An update of the Near-Earth Asteroid Tracking/Maui Space Surveillance System (NEAT/MSSS) collaboration

NASA Technical Reports Server (NTRS)

Bambery, R. J.; Helin, E. F.; Pravdo, S. H.; Lawrence, K. J.; Hicks, M. D.

2002-01-01

Jet Propulsion Laboratory's (JPL) Near-Earth Asteroid Tracking (NEAT) program has two simultaneously-operating, autonomous search systems on two geographically-separated 1.2-m telescopes; one at the Maui Space Surveillance System (NEAT/MSSS) and the other on the Palomar Observatory's Oschin telescope (NEAT/Palomar). This paper will focus exclusively on the NEAT/MSSS system.

Revolutionizing Remote Exploration with ANTS

NASA Astrophysics Data System (ADS)

Clark, P. E.; Rilee, M. L.; Curtis, S.; Truszkowski, W.

2002-05-01

We are developing the Autonomous Nano-Technology Swarm (ANTS) architecture based on an insect colony analogue for the cost-effective, efficient, systematic survey of remote or inaccessible areas with multiple object targets, including planetary surface, marine, airborne, and space environments. The mission context is the exploration in the 2020s of the most compelling remaining targets in the solar system: main belt asteroids. Main belt asteroids harbor important clues to Solar System origins and evolution which are central to NASA's goals in Space Science. Asteroids are smaller than planets, but their number is far greater, and their combined surface area likely dwarfs the Earth's. An asteroid survey will dramatically increase our understanding of the local resources available for the Human Exploration and Development of Space. During the mission composition, shape, gravity, and orbit parameters could be returned to Earth for perhaps several thousand asteroids. A survey of this area will rival the great explorations that encircled this globe, opened up the New World, and laid the groundwork for the progress and challenges of the last centuries. The ANTS architecture for a main belt survey consists of a swarm of as many as a thousand or more highly specialized pico-spacecraft that form teams to survey as many as one hundred asteroids a month. Multi-level autonomy is critical for ANTS and the objective of the proposed study is to work through the implications and constraints this entails. ANTS couples biologically inspired autonomic control for basic functions to higher level artificial intelligence that together enable individual spacecraft to operate as specialized, cooperative, social agents. This revolutionary approach postulates highly advanced, but familiar, components integrated and operated in a way that uniquely transcends any evolutionary extrapolation of existing trends and enables thousand-spacecraft missions.

Geologic Mapping of the Av-11 Pinaria Quadrangle of Asteroid 4 Vesta

NASA Astrophysics Data System (ADS)

Hoogenboom, T.; Schenk, P.; White, O. L.; Williams, D.; Heisinger, H.; Garry, W. B.; Yingst, R. A.; Buczkowski, D. L.; McCord, T. B.; Jaumann, R.; Pieters, C. M.; Gaskell, R. W.; Neukum, G.; Schmedemann, N.; Marchi, S.; Nathues, A.; Lecorre, L.; Roatsch, T.; Preusker, F.; de Sanctis, M. C.; Fillacchione, G.; Raymond, C. A.; Russell, C. T.

2012-03-01

Dawn entered orbit of the asteroid 4 Vesta in 7/2011, to characterize its geology, elemental and mineralogical composition, topography, shape, and internal structure. This abstract describes the results from mapping quadrangle Av-11.

In-situ Image Acquisition Strategy on Asteroid Surface by MINERVA Rover in HAYABUSA Mission

NASA Astrophysics Data System (ADS)

Yoshimitsu, T.; Sasaki, S.; Yanagisawa, M.

Institute of Space and Astronautical Science (ISAS) has launched the engineering test spacecraft ``HAYABUSA'' (formerly called ``MUSES-C'') to the near Earth asteroid ``ITOKAWA (1998SF36)'' on May 9, 2003. HAYABUSA will go to the target asteroid after two years' interplanetary cruise and will descend onto the asteroid surface in 2005 to acquire some fragments, which will be brought back to the Earth in 2007. A tiny rover called ``MINERVA'' has boarded the HAYABUSA spacecraft. MINERVA is the first asteroid rover in the world. It will be deployed onto the surface immediately before the spacecraft touches the asteroid to acquire some fragments. Then it will autonomously move over the surface by hopping for a couple of days and the obtained data on multiple places are transmitted to the Earth via the mother spacecraft. Small cameras and thermometers are installed in the rover. This paper describes the image acquisition strategy by the cameras installed in the rover.

Rapid Generation of Optimal Asteroid Powered Descent Trajectories Via Convex Optimization

NASA Technical Reports Server (NTRS)

Pinson, Robin; Lu, Ping

2015-01-01

This paper investigates a convex optimization based method that can rapidly generate the fuel optimal asteroid powered descent trajectory. The ultimate goal is to autonomously design the optimal powered descent trajectory on-board the spacecraft immediately prior to the descent burn. Compared to a planetary powered landing problem, the major difficulty is the complex gravity field near the surface of an asteroid that cannot be approximated by a constant gravity field. This paper uses relaxation techniques and a successive solution process that seeks the solution to the original nonlinear, nonconvex problem through the solutions to a sequence of convex optimal control problems.

Autonomous Agents on Expedition: Humans and Progenitor Ants and Planetary Exploration

NASA Astrophysics Data System (ADS)

Rilee, M. L.; Clark, P. E.; Curtis, S. A.; Truszkowski, W. F.

2002-01-01

The Autonomous Nano-Technology Swarm (ANTS) is an advanced mission architecture based on a social insect analog of many specialized spacecraft working together to achieve mission goals. The principal mission concept driving the ANTS architecture is a Main Belt Asteroid Survey in the 2020s that will involve a thousand or more nano-technology enabled, artificially intelligent, autonomous pico-spacecraft (< 1 kg). The objective of this survey is to construct a compendium of composition, shape, and other physical parameter observations of a significant fraction of asteroid belt objects. Such an atlas will be of primary scientific importance for the understanding of Solar System origins and evolution and will lay the foundation for future exploration and capitalization of space. As the capabilities enabling ANTS are developed over the next two decades, these capabilities will need to be proven. Natural milestones for this process include the deployment of progenitors to ANTS on human expeditions to space and remote missions with interfaces for human interaction and control. These progenitors can show up in a variety of forms ranging from spacecraft subsystems and advanced handheld sensors, through complete prototypical ANTS spacecraft. A critical capability to be demonstrated is reliable, long-term autonomous operations across the ANTS architecture. High level, mission-oriented behaviors are to be managed by a control / communications layer of the swarm, whereas common low level functions required of all spacecraft, e.g. attitude control and guidance and navigation, are handled autonomically on each spacecraft. At the higher levels of mission planning and social interaction deliberative techniques are to be used. For the asteroid survey, ANTS acts as a large community of cooperative agents while for precursor missions there arises the intriguing possibility of Progenitor ANTS and humans acting together as agents. For optimal efficiency and responsiveness for individual spacecraft at the lowest levels of control we have been studying control methods based on nonlinear dynamical systems. We describe the critically important autonomous control architecture of the ANTS mission concept and a sequence of partial implementations that feature increasingly autonomous behaviors. The scientific and engineering roles that these Progenitor ANTS could play in human missions or remote missions with near real time human interactions, particularly to the Moon and Mars, will be discussed.

A Computationally Inexpensive Optimal Guidance via Radial-Basis-Function Neural Network for Autonomous Soft Landing on Asteroids

PubMed Central

Zhang, Peng; Liu, Keping; Zhao, Bo; Li, Yuanchun

2015-01-01

Optimal guidance is essential for the soft landing task. However, due to its high computational complexities, it is hardly applied to the autonomous guidance. In this paper, a computationally inexpensive optimal guidance algorithm based on the radial basis function neural network (RBFNN) is proposed. The optimization problem of the trajectory for soft landing on asteroids is formulated and transformed into a two-point boundary value problem (TPBVP). Combining the database of initial states with the relative initial co-states, an RBFNN is trained offline. The optimal trajectory of the soft landing is determined rapidly by applying the trained network in the online guidance. The Monte Carlo simulations of soft landing on the Eros433 are performed to demonstrate the effectiveness of the proposed guidance algorithm. PMID:26367382

Serendipitous observations of asteroids in Herschel PACS and SPIRE maps

NASA Astrophysics Data System (ADS)

Szakáts, R.; Kiss, Cs.; Marton, G.; Varga-Verebélyi, E.; Müller, T.; Pál, A.

2017-09-01

We present our methods and results in finding serendipitous solar system objects on Herschel PACS and SPIRE maps. We can use this data to supplement the Herschel PACS and SPIRE point source catalogs with flags of possible contamination and to obtain thermal infrared fluxes for these asteroids.

Innovative Strategies for Asteroid Precursor Exploration

NASA Astrophysics Data System (ADS)

Klaus, K.; Lawrence, S.; Elsperman, M. S.; Smith, D. B.

2011-12-01

Introduction: Our ambitions for space exploration have outpaced our ability to afford frequent visits to targets of interest. Launch costs and development times continue to increase for getting large space craft to deep space. This particularly affects workforce development and imperils opportunities for new development starts. The time has come to leverage technology advances (including advances in autonomous operation and propulsion technology) to reduce the cost and increase the flight rate of planetary missions, while actively developing a scientific and engineering workforce to achieve national space objectives. Background: As demonstrated by the 1994 Clementine mission, planetary exploration missions maximizing off-the-shelf components to obtain a focused set of measurement objectives can make meaningful contributions to advancing the frontiers of space exploration by achieving numerous science and exploration objectives. Near Earth Objects [NEOs] are interesting candidates for missions of this nature. While results from recent missions (i.e., Hayabusa, NEAR, Dawn) have dramatically increased our understanding of asteroids, important questions remain. For example, characterizing the properties of asteroid regolith is an important consideration for understanding telescopic observations of asteroids, as well as preparing for future asteroid human exploration. Spacecraft Concepts: There are many candidate target asteroids that are attainable with our concept. We envision a "mothership" carrying 2-3 nanosats to the target. The nanosats would serve as in-situ explorers. The spacecraft is notionally designed for launch on a Taurus II. Our study intends on validating the concept and our notional spacecraft design will be refined and presented. The current dry mass with nanosats is estimated to be 750kg. The 1999 JU3 mission concept is a rendezvous with a 950 kg of initial spacecraft mass, launched to a C3 of 4 km2/s2. Subtracting the spacecraft dry mass from the initial mass gives a propellant loading of 200 kg. The solution for this case required 115.3 kg of propellant, leaving a 42% propellant margin. Science Instrumentation: Key objectives of this notional asteroid explorer would include: (1) high-resolution surface topography; (2) characterization surface composition and mineralogy; (3) quantification of the radiation environment near an NEO; and (4) mechanical properties of surface, if a touchdown takes place. Each nanosat would notionally contain a stereo camera for navigation, an alpha proton x-ray spectrometer to make measurements of the surface chemistry, and a microscopic imaging system to characterize the particle size distribution of asteroid regolith; multiple nanosats would provided redundancy for the in-situ surface characterization phase of the mission and enable a rudimentary gravity map through radio signal tracking.

The OSIRIS-REx Visible and InfraRed Spectrometer (OVIRS): Spectral Maps of the Asteroid Bennu

NASA Astrophysics Data System (ADS)

Reuter, D. C.; Simon, A. A.; Hair, J.; Lunsford, A.; Manthripragada, S.; Bly, V.; Bos, B.; Brambora, C.; Caldwell, E.; Casto, G.; Dolch, Z.; Finneran, P.; Jennings, D.; Jhabvala, M.; Matson, E.; McLelland, M.; Roher, W.; Sullivan, T.; Weigle, E.; Wen, Y.; Wilson, D.; Lauretta, D. S.

2018-03-01

The OSIRIS-REx Visible and Infrared Spectrometer (OVIRS) is a point spectrometer covering the spectral range of 0.4 to 4.3 microns (25,000-2300 cm-1). Its primary purpose is to map the surface composition of the asteroid Bennu, the target asteroid of the OSIRIS-REx asteroid sample return mission. The information it returns will help guide the selection of the sample site. It will also provide global context for the sample and high spatial resolution spectra that can be related to spatially unresolved terrestrial observations of asteroids. It is a compact, low-mass (17.8 kg), power efficient (8.8 W average), and robust instrument with the sensitivity needed to detect a 5% spectral absorption feature on a very dark surface (3% reflectance) in the inner solar system (0.89-1.35 AU). It, in combination with the other instruments on the OSIRIS-REx Mission, will provide an unprecedented view of an asteroid's surface.

Verification of NASA Emergent Systems

NASA Technical Reports Server (NTRS)

Rouff, Christopher; Vanderbilt, Amy K. C. S.; Truszkowski, Walt; Rash, James; Hinchey, Mike

2004-01-01

NASA is studying advanced technologies for a future robotic exploration mission to the asteroid belt. This mission, the prospective ANTS (Autonomous Nano Technology Swarm) mission, will comprise of 1,000 autonomous robotic agents designed to cooperate in asteroid exploration. The emergent properties of swarm type missions make them powerful, but at the same time are more difficult to design and assure that the proper behaviors will emerge. We are currently investigating formal methods and techniques for verification and validation of future swarm-based missions. The advantage of using formal methods is their ability to mathematically assure the behavior of a swarm, emergent or otherwise. The ANT mission is being used as an example and case study for swarm-based missions for which to experiment and test current formal methods with intelligent swam. Using the ANTS mission, we have evaluated multiple formal methods to determine their effectiveness in modeling and assuring swarm behavior.

Two cubesat mission to study the Didymos asteroid system

NASA Astrophysics Data System (ADS)

Wahlund, J.-E.; Vinterhav, E.; Trigo-Rodríguez, J. M.; Hallmann, M.; Barabash, S.; Ivchenko, N.

2015-10-01

Among the growing interest about asteroid impact hazard mitigation in our community the Asteroid Impact & Deflection Assessment (AIDA) mission will be the first space experiment to use a kinetic impactor to demonstrate its capability as reliable deflection system [1]. As a part of the AIDA mission, we have proposed a set of two three-axis stabilized 3U CubeSats (with up to 5 science sensors) to simultaneously rendezvous at close range (<500m) with both the primary and the secondary component of the Didymos asteroid system. The CubeSats will be hosted on the ESA component of the AIDA mission, the monitoring satellite AIM (Asteroid Impact Mission). The CubeSats will characterise the magnetization, the main bulk chemical composition and presence of volatiles as well as do superresolution surface imaging of the Didymos components. The CubeSats will also support the plume characterisation resulting from the DART impact (Double Asteroid Redirection Test, a NASA component of the AIDA mission) at much closer range than the AIM main spacecraft, and provide imaging, composition, and temperature of the plume material. At end of the mission, the two CubeSats can optionally land on one of the asteroids for continued science operation. The science sensors consist of a dual fluxgate magnetometer (MAG), one miniaturized volatile composition analyser (VCA), a narrow angle camera (NAC) and a Video Emission Spectrometer (VES) with a diffraction grating for allowing a sequential chemical study of the emission spectra associated with the impact flare and the expanding plume. Consequently, the different envisioned instruments onboard the CubeSats can provide significant insight into the complex response of asteroid materials during impacts that has been theoretically studied using different techniques [2]. The two CubeSats will remain stowed in CubeSat dispensers aboard the main AIM spacecraft. They will be deployed and commissioned before the AIM impactor reaches the secondary and record the impact event from a closer vantage point than the main spacecraft. The two CubeSats are equipped with relative navigation systems capable of estimating the spacecraft position relative to the asteroids and propulsion system that allow them to operate close to the asteroid bodies. The two CubeSats will rely on mapping data relayed via the AIM main spacecraft but operate autonomously and individually based on schedules and navigation maps uploaded from ground. AIDA's target is the binary Apollo asteroid 65803 Didymos that is also catalogued as Potentially Hazardous Asteroid (PHA) because it experiences close approaches to Earth. Didymos' primary has a diameter of ˜800 meters and the secondary is ˜150 m across. Both bodies are separated about 1.1 km [3]. The rotation period and asymmetry of the secondary object is unknown, and it might be tidally locked to the larger primary body. At least the primary body is expected to be associated with ordinary chondrite material, consisting mostly of silicates, and metal, but the earlier made Xk classification suggested a rubble-pile type with large amount of volatile content. The secondary companion spectral class is unknown, but the total mass of the system suggests that the secondary companion could be of similar class. Detailed empirical information on the physical properties of the Didymos asteroid system, in particular the magnetic field, the (mineralogical) surface composition, the internal composition via the bulk density, the ages of surface units through crater counts and other morphological surface features is valuable in order to make progress in the asteroid field of science. Furthermore, the periodic effect of such a close dynamic system in the presence and temporal displacement of the surface regolith is EPSC Abstracts Vol. 10, EPSC2015-698, 2015 European Planetary Science Congress 2015 c Author(s) 2015 EPSC European Planetary Science Congress unknown, and could be followed using close-up video systems provided by the CubeSats. In conclusion, the proposed two CubeSats as part of the AIDA mission can therefore contribute significantly, since they can monitor the Didymos asteroid components at a very close range around hundred meters, and at the same time monitor in-situ an impact plume when it is created.

Instabilities in the Sun-Jupiter-Asteroid three body problem

NASA Astrophysics Data System (ADS)

Urschel, John C.; Galante, Joseph R.

2013-03-01

We consider dynamics of a Sun-Jupiter-Asteroid system, and, under some simplifying assumptions, show the existence of instabilities in the motions of an asteroid. In particular, we show that an asteroid whose initial orbit is far from the orbit of Mars can be gradually perturbed into one that crosses Mars' orbit. Properly formulated, the motion of the asteroid can be described as a Hamiltonian system with two degrees of freedom, with the dynamics restricted to a "large" open region of the phase space reduced to an exact area preserving map. Instabilities arise in regions where the map has no invariant curves. The method of MacKay and Percival is used to explicitly rule out the existence of these curves, and results of Mather abstractly guarantee the existence of diffusing orbits. We emphasize that finding such diffusing orbits numerically is quite difficult, and is outside the scope of this paper.

Optical remote sensing of asteroid surfaces from spacecraft

NASA Technical Reports Server (NTRS)

Mccord, T. B.

1978-01-01

Reflectance spectroscopy and multispectral mapping are the techniques likely to be most useful for determining asteroid surfaces. Several other techniques should be considered for providing complementary information.

Solar System evolution from compositional mapping of the asteroid belt.

PubMed

DeMeo, F E; Carry, B

2014-01-30

Advances in the discovery and characterization of asteroids over the past decade have revealed an unanticipated underlying structure that points to a dramatic early history of the inner Solar System. The asteroids in the main asteroid belt have been discovered to be more compositionally diverse with size and distance from the Sun than had previously been known. This implies substantial mixing through processes such as planetary migration and the subsequent dynamical processes.

Guided asteroid deflection by kinetic impact: Mapping keyholes to an asteroid's surface

NASA Astrophysics Data System (ADS)

Chesley, S.; Farnocchia, D.

2014-07-01

The kinetic impactor deflection approach is likely to be the optimal deflection strategy in most real-world cases, given the likelihood of decades of warning time provided by asteroid search programs and the probable small size of the next confirmed asteroid impact that would require deflection. However, despite its straightforward implementation, the kinetic impactor approach can have its effectiveness limited by the astrodynamics that govern the impactor spacecraft trajectory. First, the deflection from an impact is maximized when the asteroid is at perihelion, while an impact near perihelion can in some cases be energetically difficult to implement. Additionally, the asteroid change in velocity Δ V should aligned with the target's heliocentric velocity vector in order to maximize the deflection at a potential impact some years in the future. Thus the relative velocity should be aligned with or against the heliocentric velocity, which implies that the impactor and asteroid orbits should be tangent at the point of impact. However, for natural bodies such as meteorites colliding with the Earth, the relative velocity vectors tend to cluster near the sunward or anti- sunward directions, far from the desired direction. This is because there is generally a significant crossing angle between the orbits of the impactor and target and an impact at tangency is unusual. The point is that hitting the asteroid is not enough, but rather we desire to hit the asteroid at a point when the asteroid and spacecraft orbits are nearly tangent and when the asteroid is near perihelion. However, complicating the analysis is the fact that the impact of a spacecraft on an asteroid would create an ejecta plume that is roughly normal to the surface at the point of impact. This escaping ejecta provides additional momentum transfer that generally adds to the effectiveness of a kinetic deflection. The ratio β between the ejecta momentum and the total momentum (ejecta plus spacecraft) can range from around 1 for a porous, compressible body producing negligible ejecta, to 2 when the ejecta momentum matches the spacecraft momentum, and as high as 5--10 for rocky bodies that produce large, high-velocity ejecta fragments. If the impactor hits the centerpoint of a spherical asteroid the momentum of the escaping ejecta directly adds to the momentum of the impacting asteroid, but if the impact is oblique then the ejecta and spacecraft momenta are added to the asteroid in vector sum. This suggests the possibility that for a given intercept trajectory the asteroid deflection could include guidance by targeting an oblique impact that could steer the asteroid Δ V to a more optimal direction that is different from the relative velocity direction of the spacecraft. An oblique impact decreases the net Δ V magnitude, and yet could significantly increase the net deflection at the time of the threatening Earth encounter. We use asteroid (101955) Bennu, which is the target of the OSIRIS-REx asteroid sample return mission and which has a series of potential Earth impacts in the years from 2175--2196, as an example to demonstrate the effectiveness of the oblique impact. These future potential impacts will occur if the asteroid passes through one of a series of keyholes when the asteroid passes the Earth at roughly the lunar distance from the Earth in 2135. To study the Bennu deflection problem we simulate a hypervelocity spacecraft impact on Bennu in March 2021, after the OSIRIS-REx mission is complete. In our example, the spacecraft arrives from approximately the sunward direction, and targeting ahead or behind the center of the asteroid allows non-negligible transverse accelerations for modest values of β. A given impact location on the asteroid surface yields a given Δ V vector, and our approach starts by mapping the net Δ V components on the surface for an assumed value of β. Knowing the mapping from impact location to Δ V and also the mapping from Δ V to the future Earth miss distance allows us to map the surface locations where a spacecraft impact would lead to an Earth impact 150--200 years later. In effect, we are able to project Earth impact trajectories, or keyholes, onto the asteroid surface and, for a given value of β, we can target our impactor spacecraft for an area on the surface that avoids potential Earth impacts. Of course, at the present time we have little information on what is the appropriate value or range of values for β in the case of asteroid Bennu, or any other asteroid for that matter. However, if this information is made known, either through a precursor mission or better inferences as to its nature we can develop a distribution of β that can be used to better design an impact deflection strategy. Specifically, we can compute a map of Earth impact probability density on the surface of the asteroid based on an assumed probability density function for β. If we target the lowest impact probability density regions then we maximize the chance of a successful deflection. This approach has the potential to allow more efficient kinetic impactor deflection, and therefore the deflection of larger bodies than would otherwise be possible.

Effective Scenarios for Exploring Asteroid Surfaces

NASA Astrophysics Data System (ADS)

Clark, Pamela E.; Clark, C.; Weisbin, C.

2010-10-01

In response to the proposal that asteroids be the next targets for exploration, we attempt to develop scenarios for exploring previously mapped asteroid 433 Eros, harnessing our recent experience gained planning such activity for return to the lunar surface. The challenges faced in planning Apollo led to the development of a baseline methodology for extraterrestrial field science. What `lessons learned’ can be applied for asteroids? Effective reconnaissance (advanced mapping at <0.5 m, photos with plotted routes as in-field reference maps), training/simulating/planning (highly interactive abundant field time for extended crew), and documentation (hands-free audio and visual systematic description) procedures are still valid. The use of Constant Scale Natural Boundary rather than standard projection maps eases the challenge of navigating and interpreting a highly irregular object. Lunar and asteroid surfaces are dominated by bombardment and space radiation/dust/charged particle/regolith interactions, with similar implications for sampling. Asteroid work stations are selected on the basis of impact-induced exposure of `outcrops’ from prominent ridges (e.g., Himeros, the noses) potentially representing underlying material, supplemented by sampling of areas of especially thin or deep regolith (ponds). Unlike the Moon, an asteroid lacks sufficient gravity and most likely the necessary stability to support `normal’ driving or walking. In fact, the crew delivery vehicle might not even be `tetherable’ and would most likely `station keep’ to maintain a position. The most convenient local mobility mechanism for astronauts/robots would be `hand over hand’ above the surface at a field station supplemented by a `tetherless’ (small rocket-pack) control system for changing station or return to vehicle. Thus, we assume similar mobility constraints (meters to hundreds of meters at a local station, kilometers between stations) as those used for Apollo. We also assume the vehicle could `station keep’ at more than one location separated by tens of kilometers distance.

The ISIS Mission Concept: An Impactor for Surface and Interior Science

NASA Technical Reports Server (NTRS)

Chesley, Steven R.; Elliot, John O.; Abell, Paul A.; Asphaug, Erik; Bhaskaran, Shyam; Lam, Try; Lauretta, Dante S.

2013-01-01

The Impactor for Surface and Interior Science (ISIS) mission concept is a kinetic asteroid impactor mission to the target of NASA's OSIRIS-REx (Origins-Spectral Interpretation-Resource Identification-Security-Regolith Explorer) asteroid sample return mission. The ISIS mission concept calls for the ISIS spacecraft, an independent and autonomous smart impactor, to guide itself to a hyper-velocity impact with 1999 RQ36 while the OSIRIS-REx spacecraft observes the collision. Later the OSIRIS-REx spacecraft descends to reconnoiter the impact site and measure the momentum imparted to the asteroid through the impact before departing on its journey back to Earth. In this paper we discuss the planetary science, human exploration and impact mitigation drivers for mission, and we describe the current mission concept and flight system design.

Silicone intraocular lens surface calcification in a patient with asteroid hyalosis.

PubMed

Matsumura, Kazuhiro; Takano, Masahiko; Shimizu, Kimiya; Nemoto, Noriko

2012-07-01

To confirm a substance presence on the posterior intraocular lens (IOL) surface in a patient with asteroid hyalosis. An 80-year-old man had IOLs for approximately 12 years. Opacities and neodymium-doped yttrium aluminum garnet pits were observed on the posterior surface of the right IOL. Asteroid hyalosis and an epiretinal membrane were observed OD. An IOL exchange was performed on 24 March 2008, and the explanted IOL was analyzed using a light microscope and a transmission electron microscope with a scanning electron micrograph and an energy-dispersive X-ray spectrometer for elemental analysis. To confirm asteroid hyalosis, asteroid bodies were examined with the ionic liquid (EtMeIm+ BF4-) method using a field emission scanning electron microscope (FE-SEM) with digital beam control RGB mapping. X-ray spectrometry of the deposits revealed high calcium and phosphorus peaks. Spectrometry revealed that the posterior IOL surface opacity was due to a calcium-phosphorus compound. Examination of the asteroid bodies using FE-SEM with digital beam control RGB mapping confirmed calcium and phosphorus as the main components. Calcium hydrogen phosphate dihydrate deposits were probably responsible for the posterior IOL surface opacity. Furthermore, analysis of the asteroid bodies demonstrated that calcium and phosphorus were its main components.

Small Body Landing Accuracy Using In-Situ Navigation

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam; Nandi, Sumita; Broschart, Stephen; Wallace, Mark; Olson, Corwin; Cangahuala, L. Alberto

2011-01-01

Spacecraft landings on small bodies (asteroids and comets) can require target accuracies too stringent to be met using ground-based navigation alone, especially if specific landing site requirements must be met for safety or to meet science goals. In-situ optical observations coupled with onboard navigation processing can meet the tighter accuracy requirements to enable such missions. Recent developments in deep space navigation capability include a self-contained autonomous navigation system (used in flight on three missions) and a landmark tracking system (used experimentally on the Japanese Hayabusa mission). The merging of these two technologies forms a methodology to perform autonomous onboard navigation around small bodies. This paper presents an overview of these systems, as well as the results from Monte Carlo studies to quantify the achievable landing accuracies by using these methods. Sensitivity of the results to variations in spacecraft maneuver execution error, attitude control accuracy and unmodeled forces are examined. Cases for two bodies, a small asteroid and on a mid-size comet, are presented.

Lessons Learned from OSIRIS-Rex Autonomous Navigation Using Natural Feature Tracking

NASA Technical Reports Server (NTRS)

Lorenz, David A.; Olds, Ryan; May, Alexander; Mario, Courtney; Perry, Mark E.; Palmer, Eric E.; Daly, Michael

2017-01-01

The Origins, Spectral Interpretation, Resource Identification, Security-Regolith Explorer (Osiris-REx) spacecraft is scheduled to launch in September, 2016 to embark on an asteroid sample return mission. It is expected to rendezvous with the asteroid, Bennu, navigate to the surface, collect a sample (July 20), and return the sample to Earth (September 23). The original mission design called for using one of two Flash Lidar units to provide autonomous navigation to the surface. Following Preliminary design and initial development of the Lidars, reliability issues with the hardware and test program prompted the project to begin development of an alternative navigation technique to be used as a backup to the Lidar. At the critical design review, Natural Feature Tracking (NFT) was added to the mission. NFT is an onboard optical navigation system that compares observed images to a set of asteroid terrain models which are rendered in real-time from a catalog stored in memory on the flight computer. Onboard knowledge of the spacecraft state is then updated by a Kalman filter using the measured residuals between the rendered reference images and the actual observed images. The asteroid terrain models used by NFT are built from a shape model generated from observations collected during earlier phases of the mission and include both terrain shape and albedo information about the asteroid surface. As a result, the success of NFT is highly dependent on selecting a set of topographic features that can be both identified during descent as well as reliably rendered using the shape model data available. During development, the OSIRIS-REx team faced significant challenges in developing a process conducive to robust operation. This was especially true for terrain models to be used as the spacecraft gets close to the asteroid and higher fidelity models are required for reliable image correlation. This paper will present some of the challenges and lessons learned from the development of the NFT system which includes not just the flight hardware and software but the development of the terrain models used to generate the onboard rendered images.

Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

NASA Technical Reports Server (NTRS)

Shoemaker, Michael A.; Wright, Cinnamon; Liounis, Andrew J.; Getzandanner, Kenneth M.; Van Eepoel, John M.; DeWeese, Keith D.

2016-01-01

This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereo-photoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

Performance Characterization of a Landmark Measurement System for ARRM Terrain Relative Navigation

NASA Technical Reports Server (NTRS)

Shoemaker, Michael; Wright, Cinnamon; Liounis, Andrew; Getzandanner, Kenneth; Van Eepoel, John; Deweese, Keith

2016-01-01

This paper describes the landmark measurement system being developed for terrain relative navigation on NASAs Asteroid Redirect Robotic Mission (ARRM),and the results of a performance characterization study given realistic navigational and model errors. The system is called Retina, and is derived from the stereophotoclinometry methods widely used on other small-body missions. The system is simulated using synthetic imagery of the asteroid surface and discussion is given on various algorithmic design choices. Unlike other missions, ARRMs Retina is the first planned autonomous use of these methods during the close-proximity and descent phase of the mission.

First of Many Asteroid Finds

NASA Image and Video Library

2010-01-23

The red dot at the center of this image is the first near-Earth asteroid discovered by NASA Wide-Field Infrared Survey Explorer, or WISE -- an all-sky mapping infrared mission designed to see all sorts of cosmic objects.

Developing Software for NASA Missions in the New Millennia

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Rash, James; Rouff, Christopher; Hinchey, Mike

2004-01-01

NASA is working on new mission concepts for exploration of the solar system. The concepts for these missions include swarms of hundreds of cooperating intelligent spacecraft which will be able to work in teams and gather more data than current single spacecraft missions. These spacecraft will not only have to operate independently for long periods of time on their own and in teams, but will also need to have autonomic properties of self healing, self configuring, self optimizing and self protecting for them to survive in the harsh space environment. Software for these types of missions has never been developed before and represents some of the challenges of software development in the new millennia. The Autonomous Nano Technology Swarm (ANTS) mission is an example of one of the swarm missions NASA is considering. The ANTS mission will use a swarm of one thousand pico-spacecraft that weigh less than five pounds. Using an insect colony analog, ANTS will explore the asteroid belt and catalog the mass, density, morphology, and chemical composition of the asteroids. Due to the size of the spacecraft, each will only carry a single miniaturized science instrument which will require them to cooperate in searching for asteroids that are of scientific interest. This article also discusses the ANTS mission, the properties the spacecraft will need and how that will effect future software development.

The bering small vehicle asteroid mission concept.

PubMed

Michelsen, Rene; Andersen, Anja; Haack, Henning; Jørgensen, John L; Betto, Maurizio; Jørgensen, Peter S

2004-05-01

The study of asteroids is traditionally performed by means of large Earth based telescopes, by means of which orbital elements and spectral properties are acquired. Space borne research, has so far been limited to a few occasional flybys and a couple of dedicated flights to a single selected target. Although the telescope based research offers precise orbital information, it is limited to the brighter, larger objects, and taxonomy as well as morphology resolution is limited. Conversely, dedicated missions offer detailed surface mapping in radar, visual, and prompt gamma, but only for a few selected targets. The dilemma obviously being the resolution versus distance and the statistics versus DeltaV requirements. Using advanced instrumentation and onboard autonomy, we have developed a space mission concept whose goal is to map the flux, size, and taxonomy distributions of asteroids. The main focus is on main belt objects, but the mission profile will enable mapping of objects inside the Earth orbit as well.

Dynamic portrait of the region occupied by the Hungaria Asteroids: The influence of Mars

NASA Astrophysics Data System (ADS)

Correa-Otto, J. A.; Cañada-Assandri, M.

2018-06-01

The region occupied by the Hungaria asteroids has a high dynamical complexity. In this paper, we analyse the main dynamic structures and their influence on the known asteroids through the construction of maps of initial conditions. We evolve a set of test particles placed on a perfectly rectangular grid of initial conditions during 3 Myr under the gravitational influence of the Sun and eight planets, from Mercury to Neptune. Moreover, we use the method MEGNO in order to obtain a complete dynamical portrait of the region. A comparison of our maps with the distribution of real objects allows us to detect the main dynamical mechanisms acting in the domain under study such as mean-motion and secular resonances. Our main results is the existence of a small area inside a stable region where are placed the Hungaria asteroids. We found that the influence of Mars has an important role for the dynamic structure of the region, defining the limits for this population of asteroids. Our result is in agreement with previous studies, which have indicated the importance of the eccentricity of Mars for the stability of Hungaria asteroids. However, we found that the secular resonance resulting from the precession of perihelion due to a coupling with that of Jupiter proposed as limit for the Hungaria region could not be determinant for this population of asteroids.

Project RAMA: Reconstructing Asteroids Into Mechanical Automata

NASA Technical Reports Server (NTRS)

Dunn, Jason; Fagin, Max; Snyder, Michael; Joyce, Eric

2017-01-01

Many interesting ideas have been conceived for building space-based infrastructure in cislunar space. From O'Neill's space colonies, to solar power satellite farms, and even prospecting retrieved near earth asteroids. In all the scenarios, one thing remained fixed - the need for space resources at the outpost. To satisfy this need, O'Neill suggested an electromagnetic railgun to deliver resources from the lunar surface, while NASA's Asteroid Redirect Mission called for a solar electric tug to deliver asteroid materials from interplanetary space. At Made In Space, we propose an entirely new concept. One which is scalable, cost effective, and ensures that the abundant material wealth of the inner solar system becomes readily available to humankind in a nearly automated fashion. We propose the RAMA architecture, which turns asteroids into self-contained spacecraft capable of moving themselves back to cislunar space. The RAMA architecture is just as capable of transporting conventional-sized asteroids on the 10-meter length scale as transporting asteroids 100 meters or larger, making it the most versatile asteroid retrieval architecture in terms of retrieved-mass capability. This report describes the results of the Phase I study funded by the NASA NIAC program for Made In Space to establish the concept feasibility of using space manufacturing to convert asteroids into autonomous, mechanical spacecraft. Project RAMA, Reconstituting Asteroids into Mechanical Automata, is designed to leverage the future advances of additive manufacturing (AM), in-situ resource utilization (ISRU) and in-situ manufacturing (ISM) to realize enormous efficiencies in repeated asteroid redirect missions. A team of engineers at Made In Space performed the study work with consultation from the asteroid mining industry, academia, and NASA. Previous studies for asteroid retrieval have been constrained to studying only asteroids that are both large enough to be discovered, and small enough to be captured and transported using Earth-launched propulsion technology. Project RAMA is not forced into this constraint. The mission concept studied involved transporting a much larger approximately 50-meter asteroid to cislunar space. Demonstration of transport of a 50-meter-class asteroid has several ground-breaking advantages. First, the returned material is of an industrial, rather than just scientific, quantity (greater than 10,000 tonnes versus approximately10s of tonnes). Second, the "useless" material in the asteroid is gathered and expended as part of the asteroid's propulsion system, allowing the returned asteroid to be considerably "purer" than a conventional asteroid retrieval mission. Third, the infrastructure used to convert and return the asteroid is reusable, and capable of continually returning asteroids to cislunar space.

Multiple Autonomous Vehicles for Minefield Reconnaissance and Mapping

DTIC Science & Technology

1997-12-01

NPS-ME-97-008 NAVAL POSTGRADUATE SCHOOL Monterey, California ItC A D- 19980421 131 =C QUALTY Ui Ji.CTEJ) THESIS MULTIPLE AUTONOMOUS VEHICLES FOR...MULTIPLE AUTONOMOUS VEHICLES FOR MINEFIELD 5. FUNDING NUMBERS RECONNAISSANCE AND MAPPING N0001497WX30039 6. AUTHOR(S) Jack A. Starr 7. PERFORMING... AUTONOMOUS VEHICLES FOR MINEFIELD RECONNAISSANCE AND MAPPING Jack A. Starr Lieutenant, United States Navy B.S., Oregon State University, 1991 Submitted in

Osiris-REx Spacecraft Current Status and Forward Plans

NASA Technical Reports Server (NTRS)

Messenger, Scott; Lauretta, Dante S.; Connolly, Harold C., Jr.

2017-01-01

The NASA New Frontiers OSIRIS-REx spacecraft executed a flawless launch on September 8, 2016 to begin its 23-month journey to near-Earth asteroid (101955). The primary objective of the OSIRIS-REx mission is to collect and return to Earth a pristine sample of regolith from the asteroid surface. The sampling event will occur after a two-year period of remote sensing that will ensure a high probability of successful sampling of a region on the asteroid surface having high science value and within well-defined geological context. The OSIRIS-REx instrument payload includes three high-resolution cameras (OCAMS), a visible and near-infrared spectrometer (OVIRS), a thermal imaging spectrometer (OTES), an X-ray imaging spectrometer (REXIS), and a laser altimeter (OLA). As the spacecraft follows its nominal outbound-cruise trajectory, the propulsion, power, communications, and science instruments have undergone basic functional tests, with no major issues. Outbound cruise science investigations include a search for Earth Trojan asteroids as the spacecraft approaches the Sun-Earth L4 Lagrangian point in February 2017. Additional instrument checkouts and calibrations will be carried out during the Earth gravity assist maneuver in September 2017. During the Earth-moon flyby, visual and spectral images will be acquired to validate instrument command sequences planned for Bennu remote sensing. The asteroid Bennu remote sensing campaign will yield high resolution maps of the temperature and thermal inertia, distributions of major minerals and concentrations of organic matter across the asteroid surface. A high resolution 3d shape model including local surface slopes and a high-resolution gravity field will also be determined. Together, these data will be used to generate four separate maps that will be used to select the sampling site(s). The Safety map will identify hazardous and safe operational regions on the asteroid surface. The Deliverability map will quantify the accuracy with which the navigation team can deliver the spacecraft to and from specific sites on the asteroid surface. The Sampleability map quantifies the regolith properties, providing an estimation of how much material would be sampled at different points on the surface. The final Science Value map synthesizes the chemical, mineralogical, and geological, observations to identify the areas of the asteroid surface with the highest science value. Here, priority is given to organic, water-rich regions that have been minimally altered by surface processes. Asteroid surface samples will be acquired with a touch-and-go sample acquisition system (TAGSAM) that uses high purity pressurized N2 gas to mobilize regolith into a stainless steel canister. Although the mission requirement is to collect at least 60 g of material, tests of the TAGSAM routinely exceeded 300 g of simulant in micro-gravity tests. After acquiring the sample, the spacecraft will depart Bennu in 2021 to begin its return journey, with the sample return capsule landing at the Utah Test and Training Range on September 23, 2023. The OSIRIS-REx science team will carry out a series of detailed chemical, mineralogical, isotopic, and spectral studies that will be used to determine the origin and history of Bennu and to relate high spatial resolution sample studies to the global geological context from remote sensing. The outline of the sample analysis plan is described in a companion abstract.

Thermal Infrared Imager on Hayabusa2: Science and Development

NASA Astrophysics Data System (ADS)

Okada, Tatsuaki

2015-04-01

Thermal Infrared Imager TIR was developed and calibrated for Haya-busa2 asteroid explorer, aiming at the investigation of thermo-physical properties of C-class near-Earth sub-km sized asteroid (162173) 1999JU3. TIR is based on the 2D micro-bolometer array with germani-um lens to image the surface of asteroid in 8 to 12 μm wavelength (1), measuring the thermal emission off the asteroid surface. Its field of view is 16° x 12° with 328 x 248 pixels. At least 40 (up to 100) images will be taken during asteroid rotation once a week, mainly from the Home Position which is about 20km sunward from asteroid surface. Therefore TIR will image the whole asteroid with spatial resolution of < 20m per pixel, and the temperature profile of each site on the asteroid will be traced from dawn to dusk regions by asteroid rotation. The scien-tific objectives of TIR include the mapping of asteroid surface condi-tions (regional distribution of thermal inertia), since the surface physical conditions are strongly correlated with thermal inertia. It is so informa-tive on understanding the re-accretion or surface sedimentation process-es of the asteroid to be the current form. TIR data will be used for searching for those sites having the typical particle size of 1mm for best sample collection, and within the proper thermal condition for space-craft safe operation. After launch of Hayabusa2, TIR has been tested successfully, covering from -100 to 150 °C using a single parameter settings (2). This implies that TIR is actually able to map the surface other than the sunlit areas. Performance of TIR was found basically the same as those in the pre-launch test, when the temperature of TIR is well controlled. References: (1) Fukuhara T. et al., (2011) Earth Planet. Space 63, 1009-1018; (2) Okada T. et al., (2015) Lunar Planet. Sci. Conf. 46, #1331.

Simulation-Based Height of Burst Map for Asteroid Airburst Damage Prediction

NASA Technical Reports Server (NTRS)

Aftosmis, Michael J.; Mathias, Donovan L.; Tarano, Ana M.

