our understanding of terrestrial carbon fluxes with focus on photosynthesis, respiration, primary-, ecosystem-, and biome-productivity. Photosynthetic capacity is related to the nitrogen concentration of leaves, but the capacity is only rarely reached under field conditions. Average rates of photosynthesis and stomatal conductance are closely correlated and operate near 50% of their maximal rate, with light being the limiting factor in humid regions and air humidity and soil water the limiting factor in arid climates. Leaf area is the main factor to extrapolate from leaves to canopies, with maximum surface conductance being dependent on leaf level stomatal conductance. Additionally, gas exchange depends also on rooting depth which determines the water and nutrient availability and on mycorrhizae which regulate the nutrient status. An important anthropogenic disturbance is the nitrogen uptake from air pollutants, which is not balanced by cation uptake from roots and this may lead to damage and breakdown of the plant cover. Photosynthesis is the main carbon input into ecosystems, but it alone does not represent the ecosystem carbon balance, which is determined by respiration of various kinds. Plant respiration and photosynthesis determine growth (net primary production and microbial respiration balances the net ecosystem flux. In a spruce forest, 30% of the assimilatory carbon gain is used for respiration of needles, 20% is used for respiration in stems. Soil respiration is about 50% the carbon gain, half of which is root respiration, half is microbial respiration. In addition, disturbances lead to carbon losses, where fire, harvest and grazing bypass the chain of respiration. In total, the carbon balance at the biome level is only about 1% of the photosynthetic carbon input, or may indeed become negative. The recent observed increase in

  4. Terrestrial Energy bets on molten salt reactors

    International Nuclear Information System (INIS)

    Anon.

    2015-01-01

    Terrestrial Energy is a Canadian enterprise, founded in 2013, for marketing the integral molten salt reactor (IMSR). A first prototype (called MSRE and with an energy output of 8 MW) was designed and operated between 1965 and 1969 by the Oak Ridge National Laboratory. IMSR is a small, modular reactor with a thermal energy output of 400 MW. According to Terrestrial Energy the technology of conventional power reactors is too complicated and too expensive. On the contrary IMSR's technology appears to be simple, easy to operate and affordable. With a staff of 30 people Terrestrial Energy appears to be a start-up in the nuclear sector. A process of pre-licensing will be launched in 2016 with the Canadian nuclear safety authority. (A.C.)

  5. Risk assessment considerations for plant protection products and terrestrial life-stages of amphibians.

    Science.gov (United States)

    Weltje, Lennart; Ufer, Andreas; Hamer, Mick; Sowig, Peter; Demmig, Sandra; Dechet, Friedrich

    2018-04-28

    Some amphibians occur in agricultural landscapes during certain periods of their life cycle and consequently might be exposed to plant protection products (PPPs). While the sensitivity of aquatic life-stages is considered to be covered by the standard assessment for aquatic organisms (especially fish), the situation is less clear for terrestrial amphibian life-stages. In this paper, considerations are presented on how a risk assessment for PPPs and terrestrial life-stages of amphibians could be conducted. It discusses available information concerning the toxicity of PPPs to terrestrial amphibians, and their potential exposure to PPPs in consideration of aspects of amphibian biology. The emphasis is on avoiding additional vertebrate testing as much as possible by using exposure-driven approaches and by making use of existing vertebrate toxicity data, where appropriate. Options for toxicity testing and risk assessment are presented in a flowchart as a tiered approach, progressing from a non-testing approach, to simple worst-case laboratory testing, to extended laboratory testing, to semi-field enclosure tests and ultimately to full-scale field testing and monitoring. Suggestions are made for triggers to progress to higher tiers. Also, mitigation options to reduce the potential for exposure of terrestrial life-stages of amphibians to PPPs, if a risk were identified, are discussed. Finally, remaining uncertainties and research needs are considered by proposing a way forward (road map) for generating additional information to inform terrestrial amphibian risk assessment. Copyright © 2018 Elsevier B.V. All rights reserved.

  6. Ancient Terrestrial Carbon: Lost and Found

    Science.gov (United States)

    Freeman, K. H.

    2017-12-01

    Carbon fluxes in terrestrial environments dominate the global carbon cycle. The fluxes of terrestrial carbon are strongly tied to regional climate due to the influences of temperature, water, and nutrient dynamics on plant productivity. However, climate also influences the destruction of terrestrial organic matter, through weathering, erosion, and biomass loss via fire and oxidative microbial processes. Organic geochemical methods enable us to interrogate past terrestrial carbon dynamics and learn how continental processes might accelerate, or mitigate carbon transfer to the atmosphere, and the associated greenhouse warming. Terrestrial soil systems represent the weathering rind of the continents, and are inherently non-depositional and erosive. The production, transport, and depositional processes affecting organics in continental settings each impart their own biases on the amount and characteristics of preserved carbon. Typically, the best archives for biomarker records are sediments in ancient lakes or subaqueous fans, which represents a preservation bias that tends to favor wetter environments. Paleosols, or ancient soils, formed under depositional conditions that, for one reason or another, truncated soil ablation, erosion, or other loss processes. In modern soils, widely ranging organic carbon abundances are almost always substantially greater than the trace amounts of carbon left behind in ancient soils. Even so, measureable amounts of organic biomarkers persist in paleosols. We have been investigating processes that preserve soil organic carbon on geologic timescales, and how these mechanisms may be sensitive to past climate change. Climate-linked changes in temperature, moisture, pH, and weathering processes can impact carbon preservation via organo-mineral sorption, soil biogeochemistry, and stability based on the physical and chemical properties of organic compounds. These will be discussed and illustrated with examples from our studies of Cenozoic

  7. The Mars Science Laboratory APXS calibration target: Comparison of Martian measurements with the terrestrial calibration

    International Nuclear Information System (INIS)

    Campbell, J.L.; King, P.L.; Burkemper, L.; Berger, J.A.; Gellert, R.; Boyd, N.I.; Perrett, G.M.; Pradler, I.; Thompson, L.; Edgett, K.S.; Yingst, R.A.

    2014-01-01

    The Mars Science Laboratory Curiosity rover carries a basalt calibration target for monitoring the performance of the alpha particle X-ray spectrometer. The spectrum acquired on Sol 34 shows increased contributions from Mg, S, Cl and Fe relative to laboratory spectra recorded before launch. Mars Hand Lens Imager images confirm changes in the appearance of the surface. Spectra taken on Sols 179 and 411 indicate some loss of the deposited material. The observations suggest deposition of a surface film likely consisting of dust mobilized by impingement of the sky crane’s terminal descent engine plumes with surface fines during Curiosity’s landing. New APXS software has been used to model the thin film that coated the calibration target on landing. The results suggest that a film of about 100 nm thickness, and containing predominantly MgO, Fe 2 O 3 , SO 3 , Cl and Na 2 O could give rise to the observed spectral changes. If this film is also present on the alpha particle sources within the APXS, then its effect is negligible and the terrestrial calibration remains appropriate

  8. The Mars Science Laboratory APXS calibration target: Comparison of Martian measurements with the terrestrial calibration

    Energy Technology Data Exchange (ETDEWEB)

    Campbell, J.L., E-mail: icampbel@uoguelph.ca [Guelph-Waterloo Physics Institute, University of Guelph, Ontario N1G2W1 (Canada); King, P.L. [Guelph-Waterloo Physics Institute, University of Guelph, Ontario N1G2W1 (Canada); Institute of Meteoritics, University of New Mexico, NM 87131 (United States); Department of Earth Sciences, Western University, London, Ontario N6A3K7 (Canada); Burkemper, L. [Institute of Meteoritics, University of New Mexico, NM 87131 (United States); Berger, J.A. [Institute of Meteoritics, University of New Mexico, NM 87131 (United States); Department of Earth Sciences, Western University, London, Ontario N6A3K7 (Canada); Gellert, R.; Boyd, N.I.; Perrett, G.M.; Pradler, I. [Guelph-Waterloo Physics Institute, University of Guelph, Ontario N1G2W1 (Canada); Thompson, L. [Planetary and Space Science Centre, University of New Brunswick, Fredericton, NB E3B5A3 (Canada); Edgett, K.S. [Malin Space Science Systems, San Diego, CA 92191-0148 (United States); Yingst, R.A. [Planetary Science Institute, Tucson, AZ 85719-2395 (United States)

    2014-03-15

    The Mars Science Laboratory Curiosity rover carries a basalt calibration target for monitoring the performance of the alpha particle X-ray spectrometer. The spectrum acquired on Sol 34 shows increased contributions from Mg, S, Cl and Fe relative to laboratory spectra recorded before launch. Mars Hand Lens Imager images confirm changes in the appearance of the surface. Spectra taken on Sols 179 and 411 indicate some loss of the deposited material. The observations suggest deposition of a surface film likely consisting of dust mobilized by impingement of the sky crane’s terminal descent engine plumes with surface fines during Curiosity’s landing. New APXS software has been used to model the thin film that coated the calibration target on landing. The results suggest that a film of about 100 nm thickness, and containing predominantly MgO, Fe{sub 2}O{sub 3}, SO{sub 3}, Cl and Na{sub 2}O could give rise to the observed spectral changes. If this film is also present on the alpha particle sources within the APXS, then its effect is negligible and the terrestrial calibration remains appropriate.

  9. Nuclear reactor closed Brayton cycle power conversion system optimization trends for extra-terrestrial applications

    International Nuclear Information System (INIS)

    Ashe, T.L.; Baggenstoss, W.G.; Bons, R.

    1990-01-01

    Extra-terrestrial exploration and development missions of the next century will require reliable, low-mass power generation modules of 100 kW e and more. These modules will be required to support both fixed-base and manned rover/explorer power needs. Low insolation levels at and beyond Mars and long periods of darkness on the moon make solar conversion less desirable for surface missions. For these missions, a closed Brayton cycle energy conversion system coupled with a reactor heat source is a very attractive approach. The authors conducted parametric studies to assess optimized system design trends for nuclear-Brayton systems as a function of operating environment and user requirements. The inherent design flexibility of the closed Brayton cycle energy conversion system permits ready adaptation of the system to future design constraints. This paper describes a dramatic contrast between system designs requiring man-rated shielding. The paper also considers the ramification of using indigenous materials to provide reactor shielding for a fixed-base power source

  10. The ChemCam Instrument Suite on the Mars Science Laboratory (MSL) Rover: Science Objectives and Mast Unit Description

    Science.gov (United States)

    Maurice, S.; Wiens, R.C.; Saccoccio, M.; Barraclough, B.; Gasnault, O.; Forni, O.; Mangold, N.; Baratoux, D.; Bender, S.; Berger, G.; Bernardin, J.; Berthé, M.; Bridges, N.; Blaney, D.; Bouyé, M.; Caïs, P.; Clark, B.; Clegg, S.; Cousin, A.; Cremers, D.; Cros, A.; DeFlores, L.; Derycke, C.; Dingler, B.; Dromart, G.; Dubois, B.; Dupieux, M.; Durand, E.; d'Uston, L.; Fabre, C.; Faure, B.; Gaboriaud, A.; Gharsa, T.; Herkenhoff, K.; Kan, E.; Kirkland, L.; Kouach, D.; Lacour, J.-L.; Langevin, Y.; Lasue, J.; Le Mouélic, S.; Lescure, M.; Lewin, E.; Limonadi, D.; Manhès, G.; Mauchien, P.; McKay, C.; Meslin, P.-Y.; Michel, Y.; Miller, E.; Newsom, Horton E.; Orttner, G.; Paillet, A.; Parès, L.; Parot, Y.; Pérez, R.; Pinet, P.; Poitrasson, F.; Quertier, B.; Sallé, B.; Sotin, Christophe; Sautter, V.; Séran, H.; Simmonds, J.J.; Sirven, J.-B.; Stiglich, R.; Striebig, N.; Thocaven, J.-J.; Toplis, M.J.; Vaniman, D.

    2012-01-01

    ChemCam is a remote sensing instrument suite on board the "Curiosity" rover (NASA) that uses Laser-Induced Breakdown Spectroscopy (LIBS) to provide the elemental composition of soils and rocks at the surface of Mars from a distance of 1.3 to 7 m, and a telescopic imager to return high resolution context and micro-images at distances greater than 1.16 m. We describe five analytical capabilities: rock classification, quantitative composition, depth profiling, context imaging, and passive spectroscopy. They serve as a toolbox to address most of the science questions at Gale crater. ChemCam consists of a Mast-Unit (laser, telescope, camera, and electronics) and a Body-Unit (spectrometers, digital processing unit, and optical demultiplexer), which are connected by an optical fiber and an electrical interface. We then report on the development, integration, and testing of the Mast-Unit, and summarize some key characteristics of ChemCam. This confirmed that nominal or better than nominal performances were achieved for critical parameters, in particular power density (>1 GW/cm2). The analysis spot diameter varies from 350 μm at 2 m to 550 μm at 7 m distance. For remote imaging, the camera field of view is 20 mrad for 1024×1024 pixels. Field tests demonstrated that the resolution (˜90 μrad) made it possible to identify laser shots on a wide variety of images. This is sufficient for visualizing laser shot pits and textures of rocks and soils. An auto-exposure capability optimizes the dynamical range of the images. Dedicated hardware and software focus the telescope, with precision that is appropriate for the LIBS and imaging depths-of-field. The light emitted by the plasma is collected and sent to the Body-Unit via a 6 m optical fiber. The companion to this paper (Wiens et al. this issue) reports on the development of the Body-Unit, on the analysis of the emitted light, and on the good match between instrument performance and science specifications.

  11. Evolutionary tracks of the terrestrial planets

    International Nuclear Information System (INIS)

    Matsui, Takafumi; Abe, Yutaka

    1987-01-01

    On the basis of the model proposed by Matsui and Abe, the authors show that two major factors - distance from the Sun and the efficiency of retention of accretional energy - control the early evolution of the terrestrial planets. A diagram of accretional energy versus the optical depth of a proto-atmosphere provides a means to follow the evolutionary track of surface temperature of the terrestrial planets and an explanation for why the third planet in our solar system is an 'aqua'-planet. 15 refs; 3 figs

  12. Magnetic reconnection in the terrestrial magnetosphere

    International Nuclear Information System (INIS)

    Feldman, W.C.

    1984-01-01

    An overview is given of quantitative comparisons between measured phenomena in the terrestrial magnetosphere thought to be associated with magnetic reconnection, and related theoretical predictions based on Petschek's simple model. Although such a comparison cannot be comprehensive because of the extended nature of the process and the relatively few in situ multipoint measurements made to date, the agreement is impressive where comparisons have been possible. This result leaves little doubt that magnetic reconnection does indeed occur in the terrestrial magnetosphere. The maximum reconnection rate, expressed in terms of the inflow Mach number, M/sub A/, is measured to be M/sub A/ = 0.2 +- 0.1

  13. Terrestrial propagation of long electromagnetic waves

    CERN Document Server

    Galejs, Janis; Fock, V A

    2013-01-01

    Terrestrial Propagation of Long Electromagnetic Waves deals with the propagation of long electromagnetic waves confined principally to the shell between the earth and the ionosphere, known as the terrestrial waveguide. The discussion is limited to steady-state solutions in a waveguide that is uniform in the direction of propagation. Wave propagation is characterized almost exclusively by mode theory. The mathematics are developed only for sources at the ground surface or within the waveguide, including artificial sources as well as lightning discharges. This volume is comprised of nine chapte

  14. Terrestrial and exposure histories of Antarctic meteorites

    International Nuclear Information System (INIS)

    Nishiizumi, K.

    1986-01-01

    Records of cosmogenic effects were studied in a large suite of Antarctic meteorites. The cosmogenic nuclide measurements together with cosmic ray track measurements on Antartic meteorites provide information such as exposure age, terrestrial age, size and depth in meteoroid or parent body, influx rate in the past, and pairing. The terrestrail age is the time period between the fall of the meteorite on the Earth and the present. To define terrestrial age, two or more nuclides with different half-lives and possibly noble gases are required. The cosmogenic radionuclides used are C-14, Kr-81, Cl-36, Al-26, Be-10, Mn-53, and K-40

  15. Terrestrial and exposure histories of Antarctic meteorites

    Science.gov (United States)

    Nishiizumi, K.

    1986-01-01

    Records of cosmogenic effects were studied in a large suite of Antarctic meteorites. The cosmogenic nuclide measurements together with cosmic ray track measurements on Antartic meteorites provide information such as exposure age, terrestrial age, size and depth in meteoroid or parent body, influx rate in the past, and pairing. The terrestrail age is the time period between the fall of the meteorite on the Earth and the present. To define terrestrial age, two or more nuclides with different half-lives and possibly noble gases are required. The cosmogenic radionuclides used are C-14, Kr-81, Cl-36, Al-26, Be-10, Mn-53, and K-40.

  16. 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.

  17. Estimated nation wide effects of pesticide spray drift on terrestrial habitats in the Netherlands

    NARCIS (Netherlands)

    Jong, de F.M.W.; Snoo, de G.R.; Zande, van de J.C.

    2008-01-01

    This study estimated the potential effects of pesticide drift on terrestrial ecosystems outside target areas, for the Dutch situation. A series of field trials was conducted to estimate the effects of drift on different species groups at different distances from a treated plot for different

  18. Wide Range Vacuum Pumps for the SAM Instrument on the MSL Curiosity Rover

    Science.gov (United States)

    Sorensen, Paul; Kline-Schoder, Robert; Farley, Rodger

    2014-01-01

    Creare Incorporated and NASA Goddard Space Flight Center developed and space qualified two wide range pumps (WRPs) that were included in the Sample Analysis at Mars (SAM) instrument. This instrument was subsequently integrated into the Mars Science Laboratory (MSL) "Curiosity Rover," launched aboard an Atlas V rocket in 2011, and landed on August 6, 2012, in the Gale Crater on Mars. The pumps have now operated for more than 18 months in the Gale Crater and have been evacuating the key components of the SAM instrument: a quadrupole mass spectrometer, a tunable laser spectrometer, and six gas chromatograph columns. In this paper, we describe the main design challenges and the ways in which they were solved. This includes the custom design of a miniaturized, high-speed motor to drive the turbo drag pump rotor, analysis of rotor dynamics for super critical operation, and bearing/lubricant design/selection.