2017-01-01

Entry and breakup models predict that airburst in the Earth's atmosphere is likely for asteroids up to approximately 200 meters in diameter. Objects of this size can deposit over 250 megatons of energy into the atmosphere. Fast-running ground damage prediction codes for such events rely heavily upon methods developed from nuclear weapons research to estimate the damage potential for an airburst at altitude. (Collins, 2005; Mathias, 2017; Hills and Goda, 1993). In particular, these tools rely upon the powerful yield scaling laws developed for point-source blasts that are used in conjunction with a Height of Burst (HOB) map to predict ground damage for an airburst of a specific energy at a given altitude. While this approach works extremely well for yields as large as tens of megatons, it becomes less accurate as yields increase to the hundreds of megatons potentially released by larger airburst events. This study revisits the assumptions underlying this approach and shows how atmospheric buoyancy becomes important as yield increases beyond a few megatons. We then use large-scale three-dimensional simulations to construct numerically generated height of burst maps that are appropriate at the higher energy levels associated with the entry of asteroids with diameters of hundreds of meters. These numerically generated HOB maps can then be incorporated into engineering methods for damage prediction, significantly improving their accuracy for asteroids with diameters greater than 80-100 m.

Visual Odometry for Autonomous Deep-Space Navigation

NASA Technical Reports Server (NTRS)

Robinson, Shane; Pedrotty, Sam

2016-01-01

Visual Odometry fills two critical needs shared by all future exploration architectures considered by NASA: Autonomous Rendezvous and Docking (AR&D), and autonomous navigation during loss of comm. To do this, a camera is combined with cutting-edge algorithms (called Visual Odometry) into a unit that provides accurate relative pose between the camera and the object in the imagery. Recent simulation analyses have demonstrated the ability of this new technology to reliably, accurately, and quickly compute a relative pose. This project advances this technology by both preparing the system to process flight imagery and creating an activity to capture said imagery. This technology can provide a pioneering optical navigation platform capable of supporting a wide variety of future missions scenarios: deep space rendezvous, asteroid exploration, loss-of-comm.

ARM Spacecraft Illustration

NASA Image and Video Library

2016-09-20

This graphic depicts the Asteroid Redirect Vehicle conducting a flyby of its target asteroid. During these flybys, the Asteroid Redirect Mission (ARM) would come within 0.6 miles (1 kilometer), generating imagery with resolution of up to 0.4 of an inch (1 centimeter) per pixel. The robotic segment of ARM will demonstrate advanced, high-power, high-throughput solar electric propulsion; advanced autonomous precision proximity operations at a low-gravity planetary body; and controlled touchdown and liftoff with a multi-ton mass. The crew segment of the mission will include spacewalk activities for sample selection, extraction, containment and return; and mission operations of integrated robotic and crewed vehicle stack -- all key components of future in-space operations for human missions to the Mars system. After collecting a multi-ton boulder from the asteroid, the robotic spacecraft will redirect the boulder to a crew-accessible orbit around the moon, where NASA plans to conduct a series of proving ground missions in the 2020s that will help validate capabilities needed for NASA's Journey to Mars. http://photojournal.jpl.nasa.gov/catalog/PIA21062

Hazards on Hazards, Ensuring Spacecraft Safety While Sampling Asteroid Surface Materials

NASA Astrophysics Data System (ADS)

Johnson, C. A.; DellaGiustina, D. N.

2016-12-01

The near-Earth object Bennu is a carbonaceous asteroid that is a remnant from the earliest stages of the solar-system formation. It is also a potentially hazardous asteroid with a relatively high probability of impacting Earth late in the 22nd century. While the primary focus of the NASA funded OSIRIS-REx mission is the return of pristine organic material from the asteroid's surface, information about Bennu's physical and chemical properties gleaned throughout operations will be critical for a possible future impact mitigation mission. In order to ensure a regolith sample can be successfully acquired, the sample site and surrounding area must be thoroughly assessed for any potential hazards to the spacecraft. The OSIRIS-REx Image Processing Working Group has been tasked with generating global and site-specific hazard maps using mosaics and a trio of fea­­­ture identification techniques. These techniques include expert-lead manual classification, internet-based amateur classification using the citizen science platform CosmoQuest, and automated classification using machine learning and computer vision tools. Because proximity operations around Bennu do not begin until the end of 2018, we have an opportunity to test t­­­he performance of our software on analogue surfaces of other asteroids from previous NASA and other space agencies missions. The entire pipeline from image processing and mosaicking to hazard identification, analysis and mapping will be performed on asteroids of varying size, shape and surface morphology. As a result, upon arrival at Bennu, we will have the software and processes in place to quickly and confidently produce the hazard maps needed to ensure the success of our mission.

Exploring with PAM: Prospecting ANTS Missions for Solar System Surveys

NASA Technical Reports Server (NTRS)

Clark, P. E.; Rilee, M. L.; Curtis, S. A.

2003-01-01

ANTS (Autonomous Nano-Technology Swarm), a large (1000 member) swarm of nano to picoclass (10 to 1 kg) totally autonomous spacecraft, are being developed as a NASA advanced mission concept. ANTS, based on a hierarchical insect social order, use an evolvable, self-similar, hierarchical neural system in which individual spacecraft represent the highest level nodes. ANTS uses swarm intelligence attained through collective, cooperative interactions of the nodes at all levels of the system. At the highest levels this can take the form of cooperative, collective behavior among the individual spacecraft in a very large constellation. The ANTS neural architecture is designed for totally autonomous operation of complex systems including spacecraft constellations. The ANTS (Autonomous Nano Technology Swarm) concept has a number of possible applications. A version of ANTS designed for surveying and determining the resource potential of the asteroid belt, called PAM (Prospecting ANTS Mission), is examined here.

NASA's Swarm Missions: The Challenge of Building Autonomous Software

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Hinchey, Mike; Rash, James; Rouff, Christopher

2004-01-01

The days of watching a massive manned cylinder thrust spectacularly off a platform into space might rapidly become ancient history when the National Aeronautics and Space Administration (NASA) introduces its new millenium mission class. Motivated by the need to gather more data than is possible with a single spacecraft, scientists have developed a new class of missions based on the efficiency and cooperative nature of a hive culture. The missions, aptly dubbed nanoswarm will be little more than mechanized colonies cooperating in their exploration of the solar system. Each swarm mission can have hundreds or even thousands of cooperating intelligent spacecraft that work in teams. The spacecraft must operate independently for long periods both in teams and individually, as well as have autonomic properties - self-healing, -configuring, -optimizing, and -protecting- to survive the harsh space environment. One swarm mission under concept development for 2020 to 2030 is the Autonomous Nano Technology Swarm (ANTS), in which a thousand picospacecraft, each weighing less than three pounds, will work cooperatively to explore the asteroid belt. Some spacecraft will form teams to catalog asteroid properties, such as mass, density, morphology, and chemical composition, using their respective miniature scientific instruments. Others will communicate with the data gatherers and send updates to mission elements on Earth. For software and systems development, this is uncharted territory that calls for revolutionary techniques.

Sample Return Science by Hayabusa Near-Earth Asteroid Mission

NASA Technical Reports Server (NTRS)

Fujiwara, A.; Abe, M.; Kato, M.; Kushiro, I.; Mukai, T.; Okada, T.; Saito, J.; Sasaki, S.; Yano, H.; Yeomans, D.

2004-01-01

Assigning the material species to each asteroid spectral type and finding out the corresponding meteorite category is crucial to make the global material map in the whole asteroid belt and to understand the evolution of the asteroid belt. Recent direct observations by spacecrafts are revealing new intriguing aspects of asteroids which cannot be obtained solely from ground-based observations or meteorite studies. However identification of the real material species constituting asteroids and their corresponding meteorite analogs are still ambiguous. Space weathering makes difficult to identify the true material, and there is still a great gap between the remote sensing data on the global surface and the local microscopic data from meteorites. Sample return from asteroids are inevitable to solve these problems. For this purpose sample return missions to asteroids belonging to various spectral classes are required. The HAYABUSA spacecraft (prelaunch name is MUSESC) launched last year is the first attempt on this concept. This report presents outline of the mission with special stress on its science.

Fuel-efficient feedback control of orbital motion around irregular-shaped asteroids

NASA Astrophysics Data System (ADS)

Winkler, Timothy Michael

Unmanned probes are the primary technologies used when exploring celestial bodies in our solar system. As these deep space exploration missions are becoming more and more complex, there is a need for advanced autonomous operation capabilities in order to meet mission objectives. These autonomous capabilities are required as ground-based guidance and navigation commands will not be able to be issued in real time due to the large distance from the Earth. For long-duration asteroid exploration missions, this also entails how to keep the spacecraft around or on the body in order for the mission to be successfully completed. Unlike with larger bodies such as planets, though, the dynamical environment around these smaller bodies can be difficult to characterize. The weak gravitational fields are not uniform due to irregular shapes and non-homogeneous mass distribution, especially when orbiting in close-proximity to the body. On top of that, small perturbation forces such as solar radiation pressure can be strong enough to destabilize an orbit around an asteroid. The best solution for keeping a spacecraft in orbit about a small body is to implement some form of control technique. With conventional propulsion thrusters, active control algorithms tend to have a higher than acceptable propellant requirements for long-duration asteroid exploration missions, which has led to much research being devoted to finding open-loop solutions to long-term stable orbits about small bodies. These solutions can prove to be highly sensitive to the orbit's initial conditions, making them potentially unreliable in the presence of orbit injection errors. This research investigates a fuel-efficient, active control scheme to safely control a spacecraft's orbit in close-proximity to an asteroid. First, three different gravitational models capable of simulating the non-homogeneous gravity fields of asteroids are presented: the polyhedron gravity shape model, a spherical harmonics expansion, and an inertia dyadic gravity model. Then a simple feedback controller augmented by a disturbance-accommodating filter is employed to ensure orbital stability. Using these models and controller, several orbiting cases as well as body-frame hovering are investigated to test the viability and fuel-efficiency of the proposed control system. The ultimate goal is to design an active orbit control system with minimum DeltaV expenditure.

Asteroid Bennu Temperature Maps for OSIRIS-REx Spacecraft and Instrument Thermal Analyses

NASA Technical Reports Server (NTRS)

Choi, Michael K.; Emery, Josh; Delbo, Marco

2014-01-01

A thermophysical model has been developed to generate asteroid Bennu surface temperature maps for OSIRIS-REx spacecraft and instrument thermal design and analyses at the Critical Design Review (CDR). Two-dimensional temperature maps for worst hot and worst cold cases are used in Thermal Desktop to assure adequate thermal design margins. To minimize the complexity of the Bennu geometry in Thermal Desktop, it is modeled as a sphere instead of the radar shape. The post-CDR updated thermal inertia and a modified approach show that the new surface temperature predictions are more benign. Therefore the CDR Bennu surface temperature predictions are conservative.

Workshop on Evolution of Igneous Asteroids: Focus on Vesta and the HED Meteorites. Part 1

NASA Technical Reports Server (NTRS)

Mittlefehldt, D. W. (Editor); Papike, J. J. (Editor)

1996-01-01

This volume contains papers that have been accepted for presentation at the Workshop. Topics considered include: On the sample return from Vesta by low-thrust spacecraft; Astronomical evidence linking Vesta to the HED meteorites; Geologic mapping of Vesta with the Hubble Space Telescope; A space mission to Vesta; Asteroid spectroscopy; The thermal history of asteroid 4 Vesta, based on radionuclide and collision heating; Mineralogical records of early planetary processes on Vesta.

Regolith X-Ray Imaging Spectrometer (REXIS) Aboard the OSIRIS-REx Asteroid Sample Return Mission

NASA Astrophysics Data System (ADS)

Masterson, R. A.; Chodas, M.; Bayley, L.; Allen, B.; Hong, J.; Biswas, P.; McMenamin, C.; Stout, K.; Bokhour, E.; Bralower, H.; Carte, D.; Chen, S.; Jones, M.; Kissel, S.; Schmidt, F.; Smith, M.; Sondecker, G.; Lim, L. F.; Lauretta, D. S.; Grindlay, J. E.; Binzel, R. P.

2018-02-01

The Regolith X-ray Imaging Spectrometer (REXIS) is the student collaboration experiment proposed and built by an MIT-Harvard team, launched aboard NASA's OSIRIS-REx asteroid sample return mission. REXIS complements the scientific investigations of other OSIRIS-REx instruments by determining the relative abundances of key elements present on the asteroid's surface by measuring the X-ray fluorescence spectrum (stimulated by the natural solar X-ray flux) over the range of energies 0.5 to 7 keV. REXIS consists of two components: a main imaging spectrometer with a coded aperture mask and a separate solar X-ray monitor to account for the Sun's variability. In addition to element abundance ratios (relative to Si) pinpointing the asteroid's most likely meteorite association, REXIS also maps elemental abundance variability across the asteroid's surface using the asteroid's rotation as well as the spacecraft's orbital motion. Image reconstruction at the highest resolution is facilitated by the coded aperture mask. Through this operation, REXIS will be the first application of X-ray coded aperture imaging to planetary surface mapping, making this student-built instrument a pathfinder toward future planetary exploration. To date, 60 students at the undergraduate and graduate levels have been involved with the REXIS project, with the hands-on experience translating to a dozen Master's and Ph.D. theses and other student publications.

UAV Research at NASA Langley: Towards Safe, Reliable, and Autonomous Operations

NASA Technical Reports Server (NTRS)

Davila, Carlos G.

2016-01-01

Unmanned Aerial Vehicles (UAV) are fundamental components in several aspects of research at NASA Langley, such as flight dynamics, mission-driven airframe design, airspace integration demonstrations, atmospheric science projects, and more. In particular, NASA Langley Research Center (Langley) is using UAVs to develop and demonstrate innovative capabilities that meet the autonomy and robotics challenges that are anticipated in science, space exploration, and aeronautics. These capabilities will enable new NASA missions such as asteroid rendezvous and retrieval (ARRM), Mars exploration, in-situ resource utilization (ISRU), pollution measurements in historically inaccessible areas, and the integration of UAVs into our everyday lives all missions of increasing complexity, distance, pace, and/or accessibility. Building on decades of NASA experience and success in the design, fabrication, and integration of robust and reliable automated systems for space and aeronautics, Langley Autonomy Incubator seeks to bridge the gap between automation and autonomy by enabling safe autonomous operations via onboard sensing and perception systems in both data-rich and data-deprived environments. The Autonomy Incubator is focused on the challenge of mobility and manipulation in dynamic and unstructured environments by integrating technologies such as computer vision, visual odometry, real-time mapping, path planning, object detection and avoidance, object classification, adaptive control, sensor fusion, machine learning, and natural human-machine teaming. These technologies are implemented in an architectural framework developed in-house for easy integration and interoperability of cutting-edge hardware and software.

Evidence of Collisional Histories of Asteroids, Comets and Meteorites: Comparisons with Shocked Minerals

NASA Technical Reports Server (NTRS)

Lederer, Susan M.; Jensen, Elizabeth; Smith, Douglas; Fane, Michael; Whizin, Akbar; Landsman, Zoe A.; Wooden, Diane H.; Lindsay, Sean S.; Cintala, Mark; Keller, Lindsay P.;

Spacecraft Proximity Operations Used to Estimate the Dynamical & Physical Properties of a Resident Space Object

DTIC Science & Technology

2007-03-01

8]. Using a Telescope Wide-View Camera, LIDAR, and a Near - Infrared Spectrometer, Hayabusa has mapped the surface of the asteroid and its features so...memorable experience . Special thanks goes to my sister and niece for their laughter and advice and to my mother for her love and support. Thank you Lord... Minotaur Upperstage (USAF Photo) . . . . 1-4 1.3. Asteroid Itokawa (courtesy of JAXA) . . . . . . . . . . . . . 1-5 1.4. LIDAR Data Cloud of Asteroid

Ground-based observation of near-Earth asteroids

NASA Technical Reports Server (NTRS)

Gaffey, Michael J.

1992-01-01

An increased ground-based observation program is an essential component of any serious attempt to assess the resource potential of near-Earth asteroids. A vigorous search and characterization program could lead to the discovery and description of about 400 to 500 near-Earth asteroids in the next 20 years. This program, in conjunction with meteorite studies, would provide the data base to ensure that the results of a small number of asteroid-rendezvous and sample-return missions could be extrapolated with confidence into a geological base map of the Aten, Apollo, and Amor asteroids. Ground-based spectral studies of nearly 30 members of the Aten/Apollo/Amor population provide good evidence that this class includes bodies composed of silicates, metal-silicates, and carbonaceous assemblages similar to those found in meteorites. The instruments that are being used or could be used to search for near-Earth asteroids are listed. Techniques useful in characterizing asteroids and the types of information obtainable using these techniques are listed.

Mean motion resonances. [of asteroid belt structure

NASA Technical Reports Server (NTRS)

Froeschle, CL.; Greenberg, R.

1989-01-01

Recent research on the resonant structure of the asteroid belt is reviewed. The resonant mechanism is discussed, and analytical models for the study of mean motion resonances are examined. Numerical averaging methods and mapping methods are considered. It is shown how fresh insight can be obtained by means of a new semianalytical approach.

Global Mineral Map of Vesta

NASA Image and Video Library

2012-05-10

This colorized map from NASA Dawn mission shows the distribution of minerals across the surface of the giant asteroid Vesta. It was made from spectra -- or data collected in different wavelengths of radiation.

Spectral Mapping at Asteroid 101955 Bennu

NASA Astrophysics Data System (ADS)

Clark, Beth Ellen; Hamilton, Victoria E.; Emery, Joshua P.; Hawley, C. Luke; Howell, Ellen S.; Lauretta, Dante; Simon, Amy A.; Christensen, Philip R.; Reuter, Dennis

2017-10-01

The OSIRIS-REx Asteroid Sample Return mission was launched in September 2016. The main science surveys of asteroid 101955 Bennu start in March 2019. Science instruments include a Visible-InfraRed Spectrometer (OVIRS) and a Thermal Emission Spectrometer (OTES) that will produce observations that will be co-registered to the tessellated shape model of Bennu (the fundamental unit of which is a triangular facet). One task of the science team is to synthesize the results in real time during proximity operations to contribute to selection of the sampling site. Hence, we will be focused on quickly producing spectral maps for: (1) mineral abundances; (2) band strengths of minerals and chemicals (including a search for the subtle ~5% absorption feature produced by organics in meteorites); and (3) temperature and thermal inertia values. In sum, we will be producing on the order of ~60 spectral maps of Bennu’s surface composition and thermophysical properties. Due to overlapping surface spots, simulations of our spectral maps show there may be an opportunity to perform spectral super-resolution. We have a large parameter space of choices available in creating spectral maps of Bennu, including: (a) mean facet size (shape model resolution), (b) percentage of overlap between subsequent spot measurements, (c) the number of spectral spots measured per facet, and (d) the mathematical algorithm used to combine the overlapping spots (or bin them on a per-facet basis). Projection effects -- caused by irregular sampling of an irregularly shaped object with circular spectrometer fields-of-view and then mapping these circles onto triangular facets -- can be intense. To prepare for prox ops, we are simulating multiple mineralogical “truth worlds” of Bennu to study the projection effects that result from our planned methods of spectral mapping. This presentation addresses: Can we combine the three planned global surveys of the asteroid (to be obtained at different phase angles) to create a spectral map with higher spatial resolution than the native spectrometer field-of-view in order to increase our confidence in detection of a spatially small occurrence of organics on Bennu?

Mapping stable direct and retrograde orbits around the triple system of asteroids (45) Eugenia

NASA Astrophysics Data System (ADS)

Araujo, R. A. N.; Moraes, R. V.; Prado, A. F. B. A.; Winter, O. C.

2017-12-01

It is widely accepted that knowing the composition and the orbital evolution of asteroids might help us to understand the process of formation of the Solar system. It is also known that asteroids can represent a threat to our planet. Such an important role has made space missions to asteroids a very popular topic in current astrodynamics and astronomy studies. Taking into account the increasing interest in space missions to asteroids, especially to multiple systems, we present a study that aims to characterize the stable and unstable regions around the triple system of asteroids (45) Eugenia. The goal is to characterize the unstable and stable regions of this system and to make a comparison with the system 2001 SN263, which is the target of the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) mission. A new concept was used for mapping orbits, by considering the disturbance received by the spacecraft from all perturbing forces individually. This method has also been applied to (45) Eugenia. We present the stable and unstable regions for particles with relative inclination between 0° and 180°. We found that (45) Eugenia presents larger stable regions for both prograde and retrograde cases. This is mainly because the satellites of this system are small when compared to the primary body, and because they are not close to each other. We also present a comparison between these two triple systems, and we discuss how these results can guide us in the planning of future missions.

Near-Earth Asteroid Tracking with the Maui Space Surveillance System (NEAT/MSSS)

NASA Technical Reports Server (NTRS)

Helin, Eleanor F.; Pravdo, Steven H.; Lawrence, Kenneth J.; Hicks, Michael D.

2001-01-01

Over the last year the Jet Propulsion Laboratory's (JPL) Near-Earth Asteroid Tracking (NEAT) program has made significant progress and now consists of two simultaneously-operating, autonomous search systems on the 1.2-m (48") telescopes: on the Maui Space Surveillance System (NEAT/MSSS) and NEAT/Palomar on the Palomar Observatory's Oschin telescope. This paper will focus exclusively on the NEAT/MSSS system. NEAT/MSSS is operated as a partnership between NASA/JPL and the United States Air Force Research Laboratory (AFRL), utilizing the AFRL 1.2-m telescope on the 3000-m summit of Haleakala, Maui, The USAF Space Command (SPCMD) contributed financial support to build and install the 'NEAT focal reducer' on the MSSS 1.2-m telescope giving it a large field of view (2.5 square degrees), suitable for the near-earth object (NEO),both asteroids and comets, survey. This work was completed in February 2000. AFRL has made a commitment to NEAT/MSSS that allows NEAT to operate full time with the understanding that AFRL participate as partners in NEAT/MSSS and have use of the NEAT camera system for high priority satellite observations during bright time (parts of 12 nights each month). Currently, NEAT has discovered 42 NEAs including 12 larger than 1-km, 5 Potentially Hazardous Asteroids (PHAs), 6 comets, and nearly 25,000 asteroid detections since March 2000.

Mapping the Infrared Sky Artist Concept

NASA Image and Video Library

2009-11-17

This artist conception shows NASA Wide-field Infrared Survey Explorer mapping the whole sky in infrared. The mission will unveil hundreds of thousands of asteroids, and hundreds of millions of stars and galaxies.

Vesta Topography Map

NASA Image and Video Library

2013-07-08

This color-coded topography map from NASA Dawn mission shows the giant asteroid Vesta in an equirectangular projection at 32 pixels per degree, relative to an ellipsoid of 177 miles by 177 miles by 142 miles.

ANTS/PAM: Future Exploration of the Asteroid Belt

NASA Astrophysics Data System (ADS)

Clark, P. E.; Curtis, S. A.; Rilee, M. L.; Cheung, C. Y.

2004-05-01

The Autonomous Nano-Technology Swarm (ANTS) is applied to the Prospecting Asteroid Mission (PAM) concept, as part of a NASA RASC study. The ANTS architecture is inspired by success of social insect colonies, based on the division of labor within the colonies: 1) within their specialties, individual specialists generally outperform general-ists, and 2) with sufficiently efficient social interaction and coordination, the group of specialists generally outper-forms the group of generalists. ANTS as applied to PAM involves a thousand individual specialist `sciencecraft', one subswarm per target, in an environment where detection and tracking of irregular, infrequent targets is a major chal-lenge. Workers, carry and operate eight to nine different scientific instruments, including spectrometers, ranging and radio science devices, imagers. The remaining specialists, Messenger/Rulers, provide communication and coordina-tion. The non-expendable propulsion system is based on autonomously deployable and configurable solar sails, a system suitable to a low gravity environment. The design of the neural basis function requires a minimum of 4 or 5 specialists for collective decision making. Allowing for ten instrument specialist teams and compensating for antici-pated high attrition, we calculate an initial minimum of 100 per subswarm should allow characterization of hundreds of asteroids. The difficulty in observing irregular, rapidly moving, poorly illuminated objects is largely overcome by the ANT sciencecraft capability to optimize conditions for each instrument. Components are composed of carbon nanotubules reversibly deployable from NEMS nodes, allowing 100 times decrease in packaging volume. 1000 smart 10 centimeter, 1 kg cubic boxes create a 1000 kg 1 meter cube.

Evidence of Collisional Histories of Asteroids, Comets and Meteorites: Comparisons with Shocked Minerals

NASA Astrophysics Data System (ADS)

Lederer, Susan M.; Jensen, Elizabeth; Smith, Douglas; Fane, Michael; Whizin, Akbar; Landsman, Zoe A.; Wooden, Diane H.; Lindsay, Sean S.; Cintala, Mark; Keller, Lindsay P.; Zolensky, Michael

2017-10-01

Evidence of the collisional history of comets and asteroids has been emerging from analyses of cometary forsterite and enstatite returned from Comet Wild 2 by the Stardust mission (Keller et al.Geochim. Cosmochim. Acta 72, 2008; Tomeoka et al. MAPS 43, 2008; Jacobs et al. MAPS 44, 2009). Likewise, shock metamorphism is observed in many meteoritic forsterites and enstatites (McCausland et al. AGU, 2010), suggesting similar collisional histories for asteroids. Further exploration of the effects of collisions is slated for the upcoming Asteroid Impact Mission/Double Asteroid Redirection Test (AIM/DART) mission, expected for launch in 2020. DART will impact Didymoon, the companion of the larger 65803 Didymos (1996 G2) asteroid, and AIM will use its instrumentation to characterize the impact.A suite of relevant impact experiments have been carried out in the Experimental Impact Laboratory at the NASA Johnson Space Center at velocities ranging from ~2.0 - 2.8 km s-1 and temperatures from 25°C to -100°C. Targets include a suite of minerals typically found in cometary dust and in asteroids and meteorites: Mg-rich forsterite (olivine), enstatite (orthopyroxene), diopside (clinopyroxene), magnesite (Mg-rich carbonate), and serpentine (phyllosilicate). Transmission Electron Microscope (TEM) imaging indicates evidence of shock similar to that seen in forsterite and enstatite from Comet Wild 2. Fourier Transform Infrared (FTIR) Spectroscopy will also be used for comparisons with meteorite spectra. A quantitative analysis of the shock pressures required to induce planar dislocations and spectral effects with respect to wavelength will also be presented.Funding provided by the NASA PG&G grant 09-PGG09-0115, NSF grant AST-1010012. Special thanks to NASA EIL staff, F. Cardenas and R. Montes.

Assessing the Age of an Asteroid's Surface with Data from the International Rosetta Mission

NASA Technical Reports Server (NTRS)

Lopez, Juan Carlos

2011-01-01

Rosetta is an international mission led by the European Space Agency (ESA) with key support and instrumentation from the National Aeronautics and Space Administration (NASA). Rosetta is currently on a ten-year mission to catch comet 67P/Churyumov-Gerasimenko (C-G); throughout its voyage, the spacecraft has performed flybys of two main belt asteroids (MBA): Steins and Lutetia. Data on the physical, chemical, and geological properties of these asteroids are currently being processed and analyzed. Accurate interpretation of such data is fundamental in the success of Rosetta's mission and overall objectives. Post-flyby data analyses strive to correlate the size, shape, volume, and rotational rate of Lutetia, in addition to interpreting its multi-color imagining, albedo, and spectral mapping. Although advancements in science have contributed to the examination of celestial bodies, methods to analyze asteroids remain largely empirical, not semi-empirical, nor ab initio. This study aims to interpret and document the scientific methods currently utilized in the characterization of asteroid (21) Lutetia in order to render these processes and methods accessible to the public. Examples include a standardized technique for assessing the age of an asteroid surface, complete with clickable reference maps, methodology of grouping surface characteristics together, and a standardized power law equation for the age. Other examples include determining the density of an object. Context for what both density and age mean is a bi-product of this study. Results of the study will aid in the development of pedagogical material on asteroids for public use, and in creation of an academic database for selected targets that might be used as a reference.

Map of Hydrated Minerals on Vesta

NASA Image and Video Library

2012-09-26

This map from NASA Dawn mission indicates the presence of hydrated minerals on the giant asteroid Vesta about 30 degrees north latitude, in August 2011. At the time, it was winter in Vesta northern hemisphere.

Tactile Earth and Space Science Materials for Students with Visual Impairments: Contours, Craters, Asteroids, and Features of Mars

ERIC Educational Resources Information Center

Rule, Audrey C.

2011-01-01

New tactile curriculum materials for teaching Earth and planetary science lessons on rotation=revolution, silhouettes of objects from different views, contour maps, impact craters, asteroids, and topographic features of Mars to 11 elementary and middle school students with sight impairments at a week-long residential summer camp are presented…

Parameter-Study Of The Thermal Yarkovsky Effect Acting On Neas

NASA Astrophysics Data System (ADS)

Polishook, David; Prialnik, D.; Rosenberg, E.; Brosch, N.

2010-10-01

We study the relevant parameters for the thermal Yarkovsky effect acting on Near-Earth Asteroids (NEAs), specifically the rotation period and rotation axis. The study uses a quasi 3-D thermal model to derive the temperature map over the surface of the asteroid, and the thermal thrust is calculated. The model (Prialnik et al. 2004, Rosenberg and Prialnik 2006), uses an implicit scheme to numerically solve the equations that describe the asteroid and its thermal evolution. The results show how the thermal thrust is stronger for fast-rotating asteroids, as heat is emitted from their surface on the evening side, increasing the tangential component of the thermal thrust. Moreover, we show the differences in the thermal thrust between asteroids with different perihelion distances, and how this can explain the observed distribution of asteroids in the inner Solar System on the spin-perihelion plane. Our results suggest that many asteroids within the inner Solar System may have retrograde spins. Acknowledgements: D. Polishook is grateful for an Ilan Ramon doctoral scholarship from the Israeli Ministry of Science.

High Resolution Global Topography of Eros from NEAR Imaging and LIDAR Data

NASA Technical Reports Server (NTRS)

Gaskell, Robert W.; Konopliv, A.; Barnouin-Jha, O.; Scheeres, D.

2006-01-01

Principal Data Products: Ensemble of L-maps from SPC, Spacecraft state, Asteroid pole and rotation. Secondary Products: Global topography model, inertia tensor, gravity. Composite high resolution topography. Three dimensional image maps.

Origin of Dark Material on VESTA from DAWN FC Data: Remnant Carbonaceous Chondrite Impators

NASA Technical Reports Server (NTRS)

Reddy, V.; LeCorre, L.; Nathues, A.; Mittlefehldt, David W.; Cloutis, E. A.; OBrien, D. P.; Durda, D. D.; Bottke, W. F.; Buczkowski, D.; Scully, J. E. C.;

OBSERVED ASTEROID SURFACE AREA IN THE THERMAL INFRARED

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nugent, C. R.; Mainzer, A.; Masiero, J.

The rapid accumulation of thermal infrared observations and shape models of asteroids has led to increased interest in thermophysical modeling. Most of these infrared observations are unresolved. We consider what fraction of an asteroid’s surface area contributes the bulk of the emitted thermal flux for two model asteroids of different shapes over a range of thermal parameters. The resulting observed surface in the infrared is generally more fragmented than the area observed in visible wavelengths, indicating high sensitivity to shape. For objects with low values of the thermal parameter, small fractions of the surface contribute the majority of thermally emittedmore » flux. Calculating observed areas could enable the production of spatially resolved thermal inertia maps from non-resolved observations of asteroids.« less

Spectral Characterization of Analog Samples in Anticipation of OSIRIS-REx's Arrival at Bennu

NASA Technical Reports Server (NTRS)

Donaldson Hanna, K. L.; Schrader, D. L.; Bowles, N. E.; Clark, B. E.; Cloutis, E. A.; Connolly, H. C., Jr.; Hamilton, V. E.; Keller, L. P.; Lauretta, D. S.; Lim, L. F.;

Testing the FLI in the region of the Pallas asteroid family

NASA Astrophysics Data System (ADS)

Todorović, N.; Novaković, B.

2015-08-01

Computation of the fast Lyapunov indicator (FLI) is one of the most efficient numerical ways to characterize dynamical nature of motion and to detect phase-space structures in a large variety of dynamical models. Despite its effectiveness, FLI was mainly used for symplectic maps or simple Hamiltonians, but it has never been used to study dynamics of asteroids to a greater extent. This research shows that FLI could also be successfully applied to real (Solar system) dynamics. For this purpose, we focus on the main belt region where the Pallas asteroid family is located. By using the full Solar system model, different sets of initial conditions and different integration times, we managed not only to visualize a large multiplet of resonances located in the region, but also their structures, chaotic boundaries, stability islands therein and the positions of their mutual interaction. In the end, we have identified some of the most dominant resonances present in the region and established a link between these resonances and chaotic areas visible in our maps. We have illustrated that FLI once again has shown its efficiency to detect dynamical structures in the main belt, e.g. in the Pallas asteroid family, with a surprisingly good clarity.

Long-Term Dynamics of Autonomous Fractional Differential Equations

NASA Astrophysics Data System (ADS)

Liu, Tao; Xu, Wei; Xu, Yong; Han, Qun

This paper aims to investigate long-term dynamic behaviors of autonomous fractional differential equations with effective numerical method. The long-term dynamic behaviors predict where systems are heading after long-term evolution. We make some modification and transplant cell mapping methods to autonomous fractional differential equations. The mapping time duration of cell mapping is enlarged to deal with the long memory effect. Three illustrative examples, i.e. fractional Lotka-Volterra equation, fractional van der Pol oscillator and fractional Duffing equation, are studied with our revised generalized cell mapping method. We obtain long-term dynamics, such as attractors, basins of attraction, and saddles. Compared with some existing stability and numerical results, the validity of our method is verified. Furthermore, we find that the fractional order has its effect on the long-term dynamics of autonomous fractional differential equations.

Design and validation of a GNC system for missions to asteroids: the AIM scenario

NASA Astrophysics Data System (ADS)

Pellacani, A.; Kicman, P.; Suatoni, M.; Casasco, M.; Gil, J.; Carnelli, I.

2017-12-01

Deep space missions, and in particular missions to asteroids, impose a certain level of autonomy that depends on the mission objectives. If the mission requires the spacecraft to perform close approaches to the target body (the extreme case being a landing scenario), the autonomy level must be increased to guarantee the fast and reactive response which is required in both nominal and contingency operations. The GNC system must be designed in accordance with the required level of autonomy. The GNC system designed and tested in the frame of ESA's Asteroid Impact Mission (AIM) system studies (Phase A/B1 and Consolidation Phase) is an example of an autonomous GNC system that meets the challenging objectives of AIM. The paper reports the design of such GNC system and its validation through a DDVV plan that includes Model-in-the-Loop and Hardware-in-the-Loop testing. Main focus is the translational navigation, which is able to provide online the relative state estimation with respect to the target body using exclusively cameras as relative navigation sensors. The relative navigation outputs are meant to be used for nominal spacecraft trajectory corrections as well as to estimate the collision risk with the asteroid and, if needed, to command the execution of a collision avoidance manoeuvre to guarantee spacecraft safety

Micro Autonomous Systems Research: Systems Engineering Processes for Micro Autonomous Systems

DTIC Science & Technology

2016-11-01

product family design and reconfigurable system design with recent developments in the fields of automated manufacturing and micro-autonomous...mapped to design parameters. These mappings are the mechanism by which physical product designs are formulated. Finally, manufacture of the product ... design tools and manufacturing and testing the resulting design . The final products were inspected and flight tested so that their

Spectral Characterization of Analog Samples in Anticipation of OSIRIS-REx's Arrival at Bennu

NASA Technical Reports Server (NTRS)

Donaldson Hanna, K. L.; Schrader, D. L.; Bowles, N. E.; Clark, B. E.; Cloutis, E. A.; Connolly, H. C., Jr.; Hamilton, V. E.; Keller, L. P.; Lauretta, D. S.; Lim, L. F.;

K/TH in Achondrites and Interpretation of Grand Data for the Dawn Mission

NASA Technical Reports Server (NTRS)

Usui, T.; McSween, H. Y., Jr.; Mittlefehldt, D. W.; Prettyman, T. H.

2008-01-01

The Dawn mission will explore 4 Vesta [1], a highly differentiated asteroid believed to be the parent body of the howardite, eucrite and diogenite (HED) meteorite suite [e.g. 2]. The Dawn spacecraft is equipped with a gamma-ray and neutron detector (GRaND), which will enable measurement and mapping of elemental abundances on Vesta s surface [3]. Drawing on HED geochemistry, Usui and McSween [4] proposed a linear mixing model for interpretation of GRaND data. However, the HED suite is not the only achondrite suite representing asteroidal basaltic crusts; others include the mesosiderites, angrites, NWA 011, and possibly Ibitira, each of which is thought to have a distinct parental asteroid [5]. Here we critically examine the variability of GRaND-analyzed elements, K and Th, in HED meteorites, and propose a method based on the K-Th systematics to distinguish between HED and the other differentiated achondrites. Maps of these elements might also recognize incompatible element enriched areas such as mapped locally on the Moon (KREEP) [6], and variations in K/Th ratios might indicate impact volatilization of K. We also propose a new mixing model using elements that will be most reliably measured by GRaND, including K.

Toward autonomous driving: The CMU Navlab. I - Perception

NASA Technical Reports Server (NTRS)

Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

1991-01-01

The Navlab project, which seeks to build an autonomous robot that can operate in a realistic environment with bad weather, bad lighting, and bad or changing roads, is discussed. The perception techniques developed for the Navlab include road-following techniques using color classification and neural nets. These are discussed with reference to three road-following systems, SCARF, YARF, and ALVINN. Three-dimensional perception using three types of terrain representation (obstacle maps, terrain feature maps, and high-resolution maps) is examined. It is noted that perception continues to be an obstacle in developing autonomous vehicles.

Autonomous optimal trajectory design employing convex optimization for powered descent on an asteroid

NASA Astrophysics Data System (ADS)

Pinson, Robin Marie

Mission proposals that land spacecraft on asteroids are becoming increasingly popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site with pinpoint precision. The problem under investigation is how to design a propellant (fuel) optimal powered descent trajectory that can be quickly computed onboard the spacecraft, without interaction from ground control. The goal is to autonomously design the optimal powered descent trajectory onboard the spacecraft immediately prior to the descent burn for use during the burn. Compared to a planetary powered landing problem, the challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies, and low thrust vehicles. The nonlinear gravity fields cannot be represented by a constant gravity model nor a Newtonian model. The trajectory design algorithm needs to be robust and efficient to guarantee a designed trajectory and complete the calculations in a reasonable time frame. This research investigates the following questions: Can convex optimization be used to design the minimum propellant powered descent trajectory for a soft landing on an asteroid? Is this method robust and reliable to allow autonomy onboard the spacecraft without interaction from ground control? This research designed a convex optimization based method that rapidly generates the propellant optimal asteroid powered descent trajectory. The solution to the convex optimization problem is the thrust magnitude and direction, which designs and determines the trajectory. The propellant optimal problem was formulated as a second order cone program, a subset of convex optimization, through relaxation techniques by including a slack variable, change of variables, and incorporation of the successive solution method. Convex optimization solvers, especially second order cone programs, are robust, reliable, and are guaranteed to find the global minimum provided one exists. In addition, an outer optimization loop using Brent's method determines the optimal flight time corresponding to the minimum propellant usage over all flight times. Inclusion of additional trajectory constraints, solely vertical motion near the landing site and glide slope, were evaluated. Through a theoretical proof involving the Minimum Principle from Optimal Control Theory and the Karush-Kuhn-Tucker conditions it was shown that the relaxed problem is identical to the original problem at the minimum point. Therefore, the optimal solution of the relaxed problem is an optimal solution of the original problem, referred to as lossless convexification. A key finding is that this holds for all levels of gravity model fidelity. The designed thrust magnitude profiles were the bang-bang predicted by Optimal Control Theory. The first high fidelity gravity model employed was the 2x2 spherical harmonics model assuming a perfect triaxial ellipsoid and placement of the coordinate frame at the asteroid's center of mass and aligned with the semi-major axes. The spherical harmonics model is not valid inside the Brillouin sphere and this becomes relevant for irregularly shaped asteroids. Then, a higher fidelity model was implemented combining the 4x4 spherical harmonics gravity model with the interior spherical Bessel gravity model. All gravitational terms in the equations of motion are evaluated with the position vector from the previous iteration, creating the successive solution method. Methodology success was shown by applying the algorithm to three triaxial ellipsoidal asteroids with four different rotation speeds using the 2x2 gravity model. Finally, the algorithm was tested using the irregularly shaped asteroid, Castalia.

Opportunity Science Using the Juno Magnetometer Investigation Star Trackers

NASA Astrophysics Data System (ADS)

Joergensen, J. L.; Connerney, J. E.; Bang, A. M.; Denver, T.; Oliversen, R. J.; Benn, M.; Lawton, P.

2013-12-01

The magnetometer experiment onboard Juno is equipped with four non-magnetic star tracker camera heads, two of which reside on each of the magnetometer sensor optical benches. These are located 10 and 12 m from the spacecraft body at the end of one of the three solar panel wings. The star tracker, collectively referred to as the Advanced Stellar Compass (ASC), provides high accuracy attitude information for the magnetometer sensors throughout science operations. The star tracker camera heads are pointed +/- 13 deg off the spin vector, in the anti-sun direction, imaging a 13 x 20 deg field of view every ¼ second as Juno rotates at 1 or 2 rpm. The ASC is a fully autonomous star tracker, producing a time series of attitude quaternions for each camera head, utilizing a suite of internal support functions. These include imaging capabilities, autonomous object tracking, automatic dark-sky monitoring, and related capabilities; these internal functions may be accessed via telecommand. During Juno's cruise phase, this capability can be tapped to provide unique science and engineering data available along the Juno trajectory. We present a few examples of the JUNO ASC opportunity science here. As the Juno spacecraft approached the Earth-Moon system for the close encounter with the Earth on October 9, 2013, one of the ASC camera heads obtained imagery of the Earth-Moon system while the other three remained in full science (attitude determination) operation. This enabled the first movie of the Earth and Moon obtained by a spacecraft flying past the Earth in gravity assist. We also use the many artificial satellites in orbit about the Earth as calibration targets for the autonomous asteroid detection system inherent to the ASC autonomous star tracker. We shall also profile the zodiacal dust disk, using the interstellar image data, and present the outlook for small asteroid body detection and distribution being performed during Juno's passage from Earth flyby to Jovian orbit insertion.