  19. Mars' Surface Radiation Environment Measured with the Mars Science Laboratory's Curiosity Rover

    Science.gov (United States)

    Hassler, Donald M.; Zeitlin, Cary; Wimmer-Schweingruber, Robert F.; Ehresmann, Bent; Rafkin, Scot; Eigenbrode, Jennifer L.; Brinza, David E.; Weigle, Gerald; Böttcher, Stephan; Böhm, Eckart; Burmeister, Soenke; Guo, Jingnan; Köhler, Jan; Martin, Cesar; Reitz, Guenther; Cucinotta, Francis A.; Kim, Myung-Hee; Grinspoon, David; Bullock, Mark A.; Posner, Arik; Gómez-Elvira, Javier; Vasavada, Ashwin; Grotzinger, John P.; MSL Science Team; Kemppinen, Osku; Cremers, David; Bell, James F.; Edgar, Lauren; Farmer, Jack; Godber, Austin; Wadhwa, Meenakshi; Wellington, Danika; McEwan, Ian; Newman, Claire; Richardson, Mark; Charpentier, Antoine; Peret, Laurent; King, Penelope; Blank, Jennifer; Schmidt, Mariek; Li, Shuai; Milliken, Ralph; Robertson, Kevin; Sun, Vivian; Baker, Michael; Edwards, Christopher; Ehlmann, Bethany; Farley, Kenneth; Griffes, Jennifer; Miller, Hayden; Newcombe, Megan; Pilorget, Cedric; Rice, Melissa; Siebach, Kirsten; Stack, Katie; Stolper, Edward; Brunet, Claude; Hipkin, Victoria; Léveillé, Richard; Marchand, Geneviève; Sánchez, Pablo Sobrón; Favot, Laurent; Cody, George; Steele, Andrew; Flückiger, Lorenzo; Lees, David; Nefian, Ara; Martin, Mildred; Gailhanou, Marc; Westall, Frances; Israël, Guy; Agard, Christophe; Baroukh, Julien; Donny, Christophe; Gaboriaud, Alain; Guillemot, Philippe; Lafaille, Vivian; Lorigny, Eric; Paillet, Alexis; Pérez, René; Saccoccio, Muriel; Yana, Charles; Armiens-Aparicio, Carlos; Rodríguez, Javier Caride; Blázquez, Isaías Carrasco; Gómez, Felipe Gómez; Hettrich, Sebastian; Malvitte, Alain Lepinette; Jiménez, Mercedes Marín; Martínez-Frías, Jesús; Martín-Soler, Javier; Martín-Torres, F. Javier; Jurado, Antonio Molina; Mora-Sotomayor, Luis; Caro, Guillermo Muñoz; López, Sara Navarro; Peinado-González, Verónica; Pla-García, Jorge; Manfredi, José Antonio Rodriguez; Romeral-Planelló, Julio José; Fuentes, Sara Alejandra Sans; Martinez, Eduardo Sebastian; Redondo, Josefina Torres; Urqui-O'Callaghan, Roser; Mier, María-Paz Zorzano; Chipera, Steve; Lacour, Jean-Luc; Mauchien, Patrick; Sirven, Jean-Baptiste; Manning, Heidi; Fairén, Alberto; Hayes, Alexander; Joseph, Jonathan; Squyres, Steven; Sullivan, Robert; Thomas, Peter; Dupont, Audrey; Lundberg, Angela; Melikechi, Noureddine; Mezzacappa, Alissa; Berger, Thomas; Matthia, Daniel; Prats, Benito; Atlaskin, Evgeny; Genzer, Maria; Harri, Ari-Matti; Haukka, Harri; Kahanpää, Henrik; Kauhanen, Janne; Kemppinen, Osku; Paton, Mark; Polkko, Jouni; Schmidt, Walter; Siili, Tero; Fabre, Cécile; Wray, James; Wilhelm, Mary Beth; Poitrasson, Franck; Patel, Kiran; Gorevan, Stephen; Indyk, Stephen; Paulsen, Gale; Gupta, Sanjeev; Bish, David; Schieber, Juergen; Gondet, Brigitte; Langevin, Yves; Geffroy, Claude; Baratoux, David; Berger, Gilles; Cros, Alain; d'Uston, Claude; Forni, Olivier; Gasnault, Olivier; Lasue, Jérémie; Lee, Qiu-Mei; Maurice, Sylvestre; Meslin, Pierre-Yves; Pallier, Etienne; Parot, Yann; Pinet, Patrick; Schröder, Susanne; Toplis, Mike; Lewin, Éric; Brunner, Will; Heydari, Ezat; Achilles, Cherie; Oehler, Dorothy; Sutter, Brad; Cabane, Michel; Coscia, David; Israël, Guy; Szopa, Cyril; Dromart, Gilles; Robert, François; Sautter, Violaine; Le Mouélic, Stéphane; Mangold, Nicolas; Nachon, Marion; Buch, Arnaud; Stalport, Fabien; Coll, Patrice; François, Pascaline; Raulin, François; Teinturier, Samuel; Cameron, James; Clegg, Sam; Cousin, Agnès; DeLapp, Dorothea; Dingler, Robert; Jackson, Ryan Steele; Johnstone, Stephen; Lanza, Nina; Little, Cynthia; Nelson, Tony; Wiens, Roger C.; Williams, Richard B.; Jones, Andrea; Kirkland, Laurel; Treiman, Allan; Baker, Burt; Cantor, Bruce; Caplinger, Michael; Davis, Scott; Duston, Brian; Edgett, Kenneth; Fay, Donald; Hardgrove, Craig; Harker, David; Herrera, Paul; Jensen, Elsa; Kennedy, Megan R.; Krezoski, Gillian; Krysak, Daniel; Lipkaman, Leslie; Malin, Michael; McCartney, Elaina; McNair, Sean; Nixon, Brian; Posiolova, Liliya; Ravine, Michael; Salamon, Andrew; Saper, Lee; Stoiber, Kevin; Supulver, Kimberley; Van Beek, Jason; Van Beek, Tessa; Zimdar, Robert; French, Katherine Louise; Iagnemma, Karl; Miller, Kristen; Summons, Roger; Goesmann, Fred; Goetz, Walter; Hviid, Stubbe; Johnson, Micah; Lefavor, Matthew; Lyness, Eric; Breves, Elly; Dyar, M. Darby; Fassett, Caleb; Blake, David F.; Bristow, Thomas; DesMarais, David; Edwards, Laurence; Haberle, Robert; Hoehler, Tori; Hollingsworth, Jeff; Kahre, Melinda; Keely, Leslie; McKay, Christopher; Wilhelm, Mary Beth; Bleacher, Lora; Brinckerhoff, William; Choi, David; Conrad, Pamela; Dworkin, Jason P.; Floyd, Melissa; Freissinet, Caroline; Garvin, James; Glavin, Daniel; Harpold, Daniel; Jones, Andrea; Mahaffy, Paul; Martin, David K.; McAdam, Amy; Pavlov, Alexander; Raaen, Eric; Smith, Michael D.; Stern, Jennifer; Tan, Florence; Trainer, Melissa; Meyer, Michael; Voytek, Mary; Anderson, Robert C.; Aubrey, Andrew; Beegle, Luther W.; Behar, Alberto; Blaney, Diana; Calef, Fred; Christensen, Lance; Crisp, Joy A.; DeFlores, Lauren; Ehlmann, Bethany; Feldman, Jason; Feldman, Sabrina; Flesch, Gregory; Hurowitz, Joel; Jun, Insoo; Keymeulen, Didier; Maki, Justin; Mischna, Michael; Morookian, John Michael; Parker, Timothy; Pavri, Betina; Schoppers, Marcel; Sengstacken, Aaron; Simmonds, John J.; Spanovich, Nicole; Juarez, Manuel de la Torre; Webster, Christopher R.; Yen, Albert; Archer, Paul Douglas; Jones, John H.; Ming, Douglas; Morris, Richard V.; Niles, Paul; Rampe, Elizabeth; Nolan, Thomas; Fisk, Martin; Radziemski, Leon; Barraclough, Bruce; Bender, Steve; Berman, Daniel; Dobrea, Eldar Noe; Tokar, Robert; Vaniman, David; Williams, Rebecca M. E.; Yingst, Aileen; Lewis, Kevin; Leshin, Laurie; Cleghorn, Timothy; Huntress, Wesley; Manhès, Gérard; Hudgins, Judy; Olson, Timothy; Stewart, Noel; Sarrazin, Philippe; Grant, John; Vicenzi, Edward; Wilson, Sharon A.; Hamilton, Victoria; Peterson, Joseph; Fedosov, Fedor; Golovin, Dmitry; Karpushkina, Natalya; Kozyrev, Alexander; Litvak, Maxim; Malakhov, Alexey; Mitrofanov, Igor; Mokrousov, Maxim; Nikiforov, Sergey; Prokhorov, Vasily; Sanin, Anton; Tretyakov, Vladislav; Varenikov, Alexey; Vostrukhin, Andrey; Kuzmin, Ruslan; Clark, Benton; Wolff, Michael; McLennan, Scott; Botta, Oliver; Drake, Darrell; Bean, Keri; Lemmon, Mark; Schwenzer, Susanne P.; Anderson, Ryan B.; Herkenhoff, Kenneth; Lee, Ella Mae; Sucharski, Robert; Hernández, Miguel Ángel de Pablo; Ávalos, Juan José Blanco; Ramos, Miguel; Malespin, Charles; Plante, Ianik; Muller, Jan-Peter; Navarro-González, Rafael; Ewing, Ryan; Boynton, William; Downs, Robert; Fitzgibbon, Mike; Harshman, Karl; Morrison, Shaunna; Dietrich, William; Kortmann, Onno; Palucis, Marisa; Sumner, Dawn Y.; Williams, Amy; Lugmair, Günter; Wilson, Michael A.; Rubin, David; Jakosky, Bruce; Balic-Zunic, Tonci; Frydenvang, Jens; Jensen, Jaqueline Kløvgaard; Kinch, Kjartan; Koefoed, Asmus; Madsen, Morten Bo; Stipp, Susan Louise Svane; Boyd, Nick; Campbell, John L.; Gellert, Ralf; Perrett, Glynis; Pradler, Irina; VanBommel, Scott; Jacob, Samantha; Owen, Tobias; Rowland, Scott; Atlaskin, Evgeny; Savijärvi, Hannu; García, César Martín; Mueller-Mellin, Reinhold; Bridges, John C.; McConnochie, Timothy; Benna, Mehdi; Franz, Heather; Bower, Hannah; Brunner, Anna; Blau, Hannah; Boucher, Thomas; Carmosino, Marco; Atreya, Sushil; Elliott, Harvey; Halleaux, Douglas; Rennó, Nilton; Wong, Michael; Pepin, Robert; Elliott, Beverley; Spray, John; Thompson, Lucy; Gordon, Suzanne; Newsom, Horton; Ollila, Ann; Williams, Joshua; Vasconcelos, Paulo; Bentz, Jennifer; Nealson, Kenneth; Popa, Radu; Kah, Linda C.; Moersch, Jeffrey; Tate, Christopher; Day, Mackenzie; Kocurek, Gary; Hallet, Bernard; Sletten, Ronald; Francis, Raymond; McCullough, Emily; Cloutis, Ed; ten Kate, Inge Loes; Kuzmin, Ruslan; Arvidson, Raymond; Fraeman, Abigail; Scholes, Daniel; Slavney, Susan; Stein, Thomas; Ward, Jennifer; Berger, Jeffrey; Moores, John E.

    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. We report and discuss measurements of the absorbed dose and dose equivalent from galactic cosmic rays and solar energetic particles on the martian surface for ~300 days of observations during the current solar maximum. These measurements provide insight into the radiation hazards associated with a human mission to the surface of Mars and provide an anchor point with which to model the subsurface radiation environment, with implications for microbial survival times of any possible extant or past life, as well as for the preservation of potential organic biosignatures of the ancient martian environment.

  20. 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.

  1. The Mars Hand Lens Imager (MAHLI) aboard the Mars rover, Curiosity

    Science.gov (United States)

    Edgett, K. S.; Ravine, M. A.; Caplinger, M. A.; Ghaemi, F. T.; Schaffner, J. A.; Malin, M. C.; Baker, J. M.; Dibiase, D. R.; Laramee, J.; Maki, J. N.; Willson, R. G.; Bell, J. F., III; Cameron, J. F.; Dietrich, W. E.; Edwards, L. J.; Hallet, B.; Herkenhoff, K. E.; Heydari, E.; Kah, L. C.; Lemmon, M. T.; Minitti, M. E.; Olson, T. S.; Parker, T. J.; Rowland, S. K.; Schieber, J.; Sullivan, R. J.; Sumner, D. Y.; Thomas, P. C.; Yingst, R. A.

    2009-08-01

    The Mars Science Laboratory (MSL) rover, Curiosity, is expected to land on Mars in 2012. The Mars Hand Lens Imager (MAHLI) will be used to document martian rocks and regolith with a 2-megapixel RGB color CCD camera with a focusable macro lens mounted on an instrument-bearing turret on the end of Curiosity's robotic arm. The flight MAHLI can focus on targets at working distances of 20.4 mm to infinity. At 20.4 mm, images have a pixel scale of 13.9 μm/pixel. The pixel scale at 66 mm working distance is about the same (31 μm/pixel) as that of the Mars Exploration Rover (MER) Microscopic Imager (MI). MAHLI camera head placement is dependent on the capabilities of the MSL robotic arm, the design for which presently has a placement uncertainty of ~20 mm in 3 dimensions; hence, acquisition of images at the minimum working distance may be challenging. The MAHLI consists of 3 parts: a camera head, a Digital Electronics Assembly (DEA), and a calibration target. The camera head and DEA are connected by a JPL-provided cable which transmits data, commands, and power. JPL is also providing a contact sensor. The camera head will be mounted on the rover's robotic arm turret, the DEA will be inside the rover body, and the calibration target will be mounted on the robotic arm azimuth motor housing. Camera Head. MAHLI uses a Kodak KAI-2020CM interline transfer CCD (1600 x 1200 active 7.4 μm square pixels with RGB filtered microlenses arranged in a Bayer pattern). The optics consist of a group of 6 fixed lens elements, a movable group of 3 elements, and a fixed sapphire window front element. Undesired near-infrared radiation is blocked using a coating deposited on the inside surface of the sapphire window. The lens is protected by a dust cover with a Lexan window through which imaging can be ac-complished if necessary, and targets can be illuminated by sunlight or two banks of two white light LEDs. Two 365 nm UV LEDs are included to search for fluores-cent materials at night. DEA

  2. Trajectory optimization for lunar rover performing vertical takeoff vertical landing maneuvers in the presence of terrain

    Science.gov (United States)

    Ma, Lin; Wang, Kexin; Xu, Zuhua; Shao, Zhijiang; Song, Zhengyu; Biegler, Lorenz T.

    2018-05-01

    This study presents a trajectory optimization framework for lunar rover performing vertical takeoff vertical landing (VTVL) maneuvers in the presence of terrain using variable-thrust propulsion. First, a VTVL trajectory optimization problem with three-dimensional kinematics and dynamics model, boundary conditions, and path constraints is formulated. Then, a finite-element approach transcribes the formulated trajectory optimization problem into a nonlinear programming (NLP) problem solved by a highly efficient NLP solver. A homotopy-based backtracking strategy is applied to enhance the convergence in solving the formulated VTVL trajectory optimization problem. The optimal thrust solution typically has a "bang-bang" profile considering that bounds are imposed on the magnitude of engine thrust. An adaptive mesh refinement strategy based on a constant Hamiltonian profile is designed to address the difficulty in locating the breakpoints in the thrust profile. Four scenarios are simulated. Simulation results indicate that the proposed trajectory optimization framework has sufficient adaptability to handle VTVL missions efficiently.

  3. 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

    , 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 Am-2 kg(-1)). On the basis of Mossbauer spectra the dust contains magnetite, olivine, pyroxene......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......, 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 similar to 0.6) than rocks in the Gusev plains (similar to 0.1-0.2) or average Gusev soil (similar to 0.3). Alpha Particle X-Ray Spectrometer data of the dust...

  4. 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.

  5. Processing of Mars Exploration Rover Imagery for Science and Operations Planning

    Science.gov (United States)

    Alexander, Douglass A.; Deen, Robert G.; Andres, Paul M.; Zamani, Payam; Mortensen, Helen B.; Chen, Amy C.; Cayanan, Michael K.; Hall, Jeffrey R.; Klochko, Vadim S.; Pariser, Oleg; hide

    2006-01-01

    The twin Mars Exploration Rovers (MER) delivered an unprecedented array of image sensors to the Mars surface. These cameras were essential for operations, science, and public engagement. The Multimission Image Processing Laboratory (MIPL) at the Jet Propulsion Laboratory was responsible for the first-order processing of all of the images returned by these cameras. This processing included reconstruction of the original images, systematic and ad hoc generation of a wide variety of products derived from those images, and delivery of the data to a variety of customers, within tight time constraints. A combination of automated and manual processes was developed to meet these requirements, with significant inheritance from prior missions. This paper describes the image products generated by MIPL for MER and the processes used to produce and deliver them.

  6. Mars' surface radiation environment measured with the Mars Science Laboratory's Curiosity rover.

    Science.gov (United States)

    Hassler, Donald M; Zeitlin, Cary; Wimmer-Schweingruber, Robert F; Ehresmann, Bent; Rafkin, Scot; Eigenbrode, Jennifer L; Brinza, David E; Weigle, Gerald; Böttcher, Stephan; Böhm, Eckart; Burmeister, Soenke; Guo, Jingnan; Köhler, Jan; Martin, Cesar; Reitz, Guenther; Cucinotta, Francis A; Kim, Myung-Hee; Grinspoon, David; Bullock, Mark A; Posner, Arik; Gómez-Elvira, Javier; Vasavada, Ashwin; Grotzinger, John P

    2014-01-24

    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. We report and discuss measurements of the absorbed dose and dose equivalent from galactic cosmic rays and solar energetic particles on the martian surface for ~300 days of observations during the current solar maximum. These measurements provide insight into the radiation hazards associated with a human mission to the surface of Mars and provide an anchor point with which to model the subsurface radiation environment, with implications for microbial survival times of any possible extant or past life, as well as for the preservation of potential organic biosignatures of the ancient martian environment.

  7. 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.

  8. The Rover Environmental Monitoring Station Ground Temperature Sensor: A Pyrometer for Measuring Ground Temperature on Mars

    Directory of Open Access Journals (Sweden)

    Miguel Ramos

    2010-10-01

    Full Text Available We describe the parameters that drive the design and modeling of the Rover Environmental Monitoring Station (REMS Ground Temperature Sensor (GTS, an instrument aboard NASA’s Mars Science Laboratory, and report preliminary test results. REMS GTS is a lightweight, low-power, and low cost pyrometer for measuring the Martian surface kinematic temperature. The sensor’s main feature is its innovative design, based on a simple mechanical structure with no moving parts. It includes an in-flight calibration system that permits sensor recalibration when sensor sensitivity has been degraded by deposition of dust over the optics. This paper provides the first results of a GTS engineering model working in a Martian-like, extreme environment.