Hayabusa2 NIRS3’s Investigation to Characterize and Select Sampling and Landing Sites on Asteroid (25143) Ryugu

NASA Astrophysics Data System (ADS)

Takir, Driss; Hibbitts, Charles A.; Le Corre, Lucille; Emery, Joshua P.; Kitazato, Kohei; Sugita, Seiji; Nakauchi, Yusuke

2017-10-01

Following the visit of the spacecraft Hayabusa to (25143) Itokawa in 2005, the Japanese Space Agency (JAXA) launched a second spacecraft, Hayabusa2, in 2014 to the near-Earth Apollo asteroid (162173) Ryugu, a C-complex asteroid. Hayabusa2 will arrive at Ryugu in 2018. Near-Earth asteroids (NEAs) are important objects to study because of their possible role in the delivery of water and complex organic molecules to early Earth, and their threats to impact the Earth at irregular and unpredictable periods in the future. Hayabusa2 mission will provide exceptional science with a primary objective to illuminate the origin, evolution, and distribution of volatiles and organics on the surface of Ryugu and in the Solar System. Here we present our Near Infrared Spectrometer(NIRS3)-related strategy and plan to help the science team to characterize and select sampling and landing sites to collect carbonaceous samples from Ryugu and bring them back to Earth in 2020. Our plan includes, (1) measuring spectra of various carbonaceous chondrites and end-member hydrated silicates under asteroid-like conditions (vacuum and elevated temperatures) to develop spectral parameters of minerals and chemical compounds that we expect to detect on Ryugu, particularly around 2.8 to 3.2 µm, and (2) thermally and photometrically correcting Ryugu’s spectra to create site-specific and global maps of the mineralogical and chemical relative abundances across Ryugu’s surface, in addition to creating various albedo maps, including the geometric and bolometric Bond albedo. Previous 3-µm spectroscopic studies were conducted in ambient terrestrial environments, and hence were contaminated by atmospheric water. In our work, however, chondrite reflectance and hydrated mineral spectra are measured under asteroid-like conditions to remove adsorbed water and accurately compute the spectral parameters that will be used for Ryugu’s mineralogical and chemical mapping.AcknowledgementsWe wish to thank the Japan Society for the Promotion of Science Core-to-Core program (International Network of Planetary Sciences) for supporting Yusuke Nakauchi. Part of this work has been supported by NASA Hayabusa2 Participating Scientist grant NNX17AL02G (PI: Takir).

Advancing Lidar Sensors Technologies for Next Generation Landing Missions

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Hines, Glenn D.; Roback, Vincent E.; Petway, Larry B.; Barnes, Bruce W.; Brewster, Paul F.; Pierrottet, Diego F.; Bulyshev, Alexander

2015-01-01

Missions to solar systems bodies must meet increasingly ambitious objectives requiring highly reliable "precision landing", and "hazard avoidance" capabilities. Robotic missions to the Moon and Mars demand landing at pre-designated sites of high scientific value near hazardous terrain features, such as escarpments, craters, slopes, and rocks. Missions aimed at paving the path for colonization of the Moon and human landing on Mars need to execute onboard hazard detection and precision maneuvering to ensure safe landing near previously deployed assets. Asteroid missions require precision rendezvous, identification of the landing or sampling site location, and navigation to the highly dynamic object that may be tumbling at a fast rate. To meet these needs, NASA Langley Research Center (LaRC) has developed a set of advanced lidar sensors under the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. These lidar sensors can provide precision measurement of vehicle relative proximity, velocity, and orientation, and high resolution elevation maps of the surface during the descent to the targeted body. Recent flights onboard Morpheus free-flyer vehicle have demonstrated the viability of ALHAT lidar sensors for future landing missions to solar system bodies.

Properties of a Formal Method to Model Emergence in Swarm-Based Systems

NASA Technical Reports Server (NTRS)

Rouff, Christopher; Vanderbilt, Amy; Truszkowski, Walt; Rash, James; Hinchey, Mike

2004-01-01

Future space missions will require cooperation between multiple satellites and/or rovers. Developers are proposing intelligent autonomous swarms for these missions, but swarm-based systems are difficult or impossible to test with current techniques. This viewgraph presentation examines the use of formal methods in testing swarm-based systems. The potential usefulness of formal methods in modeling the ANTS asteroid encounter mission is also examined.

Impact risk assessment and planetary defense mission planning for asteroid 2015 PDC

NASA Astrophysics Data System (ADS)

Vardaxis, George; Sherman, Peter; Wie, Bong

2016-05-01

In this paper, an integrated utilization of analytic keyhole theory, B-plane mapping, and planetary encounter geometry, augmented by direct numerical simulation, is shown to be useful in determining the impact risk of an asteroid with the Earth on a given encounter, as well on potential future encounters via keyhole passages. The accurate estimation of the impact probability of hazardous asteroids is extremely important for planetary defense mission planning. Asteroids in Earth resonant orbits are particularly troublesome because of the continuous threat they pose in the future. Based on the trajectories of the asteroid and the Earth, feasible mission trajectories can be found to mitigate the impact threat of hazardous asteroids. In order to try to ensure mission success, trajectories are judged based on initial and final mission design parameters that would make the mission easier to complete. Given the potential of a short-warning time scenario, a disruption mission considered in this paper occurs approximately one year prior to the anticipated impact date. Expanding upon the established theory, a computational method is developed to estimate the impact probability of the hazardous asteroid, in order to assess the likelihood of an event, and then investigate the fragmentation of the asteroid due to a disruption mission and analyze its effects on the current and future encounters of the fragments with Earth. A fictional asteroid, designated as 2015 PDC - created as an example asteroid risk exercise for the 2015 Planetary Defence Conference, is used as a reference target asteroid to demonstrate the effectiveness and applicability of computational tools being developed for impact risk assessment and planetary defense mission planning for a hazardous asteroid or comet.

Autonomous localisation of rovers for future planetary exploration

NASA Astrophysics Data System (ADS)

Bajpai, Abhinav

Future Mars exploration missions will have increasingly ambitious goals compared to current rover and lander missions. There will be a need for extremely long distance traverses over shorter periods of time. This will allow more varied and complex scientific tasks to be performed and increase the overall value of the missions. The missions may also include a sample return component, where items collected on the surface will be returned to a cache in order to be returned to Earth, for further study. In order to make these missions feasible, future rover platforms will require increased levels of autonomy, allowing them to operate without heavy reliance on a terrestrial ground station. Being able to autonomously localise the rover is an important element in increasing the rover's capability to independently explore. This thesis develops a Planetary Monocular Simultaneous Localisation And Mapping (PM-SLAM) system aimed specifically at a planetary exploration context. The system uses a novel modular feature detection and tracking algorithm called hybrid-saliency in order to achieve robust tracking, while maintaining low computational complexity in the SLAM filter. The hybrid saliency technique uses a combination of cognitive inspired saliency features with point-based feature descriptors as input to the SLAM filter. The system was tested on simulated datasets generated using the Planetary, Asteroid and Natural scene Generation Utility (PANGU) as well as two real world datasets which closely approximated images from a planetary environment. The system was shown to provide a higher accuracy of localisation estimate than a state-of-the-art VO system tested on the same data set. In order to be able to localise the rover absolutely, further techniques are investigated which attempt to determine the rover's position in orbital maps. Orbiter Mask Matching uses point-based features detected by the rover to associate descriptors with large features extracted from orbital imagery and stored in the rover memory prior the mission launch. A proof of concept is evaluated using a PANGU simulated boulder field.

Long-Term Simultaneous Localization and Mapping in Dynamic Environments

DTIC Science & Technology

2015-01-01

core competencies required for autonomous mobile robotics is the ability to use sensors to perceive the environment. From this noisy sensor data, the...and mapping (SLAM), is a prerequisite for almost all higher-level autonomous behavior in mobile robotics. By associating the robot???s sensory...distributed stochastic neighbor embedding x ABSTRACT One of the core competencies required for autonomous mobile robotics is the ability to use sensors

Integrated science and engineering for the OSIRIS-REx asteroid sample return mission

NASA Astrophysics Data System (ADS)

Lauretta, D.

2014-07-01

Introduction: The Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) asteroid sample return mission will survey near-Earth asteroid (101955) Bennu to understand its physical, mineralogical, and chemical properties, assess its resource potential, refine the impact hazard, and return a sample of this body to the Earth [1]. This mission is scheduled for launch in 2016 and will rendezvous with the asteroid in 2018. Sample return to the Earth follows in 2023. The OSIRIS-REx mission has the challenge of visiting asteroid Bennu, characterizing it at global and local scales, then selecting the best site on the asteroid surface to acquire a sample for return to the Earth. Minimizing the risk of exploring an unknown world requires a tight integration of science and engineering to inform flight system and mission design. Defining the Asteroid Environment: We have performed an extensive astronomical campaign in support of OSIRIS-REx. Lightcurve and phase function observations were obtained with UA Observatories telescopes located in southeastern Arizona during the 2005--2006 and 2011--2012 apparitions [2]. We observed Bennu using the 12.6-cm radar at the Arecibo Observatory in 1999, 2005, and 2011 and the 3.5-cm radar at the Goldstone tracking station in 1999 and 2005 [3]. We conducted near-infrared measurements using the NASA Infrared Telescope Facility at the Mauna Kea Observatory in Hawaii in September 2005 [4]. Additional spectral observations were obtained in July 2011 and May 2012 with the Magellan 6.5-m telescope [5]. We used the Spitzer space telescope to observe Bennu in May 2007 [6]. The extensive knowledge gained as a result of our telescopic characterization of Bennu was critical in the selection of this object as the OSIRIS-REx mission target. In addition, we use these data, combined with models of the asteroid, to constrain over 100 different asteroid parameters covering orbital, bulk, rotational, radar, photometric, spectroscopic, thermal, regolith, and asteroid environmental properties. We have captured this information in a mission configuration-controlled document called the Design Reference Asteroid. This information is used across the project to establish the environmental requirements for the flight system and for overall mission design. Maintaining a Pristine Sample: OSIRIS-REx is driven by the top-level science objective to return >60 g of pristine, carbonaceous regolith from asteroid Bennu. We define a "pristine sample" to mean that no foreign material introduced into the sample hampers our scientific analysis. Basically, we know that some contamination will take place --- we just have to document it so that we can subtract it from our analysis of the returned sample. Engineering contamination requirements specify cleanliness in terms of particle counts and thin- films residues --- scientists define it in terms of bulk elemental and organic abundances. After initial discussions with our Contamination Engineers, we agreed on known, albeit challenging, particle and thin-film contamination levels for the Touch-and-Go Sample Acquisition Mechanism (TAGSAM) and the Sample Return Capsule. These levels are achieved using established cleaning procedures while minimizing interferences for sample analysis. Selecting a Sample Site: The Sample Site Selection decision is based on four key data products: Deliverability, Safety, Sampleability, and Science Value Maps. Deliverability quantifies the probability that the Flight Dynamics team can deliver the spacecraft to the desired location on the asteroid surface. Safety maps assess candidate sites against the capabilities of the spacecraft. Sampleability requires an assessment of the asteroid surface properties vs. TAGSAM capabilities. Scientific value maximizes the probability that the collected sample contains organics and volatiles and can be placed in a geological context definitive enough to determine sample history. Science and engineering teams work collaboratively to produce these key decision-making maps.

Spacewatch Survey for Asteroids and Comets

DTIC Science & Technology

2005-11-01

radar images. Relationship of Spacewatch to the WISE spacecraft mission: E. L. Wright of the UCLA Astronomy Dept. is the PI of the Wide-field Infrared ...Survey Explorer (WISE) MIDEX spacecraft mission. WISE will map the whole sky at thermal infrared wavelengths with 500 times more sensitivity than the...elongations. WISE=s detections in the thermal infrared will also provide a size-limited sample of asteroids instead of the brightness-limited surveys

NASA Software Lets You Explore Mars, the Asteroid Vesta and the Moon

NASA Image and Video Library

2016-10-06

NASA wants you to use your web browser to explore Mars, the Moon and the asteroid Vesta! The three portals are some of NASA's planetary mapping and modeling web portals. It makes it easy for mission planners, scientists, students and the public to visualize details on the surface of Mars, the Moon and Vesta, as seen with a variety of instruments aboard a number of spacecraft.

Navigation d'un vehicule autonome autour d'un asteroide

NASA Astrophysics Data System (ADS)

Dionne, Karine

Les missions d'exploration planetaire utilisent des vehicules spatiaux pour acquerir les donnees scientifiques qui font avancer notre connaissance du systeme solaire. Depuis les annees 90, ces missions ciblent non seulement les planetes, mais aussi les corps celestes de plus petite taille comme les asteroides. Ces astres representent un defi particulier du point de vue des systemes de navigation, car leur environnement dynamique est complexe. Une sonde spatiale doit reagir rapidement face aux perturbations gravitationnelles en presence, sans quoi sa securite pourrait etre compromise. Les delais de communication avec la Terre pouvant souvent atteindre plusieurs dizaines de minutes, il est necessaire de developper des logiciels permettant une plus grande autonomie d'operation pour ce type de mission. Ce memoire presente un systeme de navigation autonome qui determine la position et la vitesse d'un satellite en orbite autour d'un asteroide. Il s'agit d'un filtre de Kalman etendu adaptatif a trois degres de liberte. Le systeme propose se base sur l'imagerie optique pour detecter des " points de reperes " qui ont ete prealablement cartographies. Il peut s'agir de crateres, de rochers ou de n'importe quel trait physique discernable a la camera. Les travaux de recherche realises se concentrent sur les techniques d'estimation d'etat propres a la navigation autonome. Ainsi, on suppose l'existence d'un logiciel approprie qui realise les fonctions de traitement d'image. La principale contribution de recherche consiste en l'inclusion, a chaque cycle d'estimation, d'une mesure de distance afin d'ameliorer les performances de navigation. Un estimateur d'etat de type adaptatif est necessaire pour le traitement de ces mesures, car leur precision varie dans le temps en raison de l'erreur de pointage. Les contributions secondaires de recherche sont liees a l'analyse de l'observabilite du systeme ainsi qu'a une analyse de sensibilite pour six parametres principaux de conception. Les resultats de simulation montrent que l'ajout d'une mesure de distance par cycle de mise a jour entraine une amelioration significative des performances de navigation. Ce procede reduit l'erreur d'estimation ainsi que les periodes de non-observabilite en plus de contrer la dilution de precision des mesures. Les analyses de sensibilite confirment quant a elles la contribution des mesures de distance a la diminution globale de l'erreur d'estimation et ce pour une large gamme de parametres de conception. Elles indiquent egalement que l'erreur de cartographie est un parametre critique pour les performances du systeme de navigation developpe. Mots cles : Estimation d'etat, filtre de Kalman adaptatif, navigation optique, lidar, asteroide, simulations numeriques

Fiber-dependent deautonomization of integrable 2D mappings and discrete Painlevé equations

NASA Astrophysics Data System (ADS)

Carstea, Adrian Stefan; Dzhamay, Anton; Takenawa, Tomoyuki

2017-10-01

It is well known that two-dimensional mappings preserving a rational elliptic fibration, like the Quispel-Roberts-Thompson mappings, can be deautonomized to discrete Painlevé equations. However, the dependence of this procedure on the choice of a particular elliptic fiber has not been sufficiently investigated. In this paper we establish a way of performing the deautonomization for a pair of an autonomous mapping and a fiber. Starting from a single autonomous mapping but varying the type of a chosen fiber, we obtain different types of discrete Painlevé equations using this deautonomization procedure. We also introduce a technique for reconstructing a mapping from the knowledge of its induced action on the Picard group and some additional geometric data. This technique allows us to obtain factorized expressions of discrete Painlevé equations, including the elliptic case. Further, by imposing certain restrictions on such non-autonomous mappings we obtain new and simple elliptic difference Painlevé equations, including examples whose symmetry groups do not appear explicitly in Sakai’s classification.

Dawn Fields of View of Asteroid Vesta

NASA Image and Video Library

2007-01-01

This graphic from NASA's Dawn shows fields of view of Dawn instruments from Survey orbit (red), High Altitude Mapping Orbit (green), and Low Altitude Mapping Orbit (blue) and is part of the Mission Art series from NASA's Dawn mission. http://photojournal.jpl.nasa.gov/catalog/PIA19371

The OSIRIS-REx Laser Altimeter (OLA) Investigation and Instrument

NASA Astrophysics Data System (ADS)

Daly, M. G.; Barnouin, O. S.; Dickinson, C.; Seabrook, J.; Johnson, C. L.; Cunningham, G.; Haltigin, T.; Gaudreau, D.; Brunet, C.; Aslam, I.; Taylor, A.; Bierhaus, E. B.; Boynton, W.; Nolan, M.; Lauretta, D. S.

2017-10-01

The Canadian Space Agency (CSA) has contributed to the Origins Spectral Interpretation Resource Identification Security-Regolith Explorer (OSIRIS-REx) spacecraft the OSIRIS-REx Laser Altimeter (OLA). The OSIRIS-REx mission will sample asteroid 101955 Bennu, the first B-type asteroid to be visited by a spacecraft. Bennu is thought to be primitive, carbonaceous, and spectrally most closely related to CI and/or CM meteorites. As a scanning laser altimeter, the OLA instrument will measure the range between the OSIRIS-REx spacecraft and the surface of Bennu to produce digital terrain maps of unprecedented spatial scales for a planetary mission. The digital terrain maps produced will measure ˜7 cm per pixel globally, and ˜3 cm per pixel at specific sample sites. In addition, OLA data will be used to constrain and refine the spacecraft trajectories. Global maps and highly accurate spacecraft trajectory estimates are critical to infer the internal structure of the asteroid. The global and regional maps also are key to gain new insights into the surface processes acting across Bennu, which inform the selection of the OSIRIS-REx sample site. These, in turn, are essential for understanding the provenance of the regolith sample collected by the OSIRIS-REx spacecraft. The OLA data also are important for quantifying any hazards near the selected OSIRIS-REx sample site and for evaluating the range of tilts at the sampling site for comparison against the capabilities of the sample acquisition device.

Autonomous Mission Design in Extreme Orbit Environments

NASA Astrophysics Data System (ADS)

Surovik, David Allen

An algorithm for autonomous online mission design at asteroids, comets, and small moons is developed to meet the novel challenges of their complex non-Keplerian orbit environments, which render traditional methods inapplicable. The core concept of abstract reachability analysis, in which a set of impulsive maneuvering options is mapped onto a space of high-level mission outcomes, is applied to enable goal-oriented decision-making with robustness to uncertainty. These nuanced analyses are efficiently computed by utilizing a heuristic-based adaptive sampling scheme that either maximizes an objective function for autonomous planning or resolves details of interest for preliminary analysis and general study. Illustrative examples reveal the chaotic nature of small body systems through the structure of various families of reachable orbits, such as those that facilitate close-range observation of targeted surface locations or achieve soft impact upon them. In order to fulfill extensive sets of observation tasks, the single-maneuver design method is implemented in a receding-horizon framework such that a complete mission is constructed on-the-fly one piece at a time. Long-term performance and convergence are assured by augmenting the objective function with a prospect heuristic, which approximates the likelihood that a reachable end-state will benefit the subsequent planning horizon. When state and model uncertainty produce larger trajectory deviations than were anticipated, the next control horizon is advanced to allow for corrective action -- a low-frequency form of feedback control. Through Monte Carlo analysis, the planning algorithm is ultimately demonstrated to produce mission profiles that vary drastically in their physical paths but nonetheless consistently complete all goals, suggesting a high degree of flexibility. It is further shown that the objective function can be tuned to preferentially minimize fuel cost or mission duration, as well as to optimize performance under different levels of uncertainty by appropriately balancing the mitigation paradigms of robust planning and reactive execution.

OSIRIS-REx Asteroid Sample-Return Mission

NASA Astrophysics Data System (ADS)

DellaGiustina, D. N.; Lauretta, D. S.

2016-12-01

Launching in September 2016, the primary objective of the Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) mission is to return a pristine sample of asteroid (101955) Bennu to Earth for sample analysis. Bennu is a carbonaceous primitive near-Earth object, and is expected to be rich in volatile and organic material leftover from the formation of the Solar System. OSIRIS-REx will return a minimum of 60 g of bulk surface material from this body using a novel "touch-and-go" sample acquisition mechanism. Analyses of these samples will provide unprecedented knowledge about presolar history, from the initial stages of planet formation to the origin of life. Before sample acquisition, OSIRIS-REx will perform global mapping of Bennu, detailing the asteroid's composition and texture, resolving surface features, revealing its geologic and dynamic history, and providing context for the returned samples. The mission will also document the sampling site in situ at sub-centimeter scales, as well as the asteroid sampling event. In addition, OSIRIS-REx will measure the Yarkovsky effect, a non-Keplerian force affecting the orbit of this potentially hazardous asteroid, and provide a ground truth data for the interpretation of telescopic observations of carbonaceous asteroids.

Imaging Flash Lidar for Autonomous Safe Landing and Spacecraft Proximity Operation

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Roback, Vincent E.; Brewster, Paul F.; Hines, Glenn D.; Bulyshev, Alexander E.

2016-01-01

3-D Imaging flash lidar is recognized as a primary candidate sensor for safe precision landing on solar system bodies (Moon, Mars, Jupiter and Saturn moons, etc.), and autonomous rendezvous proximity operations and docking/capture necessary for asteroid sample return and redirect missions, spacecraft docking, satellite servicing, and space debris removal. During the final stages of landing, from about 1 km to 500 m above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard fli1ght computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station from several kilometers distance. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16k pixels range images with 7 cm precision, at a 20 Hz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument design and capabilities as demonstrated by the closed-loop flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus). Then a plan for continued advancement of the flash lidar technology will be explained. This proposed plan is aimed at the development of a common sensor that with a modest design adjustment can meet the needs of both landing and proximity operation and docking applications.

Constraints on the Detection of the Solar Nebula's Oxidation State Through Asteroid Observations

NASA Technical Reports Server (NTRS)

Abell, P. A.; Gaffey, M. J.; Hardersen, P. S.

2005-01-01

Introduction: Asteroids represent the only in situ surviving population of planetesimals from the formation of the inner solar system and therefore include materials from the very earliest stages of solar system formation. Hence, these bodies can provide constraints on the processes and conditions that were present during this epoch and can be used to test current models and theories describing the late solar nebula, the early solar system and subsequent planetary accretion. From detailed knowledge of asteroid mineralogic compositions the probable starting materials, thermal histories, and oxidation states of asteroid parent bodies can be inferred. If such data can be obtained from specific mainbelt source regions, then this information can be used to map out the formation conditions of the late solar nebula within the inner solar system and possibly distinguish any trends in oxidation state that may be present.

Solar Torque Management for the Near Earth Asteroid Scout CubeSat Using Center of Mass Position Control

NASA Technical Reports Server (NTRS)

Orphee, Juan; Heaton, Andrew; Diedrich, Ben; Stiltner, Brandon C.

2018-01-01

A novel mechanism, the Active Mass Translator (AMT), has been developed for the NASA Near Earth Asteroid (NEA) Scout mission to autonomously manage the spacecraft momentum. The NEA Scout CubeSat will launch as a secondary payload onboard Exploration Mission 1 of the Space Launch System. To accomplish its mission, the CubeSat will be propelled by an 86 square-meter solar sail during its two-year journey to reach asteroid 1991VG. NEA Scout's primary attitude control system uses reaction wheels for holding attitude and performing slew maneuvers, while a cold gas reaction control system performs the initial detumble and early trajectory correction maneuvers. The AMT control system requirements, feedback architecture, and control performance will be presented. The AMT reduces the amount of reaction control propellant needed for momentum management and allows for smaller capacity reaction wheels suitable for the limited 6U spacecraft volume. The reduced spacecraft mass allows higher in-space solar sail acceleration, thus reducing time-of-flight. The reduced time-of-flight opens the range of possible missions, which is limited by the lifetime of typical non-radiation tolerant CubeSat avionics exposed to the deep-space environment.

Detection by MEGNO of the gravitational resonances between a rotating ellipsoid and a point mass satellite

NASA Astrophysics Data System (ADS)

Compère, A.; Lemaître, A.; Delsate, N.

2012-01-01

Nowadays the scientific community considers that more than a third of the asteroids are double. The study of the stability of these systems is quite complex, because of their irregular shapes and tumbling rotations, and requires a full body-full body approach. A particular case is analysed here, when the secondary body is sufficiently small and distant from the primary to be considered as a point mass satellite. Gravitational resonances (between the revolution of the satellite and the rotation of the asteroid) of a small body in fast or slow rotation around a rigid ellipsoid are studied. The same model can be used for the motion of a probe around an irregular asteroid. The gravitational potential induced by the primary body is modelled by the MacMillan potential. The stability of the satellite is measured thanks to the MEGNO indicator (Mean Exponential Growth Factor of Nearby Orbits). We present stability maps in the plane {(b/d, c/d)} where d, b, and c are the three semi-axes of the ellipsoid shaping the asteroid. Special stable conic-like curves are detected on these maps and explained by an analytical model, based on a simplification of the MacMillan potential for some specific resonances (1 : 1 and 2 : 1). The efficiency of the MEGNO to detect stability is confirmed.

A Delta-V map of the known Main Belt Asteroids

NASA Astrophysics Data System (ADS)

Taylor, Anthony; McDowell, Jonathan C.; Elvis, Martin

2018-05-01

With the lowered costs of rocket technology and the commercialization of the space industry, asteroid mining is becoming both feasible and potentially profitable. Although the first targets for mining will be the most accessible near Earth objects (NEOs), the Main Belt contains 106 times more material by mass. The large scale expansion of this new asteroid mining industry is contingent on being able to rendezvous with Main Belt asteroids (MBAs), and so on the velocity change required of mining spacecraft (delta-v). This paper develops two different flight burn schemes, both starting from Low Earth Orbit (LEO) and ending with a successful MBA rendezvous. These methods are then applied to the ∼700,000 asteroids in the Minor Planet Center (MPC) database with well-determined orbits to find low delta-v mining targets among the MBAs. There are 3986 potential MBA targets with a delta-v < 8 km s-1 , but the distribution is steep and reduces to just 4 with delta-v < 7 km s-1. The two burn methods are compared and the orbital parameters of low delta-v MBAs are explored.

Periodic motion near non-principal-axis rotation asteroids

NASA Astrophysics Data System (ADS)

Shang, Haibin; Wu, Xiaoyu; Qin, Xiao; Qiao, Dong

2017-11-01

The periodic motion near non-principal-axis (NPA) rotation asteroids is proved to be markedly different from that near uniformly rotating bodies due to the complex spin state with precession, raising challenges in terms of the theoretical implications of dynamical systems. This paper investigates the various periodic motions near the typical NPA asteroid 4179 Toutatis, which will contribute to the understanding of the dynamical environments near the widespread asteroids in the Solar system. A novel method with the incorporation of the ellipsoid-mascon gravitational field model and global optimization is developed to efficiently locate periodic solutions in the system. The numerical results indicate that abundant periodic orbits appear near the NPA asteroids. These various orbits are theoretically classified into five topological types with special attention paid to the cycle stability. Although the concept of classical family disappears in our results, some orbits with the same topological structure constitute various generalized `families' as the period increases. Among these `families' a total of 4 kinds of relationships between orbits, including rotation, evolution, distortion and quasi-symmetry, are found to construct the global mapping of these types. To cover the rotation statuses of various NPA asteroids, this paper also discusses the variation of periodic orbits with diverse asteroid spin rates, showing that the scales of some orbits expand, shrink or almost annihilate as the system period changes; meanwhile, their morphology and topology remain unchanged.

ASPECT spectral imaging satellite proposal to AIDA/AIM CubeSat payload

NASA Astrophysics Data System (ADS)

Kohout, Tomas; Näsilä, Antti; Tikka, Tuomas; Penttilä, Antti; Muinonen, Karri; Kestilä, Antti; Granvik, Mikael; Kallio, Esa

2016-04-01

ASPECT (Asteroid Spectral Imaging Mission) is a part of AIDA/AIM project and aims to study the composition of the Didymos binary asteroid and the effects of space weathering and shock metamorphism in order to gain understanding of the formation and evolution of the Solar System. The joint ESA/NASA AIDA (Asteroid Impact & Deflection Assessment) mission to binary asteroid Didymos consists of AIM (Asteroid Impact Mission, ESA) and DART (Double Asteroid Redirection Test, NASA). DART is targeted to impact Didymos secondary component (Didymoon) and serve as a kinetic impactor to demonstrate deflection of potentially hazardous asteroids. AIM will serve as an observational spacecraft to evaluate the effects of the impact and resulting changes in the Didymos dynamic parameters. The AIM mission will also carry two CubeSat miniaturized satellites, released in Didymoon proximity. This arrangement opens up a possibility for secondary scientific experiments. ASPECT is one of the proposed CubeSat payloads. Whereas Didymos is a space-weathered binary asteroid, the DART impactor is expected to produce a crater and excavate fresh material from the secondary component (Didymoon). Spectral comparison of the mature surface to the freshly exposed material will allow to directly deter-mine space weathering effects. It will be also possible to study spectral shock effects within the impact crater. ASPECT will also demonstrate for the first time the joint spacecraft - CubeSat operations in asteroid proximity and miniature spectral imager operation in deep-space environment. Science objectives: 1. Study of the surface composition of the Didymos system. 2. Photometric observations (and modeling) under varying phase angle and distance. 3. Study of space weathering effects on asteroids (comparison of mature / freshly exposed material). 4. Study of shock effects (spectral properties of crater interior). 5. Observations during the DART impact. Engineering objectives: 1. Demonstration of CubeSat semi-autonomous operations in deep space environment. 2. Navigation in the vicinity of a binary asteroid. 3. Demonstration of a satellite survival during impact. 4. Demonstration of joint spacecraft - CubeSat operations. ASPECT is a 3U CubeSat (size of 3 units, Fig. 1) equipped with a spectral imager from 500 nm to 1600 nm (spatial resolution < 2 m, spectral resolution 10 - 30 nm; VIS channel 512 x 512 pixels, NIR channel 256 x 256 pixels), and a non-imaging spectrometer from 1600 - 2500 nm. The design is based on the Aalto-1 CubeSat Spectral Imager heritage. ASPECT will also demonstrate the capabilities of a CubeSat and a miniature spectral imager for the first time in deep-space environment. Acknowledgements: This work is done under Sys-Nova: R&D Studies Competition for Innovation contract with ESA.

Pathways Intern Report

NASA Technical Reports Server (NTRS)

Bell, Evan A.

2015-01-01

During my time at NASA, I worked with the Granular Mechanics and Regolith Organization (GMRO), better known as Swamp Works. The goal of the lab is to find ways to utilize resources found after the astronaut or robot has landed on another planet or asteroid. This concept is known as in-situ resource utilization and it is critical to long term missions such as those to Mars. During my time here I worked on the Asteroid and Lava Tube Free Flyer project (ALTFF). A lava tube, such as the one shown in figure 1, is a long tear drop shaped cavern that is produced when molten lava tunnels through the surrounding rock creating large unground pathways. Before mining for resources on Mars or on asteroids, a sampling mission must be done to scout out useful resource deposits. ALTFF's goal is to provide a low cost, autonomous scout robot that can sample the surface and return to the mother ship or lander for further processing of the samples. The vehicle will be looking for water ice in the regolith that can be processed into either potable water, hydrogen and oxygen fuel, or a binder material for 3D printing. By using a low cost craft to sample, there is much less risk to the more expensive mother ship or lander. While my main task was the construction of a simulation environment to test control code in and the construction of the asteroid free flyer prototype, there were other tasks that I performed relating to the ALTFF project.

OSIRIS-REx Asteroid Sample Return Mission Image Analysis

NASA Astrophysics Data System (ADS)

Chevres Fernandez, Lee Roger; Bos, Brent

2018-01-01

NASA’s Origins Spectral Interpretation Resource Identification Security-Regolith Explorer (OSIRIS-REx) mission constitutes the “first-of-its-kind” project to thoroughly characterize a near-Earth asteroid. The selected asteroid is (101955) 1999 RQ36 (a.k.a. Bennu). The mission launched in September 2016, and the spacecraft will reach its asteroid target in 2018 and return a sample to Earth in 2023. The spacecraft that will travel to, and collect a sample from, Bennu has five integrated instruments from national and international partners. NASA's OSIRIS-REx asteroid sample return mission spacecraft includes the Touch-And-Go Camera System (TAGCAMS) three camera-head instrument. The purpose of TAGCAMS is to provide imagery during the mission to facilitate navigation to the target asteroid, confirm acquisition of the asteroid sample and document asteroid sample stowage. Two of the TAGCAMS cameras, NavCam 1 and NavCam 2, serve as fully redundant navigation cameras to support optical navigation and natural feature tracking. The third TAGCAMS camera, StowCam, provides imagery to assist with and confirm proper stowage of the asteroid sample. Analysis of spacecraft imagery acquired by the TAGCAMS during cruise to the target asteroid Bennu was performed using custom codes developed in MATLAB. Assessment of the TAGCAMS in-flight performance using flight imagery was done to characterize camera performance. One specific area of investigation that was targeted was bad pixel mapping. A recent phase of the mission, known as the Earth Gravity Assist (EGA) maneuver, provided images that were used for the detection and confirmation of “questionable” pixels, possibly under responsive, using image segmentation analysis. Ongoing work on point spread function morphology and camera linearity and responsivity will also be used for calibration purposes and further analysis in preparation for proximity operations around Bennu. Said analyses will provide a broader understanding regarding the functionality of the camera system, which will in turn aid in the fly-down to the asteroid, as it will allow the pick of a suitable landing and sample location.

Asteroid Ida and Its Moon

NASA Technical Reports Server (NTRS)

1994-01-01

This is the first full picture showing both asteroid 243 Ida and its newly discovered moon to be transmitted to Earth from the National Aeronautics and Space Administration's (NASA's) Galileo spacecraft--the first conclusive evidence that natural satellites of asteroids exist. Ida, the large object, is about 56 kilometers (35 miles) long. Ida's natural satellite is the small object to the right. This portrait was taken by Galileo's charge-coupled device (CCD) camera on August 28, 1993, about 14 minutes before the Jupiter-bound spacecraft's closest approach to the asteroid, from a range of 10,870 kilometers (6,755 miles). Ida is a heavily cratered, irregularly shaped asteroid in the main asteroid belt between Mars and Jupiter--the 243rd asteroid to be discovered since the first was found at the beginning of the 19th century. Ida is a member of a group of asteroids called the Koronis family. The small satellite, which is about 1.5 kilometers (1 mile) across in this view, has yet to be given a name by astronomers. It has been provisionally designated '1993 (243) 1' by the International Astronomical Union. ('1993' denotes the year the picture was taken, '243' the asteroid number and '1' the fact that it is the first moon of Ida to be found.) Although appearing to be 'next' to Ida, the satellite is actually in the foreground, slightly closer to the spacecraft than Ida is. Combining this image with data from Galileo's near-infrared mapping spectrometer, the science team estimates that the satellite is about 100 kilometers (60 miles) away from the center of Ida. This image, which was taken through a green filter, is one of a six-frame series using different color filters. The spatial resolution in this image is about 100 meters (330 feet) per pixel.

H-SLAM: Rao-Blackwellized Particle Filter SLAM Using Hilbert Maps.

PubMed

Vallicrosa, Guillem; Ridao, Pere

2018-05-01

Occupancy Grid maps provide a probabilistic representation of space which is important for a variety of robotic applications like path planning and autonomous manipulation. In this paper, a SLAM (Simultaneous Localization and Mapping) framework capable of obtaining this representation online is presented. The H-SLAM (Hilbert Maps SLAM) is based on Hilbert Map representation and uses a Particle Filter to represent the robot state. Hilbert Maps offer a continuous probabilistic representation with a small memory footprint. We present a series of experimental results carried both in simulation and with real AUVs (Autonomous Underwater Vehicles). These results demonstrate that our approach is able to represent the environment more consistently while capable of running online.

Vision-based mapping with cooperative robots

NASA Astrophysics Data System (ADS)

Little, James J.; Jennings, Cullen; Murray, Don

1998-10-01

Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

The MAP Autonomous Mission Control System

NASA Technical Reports Server (NTRS)

Breed, Juile; Coyle, Steven; Blahut, Kevin; Dent, Carolyn; Shendock, Robert; Rowe, Roger

2000-01-01

The Microwave Anisotropy Probe (MAP) mission is the second mission in NASA's Office of Space Science low-cost, Medium-class Explorers (MIDEX) program. The Explorers Program is designed to accomplish frequent, low cost, high quality space science investigations utilizing innovative, streamlined, efficient management, design and operations approaches. The MAP spacecraft will produce an accurate full-sky map of the cosmic microwave background temperature fluctuations with high sensitivity and angular resolution. The MAP spacecraft is planned for launch in early 2001, and will be staffed by only single-shift operations. During the rest of the time the spacecraft must be operated autonomously, with personnel available only on an on-call basis. Four (4) innovations will work cooperatively to enable a significant reduction in operations costs for the MAP spacecraft. First, the use of a common ground system for Spacecraft Integration and Test (I&T) as well as Operations. Second, the use of Finite State Modeling for intelligent autonomy. Third, the integration of a graphical planning engine to drive the autonomous systems without an intermediate manual step. And fourth, the ability for distributed operations via Web and pager access.

State-Estimation Algorithm Based on Computer Vision

NASA Technical Reports Server (NTRS)

Bayard, David; Brugarolas, Paul

2007-01-01

An algorithm and software to implement the algorithm are being developed as means to estimate the state (that is, the position and velocity) of an autonomous vehicle, relative to a visible nearby target object, to provide guidance for maneuvering the vehicle. In the original intended application, the autonomous vehicle would be a spacecraft and the nearby object would be a small astronomical body (typically, a comet or asteroid) to be explored by the spacecraft. The algorithm could also be used on Earth in analogous applications -- for example, for guiding underwater robots near such objects of interest as sunken ships, mineral deposits, or submerged mines. It is assumed that the robot would be equipped with a vision system that would include one or more electronic cameras, image-digitizing circuitry, and an imagedata- processing computer that would generate feature-recognition data products.

Trajectory design for a lunar mapping and near-Earth-asteroid flyby mission

NASA Technical Reports Server (NTRS)

Dunham, David W.; Farquhar, Robert W.

1993-01-01

In August, 1994, the unusual asteroid (1620) Geographos will pass very close to the Earth. This provides one of the best opportunities for a low-cost asteroid flyby mission that can be achieved with the help of a gravity assist from the Moon during the years 1994 and 1995. A Geographos flyby mission, including a lunar orbiting phase, was recommended to the Startegic Defense Initiative (SDI) Office when they were searching for ideas for a deep-space mission to test small imaging systems and other lightweight technologies. The goals for this mission, called Clementine, were defined to consist of a comprehensive lunar mapping phase before leaving the Earth-Moon system to encounter Geographos. This paper describes how the authors calculated a trajectory that met the mission goals within a reasonable total Delta-V budget. The paper also describes some refinements of the initially computed trajectory and alternative trajectories were investigated. The paper concludes with a list of trajectories to fly by other near-Earth asteroids during the two years following the Geographos opportunity. Some of these could be used if the Geographos schedule can not be met. If the 140 deg phase angle of the Geographos encounter turns out to be too risky, a flyby of (2120) Tantalus in January, 1995, has a much more favorable approach illumination. Tantalus apparently can be reached from the same lunar orbit needed to get to Geographos. However, both the flyby speed and distance from the Earth are much larger for Tantalus than for Geographos.

Incorporating Manual and Autonomous Code Generation

NASA Technical Reports Server (NTRS)

McComas, David

1998-01-01

Code can be generated manually or using code-generated software tools, but how do you interpret the two? This article looks at a design methodology that combines object-oriented design with autonomic code generation for attitude control flight software. Recent improvements in space flight computers are allowing software engineers to spend more time engineering the applications software. The application developed was the attitude control flight software for an astronomical satellite called the Microwave Anisotropy Probe (MAP). The MAP flight system is being designed, developed, and integrated at NASA's Goddard Space Flight Center. The MAP controls engineers are using Integrated Systems Inc.'s MATRIXx for their controls analysis. In addition to providing a graphical analysis for an environment, MATRIXx includes an autonomic code generation facility called AutoCode. This article examines the forces that shaped the final design and describes three highlights of the design process: (1) Defining the manual to autonomic code interface; (2) Applying object-oriented design to the manual flight code; (3) Implementing the object-oriented design in C.

Structure of possible long-lived asteroid belts

NASA Astrophysics Data System (ADS)

Evans, N. W.; Tabachnik, S. A.

2002-06-01

High-resolution simulations are used to map out the detailed structure of two long-lived stable belts of asteroid orbits in the inner Solar system. The Vulcanoid belt extends from 0.09 to 0.20au, though with a gaps at 0.15 and 0.18au corresponding to de-stabilizing mean motion resonances with Mercury and Venus. As collisional evolution proceeds slower at larger heliocentric distances, km-sized or larger Vulcanoids are most likely to be found in the region between 0.16 and 0.18au. The optimum location to search is at geocentric ecliptic longitudes 9°<=|lg|<=10° and latitudes |βg|<1°. Dynamically speaking, the Earth-Mars belt between 1.08 and 1.28au is a stable repository for asteroids on nearly circular orbits. It is interrupted at 1.21au owing to the 3:4 commensurability with the Earth, while secular resonances with Saturn are troublesome beyond 1.17au. These detailed maps of the fine structure of the belts can be used to plan search methodologies. Strategies for detecting members of the belts are discussed, including the use of infrared wide-field imaging with VISTA, and forthcoming European Space Agency satellite missions such as GAIA and BepiColombo.

Osiris-Rex and Hayabusa2 Sample Cleanroom Design and Construction Planning at NASA-JSC

NASA Technical Reports Server (NTRS)

Righter, Kevin; Pace, Lisa F.; Messenger, Keiko

2018-01-01

Final Paper and not the abstract is attached. The OSIRIS-REx asteroid sample return mission launched to asteroid Bennu September 8, 2016. The spacecraft will arrive at Bennu in late 2019, orbit and map the asteroid, and perform a touch and go (TAG) sampling maneuver in July 2020. After confirma-tion of successful sample stowage, the spacecraft will return to Earth, and the sample return capsule (SRC) will land in Utah in September 2023. Samples will be recovered from Utah and then transported and stored in a new sample cleanroom at NASA Johnson Space Center in Houston. All curation-specific ex-amination and documentation activities related to Ben-nu samples will be conducted in the dedicated OSIRIS-REx sample cleanroom to be built at NASA-JSC.