  9. ATDM Rover Milestone Report STDA02-1 (FY2017 Q4)

    Energy Technology Data Exchange (ETDEWEB)

    Larsen, Matt [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Laney, Dan E. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2017-10-19

    We have successfully completed the MS-4/Y1 Milestone STDA02-1 for the Rover Project. This document describes the milestone and provides an overview of the technical details and artifacts of the milestone. This milestone is focused on building a GPU accelerated ray tracing package capable of doing multi-group radiography, both back-lit and with self-emission as well as serving as a volume rendering plot in VisIt and other VTK-based visualization tools. The long term goal is a package with in-situ capability, but for this first version integration into VisIt is the primary goal. Milestone Execution Plan: Create API for GPU Raytracer that supports multi-group transport (up to hundreds of groups); Implement components into one or more of: VTK-m, VisIt, and a new library/package implementation to be hosted on LLNL Bitbucket (initially), before releasing to the wider community.

  10. Microplastics in the Terrestrial Ecosystem: Implications for Lumbricus terrestris (Oligochaeta, Lumbricidae).

    Science.gov (United States)

    Huerta Lwanga, Esperanza; Gertsen, Hennie; Gooren, Harm; Peters, Piet; Salánki, Tamás; van der Ploeg, Martine; Besseling, Ellen; Koelmans, Albert A; Geissen, Violette

    2016-03-01

    Plastic debris is widespread in the environment, but information on the effects of microplastics on terrestrial fauna is completely lacking. Here, we studied the survival and fitness of the earthworm Lumbricus terrestris (Oligochaeta, Lumbricidae) exposed to microplastics (Polyethylene, digestion of ingested organic matter, microplastic was concentrated in cast, especially at the lowest dose (i.e., 7% in litter) because that dose had the highest proportion of digestible organic matter. Whereas 50 percent of the microplastics had a size of earthworms. These concentration-transport and size-selection mechanisms may have important implications for fate and risk of microplastic in terrestrial ecosystems.

  11. Large-area Soil Moisture Surveys Using a Cosmic-ray Rover: Approaches and Results from Australia

    Science.gov (United States)

    Hawdon, A. A.; McJannet, D. L.; Renzullo, L. J.; Baker, B.; Searle, R.

    2017-12-01

    Recent improvements in satellite instrumentation has increased the resolution and frequency of soil moisture observations, and this in turn has supported the development of higher resolution land surface process models. Calibration and validation of these products is restricted by the mismatch of scales between remotely sensed and contemporary ground based observations. Although the cosmic ray neutron soil moisture probe can provide estimates soil moisture at a scale useful for the calibration and validation purposes, it is spatially limited to a single, fixed location. This scaling issue has been addressed with the development of mobile soil moisture monitoring systems that utilizes the cosmic ray neutron method, typically referred to as a `rover'. This manuscript describes a project designed to develop approaches for undertaking rover surveys to produce soil moisture estimates at scales comparable to satellite observations and land surface process models. A custom designed, trailer-mounted rover was used to conduct repeat surveys at two scales in the Mallee region of Victoria, Australia. A broad scale survey was conducted at 36 x 36 km covering an area of a standard SMAP pixel and an intensive scale survey was conducted over a 10 x 10 km portion of the broad scale survey, which is at a scale equivalent to that used for national water balance modelling. We will describe the design of the rover, the methods used for converting neutron counts into soil moisture and discuss factors controlling soil moisture variability. We found that the intensive scale rover surveys produced reliable soil moisture estimates at 1 km resolution and the broad scale at 9 km resolution. We conclude that these products are well suited for future analysis of satellite soil moisture retrievals and finer scale soil moisture models.

  12. Discussion on problems of terrestrial heat and moderate-hot water at an uranium deposit in Jiangxi province

    International Nuclear Information System (INIS)

    Liu Xiangguo

    2003-01-01

    According to scientific research and technical summing up reports, based on the field investigation, the possible problems of terrestrial heat and moderate-hot water during the exploitation of an uranium deposit in Jiangxi Province are discussed. The preliminary analysis and discussion on the distribution, distribution regularity, causes of formation and correlation of terrestrial heat and moderate-hot water at the uranium deposit are carried out

  13. Wind-Driven Erosion and Exposure Potential at Mars 2020 Rover Candidate-Landing Sites

    Science.gov (United States)

    Chojnacki, Matthew; Banks, Maria; Urso, Anna

    2018-01-01

    Aeolian processes have likely been the predominant geomorphic agent for most of Mars’ history and have the potential to produce relatively young exposure ages for geologic units. Thus, identifying local evidence for aeolian erosion is highly relevant to the selection of landing sites for future missions, such as the Mars 2020 Rover mission that aims to explore astrobiologically relevant ancient environments. Here we investigate wind-driven activity at eight Mars 2020 candidate-landing sites to constrain erosion potential at these locations. To demonstrate our methods, we found that contemporary dune-derived abrasion rates were in agreement with rover-derived exhumation rates at Gale crater and could be employed elsewhere. The Holden crater candidate site was interpreted to have low contemporary erosion rates, based on the presence of a thick sand coverage of static ripples. Active ripples at the Eberswalde and southwest Melas sites may account for local erosion and the dearth of small craters. Moderate-flux regional dunes near Mawrth Vallis were deemed unrepresentative of the candidate site, which is interpreted to currently be experiencing low levels of erosion. The Nili Fossae site displayed the most unambiguous evidence for local sand transport and erosion, likely yielding relatively young exposure ages. The downselected Jezero crater and northeast Syrtis sites had high-flux neighboring dunes and exhibited substantial evidence for sediment pathways across their ellipses. Both sites had relatively high estimated abrasion rates, which would yield young exposure ages. The downselected Columbia Hills site lacked evidence for sand movement, and contemporary local erosion rates are estimated to be relatively low. PMID:29568719

  14. Wind-Driven Erosion and Exposure Potential at Mars 2020 Rover Candidate-Landing Sites

    Science.gov (United States)

    Chojnacki, Matthew; Banks, Maria; Urso, Anna

    2018-02-01

    Aeolian processes have likely been the predominant geomorphic agent for most of Mars' history and have the potential to produce relatively young exposure ages for geologic units. Thus, identifying local evidence for aeolian erosion is highly relevant to the selection of landing sites for future missions, such as the Mars 2020 Rover mission that aims to explore astrobiologically relevant ancient environments. Here we investigate wind-driven activity at eight Mars 2020 candidate-landing sites to constrain erosion potential at these locations. To demonstrate our methods, we found that contemporary dune-derived abrasion rates were in agreement with rover-derived exhumation rates at Gale crater and could be employed elsewhere. The Holden crater candidate site was interpreted to have low contemporary erosion rates, based on the presence of a thick sand coverage of static ripples. Active ripples at the Eberswalde and southwest Melas sites may account for local erosion and the dearth of small craters. Moderate-flux regional dunes near Mawrth Vallis were deemed unrepresentative of the candidate site, which is interpreted to currently be experiencing low levels of erosion. The Nili Fossae site displayed the most unambiguous evidence for local sand transport and erosion, likely yielding relatively young exposure ages. The downselected Jezero crater and northeast Syrtis sites had high-flux neighboring dunes and exhibited substantial evidence for sediment pathways across their ellipses. Both sites had relatively high estimated abrasion rates, which would yield young exposure ages. The downselected Columbia Hills site lacked evidence for sand movement, and contemporary local erosion rates are estimated to be relatively low.

  15. Mars Exploration Rover Pancam Photometric Data QUBs: Definition and Example Uses.

    Science.gov (United States)

    Soderblom, J. M.; Bell, J. F.; Arvidson, R. E.; Johnson, J. R.; Johnson, M. J.; Seelos, F. P.

    2004-12-01

    Pancam multi-spectral observations acquired at the Mars Exploration Rover Spirit and Opportunity landing sites are being assembled into a multi-layer format know as a QUB. For any given pixel in a Pancam image the QUB will contain values for the radiance factor, incidence (i), emission (e), and phase (g) angles, X, Y, and Z distance in a rover-based coordinate system, disparity in number of pixels between the left and right eye images and range data. Good range data is required for the generation of a Pancam QUB. The radiance factor (I/F, where I is the measured scene radiance on sensor and π F is the incident solar irradiance) is calculated using a combination of preflight calibration data and information obtained from near-simultaneous observations of an onboard reflectance calibration target. The range, X, Y, Z and disparity data, and i, e, and g are calculated using routines developed by JPL's MIPL and Cornell. When possible, these data have been interpolated to maximize parameter coverage; a map of non-interpolated data is also included in each QUB. QUBs should prove very useful in photometric studies (e.g., Johnson et al.; Seelos, et al., this conference), detailed spectral analyses (e.g., Bell et al., this conference), and detailed topographic/DTM studies. Here we present two examples of the utilization of the information contained in Pancam QUBs. In one example we remove the photometric variability from spectra collected from multiple facets of a rock using knowledge of i, e, g and derived photometric functions. This is necessary if one wishes to conduct comparative studies of observations acquired under varying geometries and lighting conditions. In another example we present an analysis using the discrete ordinate multiple scattering radiative transfer code DISORT where we separate the atmosphere and surface contributions of the surface reflectance.

  16. Forest inventory with terrestrial LiDAR

    NARCIS (Netherlands)

    Bauwens, Sébastien; Bartholomeus, Harm; Calders, Kim; Lejeune, Philippe

    2016-01-01

    The application of static terrestrial laser scanning (TLS) in forest inventories is becoming more effective. Nevertheless, the occlusion effect is still limiting the processing efficiency to extract forest attributes. The use of a mobile laser scanner (MLS) would reduce this occlusion. In this

  17. High efficiency, long life terrestrial solar panel

    Science.gov (United States)

    Chao, T.; Khemthong, S.; Ling, R.; Olah, S.

    1977-01-01

    The design of a high efficiency, long life terrestrial module was completed. It utilized 256 rectangular, high efficiency solar cells to achieve high packing density and electrical output. Tooling for the fabrication of solar cells was in house and evaluation of the cell performance was begun. Based on the power output analysis, the goal of a 13% efficiency module was achievable.

  18. Solar and terrestrial radiation: methods and measurements

    National Research Council Canada - National Science Library

    Coulson, Kinsell L

    1975-01-01

    ... AND RETRIEVAL SYSTEM, WITHOUT PERMISSION IN WRITING FROM THE PUBLISHER. ACADEMIC PRESS, INC. Ill Fifth Avenue, New York, New York 10003 United Kingdom Edition published by A C A D E M I C PRESS, INC. (LONDON) LTD. 24/28 Oval Road, London NW1 Library of Congress Cataloging in Publication Data Coulson, Kinsell L Solar and terrestrial radiation. Inclu...

  19. Strategies for monitoring terrestrial animals and habitats

    Science.gov (United States)

    Richard Holthausen; Raymond L. Czaplewski; Don DeLorenzo; Greg Hayward; Winifred B. Kessler; Pat Manley; Kevin S. McKelvey; Douglas S. Powell; Leonard F. Ruggiero; Michael K. Schwartz; Bea Van Horne; Christina D. Vojta

    2005-01-01

    This General Technical Report (GTR) addresses monitoring strategies for terrestrial animals and habitats. It focuses on monitoring associated with National Forest Management Act planning and is intended to apply primarily to monitoring efforts that are broader than individual National Forests. Primary topics covered in the GTR are monitoring requirements; ongoing...

  20. South African red data book - Terrestrial mammals

    CSIR Research Space (South Africa)

    Smithers, RHN

    1986-01-01

    Full Text Available Currently, 243 species of terrestrial wild mammals are known to occur in the Republic of South Africa. Using the well established IUCN definitions, 42 of these may be considered as exposed to some level of threat of extinction. Three species...

  1. Furostanol and Spirostanol Saponins from Tribulus terrestris.

    Science.gov (United States)

    Wang, Zhen-Fang; Wang, Bing-Bing; Zhao, Yang; Wang, Fang-Xu; Sun, Yan; Guo, Rui-Jie; Song, Xin-Bo; Xin, Hai-Li; Sun, Xin-Guang

    2016-03-30

    Twelve new steroidal saponins, including eleven furostanol saponins, terrestrinin J-T (1-11), and one spirostanol saponin, terrestrinin U (12), together with seven known steroidal saponins 13-19 were isolated from T. terrestris. The structures of the new compounds were established on the basis of spectroscopic data, including 1D and 2D NMR and HRESIMS, and comparisons with published data.

  2. Terrestrial water fluxes dominated by transpiration: Comment

    Science.gov (United States)

    Daniel R. Schlaepfer; Brent E. Ewers; Bryan N. Shuman; David G. Williams; John M. Frank; William J. Massman; William K. Lauenroth

    2014-01-01

    The fraction of evapotranspiration (ET) attributed to plant transpiration (T) is an important source of uncertainty in terrestrial water fluxes and land surface modeling (Lawrence et al. 2007, Miralles et al. 2011). Jasechko et al. (2013) used stable oxygen and hydrogen isotope ratios from 73 large lakes to investigate the relative roles of evaporation (E) and T in ET...

  3. Ethnopharmacological Studies of Tribulus Terrestris (Linn). in ...

    African Journals Online (AJOL)

    Synergism and antagonism impact of different plant metabolites present in crude fruit extract of Tribulus terrestris 'the herbal Viagra' have been studied. Variability in plant composition, biomass and metabolites concentration in different modules was significantly contributed by spatial factor. However the edhaphic ...

  4. Threats from climate change to terrestrial vertebrate hotspots in Europe.

    Science.gov (United States)

    Maiorano, Luigi; Amori, Giovanni; Capula, Massimo; Falcucci, Alessandra; Masi, Monica; Montemaggiori, Alessandro; Pottier, Julien; Psomas, Achilleas; Rondinini, Carlo; Russo, Danilo; Zimmermann, Niklaus E; Boitani, Luigi; Guisan, Antoine

    2013-01-01

    We identified hotspots of terrestrial vertebrate species diversity in Europe and adjacent islands. Moreover, we assessed the extent to which by the end of the 21(st) century such hotspots will be exposed to average monthly temperature and precipitation patterns which can be regarded as extreme if compared to the climate experienced during 1950-2000. In particular, we considered the entire European sub-continent plus Turkey and a total of 1149 species of terrestrial vertebrates. For each species, we developed species-specific expert-based distribution models (validated against field data) which we used to calculate species richness maps for mammals, breeding birds, amphibians, and reptiles. Considering four global circulation model outputs and three emission scenarios, we generated an index of risk of exposure to extreme climates, and we used a bivariate local Moran's I to identify the areas with a significant association between hotspots of diversity and high risk of exposure to extreme climates. Our results outline that the Mediterranean basin represents both an important hotspot for biodiversity and especially for threatened species for all taxa. In particular, the Iberian and Italian peninsulas host particularly high species richness as measured over all groups, while the eastern Mediterranean basin is particularly rich in amphibians and reptiles; the islands (both Macaronesian and Mediterranean) host the highest richness of threatened species for all taxa occurs. Our results suggest that the main hotspots of biodiversity for terrestrial vertebrates may be extensively influenced by the climate change projected to occur over the coming decades, especially in the Mediterranean bioregion, posing serious concerns for biodiversity conservation.

  5. Nonautonomous linear system of the terrestrial carbon cycle

    Science.gov (United States)

    Luo, Y.

    2012-12-01

    Carbon cycle has been studied by uses of observation through various networks, field and laboratory experiments, and simulation models. Much less has been done on theoretical thinking and analysis to understand fundament properties of carbon cycle and then guide observatory, experimental, and modeling research. This presentation is to explore what would be the theoretical properties of terrestrial carbon cycle and how those properties can be used to make observatory, experimental, and modeling research more effective. Thousands of published data sets from litter decomposition and soil incubation studies almost all indicate that decay processes of litter and soil organic carbon can be well described by first order differential equations with one or more pools. Carbon pool dynamics in plants and soil after disturbances (e.g., wildfire, clear-cut of forests, and plows of soil for cropping) and during natural recovery or ecosystem restoration also exhibit characteristics of first-order linear systems. Thus, numerous lines of empirical evidence indicate that the terrestrial carbon cycle can be adequately described as a nonautonomous linear system. The linearity reflects the nature of the carbon cycle that carbon, once fixed by photosynthesis, is linearly transferred among pools within an ecosystem. The linear carbon transfer, however, is modified by nonlinear functions of external forcing variables. In addition, photosynthetic carbon influx is also nonlinearly influenced by external variables. This nonautonomous linear system can be mathematically expressed by a first-order linear ordinary matrix equation. We have recently used this theoretical property of terrestrial carbon cycle to develop a semi-analytic solution of spinup. The new methods have been applied to five global land models, including NCAR's CLM and CABLE models and can computationally accelerate spinup by two orders of magnitude. We also use this theoretical property to develop an analytic framework to

  6. Deep Atomic Binding (DAB) Approach in Interpretation of Fission Products Behavior in Terrestrial and Water Ecosystems

    International Nuclear Information System (INIS)

    Ajlouni, Abdul-Wali M.S.

    2006-01-01

    A large number of studies and models were established to explain the fission products (FP) behavior within terrestrial and water ecosystems, but a number of behaviors were non understandable, which always attributed to unknown reasons. According to DAB hypothesis, almost all fission products behaviors in terrestrial and water ecosystems could be interpreted in a wide coincidence. The gab between former models predictions, and field behavior of fission products after accidents like Chernobyl have been explained. DAB represents a tool to reduce radio-phobia as well as radiation protection expenses. (author)

  7. Terrestrial ages of ordinary chondrites from the lewis cliff stranding area, East Antarctica

    Science.gov (United States)

    Welten, K. C.; Lindner, L.; Alderliesten, C.; van der Borg, K.

    1999-07-01

    We determined terrestrial ages of ordinary chondrites from the Lewis Cliff stranding area, East Antarctica, on the basis of the concentrations of cosmogenic 10Be (t1/2 = 1.51 Ma), 26Al (t1/2 = 0.705 Ma) and 36Cl (t1/2 = 0.301 Ma). After an initial 26Al -ray survey of 91 meteorites suggested that many have terrestrial ages larger than 0.1 Ma, we selected 62 meteorites for 10Be and 26Al measurements by accelerator mass spectrometry (AMS) and measured 36Cl in twelve of those. Low terrestrial ages (Ma) were found for about 60% of the meteorites, whereas all others have ages between 0.1 and 0.5 Ma, except for one exceptional age of >2 Ma (Welten et al., 1997). Our major conclusions are: (1) The Lewis Cliff H-chondrites show similar ages as those from the Allan Hills Ice-fields, but the L-chondrites are about a factor of two younger than those from Allan Hills, which indicates that Lewis Cliff is a younger stranding area. (2) The terrestrial age distributions at different parts of the Lewis Cliff stranding area generally agree with simple meteorite concentration models, although differences in weathering rate may also play a role. (3) We confirm that meteorites with natural thermoluminescence (TL) levels >80 krad are associated with low terrestrial ages (Benoit et al., 1992), but conclude that natural TL levels <80 krad can not be used to calculate the terrestrial age of a meteorite. Natural TL levels do seem useful to estimate relative terrestrial ages of large groups of meteorites and to determine differences in surface exposure age of paired meteorite fragments. (4) Of the 62 meteorites measured with AMS, 31 were assigned to eleven different pairing groups, mainly on the basis of their cosmogenic nuclide record. The meteorites are estimated to represent between 42 and 52 distinct falls.

  8. Differential melt scaling for oblique impacts on terrestrial planets

    Science.gov (United States)

    Abramov, Oleg; Wong, Stephanie M. Wong; Kring, David A. Kring

    2012-01-01

    Analytical estimates of melt volumes produced by a given projectile and contained in a given impact crater are derived as a function of impact velocity, impact angle, planetary gravity, target and projectile densities, and specific internal energy of melting. Applications to impact events and impact craters on the Earth, Moon, and Mars are demonstrated and discussed. The most probable oblique impact (45°) produces ∼1.6 times less melt volume than a vertical impact, and ∼1.6 and 3.7 times more melt volume than impacts with 30° and 15° trajectories, respectively. The melt volume for a particular crater diameter increases with planetary gravity, so a crater on Earth should have more melt than similar-size craters on Mars and the Moon. The melt volume for a particular projectile diameter does not depend on gravity, but has a strong dependence on impact velocity, so the melt generated by a given projectile on the Moon is significantly larger than on Mars. Higher surface temperatures and geothermal gradients increase melt production, as do lower energies of melting. Collectively, the results imply thinner central melt sheets and a smaller proportion of melt particles in impact breccias on the Moon and Mars than on Earth. These effects are illustrated in a comparison of the Chicxulub crater on Earth, linked to the Cretaceous–Tertiary mass extinction, Gusev crater on Mars, where the Mars Exploration Rover Spirit landed, and Tsiolkovsky crater on the Moon. The results are comparable to those obtained from field and spacecraft observations, other analytical expressions, and hydrocode simulations.

  9. VNIR Multispectral Observations of Rocks at Spirit of St. Louis Crater and Marathon Valley on Th Rim of Endeavour Crater Made by the Opportunity Rover Pancam

    Science.gov (United States)

    Farrand, W. H.; Johnson, J. R.; Bell, J. F., III; Mittlefehldt, D.W.

    2016-01-01

    The Mars Exploration Rover Opportunity has been exploring the western rim of the 22 km diameter Endeavour crater since August, 2011. Recently, Opportunity has reached a break in the Endeavour rim that the rover team has named Mara-thon Valley. This is the site where orbital observations from the MRO CRISM imaging spectrometer indicated the presence of iron smectites. On the outer western portion of Marathon Valley, Opportunity explored the crater-form feature dubbed Spirit of St. Louis (SoSL) crater. This presentation describes the 430 to 1009 nm (VNIR) reflectance, measured by the rover's Pancam, of rock units present both at Spirit of St. Louis and within Marathon Valley.

  10. Louisiana ESI: T_MAMMAL (Terrestrial Mammal Polygons)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — This data set contains sensitive biological resource data for terrestrial mammals in Louisiana. Vector polygons in this data set represent terrestrial mammal...

  11. Terrestrial Analogs for Clay Minerals at Yellowknife Bay, Gale Crater, Mars

    Science.gov (United States)

    Treiman, Allan H; Morris, Richard V.; Bristow, Thomas; Ming, Douglas W.; Achillies, Cherie; Bish, David L.; Blake, David; Vaniman, David; Chipera, Steve

    2013-01-01

    Sediments of the Sheepbed unit, Gale Crater, were analyzed by the CheMin X-ray diffraction instrument on the Curiosity Rover. The sediments consist of typical basalt minerals (Fe-forsterite, augite, pigeonite, plagioclase), as well as Fe oxide/hydroxides, Fesulfides, amorphous material, and a phyllosilicate. The phyllosilicate has a broad 001 peak at approx 1.0 nm, consistent with a poorly ordered smectite. However, in the absence of diagnostic tests possible on Earth, its identity is not clear. The position of the 06L diffraction band is generally used to distinguish dioctahedral from trioctahedral smectite, but it is beyond CheMin's range of 2 Theta. The measured position of the 02L diffraction band (approx 22.5deg 2 Theta by CheMin), implies that the smectite is trioctahedral. The exact position and shape of the 02L band is determined by the cations in the 'M' sites of the smectite; to constrain those cations, we sought analogs among terrestrial smectites, emphasizing those developed from basaltic precursors. A potential analog for the Sheepbed smectite is 'griffithite,' a variety of trioctahedral smectite in altered basalt of the Topanga formation, Griffith Park, Los Angeles. 'Griffithite' has an 02L diffraction band that is close in position and shape to that of the Sheepbed smectite, although 'griffithite' has a very sharp 001 peak, indicating a high degree of layer ordering not seen in the Sheepbed smectite. A typical chemical formula for 'griffithite,' determined by electron microprobe, is (Ca0.59 Na0.03) (Mg4.28 Fe1.83) (Si6.64 Al1.36) O20 (OH)4, normalized to Si+Al=8. This formula is consistent with a fully trioctahedral Fe-Mg smectite with Ca and Na as interlayer cations. In the Topanga basalt, four types of 'griffithite' are present: fine-grained, filling cracks and vesicles; coarse-grained, filling vesicles; coarse-grained, replacing olivine phenocrysts; and coarse-grained, replacing glassy mesostasis. The fine-grained 'griffithite' formed first, and

  12. Terrestrial forest management plan for Palmyra Atoll

    Science.gov (United States)

    Hathaway, Stacie A.; McEachern, Kathryn; Fisher, Robert N.

    2011-01-01

    This 'Terrestrial Forest Management Plan for Palmyra Atoll' was developed by the U.S. Geological Survey (USGS) for The Nature Conservancy (TNC) Palmyra Program to refine and expand goals and objectives developed through the Conservation Action Plan process. It is one in a series of adaptive management plans designed to achieve TNC's mission toward the protection and enhancement of native wildlife and habitat. The 'Terrestrial Forest Management Plan for Palmyra Atoll' focuses on ecosystem integrity and specifically identifies and addresses issues related to assessing the status and distribution of resources, as well as the pressures acting upon them, most specifically nonnative and potentially invasive species. The plan, which presents strategies for increasing ecosystem integrity, provides a framework to implement and track the progress of conservation and restoration goals related to terrestrial resources on Palmyra Atoll. The report in its present form is intended to be an overview of what is known about historical and current forest resources; it is not an exhaustive review of all available literature relevant to forest management but an attempt to assemble as much information specific to Palmyra Atoll as possible. Palmyra Atoll is one of the Northern Line Islands in the Pacific Ocean southwest of the Hawai`ian Islands. It consists of many heavily vegetated islets arranged in a horseshoe pattern around four lagoons and surrounded by a coral reef. The terrestrial ecosystem consists of three primary native vegetation types: Pisonia grandis forest, coastal strand forest, and grassland. Among these vegetation types, the health and extent of Pisonia grandis forest is of particular concern. Overall, the three vegetation types support 25 native plant species (two of which may be extirpated), 14 species of sea birds, six shore birds, at least one native reptile, at least seven native insects, and six native land crabs. Green and hawksbill turtles forage at Palmyra Atoll

  13. Modeling and Monitoring Terrestrial Primary Production in a Changing Global Environment: Toward a Multiscale Synthesis of Observation and Simulation

    Directory of Open Access Journals (Sweden)

    Shufen Pan

    2014-01-01

    Full Text Available There is a critical need to monitor and predict terrestrial primary production, the key indicator of ecosystem functioning, in a changing global environment. Here we provide a brief review of three major approaches to monitoring and predicting terrestrial primary production: (1 ground-based field measurements, (2 satellite-based observations, and (3 process-based ecosystem modelling. Much uncertainty exists in the multi-approach estimations of terrestrial gross primary production (GPP and net primary production (NPP. To improve the capacity of model simulation and prediction, it is essential to evaluate ecosystem models against ground and satellite-based measurements and observations. As a case, we have shown the performance of the dynamic land ecosystem model (DLEM at various scales from site to region to global. We also discuss how terrestrial primary production might respond to climate change and increasing atmospheric CO2 and uncertainties associated with model and data. Further progress in monitoring and predicting terrestrial primary production requires a multiscale synthesis of observations and model simulations. In the Anthropocene era in which human activity has indeed changed the Earth’s biosphere, therefore, it is essential to incorporate the socioeconomic component into terrestrial ecosystem models for accurately estimating and predicting terrestrial primary production in a changing global environment.

  14. Terrestrial ecotoxicity of eight chemicals in a systematic approach

    Energy Technology Data Exchange (ETDEWEB)

    Hund-Rinke, K.; Simon, M. [Fraunhofer Inst. for Molecular Biology and Applied Ecology, Schmallenberg (Germany)

    2005-07-01

    Background and objective. Terrestrial ecotoxicity data are required for many research purposes. The data are derived either from the literature or elaborated by own investigations. As the terrestrial toxicity tests are usually time-consuming and labour intensive, the experiments are performed with a limited number of test organisms and soils. In the context of a project sponsored by CEFIC-LRI (European Chemical Industry Council - Long-Range Research Initiative), EC{sub 50}-values were systematically elaborated for eight chemicals with a wide range of logK{sub ow}-values (CdCl{sub 2}, Trinitrotoluene, 3,4-dichloroaniline, 2,4-dichlorophenol, Tributyltinchloride, Pentachlorophenol, Benzo(a)pyrene, p,p-dichloro-2,2-diphenyl-1,1,1-trichloroethane). The substances were selected covering a broad range of physico-chemical and ecotoxicological properties. As toxicity endpoints, microbial activities, plant germination and growth as well as reproduction of earthworms and collembola were determined. As such systematic investigations are rarely performed and for some substances no data existed, the data pool is made available to the scientific community. Methods. All toxicity tests were conducted on three different soil types (sandy soil, silty soil, loamy soil), according to ISO and OECD guidelines Results, discussion, conclusion and outlook. The different toxicities of the chemicals, the influence of soil properties on bioavailability as well as different sensitivities of test organisms and test parameters are reflected by the EC{sub 50}-values. The results showed that the EC{sub 50}-values calculated on the basis of nominal concentrations can significantly vary from EC{sub 50}-values derived from analytical concentrations for some substances. To avoid false conclusions, this has to be considered especially when concentrations determined in the field are compared with toxicity data obtained from the literature or calculated on the basis of nominal concentrations. Moreover

  15. Terrestrial habitat mapping of the Oak Ridge Reservation: 1996 Summary

    International Nuclear Information System (INIS)

    Washington-Allen, R.A.; Ashwood, T.L.

    1996-09-01

    The US DOE is in the process of remediating historical contamination on the Oak Ridge Reservation (ORR). Two key components are ecological risk assessment and monitoring. In 1994 a strategy was developed and a specific program was initiated to implement the strategy for the terrestrial biota of the entire ORR. This document details results of the first task: development of a habitat map and habitat models for key species of interest. During the last 50 years ORR has been a relatively protected island of plant and animal habitats in a region of rapidly expanding urbanization. A preliminary biodiversity assessment of the ORR by the Nature Conservancy in 1995 noted 272 occurrences of significant plant and animal species and communities. Field surveys of threatened and endangered species show that the ORR contains 20 rare plant species, 4 of which are on the state list of endangered species. The rest are either on the state list of threatened species or listed as being of special concern. The ORR provides habitat for some 60 reptilian and amphibian species; more than 120 species of terrestrial birds; 32 species of waterfowl, wading birds, and shorebirds; and about 40 mammalian species. The ORR is both a refuge for rare species and a reservoir of recruitment for surrounding environments and wildlife management areas. Cedar barrens, river bluffs, and wetlands have been identified as the habitat for most rare vascular plant species on the ORR

  16. Investigating the Suitability of Mirrorless Cameras in Terrestrial Photogrammetric Applications

    Science.gov (United States)

    Incekara, A. H.; Seker, D. Z.; Delen, A.; Acar, A.

    2017-11-01

    Digital single-lens reflex cameras (DSLR) which are commonly referred as mirrored cameras are preferred for terrestrial photogrammetric applications such as documentation of cultural heritage, archaeological excavations and industrial measurements. Recently, digital cameras which are called as mirrorless systems that can be used with different lens combinations have become available for using similar applications. The main difference between these two camera types is the presence of the mirror mechanism which means that the incoming beam towards the lens is different in the way it reaches the sensor. In this study, two different digital cameras, one with a mirror (Nikon D700) and the other without a mirror (Sony a6000), were used to apply close range photogrammetric application on the rock surface at Istanbul Technical University (ITU) Ayazaga Campus. Accuracy of the 3D models created by means of photographs taken with both cameras were compared with each other using difference values between field and model coordinates which were obtained after the alignment of the photographs. In addition, cross sections were created on the 3D models for both data source and maximum area difference between them is quite small because they are almost overlapping. The mirrored camera has become more consistent in itself with respect to the change of model coordinates for models created with photographs taken at different times, with almost the same ground sample distance. As a result, it has been determined that mirrorless cameras and point cloud produced using photographs obtained from these cameras can be used for terrestrial photogrammetric studies.

  17. Geological remote sensing signatures of terrestrial impact craters

    International Nuclear Information System (INIS)

    Garvin, J.B.; Schnetzler, C.; Grieve, R.A.F.

    1988-01-01

    Geological remote sensing techniques can be used to investigate structural, depositional, and shock metamorphic effects associated with hypervelocity impact structures, some of which may be linked to global Earth system catastrophies. Although detailed laboratory and field investigations are necessary to establish conclusive evidence of an impact origin for suspected crater landforms, the synoptic perspective provided by various remote sensing systems can often serve as a pathfinder to key deposits which can then be targetted for intensive field study. In addition, remote sensing imagery can be used as a tool in the search for impact and other catastrophic explosion landforms on the basis of localized disruption and anomaly patterns. In order to reconstruct original dimensions of large, complex impact features in isolated, inaccessible regions, remote sensing imagery can be used to make preliminary estimates in the absence of field geophysical surveys. The experienced gained from two decades of planetary remote sensing of impact craters on the terrestrial planets, as well as the techniques developed for recognizing stages of degradation and initial crater morphology, can now be applied to the problem of discovering and studying eroded impact landforms on Earth. Preliminary results of remote sensing analyses of a set of terrestrial impact features in various states of degradation, geologic settings, and for a broad range of diameters and hence energies of formation are summarized. The intention is to develop a database of remote sensing signatures for catastrophic impact landforms which can then be used in EOS-era global surveys as the basis for locating the possibly hundreds of missing impact structures

  18. MODIS-derived terrestrial primary production [chapter 28

    Science.gov (United States)

    Maosheng Zhao; Steven Running; Faith Ann Heinsch; Ramakrishna Nemani

    2011-01-01

    Temporal and spatial changes in terrestrial biological productivity have a large impact on humankind because terrestrial ecosystems not only create environments suitable for human habitation, but also provide materials essential for survival, such as food, fiber and fuel. A recent study estimated that consumption of terrestrial net primary production (NPP; a list of...

  19. Terrestrial ecosystems in a changing world

    Energy Technology Data Exchange (ETDEWEB)

    Canadell, J.G. [CSIRO Marine and Atmospheric Research, Canberra, ACT (Australia). Global Carbon Project; Pataki, D.E. [California Univ., Irvine, CA (United States). Dept. of Earth System Science]|[California Univ., Irvine, CA (United States). Dept. of Ecology and Evolutionary Biology; Pitelka, L.F. (eds.) [Maryland Univ., Frostburg, MD (United States). Appalachian Lab.

    2007-07-01

    Over 100 authors present 25 contributions on the impacts of global change on terrestrial ecosystems including: * key processes of the earth system such as the CO2 fertilization effect, shifts in disturbances and biome distribution, the saturation of the terrestrial carbon sink, and changes in functional biodiversity, * ecosystem services such the production of wheat, pest control, and carbon storage in croplands, and * sensitive regions in the world threaten by rapid changes in climate and land use such as high latitudes ecosystems, tropical forest in Southeast Asia, and ecosystems dominated by Monsoon climate. The book also explores new research developments on spatial thresholds and nonlinearities, the key role of urban development in global biogeochemical processes, and the integration of natural and social sciences to address complex problems of the human-environment system. (orig.)

  20. Effect factors for terrestrial acidification in Brazil

    DEFF Research Database (Denmark)

    Crespo Mendes, Natalia; Laurent, Alexis; Hauschild, Michael Zwicky

    conditions, which is an essential approach considering countries like Brazil, with high biodiversity. Previous studies have assessed the impacts of terrestrial acidification from the estimations of the potential losses of vascular plants species richness as a result of exposure to acidifying substances...... for 13 biomes, with 2409 species addressed for whole world. In this context this work aims to provide spatially-differentiated effect factors (EF) for terrestrial acidification in Brazil and support the development of spatially-differentiated characterization factors for Brazil. In order to maintain...... in Brazil, represented by 33167 species, indicating that this is a comprehensive study. Maps of soil pH in Brazil were extracted at 1-km resolution and pH values were extracted for the depth range of 0-30cm. For each ecoregion, species richness was plotted against soil pH and the exposure-response curves...

  1. Application of Terrestrial Environments in Orion Assessments

    Science.gov (United States)

    Barbre, Robert E.

    2016-01-01

    This presentation summarizes the Marshall Space Flight Center Natural Environments Terrestrial and Planetary Environments (TPE) Team support to the NASA Orion space vehicle. The TPE utilizes meteorological data to assess the sensitivities of the vehicle due to the terrestrial environment. The Orion vehicle, part of the Multi-Purpose Crew Vehicle Program, is designed to carry astronauts beyond low-earth orbit and is currently undergoing a series of tests including Exploration Test Flight (EFT) - 1. The presentation describes examples of TPE support for vehicle design and several tests, as well as support for EFT-1 and planning for upcoming Exploration Missions while emphasizing the importance of accounting for the natural environment's impact to the vehicle early in the vehicle's program.

  2. The circumpolar biodiversity monitoring program - Terrestrial plan

    DEFF Research Database (Denmark)

    Christensen, Tom; Payne, J.; Doyle, M.