Adaptive Perception for Autonomous Vehicles

DTIC Science & Technology

1994-05-02

AD-A282 780 Adaptive Perception for Autonomous Vehicles Alonzo Kelly CMU-RI-TR-94-1 8 D IC SELECTF - pUG01 �j ~G U The Robotics Inttt ’I 94-2i...way of doing range image perception. Adaptive Perception for Autonomous Vehicles page 1. LZ Commentary The throughput problem of autonomous navigaticn...idea will be applied to the problem of terrain mapping in outdoor rough terrain. Adaptive Perception for Autonomous Vehicles page 2. 2. Analytical

Autonomous exploration and mapping of unknown environments

NASA Astrophysics Data System (ADS)

Owens, Jason; Osteen, Phil; Fields, MaryAnne

2012-06-01

Autonomous exploration and mapping is a vital capability for future robotic systems expected to function in arbitrary complex environments. In this paper, we describe an end-to-end robotic solution for remotely mapping buildings. For a typical mapping system, an unmanned system is directed to enter an unknown building at a distance, sense the internal structure, and, barring additional tasks, while in situ, create a 2-D map of the building. This map provides a useful and intuitive representation of the environment for the remote operator. We have integrated a robust mapping and exploration system utilizing laser range scanners and RGB-D cameras, and we demonstrate an exploration and metacognition algorithm on a robotic platform. The algorithm allows the robot to safely navigate the building, explore the interior, report significant features to the operator, and generate a consistent map - all while maintaining localization.

Distribution of Vesta Dark Materials, Southern View

NASA Image and Video Library

2013-01-03

This map shows the distribution of dark materials throughout the southern hemisphere of the giant asteroid Vesta. The circles, diamonds, and stars show where the dark material appears in craters, spots and topographic highs.

Advanced Curation of Current and Future Extraterrestrial Samples

NASA Technical Reports Server (NTRS)

Allen, Carlton C.

2013-01-01

Curation of extraterrestrial samples is the critical interface between sample return missions and the international research community. Curation includes documentation, preservation, preparation, and distribution of samples. The current collections of extraterrestrial samples include: Lunar rocks / soils collected by the Apollo astronauts Meteorites, including samples of asteroids, the Moon, and Mars "Cosmic dust" (asteroid and comet particles) collected by high-altitude aircraft Solar wind atoms collected by the Genesis spacecraft Comet particles collected by the Stardust spacecraft Interstellar dust collected by the Stardust spacecraft Asteroid particles collected by the Hayabusa spacecraft These samples were formed in environments strikingly different from that on Earth. Terrestrial contamination can destroy much of the scientific significance of many extraterrestrial materials. In order to preserve the research value of these precious samples, contamination must be minimized, understood, and documented. In addition the samples must be preserved - as far as possible - from physical and chemical alteration. In 2011 NASA selected the OSIRIS-REx mission, designed to return samples from the primitive asteroid 1999 RQ36 (Bennu). JAXA will sample C-class asteroid 1999 JU3 with the Hayabusa-2 mission. ESA is considering the near-Earth asteroid sample return mission Marco Polo-R. The Decadal Survey listed the first lander in a Mars sample return campaign as its highest priority flagship-class mission, with sample return from the South Pole-Aitken basin and the surface of a comet among additional top priorities. The latest NASA budget proposal includes a mission to capture a 5-10 m asteroid and return it to the vicinity of the Moon as a target for future sampling. Samples, tools, containers, and contamination witness materials from any of these missions carry unique requirements for acquisition and curation. Some of these requirements represent significant advances over methods currently used. New analytical and screening techniques will increase the value of current sample collections. Improved web-based tools will make information on all samples more accessible to researchers and the public. Advanced curation of current and future extraterrestrial samples includes: Contamination Control - inorganic / organic Temperature of preservation - subfreezing / cryogenic Non-destructive preliminary examination - X-ray tomography / XRF mapping / Raman mapping Microscopic samples - handling / sectioning / transport Special samples - unopened lunar cores Informatics - online catalogs / community-based characterization.

Analysis of laser radar measurements of the asteroid 433 Eros

NASA Astrophysics Data System (ADS)

Cole, Timothy D.; Zuber, Maria T.; Neuman, Greg; Cheng, Andrew F.; Reiter, R. Alan; Guo, Yanping; Smith, David E.

2001-09-01

After a 5-year mission, a 4-year transit followed by a one-year mission orbiting the asteroid 433 Eros, the Near-Earth Asteroid Rendezvous-Shoemaker (NEAR) spacecraft made a controlled landing onto the asteroid's surface on 12 February 2001. Onboard the spacecraft, the NEAR Laser Rangefinder (NLR) facility instrument had gathered over 11 million measurements, providing a spatially dense, high-resolution, topographical map of Eros. This topographic data, combined with Doppler tracking data for the spacecraft, enabled the determination of the asteroid's shape, mass, and density thereby contributing to understanding the internal structure and collisional evolution of Eros. NLR data indicate that Eros is a consolidated body with a complex shape dominated by collisions. The offset between the asteroid's center of mass and center of figure indicates a small deviation from a homogeneous internal structure that is most simply explained by variations in mechanical structure. Regional-scale relief and slope distributions show evidence for control of some topography by a competent substrate. It was found that pulse dilation was the major source of uncertainty in single-shot range measurements from the NLR, and that this uncertainty remains consistent with the overall 6-m range measurement system accuracy for NEAR. Analysis of NLR data fully quantified the geodynamic nature of this planetesimal, ergo, illustrating the utility of laser altimetry for remote sensing.

Mineralogical Analysis of the Oppia Quadrangle of Asteroid (4) Vesta: Evidence for Occurrence of Moderate-Reflectance Hydrated Minerals

NASA Technical Reports Server (NTRS)

Tosi, F.; Frigeri, A.; Combe, J.-Ph.; Zambon, F.; De Sanctis, M. C.; Ammannito, E.; Longobardo, A.; Hoffmann, M.; Nathues, A.; Garry, W. B.;

Castalia - A Mission to a Main Belt Comet

NASA Astrophysics Data System (ADS)

Jones, G. H.; Snodgrass, C.

2015-10-01

Main Belt Comets (MBCs), or Active Asteroids, constitute a newly identified class of solar system objects. They have stable, asteroid-like orbits and some exhibit a recurrent comet-like appearance. It is believed that they survived the age of the solarsystem in a dormant state and that their current ice sublimation driven activity only began recently. Buried water ice is the only volatile expected to survive under an insulating surface. Excavation by an impact can expose the ice and trigger the start of MBC activity. We present the case for a mission to one of these objects. The specific science goals of the Castalia mission are: 1. Characterize a new Solar System family, the MBCs, by in-situ investigation 2. Understand the physics of activity on MBCs 3. Directly sample water in the asteroid belt and test if MBCs are a viable source for Earth's water 4. Use the observed structure of an MBC as a tracer of planetary system formation and evolution. These goals can be achieved by a spacecraft designed to rendezvous with and orbit an MBC for a time interval of some months, arriving before the active period for mapping and then sampling the gas and dust released during the active phase. Given the low level of activity of MBCs, and the expectation that their activity comes from only a localized patch on the surface, the orbiting spacecraft will have to be able to maintain a very close orbit over extended periods - the Castalia plan envisages an orbiter capable of 'hovering' autonomously at distances of only a few km from the surface of the MBC. The strawman payload comprises a Visible and near-infrared spectral imager, Thermal infrared imager, Radio science,Subsurface radar, Dust impact detector, Dust composition analyser, Neutral/ion mass spectrometer, Magnetometer, and Plasma package. In addition to this, a surface science package is being considered. At the moment, MBC 133P/Elst Pizarro is the bestknown target for such a mission. A design study for the Castalia mission has been carried out in partnership between the science team, DLR and OHB Systems. This study looked at possible missions to 133P with launch dates around 2025, and found that this, and backup MBC targets, are reachable by an ESA M-class mission. More details are available at http://bit.ly/mbcmission

Shape and Gravity of Vesta South Pole

NASA Image and Video Library

2012-04-25

This set of images from NASA Dawn spacecraft shows topography of the southern hemisphere of the giant asteroid Vesta and a map of Vesta gravity variations that have been adjusted to account for Vesta shape.

Workshop on evolution of igneous asteroids: Focus on Vesta and the HED meteorites

NASA Technical Reports Server (NTRS)

Mittlefehldt, D. W. (Editor); Papike, J. J. (Editor)

1996-01-01

Recently, the geology of the surface of Vesta has been coming to light. In 1983 Gaffey first began showing maps of the surface geology of Vesta constructed from numerous spectra obtained at different times as the asteroid rotated. By noting the details of spectral variation with rotation, he was able to develop two possible gross-scale geologic maps of Vesta showing the distributions of mafic and ultramafic materials. These maps were published in 1997. Finally, the capabilities of the Hubble Space Telescope were brought to bear on Vesta and images with a resolution of about 50 km were obtained using four different filters by Binzel and co-workers. Maps produced by this team published in 1997 began to reveal the geology of Vesta in sufficient detail that crude interpretations of the geologic history of the asteroid could be attempted. Additionally, in 1993 Binzel and Xu published a study of small asteroids in the region near Vesta in orbital-element space. In this study, they showed that there are a number of asteroids a few kilometers in size with reflectance spectra like that of Vesta that form a trail in orbital-element space from near Vesta to near resonances that can more easily supply material to near-Earth space. Binzel and Xu thus concluded that these small asteroids were spells of Vesta ejected by impact and that some of their brethren had been perturbed to Earth-approaching orbits. They suggested that these latter were the immediate parents of HED meteorites. This seemed to remove a long-standing dynamical objection to Vesta as the HED parent body, as discussed by Wasson and Wetherill in 1979. Within the last few years, NASA has initiated the Discovery program of low-cost, rapid-timescale development, exploration missions. Vesta has been proposed as an object worthy of study by a Discovery mission, although a Vesta mission has not yet been selected. With all the recent activity aimed at studying Vesta and the HED meteorites, and the possibility of a space mission to Vesta, we felt that time was ripe to convene a workshop bringing together astronomers, meteoriticists, and planetary geologists to focus on what could be learned about the geologic evolution of Vesta through integrating astronomical and HED meteorite studies. This, of course, assumes that the HED meteorites are from Vesta, and this issue was specifically addressed (but not resolved) in the workshop. Indeed, it seems likely that this issue can only be resolved by returning samples from Vesta for detailed study on Earth. The workshop was held at the LPI on October 16-18,1996, and was attended by some 70 scientists. Sessions included a set of talks on Earth- and space-based astronomical observations of Vesta plus the evidence pro and con for Vesta being the HED parent body, talks on the petrology and geochemistry of HED meteorites, talks on the formation and dynamics of ejecta from Vesta, talks on the thermal history of asteroids and HED meteorites, volcanic processes and differentiation history, and a short session devoted to possible missions to Vestal By all accounts, the workshop was considered a great success, although this is the opinion of a biased set of observers.

Communication and Control for Fleets of Autonomous Underwater Vehicles

DTIC Science & Technology

2006-10-30

Washington State University (WSU) on fuzzy logic control systems [2-4] and autonomous vehicles [5-10]. The ALWSE-MC program developed at NAVSEA CSS was...rotating head sonar on crawlers as an additional sensor for navigation. We have previously investigated the use of video cameras on autonomous vehicles for...simulates autonomous vehicles performing mine reconnaissance/mapping, clearance, and surveillance in a littoral region. Three simulations were preformed

Experiences applying Formal Approaches in the Development of Swarm-Based Space Exploration Systems

NASA Technical Reports Server (NTRS)

Rouff, Christopher A.; Hinchey, Michael G.; Truszkowski, Walter F.; Rash, James L.

2006-01-01

NASA is researching advanced technologies for future exploration missions using intelligent swarms of robotic vehicles. One of these missions is the Autonomous Nan0 Technology Swarm (ANTS) mission that will explore the asteroid belt using 1,000 cooperative autonomous spacecraft. The emergent properties of intelligent swarms make it a potentially powerful concept, but at the same time more difficult to design and ensure that the proper behaviors will emerge. NASA is investigating formal methods and techniques for verification of such missions. The advantage of using formal methods is the ability to mathematically verify the behavior of a swarm, emergent or otherwise. Using the ANTS mission as a case study, we have evaluated multiple formal methods to determine their effectiveness in modeling and ensuring desired swarm behavior. This paper discusses the results of this evaluation and proposes an integrated formal method for ensuring correct behavior of future NASA intelligent swarms.

Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

NASA Astrophysics Data System (ADS)

Snider, Ross K.; Arathorn, David W.

2006-05-01

A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

Amor: Investigating The Triple Asteroid System 2001 SN263

NASA Astrophysics Data System (ADS)

Jones, T.; Bellerose, Julie; Lee, P.; Prettyman, T.; Lawrence, D.; Smith, P.; Gaffey, M.; Nolan, M.; Goldsten, J.; Thomas, P.; Veverka, J.; Farquhar, R.; Heldmann, J.; Reddy, V.; Williams, B.; Chartres, J.; DeRosee, R.; Dunham, D.

2010-10-01

The Amor mission will rendezvous and land at the triple Near-Earth Asteroid system (153591) 2001 SN263 and execute detailed, in-situ science investigations. The spacecraft reaches 2001 SN263 by using a two-year ΔVEGA (ΔV-Earth Gravity Assist) trajectory with a relatively low launch C3 of 33.5 km2/s2. Rendezvous will enable reconnaissance activities including global and regional imaging, shape modeling, system dynamics, and compositional mapping. After landing, Amor will conduct in-situ imaging (panoramic to microscopic scale) and compositional measurements to include elemental abundance. The main objectives are to 1) establish in-situ the long-hypothesized link between C-type asteroids and the primitive carbonaceous chondrite (CC) meteorites, 2) investigate the nature, origin and evolution of C-type asteroids, and 3) investigate the origin and evolution of a multiple asteroid system. The mission also addresses the distribution of volatiles and organic materials, impact hazards, and resources for future exploration. Amor is managed by NASA Ames Research Center in partnership with Orbital Sciences, KinetX, MDA, and Draper with heritage instruments provided by Ball Aerospace, JHU/APL, and Firestar Engineering. The science team brings experience from NEAR, Hayabusa, Deep Impact, Dawn, LCROSS, Kepler, and Mars missions. In this paper, we describe the science, mission design, and main operational challenges of performing in-situ science at this triple asteroid system. Challenges include landing on the asteroid components, thermal environment, short day-night cycles, and the operation of deployed instruments in a low gravity (10^-5 g) environment.

Near Earth Asteroid redirect missions based on gravity assist maneuver

NASA Astrophysics Data System (ADS)

Ledkov, Anton; Shustov, Boris M.; Eismont, Natan; Boyarsky, Michael; Nazirov, Ravil; Fedyaev, Konstantin

During last years several events attracted world community attention to the hazards of hitting the Earth by sky objects. One of these objects is Apophis asteroid what was expected with nonzero probability to hit the Earth in 2036. Luckily after more precise measurements this event is considered as practically improbable. But the other object has really reached the Earth, entered the atmosphere in the Chelyabinsk area and caused vast damages. After this the hazardous near Earth objects problem received practical confirmation of the necessity to find the methods of its resolution. The methods to prevent collision of the dangerous sky object with the Earth proposed up to now look not practical enough if one mentions such as gravitational tractor or changing the reflectivity of the asteroid surface. Even the method supposing the targeting of the spacecraft to the hazardous object in order to deflect it from initial trajectory by impact does not work because its low mass as compared with the mass of asteroid to be deflected. For example the mass of the Apophis is estimated to be about 40 million tons but the spacecraft which can be launched to intercept the asteroid using contemporary launchers has the mass not more than 5 tons. So the question arises where to find the heavier projectile which is possible to direct to the dangerous object? The answer proposed in our paper is very simple: to search it among small near Earth asteroids. As small ones we suppose those which have the cross section size not more than 12-15 meters and mass not exceeding 1500 -1700 tons. According to contemporary estimates the number of such asteroids is not less than 100000. The other question is how to redirect such asteroid to the dangerous one. In the paper the possibilities are studied to use for that purpose gravity assist maneuvers near Earth. It is shown that even among asteroids included in contemporary catalogue there are the ones which could be directed to the trajectory of the gravity assist maneuver near Earth resulted by following impact with dangerous asteroid. As example of the last one the Apophis was chosen. The required delta-V pulse to be applied to the candidate projectile asteroid to fulfill mentioned change of initial trajectory was confirmed to be comparatively small: not exceeding 10 m/s, and the smallest is about 2 m/s. To fulfilled this maneuver it is necessary to land and to mount on the surface of the asteroid projectile the spacecraft with sufficient amount of propellant onboard. The possible trajectories and demanded maneuvers were explored and it was confirmed that for contemporary space technology it is doable for the small asteroids belonging to the determined by our studies list of candidates supposing some reservations, namely the mass of the found asteroids. This was not considered as decisive obstacle because up to now only about 1% of small enough asteroids are included in catalogue so the list of the appropriate ones is far from to be closed. The studies have been fulfilled aimed to develop the methods to reached required accuracies of asteroid projectile trajectory parameters determination. With existing methods used for the usual spacecraft the limits of achievable accuracies demand the corrections delta-V maneuvers which may exceed the nominal ones. As a result the proposed conception of hazardous asteroids deflection becomes problematic. To overcome this obstacle in the paper new method of trajectory parameters determination is proposed and explored. Practically it is radio interferometer method when one transponder is placed on the asteroid target and two others together with the asteroid projectile form tetrahedron. This system begins to operate in vicinity of target asteroid in autonomous regime and expected to allow reaching the demanded low enough correction maneuver values. Paper gives the estimations of the accuracy of these three bodies relative motion parameters and expected limit values of correction maneuvers needed for hitting the target object. As additional option of planetary defense system construction the idea to redirect small near Earth asteroids onto the orbits resonance with the Earth orbit is explored. It is shown that it is possible to reach it by the use gravity assist maneuvers as it was described above by applying small velocity impulses to the asteroids. At least 11 asteroids were found demanded small enough delta-V for transferring them on such trajectories. After executing these maneuvers one can receive the system of asteroids approaching to the Earth practically each month with a possibility to use them as projectiles or for the purposes of delivering to the Earth their soil samples.

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments.

PubMed

Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

2016-07-26

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario.

Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments

PubMed Central

Hernández, Juan David; Istenič, Klemen; Gracias, Nuno; Palomeras, Narcís; Campos, Ricard; Vidal, Eduard; García, Rafael; Carreras, Marc

2016-01-01

We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. PMID:27472337

Autonomous Landing and Smart Anchoring for In-Situ Exploration of Small Bodies

NASA Technical Reports Server (NTRS)

Ghavimi, Ali R.; Serricchio, Frederick; Hadaegh, Fred Y.; Dolgin, Ben

2000-01-01

Future NASA missions include in-situ scientific explorations of small interplanetary objects like comets and asteroids. Sample acquisition systems are envisioned to operate directly from the landers that are anchored to the surface. Landing and anchoring proves to be challenging in the absence of an attitude control system and in the presence of nearly zero-gravity environments with uncertain surface terrain and unknown mechanical properties. This paper presents recent advancements in developing a novel landing and anchoring control system for the exploration of small bodies.

A Mobile Asteroid Surface Scout (MASCOT) for the Hayabusa 2 Mission to 1999 JU3: The Scientific Approach

NASA Astrophysics Data System (ADS)

Jaumann, Ralf; Bibring, Jean-Pierre; Glassmeier, Karl-Heinz; Grott, Matthias; Ho, Tra-Mi; Ulamec, Stepahn; Schmitz, Nicole; Auster, Ulrich; Biele, Jens; Kuninaka, Hitoshi; Okada, Tatsuaki; Yoshikawa, Makoto; Watanabe, Sei-ichhiro; Fujimoto, Masaki; Spohn, Tilman; Koncz, Alexander; Michaelis, Harald

2014-05-01

MASCOT, a Mobile Asteroid Surface Scout, will support JAXA's Hayabusa 2 mission to investigate the C-type asteroid 1999 JU3 (1). The German Aer-ospace Center (DLR) develops MASCOT with contributions from CNES (France) (2,3). Main objective is to in-situ map the asteroid's geomorpholo-gy, the intimate structure, texture and composition of the regolith (dust, soil and rocks), and the thermal, mechanical, and magnetic properties of the sur-face in order to provide ground truth for the orbiter remote measurements, support the selection of sampling sites, and provide context information for the returned samples. MASCOT comprises a payload of four scientific in-struments: camera, radiometer, magnetometer and hyperspectral microscope. C- and D-type asteroids hold clues to the origin of the solar system, the for-mation of planets, the origins of water and life on Earth, the protection of Earth from impacts, and resources for future human exploration. C- and D-types are dark and difficult to study from Earth, and have only been glimpsed by spacecraft. While results from recent missions (e.g., Hayabusa, NEAR (4, 5, 6)) have dramatically increased our understanding of asteroids, important questions remain. For example, characterizing the properties of asteroid regolith in-situ would deliver important ground truth for further understanding telescopic and orbital observations and samples of such aster-oids. MASCOT will descend and land on the asteroid and will change its position two times by hopping. This enables measurements during descent, at the landing and hopping positions #1-3, and during hopping. References: (1) Vilas, F., Astronomical J. 1101-1105, 2008; (2) Ulamec, S., et al., Acta Astronautica, Vol. 93, pp. 460-466; (3) Jaumann et al., 45th LPSC, Houston; (4) Special Issue, Science, Vol. 312 no. 5778, 2006; (5) Special Issue Science, Vol. 333 no. 6046, 2011. (6) Bell, L., Mitton, J-., Cambridge Univ. Press, 2002.

A Mobile Asteroid Surface Scout (MASCOT) for the Hayabusa 2 Mission to 1999 JU3: The Scientific Approach

NASA Astrophysics Data System (ADS)

Jaumann, Ralf; Bibring, Jean-Pierre; Glassmeier, Karl-Heinz; Grott, Matthias; Ho, Tra-Mie; Ulamec, Stephan; Schmitz, Nicole; Auster, Hans-Ulrich; Biele, Jens; Kuninaka, Hitoshi; Okada, Tatsuaki; Yoshikawa, Makoto; Watanabe, Sei-ichhiro; Fujimoto, Masaki; Spohn, Tilman

2013-04-01

Mascot, a Mobile Asteroid Surface Scout, will support JAXA's Hayabusa 2 mission to investigate the C-type asteroid 1999 JU3 (1). The German Aero-space Center (DLR) develops Mascot with contributions from CNES (France) (2). Main objective is to in-situ map the asteroid's geomorphology, the intimate structure, texture and composition of the regolith (dust, soil and rocks), and the thermal, mechanical, and magnetic properties of the surface in order to provide ground truth for the orbiter remote measurements, sup-port the selection of sampling sites, and provide context information for the returned samples. Mascot comprises a payload of four scientific instruments: camera, radiometer, magnetometer and hyperspectral microscope. C- and D-type asteroids hold clues to the origin of the solar system, the formation of planets, the origins of water and life on Earth, the protection of Earth from impacts, and resources for future human exploration. C- and D-types are dark and difficult to study from Earth, and have only been glimpsed by spacecraft. While results from recent missions (e.g., Hayabusa, NEAR (3, 4, 5)) have dramatically increased our understanding of asteroids, important questions remain. For example, characterizing the properties of asteroid reg-olith in-situ would deliver important ground truth for further understanding telescopic and orbital observations and samples of such asteroids. Mascot will descend and land on the asteroid and will change its position two times by hopping. This enables measurements during descent, at the landing and hopping positions #1-3, and during hopping. References: (1) Vilas, F., Astronomical J. 1101-1105, 2008; (2) Ulamec, S., et al., COSPAR, General Assembly, Mysore/India, 2012; (3) Special Issue, Science, Vol. 312 no. 5778, 2006; (4) Special Issue Science, Vol. 333 no. 6046, 2011; (5) Bell, L., Mitton, J-., Cambridge Univ. Press, 2002.

Asteroid Ida and Its Moon

NASA Image and Video Library

1996-02-01

This is the first full picture showing both asteroid 243 Ida and its newly discovered moon to be transmitted to Earth from the National Aeronautics and Space Administration's (NASA's) Galileo spacecraft--the first conclusive evidence that natural satellites of asteroids exist. Ida, the large object, is about 56 kilometers (35 miles) long. Ida's natural satellite is the small object to the right. This portrait was taken by Galileo's charge-coupled device (CCD) camera on August 28, 1993, about 14 minutes before the Jupiter-bound spacecraft's closest approach to the asteroid, from a range of 10,870 kilometers (6,755 miles). Ida is a heavily cratered, irregularly shaped asteroid in the main asteroid belt between Mars and Jupiter -- the 243rd asteroid to be discovered since the first was found at the beginning of the 19th century. Ida is a member of a group of asteroids called the Koronis family. The small satellite, which is about 1.5 kilometers (1 mile) across in this view, has yet to be given a name by astronomers. It has been provisionally designated '1993 (243) 1' by the International Astronomical Union. ('1993' denotes the year the picture was taken, '243' the asteroid number and '1' the fact that it is the first moon of Ida to be found.) Although appearing to be 'next' to Ida, the satellite is actually in the foreground, slightly closer to the spacecraft than Ida is. Combining this image with data from Galileo's near-infrared mapping spectrometer, the science team estimates that the satellite is about 100 kilometers (60 miles) away from the center of Ida. This image, which was taken through a green filter, is one of a six-frame series using different color filters. The spatial resolution in this image is about 100 meters (330 feet) per pixel. http://photojournal.jpl.nasa.gov/catalog/PIA00136

Giga-year evolution of Jupiter Trojans and the asymmetry problem

NASA Astrophysics Data System (ADS)

Di Sisto, Romina P.; Ramos, Ximena S.; Beaugé, Cristián

2014-11-01

We present a series of numerical integrations of observed and fictitious Jupiter Trojan asteroids, under the gravitational effects of the four outer planets, for time-spans comparable with the age of the Solar System. From these results we calculate the escape rate from each Lagrange point, and construct dynamical maps of ;permanence; time in different regions of the phase space. Fictitious asteroids in L4 and L5 show no significant difference, showing almost identical dynamical maps and escape rates. For real Trojans, however, we found that approximately 23% of the members of the leading swarm escaped after 4.5 Gyrs, while this number increased to 28.3% for L5 . This implies that the asymmetry between the two populations increases with time, indicating that it may have been smaller at the time of formation/capture of these asteroids. Nevertheless, the difference in chaotic diffusion cannot, in itself, account for the current observed asymmetry (∼40%), and must be primarily primordial and characteristic of the capture mechanism of the Trojans. Finally, we calculate new proper elements for all the numbered Trojans using the semi-analytical approach of Beaugé and Roig (Beaugé, C., Roig, F.V. [2001]. Icarus, 153, 391-415), and compare the results with the numerical estimations by Brož and Rosehnal (Brož, M., Rosehnal, J. [2011]. Mon. Not. R. Astron. Soc. 414, 565-574). For asteroids that were already numbered in 2011, both methods yield very similar results, while significant differences were found for those bodies that became numbered after 2011.

Non-Commutative Rational Yang-Baxter Maps

NASA Astrophysics Data System (ADS)

Doliwa, Adam

2014-03-01

Starting from multidimensional consistency of non-commutative lattice-modified Gel'fand-Dikii systems, we present the corresponding solutions of the functional (set-theoretic) Yang-Baxter equation, which are non-commutative versions of the maps arising from geometric crystals. Our approach works under additional condition of centrality of certain products of non-commuting variables. Then we apply such a restriction on the level of the Gel'fand-Dikii systems what allows to obtain non-autonomous (but with central non-autonomous factors) versions of the equations. In particular, we recover known non-commutative version of Hirota's lattice sine-Gordon equation, and we present an integrable non-commutative and non-autonomous lattice modified Boussinesq equation.

Solar system dynamics

NASA Technical Reports Server (NTRS)

Wisdom, Jack

1987-01-01

The rotational dynamics of irregularly shaped satellites and the origin of Kirkwood Gaps are discussed. The chaotic tumbling of Hyperion and the anomalously low eccentricity of Deimos are examined. The Digital Orrery is used to explore the phase space of the ellipic restricted three body problem near the principal commensurabilities (2/1, 5/2, 3/1, and 3/2). The results for the 3/1 commensurability are in close agreement with those found earlier with the algebraic mapping method. Large chaotic zones are associated with the 3/1, 2/1 and 5/2 resonances, where there are gaps in the distribution of asteroids. The region near the 3/2 resonance, where the Hilda group of asteroids is located, is largely devoid of chaotic behavior. Thus, there is a qualitative agreement between the character of the motion and the distribution of asteroids.

Novel microbial diversity retrieved by autonomous robotic exploration of the world's deepest vertical phreatic sinkhole.

PubMed

Sahl, Jason W; Fairfield, Nathaniel; Harris, J Kirk; Wettergreen, David; Stone, William C; Spear, John R

2010-03-01

The deep phreatic thermal explorer (DEPTHX) is an autonomous underwater vehicle designed to navigate an unexplored environment, generate high-resolution three-dimensional (3-D) maps, collect biological samples based on an autonomous sampling decision, and return to its origin. In the spring of 2007, DEPTHX was deployed in Zacatón, a deep (approximately 318 m), limestone, phreatic sinkhole (cenote) in northeastern Mexico. As DEPTHX descended, it generated a 3-D map based on the processing of range data from 54 onboard sonars. The vehicle collected water column samples and wall biomat samples throughout the depth profile of the cenote. Post-expedition sample analysis via comparative analysis of 16S rRNA gene sequences revealed a wealth of microbial diversity. Traditional Sanger gene sequencing combined with a barcoded-amplicon pyrosequencing approach revealed novel, phylum-level lineages from the domains Bacteria and Archaea; in addition, several novel subphylum lineages were also identified. Overall, DEPTHX successfully navigated and mapped Zacatón, and collected biological samples based on an autonomous decision, which revealed novel microbial diversity in a previously unexplored environment.

Thermophysical properties and modeling of minor bodies regoliths

NASA Astrophysics Data System (ADS)

Delbo, M.

2017-12-01

I will review recent studies of atmosphere-less Solar System minor bodies in the thermal infrared wavelengths (> 5 micron), which have seen major advances in the last few years thanks to the observations from space telescopes such as NASA's WISE and Spitzer, JAXA's Akari and ESA's Herschel. Analysis of these observations by means of numerical models allowed not only the determination of sizes and albedos for more than hundred-thousands asteroids, but also to infer, for several of these objects, the values of their thermal inertia. The latter is a sensitive indicator for the presence (or absence) of surface regolith, its grain size, porosity, and degree of compaction. These data confirm presence of regolith on all the studied asteroids, even on the rapidly rotating (period < 3 hours) ones. To exaplain this latter result, researchers invoked electrostatic forces to retain the regolith, which otherwise would be lost in space. Furthermore, it appears that thermal inertia inversely correlates with asteroid sizes, and directly correlates with their rotation periods. This can be explained by regolith density increasing with increasing depth below the surface, a phenomenon already noted of our moon. These findings will soon be tested with unprecedented detail by data from NASA's OSIRIS-REx sample return mission to the asteroid Bennu. OSIRIS-REx's instruments will map temperatures of the entire surface at different local times of the day (between 3:20am and 8:40pm) allowing fine sampling of the diurnal temperature curve. This will result in maps of the thermal inertia of the surface at 40 m spatial scale. On atmosphere-less bodies, thermal inertia controls the amplitude and rate of changes of temperature cycles, which can reach several tens of degrees and several degrees per minute, respectively. Laboratory experiments on materials analogs to those expected on asteroids show that these repeated temperature excursions cause stress on the materials, leading to their fragmentation and the production of fresh regolith

Regolith Depth, Mobility, and Variability on Vesta from Dawn's Low Altitude Mapping Orbit

NASA Technical Reports Server (NTRS)

Denevi, B. W.; Coman, E. I.; Blewett, D. T.; Mittlefehldt, D. W.; Buczkowski, D. L.; Combe, J.-P.; De Sanctis, M. C.; Jaumann, R.; Li, J.-Y.; Marchi, S.;

OSIRIS-REx Orbit Determination Covariance Studies at Bennu

NASA Technical Reports Server (NTRS)

Antreasian, P. G.; Moreau, M.; Jackman, C.; Williams, K.; Page, B.; Leonard, J. M.

2016-01-01

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the small, Earth-crossing asteroid (101955) Bennu in late 2018, and ultimately return a sample of regolith to Earth. Approximately 3 months before the encounter with Bennu, the asteroid finally becomes detectable in the narrow field PolyCam imager. The spacecraft's rendezvous with Bennu begins with a series of four Asteroid Approach Maneuvers, which slow the spacecraft's speed relative to Bennu beginning two and a half months prior to closest approach, ultimately delivering the spacecraft to a point 18 km from Bennu on Nov 18, 2018. An extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site will follow. This paper will discuss the challenges of navigating near a small 500-m diameter asteroid. The navigation at close proximity is dependent on the accurate mathematical model or digital terrain map of the asteroids shape. Predictions of the spacecraft state are very sensitive to spacecraft small forces, solar radiation pressure, and mis-modeling of Bennu's gravity field. Uncertainties in the physical parameters of the central body Bennu create additional challenges. The navigation errors are discussed and their impact on science planning will be presented.

OSIRIS-REx Orbit Determination Covariance Studies at Bennu

NASA Technical Reports Server (NTRS)

Antreasian, P. G.; Moreau, M.; Jackman, C.; Williams, K.; Page, B.; Leonard, J. M.

2016-01-01

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the small, Earth-crossing asteroid (101955) Bennu in late 2018, ultimately returning a sample of regolith to Earth. Approximately three months before the encounter with Bennu, the asteroid becomes detectable in the narrow field PolyCam imager. The spacecraft's rendezvous with Bennu begins with a series of four Asteroid Approach Maneuvers, slowing the spacecraft's speed relative to Bennu beginning two and a half months prior to closest approach, ultimately delivering the spacecraft to a point 18 km from Bennu in Nov, 2018. An extensive campaign of proximity operations activities to characterize the properties of Bennu and select a suitable sample site will follow. This paper will discuss the challenges of navigating near a small 500-m diameter asteroid. The navigation at close proximity is dependent on the accurate mathematical model or digital terrain map of the asteroid's shape. Predictions of the spacecraft state are very sensitive to spacecraft small forces, solar radiation pressure, and mis-modeling of Bennu's gravity field. Uncertainties in the physical parameters of the central body Bennu create additional challenges. The navigation errors are discussed and their impact on science planning will be presented.

Exploring Asteroid Interiors: The Deep Interior Mission Concept

NASA Technical Reports Server (NTRS)

Asphaug, E.; Belton, M. J. S.; Cangahuala, A.; Keith, L.; Klaasen, K.; McFadden, L.; Neumann, G.; Ostro, S. J.; Reinert, R.; Safaeinili, A.

2003-01-01

Deep Interior is a mission to determine the geophysical properties of near-Earth objects, including the first volumetric image of the interior of an asteroid. Radio reflection tomography will image the 3D distribution of complex dielectric properties within the 1 km rendezvous target and hence map structural, density or compositional variations. Laser altimetry and visible imaging will provide high-resolution surface topography. Smart surface pods culminating in blast experiments, imaged by the high frame rate camera and scanned by lidar, will characterize active mechanical behavior and structure of surface materials, expose unweathered surface for NIR analysis, and may enable some characterization of bulk seismic response. Multiple flybys en route to this target will characterize a diversity of asteroids, probing their interiors with non-tomographic radar reflectance experiments. Deep Interior is a natural follow-up to the NEARShoemaker mission and will provide essential guidance for future in situ asteroid and comet exploration. While our goal is to learn the interior geology of small bodies and how their surfaces behave, the resulting science will enable pragmatic technologies required of hazard mitigation and resource utilization.

Yarkovsky-driven Impact Predictions: Apophis and 1950 DA

NASA Astrophysics Data System (ADS)

Farnocchia, Davide; Chesley, S. R.; Chodas, P.; Milani, A.

2013-05-01

Abstract (2,250 Maximum Characters): Orbit determination for Near-Earth Asteroids presents unique technical challenges due to the imperative of early detection and careful assessment of the risk posed by specific Earth close approaches. The occurrence of an Earth impact can be decisively driven by the Yarkovsky effect, which is the most important nongravitational perturbation as it causes asteroids to undergo a secular variation in semimajor axis resulting in a quadratic effect in anomaly. We discuss the cases of (99942) Apophis and (29075) 1950 DA. The relevance of the Yarkovsky effect for Apophis is due to a scattering close approach in 2029 with minimum geocentric distance ~38000 km. For 1950 DA the influence of the Yarkovsky effect in 2880 is due to the long time interval preceding the impact. We use the available information on the asteroids' physical models as a starting point for a Monte Carlo method that allow us to measure how the Yarkovsky effect affects orbital predictions. For Apophis we map onto the 2029 close approach b-plane and analyze the keyholes corresponding to resonant close approaches. For 1950 DA we use the b-plane corresponding to the possible impact in 2880. We finally compute the impact probability from the mapped probability density function on the considered b-plane.

Secular resonances with massive asteroids and their impact on the dynamics of small bodies

NASA Astrophysics Data System (ADS)

Tsirvoulis, Georgios; Novaković, Bojan; Djošović, Valdimir

2015-08-01

The quest for understanding the dynamical structure of the main belt has been a long-lasting endeavor. From the discovery of the Kirkwood gaps and the Hirayama families, to the more recent advances in secular perturbation theory, the refinement of the proper elements and the discovery of the three-body mean-motion resonances, only to name a few, the progress has been immense. Dynamical models coupled with the outbursts in computational power and observations have greatly improved our knowledge of the dynamical evolution of the small bodies in the Solar System.While our set of tools for studying the dynamical porperties of the main belt is believed to be sufficiently complete, our assumptions on how to use them seem to have hindered this effort.The concensus has been that, judging by their mass, only the planets, especially the giant ones, can act as efficient perturbers of the orbits of asteroids. Thus a lot of studies have been made on the locations and effects of secular resonances with the giant planets in different parts of the main belt, explaining among other things the presence of gaps in the distribution of asteroids, strange shapes of some asteroid families and transport mechanisms of asteroids to the near-Earth region.Our work is motivated by the first discovery that a secular resonance with the most massive asteroid, Ceres, is the dominant dynamical mechanism responsible for the post-impact evolution of the Hoffmeister family members. Thus the concensus is wrong. Knowing now, that secular resonances with massive asteroids can be effective on asteroid dynamics, we set out to construct a dynamical map of these resonances across the main belt.Our study is focused on the linear and degree four non-linear secular resonances with the two most massive asteroids (1) Ceres and (4) Vesta. First we determine the locations of these secular resonances in the proper elements space, acquiring an understanding of the potentially affected regions, and then we perform numerical simulations to investigate the importance of each secular resonance on the dynamical evolution of asteroid orbits in the different parts of the main belt.

Autonomous navigation and control of a Mars rover

NASA Technical Reports Server (NTRS)

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.

Toward autonomous driving: The CMU Navlab. II - Architecture and systems

NASA Technical Reports Server (NTRS)

Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

1991-01-01

A description is given of EDDIE, the architecture for the Navlab mobile robot which provides a toolkit for building specific systems quickly and easily. Included in the discussion are the annotated maps used by EDDIE and the Navlab's road-following system, called the Autonomous Mail Vehicle, which was built using EDDIE and its annotated maps as a basis. The contributions of the Navlab project and the lessons learned from it are examined.

Experiences from using Autonomous Underwater Vehicles and Synthetic Aperture Sonar for Sediment and Habitat Mapping

NASA Astrophysics Data System (ADS)

Thorsnes, T.; Bjarnadóttir, L. R.

2017-12-01

Emerging platforms and tools like autonomous underwater vehicles and synthetic aperture sonars provide interesting opportunities for making seabed mapping more efficient and precise. Sediment grain-size maps are an important product in their own right and a key input for habitat and biotope maps. National and regional mapping programmes are tasked with mapping large areas, and survey efficiency, data quality, and resulting map confidence are important considerations when selecting the mapping strategy. Since 2005, c. 175,000 square kilometres of the Norwegian continental shelf and continental slope has been mapped with respect to sediments, habitats and biodiversity, and pollution under the MAREANO programme (www.mareano.no). At present the sediment mapping is based on a combination of ship-borne multibeam bathymetry and backscatter, visual documentation using a towed video platform, and grab sampling. We have now tested a new approach, using an Autonomous Underwater Vehicle (AUV) as the survey platform for the collection of acoustic data (Synthetic Aperture Sonar (SAS), EM2040 bathymetry and backscatter) and visual data (still images using a TFish colour photo system). This pilot project was conducted together the Norwegian Hydrographic Service, the Institute of Marine Research (biology observations) and the Norwegian Defence Research Establishment (operation of ship and AUV). The test site reported here is the Vesterdjupet area, offshore Lofoten, northern Norway. The water depth is between 170 and 300 metres, with sediments ranging from gravel, cobbles and boulders to sandy mud. A cold-water coral reef, associated with bioclastic sediments was also present in the study area. The presentation will give an overview of the main findings and experiences gained from this pilot project with a focus on geological mapping and will also discuss the relevance of AUV-based mapping to large-area mapping programmes like MAREANO.

Comparing Vesta Topography

NASA Image and Video Library

2013-09-27

These two images compare topographic maps of the giant asteroid Vesta as discerned by NASA Hubble Space Telescope top and as seen by NASA Dawn spacecraft bottom. Hubble has been in an orbit around Earth, while Dawn orbited Vesta from 2011 to 2012.

Reports of planetary geology program, 1983

NASA Technical Reports Server (NTRS)

Holt, H. E. (Compiler)

1984-01-01

Several areas of the Planetary Geology Program were addressed including outer solar system satellites, asteroids, comets, Venus, cratering processes and landform development, volcanic processes, aeolian processes, fluvial processes, periglacial and permafrost processes, geomorphology, remote sensing, tectonics and stratigraphy, and mapping.

Deep Interior Mission: Imaging the Interior of Near-Earth Asteroids Using Radio Reflection Tomography

NASA Technical Reports Server (NTRS)

Safaeinili, A.; Asphaug, E.; Rodriquez, E.; Gurrola, E.; Belton, M.; Klaasen, K.; Ostro, S.; Plaut, J.; Yeomans, D.