    , northern communities, and scientists to detect, understand and report on long-term change in Arctic terrestrial ecosystems and biodiversity. This presentation will outline the key management questions the plan aims to address and the proposed nested, multi-scaled approach linking targeted, research based...... monitoring with survey-based monitoring and remotely sensed data. The CBMP Terrestrial Plan intends to build upon and expand existing monitoring networks, engaging participants across a range of capacity and interests. The presentation will summarize the recommended focal soil ecosystem components...... and attributes to monitor in the plan related to soil invertebrates. Focal Ecosystem Components (FECs) of the soil decomposer system include the soil living invertebrates such as microarthropods, enchytraeids and earthworms and the functions performed by microorganisms such as nitrification, decomposition...

  3. 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

  4. MAFF monitoring of the terrestrial environment

    International Nuclear Information System (INIS)

    Sherlock, J.C.

    1993-01-01

    This paper addresses the food surveillance programme of the Ministry of Agriculture, Fisheries and Food (MAFF), in particular the Terrestrial Radioactivity Monitoring Programme (TRAMP) and the estimation of dietary intake of radionuclides. To define the surveillance programme the following issues need to be decided upon: 1) the type of food which should be analysed; 2) the nature of the contaminants which should be analysed; and 3) the geographical location from which the food samples should be taken. (author)

  5. A molecular palaeobiological exploration of arthropod terrestrialization

    DEFF Research Database (Denmark)

    Lozano-Fernandez, Jesus; Carton, Robert; Tanner, Alastair R.

    2016-01-01

    to the colonization of land is the most likely scenario.Molecular clock analyses confirmed an origin for the three terrestrial lineages bracketed between the Cambrian and the Silurian. While molecular divergence times for Arachnida are consistent with the fossil record,Myriapoda are inferred to have colonized land......, consistent with morphological arguments for convergence in tracheal systems. This article is part of the themed issue ‘Dating species divergences using rocks and clocks’....

  6. Astrophysical and terrestrial neutrinos in Supernova detectors

    International Nuclear Information System (INIS)

    Lagage, P.O.

    1985-09-01

    Supernova (SN) explosions are the place of very fundamental phenomena, whose privileged messengers are neutrinos. But such events are very rare. Then, SN detection has to be combined with other purposes. The recent developments of SN detectors have been associated with developments of underground particle physics (proton decay, monopoles ...). But here, I will restrict myself to discuss the possibilities for a supernova detector to be sensitive to other sources of neutrinos, astrophysical or terrestrial

  7. Furostanol and Spirostanol Saponins from Tribulus terrestris

    Directory of Open Access Journals (Sweden)

    Zhen-Fang Wang

    2016-03-01

    Full Text Available Twelve new steroidal saponins, including eleven furostanol saponins, terrestrinin J–T (1–11, and one spirostanol saponin, terrestrinin U (12, together with seven known steroidal saponins 13–19 were isolated from T. terrestris. The structures of the new compounds were established on the basis of spectroscopic data, including 1D and 2D NMR and HRESIMS, and comparisons with published data.

  8. Terrestrial water fluxes dominated by transpiration.

    Science.gov (United States)

    Jasechko, Scott; Sharp, Zachary D; Gibson, John J; Birks, S Jean; Yi, Yi; Fawcett, Peter J

    2013-04-18

    Renewable fresh water over continents has input from precipitation and losses to the atmosphere through evaporation and transpiration. Global-scale estimates of transpiration from climate models are poorly constrained owing to large uncertainties in stomatal conductance and the lack of catchment-scale measurements required for model calibration, resulting in a range of predictions spanning 20 to 65 per cent of total terrestrial evapotranspiration (14,000 to 41,000 km(3) per year) (refs 1, 2, 3, 4, 5). Here we use the distinct isotope effects of transpiration and evaporation to show that transpiration is by far the largest water flux from Earth's continents, representing 80 to 90 per cent of terrestrial evapotranspiration. On the basis of our analysis of a global data set of large lakes and rivers, we conclude that transpiration recycles 62,000 ± 8,000 km(3) of water per year to the atmosphere, using half of all solar energy absorbed by land surfaces in the process. We also calculate CO2 uptake by terrestrial vegetation by connecting transpiration losses to carbon assimilation using water-use efficiency ratios of plants, and show the global gross primary productivity to be 129 ± 32 gigatonnes of carbon per year, which agrees, within the uncertainty, with previous estimates. The dominance of transpiration water fluxes in continental evapotranspiration suggests that, from the point of view of water resource forecasting, climate model development should prioritize improvements in simulations of biological fluxes rather than physical (evaporation) fluxes.

  9. Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions

    Science.gov (United States)

    Schuerger, Andrew C.; Lee, Pascal

    2015-01-01

    Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20C to -1C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle. Key Words: Planetary protection-Contamination-Habitability-Haughton Crater-Mars. Astrobiology

  10. The Traverse Planning Process for the Drats 2010 Analog Field Simulations

    Science.gov (United States)

    Horz, Friedrich; Gruener, John; Lofgren, Gary; Skinner, James A., Jr.; Graf, Jodi; Seibert, Marc

    2011-01-01

    Traverse planning concentrates on optimizing the science return within the overall objectives of planetary surface missions or their analog field simulations. Such simulations were conducted in the San Francisco Volcanic Field, northern Arizona, from Aug. 26 to Sept 17, 2010 and involved some 200 individuals in the field, with some 40 geoscientists composing the science team. The purpose of these Desert Research and Technology Studies (DRATS) is to exercise and evaluate developmental hardware, software and operational concepts in a mission-like, fully-integrated, setting under the direction of an onsite Mobile Mission Control Center(MMCC). DRATS 2010 focused on the simultaneous operation of 2 rovers, a historic first. Each vehicle was manned by an astronaut-commander and an experienced field geologist. Having 2 rovers and crews in the field mandated substantially more complex science and mission control operations compared to the single rover DRATS tests of 2008 and 2009, or the Apollo lunar missions. For instance, the science support function was distributed over 2 "back rooms", one for each rover, with both "tactical" teams operating independently and simultaneously during the actual traverses. Synthesis and integration of the daily findings and forward planning for the next day(s) was accomplished overnight by yet another "strategic" science team.

  11. 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

  12. 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

  13. A comparison of energy conversion systems for meeting the power requirements of manned rover for Mars missions

    International Nuclear Information System (INIS)

    El-Genk, M.S.; Morley, N.; Cataldo, R.; Bloomfield, H.

    1990-01-01

    Minimizing system mass for interplanetary missions is of utmost importance in order to keep launch cost within reasonable bounds. For a manned Mars rover, powered by a nuclear reactor power system, the choice of the energy conversion system can play a significant role in lowering the overall system mass. Not only is the mass of the conversion unit affected by the choice, but also the masses of the reactor core, waste heat rejection system, and the radiation shield which are strongly influenced by the system conversion efficiency and operating condition. Several types of conversion systems are of interest for a nuclear reactor Mars manned application. These conversion systems include: free piston Stirling engines, He/XE closed Brayton cycle (CBC), CO 2 open Brayton, and SiGe/GaP thermoelectric. Optimization studies are conducted to determine the impact of the conversion system on the overall mass of the nuclear power system as well as the mobility power requirement of the Rover vehicle

  14. Simulating Terrestrial Gamma-ray Flashes using SWORD (Invited)

    Science.gov (United States)

    Gwon, C.; Grove, J.; Dwyer, J. R.; Mattson, K.; Polaski, D.; Jackson, L.

    2013-12-01

    We report on simulations of the relativistic feedback discharges involved with the production of terrestrial gamma-ray flashes (TGFs). The simulations were conducted using Geant4 using the SoftWare for the Optimization of Radiation Detectors (SWORD) framework. SWORD provides a graphical interface for setting up simulations in select high-energy radiation transport engines. Using Geant4, we determine avalanche length, the energy spectrum of the electrons and gamma-rays as they leave the field region, and the feedback factor describing the degree to which the production of energetic particles is self-sustaining. We validate our simulations against previous work in order to determine the reliability of our results. This work is funded by the Office of Naval Research.

  15. PREDICTS: Projecting Responses of Ecological Diversity in Changing Terrestrial Systems

    Directory of Open Access Journals (Sweden)

    Georgina Mace

    2012-12-01

    Full Text Available The PREDICTS project (www.predicts.org.uk is a three-year NERC-funded project to model and predict at a global scale how local terrestrial diversity responds to human pressures such as land use, land cover, pollution, invasive species and infrastructure. PREDICTS is a collaboration between Imperial College London, the UNEP World Conservation Monitoring Centre, Microsoft Research Cambridge, UCL and the University of Sussex. In order to meet its aims, the project relies on extensive data describing the diversity and composition of biological communities at a local scale. Such data are collected on a vast scale through the committed efforts of field ecologists. If you have appropriate data that you would be willing to share with us, please get in touch (enquiries@predicts.org.uk. All contributions will be acknowledged appropriately and all data contributors will be included as co-authors on an open-access paper describing the database.

  16. The ChemCam Instrument Suite on the Mars Science Laboratory (MSL) Rover: Body Unit and Combined System Tests

    International Nuclear Information System (INIS)

    Wiens, Roger C.; Barraclough, Bruce; Barkley, Walter C.; Bender, Steve; Bernardin, John; Bultman, Nathan; Clanton, Robert C.; Clegg, Samuel; Delapp, Dorothea; Dingler, Robert; Enemark, Don; Flores, Mike; Hale, Thomas; Lanza, Nina; Lasue, Jeremie; Latino, Joseph; Little, Cynthia; Morrison, Leland; Nelson, Tony; Romero, Frank; Salazar, Steven; Stiglich, Ralph; Storms, Steven; Trujillo, Tanner; Ulibarri, Mike; Vaniman, David; Whitaker, Robert; Witt, James; Maurice, Sylvestre; Bouye, Marc; Cousin, Agnes; Cros, Alain; D'Uston, Claude; Forni, Olivier; Gasnault, Olivier; Kouach, Driss; Lasue, Jeremie; Pares, Laurent; Poitrasson, Franck; Striebig, Nicolas; Thocaven, Jean-Jacques; Saccoccio, Muriel; Perez, Rene; Bell, James F. III; Hays, Charles; Blaney, Diana; DeFlores, Lauren; Elliott, Tom; Kan, Ed; Limonadi, Daniel; Lindensmith, Chris; Miller, Ed; Reiter, Joseph W.; Roberts, Tom; Simmonds, John J.; Warner, Noah; Blank, Jennifer; Bridges, Nathan; Cais, Phillippe; Clark, Benton; Cremers, David; Dyar, M. Darby; Fabre, Cecile; Herkenhoff, Ken; Kirkland, Laurel; Landis, David; Langevin, Yves; Lanza, Nina; Newsom, Horton; Ollila, Ann; LaRocca, Frank; Ott, Melanie; Mangold, Nicolas; Manhes, Gerard; Mauchien, Patrick; Blank, Jennifer; McKay, Christopher; Mooney, Joe; Provost, Cheryl; Morris, Richard V.; Sautter, Violaine; Sautter, Violaine; Waterbury, Rob; Wong-Swanson, Belinda; Barraclough, Bruce; Bender, Steve; Vaniman, David

    2012-01-01

    The ChemCam instrument suite on the Mars Science Laboratory (MSL) rover Curiosity provides remote compositional information using the first laser-induced breakdown spectrometer (LIBS) on a planetary mission, and provides sample texture and morphology data using a remote micro-imager (RMI). Overall, ChemCam supports MSL with five capabilities: remote classification of rock and soil characteristics; quantitative elemental compositions including light elements like hydrogen and some elements to which LIBS is uniquely sensitive (e.g., Li, Be, Rb, Sr, Ba); remote removal of surface dust and depth profiling through surface coatings; context imaging; and passive spectroscopy over the 240-905 nm range. ChemCam is built in two sections: The mast unit, consisting of a laser, telescope, RMI, and associated electronics, resides on the rover's mast, and is described in a companion paper. ChemCam's body unit, which is mounted in the body of the rover, comprises an optical de-multiplexer, three spectrometers, detectors, their coolers, and associated electronics and data handling logic. Additional instrument components include a 6 m optical fiber which transfers the LIBS light from the telescope to the body unit, and a set of onboard calibration targets. ChemCam was integrated and tested at Los Alamos National Laboratory where it also underwent LIBS calibration with 69 geological standards prior to integration with the rover. Post-integration testing used coordinated mast and instrument commands, including LIBS line scans on rock targets during system-level thermal-vacuum tests. In this paper we describe the body unit, optical fiber, and calibration targets, and the assembly, testing, and verification of the instrument prior to launch. (authors)

  17. Some effects of pollutants in terrestrial ecosystems

    Science.gov (United States)

    Stickel, W.H.; McIntyre, A.D.; Mills, C.F.

    1975-01-01

    occur when persistent chemicals enter organisms that eliminate them poorly. However, loss of chemicals in the food chain must be more common than accumulation. The great concentration from water to aquatic organism is chiefly a physical phenomenon, not a food chain effect, but it affords high starting levels for these chains. Terrestrial food chains often start at a high level with heavily contaminated, struggling prey. Litter feeders are another important base. Vegetation may be contaminated enough to be dangerous to animals that eat it. Dermal and respiratory routes of intoxication occur in the wild, but the oral route is far more important at most times and places. The organisms that govern soil fertility and texture are affected more by cultivation than by pesticides. Above ground, growing knowledge of resistance, species differences, and biological controls is leading to integrated control, in which use of chemicals is limited and specific. We do not know what is happening to most nontarget invertebrates. Amphibians and reptiles may be killed by applications of insecticides, but are not highly sensitive and can carry large residues. Effects of these residues on reproduction are little known. Heavy kills of birds by pesticides still occur in the field. Fish-eating and bird-eating birds also undergo shell thinning and related reproductive troubles in many areas, sometimes to the point of population decline and local or regional extermination. DDE most often correlates with shell thinning in the wild and in experiments. No other known chemical approaches DDE in causing severe and lasting shell thinning. Herbivorous birds seem to be largely immune to this effect. It is uncertain how much dieldrin and PCBs contribute to embryotoxicity in carnivorous birds. Mammals may be killed by the more toxic pesticides, but some of the commonest small rodents are so resistant, and lose their residues so rapidly, that they are of little

  18. On the Assessment of Global Terrestrial Reference Frame Temporal Variations

    Science.gov (United States)

    Ampatzidis, Dimitrios; Koenig, Rolf; Zhu, Shengyuan

    2015-04-01

    Global Terrestrial Reference Frames (GTRFs) as the International Terrestrial Reference Frame (ITRF) provide reliable 4-D position information (3-D coordinates and their evolution through time). The given 3-D velocities play a significant role in precise position acquisition and are estimated from long term coordinate time series from the space-geodetic techniques DORIS, GNSS, SLR, and VLBI. GTRFs temporal evolution is directly connected with their internal stability: The more intense and inhomogeneous velocity field, the less stable TRF is derived. The assessment of the quality of the GTRF is mainly realized by comparing it to each individual technique's reference frame. E.g the comparison of GTRFs to SLR-only based TRF gives the sense of the ITRF stability with respect to the Geocenter and scale and their associated rates respectively. In addition, the comparison of ITRF to the VLBI-only based TRF can be used for the scale validation. However, till now there is not any specified methodology for the total assessment (in terms of origin, orientation and scale respectively) of the temporal evolution and GTRFs associated accuracy. We present a new alternative diagnostic tool for the assessment of GTRFs temporal evolution based on the well-known time-dependent Helmert type transformation formula (three shifts, three rotations and scale rates respectively). The advantage of the new methodology relies on the fact that it uses the full velocity field of the TRF and therefore all points not just the ones common to different techniques. It also examines simultaneously rates of origin, orientation and scale. The methodology is presented and implemented to the two existing GTRFs on the market (ITRF and DTRF which is computed from DGFI) , the results are discussed. The results also allow to compare directly each GTRF dynamic behavior. Furthermore, the correlations of the estimated parameters can also provide useful information to the proposed GTRFs assessment scheme.

  19. Chemical variations in Yellowknife Bay formation sedimentary rocks analyzed by ChemCam on board the Curiosity rover on Mars

    Science.gov (United States)

    Mangold, Nicolas; Forni, Olivier; Dromart, G.; Stack, K.M.; Wiens, Roger C.; Gasnault, Olivier; Sumner, Dawn Y.; Nachon, Marion; Meslin, Pierre-Yves; Anderson, Ryan B.; Barraclough, Bruce; Bell, J.F.; Berger, G.; Blaney, D.L.; Bridges, J.C.; Calef, F.; Clark, Brian R.; Clegg, Samuel M.; Cousin, Agnes; Edgar, L.; Edgett, Kenneth S.; Ehlmann, B.L.; Fabre, Cecile; Fisk, M.; Grotzinger, John P.; Gupta, S.C.; Herkenhoff, Kenneth E.; Hurowitz, J.A.; Johnson, J. R.; Kah, Linda C.; Lanza, Nina L.; Lasue, Jeremie; Le Mouélic, S.; Lewin, Eric; Malin, Michael; McLennan, Scott M.; Maurice, S.; Melikechi, Noureddine; Mezzacappa, Alissa; Milliken, Ralph E.; Newsome, H.L.; Ollila, A.; Rowland, Scott K.; Sautter, Violaine; Schmidt, M.E.; Schroder, S.; D'Uston, C.; Vaniman, Dave; Williams, R.A.

    2015-01-01

    The Yellowknife Bay formation represents a ~5 m thick stratigraphic section of lithified fluvial and lacustrine sediments analyzed by the Curiosity rover in Gale crater, Mars. Previous works have mainly focused on the mudstones that were drilled by the rover at two locations. The present study focuses on the sedimentary rocks stratigraphically above the mudstones by studying their chemical variations in parallel with rock textures. Results show that differences in composition correlate with textures and both manifest subtle but significant variations through the stratigraphic column. Though the chemistry of the sediments does not vary much in the lower part of the stratigraphy, the variations in alkali elements indicate variations in the source material and/or physical sorting, as shown by the identification of alkali feldspars. The sandstones contain similar relative proportions of hydrogen to the mudstones below, suggesting the presence of hydrous minerals that may have contributed to their cementation. Slight variations in magnesium correlate with changes in textures suggesting that diagenesis through cementation and dissolution modified the initial rock composition and texture simultaneously. The upper part of the stratigraphy (~1 m thick) displays rocks with different compositions suggesting a strong change in the depositional system. The presence of float rocks with similar compositions found along the rover traverse suggests that some of these outcrops extend further away in the nearby hummocky plains.