2005-01-01

Near-Earth asteroids are important exploration targets since they provide clues to the evolution of the solar system. They are also of interest since they present a clear danger to Earth. Our mission objective is to image the internal structure of two NEOs using radio reflection tomography (RRT) in order to explore the record of asteroid origin and impact evolution, and to test the fundamental hypothesis that some NEOs are rubble piles rather than consolidated bodies. Our mission s RRT technique is analogous to doing a CAT scan of the asteroid from orbit. Closely sampled radar echoes are processed to yield volumetric maps of mechanical and compositional boundaries, and to measure interior material dielectric properties. The RRT instrument is a radar that operates at 5 and 15 MHz with two 30-m (tip-to-tip) dipole antennas that are used in a cross-dipole configuration. The radar transmitter and receiver electronics have heritage from JPL's MARSIS contribution to Mars Express, and the antenna is similar to systems used in IMAGE and LACE missions. The 5-MHz channel is designed to penetrate greater than 1 km of basaltic rock, and 15-MHz penetrates a few hundred meters or more. In addition to RRT volumetric imaging, we use redundant color cameras to explore the surface expressions of unit boundaries, in order to relate interior radar imaging to what is observable from spacecraft imaging and from Earth. The camera also yields stereo color imaging for geology and RRT-related compositional analysis. Gravity and high fidelity geodesy are used to explore how interior structure is expressed in shape, density, mass distribution and spin. Ion thruster propulsion is utilized by Deep Interior to enable tomographic radar mapping of multiple asteroids. Within the Discovery AO scheduling parameters we identify two targets, S-type 1999 ND43 (approximately 500 m diameter) and V-type 3908 Nyx (approximately 1 km), asteroids whose compositions bracket the diversity of solar system materials that we are likely to encounter, from undifferentiated to highly evolved. The 5-15 MHz radar is capable of probing more primitive bodies (e.g. comets or C-types) that may be available given other launch schedules. 5 MHz radar easily penetrates, with the required SNR , greater than 1 km of basalt (a good analog for Nyx). Basalt has a greater loss tangent than expected for most asteroids, although iron-rich M-types are probably not appropriate targets. 15 MHz radar penetrates the outer approximately 100 m of rocky 1 km asteroids and the deep interiors of comets. Laboratory studies of the most common NE0 materials expected (S-, C- and V-type meteorite analogs) will commence in 2005.

Classification of LIDAR Data for Generating a High-Precision Roadway Map

NASA Astrophysics Data System (ADS)

Jeong, J.; Lee, I.

2016-06-01

Generating of a highly precise map grows up with development of autonomous driving vehicles. The highly precise map includes a precision of centimetres level unlike an existing commercial map with the precision of meters level. It is important to understand road environments and make a decision for autonomous driving since a robust localization is one of the critical challenges for the autonomous driving car. The one of source data is from a Lidar because it provides highly dense point cloud data with three dimensional position, intensities and ranges from the sensor to target. In this paper, we focus on how to segment point cloud data from a Lidar on a vehicle and classify objects on the road for the highly precise map. In particular, we propose the combination with a feature descriptor and a classification algorithm in machine learning. Objects can be distinguish by geometrical features based on a surface normal of each point. To achieve correct classification using limited point cloud data sets, a Support Vector Machine algorithm in machine learning are used. Final step is to evaluate accuracies of obtained results by comparing them to reference data The results show sufficient accuracy and it will be utilized to generate a highly precise road map.

Global transport in a nonautonomous periodic standard map

DOE PAGES

Calleja, Renato C.; del-Castillo-Negrete, D.; Martinez-del-Rio, D.; ...

2017-04-14

A non-autonomous version of the standard map with a periodic variation of the perturbation parameter is introduced and studied via an autonomous map obtained from the iteration of the nonautonomous map over a period. Symmetry properties in the variables and parameters of the map are found and used to find relations between rotation numbers of invariant sets. The role of the nonautonomous dynamics on period-one orbits, stability and bifurcation is studied. The critical boundaries for the global transport and for the destruction of invariant circles with fixed rotation number are studied in detail using direct computation and a continuation method.more » In the case of global transport, the critical boundary has a particular symmetrical horn shape. Here, the results are contrasted with similar calculations found in the literature.« less

Global transport in a nonautonomous periodic standard map

DOE Office of Scientific and Technical Information (OSTI.GOV)

Calleja, Renato C.; del-Castillo-Negrete, D.; Martinez-del-Rio, D.

A non-autonomous version of the standard map with a periodic variation of the perturbation parameter is introduced and studied via an autonomous map obtained from the iteration of the nonautonomous map over a period. Symmetry properties in the variables and parameters of the map are found and used to find relations between rotation numbers of invariant sets. The role of the nonautonomous dynamics on period-one orbits, stability and bifurcation is studied. The critical boundaries for the global transport and for the destruction of invariant circles with fixed rotation number are studied in detail using direct computation and a continuation method.more » In the case of global transport, the critical boundary has a particular symmetrical horn shape. Here, the results are contrasted with similar calculations found in the literature.« less

4 Vesta in Color: High Resolution Mapping from Dawn Framing Camera Images

NASA Technical Reports Server (NTRS)

Reddy, V.; LeCorre, L.; Nathues, A.; Sierks, H.; Christensen, U.; Hoffmann, M.; Schroeder, S. E.; Vincent, J. B.; McSween, H. Y.; Denevi, B. W.;

From Open Geographical Data to Tangible Maps: Improving the Accessibility of Maps for Visually Impaired People

NASA Astrophysics Data System (ADS)

Ducasse, J.; Macé, M.; Jouffrais, C.

2015-08-01

Visual maps must be transcribed into (interactive) raised-line maps to be accessible for visually impaired people. However, these tactile maps suffer from several shortcomings: they are long and expensive to produce, they cannot display a large amount of information, and they are not dynamically modifiable. A number of methods have been developed to automate the production of raised-line maps, but there is not yet any tactile map editor on the market. Tangible interactions proved to be an efficient way to help a visually impaired user manipulate spatial representations. Contrary to raised-line maps, tangible maps can be autonomously constructed and edited. In this paper, we present the scenarios and the main expected contributions of the AccessiMap project, which is based on the availability of many sources of open spatial data: 1/ facilitating the production of interactive tactile maps with the development of an open-source web-based editor; 2/ investigating the use of tangible interfaces for the autonomous construction and exploration of a map by a visually impaired user.

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles.

PubMed

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-08-13

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well.

Road map points US to beyond the Moon

NASA Astrophysics Data System (ADS)

Banks, Michael

2008-12-01

The new US administration under President Barack Obama should focus on sending humans to Mars and plan a manned voyage to a near-Earth asteroid. That is the conclusion of a road map published last month by the Planetary Society - a US non-governmental, non-profit organization. The report also says that any future manned missions to the Moon, including a potential lunar base, should instead be funded and performed internationally.

Vision guided landing of an an autonomous helicopter in hazardous terrain

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Montgomery, Jim

2005-01-01

Future robotic space missions will employ a precision soft-landing capability that will enable exploration of previously inaccessible sites that have strong scientific significance. To enable this capability, a fully autonomous onboard system that identifies and avoids hazardous features such as steep slopes and large rocks is required. Such a system will also provide greater functionality in unstructured terrain to unmanned aerial vehicles. This paper describes an algorithm for landing hazard avoidance based on images from a single moving camera. The core of the algorithm is an efficient application of structure from motion to generate a dense elevation map of the landing area. Hazards are then detected in this map and a safe landing site is selected. The algorithm has been implemented on an autonomous helicopter testbed and demonstrated four times resulting in the first autonomous landing of an unmanned helicopter in unknown and hazardous terrain.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application.

PubMed

Vivacqua, Rafael; Vassallo, Raquel; Martins, Felipe

2017-10-16

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle's backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation.

A Low Cost Sensors Approach for Accurate Vehicle Localization and Autonomous Driving Application

PubMed Central

Vassallo, Raquel

2017-01-01

Autonomous driving in public roads requires precise localization within the range of few centimeters. Even the best current precise localization system based on the Global Navigation Satellite System (GNSS) can not always reach this level of precision, especially in an urban environment, where the signal is disturbed by surrounding buildings and artifacts. Laser range finder and stereo vision have been successfully used for obstacle detection, mapping and localization to solve the autonomous driving problem. Unfortunately, Light Detection and Ranging (LIDARs) are very expensive sensors and stereo vision requires powerful dedicated hardware to process the cameras information. In this context, this article presents a low-cost architecture of sensors and data fusion algorithm capable of autonomous driving in narrow two-way roads. Our approach exploits a combination of a short-range visual lane marking detector and a dead reckoning system to build a long and precise perception of the lane markings in the vehicle’s backwards. This information is used to localize the vehicle in a map, that also contains the reference trajectory for autonomous driving. Experimental results show the successful application of the proposed system on a real autonomous driving situation. PMID:29035334

Reactive Sequencing for Autonomous Navigation Evolving from Phoenix Entry, Descent, and Landing

NASA Technical Reports Server (NTRS)

Grasso, Christopher A.; Riedel, Joseph E.; Vaughan, Andrew T.

2010-01-01

Virtual Machine Language (VML) is an award-winning advanced procedural sequencing language in use on NASA deep-space missions since 1997, and was used for the successful entry, descent, and landing (EDL) of the Phoenix spacecraft onto the surface of Mars. Phoenix EDL utilized a state-oriented operations architecture which executed within the constraints of the existing VML 2.0 flight capability, compatible with the linear "land or die" nature of the mission. The intricacies of Phoenix EDL included the planned discarding of portions of the vehicle, the complex communications management for relay through on-orbit assets, the presence of temporally indeterminate physical events, and the need to rapidly catch up four days of sequencing should a reboot of the spacecraft flight computer occur shortly before atmospheric entry. These formidable operational challenges led to new techniques for packaging and coordinating reusable sequences called blocks using one-way synchronization via VML sequencing global variable events. The coordinated blocks acted as an ensemble to land the spacecraft, while individually managing various elements in as simple a fashion as possible. This paper outlines prototype VML 2.1 flight capabilities that have evolved from the one-way synchronization techniques in order to implement even more ambitious autonomous mission capabilities. Target missions for these new capabilities include autonomous touch-and-go sampling of cometary and asteroidal bodies, lunar landing of robotic missions, and ultimately landing of crewed lunar vehicles. Close proximity guidance, navigation, and control operations, on-orbit rendezvous, and descent and landing events featured in these missions require elaborate abort capability, manifesting highly non-linear scenarios that are so complex as to overtax traditional sequencing, or even the sort of one-way coordinated sequencing used during EDL. Foreseeing advanced command and control needs for small body and lunar landing guidance, navigation and control scenarios, work began three years ago on substantial upgrades to VML that are now being exercised in scenarios for lunar landing and comet/asteroid rendezvous. The advanced state-based approach includes coordinated state transition machines with distributed decision-making logic. These state machines are not merely sequences - they are reactive logic constructs capable of autonomous decision making within a well-defined domain. Combined with the JPL's AutoNav software used on Deep Space 1 and Deep Impact, the system allows spacecraft to autonomously navigate to an unmapped surface, soft-contact, and either land or ascend. The state machine architecture enabled by VML 2.1 has successfully performed sampling missions and lunar descent missions in a simulated environment, and is progressing toward flight capability. The authors are also investigating using the VML 2.1 flight director architecture to perform autonomous activities like rendezvous with a passive hypothetical Mars sample return capsule. The approach being pursued is similar to the touch-and-go sampling state machines, with the added complications associated with the search for, physical capture of, and securing of a separate spacecraft. Complications include optically finding and tracking the Orbiting Sample Capsule (OSC), keeping the OSC illuminated, making orbital adjustments, and physically capturing the OSC. Other applications could include autonomous science collection and fault compensation.

Impact Hazard Monitoring: Theory and Implementation

NASA Astrophysics Data System (ADS)

Farnocchia, Davide

2015-08-01

Impact monitoring is a crucial component of the mitigation or elimination of the hazard posed by asteroid impacts. Once an asteroid is discovered, it is important to achieve an early detection and an accurate assessment of the risk posed by future Earth encounters. Here we review the most standard impact monitoring techniques. Linear methods are the fastest approach but their applicability regime is limited because of the chaotic dynamics of near-Earth asteroids, whose orbits are often scattered by planetary encounters. Among nonlinear methods, Monte Carlo algorithms are the most reliable ones. However, the large number of near-Earth asteroids and the computational load required to detect low probability impact events make Monte Carlo approaches impractical in the framework of monitoring all near-Earth asteroids. In the last 15 years, the Line of Variations (LOV) method has been the most successful technique as it strikes a remarkable compromise between computational efficiency and the capability of detecting low probability events deep in the nonlinear regime. As a matter of fact, the LOV method is the engine of JPL’s Sentry and University of Pisa’s NEODyS, which the two fully automated impact monitoring systems that routinely search for potential impactors among known near-Earth asteroids. We also present some more recent techniques developed to deal with the new challenges arising in the impact hazard assessment problem. In particular, we describe how to use keyhole maps to go beyond strongly scattering encounters and push forward in time the impact prediction horizon. In these cases asteroids usually have a very well constrained orbit and we often need to account for the action of nongravitational perturbations, especially the Yarkovsky effect. Finally, we discuss the short-term hazard assessment problem for newly discovered asteroids, when only a short observed arc is available. The limited amount of observational data generally leads to severe degeneracies in the orbit estimation process. We overcome these degeneracies by employing ranging techniques, which scan the poorly constrained space of topocentric range and range rate.

The Advanced Jovian Asteroid Explorer (AJAX)

NASA Astrophysics Data System (ADS)

Murchie, S. L.; Adams, E. Y.; Mustard, J. F.; Rivkin, A.; Peplowski, P. N.

2015-12-01

The Advanced Jovian Asteroid eXplorer (AJAX) is the first mission to characterize the geology, morphology, geophysical properties, and chemistry of a Trojan asteroid. The Decadal Survey outlined a notional New Frontiers class Trojan asteroid rendezvous mission to conduct geological, elemental composition, mineralogical, and geophysical investigations. AJAX, our Discovery mission proposal, addresses the Decadal Survey science goals by using a focused payload and an innovative mission design. By responding to the most important questions about the Trojan asteroids, AJAX advances our understanding of all of the Solar System. Are these objects a remnant population of the local primordial material from which the outer planets and their satellites formed, or did they originate in the Kuiper Belt? Landed measurements of major and minor elements test hypotheses for the Trojan asteroid origin, revealing the outer Solar System dynamical history. How and when were prebiotic materials delivered to the terrestrial planets? AJAX's landed measurements include C and H concentrations, necessary to determine their inventories of volatiles and organic compounds, material delivered to the inner Solar System during the Late Heavy Bombardment. What chemical and geological processes shaped the small bodies that merged to form the planets in our Solar System? AJAX investigates the asteroid internal structure, geology, and regolith by using global high-resolution stereo and multispectral imaging, determining density and estimating interior porosity by measuring gravity, and measuring regolith mechanical properties by landing. AJAX's science phase starts with search for natural satellites and dust lifted by possible cometary activity and shape and pole position determination. AJAX descends to lower altitudes for global mapping, and conducts a low flyover for high-resolution surface characterization and measurement of hydrogen abundance. Finally, it deploys a small landed package, which measures elemental abundances and physical properties of the regolith. AJAX's science data will result in an improved understanding of the early stages of planetary accretion by comparing a Trojan asteroid with near-Earth targets of OSIRIS-REx, Hayabusa 2, and NEAR, and the Kuiper Belt-derived targets of Rosetta and New Horizons.

Geologic Mapping of Ejecta Deposits in Oppia Quadrangle, Asteroid (4) Vesta

NASA Technical Reports Server (NTRS)

Garry, W. Brent; Williams, David A.; Yingst, R. Aileen; Mest, Scott C.; Buczkowski, Debra L.; Tosi, Federico; Schafer, Michael; LeCorre, Lucille; Reddy, Vishnu; Jaumann, Ralf;

Cooperative Autonomous Observation of Coherent Atmospheric Structures using Small Unmanned Aircraft Systems

NASA Astrophysics Data System (ADS)

Ravela, S.

2014-12-01

Mapping the structure of localized atmospheric phenomena, from sea breeze and shallow cumuli to thunderstorms and hurricanes, is of scientific interest. Low-cost small unmanned aircraft systems (sUAS) open the possibility for autonomous "instruments" to map important small-scale phenomena (kilometers, hours) and serve as a testbed for for much larger scales. Localized phenomena viewed as coherent structures interacting with their large-scale environment are difficult to map. As simple simulations show, naive Eulerian or Lagrangian strategies can fail in mapping localized phenomena. Model-based techniques are needed. Meteorological targeting, where supplementary UAS measurements additionally constrain numerical models is promising, but may require many primary measurements to be successful. We propose a new, data-driven, field-operable, cooperative autonomous observing system (CAOS) framework. A remote observer (on a UAS) tracks tracers to identify an apparent motion model over short timescales. Motion-based predictions seed MCMC flight plans for other UAS to gather in-situ data, which is fused with the remote measurements to produce maps. The tracking and mapping cycles repeat, and maps can be assimilated into numerical models for longer term forecasting. CAOS has been applied to study small scale emissions. At Popocatepetl, in collaboration with CENAPRED and IPN, it is being applied map the plume using remote IR/UV UAS and in-situ SO2 sensing, with additional plans for water vapor, the electric field and ash. The combination of sUAS with autonomy appears to be highly promising methodology for environmental mapping. For more information, please visit http://caos.mit.edu

Geoscientific Mapping of Vesta by the Dawn Mission

NASA Technical Reports Server (NTRS)

Jaumann, R.; Pieters, C. M.; Neukum, G.; Mottola, S.; DeSanctis, M. C.; Russell, C. T.; Raymond, C. A.; McSween, H. Y.; Roatsch, T.; Nathues, A.;

An autonomous flying vehicle for Mars exploration

NASA Astrophysics Data System (ADS)

Bouras, Peter; Fox, Tim

1990-09-01

A remotely reprogrammable, autonomous flying craft for surveying and mapping the Martian surface environment is presented. This solar powered, modified flying wing design could cover about 2000 statute miles while maneuvering at Mach 0.3. The craft is configured to fly one km above the surface, measuring atmospheric properties, performing subsurface mapping, mapping the surface topography, and searching for the presence of water and perhaps life. A 35 kg scientific payload, plus communication and control electronics, are placed spanwise inside the flying wing, removing the requirement for a normal fuselage, and reducing structural needs. Thrust is provided by a two-bladed electrically driven propeller motorized by high-efficiency solar cells.

Looking Forward - A Next Generation of Thermal Infrared Planetary Instruments

NASA Astrophysics Data System (ADS)

Christensen, P. R.; Hamilton, V. E.; Edwards, C. S.; Spencer, J. R.

2017-12-01

Thermal infrared measurements have provided important information about the physical properties of planetary surfaces beginning with the initial Mariner spacecraft in the early 1960's. These infrared measurements will continue into the future with a series of instruments that are now on their way or in development that will explore a suite of asteroids, Europa, and Mars. These instruments are being developed at Arizona State University, and are next-generation versions of the TES, Mini-TES, and THEMIS infrared spectrometers and imagers. The OTES instrument on OSIRIS-REx, which was launched in Sept. 2016, will map the surface of the asteroid Bennu down to a resolution of 40 m/pixel at seven times of day. This multiple time of day coverage will be used to produce global thermal inertia maps that will be used to determine the particle size distribution, which will in turn help select a safe and appropriate sample site. The EMIRS instrument, which is being built in partnership with the UAE's MBRSC for the Emirates Mars Mission, will measure martian surface temperatures at 200-300 km/pixel scales at over the full diurnal cycle - the first time the full diurnal temperature cycle has been observed since the Viking mission. The E-THEMIS instrument on the Europa Clipper mission will provide global mapping at 5-10 km/pixel scale at multiple times of day, and local observations down to resolutions of 50 m/pixel. These measurements will have a precision of 0.2 K for a 90 K scene, and will be used to map the thermal inertia and block abundances across Europa and to identify areas of localized endogenic heat. These observations will be used to investigate the physical processes of surface formation and evolution and to help select the landing site of a future Europa lander. Finally, the LTES instrument on the Lucy mission will measure temperatures on the day and night sides of the target Trojan asteroids, again providing insights into their surface properties and evolution processes.

Concepts of Operations for Asteroid Rendezvous Missions Focused on Resources Utilization

NASA Technical Reports Server (NTRS)

Mueller, Robert P.; Sibille, Laurent; Sanders, Gerald B.; Jones, Christopher A.

2014-01-01

Several asteroids are the targets of international robotic space missions currently manifested or in the planning stage. This global interest reflects a need to study these celestial bodies for the scientific information they provide about our solar system, and to better understand how to mitigate the collision threats some of them pose to Earth. Another important objective of these missions is providing assessments of the potential resources that asteroids could provide to future space architectures. In this paper, we examine a series of possible mission operations focused on advancing both our knowledge of the types of asteroids suited for different forms of resource extraction, and the capabilities required to extract those resources for mission enhancing and enabling uses such as radiation protection, propulsion, life support, shelter and manufacturing. An evolutionary development and demonstration approach is recommended within the framework of a larger campaign that prepares for the first landings of humans on Mars. As is the case for terrestrial mining, the development and demonstration approach progresses from resource prospecting (understanding the resource, and mapping the 'ore body'), mining/extraction feasibility and product assessment, pilot operations, to full in-situ resource utilization (ISRU). Opportunities to gather specific knowledge for ISRU via resource prospecting during science missions to asteroids are also examined to maximize the pace of development of needed ISRU capabilities and technologies for deep space missions.

A Mobile Asteroid Surface Scout (MASCOT) for the Hayabusa 2 Mission to 1999 JU3: The Scientific Approach

NASA Astrophysics Data System (ADS)

Jaumann, Ralf; Bibring, Jean-Piere; Glassmeier, Karl-Heiz; Grott, Mathias; Ho, Tra-Mi; Ulamec, Stefan; Schmitz, Nicole; Auster, Ulrich; Biele, Jens; Kuninaka, Hitoshi; Okada, Tatsuaki; Yoshikawa, Makoto; Watanabe, Sei-ichiro; Fujimoto, Masaki; Spohn, Tilman; Koncz, Aalexander; Hercik, Davis; Michaelis, Harald

2015-04-01

MASCOT, a Mobile Asteroid Surface Scout, will support JAXA's Hayabusa 2 mission to investigate the C-type asteroid 1999 JU3 (1). The German Aer-ospace Center (DLR) develops MASCOT with contributions from CNES (France) (2,3,4). Main objective is to in-situ map the asteroid's geomorphol-ogy, the intimate mixture, texture and composition of the regolith (dust, soil and rocks), and the thermal, mechanical, and magnetic properties of the sur-face in order to provide ground truth for the orbiter remote measurements, support the selection of sampling sites, and provide context information for the returned samples. MASCOT comprises a payload of four scientific in-struments: camera, radiometer, magnetometer and hyperspectral microscope. C- and D-type asteroids hold clues to the origin of the solar system, the for-mation of planets, the origins of water and life on Earth, the protection of Earth from impacts, and resources for future human exploration. C- and D-types are dark and difficult to study from Earth, and have only been glimpsed by spacecraft. While results from recent missions (e.g., Hayabusa, NEAR (5, 6, 7)) have dramatically increased our understanding of asteroids, important questions remain open. For example, characterizing the properties of asteroid regolith in-situ would deliver important ground truth for further understanding telescopic and orbital observations and samples of such asteroids. MASCOT will descend and land on the asteroid and will change its own position up to two times by hopping. This enables measurements during descent, at the landing and hopping positions #1-3, and during hopping. Hayabusa 2 together with MASCOT launched December 3rd 2014, will arrive at 1999JU3 in 2018 and return samples back to Earth in 2020. References: (1) Vilas, F., Astronomical J. 1101-1105, 2008; (2) Ulamec, S., et al., Acta Astronautica, Vol. 93, pp. 460-466; (3) Jaumann et al., 45th LPSC, #1812, Houston; (4) Ho et al., 45th LPSC, #2535, Houston; (5) Spe-cial Issue, Science, Vol. 312 no. 5778, 2006; (6) Special Issue Science, Vol. 333 no. 6046, 2011. (7) Bell, L., Mitton, J-., Cambridge Univ. Press, 2002.

Study of binary asteroids with three space missions

NASA Astrophysics Data System (ADS)

Kovalenko, Irina; Doressoundiram, Alain; Hestroffer, Daniel

Binary and multiple asteroids are common in the Solar system and encountered in various places going from Near-Earth region, to the main-belt, Trojans and Centaurs, and beyond Neptune. Their study can provide insight on the Solar System formation and its subsequent dynamical evolution. Binaries are also objects of high interest because they provide fundamental physical parameters such as mass and density, and hence clues on the early Solar System, or other processes that are affecting asteroid over time. We will present our current project on analysis of such systems based on three space missions. The first one is the Herschel space observatory (ESA), the largest infrared telescope ever launched. Thirty Centaurs and trans-Neptunian binaries were observed by Herschel and the measurement allowed to define size, albedo and thermal properties [1]. The second one is the satellite Gaia (ESA). This mission is designed to chart a three-dimensional map of the Galaxy. Gaia will provide positional measurements of Solar System Objects - including asteroid binaries - with unprecedented accuracy [2]. And the third one is the proposed mission AIDA, which would study the effects of crashing a spacecraft into an asteroid [3]. The objectives are to demonstrate the ability to modify the trajectory of an asteroid, to precisely measure its trajectory change, and to characterize its physical properties. The target of this mission is a binary system: (65803) Didymos. This encompasses orbital characterisations for both astrometric and resolved binaries, as well as unbound orbit, study of astrometric binaries, derivation of densities, and general statistical analysis of physical and orbital properties of trans-Neptunian and other asteroid binaries. Acknowledgements : work supported by Labex ESEP (ANR N° 2011-LABX-030) [1] Müller T., Lellouch E., Stansberry J. et al. 2009. TNOs are Cool: A Survey of the Transneptunian Region. EM&P 105, 209-219. [2] Mignard F., Cellino A., Muinonen K. et al. 2007. The Gaia Mission: Expected Applications to Asteroid Science. EM&P 1001, 97-125. [3] Galvez A., Carnelli I. et al. 2013. AIDA: The Asteroid Impact & Deflection Assessment Mission. EPSC 2013 - 1043.

PHYS: Division of Physical Chemistry 258 - Properties and Origins of Cometary and Asteroidal Organic Matter Delivered to the Early Earth

NASA Technical Reports Server (NTRS)

Messenger, Scott; Nguyen, Ann

2017-01-01

Comets and asteroids may have contributed much of the Earth's water and organic matter. The Earth accretes approximately 4x10(exp 7) Kg of dust and meteorites from these sources every year. The least altered meteorites contain complex assemblages of organic compounds and abundant hydrated minerals. These carbonaceous chondrite meteorites probably derive from asteroids that underwent hydrothermal processing within the first few million years after their accretion. Meteorite organics show isotopic and chemical signatures of low-T ion-molecule and grain-surface chemistry and photolysis of icy grains that occurred in cold molecular clouds and the outer protoplanetary disk. These signatures have been overprinted by aqueously mediated chemistry in asteroid parent bodies, forming amino acids and other prebiotic molecules. Comets are much richer in organic matter but it is less well characterized. Comet dust collected in the stratosphere shows larger H and N isotopic anomalies than most meteorites, suggesting better preservation of primordial organics. Rosetta studies of comet 67P coma dust find complex organic matter that may be related to the macromolecular material that dominates the organic inventory of primitive meteorites. The exogenous organic material accreting on Earth throughout its history is made up of thousands of molecular species formed in diverse processes ranging from circumstellar outflows to chemistry at near absolute zero in dark cloud cores and the formative environment within minor planets. NASA and JAXA are currently flying sample return missions to primitive, potentially organic-rich asteroids. The OSIRIS-REx and Hayabusa2 missions will map their target asteroids, Bennu and Ryugu, in detail and return regolith samples to Earth. Laboratory analyses of these pristine asteroid samples will provide unprecedented views of asteroidal organic matter relatively free of terrestrial contamination within well determined geological context. Studies of extraterrestrial materials and returned samples are essential to understand the origins of Solar System organic material and the roles of comets and asteroids to providing the starting materials for the emergence of life.

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles

PubMed Central

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-01-01

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well. PMID:26287194

Evaluating Lake Superior nearshore offshore gradients using autonomous gliders

EPA Science Inventory

Slocum electric gliders are autonomous vehicles capable of continuously mapping subsurface conditions at high resolution for months at a time. During the 2016 CSMI in Lake Superior, seven glider deployments were undertaken through a partnership between University of Minnesota Dul...

A bibliography of planetary geology principal investigators and their associates, 1976-1978

NASA Technical Reports Server (NTRS)

1978-01-01

This bibliography cites publications submitted by 484 principal investigators and their associates who were supported through NASA's Office of Space Sciences Planetary Geology Program. Subject classifications include: solar system formation, comets, and asteroids; planetary satellites, planetary interiors, geological and geochemical constraints on planetary evolution; impact crater studies, volcanism, eolian studies, fluvian studies, Mars geological mapping; Mercury geological mapping; planetary cartography; and instrument development and techniques. An author/editor index is provided.

Engineering design of the Regolith X-ray Imaging Spectrometer (REXIS) instrument: an OSIRIS-REx student collaboration

NASA Astrophysics Data System (ADS)

Jones, Michael; Chodas, Mark; Smith, Matthew J.; Masterson, Rebecca A.

2014-07-01

OSIRIS-REx is a NASA New Frontiers mission scheduled for launch in 2016 that will travel to the asteroid Bennu and return a pristine sample of the asteroid to Earth. The REgolith X-ray Imaging Spectrometer (REXIS) is a student collaboration instrument on-board the OSIRIS-REx spacecraft. REXIS is a NASA risk Class D instrument, and its design and development is largely student led. The engineering team consists of MIT graduate and undergraduate students and staff at the MIT Space Systems Laboratory. The primary goal of REXIS is the education of science and engineering students through participation in the development of light hardware. In light, REXIS will contribute to the mission by providing an elemental abundance map of the asteroid and by characterizing Bennu among the known meteorite groups. REXIS is sensitive to X-rays between 0.5 and 7 keV, and uses coded aperture imaging to map the distribution of iron with 50 m spatial resolution. This paper describes the science goals, concept of operations, and overall engineering design of the REXIS instrument. Each subsystem of the instrument is addressed with a high-level description of the design. Critical design elements such as the Thermal Isolation Layer (TIL), radiation cover, coded-aperture mask, and Detector Assembly Mount (DAM) are discussed in further detail.

Measuring fracture properties of meteorites: 3D scans and disruption experiments

NASA Astrophysics Data System (ADS)

Cotto-Figueroa, D.; Asphaug, E.; Morris, M.; Garvier, L.

2014-07-01

Many meteorite studies are focused on chemical and isotopic composition, which provide insightful information regarding the age, formation, and evolution of the Solar System. However, their fundamental mechanical properties have received less attention. It is important to determine these properties as they are related to disruption and fragmentation of bolides and asteroids, and activities related to sample return and hazardous asteroid mitigation. Here we present results from an ongoing suite of measurements and experiments focusing on maps of surface texture that connect to the dynamic geological properties of a diverse range of meteorites from the Center for Meteorite Studies (CMS) collection at Arizona State University (ASU). Results will include high-resolution 3D color-shape models and texture maps from which we derive fractal dimensions of fractured surfaces. Fractal dimension is closely related to the internal structural heterogeneity and fragmentation of rock, and to macroscopic optical properties, and to rubble friction and cohesion. Selected meteorites, in particular Tamdakht (H5), Allende (CV3), and Chelyabinsk (LL5), will subsequently be disrupted in catastrophic hypervelocity impact experiments. The fragments obtained from these experiments will be scanned, and the results compared with the fragments obtained in numerical hydrocode simulations, whose initial conditions are set up precisely from 3D scans of the original meteorite. By attaining the best match we will obtain key parameters for models of asteroid and bolide disruption.

News and Views: The biggest 3D map of the sky - so far! Just how round is the Sun? Students have chance to name that asteroid; Simulations suggest significant close dark matter

NASA Astrophysics Data System (ADS)

2012-10-01

The Sloan Digital Sky Survey III has made public its latest dataset which includes the locations and distances of more than 1 million galaxies, images of 200 million and spectra of 1.35 million galaxies. Over a total volume equivalent to a cube of side 4 billion light-years. Surprisingly round, is the answer determined by researchers using a SDO instrument to track the shape of the Sun over time. This is in conflict with theories that suggest the Sun's shape should change in line with its 11-year magnetic cycle. NASA's asteroid sample-return mission OSIRIS-REx should launch in 2016 and head for asteroid (101955) 1999 RQ36 with the aim of bringing a sample back to Earth. Students are invited to give this asteroid a better name! The Milky Way galaxy has more dark matter than thought, when measured using a new technique. The data, useful for understanding what exactly dark matter is, also hint that the distribution of dark matter in our galaxy may not be the simple halo previously thought.

Speckle interferometry of asteroids

NASA Technical Reports Server (NTRS)

Drummond, Jack

1988-01-01

By studying the image two-dimensional power spectra or autocorrelations projected by an asteroid as it rotates, it is possible to locate its rotational pole and derive its three axes dimensions through speckle interferometry under certain assumptions of uniform, geometric scattering, and triaxial ellipsoid shape. However, in cases where images can be reconstructed, the need for making the assumptions is obviated. Furthermore, the ultimate goal for speckle interferometry of image reconstruction will lead to mapping albedo features (if they exist) as impact areas or geological units. The first glimpses of the surface of an asteroid were obtained from images of 4 Vesta reconstructed from speckle interferometric observations. These images reveal that Vesta is quite Moon-like in having large hemispheric-scale albedo features. All of its lightcurves can be produced from a simple model developed from the images. Although undoubtedly more intricate than the model, Vesta's lightcurves can be matched by a model with three dark and four bright spots. The dark areas so dominate one hemisphere that a lightcurve minimum occurs when the maximum cross-section area is visible. The triaxial ellipsoid shape derived for Vesta is not consistent with the notion that the asteroid has an equilibrium shape in spite of its having apparently been differentiated.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Masiero, Joseph R.; Mainzer, A. K.; Nugent, C. R.

We present revised near-infrared albedo fits of 2835 main-belt asteroids observed by WISE/NEOWISE over the course of its fully cryogenic survey in 2010. These fits are derived from reflected-light near-infrared images taken simultaneously with thermal emission measurements, allowing for more accurate measurements of the near-infrared albedos than is possible for visible albedo measurements. Because our sample requires reflected light measurements, it undersamples small, low-albedo asteroids, as well as those with blue spectral slopes across the wavelengths investigated. We find that the main belt separates into three distinct groups of 6%, 16%, and 40% reflectance at 3.4 μm. Conversely, the 4.6more » μm albedo distribution spans the full range of possible values with no clear grouping. Asteroid families show a narrow distribution of 3.4 μm albedos within each family that map to one of the three observed groupings, with the (221) Eos family being the sole family associated with the 16% reflectance 3.4 μm albedo group. We show that near-infrared albedos derived from simultaneous thermal emission and reflected light measurements are important indicators of asteroid taxonomy and can identify interesting targets for spectroscopic follow-up.« less

A Perfect View of Vesta: Creating Pointing Observations for the Dawn Spacecraft on Asteroid 4 Vesta

NASA Technical Reports Server (NTRS)

Hay, Katrina M.

2005-01-01

The Dawn spacecraft has a timely and clever assignment in store. It will take a close look at two intact survivors from the dawn of the solar system (asteroids 4 Vesta and 1 Ceres) to understand more about solar system origin and evolution. To optimize science return, Dawn must make carefully designed observations on approach and in survey orbit, high altitude mapping orbit, and low altitude mapping orbit at each body. In this report, observations outlined in the science plan are modeled using the science opportunity analyzer program for the Vesta encounter. Specifically, I encoded Dawn's flight rules into the program, modeled pointing profiles of the optical instruments (framing camera, visible infrared spectrometer) and mapped their fields of view onto Vesta's surface. Visualization of coverage will provide the science team with information necessary to assess feasibility of alternative observation plans. Dawn launches in summer 2006 and ends its journey in 2016. Instrument observations on Vesta in 2011 will supply detailed information about Vesta's surface and internal structure. These data will be used to analyze the formation and history of the protoplanet and, therefore, complete an important step in understanding the development of our solar system.

Long-time uncertainty propagation using generalized polynomial chaos and flow map composition

DOE Office of Scientific and Technical Information (OSTI.GOV)

Luchtenburg, Dirk M., E-mail: dluchten@cooper.edu; Brunton, Steven L.; Rowley, Clarence W.

2014-10-01

We present an efficient and accurate method for long-time uncertainty propagation in dynamical systems. Uncertain initial conditions and parameters are both addressed. The method approximates the intermediate short-time flow maps by spectral polynomial bases, as in the generalized polynomial chaos (gPC) method, and uses flow map composition to construct the long-time flow map. In contrast to the gPC method, this approach has spectral error convergence for both short and long integration times. The short-time flow map is characterized by small stretching and folding of the associated trajectories and hence can be well represented by a relatively low-degree basis. The compositionmore » of these low-degree polynomial bases then accurately describes the uncertainty behavior for long integration times. The key to the method is that the degree of the resulting polynomial approximation increases exponentially in the number of time intervals, while the number of polynomial coefficients either remains constant (for an autonomous system) or increases linearly in the number of time intervals (for a non-autonomous system). The findings are illustrated on several numerical examples including a nonlinear ordinary differential equation (ODE) with an uncertain initial condition, a linear ODE with an uncertain model parameter, and a two-dimensional, non-autonomous double gyre flow.« less

Regolith Evolved Gas Analyzer

NASA Technical Reports Server (NTRS)

Hoffman, John H.; Hedgecock, Jud; Nienaber, Terry; Cooper, Bonnie; Allen, Carlton; Ming, Doug

2000-01-01

The Regolith Evolved Gas Analyzer (REGA) is a high-temperature furnace and mass spectrometer instrument for determining the mineralogical composition and reactivity of soil samples. REGA provides key mineralogical and reactivity data that is needed to understand the soil chemistry of an asteroid, which then aids in determining in-situ which materials should be selected for return to earth. REGA is capable of conducting a number of direct soil measurements that are unique to this instrument. These experimental measurements include: (1) Mass spectrum analysis of evolved gases from soil samples as they are heated from ambient temperature to 900 C; and (2) Identification of liberated chemicals, e.g., water, oxygen, sulfur, chlorine, and fluorine. REGA would be placed on the surface of a near earth asteroid. It is an autonomous instrument that is controlled from earth but does the analysis of regolith materials automatically. The REGA instrument consists of four primary components: (1) a flight-proven mass spectrometer, (2) a high-temperature furnace, (3) a soil handling system, and (4) a microcontroller. An external arm containing a scoop or drill gathers regolith samples. A sample is placed in the inlet orifice where the finest-grained particles are sifted into a metering volume and subsequently moved into a crucible. A movable arm then places the crucible in the furnace. The furnace is closed, thereby sealing the inner volume to collect the evolved gases for analysis. Owing to the very low g forces on an asteroid compared to Mars or the moon, the sample must be moved from inlet to crucible by mechanical means rather than by gravity. As the soil sample is heated through a programmed pattern, the gases evolved at each temperature are passed through a transfer tube to the mass spectrometer for analysis and identification. Return data from the instrument will lead to new insights and discoveries including: (1) Identification of the molecular masses of all of the gases liberated from heated soil samples; (2) Identification of the asteroid soil mineralogy to aid in the selection process for returned samples; (3) Existence of oxygen in the asteroid soil and the potential for in-situ resource utilization (ISRU); and (4) Existence of water and other volatiles in the asteroid soil. Additional information is contained in the original extended abstract.

Assessment of a visually guided autonomous exploration robot

NASA Astrophysics Data System (ADS)

Harris, C.; Evans, R.; Tidey, E.

2008-10-01

A system has been developed to enable a robot vehicle to autonomously explore and map an indoor environment using only visual sensors. The vehicle is equipped with a single camera, whose output is wirelessly transmitted to an off-board standard PC for processing. Visual features within the camera imagery are extracted and tracked, and their 3D positions are calculated using a Structure from Motion algorithm. As the vehicle travels, obstacles in its surroundings are identified and a map of the explored region is generated. This paper discusses suitable criteria for assessing the performance of the system by computer-based simulation and practical experiments with a real vehicle. Performance measures identified include the positional accuracy of the 3D map and the vehicle's location, the efficiency and completeness of the exploration and the system reliability. Selected results are presented and the effect of key system parameters and algorithms on performance is assessed. This work was funded by the Systems Engineering for Autonomous Systems (SEAS) Defence Technology Centre established by the UK Ministry of Defence.

High spatial resolution mapping of water quality and bathymetry with an autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Pampalone, Vincenzo; Milici, Barbara

2015-12-01

The drone Ecomapper AUV (Autonomous Underwater Vehicle) is a rare example of highly technological instrument in the environmental coastal monitoring field. The YSI EcoMapper is a one-man deployable, Autonomous Underwater Vehicle (AUV) designed to collect bathymetry and water quality data. The submarine-like vehicle follows a programmed course and employs sensors mounted in the nose to record pertinent information. Once the vehicle has started its mission, it operates independently of the user and utilizes GPS waypoints navigation to complete its programmed course. Throughout the course, the vehicle constantly steers toward the line drawn in the mission planning software (VectorMap), essentially following a more accurate road of coordinates instead of transversing waypoint-to-waypoint. It has been equipped with a Doppler Velocity Log (DVL) to increase its underwater navigation accuracy. Potential EcoMapper applications include baseline environmental mapping in freshwater, estuarine or near-coastal environments, bathymetric mapping, dissolved oxygen studies, event monitoring (algal blooms, storm impacts, low dissolved oxygen), non-point source studies, point-source dispersion mapping, security, search & rescue, inspection, shallow water mapping, thermal dissipation mapping of cooling outfalls, trace-dye studies. The AUV is used in the coastal area of the Augusta Bay (Italy), located in the eastern part of Sicily. Due to the heavy contamination generated by the several chemical and petrochemical industries active in the zone, the harbour was declared a Contaminated Site of National Interest. The ecomapper allows for a simultaneous data collection of water quality and bathymetric data providing a complete environmental mapping system of the Harbour.

Compact drilling and sample system

NASA Technical Reports Server (NTRS)

Gillis-Smith, Greg R.; Petercsak, Doug

1998-01-01

The Compact Drilling and Sample System (CDSS) was developed to drill into terrestrial, cometary, and asteroid material in a cryogenic, vacuum environment in order to acquire subsurface samples. Although drills were used by the Apollo astronauts some 20 years ago, this drill is a fraction of the mass and power and operates completely autonomously, able to drill, acquire, transport, dock, and release sample containers in science instruments. The CDSS has incorporated into its control system the ability to gather science data about the material being drilled by measuring drilling rate per force applied and torque. This drill will be able to optimize rotation and thrust in order to achieve the highest drilling rate possible in any given sample. The drill can be commanded to drill at a specified force, so that force imparted on the rover or lander is limited. This paper will discuss the cryo dc brush motors, carbide gears, cryogenic lubrication, quick-release interchangeable sampling drill bits, percussion drilling and the control system developed to achieve autonomous, cryogenic, vacuum, lightweight drilling.