  20. Development and Engineering Design in Support of "Rover Ranch": A K-12 Outreach Software Project

    Science.gov (United States)

    Pascali, Raresh

    2003-01-01

    A continuation of the initial development started in the summer of 1999, the body of work performed in support of 'ROVer Ranch' Project during the present fellowship dealt with the concrete concept implementation and resolution of the related issues. The original work performed last summer focused on the initial examination and articulation of the concept treatment strategy, audience and market analysis for the learning technologies software. The presented work focused on finalizing the set of parts to be made available for building an AERCam Sprint type robot and on defining, testing and implementing process necessary to convert the design engineering files to VRML files. Through reverse engineering, an initial set of mission critical systems was designed for beta testing in schools. The files were created in ProEngineer, exported to VRML 1.0 and converted to VRML 97 (VRML 2.0) for final integration in the software. Attributes for each part were assigned using an in-house developed JAVA based program. The final set of attributes for each system, their mutual interaction and the identification of the relevant ones to be tracked, still remain to be decided.

  1. 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.

  2. Volcanic history of the Imbrium basin: A close-up view from the lunar rover Yutu.

    Science.gov (United States)

    Zhang, Jinhai; Yang, Wei; Hu, Sen; Lin, Yangting; Fang, Guangyou; Li, Chunlai; Peng, Wenxi; Zhu, Sanyuan; He, Zhiping; Zhou, Bin; Lin, Hongyu; Yang, Jianfeng; Liu, Enhai; Xu, Yuchen; Wang, Jianyu; Yao, Zhenxing; Zou, Yongliao; Yan, Jun; Ouyang, Ziyuan

    2015-04-28

    We report the surface exploration by the lunar rover Yutu that landed on the young lava flow in the northeastern part of the Mare Imbrium, which is the largest basin on the nearside of the Moon and is filled with several basalt units estimated to date from 3.5 to 2.0 Ga. The onboard lunar penetrating radar conducted a 114-m-long profile, which measured a thickness of ∼5 m of the lunar regolith layer and detected three underlying basalt units at depths of 195, 215, and 345 m. The radar measurements suggest underestimation of the global lunar regolith thickness by other methods and reveal a vast volume of the last volcano eruption. The in situ spectral reflectance and elemental analysis of the lunar soil at the landing site suggest that the young basalt could be derived from an ilmenite-rich mantle reservoir and then assimilated by 10-20% of the last residual melt of the lunar magma ocean.

  3. Critical Spacecraft-to-Earth Communications for Mars Exploration Rover (MER) entry, descent and landing

    Science.gov (United States)

    Hurd, William J.; Estabrook, Polly; Racho, Caroline S.; Satorius, Edgar H.

    2002-01-01

    For planetary lander missions, the most challenging phase of the spacecraft to ground communications is during the entry, descent, and landing (EDL). As each 2003 Mars Exploration Rover (MER) enters the Martian atmosphere, it slows dramatically. The extreme acceleration and jerk cause extreme Doppler dynamics on the X-band signal received on Earth. When the vehicle slows sufficiently, the parachute is deployed, causing almost a step in deceleration. After parachute deployment, the lander is lowered beneath the parachute on a bridle. The swinging motion of the lander imparts high Doppler dynamics on the signal and causes the received signal strength to vary widely, due to changing antenna pointing angles. All this time, the vehicle transmits important health and status information that is especially critical if the landing is not successful. Even using the largest Deep Space Network antennas, the weak signal and high dynamics render it impossible to conduct reliable phase coherent communications. Therefore, a specialized form of frequency-shift-keying will be used. This paper describes the EDL scenario, the signal conditions, the methods used to detect and frequency-track the carrier and to detect the data modulation, and the resulting performance estimates.

  4. Abundance and Isotopic Composition of Gases in the Martian Atmosphere from the Curiosity Rover

    Science.gov (United States)

    Mahaffy, Paul R.; Webster, Christopher R.; Atreya, Sushil K.; Franz, Heather; Wong, Michael; Conrad, Pamela G.; Harpold, Dan; Jones, John J.; Leshin, Laurie A.; Manning, Heidi; Owen, Tobias; Pepin, Robert O.; Squyres, Steven; Trainer, Melissa; Kemppinen, Osku; Bridges, Nathan; Johnson, Jeffrey R.; Minitti, Michelle; Cremers, David; Bell, James F.; Edgar, Lauren; Farmer, Jack; Godber, Austin; Wadhwa, Meenakshi; Wellington, Danika; McEwan, Ian; Newman, Claire; Richardson, Mark; Charpentier, Antoine; Peret, Laurent; King, Penelope; Blank, Jennifer; Weigle, Gerald; Schmidt, Mariek; Li, Shuai; Milliken, Ralph; Robertson, Kevin; Sun, Vivian; Baker, Michael; Edwards, Christopher; Ehlmann, Bethany; Farley, Kenneth; Griffes, Jennifer; Grotzinger, John; Miller, Hayden; Newcombe, Megan; Pilorget, Cedric; Rice, Melissa; Siebach, Kirsten; Stack, Katie; Stolper, Edward; Brunet, Claude; Hipkin, Victoria; Léveillé, Richard; Marchand, Geneviève; Sánchez, Pablo Sobrón; Favot, Laurent; Cody, George; Steele, Andrew; Flückiger, Lorenzo; Lees, David; Nefian, Ara; Martin, Mildred; Gailhanou, Marc; Westall, Frances; Israël, Guy; Agard, Christophe; Baroukh, Julien; Donny, Christophe; Gaboriaud, Alain; Guillemot, Philippe; Lafaille, Vivian; Lorigny, Eric; Paillet, Alexis; Pérez, René; Saccoccio, Muriel; Yana, Charles; Armiens-Aparicio, Carlos; Rodríguez, Javier Caride; Blázquez, Isaías Carrasco; Gómez, Felipe Gómez; Gómez-Elvira, Javier; Hettrich, Sebastian; Malvitte, Alain Lepinette; Jiménez, Mercedes Marín; Martínez-Frías, Jesús; Martín-Soler, Javier; Martín-Torres, F. Javier; Jurado, Antonio Molina; Mora-Sotomayor, Luis; Caro, Guillermo Muñoz; López, Sara Navarro; Peinado-González, Verónica; Pla-García, Jorge; Manfredi, José Antonio Rodriguez; Romeral-Planelló, Julio José; Fuentes, Sara Alejandra Sans; Martinez, Eduardo Sebastian; Redondo, Josefina Torres; Urqui-O'Callaghan, Roser; Mier, María-Paz Zorzano; Chipera, Steve; Lacour, Jean-Luc; Mauchien, Patrick; Sirven, Jean-Baptiste; Fairén, Alberto; Hayes, Alexander; Joseph, Jonathan; Sullivan, Robert; Thomas, Peter; Dupont, Audrey; Lundberg, Angela; Melikechi, Noureddine; Mezzacappa, Alissa; DeMarines, Julia; Grinspoon, David; Reitz, Günther; Prats, Benito; Atlaskin, Evgeny; Genzer, Maria; Harri, Ari-Matti; Haukka, Harri; Kahanpää, Henrik; Kauhanen, Janne; Kemppinen, Osku; Paton, Mark; Polkko, Jouni; Schmidt, Walter; Siili, Tero; Fabre, Cécile; Wray, James; Wilhelm, Mary Beth; Poitrasson, Franck; Patel, Kiran; Gorevan, Stephen; Indyk, Stephen; Paulsen, Gale; Gupta, Sanjeev; Bish, David; Schieber, Juergen; Gondet, Brigitte; Langevin, Yves; Geffroy, Claude; Baratoux, David; Berger, Gilles; Cros, Alain; d'Uston, Claude; Forni, Olivier; Gasnault, Olivier; Lasue, Jérémie; Lee, Qiu-Mei; Maurice, Sylvestre; Meslin, Pierre-Yves; Pallier, Etienne; Parot, Yann; Pinet, Patrick; Schröder, Susanne; Toplis, Mike; Lewin, Éric; Brunner, Will; Heydari, Ezat; Achilles, Cherie; Oehler, Dorothy; Sutter, Brad; Cabane, Michel; Coscia, David; Israël, Guy; Szopa, Cyril; Dromart, Gilles; Robert, François; Sautter, Violaine; Le Mouélic, Stéphane; Mangold, Nicolas; Nachon, Marion; Buch, Arnaud; Stalport, Fabien; Coll, Patrice; François, Pascaline; Raulin, François; Teinturier, Samuel; Cameron, James; Clegg, Sam; Cousin, Agnès; DeLapp, Dorothea; Dingler, Robert; Jackson, Ryan Steele; Johnstone, Stephen; Lanza, Nina; Little, Cynthia; Nelson, Tony; Wiens, Roger C.; Williams, Richard B.; Jones, Andrea; Kirkland, Laurel; Treiman, Allan; Baker, Burt; Cantor, Bruce; Caplinger, Michael; Davis, Scott; Duston, Brian; Edgett, Kenneth; Fay, Donald; Hardgrove, Craig; Harker, David; Herrera, Paul; Jensen, Elsa; Kennedy, Megan R.; Krezoski, Gillian; Krysak, Daniel; Lipkaman, Leslie; Malin, Michael; McCartney, Elaina; McNair, Sean; Nixon, Brian; Posiolova, Liliya; Ravine, Michael; Salamon, Andrew; Saper, Lee; Stoiber, Kevin; Supulver, Kimberley; Van Beek, Jason; Van Beek, Tessa; Zimdar, Robert; French, Katherine Louise; Iagnemma, Karl; Miller, Kristen; Summons, Roger; Goesmann, Fred; Goetz, Walter; Hviid, Stubbe; Johnson, Micah; Lefavor, Matthew; Lyness, Eric; Breves, Elly; Dyar, M. Darby; Fassett, Caleb; Blake, David F.; Bristow, Thomas; DesMarais, David; Edwards, Laurence; Haberle, Robert; Hoehler, Tori; Hollingsworth, Jeff; Kahre, Melinda; Keely, Leslie; McKay, Christopher; Wilhelm, Mary Beth; Bleacher, Lora; Brinckerhoff, William; Choi, David; Dworkin, Jason P.; Eigenbrode, Jennifer; Floyd, Melissa; Freissinet, Caroline; Garvin, James; Glavin, Daniel; Jones, Andrea; Martin, David K.; McAdam, Amy; Pavlov, Alexander; Raaen, Eric; Smith, Michael D.; Stern, Jennifer; Tan, Florence; Meyer, Michael; Posner, Arik; Voytek, Mary; Anderson, Robert C.; Aubrey, Andrew; Beegle, Luther W.; Behar, Alberto; Blaney, Diana; Brinza, David; Calef, Fred; Christensen, Lance; Crisp, Joy A.; DeFlores, Lauren; Ehlmann, Bethany; Feldman, Jason; Feldman, Sabrina; Flesch, Gregory; Hurowitz, Joel; Jun, Insoo; Keymeulen, Didier; Maki, Justin; Mischna, Michael; Morookian, John Michael; Parker, Timothy; Pavri, Betina; Schoppers, Marcel; Sengstacken, Aaron; Simmonds, John J.; Spanovich, Nicole; Juarez, Manuel de la Torre; Vasavada, Ashwin R.; Yen, Albert; Archer, Paul Douglas; Cucinotta, Francis; Ming, Douglas; Morris, Richard V.; Niles, Paul; Rampe, Elizabeth; Nolan, Thomas; Fisk, Martin; Radziemski, Leon; Barraclough, Bruce; Bender, Steve; Berman, Daniel; Dobrea, Eldar Noe; Tokar, Robert; Vaniman, David; Williams, Rebecca M. E.; Yingst, Aileen; Lewis, Kevin; Cleghorn, Timothy; Huntress, Wesley; Manhès, Gérard; Hudgins, Judy; Olson, Timothy; Stewart, Noel; Sarrazin, Philippe; Grant, John; Vicenzi, Edward; Wilson, Sharon A.; Bullock, Mark; Ehresmann, Bent; Hamilton, Victoria; Hassler, Donald; Peterson, Joseph; Rafkin, Scot; Zeitlin, Cary; Fedosov, Fedor; Golovin, Dmitry; Karpushkina, Natalya; Kozyrev, Alexander; Litvak, Maxim; Malakhov, Alexey; Mitrofanov, Igor; Mokrousov, Maxim; Nikiforov, Sergey; Prokhorov, Vasily; Sanin, Anton; Tretyakov, Vladislav; Varenikov, Alexey; Vostrukhin, Andrey; Kuzmin, Ruslan; Clark, Benton; Wolff, Michael; McLennan, Scott; Botta, Oliver; Drake, Darrell; Bean, Keri; Lemmon, Mark; Schwenzer, Susanne P.; Anderson, Ryan B.; Herkenhoff, Kenneth; Lee, Ella Mae; Sucharski, Robert; Hernández, Miguel Ángel de Pablo; Ávalos, Juan José Blanco; Ramos, Miguel; Kim, Myung-Hee; Malespin, Charles; Plante, Ianik; Muller, Jan-Peter; Navarro-González, Rafael; Ewing, Ryan; Boynton, William; Downs, Robert; Fitzgibbon, Mike; Harshman, Karl; Morrison, Shaunna; Dietrich, William; Kortmann, Onno; Palucis, Marisa; Sumner, Dawn Y.; Williams, Amy; Lugmair, Günter; Wilson, Michael A.; Rubin, David; Jakosky, Bruce; Balic-Zunic, Tonci; Frydenvang, Jens; Jensen, Jaqueline Kløvgaard; Kinch, Kjartan; Koefoed, Asmus; Madsen, Morten Bo; Stipp, Susan Louise Svane; Boyd, Nick; Campbell, John L.; Gellert, Ralf; Perrett, Glynis; Pradler, Irina; VanBommel, Scott; Jacob, Samantha; Rowland, Scott; Atlaskin, Evgeny; Savijärvi, Hannu; Boehm, Eckart; Böttcher, Stephan; Burmeister, Sönke; Guo, Jingnan; Köhler, Jan; García, César Martín; Mueller-Mellin, Reinhold; Wimmer-Schweingruber, Robert; Bridges, John C.; McConnochie, Timothy; Benna, Mehdi; Bower, Hannah; Brunner, Anna; Blau, Hannah; Boucher, Thomas; Carmosino, Marco; Elliott, Harvey; Halleaux, Douglas; Rennó, Nilton; Elliott, Beverley; Spray, John; Thompson, Lucy; Gordon, Suzanne; Newsom, Horton; Ollila, Ann; Williams, Joshua; Vasconcelos, Paulo; Bentz, Jennifer; Nealson, Kenneth; Popa, Radu; Kah, Linda C.; Moersch, Jeffrey; Tate, Christopher; Day, Mackenzie; Kocurek, Gary; Hallet, Bernard; Sletten, Ronald; Francis, Raymond; McCullough, Emily; Cloutis, Ed; ten Kate, Inge Loes; Kuzmin, Ruslan; Arvidson, Raymond; Fraeman, Abigail; Scholes, Daniel; Slavney, Susan; Stein, Thomas; Ward, Jennifer; Berger, Jeffrey; Moores, John E.

    2013-07-01

    Volume mixing and isotope ratios secured with repeated atmospheric measurements taken with the Sample Analysis at Mars instrument suite on the Curiosity rover are: carbon dioxide (CO2), 0.960(±0.007); argon-40 (40Ar), 0.0193(±0.0001); nitrogen (N2), 0.0189(±0.0003); oxygen, 1.45(±0.09) × 10-3; carbon monoxide, < 1.0 × 10-3; and 40Ar/36Ar, 1.9(±0.3) × 103. The 40Ar/N2 ratio is 1.7 times greater and the 40Ar/36Ar ratio 1.6 times lower than values reported by the Viking Lander mass spectrometer in 1976, whereas other values are generally consistent with Viking and remote sensing observations. The 40Ar/36Ar ratio is consistent with martian meteoritic values, which provides additional strong support for a martian origin of these rocks. The isotopic signature δ13C from CO2 of ~45 per mil is independently measured with two instruments. This heavy isotope enrichment in carbon supports the hypothesis of substantial atmospheric loss.

  5. Designing and Implementing a Distributed System Architecture for the Mars Rover Mission Planning Software (Maestro)

    Science.gov (United States)

    Goldgof, Gregory M.

    2005-01-01

    Distributed systems allow scientists from around the world to plan missions concurrently, while being updated on the revisions of their colleagues in real time. However, permitting multiple clients to simultaneously modify a single data repository can quickly lead to data corruption or inconsistent states between users. Since our message broker, the Java Message Service, does not ensure that messages will be received in the order they were published, we must implement our own numbering scheme to guarantee that changes to mission plans are performed in the correct sequence. Furthermore, distributed architectures must ensure that as new users connect to the system, they synchronize with the database without missing any messages or falling into an inconsistent state. Robust systems must also guarantee that all clients will remain synchronized with the database even in the case of multiple client failure, which can occur at any time due to lost network connections or a user's own system instability. The final design for the distributed system behind the Mars rover mission planning software fulfills all of these requirements and upon completion will be deployed to MER at the end of 2005 as well as Phoenix (2007) and MSL (2009).

  6. Automated nondestructive assay system for the measurement of irradiated Rover fuel

    International Nuclear Information System (INIS)

    Augustson, R.H.; Menlove, H.O.; Smith, D.B.; Bond, A.L.; Durrill, D.C.; Hollowell, W.P.; Bromley, C.P.

    1975-01-01

    With the termination of the Nuclear Rocket Propulsion (Rover) Program, and associated reactor testing at the Nuclear Rocket Development Station (NRDS), Nevada, plans are progressing to recover the 93 percent enriched uranium contained in irradiated fuel from twenty various test reactors. This fuel is being packaged into 7-cm-dia by 137-cm-long cardboard tubes, using the remote handling facilities (E-MAD Bldg) of NRDS. After packaging, the fuel is shipped to Allied Chemical Corporation, Idaho Falls, Idaho, for uranium recovery. About 4000 tubes will be needed to package and ship the inventory of fuel elements presently at NRDS. This represents a total of approximately 2500 kg of enriched uranium. To complete the accounting records each tube is being nondestructively assayed and records kept on a reactor-by-reactor basis where possible. The assayed values for a reactor are then compared with original input inventory values and discrepancies resolved. The tubes are being assayed by an active neutron interrogation system designed and fabricated by Los Alamos Scientific Laboratory (LASL) and operated by Westinghouse Astronuclear Laboratory (WANL)-Nevada Operations personnel. WANL is the operating contractor in charge of loading and shipping this fuel. (U.S.)

  7. Evaluation of Liquid and Bait Insecticides against the Dark Rover Ant (Brachymyrmex patagonicus

    Directory of Open Access Journals (Sweden)

    Javier G. Miguelena

    2014-11-01

    Full Text Available Dark rover ants (Brachymyrmex patagonicus, Mayr are an exotic ant species native to South America that has recently spread through the southern US. We evaluated the residual activity of three liquid insecticides (indoxacarb, fipronil and lambda-cyhalothrin as potential barrier treatments against these ants. The factors we considered include the use of a porous or non-porous surface, a short or long exposure time and the changes in insecticide activity after treatment during a 90 day period. We also tested the effect of baits containing three different active ingredients (imidacloprid, sodium tetraborate and indoxacarb on colony fragments of this species for a 15 day period. Both lambda-cyhalothrin® and indoxacarb® resulted in high levels of ant mortality up to 90 days after application. The results of exposure to fipronil® resembled those from the control treatment. Application of insecticides on a porous surface and the shorter exposure time generally resulted in greater ant survival. Of the baits tested, only the imidacloprid based one decreased ant survival significantly during the evaluation period. Within three days, the imidacloprid bait produced over 50% mortality which increased to over 95% by the end of the experiment. Results from the other two bait treatments were not significantly different from the control.

  8. Simulation of the GCR spectrum in the Mars curiosity rover's RAD detector using MCNP6

    Science.gov (United States)

    Ratliff, Hunter N.; Smith, Michael B. R.; Heilbronn, Lawrence

    2017-08-01

    The paper presents results from MCNP6 simulations of galactic cosmic ray (GCR) propagation down through the Martian atmosphere to the surface and comparison with RAD measurements made there. This effort is part of a collaborative modeling workshop for space radiation hosted by Southwest Research Institute (SwRI). All modeling teams were tasked with simulating the galactic cosmic ray (GCR) spectrum through the Martian atmosphere and the Radiation Assessment Detector (RAD) on-board the Curiosity rover. The detector had two separate particle acceptance angles, 4π and 30 ° off zenith. All ions with Z = 1 through Z = 28 were tracked in both scenarios while some additional secondary particles were only tracked in the 4π cases. The MCNP6 4π absorbed dose rate was 307.3 ± 1.3 μGy/day while RAD measured 233 μGy/day. Using the ICRP-60 dose equivalent conversion factors built into MCNP6, the simulated 4π dose equivalent rate was found to be 473.1 ± 2.4 μSv/day while RAD reported 710 μSv/day.

  9. Simulation of the GCR spectrum in the Mars curiosity rover's RAD detector using MCNP6.

    Science.gov (United States)

    Ratliff, Hunter N; Smith, Michael B R; Heilbronn, Lawrence

    2017-08-01

    The paper presents results from MCNP6 simulations of galactic cosmic ray (GCR) propagation down through the Martian atmosphere to the surface and comparison with RAD measurements made there. This effort is part of a collaborative modeling workshop for space radiation hosted by Southwest Research Institute (SwRI). All modeling teams were tasked with simulating the galactic cosmic ray (GCR) spectrum through the Martian atmosphere and the Radiation Assessment Detector (RAD) on-board the Curiosity rover. The detector had two separate particle acceptance angles, 4π and 30 ° off zenith. All ions with Z = 1 through Z = 28 were tracked in both scenarios while some additional secondary particles were only tracked in the 4π cases. The MCNP6 4π absorbed dose rate was 307.3 ± 1.3 µGy/day while RAD measured 233 µGy/day. Using the ICRP-60 dose equivalent conversion factors built into MCNP6, the simulated 4π dose equivalent rate was found to be 473.1 ± 2.4 µSv/day while RAD reported 710 µSv/day. Copyright © 2017 The Committee on Space Research (COSPAR). Published by Elsevier Ltd. All rights reserved.

  10. 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

  11. The relativistic feedback discharge model of terrestrial gamma ray flashes

    Science.gov (United States)

    Dwyer, Joseph R.

    2012-02-01

    As thunderclouds charge, the large-scale fields may approach the relativistic feedback threshold, above which the production of relativistic runaway electron avalanches becomes self-sustaining through the generation of backward propagating runaway positrons and backscattered X-rays. Positive intracloud (IC) lightning may force the large-scale electric fields inside thunderclouds above the relativistic feedback threshold, causing the number of runaway electrons, and the resulting X-ray and gamma ray emission, to grow exponentially, producing very large fluxes of energetic radiation. As the flux of runaway electrons increases, ionization eventually causes the electric field to discharge, bringing the field below the relativistic feedback threshold again and reducing the flux of runaway electrons. These processes are investigated with a new model that includes the production, propagation, diffusion, and avalanche multiplication of runaway electrons; the production and propagation of X-rays and gamma rays; and the production, propagation, and annihilation of runaway positrons. In this model, referred to as the relativistic feedback discharge model, the large-scale electric fields are calculated self-consistently from the charge motion of the drifting low-energy electrons and ions, produced from the ionization of air by the runaway electrons, including two- and three-body attachment and recombination. Simulation results show that when relativistic feedback is considered, bright gamma ray flashes are a natural consequence of upward +IC lightning propagating in large-scale thundercloud fields. Furthermore, these flashes have the same time structures, including both single and multiple pulses, intensities, angular distributions, current moments, and energy spectra as terrestrial gamma ray flashes, and produce large current moments that should be observable in radio waves.

  12. Environmental testing of terrestrial flat plate photovoltaic modules

    Science.gov (United States)

    Hoffman, A.; Griffith, J.

    1979-01-01

    The Low-Cost Solar Array (LSA) Project at the Jet Propulsion Laboratory has as one objective: the development and implementation of environmental tests for flat plate photovoltaic modules as part of the Department of Energy's terrestrial photovoltaic program. Modules procured under this program have been subjected to a variety of laboratory tests intended to simulate service environments, and the results of these tests have been compared to available data from actual field service. This comparison indicates that certain tests (notably temperature cycling, humidity cycling, and cyclic pressure loading) are effective indicators of some forms of field failures. Other tests have yielded results useful in formulating module design guidelines. Not all effects noted in field service have been successfully reproduced in the laboratory, however, and work is continuing in order to improve the value of the test program as a tool for evaluating module design and workmanship. This paper contains a review of these ongoing efforts and an assessment of significant test results to date.

  13. Terrestrial Planet Formation from an Annulus -- Revisited

    Science.gov (United States)

    Deienno, Rogerio; Walsh, Kevin J.; Kretke, Katherine A.; Levison, Harold F.

    2018-04-01

    Numerous recent theories of terrestrial planet formation suggest that, in order to reproduce the observed large Earth to Mars mass ratio, planets formed from an annulus of material within 1 au. The success of these models typically rely on a Mars sized embryo being scattered outside 1 au (to ~1.5 au) and starving, while those remaining inside 1 au continue growing, forming Earth and Venus. In some models the scattering is instigated by the migration of giant planets, while in others an embryo-instability naturally occurs due to the dissipation of the gaseous solar nebula. While these models can typically succeed in reproducing the overall mass ratio among the planets, the final angular momentum deficit (AMD) of the present terrestrial planets in our Solar System, and their radial mass concentration (RMC), namely the position where Mars end up in the simulations, are not always well reproduced. Assuming that the gas nebula may not be entirely dissipated when such an embryo-instability happens, here, we study the effects that the time of such an instability can have on the final AMD and RMC. In addition, we also included energy dissipation within embryo-embryo collisions by assuming a given coefficient of restitution for collisions. Our results show that: i) dissipation within embryo-embryo collisions do not play any important role in the final terrestrial planetary system; ii) the final AMD decreases only when the number of final planets formed increases; iii) the RMC tends to always be lower than the present value no matter the number of final planets; and iv) depending on the time that the embryo-instability happen, if too early, with too much gas still present, a second instability will generally happen after the dissipation of the gas nebula.

  14. Halogens in chondritic meteorites and terrestrial accretion

    Science.gov (United States)

    Clay, Patricia L.; Burgess, Ray; Busemann, Henner; Ruzié-Hamilton, Lorraine; Joachim, Bastian; Day, James M. D.; Ballentine, Christopher J.

    2017-11-01

    Volatile element delivery and retention played a fundamental part in Earth’s formation and subsequent chemical differentiation. The heavy halogens—chlorine (Cl), bromine (Br) and iodine (I)—are key tracers of accretionary processes owing to their high volatility and incompatibility, but have low abundances in most geological and planetary materials. However, noble gas proxy isotopes produced during neutron irradiation provide a high-sensitivity tool for the determination of heavy halogen abundances. Using such isotopes, here we show that Cl, Br and I abundances in carbonaceous, enstatite, Rumuruti and primitive ordinary chondrites are about 6 times, 9 times and 15-37 times lower, respectively, than previously reported and usually accepted estimates. This is independent of the oxidation state or petrological type of the chondrites. The ratios Br/Cl and I/Cl in all studied chondrites show a limited range, indistinguishable from bulk silicate Earth estimates. Our results demonstrate that the halogen depletion of bulk silicate Earth relative to primitive meteorites is consistent with the depletion of lithophile elements of similar volatility. These results for carbonaceous chondrites reveal that late accretion, constrained to a maximum of 0.5 ± 0.2 per cent of Earth’s silicate mass, cannot solely account for present-day terrestrial halogen inventories. It is estimated that 80-90 per cent of heavy halogens are concentrated in Earth’s surface reservoirs and have not undergone the extreme early loss observed in atmosphere-forming elements. Therefore, in addition to late-stage terrestrial accretion of halogens and mantle degassing, which has removed less than half of Earth’s dissolved mantle gases, the efficient extraction of halogen-rich fluids from the solid Earth during the earliest stages of terrestrial differentiation is also required to explain the presence of these heavy halogens at the surface. The hydropilic nature of halogens, whereby they track

  15. Global analytic treatment of terrestrial photogrammetric networks

    CERN Document Server

    Mayoud, M

    1980-01-01

    In order to solve certain special CERN metrology problems, analytical terrestrial photogrammetry may have some advantages which are first discussed along with their drawbacks and limitations. In this application, it is necessary to carry out a rigorous and global adjustment of the observations and simultaneously process all the perspective ray bundles. The basic principles, the least squares solution and the stochastic analysis of the results are presented. However, for the CERN project, one wonders if the production of digital theodolites is going to reduce the advantages of the photogrammetric method. (12 refs).

  16. Fermi GBM Observations of Terrestrial Gamma Flashes

    Science.gov (United States)

    Wilson-Hodge, Colleen A.; Briggs, M. S.; Connaughton, V.; Fishman, G. J.; Bhat, P. N.; Paciesas, W. S.; Preece, R. D.; Kippen, R. M.; vonKienlin, A.; Dwyer, J. R.; hide

    2010-01-01

    In its first two years of operation, the Fermi Gamma Ray Burst Monitor (GBM) has observed 79 Terrestrial Gamma Flashes (TGFs). The thick Bismuth Germanate (BGO) detectors are excellent for TGF spectroscopy, having a high probability of recording the full energy of an incident photon, spanning a broad energy range from 150 keV to 40 MeV, and recording a large number of photons per TGF. Correlations between GBM TGF triggers and lightning sferics detected with the World-Wide Lightning Location Network indicate that TGFs and lightning are simultaneous to within tens of microseconds.

  17. Terrestrial plant methane production and emission

    DEFF Research Database (Denmark)

    Bruhn, Dan; Møller, Ian M.; Mikkelsen, Teis Nørgaard

    2012-01-01

    In this minireview, we evaluate all experimental work published on the phenomenon of aerobic methane (CH4) generation in terrestrial plants and plant. Clearly, despite much uncertainty and skepticism, we conclude that the phenomenon is true. Four stimulating factors have been observed to induce...... aerobic CH4 into a global budget is inadequate. Thus it is too early to draw the line under the aerobic methane emission in plants. Future work is needed for establishing the relative contribution of several proven potential CH4 precursors in plant material....

  18. Digital terrestrial television broadcasting technology and system

    CERN Document Server

    2015-01-01

    Now under massive deployment worldwide, digital terrestrial television broadcasting (DTTB) offers one of the most attractive ways to deliver digital TV over the VHF/UHF band. Written by a team of experts for specialists and non-specialists alike, this book serves as a comprehensive guide to DTTB. It covers the fundamentals of channel coding and modulation technologies used in DTTB, as well as receiver technology for synchronization, channel estimation, and equalization. It also covers the recently introduced Chinese DTTB standard, using the SFN network in Hong Kong as an example.

  19. MAFF monitoring of the terrestrial environment

    International Nuclear Information System (INIS)

    Sherlock, J.C.

    1991-01-01

    This paper addresses the MAFF food surveillance programme, in particular our Terrestrial Radioactivity Monitoring Programme (TRAMP), and the estimation of dietary intake of radionuclides. The MAFF programme exists primarily to demonstrate that authorized discharges of radioactivity to the environment do not result in individuals receiving doses of radiation in excess of accepted limits. The estimation radionuclide intake ensures over estimation rather than underestimation of dose. Improvements in detection limits and absorption level research could lower the calculated dose to man from radionuclides in food without losing their validity. (author)

  20. Bryophyte in the Beginning of Terrestrial Life

    Directory of Open Access Journals (Sweden)

    Özcan ŞİMŞEK

    2016-12-01

    Full Text Available The beginning of life has been wondered by human beings since ancient ages. The widely accepted opinion is that life began in water and after that landed. In this process, the landing of plants and adapting to terrestrial life of plants are important stages. The last 20 years it’s been done many researches to find out the relationship of bryophytes and tracheophytes. The results of these researches revealed that in evolutionary development process bryophytes and tracheophytes are sister groups. Thesis about earliest land plants are bryophytes is widely accepted recent years. To understand evolutionary process and plants of today’s better, researches about bryophytes must increase.

  1. A New Furostanol Glycoside from Tribulus terrestris

    Directory of Open Access Journals (Sweden)

    Tonghua Liu

    2010-01-01

    Full Text Available Besides two known glycosides, a new furostanol glycoside was isolated from the Fruits of Tribulus terrestris L. The structure of the new furostanol glycoside was established as 26-O-β-D-glucopyranosyl-(25S-5α-furostane-20(22-en-12-one-3β, 26-diol-3-O-α-L-rhamnopyranosyl-(1→2-[β-D-glucopyranosyl-(1→4]-β-D-galactopyranoside (1 on the basis of 1D and 2D-NMR techniques, including COSY, HMBC, and HMQC correlations.

  2. Two new furostanol saponins from Tribulus terrestris.

    Science.gov (United States)

    Xu, Ya-Juan; Xu, Tun-Hai; Zhou, Hai-Ou; Li, Bo; Xie, Sheng-Xu; Si, Yun-Shan; Liu, Yue; Liu, Tong-Hua; Xu, Dong-Ming

    2010-05-01

    Two new furostanol saponins were isolated from the fruits of Tribulus terrestris L. Their structures were established as 26-O-beta-D-glucopyranosyl-(25S)-5alpha-furost-20(22)-en-3beta,26-diol-3-O-alpha-L-rhamnopyranosyl-(1 --> 2)-[beta-D-glucopyranosyl-(1 --> 4)]-beta-D-galactopyranoside (1) and 26-O-beta-D-glucopyranosyl-(25S)-5alpha-furost-20(22)-en-12-one-3beta,26-diol-3-O-beta-D-galactopyranosyl-(1 --> 2)-beta-D-glucopyranosyl-(1 --> 4)-beta-D-galactopyranoside (2) on the basis of spectroscopic data as well as chemical evidence.

  3. A new furostanol glycoside from Tribulus terrestris.

    Science.gov (United States)

    Xu, Yajuan; Liu, Yonghong; Xu, Tunhai; Xie, Shengxu; Si, Yunshan; Liu, Yue; Zhou, Haiou; Liu, Tonghua; Xu, Dongming

    2010-01-27

    Besides two known glycosides, a new furostanol glycoside was isolated from the Fruits of Tribulus terrestris L. The structure of the new furostanol glycoside was established as 26-O-beta-D-glucopyranosyl-(25S)-5alpha-furostane-20(22)-en-12-one-3beta, 26-diol-3-O-alpha-L-rhamnopyranosyl-(1-->2)-[beta-D-glucopyranosyl-(1-->4)]-beta-D-galactopyranoside (1) on the basis of 1D and 2D-NMR techniques, including COSY, HMBC, and HMQC correlations.

  4. [Terrestrial flora of Malpelo Island, Colombia, Eastern Tropical Pacific].

    Science.gov (United States)

    González-Román, Rubén D; López-Victoria, Mateo; Silverstone-Sopkin, Philip A

    2014-03-01

    Malpelo Island is located 380km off the mainland continental coast of Colombia, in the Pacific Ocean. Several geological, ecological, and zoological studies, both marine and terrestrial, have been conducted in this island. Despite some marginal comments on some publications, no single specific survey has been devoted to botany so far. In order to make a floristic inventory of the terrestrial flora of this island, three field trips were made in 2010 to collect vascular plants, mosses, and lichens, as well as data on their distribution within the island. We collected and identified 25 species of lichens, two species of vascular plants and one moss. Lichens were the most diverse group found, including records of four new genera (Endocarpon, Fuscidea, Lecanographa and Verrucaria) and 13 new species for Colombia. The high lichen richness on Malpelo might be explained by their efficient form of asexual reproduction (soredia and isidia), that may have facilitated their transport to the island by migrating birds or wind. Once on the island, it is possible that lichens persist by being chemically protected against herbivores. The great number of new generic and species records for Colombia is explained by the low number of studies in saxicolous lichens conducted so far in the country, particularly on coastal areas and remote islands. Only two species of vascular plants were collected, a grass, Paspalum sp., and a fern, Pityrogramma calomelanos, and both of them correspond to new determinations for Malpelo. A moss species previously reported but with no positive identification was collected and identified as Octoblepharum albidum. Other species previously reported, for example, some species of shrubs, were not observed. The low number of vascular plants is probably due to a combination of soil conditions and herbivory by land crabs. This study is the first complete inventory of the flora of Malpelo and is a starting and reference point for future comparisons among islands in

  5. INVESTIGATING THE SUITABILITY OF MIRRORLESS CAMERAS IN TERRESTRIAL PHOTOGRAMMETRIC APPLICATIONS

    Directory of Open Access Journals (Sweden)

    A. H. Incekara

    2017-11-01

    Full Text Available Digital single-lens reflex cameras (DSLR which are commonly referred as mirrored cameras are preferred for terrestrial photogrammetric applications such as documentation of cultural heritage, archaeological excavations and industrial measurements. Recently, digital cameras which are called as mirrorless systems that can be used with different lens combinations have become available for using similar applications. The main difference between these two camera types is the presence of the mirror mechanism which means that the incoming beam towards the lens is different in the way it reaches the sensor. In this study, two different digital cameras, one with a mirror (Nikon D700 and the other without a mirror (Sony a6000, were used to apply close range photogrammetric application on the rock surface at Istanbul Technical University (ITU Ayazaga Campus. Accuracy of the 3D models created by means of photographs taken with both cameras were compared with each other using difference values between field and model coordinates which were obtained after the alignment of the photographs. In addition, cross sections were created on the 3D models for both data source and maximum area difference between them is quite small because they are almost overlapping. The mirrored camera has become more consistent in itself with respect to the change of model coordinates for models created with photographs taken at different times, with almost the same ground sample distance. As a result, it has been determined that mirrorless cameras and point cloud produced using photographs obtained from these cameras can be used for terrestrial photogrammetric studies.