GOATS 2008: Autonomous, Adaptive Multistatic Acoustic Sensing

DTIC Science & Technology

2010-09-30

carried out jointly with the NATO Undersea Research Centre in the Tuscan archipelago July 26 – August 16, 2010. MIT operated the Unicorn AUV and...4 trail behavior with the physical Unicorn AUV, and is accidentally passing close the R/V Leonardo, fully autonomously changing its depth from...vehicles. The AUV Unicorn is performing an adaptive thermocline mapping mission, with the vehicle trail shown in green. Note the autonomous collision

Clementine Observations of the Zodiacal Light and the Dust Content of the Inner Solar System

NASA Technical Reports Server (NTRS)

Hahn, Joseph M.; Zook, Herbert A.; Cooper, Bonnie; Sunkara, Bhaskar

2002-01-01

Using the Moon to occult the Sun, the Clementine spacecraft used its navigation cameras to map the inner zodiacal light at optical wavelengths over elongations of 3 approx. less than epsilon approx. less than 30 deg from the Sun. This surface brightness map is then used to infer the spatial distribution of interplanetary dust over heliocentric distances of about 10 solar radii to the orbit of Venus. The averaged ecliptic surface brightness of the zodiacal light falls off as Z(epsilon) is a member of epsilon(sup -2.45 +/- 0.05), which suggests that the dust cross-sectional density nominally falls off as sigma(r) is a member of r(sup - 1.45 +/- 0.05). The interplanetary dust also has an albedo of alpha approx. = 0.1 that is uncertain by a factor of approx. 2. Asymmetries of approx. 10% are seen in directions east-west and north-south of the Sun, and these may be due the giant planets' secular gravitational perturbations. We apply a simple model that attributes the zodiacal light as due to three dust populations having distinct inclination distributions, namely, dust from asteroids and Jupiter-family comets (JFCs) having characteristic inclinations of i approx. 7 deg, dust from Halley-type comets having i approx. 33 deg, and an isotropic cloud of dust from Oort Cloud comets. The best-fitting scenario indicates that asteroids + JFCs are the source of about 45% of the optical dust cross section seen in the ecliptic at 1 AU but that at least 89% of the dust cross section enclosed by a 1-AU-radius sphere is of a cometary origin. Each population's radial density variations can also deviate somewhat from the nominal sigma(r) is a member of r(sup -1.45). When these results are extrapolated out to the asteroid belt, we find an upper limit on the mass of the light-reflecting asteroidal dust that is equivalent to a 12-km asteroid, and a similar extrapolation of the isotropic dust cloud out to Oort Cloud distances yields a mass equivalent to a 30-km comet, although the latter mass is uncertain by orders of magnitude.

The NEAR laser ranging investigation

NASA Astrophysics Data System (ADS)

Zuber, M. T.; Smith, D. E.; Cheng, A. F.; Cole, T. D.

1997-10-01

The objective of the NEAR-Earth Asteriod Rendezvous (NEAR) laser ranging investigation is to obtain high integrity profiles and grids of topography for use in geophysical, geodetic and geological studies of asteroid 433 Eros. The NEAR laser rangefinder (NLR) will determine the slant range of the NEAR spacecraft to the asteroid surface by measuring precisely the round trip time of flight of individual laser pulses. Ranges will be converted to planetary radii measured with respect to the asteroid center of mass by subtracting the spacecraft orbit determined from X band Doppler tracking. The principal components of the NLR include a 1064 nm Cr:Nd:YAG laser, a gold-coated aluminum Dall-Kirkham Cassegrain telescope, an enhanced silicon avalanche photodiode hybrid detector, a 480-MHz crystal oscillator, and a digital processing unit. The instrument has a continuous in-flight calibration capability using a fiber-optic delay assembly. The single shot vertical resolution of the NLR is <6m, and the absolute accuracy of the global grid will be ~10m with respect to the asteroid center of mass. For the current mission orbital scenario, the laser spot size on the surface of Eros will vary from ~4-11m, and the along-track resolution for the nominal pulse repetition rate of 1 Hz will be approximately comparable to the spot size, resulting in contiguous along-track profiles. The across-track resolution will depend on the orbital mapping scenario, but will likely be <500m, which will define the spatial resolution of the global topographic model. Planned science investigations include global-scale analyses related to collisional and impact history and internal density distribution that utilize topographic grids as well as spherical harmonic topographic models that will be analyzed jointly with gravity at commensurate resolution. Attempts will be made to detect possible subtle time variations in internal structure that may be present if Eros is not a single coherent body, by analysis of low degree and order spherical harmonic coefficients. Local- to regional-scale analyses will utilize high-resolution three-dimensional topographic maps of specific surface structures to address surface geologic processes. Results from the NLR investigation will contribute significantly to understanding the origin, structure, and evolution of Eros and other asteroidal bodies.

Mapping Gnss Restricted Environments with a Drone Tandem and Indirect Position Control

NASA Astrophysics Data System (ADS)

Cledat, E.; Cucci, D. A.

2017-08-01

The problem of autonomously mapping highly cluttered environments, such as urban and natural canyons, is intractable with the current UAV technology. The reason lies in the absence or unreliability of GNSS signals due to partial sky occlusion or multi-path effects. High quality carrier-phase observations are also required in efficient mapping paradigms, such as Assisted Aerial Triangulation, to achieve high ground accuracy without the need of dense networks of ground control points. In this work we consider a drone tandem in which the first drone flies outside the canyon, where GNSS constellation is ideal, visually tracks the second drone and provides an indirect position control for it. This enables both autonomous guidance and accurate mapping of GNSS restricted environments without the need of ground control points. We address the technical feasibility of this concept considering preliminary real-world experiments in comparable conditions and we perform a mapping accuracy prediction based on a simulation scenario.

Optimal Path Planning Program for Autonomous Speed Sprayer in Orchard Using Order-Picking Algorithm

NASA Astrophysics Data System (ADS)

Park, T. S.; Park, S. J.; Hwang, K. Y.; Cho, S. I.

This study was conducted to develop a software program which computes optimal path for autonomous navigation in orchard, especially for speed sprayer. Possibilities of autonomous navigation in orchard were shown by other researches which have minimized distance error between planned path and performed path. But, research of planning an optimal path for speed sprayer in orchard is hardly founded. In this study, a digital map and a database for orchard which contains GPS coordinate information (coordinates of trees and boundary of orchard) and entity information (heights and widths of trees, radius of main stem of trees, disease of trees) was designed. An orderpicking algorithm which has been used for management of warehouse was used to calculate optimum path based on the digital map. Database for digital map was created by using Microsoft Access and graphic interface for database was made by using Microsoft Visual C++ 6.0. It was possible to search and display information about boundary of an orchard, locations of trees, daily plan for scattering chemicals and plan optimal path on different orchard based on digital map, on each circumstance (starting speed sprayer in different location, scattering chemicals for only selected trees).

Robot Competence Development by Constructive Learning

NASA Astrophysics Data System (ADS)

Meng, Q.; Lee, M. H.; Hinde, C. J.

This paper presents a constructive learning approach for developing sensor-motor mapping in autonomous systems. The system’s adaptation to environment changes is discussed and three methods are proposed to deal with long term and short term changes. The proposed constructive learning allows autonomous systems to develop network topology and adjust network parameters. The approach is supported by findings from psychology and neuroscience especially during infants cognitive development at early stages. A growing radial basis function network is introduced as a computational substrate for sensory-motor mapping learning. Experiments are conducted on a robot eye/hand coordination testbed and results show the incremental development of sensory-motor mapping and its adaptation to changes such as in tool-use.

Robot Competence Development by Constructive Learning

NASA Astrophysics Data System (ADS)

Meng, Q.; Lee, M. H.; Hinde, C. J.

This paper presents a constructive learning approach for developing sensor-motor mapping in autonomous systems. The system's adaptation to environment changes is discussed and three methods are proposed to deal with long term and short term changes. The proposed constructive learning allows autonomous systems to develop network topology and adjust network parameters. The approach is supported by findings from psychology and neuroscience especially during infants cognitive development at early stages. A growing radial basis function network is introduced as a computational substrate for sensory-motor mapping learning. Experiments are conducted on a robot eye/hand coordination testbed and results show the incremental development of sensory-motor mapping and its adaptation to changes such as in tool-use.

Genome-wide mapping of autonomous promoter activity in human cells

PubMed Central

van Arensbergen, Joris; FitzPatrick, Vincent D.; de Haas, Marcel; Pagie, Ludo; Sluimer, Jasper; Bussemaker, Harmen J.; van Steensel, Bas

2017-01-01

Previous methods to systematically characterize sequence-intrinsic activity of promoters have been limited by relatively low throughput and the length of sequences that could be tested. Here we present Survey of Regulatory Elements (SuRE), a method to assay more than 108 DNA fragments, each 0.2–2kb in size, for their ability to drive transcription autonomously. In SuRE, a plasmid library is constructed of random genomic fragments upstream of a 20bp barcode and decoded by paired-end sequencing. This library is then transfected into cells and transcribed barcodes are quantified in the RNA by high throughput sequencing. When applied to the human genome, we achieved a 55-fold genome coverage, allowing us to map autonomous promoter activity genome-wide. By computational modeling we delineated subregions within promoters that are relevant for their activity. For instance, we show that antisense promoter transcription is generally dependent on the sense core promoter sequences, and that most enhancers and several families of repetitive elements act as autonomous transcription initiation sites. PMID:28024146

Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

NASA Technical Reports Server (NTRS)

Muscettola, Nicola

2004-01-01

One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

Observations and Characterization of Binary Near-Earth Asteroid 65803 Didymos, the Target of the AIDA Mission

NASA Astrophysics Data System (ADS)

Naidu, S.; Benner, L.; Brozovic, M.; Ostro, S. J.; Nolan, M. C.; Margot, J. L.; Giorgini, J. D.; Magri, C.; Pravec, P.; Scheirich, P.; Scheeres, D. J.; Hirabayashi, M.

2016-12-01

Binary near-Earth asteroid 65803 Didymos is the target of the proposed Asteroid Impact and Deflection Assessment (AIDA) space mission. The mission consists of two spacecraft, the Demonstration for Autonomous Rendezvous Technology (DART) spacecraft that will impact the asteroid's satellite and the Asteroid Impact Mission (AIM) spacecraft that will observe the impact. We used radar observations obtained at Arecibo and Goldstone in 2003, and lightcurve data from Pravec et al. (2006) to model the shapes, sizes, and spin states of the components. The primary is top shaped and has an equatorial ridge similar to the one seen on 2000 DP107 (Naidu et al. 2015). A 300 m long flat region is also seen along the equator. The primary has an equivalent diameter of 780 m (+/- 10 %) and its extents along the principal axes are 826 m, 813 m, and 786 m (10% uncertainties). It has a spin period of 2.2600 +/- 0.0001 h. A grid search for the spin pole resulted in the best fit at ecliptic (longitude, latitude) = (296, +71) degrees (+/- 15 degrees). This estimate is consistent with the spin pole being aligned to the binary orbit normal at (310, -84) degrees. Dividing the primary mass of 5.24e11 kg (Fang & Margot 2012) by the model volume we estimate a bulk density of 2100 kg m-3 (+/- 30 %). We summed multiple radar runs to estimate the range and Doppler extents of the satellite. We estimated the motion in successive images and used a shift-and-sum technique to mitigate smearing due to translational motion. This boosted the SNRs and allowed us to obtain size and bandwidth estimates of the satellite. The visible range extent of the satellite is roughly 60-75 m at the 15 m resolution of the Arecibo images. Assuming that the true extent is twice the visible extent, we obtain a diameter estimate of 120-150 m. The bandwidth of the satellite suggests a spin period between 9-12 h that is consistent with the orbit period of 11.9 hours and with synchronous rotation.

The Small Bodies Imager Browser --- finding asteroid and comet images without pain

NASA Astrophysics Data System (ADS)

Palmer, E.; Sykes, M.; Davis, D.; Neese, C.

2014-07-01

To facilitate accessing and downloading spatially resolved imagery of asteroids and comets in the NASA Planetary Data System (PDS), we have created the Small Bodies Image Browser. It is a HTML5 webpage that runs inside a standard web browser needing no installation (http://sbn.psi.edu/sbib/). The volume of data returned by spacecraft missions has grown substantially over the last decade. While this wealth of data provides scientists with ample support for research, it has greatly increased the difficulty of managing, accessing and processing these data. Further, the complexity necessary for a long-term archive results in an architecture that is efficient for computers, but not user friendly. The Small Bodies Image Browser (SBIB) is tied into the PDS archive of the Small Bodies Asteroid Subnode hosted at the Planetary Science Institute [1]. Currently, the tool contains the entire repository of the Dawn mission's encounter with Vesta [2], and we will be adding other datasets in the future. For Vesta, this includes both the level 1A and 1B images for the Framing Camera (FC) and the level 1B spectral cubes from the Visual and Infrared (VIR) spectrometer, providing over 30,000 individual images. A key strength of the tool is providing quick and easy access of these data. The tool allows for searches based on clicking on a map or typing in coordinates. The SBIB can show an entire mission phase (such as cycle 7 of the Low Altitude Mapping Orbit) and the associated footprints, as well as search by image name. It can focus the search by mission phase, resolution or instrument. Imagery archived in the PDS are generally provided by missions in a single or narrow range of formats. To enhance the value and usability of this data to researchers, SBIB makes these available in these original formats as well as PNG, JPEG and ArcGIS compatible ISIS cubes [3]. Additionally, we provide header files for the VIR cubes so they can be read into ENVI without additional processing. Finally, we also provide both camera-based and map-projected products with geometric data embedded for use within ArcGIS and ISIS. We use the Gaskell shape model for terrain projections [4]. There are several other outstanding data analysis tools that have access to asteroid and comet data: JAsteroid (a derivative of JMARS [5]) and the Applied Physics Laboratory's Small Body Mapping Tool [6]. The SBIB has specifically focused on providing data in the easiest manner possible rather than trying to be an analytical tool.

Dust Dynamics Near Planetary Surfaces

NASA Astrophysics Data System (ADS)

Colwell, Joshua; Hughes, Anna; Grund, Chris

Observations of a lunar "horizon glow" by several Surveyor spacecraft in the 1960s opened the study of the dynamics of charged dust particles near planetary surfaces. The surfaces of the Moon and other airless planetary bodies in the solar system (asteroids, and other moons) are directly exposed to the solar wind and ionizing solar ultraviolet radiation, resulting in a time-dependent electric surface potential. Because these same objects are also exposed to bombardment by micrometeoroids, the surfaces are usually characterized by a power-law size distribution of dust that extends to sub-micron-sized particles. Individual particles can acquire a charge different from their surroundings leading to electrostatic levitation. Once levitated, particles may simply return to the surface on nearly ballistic trajectories, escape entirely from the moon or asteroid if the initial velocity is large, or in some cases be stably levitated for extended periods of time. All three outcomes have observable consequences. Furthermore, the behavior of charged dust near the surface has practical implications for planned future manned and unmanned activities on the lunar surface. Charged dust particles also act as sensitive probes of the near-surface plasma environment. Recent numerical modeling of dust levitation and transport show that charged micron-sized dust is likely to accumulate in topographic lows such as craters, providing a mechanism for the creation of dust "ponds" observed on the asteroid 433 Eros. Such deposition can occur when particles are supported by the photoelectron sheath above the dayside and drift over shadowed regions of craters where the surface potential is much smaller. Earlier studies of the lunar horizon glow are consistent with those particles being on simple ballistic trajectories following electrostatic launching from the surface. Smaller particles may be accelerated from the lunar surface to high altitudes consistent with observations of high altitude streams observed by Apollo astronauts and potentially also by the Clementine spacecraft. In addition to the Surveyor images of lunar horizon glow and the high altitude streamer measurements, the Apollo 17 Lunar Ejecta and Meteorite surface package detected signals consistent with the impact of relatively slow-moving dust particles that may have been charged dust electrostatically levitated from the surface. There is renewed interest in this near-surface dust environment with plans to return robotic landers and astronauts to the lunar surface. No Apollo-era instruments were specifically designed to detect or measure dust levitated off the lunar surface. One new experiment under study is the Autonomous Lunar Dust Observer (ALDO). ALDO is a high-sensitivity scanning lidar (laser radar) that autonomously maps and records its 3-D dust environment. Flexibility of programmable scan pattern enables ALDO to characterize the dust context in and around experiment sites. Repeated shallow angle scans in a vertical plane enable high vertical resolution studies of dust levitation near the ground. Single elevation angle sector or full azimuth scans enable large-area statistical surveys of the frequency and size of ejecta plumes from micrometeoroid impacts, and vertical or fixed-angle stares enable very high sensitivity dust profiles to extended ranges. It is estimated that backscatter from dust concentrations as low as 1/cm3 can be measured. The concept is equally applicable to surface and atmospheric studies of other airless bodies.

Nine Galileo Views in Natural Color of Main-Belt Asteroid Ida

NASA Technical Reports Server (NTRS)

1997-01-01

This set of color images of asteroid 243 Ida was taken by the imaging system on the Galileo spacecraft as it approached and raced past the asteroid on August 28, 1993. These images were taken through the 4100-angstrom (violet), 7560-angstrom (infrared) and 9680- angstrom (infrared) filters and have been processed to show Ida as it would appear to the eye in approximately natural color. The stark shadows portray Ida's irregular shape, which changes its silhouetted outline when seen from different angles. More subtle shadings reveal surface topography (such as craters) and differences in the physical state and composition of the soil ('regolith'). Analysis of the images show that Ida is 58 kilometers long and 23 kilometers wide (36 x 14 miles). Ida is the first asteroid discovered to have a natural satellite, Dactyl (not shown here). Both Ida and Dactyl are heavily cratered by impacts with smaller asteroids and comets, including some of the same populations of small objects that bombard Earth. These data, combined with reflectance spectra from Galileo's near-infrared mapping spectrometer, may allow scientists to determine whether Ida is a relatively unaltered primitive object made of material condensed from the primordial Solar Nebula at the origin of the Solar System or whether it has been altered by strong heating--evidence interpreted so far suggests that Ida is a piece of a larger object that has been severely heated. Whereas heating and melting of large planets is well understood, the cause of heating of small asteroids is more enigmatic--it may have involved exotic processes that occurred only for a short time after the birth of the Sun and its planets.

Mission to the Trojan asteroids: Lessons learned during a JPL Planetary Science Summer School mission design exercise

NASA Astrophysics Data System (ADS)

Diniega, Serina; Sayanagi, Kunio M.; Balcerski, Jeffrey; Carande, Bryce; Diaz-Silva, Ricardo A.; Fraeman, Abigail A.; Guzewich, Scott D.; Hudson, Jennifer; Nahm, Amanda L.; Potter-McIntyre, Sally; Route, Matthew; Urban, Kevin D.; Vasisht, Soumya; Benneke, Bjoern; Gil, Stephanie; Livi, Roberto; Williams, Brian; Budney, Charles J.; Lowes, Leslie L.

2013-02-01

The 2013 Planetary Science Decadal Survey identified a detailed investigation of the Trojan asteroids occupying Jupiter's L4 and L5 Lagrange points as a priority for future NASA missions. Observing these asteroids and measuring their physical characteristics and composition would aid in identification of their source and provide answers about their likely impact history and evolution, thus yielding information about the makeup and dynamics of the early Solar System. We present a conceptual design for a mission to the Jovian Trojan asteroids: the Trojan ASteroid Tour, Exploration, and Rendezvous (TASTER) mission, that is consistent with the NASA New Frontiers candidate mission recommended by the Decadal Survey and the final result of the 2011 NASA-JPL Planetary Science Summer School. Our proposed mission includes visits to two Trojans in the L4 population: a 500 km altitude fly-by of 1999 XS143, followed by a rendezvous with and detailed observations of 911 Agamemnon at orbital altitudes of 1000-100 km over a 12 month nominal science data capture period. Our proposed instrument payload - wide- and narrow-angle cameras, a visual and infrared mapping spectrometer, and a neutron/gamma ray spectrometer - would provide unprecedented high-resolution, regional-to-global datasets for the target bodies, yielding fundamental information about the early history and evolution of the Solar System. Although our mission design was completed as part of an academic exercise, this study serves as a useful starting point for future Trojan mission design studies. In particular, we identify and discuss key issues that can make large differences in the complex trade-offs required when designing a mission to the Trojan asteroids.

Asteroid (2867) Steins: Shape, topography and global physical properties from OSIRIS observations

NASA Astrophysics Data System (ADS)

Jorda, L.; Lamy, P. L.; Gaskell, R. W.; Kaasalainen, M.; Groussin, O.; Besse, S.; Faury, G.

2012-11-01

The Rosetta spacecraft flew by Asteroid (2867) Steins on 5 September 2008, allowing the onboard OSIRIS cameras to collect the first images of an E-type asteroid. We implemented several three-dimensional reconstruction techniques to retrieve its shape. Limb profiles, combined with stereo control points, were used to reconstruct an approximate shape model. This model was refined using a stereophotoclinometry technique to accurately retrieve the topography of the hemisphere observed by OSIRIS. The unseen part of the surface was constrained by the technique of light curves inversion. The global shape resembles a top with dimensions along the principal axes of inertia of 6.83 × 5.70 × 4.42 km. It is conspicuously more regular than other small asteroids like (233) Eros and (25143) Itokawa. Its mean radius is Rm = 2.70 km and its equivalent radius (radius of a sphere of equivalent volume) is Rv = 2.63 km. The north pole is oriented at RA = 99 ± 5° and Dec = -59 ± 5°, which implies a very large obliquity of 172° and a retrograde rotation. Maps of the gravitational field and slopes were calculated for the well-imaged part of the asteroid. Together with the shape, they helped characterizing the most prominent topographic features identified at the surface of (2867) Steins: an equatorial ridge restricted to the extremities of the long axis, a large crater having dimensions of 2100 × 1800 m in the southern hemisphere, and an elongated hill in the northern hemisphere. We conjecture that the equatorial ridge was formed by centrifugal acceleration as the asteroid was spun up by the Yarkovsky-O’Keefe-Radzievskii-Paddack effect.

Near-Earth asteroid satellite spins under spin-orbit coupling

DOE Office of Scientific and Technical Information (OSTI.GOV)

Naidu, Shantanu P.; Margot, Jean-Luc

We develop a fourth-order numerical integrator to simulate the coupled spin and orbital motions of two rigid bodies having arbitrary mass distributions under the influence of their mutual gravitational potential. We simulate the dynamics of components in well-characterized binary and triple near-Earth asteroid systems and use surface of section plots to map the possible spin configurations of the satellites. For asynchronous satellites, the analysis reveals large regions of phase space where the spin state of the satellite is chaotic. For synchronous satellites, we show that libration amplitudes can reach detectable values even for moderately elongated shapes. The presence of chaoticmore » regions in the phase space has important consequences for the evolution of binary asteroids. It may substantially increase spin synchronization timescales, explain the observed fraction of asychronous binaries, delay BYORP-type evolution, and extend the lifetime of binaries. The variations in spin rate due to large librations also affect the analysis and interpretation of light curve and radar observations.« less

Science Experiments of a Jupiter Trojan asteroid in the Solar Power Sail Mission

NASA Astrophysics Data System (ADS)

Okada, T.; Kebukawa, Y.; Aoki, J.; Kawai, Y.; Ito, M.; Yano, H.; Okamoto, C.; Matsumoto, J.; Bibring, J. P.; Ulamec, S.; Jaumann, R.; Iwata, T.; Mori, O.; Kawaguchi, J.

2017-12-01

A Jupiter Trojan asteroid mission using a large area solar power sail (SPS) is under study in JAXA in collaboration with DLR and CNES. The asteroid will be investigated through remote sensing, followed by in situ in-depth observations on the asteroid with a lander. A sample-return is also studied as an option. LUCY has been selected as the NASA's future Discovery class mission which aims at understanding the diversity of Jupiter Trojans by multiple flybys, complementally to the SPS mission. The SPS is a candidate of the next medium class space science mission in Japan. The 1.4-ton spacecraft will carry a 100-kg class lander and 20-kg mission payloads on it. Its launch is expected in mid 2020s, and will take at least 11 years to visit a Jupiter Trojan asteroid. During the cruise phase, science experiments will be performed such as an infrared astronomy, a very long baseline gamma ray interferometry, and dust and magnetic field measurements. A classical static model of solar system suggests that the Jupiter Trojans were formed around the Jupiter region, while a dynamical model such as Nice model indicates that they formed at the far end of the solar system and then scattered inward due to a dynamical migration of giant planets. The physical, mineralogical, organics and isotopic distribution in the heliocentric distance could solve their origin and evolution of the solar system. A global mapping of the asteroid from the mothership will be conducted such as high-resolved imaging, NIR and TIR imaging spectrometry, and radar soundings. The lander will characterize the asteroid with geological, mineralogical, and geophysical observations using a panoramic camera, an infrared hyperspectral imager, a magnetometer, and a thermal radiometer. These samples will be measured by a high resolved mass spectrometer (HRMS) to investigate isotopic ratios of hydrogen, nitrogen, oxygen, as well as organic species.

ARC-1994-A91-2018

NASA Image and Video Library

1994-03-21

This image is the first full picture showing both asteroid 243 Ida and its newly discovered moon to be transmitted to Earth from NASA's Galileo spacecraft--the first conclusive evidence that natural satellites of asteroids exist. Ida is the large object to the left, about 56 kilometers (35 miles long). Ida's natural satellite is the small object to the right. This portrait was taken by Galileo's charge-coupled device (CCD) camera on August 28, 1993, about 14 minutes before the spacecraft's closest approach to the asteriod, from a range of 10,870 kilometers (6,755 miles). Ida is a heavily cratered, irregularly shaped asteroid in the main asteroid belt between Mars and Jupiter-- the 243rd asteroid to be discovered since the first one was found at the beginning of the 19th century. It is a member of a group of asteroids called the Koronis family. The small satellite, which is about 1.5 kilometers (1 mile) across in this view, has yet to be given a name by astronomers. It has been provisionally designated '1993 (243) 1' by the International Astronomical Union. (The numbers denote the year the picture was taken, the asteroid number and the fact that it is the first moon of Ida to be found.) ALthough the satellite appears to be 'next' to Ida it is actually slightly in the foreground, closer to the spacecraft than Ida. Combining this image with data from Galileo's near-infrared mapping spectrometer, the science team estimates that the object is about 100 kilometers (60 miles) away from the center of Ida. This image is one of a six-frame series taken through different color filters, this one in green. The spatial resolution in this image is about 100 meters (330 feet) per pixel. The Galileo spacecraft flew past Ida en route to its final destination, Jupiter, where it will go into orbit in December 1995. The Jet Propulsion Laboratory manages the galileo Project for NASA's Office of Space Science. (JPL ref. No. P-43731)

NASA's Dawn Mission to Asteroid 4 Vesta

NASA Technical Reports Server (NTRS)

McFadden, Lucyann A.

2011-01-01

NASA's Dawn Mission to asteroid 4 Vesta is part of a 13-year robotic space project designed to reveal the nature of two of the largest asteroids in the Main Asteroid Belt of our Solar System. Ceres and Vesta are two complementary terrestrial protoplanets whose accretion was probably terminated by the formation of Jupiter. They provide a bridge in our understanding between the rocky bodies of the inner solar system and the icy bodies of the outer solar system. Ceres appears to be undifferentiated Vesta has experienced significant heating and likely differentiation. Both formed very early in history of the solar system and while suffering many impacts have remained intact, thereby retaining a record of events and processes from the time of planet formation. Detailed study of the geophysics and geochemistry of these two bodies provides critical benchmarks for early solar system conditions and processes that shaped its subsequent evolution. Dawn provides the missing context for both primitive and evolved meteoritic data, thus playing a central role in understanding terrestrial planet formation and the evolution of the asteroid belt. Dawn is to he launched in 2006 arriving at Vesta in 20l0 and Ceres in 2014, stopping at each to make 11 months of orbital measurements. The spacecraft uses solar electric propulsion, both in cruise and in orbit, to make most efficient use of its xenon propellant. The spacecraft carries a framing camera, visible and infrared mapping spectrometer, gamma ray/neutron magnetometer, and radio science.

Dielectric properties of Asteroid Vesta's surface as constrained by Dawn VIR observations

NASA Astrophysics Data System (ADS)

Palmer, Elizabeth M.; Heggy, Essam; Capria, Maria T.; Tosi, Federico

2015-12-01

Earth and orbital-based radar observations of asteroids provide a unique opportunity to characterize surface roughness and the dielectric properties of their surfaces, as well as potentially explore some of their shallow subsurface physical properties. If the dielectric and topographic properties of asteroid's surfaces are defined, one can constrain their surface textural characteristics as well as potential subsurface volatile enrichment using the observed radar backscatter. To achieve this objective, we establish the first dielectric model of asteroid Vesta for the case of a dry, volatile-poor regolith-employing an analogy to the dielectric properties of lunar soil, and adjusted for the surface densities and temperatures deduced from Dawn's Visible and InfraRed mapping spectrometer (VIR). Our model suggests that the real part of the dielectric constant at the surface of Vesta is relatively constant, ranging from 2.3 to 2.5 from the night- to day-side of Vesta, while the loss tangent shows slight variation as a function of diurnal temperature, ranging from 6 × 10-3 to 8 × 10-3. We estimate the surface porosity to be ∼55% in the upper meter of the regolith, as derived from VIR observations. This is ∼12% higher than previous estimation of porosity derived from previous Earth-based X- and S-band radar observation. We suggest that the radar backscattering properties of asteroid Vesta will be mainly driven by the changes in surface roughness rather than potential dielectric variations in the upper regolith in the X- and S-band.

SIMULTANEOUS LINEAR AND CIRCULAR OPTICAL POLARIMETRY OF ASTEROID (4) VESTA

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wiktorowicz, Sloane J.; Nofi, Larissa A., E-mail: sloanew@ucolick.org

From a single 3.8 hr observation of the asteroid (4) Vesta at 13.°7 phase angle with the POlarimeter at Lick for Inclination Studies of Hot jupiters 2 (POLISH2) at the Lick Observatory Shane 3 m telescope, we confirm rotational modulation of linear polarization in the B and V bands. We measure the peak-to-peak modulation in the degree of linear polarization to be ΔP = (294 ± 35) × 10{sup −6} (ppm) and time-averaged ΔP/P = 0.0575 ± 0.0069. After rotating the plane of linear polarization to the scattering plane, asteroidal rotational modulation is detected with 12σ confidence and observed solelymore » in Stokes Q/I. POLISH2 simultaneously measures Stokes I, Q, U (linear polarization), and V (circular polarization), but we detect no significant circular polarization with a 1σ upper limit of 78 ppm in the B band. Circular polarization is expected to arise from multiple scattering of sunlight by rough surfaces, and it has previously been detected in nearly all other classes of solar system bodies except for asteroids. Subsequent observations may be compared with surface albedo maps from the Dawn Mission, which may allow the identification of compositional variation across the asteroidal surface. These results demonstrate the high accuracy achieved by POLISH2 at the Lick 3 m telescope, which is designed to directly detect scattered light from spatially unresolvable exoplanets.« less

A Mobile Asteroid Surface Scout (MASCOT) on board the Hayabusa 2 Mission to the near Earth asteroid (162173) Ryugu

NASA Astrophysics Data System (ADS)

Jaumann, R.; Bibring, J. P.; Glassmeier, K. H.; Grott, M.; Ho, T. M.; Ulamec, S.; Schmitz, N.; Auster, H. U.; Biele, J.; Kuninaka, H.; Okada, T.; Yoshikawa, M.; Watanabe, S.; Spohn, T.; Koncz, A.; Hercik, D.; Michaelis, H.; Fujimoto, M.

2016-12-01

MASCOT is part of JAXA's Hayabusa 2 asteroid sample return mission that has been launched to asteroid (162173) Ryugu (1,2,3) on Dec 3rd, 2014. It is scheduled to arrive at Ryugu in 2018, and return samples to Earth in 2020. The German Aerospace Center (DLR) developed the lander MASCOT with contributions from CNES (France) (2,3). Ryugu has been classified as a Cg-type (4), believed to be a primitive volatile-rich remnant from the early solar system. Its visible geometric albedo is 0.07±0.01with a diameter of 0.87±0.03 km (5). The thermal inertia indicates thick dust with a cm-sized, gravel-dominated surface layer (5,6). Ryugu shows a retrograde rotation with a period of 7.63±0.01h. Spectral observations indicate iron-bearing phyllosilicates (1) on parts of the surface, suggesting compositional heterogeneity. MASCOT will enable to in-situ map the asteroid's geomorphology, the intimate structure, texture and composition of the regolith (dust, soil and rocks), and its thermal, mechanical, and magnetic properties in order to provide ground truth for the orbiter remote measurements, support the selection of sampling sites, and provide context information for the returned samples (2,3). MASCOT comprises a payload of four scientific instruments: camera, radiometer, magnetometer and hyperspectral microscope (2,3). Characterizing the properties of asteroid regolith in-situ will deliver important ground truth for further understanding telescopic and orbital observations as well as samples of asteroids. MASCOT will descend and land on the asteroid and will change its position by hopping (3). (1) Vilas, F., Astro. J. 1101-1105, 2008; (2) Jaumann, R., et al., SSR, DOI 10.1007/s11214-016-0263-2, 2016; (3) Ho, T.-M. et al., SSR, DOI 10.1007/s11214-016-0251-6, 2016; (4) Bus, S.J., Binzel, R.P. Icarus 158, 2002; (5) Hasegawa, T.G., et al., Astron. Soc. Japan 60, 2008; (6) T.G. Müller, T.G., et al., doi 10.1051/0004-6361/201015599, 2011.

The Gaia Investigation of the Solar System

NASA Astrophysics Data System (ADS)

Delbo, Marco; Tanga, Paolo; Mignard, Francois; Cellino, Alberto; Hestroffer, Daniel

2015-08-01

The space mission Gaia of the European Space Agency (ESA) has begun its scientific whole-sky survey of all astrophysical sources with V<=20 in July 2014. The high precision astrometry is the main science driver for the mission, but Gaia will also obtain visible photometry and low-resolution spectroscopy of the observed sources, including solar system small bodies. Preliminary results show a good quality of the data, in general, in line with the expected pre-flight specifications. These data will consist a mine of information for a remote-sensing exploration of the small worlds of our Solar System. Indeed, ~250,000 asteroids will be observed by Gaia throughout its 5-years-long mission. After an update about the status of the mission and the on-going data analysis, including some preliminary results, we are going to present the plans for the data releases, the first foreseen at the end of 2016, and the general data treatment.We will show how Gaia spectroscopy will allow up to map the composition of about 100,000 asteroids throughout the Main Belt, with high signal to noise ratio. Given its advantage position outside the Earth's atmosphere, the blue part of the spectrum (roughly below 0.5 micron) will be observed for an unprecedented number of asteroids.Additionally, precise photometry and astrometry will also be important to reveal the physical nature of these small bodies. In particular, it is estimated that three-dimensional shapes, rotation, period and pole orientation will be derived for 10,000 asteroids. The masses of about 150 of the largest asteroids, will be determined from measurements of the orbital gravitational perturbations that these bodies will exert on small asteroids during mutual close approaches.Moreover, the combination of Gaia data (delivering masses and shapes) with infrared radiometric observations, e.g. from the NASA WISE mission (informing us about the size of the bodies), will allow precise asteroid bulk densities to be determined. The bulk density and the internal structure are among the most important characteristics of asteroids, that are currently some of the least constrained.

Biospheres and solar system exploration

NASA Technical Reports Server (NTRS)

Paine, Thomas O.

1990-01-01

The implications of biosphere technology is briefly examined. The exploration status and prospects of each world in the solar system is briefly reviewed, including the asteroid belt, the moon, and comets. Five program elements are listed as particularly critical for future interplanetary operations during the coming extraterrestrial century. They include the following: (1) a highway to Space (earth orbits); (2) Orbital Spaceports to support spacecraft assembly, storage, repair, maintenance, refueling, launch, and recovery; (3) a Bridge Between Worlds to transport cargo and crews to the moon and beyond to Mars; (4) Prospecting and Resource Utilization Systems to map and characterize the resources of planets, moons, and asteroids; and (5) Closed Ecology Biospheres. The progress in these five field is reviewed.

Asteroids from a Martian Mega Impact

NASA Astrophysics Data System (ADS)

Kohler, Susanna

2018-04-01

Like evidence left at a crime scene, the mineral olivine may be the clue that helps scientists piece together Marss possibly violent history. Could a long-ago giant impact have flung pieces of Mars throughout our inner solar system? Two researchers from the Tokyo Institute of Technology in Japan are on the case.A Telltale MineralOlivine, a mineral that is common in Earths subsurface but weathers quickly on the surface. Olivine is a major component of Marss upper mantle. [Wilson44691]Olivine is a major component of the Martian upper mantle, making up 60% of this region by weight. Intriguingly, olivine turns up in other places in our solar system too for instance, in seven out of the nine known Mars Trojans (a group of asteroids of unknown origin that share Marss orbit), and in the rare A-type asteroids orbiting in the main asteroid belt.How did these asteroids form, and why are they so olivine-rich? An interesting explanation has been postulated: perhaps this olivine all came from the same place Mars as the result of a mega impact billions of years ago.Evidence for ImpactMars bears plenty of signs pointing to a giant impact in its past. The northern and sourthern hemispheres of Mars look very different, a phenomenon referred to as the Mars hemisphere dichotomy. The impact of a Pluto-sized body could explain the smooth Borealis Basin that covers the northern 40% of Marss surface.This high-resolution topographic map of Mars reveals the dichotomy between its northern and sourthern hemispheres. The smooth region in the northern hemisphere, the Borealis basin, may have been formed when a giant object impacted Mars billions of years ago. [NASA/JPL/USGS]Other evidence piles up: Marss orbit location, its rotation speed, the presence of its two moons all could be neatly explained by a large impact around 4 billion years ago. Could such an impact have also strewn debris from Marss mantle across the solar system?To test this theory, we need to determine if a mega impact is capable of producing enough ejecta and with the appropriate compositions and orbits to explain the Mars trojans and the A-type asteroids we observe. Tackling this problem, researchers Ryuki Hyodo and Hidenori Genda have performed numerical simulations to explore the ejecta from such a collision.Distributing DebrisHyodo and Genda examine the outcomes of a Mars mega impact using smoothed particle hydrodynamics simulations. They test different impactor masses, impactor speeds, angles of impact, and more to determine how these properties affect the properties of the Martian ejecta that result.Debris ejected in a Mars mega impact, at 20 hours post-impact. Blue particles are from the impactor, red particles are from Mars, yellow particles are clumps of 10 particles. [Hyodo Genda 2018]The authors find that a large amount of debris can be ejected from Mars during such an impact and distributed between 0.53 AU in the solar system. Roughly 2% of this debris could originate from Marss olivine-rich, unmelted upper mantle which could indeed be the source of the olivine-rich Mars Trojan asteroids and rare A-type asteroids.How can we further explorethis picture? Debris from a Mars mega impact would not justhave been the source of new asteroids; the debris likely also collided with pre-existing asteroids or even transferred to early Earth. Signatures of a Mars mega impact may therefore be recorded in main-belt asteroids or in meteorites found on Earth, providing tantalizing targets for future studies in the effort to map out Marss past.CitationRyuki Hyodo and Hidenori Genda 2018 ApJL 856 L36. doi:10.3847/2041-8213/aab7f0

Creation and Analysis of the Chemical Composition Map of Eros and Its Cosmochemical Interpretation

NASA Technical Reports Server (NTRS)

Gorenstein, Paul; Morgan, Thomas (Technical Monitor)

2003-01-01

The data was analyzed and two papers were written and published in the refereed journal: Meteoritics and Planetary Science. These paper describes the results of the study of the surface chemical composition of the asteroid Eros by the NEAR X-ray Fluorescence Spectrometer.

UGV technology for urban environments

NASA Astrophysics Data System (ADS)

Christensen, Henrik I.; Folkeson, John; Hedstrom, Andreas; Lundberg, Carl

2004-09-01

Deployment of humans in an urban setting for search and rescue type missions poses a major risk to the personnel. In rescue missions the risk can stem from debris, gas, etc. and in a strategic setting the risk can stem from snipers, mines, gas, etc. There is consequently a natural interest in studies of how UGV technology can be deployed for tasks such as reconnaissance, retrieval of objects (bombs, injured people, etc.). Today most vehicles used by the military and bomb squads are tele-operated and without any autonomony. This implies that operation of the vehicles is a stressful and demanding task. Part of this stress can be removed through introduction of autonomous functionality. Autonomy implicitly requires use of map information to allow the system to localize and traverse a particular area in addition autonomous mapping of an area is a valuable functionality as part of reconnaissance missions to provide an initial inventory of a new area. A host of different sensory modalities can be used for mapping. In general no single modality is, however, sufficient for robust and efficient mapping. In the present study GPS, Inertial Cues, Laser ranging and Odometry is used for simultaneous mapping and localization in urban environments. The mapping is carried out autonomously using a coverage strategy to ensure full mapping of a particular area. In relation to mapping another important issue is the design of an efficient user interface that allows a regular rescue worker, or a soldier, to operate the vehicle without detailed knowledge about robotics. A number of different designs for user interfaces will be presented and results from studies with a range of end-users (soldiers) will also be reported. The complete system has been tested in an urban warfare facility outside of Stockholm. Detailed results will be reposted from two different test facilities.

Unified formalism for higher order non-autonomous dynamical systems

NASA Astrophysics Data System (ADS)

Prieto-Martínez, Pedro Daniel; Román-Roy, Narciso

2012-03-01

This work is devoted to giving a geometric framework for describing higher order non-autonomous mechanical systems. The starting point is to extend the Lagrangian-Hamiltonian unified formalism of Skinner and Rusk for these kinds of systems, generalizing previous developments for higher order autonomous mechanical systems and first-order non-autonomous mechanical systems. Then, we use this unified formulation to derive the standard Lagrangian and Hamiltonian formalisms, including the Legendre-Ostrogradsky map and the Euler-Lagrange and the Hamilton equations, both for regular and singular systems. As applications of our model, two examples of regular and singular physical systems are studied.

Mapping a Path to Autonomous Flight in the National Airspace

NASA Technical Reports Server (NTRS)

Lodding, Kenneth N.

2011-01-01

The introduction of autonomous flight, whether military, commercial, or civilian, into the National Airspace System (NAS) will present significant challenges. Minimizing the impact and preventing the changes from becoming disruptive, rather than an enhancing technology will not be without difficulty. From obstacle detection and avoidance to real-time verification and validation of system behavior, there are significant problems which must be solved prior to the general acceptance of autonomous systems. This paper examines some of the key challenges and the multi-disciplinary collaboration which must occur for autonomous systems to be accepted as equal partners in the NAS.

Investigating the Origin of Bright Materials on Vesta: Synthesis, Conclusions, and Implications

NASA Technical Reports Server (NTRS)

Li, Jian-Yang; Mittlefehldt, D. W.; Pieters, C. M.; De Sanctis, M. C.; Schroder, S. E.; Hiesinger, H.; Blewett, D. T.; Russell, C. T.; Raymond, C. A.; Keller, H. U.