  6. Terrestrial invertebrates in the Rhynie chert ecosystem.

    Science.gov (United States)

    Dunlop, Jason A; Garwood, Russell J

    2018-02-05

    The Early Devonian Rhynie and Windyfield cherts remain a key locality for understanding early life and ecology on land. They host the oldest unequivocal nematode worm (Nematoda), which may also offer the earliest evidence for herbivory via plant parasitism. The trigonotarbids (Arachnida: Trigonotarbida) preserve the oldest book lungs and were probably predators that practiced liquid feeding. The oldest mites (Arachnida: Acariformes) are represented by taxa which include mycophages and predators on nematodes today. The earliest harvestman (Arachnida: Opiliones) includes the first preserved tracheae, and male and female genitalia. Myriapods are represented by a scutigeromorph centipede (Chilopoda: Scutigeromorpha), probably a cursorial predator on the substrate, and a putative millipede (Diplopoda). The oldest springtails (Hexapoda: Collembola) were probably mycophages, and another hexapod of uncertain affinities preserves a gut infill of phytodebris. The first true insects (Hexapoda: Insecta) are represented by a species known from chewing (non-carnivorous?) mandibles. Coprolites also provide insights into diet, and we challenge previous assumptions that several taxa were spore-feeders. Rhynie appears to preserve a largely intact community of terrestrial animals, although some expected groups are absent. The known fossils are (ecologically) consistent with at least part of the fauna found around modern Icelandic hot springs.This article is part of a discussion meeting issue 'The Rhynie cherts: our earliest terrestrial ecosystem revisited'. © 2017 The Author(s).

  7. Carbon dioxide efficiency of terrestrial enhanced weathering.

    Science.gov (United States)

    Moosdorf, Nils; Renforth, Phil; Hartmann, Jens

    2014-05-06

    Terrestrial enhanced weathering, the spreading of ultramafic silicate rock flour to enhance natural weathering rates, has been suggested as part of a strategy to reduce global atmospheric CO2 levels. We budget potential CO2 sequestration against associated CO2 emissions to assess the net CO2 removal of terrestrial enhanced weathering. We combine global spatial data sets of potential source rocks, transport networks, and application areas with associated CO2 emissions in optimistic and pessimistic scenarios. The results show that the choice of source rocks and material comminution technique dominate the CO2 efficiency of enhanced weathering. CO2 emissions from transport amount to on average 0.5-3% of potentially sequestered CO2. The emissions of material mining and application are negligible. After accounting for all emissions, 0.5-1.0 t CO2 can be sequestered on average per tonne of rock, translating into a unit cost from 1.6 to 9.9 GJ per tonne CO2 sequestered by enhanced weathering. However, to control or reduce atmospheric CO2 concentrations substantially with enhanced weathering would require very large amounts of rock. Before enhanced weathering could be applied on large scales, more research is needed to assess weathering rates, potential side effects, social acceptability, and mechanisms of governance.

  8. The penetrating depth analysis of Lunar Penetrating Radar onboard Chang’e-3 rover

    Science.gov (United States)

    Xing, Shu-Guo; Su, Yan; Feng, Jian-Qing; Dai, Shun; Xiao, Yuan; Ding, Chun-Yu; Li, Chun-Lai

    2017-04-01

    Lunar Penetrating Radar (LPR) has successfully been used to acquire a large amount of scientific data during its in-situ detection. The analysis of penetrating depth can help to determine whether the target is within the effective detection range and contribute to distinguishing useful echoes from noise. First, this study introduces two traditional methods, both based on a radar transmission equation, to calculate the penetrating depth. The only difference between the two methods is that the first method adopts system calibration parameters given in the calibration report and the second one uses high-voltage-off radar data. However, some prior knowledge and assumptions are needed in the radar equation and the accuracy of assumptions will directly influence the final results. Therefore, a new method termed the Correlation Coefficient Method (CCM) is provided in this study, which is only based on radar data without any a priori assumptions. The CCM can obtain the penetrating depth according to the different correlation between reflected echoes and noise. To be exact, there is a strong correlation in the useful reflected echoes and a random correlation in the noise between adjacent data traces. In addition, this method can acquire a variable penetrating depth along the profile of the rover, but only one single depth value can be obtained from traditional methods. Through a simulation, the CCM has been verified as an effective method to obtain penetration depth. The comparisons and analysis of the calculation results of these three methods are also implemented in this study. Finally, results show that the ultimate penetrating depth of Channel 1 and the estimated penetrating depth of Channel 2 range from 136.9 m to 165.5 m ({\\varepsilon }r=6.6) and from 13.0 m to 17.5 m ({\\varepsilon }r=2.3), respectively.

  9. Parameters of electromagnetic weather in near-terrestrial space determining the effects on biosystems

    International Nuclear Information System (INIS)

    Oraevskij, V.N.; Golyshev, S.A.; Levitin, A.E.; Breus, T.K.; Ivanova, S.V.; Komarov, F.I.; Rapoport, S.I.

    1995-01-01

    Space and time distribution of the electric and magnetic fields and current systems in the near terrestrial space (electromagnetic weather) were studied in connection with ambulance calls in Moscow, Russia, related to the cardia-vascular diseases. The some examples of the correlations between the solar activity parameters and geomagnetic variations and the events of the extreme number of ambulance calls were presented. 4 refs., 5 figs., 2 tabs

  10. The Geology of Inferno Chasm, Idaho: a Terrestrial Analog for Lunar Rilles?

    Science.gov (United States)

    Garry, William B.; Hughes, Scott S.; Kobs Nawotniak, Shannon E.; Neish, Catherine D.; Haberle, Christopher W.; Heldmann, Jennifer L.; Lim, Darlene S. S.

    2014-01-01

    Lunar sinuous rilles are thought to have formed by thermal erosion, mechanical erosion, construction, or a combination of these processes via emplacement by lava tubes or lava channels. The investigation of Hadley Rille by Apollo 15 provided the first field observations of a rille, but remote sensing observations remain our primary method for studying these features. Terrestrial volcanic features with similar morphologies to lunar rilles can provide insight into their formation on the Moon.

  11. Terrestrial Soundscapes: Status of Ecological Research in Natural and Human-Dominated Landscapes.

    Science.gov (United States)

    Pijanowski, Bryan Christopher

    2016-01-01

    Soundscape ecological research in terrestrial systems is relatively new. In this paper, I present a brief summary of the origins of this research area, describe research questions related to several research thrusts that are ongoing, summarize several soundscape projects that exist and how these relate to the research thrusts, and briefly describe the work of a global network of scientists, musicians, and engineers that are attempting to move this new field forward.

  12. Amphibians at risk? Susceptibility of terrestrial amphibian life stages to pesticides.

    Science.gov (United States)

    Brühl, Carsten A; Pieper, Silvia; Weber, Brigitte

    2011-11-01

    Current pesticide risk assessment does not specifically consider amphibians. Amphibians in the aquatic environment (aquatic life stages or postmetamorphic aquatic amphibians) and terrestrial living juvenile or adult amphibians are assumed to be covered by the risk assessment for aquatic invertebrates and fish, or mammals and birds, respectively. This procedure has been evaluated as being sufficiently protective regarding the acute risk posed by a number of pesticides to aquatic amphibian life stages (eggs, larvae). However, it is unknown whether the exposure and sensitivity of terrestrial living amphibians are comparable to mammalian and avian exposure and sensitivity. We reviewed the literature on dermal pesticide absorption and toxicity studies for terrestrial life stages of amphibians, focusing on the dermal exposure pathway, that is, through treated soil or direct overspray. In vitro studies demonstrated that cutaneous absorption of chemicals is significant and that chemical percutaneous passage, P (cm/h), is higher in amphibians than in mammals. In vivo, the rapid and substantial uptake of the herbicide atrazine from treated soil by toads (Bufo americanus) has been described. Severe toxic effects on various amphibian species have been reported for field-relevant application rates of different pesticides. In general, exposure and toxicity studies for terrestrial amphibian life stages are scarce, and the reported data indicate the need for further research, especially in light of the global amphibian decline. Copyright © 2011 SETAC.

  13. Consequences of simulating terrestrial N dynamics for projecting future terrestrial C storage

    Science.gov (United States)

    Zaehle, S.; Friend, A. D.; Friedlingstein, P.

    2009-04-01

    We present results of a new land surface model, O-CN, which includes a process-based coupling between the terrestrial cycling of energy, water, carbon, and nitrogen. The model represents the controls of the terrestrial nitrogen (N) cycling on carbon (C) pools and fluxes through photosynthesis, respiration, changes in allocation patterns, as well as soil organic matter decomposition, and explicitly accounts for N leaching and gaseous losses. O-CN has been shown to give realistic results in comparison to observations at a wide range of scales, including in situ flux measurements, productivity databases, and atmospheric CO2 concentration data. Notably, O-CN simulates realistic responses of net primary productivity, foliage area, and foliage N content to elevated atmospheric [CO2] as evidenced at free air carbon dioxide enrichment (FACE) sites (Duke, Oak Ridge). We re-examine earlier model-based assessments of the terrestrial C sequestration potential using a global transient O-CN simulation driven by increases in atmospheric [CO2], N deposition and climatic changes over the 21st century. We find that accounting for terrestrial N cycling about halves the potential to store C in response to increases in atmospheric CO2 concentrations; mainly due to a reduction of the net C uptake in temperate and boreal forests. Nitrogen deposition partially alleviates the effect of N limitation, but is by far not sufficient to compensate for the effect completely. These findings underline the importance of an accurate representation of nutrient limitations in future projections of the terrestrial net CO2 exchanges and therefore land-climate feedback studies.

  14. Intersystem Interference Reduction for Overlaid HAPS-Terrestrial CDMA System

    Science.gov (United States)

    Huang, Jeng-Ji; Wang, Wei-Ting; Li, Mingfu; Shiung, David; Ferng, Huei-Wen

    In this letter, we propose that directional antennas, combined with power management, be incorporated to reduce intersystem interference in a shared band overlaid high altitude platform station (HAPS)-terrestrial code division multiple access (CDMA) system. To eliminate the HAPS to terrestrial interference, the HAPS is accessed only via directional antennas under the proposed scheme. By doing so, the uplink power to the HAPS can accordingly be increased, so that the terrestrial to HAPS interference is also effectively suppressed.

  15. Equilibration of the terrestrial water, nitrogen, and carbon cycles

    OpenAIRE

    Schimel, David S.; Braswell, B. H.; Parton, W. J.

    1997-01-01

    Recent advances in biologically based ecosystem models of the coupled terrestrial, hydrological, carbon, and nutrient cycles have provided new perspectives on the terrestrial biosphere’s behavior globally, over a range of time scales. We used the terrestrial ecosystem model Century to examine relationships between carbon, nitrogen, and water dynamics. The model, run to a quasi-steady-state, shows strong correlations between carbon, water, and nitrogen fluxes that l...

  16. Ancient sedimentary structures in the Mars, that resemble macroscopic morphology, spatial associations, and temporal succession in terrestrial microbialites.

    Science.gov (United States)

    Noffke, Nora

    2015-02-01

    Sandstone beds of the Mars have been interpreted as evidence of an ancient playa lake environment. On Earth, such environments have been sites of colonization by microbial mats from the early Archean to the present time. Terrestrial microbial mats in playa lake environments form microbialites known as microbially induced sedimentary structures (MISS). On Mars, three lithofacies of the Gillespie Lake Member sandstone display centimeter- to meter-scale structures similar in macroscopic morphology to terrestrial MISS that include "erosional remnants and pockets," "mat chips," "roll-ups," "desiccation cracks," and "gas domes." The microbially induced sedimentary-like structures identified in Curiosity rover mission images do not have a random distribution. Rather, they were found to be arranged in spatial associations and temporal successions that indicate they changed over time. On Earth, if such MISS occurred with this type of spatial association and temporal succession, they would be interpreted as having recorded the growth of a microbially dominated ecosystem that thrived in pools that later dried completely: erosional pockets, mat chips, and roll-ups resulted from water eroding an ancient microbial mat-covered sedimentary surface; during the course of subsequent water recess, channels would have cut deep into the microbial mats, leaving erosional remnants behind; desiccation cracks and gas domes would have occurred during a final period of subaerial exposure of the microbial mats. In this paper, the similarities of the macroscopic morphologies, spatial associations, and temporal succession of sedimentary structures on Mars to MISS preserved on Earth has led to the following hypothesis: The sedimentary structures in the Mars are ancient MISS produced by interactions between microbial mats and their environment. Proposed here is a strategy for detecting, identifying, confirming, and differentiating possible MISS during current and future Mars missions.

  17. PDS4 vs PDS3 - A Comparison of PDS Data for Two Mars Rovers - Existing Mars Curiosity Mission Mass Spectrometer (SAM) PDS3 Data vs Future ExoMars Rover Mass Spectrometer (MOMA) PDS4 Data

    Science.gov (United States)

    Lyness, E.; Franz, H. B.; Prats, B.

    2017-12-01

    The Sample Analysis at Mars (SAM) instrument is a suite of instruments on Mars aboard the Mars Science Laboratory rover. Centered on a mass spectrometer, SAM delivers its data to the PDS Atmosphere's node in PDS3 format. Over five years on Mars the process of operating SAM has evolved and extended significantly from the plan in place at the time the PDS3 delivery specification was written. For instance, SAM commonly receives double or even triple sample aliquots from the rover's drill. SAM also stores samples in spare cups for long periods of time for future analysis. These unanticipated operational changes mean that the PDS data deliveries are absent some valuable metadata without which the data can be confusing. The Mars Organic Molecule Analyzer (MOMA) instrument is another suite of instruments centered on a mass spectrometer bound for Mars. MOMA is part of the European ExoMars rover mission schedule to arrive on Mars in 2021. While SAM and MOMA differ in some important scientific ways - MOMA uses an linear ion trap compared to the SAM quadropole mass spectrometer and MOMA has a laser desorption experiment that SAM lacks - the data content from the PDS point of view is comparable. Both instruments produce data containing mass spectra acquired from solid samples collected on the surface of Mars. The MOMA PDS delivery will make use of PDS4 improvements to provide a metadata context to the data. The MOMA PDS4 specification makes few assumptions of the operational processes. Instead it provides a means for the MOMA operators to provide the important contextual metadata that was unanticipated during specification development. Further, the software tools being developed for instrument operators will provide a means for the operators to add this crucial metadata at the time it is best know - during operations.

  18. Commercialization of terrestrial applications of aerospace power technology

    International Nuclear Information System (INIS)

    Landsberg, D.R.

    1992-01-01

    The potential for commercialization of terrestrial energy systems based upon aerospace power technology's explored. Threats to the aerospace power technology industry, caused by the end of the cold war and weak world economy are described. There are also new opportunities caused by increasing terrestrial energy needs and world-wide concern for the environment. In this paper, the strengths and weaknesses of the aerospace power industry in commercializing terrestrial energy technologies are reviewed. Finally, actions which will enable the aerospace power technology industry to commercialize products into terrestrial energy markets are described

  19. Estimating Tropical Forest Structure Using a Terrestrial Lidar.

    Science.gov (United States)

    Palace, Michael; Sullivan, Franklin B; Ducey, Mark; Herrick, Christina

    2016-01-01

    Forest structure comprises numerous quantifiable biometric components and characteristics, which include tree geometry and stand architecture. These structural components are important in the understanding of the past and future trajectories of these biomes. Tropical forests are often considered the most structurally complex and yet least understood of forested ecosystems. New technologies have provided novel avenues for quantifying biometric properties of forested ecosystems, one of which is LIght Detection And Ranging (lidar). This sensor can be deployed on satellite, aircraft, unmanned aerial vehicles, and terrestrial platforms. In this study we examined the efficacy of a terrestrial lidar scanner (TLS) system in a tropical forest to estimate forest structure. Our study was conducted in January 2012 at La Selva, Costa Rica at twenty locations in a predominantly undisturbed forest. At these locations we collected field measured biometric attributes using a variable plot design. We also collected TLS data from the center of each plot. Using this data we developed relative vegetation profiles (RVPs) and calculated a series of parameters including entropy, Fast Fourier Transform (FFT), number of layers and plant area index to develop statistical relationships with field data. We developed statistical models using a series of multiple linear regressions, all of which converged on significant relationships with the strongest relationship being for mean crown depth (r2 = 0.88, p < 0.001, RMSE = 1.04 m). Tree density was found to have the poorest significant relationship (r2 = 0.50, p < 0.01, RMSE = 153.28 n ha-1). We found a significant relationship between basal area and lidar metrics (r2 = 0.75, p < 0.001, RMSE = 3.76 number ha-1). Parameters selected in our models varied, thus indicating the potential relevance of multiple features in canopy profiles and geometry that are related to field-measured structure. Models for biomass estimation included structural canopy

  20. Estimating Tropical Forest Structure Using a Terrestrial Lidar.

    Directory of Open Access Journals (Sweden)

    Michael Palace

    Full Text Available Forest structure comprises numerous quantifiable biometric components and characteristics, which include tree geometry and stand architecture. These structural components are important in the understanding of the past and future trajectories of these biomes. Tropical forests are often considered the most structurally complex and yet least understood of forested ecosystems. New technologies have provided novel avenues for quantifying biometric properties of forested ecosystems, one of which is LIght Detection And Ranging (lidar. This sensor can be deployed on satellite, aircraft, unmanned aerial vehicles, and terrestrial platforms. In this study we examined the efficacy of a terrestrial lidar scanner (TLS system in a tropical forest to estimate forest structure. Our study was conducted in January 2012 at La Selva, Costa Rica at twenty locations in a predominantly undisturbed forest. At these locations we collected field measured biometric attributes using a variable plot design. We also collected TLS data from the center of each plot. Using this data we developed relative vegetation profiles (RVPs and calculated a series of parameters including entropy, Fast Fourier Transform (FFT, number of layers and plant area index to develop statistical relationships with field data. We developed statistical models using a series of multiple linear regressions, all of which converged on significant relationships with the strongest relationship being for mean crown depth (r2 = 0.88, p < 0.001, RMSE = 1.04 m. Tree density was found to have the poorest significant relationship (r2 = 0.50, p < 0.01, RMSE = 153.28 n ha-1. We found a significant relationship between basal area and lidar metrics (r2 = 0.75, p < 0.001, RMSE = 3.76 number ha-1. Parameters selected in our models varied, thus indicating the potential relevance of multiple features in canopy profiles and geometry that are related to field-measured structure. Models for biomass estimation included