2012-01-01

The Dawn spacecraft started orbiting the second largest asteroid (4) Vesta in August 2011, revealing the details of its surface at an unprecedented pixel scale as small as approx.70 m in Framing Camera (FC) clear and color filter images and approx.180 m in the Visible and Infrared Spectrometer (VIR) data in its first two science orbits, the Survey Orbit and the High Altitude Mapping Orbit (HAMO) [1]. The surface of Vesta displays the greatest diversity in terms of geology and mineralogy of all asteroids studied in detail [2, 3]. While the albedo of Vesta of approx.0.38 in the visible wavelengths [4, 5] is one of the highest among all asteroids, the surface of Vesta shows the largest variation of albedos found on a single asteroid, with geometric albedos ranging at least from approx.0.10 to approx.0.67 in HAMO images [5]. There are many distinctively bright and dark areas observed on Vesta, associated with various geological features and showing remarkably different forms. Here we report our initial attempt to understand the origin of the areas that are distinctively brighter than their surroundings. The dark materials on Vesta clearly are different in origin from bright materials and are reported in a companion paper [6].

Rendezvous with Toutatis from the Moon: The Chang'e-2 mission

NASA Astrophysics Data System (ADS)

Huang, J.; Tang, X.; Meng, L.

2014-07-01

Chang'e-2 probe was the second lunar probe of China, with the main objectives to demonstrate some key features of the new lunar soft landing technology, and its applications to future exploration missions. After completing the planned mission successfully, Chang'e-2 flew away from the Moon and entered into the interplanetary space. Later, at a distance of 7 million km from the Earth, Chang'e-2 encountered asteroid (4179) Toutatis with a very close fly-by distance and obtained colorful images with a 3-m resolution. Given some surplus velocity increment as well as the promotion of autonomous flight ability and improvement of control, propulsion, and thermal systems in the initial design, Chang'e-2 had the capabilities necessary for escaping from the Moon. By taking advantage of the unique features of the Lagrangian point, the first close fly-by of asteroid Toutatis was realized despite the tight constraints of propellant allocation, spacecraft-Earth communication, and coordination of execution sequences. Chang'e-2 realized the Toutatis flyby with a km-level distance at closest approach. In the absence of direct measurement method, based on the principle of relative navigation and through the use of the sequence of target images, we calculated the rendezvous parameters such as relative distance and image resolution. With the help of these parameters, some fine and new scientific discoveries about the asteroid were obtained by techniques of optical measurements and image processing. Starting with an innovative design, followed by high-fidelity testing and demonstration, elaborative implementation, and optimal usage of residual propellant, Chang'e-2 has for the first time successfully explored the Moon, L2 point and an asteroid, while achieving the purpose of 'faster, better, cheaper'. What Chang'e-2 has accomplished was far beyond our expectations. *J. Huang is the chief designer (PI) of Chang'e-2 probe, planned Chang'e-2's multi-objective and multitasking exploration mission.

Enabling Autonomous Navigation for Affordable Scooters.

PubMed

Liu, Kaikai; Mulky, Rajathswaroop

2018-06-05

Despite the technical success of existing assistive technologies, for example, electric wheelchairs and scooters, they are still far from effective enough in helping those in need navigate to their destinations in a hassle-free manner. In this paper, we propose to improve the safety and autonomy of navigation by designing a cutting-edge autonomous scooter, thus allowing people with mobility challenges to ambulate independently and safely in possibly unfamiliar surroundings. We focus on indoor navigation scenarios for the autonomous scooter where the current location, maps, and nearby obstacles are unknown. To achieve semi-LiDAR functionality, we leverage the gyros-based pose data to compensate the laser motion in real time and create synthetic mapping of simple environments with regular shapes and deep hallways. Laser range finders are suitable for long ranges with limited resolution. Stereo vision, on the other hand, provides 3D structural data of nearby complex objects. To achieve simultaneous fine-grained resolution and long range coverage in the mapping of cluttered and complex environments, we dynamically fuse the measurements from the stereo vision camera system, the synthetic laser scanner, and the LiDAR. We propose solutions to self-correct errors in data fusion and create a hybrid map to assist the scooter in achieving collision-free navigation in an indoor environment.

Map generation in unknown environments by AUKF-SLAM using line segment-type and point-type landmarks

NASA Astrophysics Data System (ADS)

Nishihta, Sho; Maeyama, Shoichi; Watanebe, Keigo

2018-02-01

Recently, autonomous mobile robots that collect information at disaster sites are being developed. Since it is difficult to obtain maps in advance in disaster sites, the robots being capable of autonomous movement under unknown environments are required. For this objective, the robots have to build maps, as well as the estimation of self-location. This is called a SLAM problem. In particular, AUKF-SLAM which uses corners in the environment as point-type landmarks has been developed as a solution method so far. However, when the robots move in an environment like a corridor consisting of few point-type features, the accuracy of self-location estimated by the landmark is decreased and it causes some distortions in the map. In this research, we propose AUKF-SLAM which uses walls in the environment as a line segment-type landmark. We demonstrate that the robot can generate maps in unknown environment by AUKF-SLAM, using line segment-type and point-type landmarks.

Magician Simulator. A Realistic Simulator for Heterogenous Teams of Autonomous Robots

DTIC Science & Technology

2011-01-18

IMU, and LIDAR systems for identifying and tracking mobile OOI at long range (>20m), providing early warnings and allowing neutralization from a... LIDAR and Computer Vision template-based feature tracking approaches. Mapping was solved through Multi-Agent particle-filter based Simultaneous...Locali- zation and Mapping ( SLAM ). Our system contains two maps, a physical map and an influence map (location of hostile OOI, explored and unexplored

A Primer on Autonomous Aerial Vehicle Design

PubMed Central

Coppejans, Hugo H. G.; Myburgh, Herman C.

2015-01-01

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers. PMID:26633410

A Primer on Autonomous Aerial Vehicle Design.

PubMed

Coppejans, Hugo H G; Myburgh, Herman C

2015-12-02

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

Semi-autonomous exploration of multi-floor buildings with a legged robot

NASA Astrophysics Data System (ADS)

Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

2015-05-01

This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

Simulations of impacts on rubble-pile asteroids

NASA Astrophysics Data System (ADS)

Deller, J.; Snodgrass, C.; Lowry, S.; Price, M.; Sierks, H.

2014-07-01

Rubble-pile asteroids can contain a high level of macroporosity. For some asteroids, porosities of 40 % or even more have been measured [1]. While little is known about the exact distribution of the voids inside rubble-pile asteroids, assumptions have to be made for the modeling of impact events on these bodies. Most hydrocodes do not distinguish between micro- and macroporosity, instead describing brittle material by a constitutive model as homogeneous. We developed a method to model rubble-pile structures in hypervelocity impact events explicitly. The formation of the asteroid is modelled as a gravitational aggregation of spherical `pebbles', that form the building blocks of our target. This aggregate is then converted into a high-resolution Smoothed Particle Hydrodynamics (SPH) model, which also accounts for macroporosity inside the pebbles. We present results of a study that quantifies the influence of our model parameters on the outcome of a typical impact event of two small main-belt asteroids. The existence of void space in our model increases the resistance against collisional disruption, a behavior observed before [2]. We show that for our model no a priori knowledge of the rubble-pile constituents in the asteroid is needed, as the choice of the corresponding parameters does not directly correlate with the impact outcome. The size distribution of the pebbles used as building blocks in the formation of an asteroid is only poorly constrained. As a starting point, we use a power law N(>r) ∝ r^α to describe the distribution of radii of the pebbles. Reasonable values for the slope α range around α=-2.5, as found in the size distribution of main-belt objects [3,4]. The cut-off values for pebbles, r_{min} and r_{max} are given by practical considerations: In the SPH formalism, properties are represented by weighted averages of particles within their smoothing length h, preventing the resolution of structures below that scale. Using spheres with radius in the range of h results in a practically monolithic body, as well as using spheres of a radius similar to the asteroid itself. We quantify the sensitivity of impact outcomes to the choice of parameters. Propagation of the shock front inside the asteroid depends on the pebble size distribution. While larger pebbles transmit the shock wave further into the structure, resulting in a steeper crater, small pebbles result in a more evenly distributed shock front and a wider crater. Because the shock wave is transmitted only at the small contact area of the pebbles, the shock wave is focused at the contact points and material can be compressed or damaged even at a distance to the impact zone. We create maps of the displacement of pebbles at the surface of the asteroid on the opposing site of the impact event. This can possibly be used to relate surface features on asteroids like Šteins or Itokawa to specific impact events.

Reports of Planetary Geology and Geophysics Program, 1984

NASA Technical Reports Server (NTRS)

Holt, H. E. (Compiler); Watters, T. R. (Compiler)

1985-01-01

Topics include outer planets and satellites; asteroids and comets; Venus; lunar origin and solar dynamics; cratering process; planetary interiors, petrology, and geochemistry; volcanic processes; aeolian processes and landforms; fluvial processes; geomorphology; periglacial and permafrost processes; remote sensing and regolith studies; structure, tectonics, and stratigraphy; geological mapping, cartography, and geodesy; and radar applications.

A green flash from the Moon; BOSS measures the distant universe in 3D; Cuts in Parliament; When asteroids collide; SpaceX to beat China

NASA Astrophysics Data System (ADS)

2011-06-01

The biggest 3D map of the distant universe, based on the intergalactic hydrogen distribution as well as on the distribution of visible galaxies, has been produced by the Sloan Digital Sky Survey (SDSS-III).

ALMA 1.3 Millimeter Map of the HD 95086 System -- A Young Analog of the HR 8799 System

NASA Astrophysics Data System (ADS)

Su, Kate; MacGregor, Meredith Ann; Booth, Mark; Wilner, David; Malhotra, Renu; Morrison, Sarah; OST STDT

2018-01-01

Planets and minor bodies such as asteroids, Kuiper-belt objects and comets are integral components of a planetary system. Interactions among them leave clues about the formation process of a planetary system. The signature of such interactions is best illustrated through resolved observations of its debris disk. Here we present ALMA 1.3 mm observations of HD 95086, a young analog of the HR 8799 system, that hosts a directly imaged giant planet b and a massive debris disk with both asteroid- and Kuiper-belt analogs. The location of the Kuiper-belt analog is resolved for the first time. Our deep ALMA map also reveals a bright source located near the edge of the ring. The properties of the source, based on limited data, are consistent with it being a luminous star-forming galaxy at high redshift. We will discuss future, resolved observations of debris disks, highlighting the potential of the Origins Space Telescope (OST), one of the four science and technology definition studies commissioned by NASA Headquarters for the 2020 Astronomy and Astrophysics Decadal survey.

GEBCO-NF Alumni Team's entry for Shell Ocean Discovery XPRIZE. An innovative seafloor mapping system of an AUV integrated with the newly designed USV SEA-KIT.

NASA Astrophysics Data System (ADS)

Wigley, R. A.; Anderson, R.; Bazhenova, E.; Falconer, R. K. H.; Kearns, T.; Martin, T.; Minami, H.; Roperez, J.; Rosedee, A.; Ryzhov, I.; Sade, H.; Seeboruth, S.; Simpson, B.; Sumiyoshi, M.; Tinmouth, N.; Zarayskaya, Y.; Zwolak, K.

2017-12-01

The international team of Nippon Foundation/GEBCO Alumni was formed to compete in the Shell Ocean Discovery XPRIZE competition. The aim of the Team is to build an innovative seafloor mapping system, not only to successfully compete in the XPRIZE challenge, but also to make a step towards autonomously mapping the complex global seafloor at resolutions not achievable by standard surface mapping systems. This new technology is linked to goals of the recently announced Nippon Foundation-GEBCO Seabed 2030 Project, aiming in highest possible resolution bathymetric mapping of global World Ocean floor by 2030. The mapping system is composed of three main elements: an Unmanned Surface Vessel (USV), an Autonomous Underwater Vehicle (AUV) and an on-shore control station. A newly designed, USV, called SEA-KIT, was be built to interact with any AUV, acting as remote surface access to the deep ocean. The major function of the SEA-KIT in the system design is 1) the potential transportation of a commercially available AUV to and from the launch site to the survey site and 2) the deployment and recovery of the AUV. In further development stages, options for AUV charging and data transfer are considered. Additionally, the SEA-KIT will offer a positioning solution during AUV operations, utilizing an Ultra Short Base Line (USBL) acoustic system. The data acquisition platform (AUV) is equipped with a high-end technology interferometric sonar with synthetic aperture options, providing the possibility of collecting bathymetric data co-registered with seafloor object imagery. An automated data processing workflow is highly desirable due to the large amount of data collected during each mission. The processing workflow is being designed to be as autonomous as possible and an algorithm for automated data processing onboard are being considered to reduce the time of data processing and make a final products available as soon as possible after the completion of data collection. No human intervention on site is required for the operation of data collection using the integrated USV and AUV mapping system. The on-shore control station only plays a supervision role and is able to assess the USV performance, while AUV works autonomously, according to a previously set survey plan. This leads to lower-risk, less-effort deep ocean mapping.

KSC-07pd1598

NASA Image and Video Library

2007-06-20

KENNEDY SPACE CENTER, FLA. -- At Astrotech, the Dawn spacecraft is on display for a media showing. On each side are the folded solar array panels. The "box" in the upper center is the visual and infrared mapping spectrometer, which is designed to measure how much radiation of different "colors" is reflected or emitted by an object. At the bottom, under cover, is one of the ion propulsion thrusters. Dawn's goal is to characterize the conditions and processes of the solar system's earliest epoch by investigating in detail the largest protoplanets that have remained intact since their formations: asteroid Vesta and the dwarf planet Ceres. They reside in the extensive zone between Mars and Jupiter together with many other smaller bodies, called the asteroid belt. Photo credit: NASA/Kim Shiflett

Regolith Properties of Asteroid 21 Lutetia Constrained by Combined Data Sets of the MIRO and VIRTIS Instruments During the Rosetta Spacecraft Flyby

NASA Technical Reports Server (NTRS)

Keihm, S.; Tosi, F.; Kamp, L.; Capaccioni, F.; Grassi, D.; Gulkis, S.; Coradini, A.

2011-01-01

During the July 10, 2010 flyby of Asteroid 21 Lutetia by the Rosetta spacecraft, maps of surface and subsurface temperatures were derived from the VIRTIS and MIRO instruments respectively. Both data sets indicated a porous surface layer with an extremely low, lunar-like thermal inertia. However, comparisons of the VIRTIS-measured and MIRO-modelled surface temperatures revealed offsets of 10- 30 K, indicative of self-heating or "beaming" effects that were not taken into account in the MIRO thermal modeling. Inclusion of a model of hemispherical craters at all scales 1 cm and larger, covering 50% of the surface, removes most of the offsets in the VIRTIS, MIRO surface temperature determinations.

NEEMO 15: Evaluation of Human Exploration Systems for Near-Earth Asteroids

NASA Technical Reports Server (NTRS)

Chappell, Steven P.; Gernhardt, Michael L.

2011-01-01

The NASA Extreme Environment Mission Operations (NEEMO) 15 mission was focused on near-Earth Asteroid (NEA) exploration techniques evaluation. It began with a University of Delaware autonomous underwater vehicle (AUV) systematically mapping the coral reef for hundreds of meters surrounding the Aquarius habitat. This activity is akin to the type of "far field survey" approach that may be used by a robotic precursor in advance of a human mission to a NEA. Data from the far-field survey were then examined by the NEEMO science team and follow-up exploration traverses were planned, which used Deepworker single-person submersibles. Science traverses at NEEMO 15 were planned according to a prioritized list of scientific objectives developed by the science team based on review and discussion of previous related marine science research including previous marine science saturation missions conducted at the Aquarius habitat. AUV data was used to select several areas of scientific interest. The Deepworker science traverses were then executed at these areas of interest during 4 days of the NEEMO 15 mission and provided higher resolution data such as coral species distribution and mortality. These traverses are analogous to the "near field survey" approach that is expected to be performed by a multi mission space exploration vehicle (MMSEV) during a human mission to a NEA before conducting extravehicular activities (EVA)s. In addition to the science objectives that were pursued, the NEEMO 15 science traverses provided an opportunity to test newly developed software and techniques. Sample collection and instrument deployment on the NEA surface by EVA crew would follow the "near field survey" in a human NEA mission. Sample collection was not necessary for the purposes of the NEEMO science objectives; however, the engineering and operations objectives during NEEMO 15 were to evaluate different combinations of vehicles, crewmembers, tools, and equipment that could be used to perform these tasks on a NEA. Specifically, the productivity and acceptability of simulated NEA exploration activities were systematically quantified and compared when operating with different combinations of crew sizes and exploration systems including MMSEVs, EVA jet packs, and EVA translation devices.

Castalia: A European Mission to a Main Belt Comet

NASA Astrophysics Data System (ADS)

Snodgrass, Colin; Castalia mission science Team

2013-10-01

Main Belt Comets (MBCs) are a newly identified population, with stable asteroid-like orbits in the outer main belt and a comet-like appearance. It is believed that they survived the age of the solar system in a dormant state and that their activity occurred only recently. Water ice is the only volatile expected to survive, and only when buried under an insulating surface. Excavation by impact could bring the water ice (closer) to the surface and trigger the start of MBC activity. The specific science goals of the Castalia mission are: 1. Characterize a new Solar System family, the MBCs, by in-situ investigation 2. Understand the physics of activity on MBCs 3. Directly detect water in the asteroid belt 4. Test if MBCs are a viable source for Earth’s water 5. Use MBCs as tracers of planetary system formation and evolution These goals can be achieved by a spacecraft designed to rendezvous with and orbit an MBC for some months, arriving before the active period begins for mapping before directly sampling the gas and dust released during the active phase. Given the low level of activity of MBCs, and the expectation that their activity comes from only a localized patch on the surface, the orbiting spacecraft will have to be able to maintain a very close orbit over extended periods - the Castalia plan envisages an orbiter capable of ‘hovering’ autonomously at distances of only a few km from the surface of the MBC. The straw-man instrument payload is made up of: - Visible and near-infrared spectral imager - Thermal infrared imager - Radio science - Dust impact detector - Dust composition analyzer - Neutral/ion mass spectrometer - Magnetometer - Plasma package In addition to this, the option of a surface science package is being considered. At the moment MBC 133P/Elst-Pizarro is the best-known target for such a mission. A design study for the Castalia mission has been carried out in partnership between the science team, DLR and OHB Systems. This study looked at possible missions to 133P with launch dates around 2025, and found that this (and other MBC targets as backups) are reachable with an ESA M-class type mission.

Castalia - European Mission to a Main Belt Comet

NASA Astrophysics Data System (ADS)

Hilchenbach, M.

2013-12-01

Main Belt Comets (MBCs) are a recently identified new solar system population with stable asteroid-like orbits and a comet-like appearance. It is believed that they survived the age of the solar system in a dormant state and that their activity occurred only recently. Buried water ice is the only volatile expected to survive under an insulating surface. Excavation by an impact might expose the ice and trigger the start of MBC activity. The specific science goals of the Castalia mission are: 1. Characterize a new Solar System family, the MBCs, by in-situ investigation 2. Understand the physics of activity on MBCs 3. Directly detect water in the asteroid belt 4. Test if MBCs are a viable source for Earth's water 5. Use MBCs as tracers of planetary system formation and evolution These goals can be achieved by a spacecraft designed to rendezvous with and orbit an MBC for a time interval of some months, arriving before the active period for mapping and then directly sampling the gas and dust released during the active phase. Given the low level of activity of MBCs, and the expectation that their activity comes from only a localized patch on the surface, the orbiting spacecraft will have to be able to maintain a very close orbit over extended periods - the Castalia plan envisages an orbiter capable of ';hovering' autonomously at distances of only a few km from the surface of the MBC. The straw-man instrument payload is made up of: - Visible and near-infrared spectral imager - Thermal infrared imager - Radio science - Dust impact detector - Dust composition analyzer - Neutral/ion mass spectrometer - Magnetometer - Plasma package In addition to this, the option of a surface science package is being considered. At the moment MBC 133P/Elst-Pizarro is the best-known target for such a mission. A design study for the Castalia mission has been carried out in partnership between the science team, DLR and OHB Systems. This study looked at possible missions to 133P with launch dates around 2025, and found that this (and other MBC targets as backups) are reachable within an ESA M-class type mission.

Autonomous Rovers for Polar Science Campaigns

NASA Astrophysics Data System (ADS)

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

2012-12-01

We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero-emissions rover could travel more than 500 km per week during Polar summers and provide 100 - 200 W to power instrument payloads to help investigate the atmosphere, magnetosphere, glaciology and sub-glacial geology in Antarctica and Greenland. We are currently upgrading Cool Robot's navigation and solar-power systems and will deploy it during 2013 to map the emissions footprint around Summit Station to demonstrate its potential to execute long-endurance Polar science campaigns. These rovers could assist science traverses to chart safe routes into the interior of Antarctica and Greenland or conduct autonomous, remote science campaigns to extend spatial and temporal coverage for data collection. Our goals include 1,000 - 2,000-km summertime traverses of Antarctica and Greenland, safe navigation through 0.5-m amplitude sastrugi fields, survival in blizzards, and rover-network adaptation to research events of opportunity. We are seeking Polar scientists interested in autonomous, mobile data collection and can adapt the rovers to meet their requirements.

Navigation of robotic system using cricket motes

NASA Astrophysics Data System (ADS)

Patil, Yogendra J.; Baine, Nicholas A.; Rattan, Kuldip S.

2011-06-01

This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

Autonomous Data Collection Using a Self-Organizing Map.

PubMed

Faigl, Jan; Hollinger, Geoffrey A

2018-05-01

The self-organizing map (SOM) is an unsupervised learning technique providing a transformation of a high-dimensional input space into a lower dimensional output space. In this paper, we utilize the SOM for the traveling salesman problem (TSP) to develop a solution to autonomous data collection. Autonomous data collection requires gathering data from predeployed sensors by moving within a limited communication radius. We propose a new growing SOM that adapts the number of neurons during learning, which also allows our approach to apply in cases where some sensors can be ignored due to a lower priority. Based on a comparison with available combinatorial heuristic algorithms for relevant variants of the TSP, the proposed approach demonstrates improved results, while also being less computationally demanding. Moreover, the proposed learning procedure can be extended to cases where particular sensors have varying communication radii, and it can also be extended to multivehicle planning.

The OSIRIS-REx Sample Return Mission from Asteroid Bennu

NASA Astrophysics Data System (ADS)

Lauretta, Dante; Clark, Benton

2016-07-01

The primary objective of the Origins, Spectral Interpretation, Resource Identification, and Security‒Regolith Explorer (OSIRIS-REx) mission is to return and analyze a sample of pristine regolith from asteroid 101955 Bennu, a primitive carbonaceous asteroid and also a potentially hazardous near-Earth object. Returned samples are expected to contain primitive ancient Solar System materials formed in planetary, nebular, interstellar, and circumstellar environments. In addition, the OSIRIS-REx mission will obtain valuable information on sample context by imaging the sample site; characterize its global geology; map global chemistry and mineralogy; investigate dynamic history by measuring the Yarkovsky effect; and advance asteroid astronomy by characterizing surface properties for direct comparison with ground-based telescopic observations of the entire asteroid population. Following launch in September 2016, the spacecraft will encounter Bennu in August 2018, then embark on a systematic study of geophysical and morphological characteristics of this ~500-meter-diameter object, including a systematic search for satellites and plumes. For determination of context, composition, and sampleability of various candidate sites, advanced instruments for remote global observations include OVIRS (visible to mid-IR spectrometric mapper), OTES (mid- to far-IR mineral and thermal emission mapper), OLA (mapping laser altimeter), and a suite of scientific cameras (OCAMS) with sub-cm pixel size from low-altitude Reconnaissance passes. A unique sample acquisition mechanism (SAM) capable of collecting up to one liter of regolith under ideal conditions (abundant small particulates < 2 cm) is expected to obtain at least 60 g of bulk regolith as well as surface grains on contact pads for analysis upon return to Earth. Using touch-and-go (TAG), a few seconds of contact is adequate for the gas-driven collection technique to acquire sample. This TAGSAM system has been developed and extensively tested in ground tests, and also on reduced-gravity airplane flights, to evaluate collection efficiency for various surfaces. Special cleaning techniques and contamination monitoring with in-flight witness plates are employed to assure a pristine sample. In September 2023, the entire TAGSAM end-effector stowed inside a Stardust-heritage Sample Return Capsule (SRC) will land on the Utah Test and Training Range (UTTR). The samples will then be transported to the NASA Johnson Space Center (JSC) curatorial facility for analysis and distribution to laboratories worldwide.

Lean Development with the Morpheus Simulation Software

NASA Technical Reports Server (NTRS)

Brogley, Aaron C.

2013-01-01

The Morpheus project is an autonomous robotic testbed currently in development at NASA's Johnson Space Center (JSC) with support from other centers. Its primary objectives are to test new 'green' fuel propulsion systems and to demonstrate the capability of the Autonomous Lander Hazard Avoidance Technology (ALHAT) sensor, provided by the Jet Propulsion Laboratory (JPL) on a lunar landing trajectory. If successful, these technologies and lessons learned from the Morpheus testing cycle may be incorporated into a landing descent vehicle used on the moon, an asteroid, or Mars. In an effort to reduce development costs and cycle time, the project employs lean development engineering practices in its development of flight and simulation software. The Morpheus simulation makes use of existing software packages where possible to reduce the development time. The development and testing of flight software occurs primarily through the frequent test operation of the vehicle and incrementally increasing the scope of the test. With rapid development cycles, risk of loss of the vehicle and loss of the mission are possible, but efficient progress in development would not be possible without that risk.

Spatial abstraction for autonomous robot navigation.

PubMed

Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

2015-09-01

Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel.

Implementation of Autonomous Navigation and Mapping using a Laser Line Scanner on a Tactical Unmanned Aerial Vehicle

DTIC Science & Technology

2011-12-01

study new multi-agent algorithms to avoid collision and obstacles. Others, including Hanford et al. [2], have tried to build low-cost experimental...2007. [2] S. D. Hanford , L. N. Long, and J. F. Horn, “A Small Semi-Autonomous Rotary-Wing Unmanned Air Vehicle ( UAV ),” 2003 AIAA Atmospheric

SLAM algorithm applied to robotics assistance for navigation in unknown environments.

PubMed

Cheein, Fernando A Auat; Lopez, Natalia; Soria, Carlos M; di Sciascio, Fernando A; Pereira, Fernando Lobo; Carelli, Ricardo

2010-02-17

The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.

Photometric analysis of Asteroid (21) Lutetia from Rosetta-OSIRIS images

NASA Astrophysics Data System (ADS)

Masoumzadeh, N.; Boehnhardt, H.; Li, Jian-Yang; Vincent, J.-B.

2015-09-01

We analyzed the photometric properties of Asteroid (21) Lutetia based on images captured by Rosetta during its flyby. We utilized the images recorded in the F17 filter (λ = 631.6 nm) of the Wide Angle Camera (WAC) and in the F82 & F22 filters (λ = 649.2 nm) of the Narrow Angle Camera (NAC) of the OSIRIS imaging system onboard the spacecraft. We present the results of Hapke and Minnaert modeling using disk-integrated and disk-resolved data derived from the surface of the asteroid. At 631.6 nm and 649.2 nm, the geometric albedo of Lutetia is 0.194 ± 0.002. The Bond albedo is 0.076 ± 0.002 at 649.2 nm, and 0.079 ± 0.002 at 631.6 nm. The roughness parameter is 28 ° ± 1 ° , the opposition surge parameters B0 and h are 1.79 ± 0.08 and 0.041 ± 0.003, respectively, and the asymmetry factor of the phase function is -0.28 ± 0.01. The single-scattering albedo is 0.226 ± 0.002 at 631.6 and 649.2 nm. The modeled Hapke parameters of Asteroid Lutetia are close to those of typical S-type asteroids. The Minnaert k parameter of Lutetia at opposition (0.526 ± 0.002) is comparable with other asteroids and comets. Albedo ratio images indicate no significant variation across the surface of Lutetia, apart from the so called NPCC region on Lutetia where a pronounced variation is seen at large phase angle. The small width of the albedo distribution of the surface (∼7% at half maximum) and the similarity between phase ratio maps derived from the measurements and from the modeling suggests that the light scattering property over the whole visible and illuminated surface of the asteroid is widely uniform. The comparison between the reflectance measurement of Lutetia and the available laboratory samples suggests that the regolith on Lutetia is concrete with possible grain size distribution of150 μm or larger.

Nine Galileo Views in Exaggerated Color of Main-Belt Asteroid Ida

NASA Technical Reports Server (NTRS)

1997-01-01

This set of color images of asteroid 243 Ida was taken by the imaging system on the Galileo spacecraft as it approached and raced past the asteroid on August 28, 1993. These images were taken through the 4100-angstrom (violet), 7560-angstrom (infrared) and 9680- angstrom (infrared) filters and have been processed to show Ida in exaggerated color to bring out subtle color contrasts caused by small variations in composition and surface microtexture of the asteroid's soil. In natural color Ida appears gray with slight overtones of red or brown. Stark shadows portray Ida's irregular shape, which changes its silhouetted outline when seen from different angles. More subtle shadings reveal surface topography (such as craters) and differences in the physical state and composition of the soil ('regolith'). Note in particular the color differences associated with the rims and floors of certain impact craters, which may have excavated to layers of slightly differing composition or may have ingested material from impactors of different compositions. Analysis of the images show that Ida is 58 kilometers long and 23 kilometers wide (36 x 14 miles). Ida is the first asteroid discovered to have a natural satellite, Dactyl (not shown here). Ida and Dactyl are heavily cratered by impacts with smaller asteroids and comets, including some of the same populations of small objects that bombard Earth. These data, combined with reflectance spectra from Galileo's near-infrared mapping spectrometer, may allow scientists to determine whether Ida is a relatively unaltered primitive object made of material condensed from the primordial Solar Nebula at the origin of the Solar System or whether it has been altered by strong heating--evidence interpreted so far suggests that Ida is a piece of a larger object that has been severely heated. Whereas heating and melting of large planets is well understood, the cause of heating of small asteroids is more enigmatic--it may have involved exotic processes that occurred only for a short time after the birth of the Sun and its planets.

Yarkovsky-driven Impact Predictions: Apophis and 1950 DA

NASA Astrophysics Data System (ADS)

Chesley, Steven R.; Farnocchia, D.; Chodas, P. W.; Milani, A.

2013-10-01

Orbit determination for Near-Earth Asteroids presents unique technical challenges due to the imperative of early detection and careful assessment of the risk posed by specific Earth close approaches. The occurrence of an Earth impact can be decisively driven by the Yarkovsky effect, which is the most important nongravitational perturbation as it causes asteroids to undergo a secular variation in semimajor axis resulting in a quadratic effect in anomaly. We discuss the cases of (99942) Apophis and (29075) 1950 DA. The relevance of the Yarkovsky effect for Apophis is due to a scattering close approach in 2029 with minimum geocentric distance ~38000 km. For 1950 DA the influence of the Yarkovsky effect in 2880 is due to the long time interval preceding the impact. We use the available information from the astrometry and the asteroids' physical models and dynamical evolution as a starting point for a Monte Carlo method that allows us to measure how the Yarkovsky effect affects orbital predictions. We also find that 1950 DA has a 98% likelihood of being a retrograde rotator. For Apophis we map onto the 2029 close approach b-plane and analyze the keyholes corresponding to resonant close approaches. For 1950 DA we use the b-plane corresponding to the possible impact in 2880. We finally compute the impact probability from the mapped probability density function on the considered b-plane. For Apophis we have 4 in a million chances of an impact in 2068, while the probability of Earth impact in 2880 for 1950 DA is 0.04%.

Meteoritical Implications of the Vesta Asteroid Family

NASA Astrophysics Data System (ADS)

Bell, J. F.

1993-07-01

The discovery of a large dynamical family of basaltic asteroids associated with Vesta and extending to the 3:1 Jupiter resonance [1] provides firm evidence at last that Vesta is the actual parent body of the basaltic achondrite meteorites [2]. This discovery raises several interesting questions. The Vesta family demonstrates that objects as large as ~10km can be ejected from large asteroids at velocities up to 500 m/sec, which is adequate to deliver material to a strong resonance from almost anywhere in the asteroid belt. However, most other asteroid families show a much smaller range of ejection velocities and a more symmetrical distribution of the fragments in orbital element space. These families probably come from complete disruption of parent bodies, which would therefore appear to be the dominant process. Meteoritical evidence is also relevant. There are at least six large dunite (A-class) asteroids, only one of which is providing brachinites to the Earth. Even more striking, the Nysa asteroid family is predominantly composed of the mysterious F-class asteroids, which have no meteorite analog at all. The evidence suggests that the Vesta event is atypical and that there is considerable bias in meteorite delivery. The family is extended in a but narrowly confined in e and i. Curiously, Vesta is not at one end but in the middle. The very narrow sunward leg of the family contains a rare pure-olivine (Class A) asteroid among the many eucrites (Class V) and diogenites (Class J), while in the more diffuse anti-sunward leg no olivine objects have yet been found. This mineral distribution mimics the mineral map of Vesta derived from telescopic spectroscopy [3], in which a small olivine spot is semi-antipodal to a large diogenite patch. This suggests that the sunward leg is direct ejecta from a large crater, while the anti-sunward leg (and the populartion of HEDs reaching Earth) is composed of crustal fragments spalled off by focused shock waves. This mechanism is well-known from lab experiments [4] and probably causes the jumbled terrain antipodal to impact basins on the Moon and Mercury. Finally, it is now clear that the association between the HED clan and the pallasites is coincidental. We may expect many more such false genetic links between meteorite classes as more oxygen isotope data is obtained. References: [1] Binzel R. P. and Xu S. (1993) Science, 260, 186- 191. [2] Gaffey M. J. (1993) Science, 260, 167-168. [3] Gaffey M. J. (1983) LPS XIV, 231-232. [4] Horz F. and Schaal R. B. (1981) Icarus, 46, 337-353.

Design concepts and options for the Thermal Infrared Imager (TIRI) as part of ESA's Asteroid Impact Mission.

NASA Astrophysics Data System (ADS)

Bowles, Neil; Calcutt, Simon; Licandro, Javier; Reyes, Marcos; Delbo, Marco; Donaldson Hanna, Kerri; Arnold, Jessica; Howe, Chris

2016-04-01

ESA's Asteroid Impact Mission (AIM) is being studied as part of the joint ESA/NASA AIDA mission for launch in 2020. AIDA's primary mission is to investigate the effect of a kinetic impactor on the secondary component of the binary asteroid 65803 Didymos in late 2022. AIM will characterise the Didymos system and monitor the response of the binary system to the impact. A multi-spectral, thermal-infrared imaging instrument (TIRI) will be an essential component of AIM's remote sensing payload, as it will provide key information on the nature of the surfaces (e.g. presence or absence of materials, degree of compaction, and rock abundance of the regolith) of both components in the Didymos system. The temperature maps provided by TIRI will be important for navigation and spacecraft health and safety for proximity/lander operations. By measuring the asteroids' diurnal thermal responses (thermal inertia) and their surface compositions via spectral signatures, TIRI will provide information on the origin and evolution of the binary system. In this presentation we will discuss possible instrument design for TIRI, exploring options that include imaging spectroscopy to broadband imaging. By using thermal models and compositional analogues of the Didymos system we will show how the performance of each design option compares to the wider scientific goals of the AIDA/AIM mission.

Distributed subterranean exploration and mapping with teams of UAVs

NASA Astrophysics Data System (ADS)

Rogers, John G.; Sherrill, Ryan E.; Schang, Arthur; Meadows, Shava L.; Cox, Eric P.; Byrne, Brendan; Baran, David G.; Curtis, J. Willard; Brink, Kevin M.

2017-05-01

Teams of small autonomous UAVs can be used to map and explore unknown environments which are inaccessible to teams of human operators in humanitarian assistance and disaster relief efforts (HA/DR). In addition to HA/DR applications, teams of small autonomous UAVs can enhance Warfighter capabilities and provide operational stand-off for military operations such as cordon and search, counter-WMD, and other intelligence, surveillance, and reconnaissance (ISR) operations. This paper will present a hardware platform and software architecture to enable distributed teams of heterogeneous UAVs to navigate, explore, and coordinate their activities to accomplish a search task in a previously unknown environment.

Stable Orbits in the Didymos Binary Asteroid System - Useful Platforms for Exploration

NASA Astrophysics Data System (ADS)

Damme, Friedrich; Hussmann, Hauke; Wickhusen, Kai; Enrico, Mai; Oberst, Jürgen

2016-04-01

We have analyzed particle motion in binary asteroid systems to search for stable orbits. In particular, we studied the motion of particles near the asteroid 1996 GT (Didymos), proposed as a target for the AIDA mission. The combined gravity fields of the odd-shaped rotating objects moving about each other are complex. In addition, orbiting spacecraft or dust particles are affected by radiation pressure, possibly exceeding the faint gravitational forces. For the numerical integrations, we adopt parameters for size, shape, and rotation from telescopic observations. To simulate the effect of radiation pressure during a spacecraft mission, we apply a spacecraft wing-box shape model. Integrations were carried out beginning in near-circular orbits over 11 days, during which the motion of the particles were examined. Most orbits are unstable with particles escaping quickly or colliding with the asteroid bodies. However, with carefully chosen initial positions, we found stable motion (in the orbiting plane of the secondary) associated with the Lagrangian points (L4 and L5), in addition to horseshoe orbits, where particles move from one of the Lagrangian point to the other. Finally, we examined orbits in 1:2 resonances with the motion of the orbital period of the secondary. Stable conditions depend strongly on season caused by the inclination of the mutual orbit plane with respect to Didymos solar orbit. At larger distance from the asteroid pair, we find the well-known terminator orbits where gravitational attraction is balanced against radiation pressure. Stable orbits and long motion arcs are useful for long tracking runs by radio or Laser instruments and are well-suited for modelling of the ephemerides of the asteroid pair and gravity field mapping. Furthermore, these orbits may be useful as observing posts or as platforms for approach. These orbits may also represent traps for dust particles, an opportunity for dust collection - or possibly a hazard to spacecraft operation.

SOD1 Overexpression Preserves Baroreflex Control of Heart Rate with an Increase of Aortic Depressor Nerve Function

PubMed Central

Hatcher, Jeffrey; Gu, He; Cheng, Zixi (Jack)

2016-01-01

Overproduction of reactive oxygen species (ROS), such as the superoxide radical (O2 ∙−), is associated with diseases which compromise cardiac autonomic function. Overexpression of SOD1 may offer protection against ROS damage to the cardiac autonomic nervous system, but reductions of O2 ∙− may interfere with normal cellular functions. We have selected the C57B6SJL-Tg (SOD1)2 Gur/J mouse as a model to determine whether SOD1 overexpression alters cardiac autonomic function, as measured by baroreflex sensitivity (BRS) and aortic depressor nerve (ADN) recordings, as well as evaluation of baseline heart rate (HR) and mean arterial pressure (MAP). Under isoflurane anesthesia, C57 wild-type and SOD1 mice were catheterized with an arterial pressure transducer and measurements of HR and MAP were taken. After establishing a baseline, hypotension and hypertension were induced by injection of sodium nitroprusside (SNP) and phenylephrine (PE), respectively, and ΔHR versus ΔMAP were recorded as a measure of baroreflex sensitivity (BRS). SNP and PE treatment were administered sequentially after a recovery period to measure arterial baroreceptor activation by recording aortic depressor nerve activity. Our findings show that overexpression of SOD1 in C57B6SJL-Tg (SOD1)2 Gur/J mouse preserved the normal HR, MAP, and BRS but enhanced aortic depressor nerve function. PMID:26823951

CERT Research Annual Report 2009

DTIC Science & Technology

2009-01-01

Domain Name System (DNS), which maps names to IP addresses, is a vital component of the Internet. Nearly every transaction on the Internet begins by...many different ASNs (Autonomous System Numbers, which map to Internet Service Providers) there are. If there are more than 20, then it is extremely...functions, that is, mappings from their domains to ranges, or inputs to outputs. These mappings are pre-defined as a starting point for the FX

Reports of Planetary Geology Program, 1982

NASA Technical Reports Server (NTRS)

Holt, H. E. (Compiler)

1982-01-01

Work conducted in the Planetary Geology program is summarized. The following categories are presented: outer solar system satellites; asteroids and comets; Venus; cratering processes and landform development; volcanic processes and landforms; aolian processes and landforms; fluvial processes and landform development; periglacial and permafrost processes; structure, tectonics and stratigraphy; remote sensing and regolith studies; geologic mapping, cartography and geodesy.

Reports of planetary geology program, 1976 - 1977. [abstracts

NASA Technical Reports Server (NTRS)

Arvidson, R. (Compiler); Wahmann, R. (Compiler); Howard, J. H., III

1977-01-01

One hundred seventeen investigations undertaken in the NASA Planetary Geology Program in 1976-1977 are reported in abstract form. Topics discussed include solar system formation; planetary interiors; planetary evolution; asteroids, comets and moons; cratering; volcanic, eolian, fluvial and mass wasting processes; volatiles and the Martian regolith; mapping; and instrument development and techniques. An author index is provided.

Integrable mappings with transcendental invariants

NASA Astrophysics Data System (ADS)

Grammaticos, B.; Ramani, A.

2007-06-01

We examine a family of integrable mappings which possess rational invariants involving polynomials of arbitrarily high degree. Next we extend these mappings to the case where their parameters are functions of the independent variable. The resulting mappings do not preserve any invariant but are solvable by linearisation. Using this result we then proceed to construct the solution of the initial autonomous mappings and use it to explicitly construct the invariant, which turns out to be transcendental in the generic case.

Single photon laser altimeter simulator and statistical signal processing

NASA Astrophysics Data System (ADS)

Vacek, Michael; Prochazka, Ivan

2013-05-01

Spaceborne altimeters are common instruments onboard the deep space rendezvous spacecrafts. They provide range and topographic measurements critical in spacecraft navigation. Simultaneously, the receiver part may be utilized for Earth-to-satellite link, one way time transfer, and precise optical radiometry. The main advantage of single photon counting approach is the ability of processing signals with very low signal-to-noise ratio eliminating the need of large telescopes and high power laser source. Extremely small, rugged and compact microchip lasers can be employed. The major limiting factor, on the other hand, is the acquisition time needed to gather sufficient volume of data in repetitive measurements in order to process and evaluate the data appropriately. Statistical signal processing is adopted to detect signals with average strength much lower than one photon per measurement. A comprehensive simulator design and range signal processing algorithm are presented to identify a mission specific altimeter configuration. Typical mission scenarios (celestial body surface landing and topographical mapping) are simulated and evaluated. The high interest and promising single photon altimeter applications are low-orbit (˜10 km) and low-radial velocity (several m/s) topographical mapping (asteroids, Phobos and Deimos) and landing altimetry (˜10 km) where range evaluation repetition rates of ˜100 Hz and 0.1 m precision may be achieved. Moon landing and asteroid Itokawa topographical mapping scenario simulations are discussed in more detail.

Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing

PubMed Central

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM. PMID:22346682

Autonomous navigation for autonomous underwater vehicles based on information filters and active sensing.

PubMed

He, Bo; Zhang, Hongjin; Li, Chao; Zhang, Shujing; Liang, Yan; Yan, Tianhong

2011-01-01

This paper addresses an autonomous navigation method for the autonomous underwater vehicle (AUV) C-Ranger applying information-filter-based simultaneous localization and mapping (SLAM), and its sea trial experiments in Tuandao Bay (Shangdong Province, P.R. China). Weak links in the information matrix in an extended information filter (EIF) can be pruned to achieve an efficient approach-sparse EIF algorithm (SEIF-SLAM). All the basic update formulae can be implemented in constant time irrespective of the size of the map; hence the computational complexity is significantly reduced. The mechanical scanning imaging sonar is chosen as the active sensing device for the underwater vehicle, and a compensation method based on feedback of the AUV pose is presented to overcome distortion of the acoustic images due to the vehicle motion. In order to verify the feasibility of the navigation methods proposed for the C-Ranger, a sea trial was conducted in Tuandao Bay. Experimental results and analysis show that the proposed navigation approach based on SEIF-SLAM improves the accuracy of the navigation compared with conventional method; moreover the algorithm has a low computational cost when compared with EKF-SLAM.

Mapping the Solar System with LSST

NASA Astrophysics Data System (ADS)

Ivezic, Z.; Juric, M.; Lupton, R.; Connolly, A.; Kubica, J.; Moore, A.; Harris, A.; Bowell, T.; Bernstein, G.; Stubbs, C.; LSST Collaboration

2004-12-01

The currently considered LSST cadence, based on two 10 sec exposures, may result in orbital parameters, light curves and accurate colors for over a million main-belt asteroids (MBA), and about 20,000 trans-Neptunian objects (TNO). Compared to the current state-of-the-art, this sample would represent a factor of 5 increase in the number of MBAs with known orbits, a factor of 20 increase in the number of MBAs with known orbits and accurate color measurements, and a factor of 100 increase in the number of MBAs with measured variability properties. The corresponding sample increase for TNOs is 10, 100, and 1000, respectively. The LSST MBA and TNO samples will enable detailed studies of the dynamical and chemical history of the solar system. For example, they will constrain the MBA size distribution for objects larger than 100 m, and TNO size distribution for objects larger than 100 km, their physical state through variability measurements (solid body vs. a rubble pile), as well as their surface chemistry through color measurements. A proposed deep TNO survey, based on 1 hour exposures, may result in a sample of about 100,000 TNOs, while spending only 10% of the LSST observing time. Such a deep TNO survey would be capable of discovering Sedna-like objects at distances beyond 150 AU, thereby increasing the observable Solar System volume by about a factor of 7. The increase in data volume associated with LSST asteroid science will present many computational challenges to how we might extract tracks and orbits of asteroids from the underlying clutter. Tree-based algorithms for multihypothesis testing of asteroid tracks can help solve these challenges by providing the necessary 1000-fold speed-ups over current approaches while recovering 95% of the underlying asteroid populations.

Animating Autonomous Pedestrians

DTIC Science & Technology

2006-01-01

walkable surface in a region may be mapped onto a horizontal plane without loss of essential geometric information. Consequently, the 3D space may be...that the walkable surface in a region may be mapped onto a horizontal plane without loss of essential geometric information, such as the distance

Heavy Metal - Exploring a magnetised metallic asteroid

NASA Astrophysics Data System (ADS)

Wahlund, Jan-Erik; Andrews, David; Futaana, Yoshifumi; Masters, Adam; Thomas, Nicolas; De Sanctis, Maria Cristina; Herique, Alain; Retherford, Kurt; Tortora, Paolo; Trigo-Rodriguez, Joseph; Ivchenko, Nickolay; Simon, Sven

2017-04-01

We propose a spacecraft mission (Heavy Metal) to orbit and explore (16) Psyche - the largest M-class metallic asteroid in the main belt. Recent estimates of the shape, 279×232×189 km and mass, 2.7×10(19) kg make it one of the largest and densest of asteroids, and together with the high surface radar reflectivity and the spectral data measured from Earth it is consistent with a bulk composition rich in iron-nickel. The M5 mission Heavy Metal will investigate if (16) Psyche is the exposed metallic core of a planetesimal, formed early enough to melt and differentiate. High-resolution mapping of the surface in optical, IR, UV and radar wavebands, along with the determination of the shape and gravity field will be used to address the formation and subsequent evolution of (16) Psyche, determining the origin of metallic asteroids. It is conceivable that a cataclysmic collision with a second body led to the ejection of all or part of the differentiated core of the parent body. Measurements at (16) Psyche therefore provide a possibility to directly examine an iron-rich planetary core, similar to that expected at the center of all the major planets including Earth. A short-lived dynamo producing a magnetic field early in the life of (16) Psyche could have led to a remnant field (of tens of micro Tesla) being preserved in the body today. (16) Psyche is embedded in the variable flow of the solar wind. Whereas planetary magnetospheres and induced magnetospheres are the result of intense dynamo fields and dense conductive ionospheres presenting obstacles to the solar wind, (16) Psyche may show an entirely new 'class' of interaction as a consequence of its lack of a significant atmosphere, the extremely high bulk electrical conductivity of the asteroid, and the possible presence of intense magnetic fields retained in iron-rich material. The small characteristic scale of (16) Psyche ( 200 km) firmly places any solar wind interaction in the "sub-MHD" scale, in which kinetic plasma effects must be considered. Heavy Metal will investigate if (16) Psyche has an extended magnetosphere by mapping the local plasma density, composition, energy state and dynamics around the body, along with the magnetic field. By accurately mapping any internally retained magnetic field of (16) Psyche, we will address the origin of any magnetization (the possible remains of an early magnetic dynamo). The Heavy Metal spacecraft will be launched from Earth with an Ariane 6.2 rocket in the time window 2029 - 2031, and by using electric propulsion, along with a possible gravity assist manoeuvre by Mars, arrive at (16) Psyche some 4 - 4.5 years later. The S/C is then planned to orbit the body for a period of 1 year, and release a CubeSat for close up studies.

Space Weathering of Ordinary Chondrite Parent Bodies, Its Impact on the Method of Distinguishing H, L, and LL Types and Implications for Itokawa Samples Returned by the Hayabusa Mission

NASA Technical Reports Server (NTRS)

Hiroi, T.; Sasaki, S.; Noble, S. K.; Pieters, C. M.

2011-01-01

As the most abundance meteorites in our collections, ordinary chondrites potentially have very important implications on the origin and formation of our Solar System. In order to map the distribution of ordinary chondrite-like asteroids through remote sensing, the space weathering effects of ordinary chondrite parent bodies must be addressed through experiments and modeling. Of particular importance is the impact on distinguishing different types (H/L/LL) of ordinary chondrites. In addition, samples of asteroid Itokawa returned by the Hayabusa spacecraft may re veal the mechanism of space weathering on an LLchondrite parent body. Results of space weathering simulations on ordinary chondrites and implications for Itokawa samples are presented here.

CubeX: The CubeSAT X-ray Telescope for Elemental Abundance Mapping of Airless Bodies and X-ray Pulsar Navigation

NASA Astrophysics Data System (ADS)

Nittler, L. R.; Hong, J.; Kenter, A.; Romaine, S.; Allen, B.; Kraft, R.; Masterson, R.; Elvis, M.; Gendreau, K.; Crawford, I.; Binzel, R.; Boynton, W. V.; Grindlay, J.; Ramsey, B.

2017-12-01

The surface elemental composition of a planetary body provides crucial information about its origin, geological evolution, and surface processing, all of which can in turn provide information about solar system evolution as a whole. Remote sensing X-ray fluorescence (XRF) spectroscopy has been used successfully to probe the major-element compositions of airless bodies in the inner solar system, including the Moon, near-Earth asteroids, and Mercury. The CubeSAT X-ray Telescope (CubeX) is a concept for a 6U planetary X-ray telescope (36U with S/C), which utilizes Miniature Wolter-I X-ray optics (MiXO), monolithic CMOS and SDD X-ray sensors for the focal plane, and a Solar X-ray Monitor (heritage from the REXIS XRF instrument on NASA's OSIRIS-REx mission). CubeX will map the surface elemental composition of diverse airless bodies by spectral measurement of XRF excited by solar X-rays. The lightweight ( 1 kg) MiXO optics provide sub-arcminute resolution with low background, while the inherently rad-hard CMOS detectors provide improved spectral resolution ( 150 eV) at 0 °C. CubeX will also demonstrate X-ray pulsar timing based deep space navigation (XNAV). Successful XNAV will enable autonomous deep navigation with little to no support from the Deep Space Network, hence lowering the operation cost for many more planetary missions. Recently selected by NASA Planetary Science Deep Space SmallSat Studies, the first CubeX concept, designed to rideshare to the Moon as a secondary spacecraft on a primary mission, is under study in collaboration with the Mission Design Center at NASA Ames Research Center. From high altitude ( 6,000 km) frozen polar circular orbits, CubeX will study > 8 regions ( 110 km) of geological interest on the Moon over one year to produce a high resolution ( 2-3 km) elemental abundance map of each region. The novel focal plane design of CubeX also allows us to evaluate the performance of absolute navigation by sequential observations of several millisecond pulsars without moving parts.

The dynamical behaviour of our planetary system. Proceedings. 4th Alexander von Humboldt Colloquium on Celestial Mechanics, Ramsau (Austria), 17 - 23 Mar 1996.

NASA Astrophysics Data System (ADS)

Dvorak, R.; Henrard, J.

1996-03-01

The following topics were dealt with: celestial mechanics, dynamical astronomy, planetary systems, resonance scattering, Hamiltonian mechanics non-integrability, irregular periodic orbits, escape, dynamical system mapping, fast Fourier method, precession-nutation, Nekhoroshev theorem, asteroid dynamics, the Trojan problem, planet-crossing orbits, Kirkwood gaps, future research, human comprehension limitations.

Correlating sea level rise still-stands to marine terraces and undiscovered submerged shoreline features in the Channel Islands (USA) using autonomous and remotely operated systems

NASA Astrophysics Data System (ADS)

Raineault, N.; Ballard, R. D.; Fahy, J.; Mayer, L. A.; Heffron, E.; Krasnosky, K.; Roman, C.; Schmidt, V. E.; McLeod, A.; Bursek, J.; Broad, K.

2017-12-01

In 2017, the Ocean Exploration Trust aggregated onboard and autonomous mapping technologies to identify and explore paleo shorelines and discover previously undocumented submerged shoreline features in and around the Channel Islands offshore of California. Broad area mapping was conducted with the hull mounted multibeam echosounder aboard the E/V Nautilus. This Kongsberg EM302 provided maps at 2-10 m resolution, at depths generally greater than 50 m. From this data marine terraces were identified for higher resolution mapping via an Autonomous Surface Vehicle (ASV). The precision data from the ASV's Kongsberg EM2040p echosounder allowed identification of the knickpoints associated with cliffs on the landward extent of each terrace. Sub-sea cave targets were identified using backscatter and slope maps from a combination of both the broad area and high resolution multibeam data. To ground-truth the targets identified through mapping, remotely operated vehicles (ROVs) and a highly specialized team of cave divers explored these targets. The results from the visual inspection were then fed back into the analysis fostering the rapid iteration of the onboard identification criteria and resulted in locating submerged shorelines containing numerous large caves, arches, and concretions. Caves were found at still-stands at 8, 33, 66, and 103 m depth at Santa Cruz Island, Santa Barbara Island platform, and Osborn Bank, along the vertical escarpment at the cliff-face and aligned with the strike of fractures in the volcanic rock. These terraces correspond to different sea level still-stands. ROV grab samples of fossiliferous marine terraces will provide ages and aid in reconstructions of sea level change and tectonic history for each location. Finally, caves were mapped in sub-cm resolution using a Kongsberg M3 sonar mounted vertically on the front of the ROV to test the capabilities of the system to provide accurate information about exterior dimensions and morphology.

Dynamic Assessment of EFL Learners' Listening Comprehension via Computerized Concept Mapping

ERIC Educational Resources Information Center

Ebadi, Saman; Latif, Shokoufeh Vakili

2015-01-01

In Vygotsky's theory, learner's Zone of Proximal Development (ZPD) and autonomous performance could be further developed through social interaction with an expert. Computerized concept mapping enjoys the advantage of meeting learners' differences and therefore can be applied as a scaffold to support learning process.Taking a dynamic assessment…

Geological Structures in the WaIls of Vestan Craters

NASA Technical Reports Server (NTRS)

Mittlefehldt, David; Nathues, A.; Beck, A. W.; Hoffmann, M.; Schaefer, M.; Williams, D. A.

2014-01-01

A compelling case can be made that Vesta is the parent asteroid for the howardite, eucrite and diogenite (HED) meteorites [1], although this interpretation has been questioned [2]. Generalized models for the structure of the crust of Vesta have been developed based on petrologic studies of basaltic eucrites, cumulate eucrites and diogenites. These models use inferred cooling rates for different types of HEDs and compositional variations within the clan to posit that the lower crust is dominantly diogenitic in character, cumulate eucrites occur deep in the upper crust, and basaltic eucrites dominate the higher levels of the upper crust [3-5]. These models lack fine-scale resolution and thus do not allow for detailed predictions of crustal structure. Geophysical models predict dike and sill intrusions ought to be present, but their widths may be quite small [6]. The northern hemisphere of Vesta is heavily cratered, and the southern hemisphere is dominated by two 400-500 km diameter basins that excavated deep into the crust [7-8]. Physical modeling of regolith formation on 300 km diameter asteroids predicts that debris layers would reach a few km in thickness, while on asteroids of Vesta's diameter regolith thicknesses would be less [9]. This agrees well with the estimated =1 km thickness of local debris excavated by a 45 km diameter vestan crater [10]. Large craters and basins may have punched through the regolith/megaregolith and exposed primary vestan crustal structures. We will use Dawn Framing Camera (FC) [11] images and color ratio maps from the High Altitude and Low Altitude Mapping Orbits (HAMO, 65 m/pixel; LAMO, 20 m/pixel) to evaluate structures exposed on the walls of craters: two examples are discussed here.

An autonomous satellite architecture integrating deliberative reasoning and behavioural intelligence

NASA Technical Reports Server (NTRS)

Lindley, Craig A.

1993-01-01

This paper describes a method for the design of autonomous spacecraft, based upon behavioral approaches to intelligent robotics. First, a number of previous spacecraft automation projects are reviewed. A methodology for the design of autonomous spacecraft is then presented, drawing upon both the European Space Agency technological center (ESTEC) automation and robotics methodology and the subsumption architecture for autonomous robots. A layered competency model for autonomous orbital spacecraft is proposed. A simple example of low level competencies and their interaction is presented in order to illustrate the methodology. Finally, the general principles adopted for the control hardware design of the AUSTRALIS-1 spacecraft are described. This system will provide an orbital experimental platform for spacecraft autonomy studies, supporting the exploration of different logical control models, different computational metaphors within the behavioral control framework, and different mappings from the logical control model to its physical implementation.

Autonomous assistance navigation for robotic wheelchairs in confined spaces.

PubMed

Cheein, Fernando Auat; Carelli, Ricardo; De la Cruz, Celso; Muller, Sandra; Bastos Filho, Teodiano F

2010-01-01

In this work, a visual interface for the assistance of a robotic wheelchair's navigation is presented. The visual interface is developed for the navigation in confined spaces such as narrows corridors or corridor-ends. The interface performs two navigation modus: non-autonomous and autonomous. The non-autonomous driving of the robotic wheelchair is made by means of a hand-joystick. The joystick directs the motion of the vehicle within the environment. The autonomous driving is performed when the user of the wheelchair has to turn (90, 90 or 180 degrees) within the environment. The turning strategy is performed by a maneuverability algorithm compatible with the kinematics of the wheelchair and by the SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm provides the interface with the information concerning the environment disposition and the pose -position and orientation-of the wheelchair within the environment. Experimental and statistical results of the interface are also shown in this work.

Global asymptotical ω-periodicity of a fractional-order non-autonomous neural networks.

PubMed

Chen, Boshan; Chen, Jiejie

2015-08-01

We study the global asymptotic ω-periodicity for a fractional-order non-autonomous neural networks. Firstly, based on the Caputo fractional-order derivative it is shown that ω-periodic or autonomous fractional-order neural networks cannot generate exactly ω-periodic signals. Next, by using the contraction mapping principle we discuss the existence and uniqueness of S-asymptotically ω-periodic solution for a class of fractional-order non-autonomous neural networks. Then by using a fractional-order differential and integral inequality technique, we study global Mittag-Leffler stability and global asymptotical periodicity of the fractional-order non-autonomous neural networks, which shows that all paths of the networks, starting from arbitrary points and responding to persistent, nonconstant ω-periodic external inputs, asymptotically converge to the same nonconstant ω-periodic function that may be not a solution. Copyright © 2015 Elsevier Ltd. All rights reserved.

Autonomous In-Situ Resources Prospector

NASA Technical Reports Server (NTRS)

Dissly, R. W.; Buehler, M. G.; Schaap, M. G.; Nicks, D.; Taylor, G. J.; Castano, R.; Suarez, D.

2004-01-01

This presentation will describe the concept of an autonomous, intelligent, rover-based rapid surveying system to identify and map several key lunar resources to optimize their ISRU (In Situ Resource Utilization) extraction potential. Prior to an extraction phase for any target resource, ground-based surveys are needed to provide confirmation of remote observation, to quantify and map their 3-D distribution, and to locate optimal extraction sites (e.g. ore bodies) with precision to maximize their economic benefit. The system will search for and quantify optimal minerals for oxygen production feedstock, water ice, and high glass-content regolith that can be used for building materials. These are targeted because of their utility and because they are, or are likely to be, variable in quantity over spatial scales accessible to a rover (i.e., few km). Oxygen has benefits for life support systems and as an oxidizer for propellants. Water is a key resource for sustainable exploration, with utility for life support, propellants, and other industrial processes. High glass-content regolith has utility as a feedstock for building materials as it readily sinters upon heating into a cohesive matrix more readily than other regolith materials or crystalline basalts. Lunar glasses are also a potential feedstock for oxygen production, as many are rich in iron and titanium oxides that are optimal for oxygen extraction. To accomplish this task, a system of sensors and decision-making algorithms for an autonomous prospecting rover is described. One set of sensors will be located in the wheel tread of the robotic search vehicle providing contact sensor data on regolith composition. Another set of instruments will be housed on the platform of the rover, including VIS-NIR imagers and spectrometers, both for far-field context and near-field characterization of the regolith in the immediate vicinity of the rover. Also included in the sensor suite are a neutron spectrometer, ground-penetrating radar, and an instrumented cone penetrometer for subsurface assessment. Output from these sensors will be evaluated autonomously in real-time by decision-making software to evaluate if any of the targeted resources has been detected, and if so, to quantify their abundance. Algorithms for optimizing the mapping strategy based on target resource abundance and distribution are also included in the autonomous software. This approach emphasizes on-the-fly survey measurements to enable efficient and rapid prospecting of large areas, which will improve the economics of ISRU system approaches. The mature technology will enable autonomous rovers to create in-situ resource maps of lunar or other planetary surfaces, which will facilitate human and robotic exploration.

SLAM algorithm applied to robotics assistance for navigation in unknown environments

PubMed Central

2010-01-01

Background The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). Methods In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. Conclusions The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation. PMID:20163735

Lunar and Planetary Science XXXVI, Part 17

NASA Technical Reports Server (NTRS)

2005-01-01

The following topics were discussed: A Model for the Formation of Paterae on Io; LIBS-based Detection of As, Br, C, Cl, P, and S in the VUV Spectral Region in a Mars Atmosphere; Mass Independent Sulfur in Achondrites: Possible Evidence of Photochemistry in the Solar Nebula; Grain Size-dependent Viscosity and Oceans in Icy Satellites; Claritas Paleolake Studied from the MEX HRSC Data; Mars Express HRSC Colors of White Rock, Arabia, Mars; Lava and Flows of the Arcadia Region of Mars; Isotopic Composition of Lunar Soils and the Early Differentiation of the Moon; Trace Element Analysis of Lunar Soils by ICP-MS; Highly Siderophile Elements and Osmium Isotope Systematics in Ureilites: Are the Carbonaceous Veins Primary Components?; Evaporative Evolution of Martian Brines Based on Halogens in Nakhlites and MER Samples; Io from High-Resolution Galileo PPR Data Taken Simultaneously with SSI or NIMS Observations; Loki, Io: Groundbased Observations and a Model for Periodic Overturn; Deconstructing a Few Myths in the Interpretation of Satellite-Altitude Crustal Magnetic Field: Examples from Mars Global Surveyor; Semi-Autonomous Rover Operations: A Mars Technology Program Demonstration; Rotational Studies of Asteroids with Small Telescopes; Mineralogy and Temperature-induced Spectral Investigations of A-type Asteroids 246 Asporina and 446 Aeternitas; and Thermal History Calculations Versus Full Convection Models: Application to the Thermal Evolution of Mercury. Recent Solar-Proton Fluxes

Strategy for Ranking the Science Value of the Surface of Asteroid 101955 Bennu for Sample Site Selection for Osiris-REx

NASA Technical Reports Server (NTRS)

Nakamura-Messenger, K.; Connolly, H. C., Jr.; Lauretta, D. S.

2014-01-01

OSRIS-REx is NASA's New Frontiers 3 sample return mission that will return at least 60 g of pristine surface material from near-Earth asteroid 101955 Bennu in September 2023. The scientific value of the sample increases enormously with the amount of knowledge captured about the geological context from which the sample is collected. The OSIRIS-REx spacecraft is highly maneuverable and capable of investigating the surface of Bennu at scales down to the sub-cm. The OSIRIS-REx instruments will characterize the overall surface geology including spectral properties, microtexture, and geochemistry of the regolith at the sampling site in exquisite detail for up to 505 days after encountering Bennu in August 2018. The mission requires at the very minimum one acceptable location on the asteroid where a touch-and-go (TAG) sample collection maneuver can be successfully per-formed. Sample site selection requires that the follow-ing maps be produced: Safety, Deliverability, Sampleability, and finally Science Value. If areas on the surface are designated as safe, navigation can fly to them, and they have ingestible regolith, then the scientific value of one site over another will guide site selection.

New Approaches For Asteroid Spin State and Shape Modeling From Delay-Doppler Radar Images

NASA Astrophysics Data System (ADS)

Raissi, Chedy; Lamee, Mehdi; Mosiane, Olorato; Vassallo, Corinne; Busch, Michael W.; Greenberg, Adam; Benner, Lance A. M.; Naidu, Shantanu P.; Duong, Nicholas

2016-10-01

Delay-Doppler radar imaging is a powerful technique to characterize the trajectories, shapes, and spin states of near-Earth asteroids; and has yielded detailed models of dozens of objects. Reconstructing objects' shapes and spins from delay-Doppler data is a computationally intensive inversion problem. Since the 1990s, delay-Doppler data has been analyzed using the SHAPE software. SHAPE performs sequential single-parameter fitting, and requires considerable computer runtime and human intervention (Hudson 1993, Magri et al. 2007). Recently, multiple-parameter fitting algorithms have been shown to more efficiently invert delay-Doppler datasets (Greenberg & Margot 2015) - decreasing runtime while improving accuracy. However, extensive human oversight of the shape modeling process is still required. We have explored two new techniques to better automate delay-Doppler shape modeling: Bayesian optimization and a machine-learning neural network.One of the most time-intensive steps of the shape modeling process is to perform a grid search to constrain the target's spin state. We have implemented a Bayesian optimization routine that uses SHAPE to autonomously search the space of spin-state parameters. To test the efficacy of this technique, we compared it to results with human-guided SHAPE for asteroids 1992 UY4, 2000 RS11, and 2008 EV5. Bayesian optimization yielded similar spin state constraints within a factor of 3 less computer runtime.The shape modeling process could be further accelerated using a deep neural network to replace iterative fitting. We have implemented a neural network with a variational autoencoder (VAE), using a subset of known asteroid shapes and a large set of synthetic radar images as inputs to train the network. Conditioning the VAE in this manner allows the user to give the network a set of radar images and get a 3D shape model as an output. Additional development will be required to train a network to reliably render shapes from delay-Doppler images.This work was supported by NASA Ames, NVIDIA, Autodesk and the SETI Institute as part of the NASA Frontier Development Lab program.

Cratering on 4 Vesta - Comparison of Crater Retention Ages and Ar-Ar Ages of HED Meteorites.

NASA Astrophysics Data System (ADS)

Schmedemann, N.; Kneissl, T.; Michael, G.; Neukum, G.; Nathues, A.; Sierks, H.; Wagner, R.; Krohn, K.; Reddy, V.; Hiesinger, H.; Jaumann, R.; Raymond, C. A.; Russell, C. T.

2012-04-01

In July 2011 the Dawn spacecraft entered orbit around the Main Belt asteroid 4 Vesta utilizing three different instruments to map the asteroid [1]. The Main Belt is the source region of most impactors in the inner solar system [2]. We compare the obtained crater size-frequency distribution (CSFD) of Vesta with that of the Moon and other Main Belt asteroids such as 951 Gaspra, 243 Ida, and 21 Lutetia. We also compare our results of crater counting on Vesta with K/Ar-Ar reset ages of HED meteorites, which most likely originated from Vesta [3]. To properly compare the lunar CSFD with that of the asteroids we applied scaling laws [4] to account for various impact velocities, surface gravities as well as material properties between the investigated bodies. We found well defined lunar-like CSFDs of impact craters on all four asteroids. The CSFD of Vesta and Lutetia had to be constructed from several individual measurements following [5]. We were able to derive lunar-like chronologies for each asteroid utilizing intrinsic collision probabilities [6], lunar-like CSFDs and the ground truth-derived lunar chronology. Since the Moon and the Main Belt asteroids share the same main impactor source, it is straightforward to also assume a very similar time-dependent impact rate over the solar system history. Alternative chronologies, which are based on computer models of the LHB [7], result in surface ages >4.5 Ga, which are highly unlikely for Vesta. Our lunar-like chronology for Vesta is able to match three out of four peaks in age probabilities of HED meteorites [3]. We measured the age of the Rheasilvia basin with 3.70 +/-0.02 Ga, which coincides with a wide-spread resurfacing age on Vesta. An underlying older basin, partially obliterated by the Rheasilvia impact was formed 3.81 +/-0.05 Ga ago. Finally the large basins and craters >150 km in diameter and the densest cratered areas on Vesta indicate a global resurfacing event 4.00 +/-0.02 Ga ago. This represents the oldest age we can infer from Vesta by this technique. Acknowledgement: This work has been supported by the German Space Agency (DLR) on behalf of the Federal Ministry of Economics and Technology, grant 50 OW 1101.

Exobiology opportunities from Discovery-class missions. [Abstract only

NASA Technical Reports Server (NTRS)

Meyer, Michael A.; Rummel, John D.

1994-01-01

Discovery-class missions that are now planned, and those in the concept stage, have the potential to expand our knowledge of the origins and evolution of biogenic compounds, and ultimately, of the origins of life in the solar system. This class of missions, recently developed within NASA's Solar System Exploration Program, is designed to meet important scientific objectives within stringent guidelines--$150 million cap on development cost and a 3-year cap on the development schedule. The Discovery Program will effectively enable "faster, cheaper" missions to explore the inner solar system. The first two missions are Mars Environmental Survey (MESUR) Pathfinder and Near Earth Asteroid Rendezvous (NEAR). MESUR Pathfinder will be the first Discovery mission, with launch planned for November/December 1996. It will be primarily a technical demonstration and validation of the MESUR Program--a network of automated landers to study the internal structure, meteorology, and surface properties of Mars. Besides providing engineering data, Pathfinder will carry atmospheric instrumentation and imaging capabilities, and may deploy a microrover equipped with an alpha proton X-ray spectrometer to determine elemental composition, particularly the lighter elements of exobiological interest. NEAR is expected to be launched in 1998 and to rendezvous with a near-Earth asteroid for up to 1 year. During this time, the spacecraft will assess the asteroid's mass, size, density, map its surface topography and composition, determine its internal properties, and study its interaction with the interplanetary environment. A gamma ray or X-ray spectrometer will be used to determine elemental composition. An imaging spectrograph, with 0.35 to 2.5 micron spectral range, will be used to determine the asteroid's compositional disbribution. Of the 11 Discovery mission concepts that have been designated as warranting further study, several are promising in terms of determining the composition and chemical evolution of organic matter on small planetary bodies. The following mission concepts are of particular interest to the Exobiology Program: Cometary coma chemical composition, comet nucleus tour, near earth asteroid returned sample, small missions to asteroids and comets, and solar wind sample return. The following three Discovery mission concepts that have been targeted for further consideration are relevant to the study of the evolution of biogenic compounds: Comet nucleus penetrator, mainbelt asteroid rendezvous explorer, and the Mars polar Pathfinder.

Cardiovascular and temperature changes in spinal cord injured rats at rest and during autonomic dysreflexia

PubMed Central

Laird, A S; Carrive, P; Waite, P M E

2006-01-01

In patients with high spinal cord injuries autonomic dysfunction can be dangerous, leading to medical complications such as postural hypotension, autonomic dysreflexia and temperature disturbance. While animal models have been developed to study autonomic dysreflexia, associated temperature changes have not been documented. Our aim here was to use radiotelemetry and infrared thermography in rodents to record the development of cardiovascular and skin temperature changes following complete T4 transection. In adult male Wistar rats (n = 5), responses were assessed prior to spinal cord injury (intact) and for 6 weeks following injury. Statistical analysis by a repeated-measure ANOVA revealed that following spinal cord injury (SCI), rats exhibited decreased mean arterial pressure (MAP, average decrease of 26 mmHg; P < 0.035) and elevated heart rate (HR, average increase of 65 bpm, P < 0.035) at rest. The basal core body temperature following SCI was also significantly lower than intact levels (−0.9°C; P < 0.0035). Associated with this decreased basal core temperature following SCI was an increased skin temperature of the mid-tail and hindpaw (+5.6 and +4.0°C, respectively; P < 0.0003) consistent with decreased cutaneous vasoconstrictor tone. Autonomic dysreflexia, in response to a 1 min colorectal distension (25 mmHg), was fully developed by 4 weeks after spinal cord transection, producing increases in MAP greater than 25 mmHg (P < 0.0003). In contrast to the tachycardia seen in intact animals in response to colorectal distension, SCI animals exhibited bradycardia (P < 0.0023). During episodes of autonomic dysreflexia mid-tail surface temperature decreased (approx. −1.7°C, P < 0.012), consistent with cutaneous vasoconstriction. This is the first study to compare cardiovascular dysfunction with temperature changes following spinal cord transection in rats. PMID:16973703

Algebraic-geometry approach to integrability of birational plane mappings. Integrable birational quadratic reversible mappings. I

NASA Astrophysics Data System (ADS)

Rerikh, K. V.

1998-02-01

Using classic results of algebraic geometry for birational plane mappings in plane CP 2 we present a general approach to algebraic integrability of autonomous dynamical systems in C 2 with discrete time and systems of two autonomous functional equations for meromorphic functions in one complex variable defined by birational maps in C 2. General theorems defining the invariant curves, the dynamics of a birational mapping and a general theorem about necessary and sufficient conditions for integrability of birational plane mappings are proved on the basis of a new idea — a decomposition of the orbit set of indeterminacy points of direct maps relative to the action of the inverse mappings. A general method of generating integrable mappings and their rational integrals (invariants) I is proposed. Numerical characteristics Nk of intersections of the orbits Φn- kOi of fundamental or indeterminacy points Oi ɛ O ∩ S, of mapping Φn, where O = { O i} is the set of indeterminacy points of Φn and S is a similar set for invariant I, with the corresponding set O' ∩ S, where O' = { O' i} is the set of indeterminacy points of inverse mapping Φn-1, are introduced. Using the method proposed we obtain all nine integrable multiparameter quadratic birational reversible mappings with the zero fixed point and linear projective symmetry S = CΛC-1, Λ = diag(±1), with rational invariants generated by invariant straight lines and conics. The relations of numbers Nk with such numerical characteristics of discrete dynamical systems as the Arnold complexity and their integrability are established for the integrable mappings obtained. The Arnold complexities of integrable mappings obtained are determined. The main results are presented in Theorems 2-5, in Tables 1 and 2, and in Appendix A.

The Unique Geomorphology and Physical Properties of the Vestalia Terra Plateau

NASA Technical Reports Server (NTRS)

Buczkowski, D.L.; Wyrick, D.Y.; Toplis, M.; Yingst, R. A.; Williams, D. A.; Garry, W. B.; Mest, S.; Kneissl, T.; Scully, J. E. C.; Nathues, A.;

CosmoQuest Year 2: Citizen Science Progress, Motivations, and Education

NASA Astrophysics Data System (ADS)

Gugliucci, Nicole E.; Gay, P. L.; Antonenko, I.; Bracey, G.; Costello, K.; Lehan, C.; Moore, J.; Reilly, E.; Robbins, S. J.; Schmidt, B. E.; CosmoQuest Collaboration

2014-01-01

The CosmoQuest citizen science virtual research facility has wrapped up its second year of operations. With projects mapping the surfaces of the Moon, Mercury, and asteroid Vesta, citizen scientists have marked over 2 million craters as well as other surface features. Analysis of the mapping results show that citizen scientists map high resolution features as well as expert crater markers within a small margin of error. We’ve undertaken a study of citizen science motivations with our users, and find that an interest in astronomy and a desire to contribute new knowledge as primary motivating factors. Ten percent of users surveyed list learning or teaching science as the primary motivating factor. A full analysis of this survey will be presented. Along those lines, the CosmoQuest education team has developed a second middle school educational unit to align with its citizen science projects. In-Vesta-Gate explores asteroid science and is in the trial stage, while we report on several teacher professional development opportunities with Terraluna, a Moon-focused educational unit developed last year. We’ve also taken the CosmoQuest citizen science on the road and outside the website, having a booth and activities at several public events. We present visitor survey results from a recent exhibition at Dragon*Con, a sci-fi/fantasy convention with over 50,000 attendees. We discuss future plans for the project, including the release of several mobile apps to be previewed here.

Analysis of terrain map matching using multisensing techniques for applications to autonomous vehicle navigation

NASA Technical Reports Server (NTRS)

Page, Lance; Shen, C. N.

1991-01-01

This paper describes skyline-based terrain matching, a new method for locating the vantage point of laser range-finding measurements on a global map previously prepared by satellite or aerial mapping. Skylines can be extracted from the range-finding measurements and modelled from the global map, and are represented in parametric, cylindrical form with azimuth angle as the independent variable. The three translational parameters of the vantage point are determined with a three-dimensional matching of these two sets of skylines.

Localization in Self-Healing Autonomous Sensor Networks (SASNet): Studies on Cooperative Localization of Sensor Nodes using Distributed Maps

DTIC Science & Technology

2008-01-01

CCA-MAP algorithm are analyzed. Further, we discuss the design considerations of the discussed cooperative localization algorithms to compare and...MAP and CCA-MAP to compare and evaluate their performance. Then a preliminary design analysis is given to address the implementation requirements and...plus précis, avec un nombre inférieur de nœuds ancres, comparativement aux autres types de schémas de localisation. En réalité, les algorithmes de

Gould, Benjamin Apthorp (1824-96)

NASA Astrophysics Data System (ADS)

Murdin, P.

2000-11-01

Astronomer, born in Boston, MA, his early work in Germany was on the observation and motion of comets and asteroids. His greatest work was his mapping of the stars of the southern skies. He helped found the National Observatory in Cordoba, Argentina, and was its director as it compiled a catalog of stars using recently developed photometric methods. On returning to the USA, he spent his final yea...

Twenty-fourth Lunar and Planetary Science Conference. Part 1: A-F

NASA Technical Reports Server (NTRS)

1993-01-01

The topics covered include the following: petrology, petrography, meteoritic composition, planetary geology, atmospheric composition, astronomical spectroscopy, lunar geology, Mars (planet), Mars composition, Mars surface, volcanology, Mars volcanoes, Mars craters, lunar craters, mineralogy, mineral deposits, lithology, asteroids, impact melts, planetary composition, planetary atmospheres, planetary mapping, cosmic dust, photogeology, stratigraphy, lunar craters, lunar exploration, space exploration, geochronology, tectonics, atmospheric chemistry, astronomical models, and geochemistry.

The Twenty-Fifth Lunar and Planetary Science Conference. Part 1: A-G

NASA Technical Reports Server (NTRS)

1994-01-01

Papers from the conference are presented, and the topics covered include the following: planetary geology, meteorites, planetary composition, meteoritic composition, planetary craters, lunar craters, meteorite craters, petrology, petrography, volcanology, planetary crusts, geochronology, geomorphism, mineralogy, lithology, planetary atmospheres, impact melts, volcanoes, planetary evolution, tectonics, planetary mapping, asteroids, comets, lunar soil, lunar rocks, lunar geology, metamorphism, chemical composition, meteorite craters, and planetary mantles.

Architecture of autonomous systems

NASA Technical Reports Server (NTRS)

Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

1986-01-01

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Architecture of autonomous systems

NASA Technical Reports Server (NTRS)

Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.

1989-01-01

Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

Hyperspectral Feature Detection Onboard the Earth Observing One Spacecraft using Superpixel Segmentation and Endmember Extraction

NASA Technical Reports Server (NTRS)

Thompson, David R.; Bornstein, Benjamin; Bue, Brian D.; Tran, Daniel Q.; Chien, Steve A.; Castano, Rebecca

2012-01-01

We present a demonstration of onboard hyperspectral image processing with the potential to reduce mission downlink requirements. The system detects spectral endmembers and then uses them to map units of surface material. This summarizes the content of the scene, reveals spectral anomalies warranting fast response, and reduces data volume by two orders of magnitude. We have integrated this system into the Autonomous Science craft Experiment for operational use onboard the Earth Observing One (EO-1) Spacecraft. The system does not require prior knowledge about spectra of interest. We report on a series of trial overflights in which identical spacecraft commands are effective for autonomous spectral discovery and mapping for varied target features, scenes and imaging conditions.

Levels of Autonomy and Autonomous System Performance Assessment for Intelligent Unmanned Systems

DTIC Science & Technology

2014-04-01

LIDAR and camera sensors that is driven entirely by teleoperation would be AL 0. If that same robot used its LIDAR and camera data to generate a...obstacle detection, mapping, path planning 3 CMMAD semi- autonomous counter- mine system (Few 2010) Talon UGV, camera, LIDAR , metal detector...NCAP framework are performed on individual UMS components and do not require mission level evaluations. For example, bench testing of camera, LIDAR

Development and demonstration of autonomous behaviors for urban environment exploration

NASA Astrophysics Data System (ADS)

Ahuja, Gaurav; Fellars, Donald; Kogut, Gregory; Pacis Rius, Estrellina; Schoolov, Misha; Xydes, Alexander

2012-06-01

Under the Urban Environment Exploration project, the Space and Naval Warfare Systems Center Pacic (SSC- PAC) is maturing technologies and sensor payloads that enable man-portable robots to operate autonomously within the challenging conditions of urban environments. Previously, SSC-PAC has demonstrated robotic capabilities to navigate and localize without GPS and map the ground oors of various building sizes.1 SSC-PAC has since extended those capabilities to localize and map multiple multi-story buildings within a specied area. To facilitate these capabilities, SSC-PAC developed technologies that enable the robot to detect stairs/stairwells, maintain localization across multiple environments (e.g. in a 3D world, on stairs, with/without GPS), visualize data in 3D, plan paths between any two points within the specied area, and avoid 3D obstacles. These technologies have been developed as independent behaviors under the Autonomous Capabilities Suite, a behavior architecture, and demonstrated at a MOUT site at Camp Pendleton. This paper describes the perceptions and behaviors used to produce these capabilities, as well as an example demonstration scenario.

Ordinary Chondrite Spectral Signatures in the 243 Ida Asteroid System

NASA Astrophysics Data System (ADS)

Granahan, J. C.

2012-12-01

The NASA Galileo spacecraft observed asteroid 243 Ida and satellite Dactyl on August 28, 1993, with the Near Infrared Mapping Spectrometer (NIMS) at wavelengths ranging from 0.7 to 5.2 micrometers[Carlson et al., 1994]. Work is being conducted to produce radiance-calibrated spectral images of 243 Ida consisting of 17-channel, 299 meters per pixel files and a 102-channel, 3.2 kilometer per pixel NIMS observations of 243 Ida for the NASA Planetary Data System (PDS). These data are currently archived in PDS as uncalibrated data number counts. Radiometric calibrated 17-channel and 102-channel NIMS spectral data files of Dactyl and light curve 243 Ida observations are also being prepared. Analysis of this infrared asteroid data has confirmed that both 243 Ida and Dactyl are S-type asteroid objects and found that their olivine and pyroxene mineral abundances are consistent with that of ordinary chondrite meteorites. Tholen [1989] identified 243 Ida and Chapman et al. [1995] identified Dactyl as S-type asteroids on the basis of spectral data ranging from 0.4 to 1.0 micrometers. S-type are described [Tholen, 1989] as asteroids with a moderate albedos, a moderate to strong absorption feature shortward of 0.7 micrometers, and moderate to nonexistent absorption features longward of 0.7 micrometers. DeMeo et al. [2009] found 243 Ida to be a Sw asteroid based on Earth-based spectral observations 0.4 to 2.5 micrometers in range. Sw is a subclass of S-type asteroids that has a space weathering spectral component [DeMeo et al., 2009]. The NIMS data 243 Ida and Dactyl processed in this study exhibit signatures consistent with the Sw designation of DeMeo et al. [2009]. Measurements of olivine and pyroxene spectral bands were also conducted for the NIMS radiance data of 243 Ida and Dactyl. Band depth and band center measurements have been used to compare S-type asteroids with those of meteorites [Dunn et al., 2010; Gaffey et al., 1993]. The 243 Ida spectra were found to be consistent with those of Granahan [2002] and corresponded to measurements of LL chondrites. Dactyl was found to have spectral bands that correlate to L chondrite meteorite signatures as measured by Dunn et al. [2010]. The spectra band measurements of both objects correspond to those of the SIV class [Gaffey et al., 1993] of the S asteroids. Both L and LL chondrites are types of ordinary chondrite meteorites. Carlson, R. W., et al. (1994), Bulletin of the American Astronomical Society, 26, 1156. Chapman, C. R., et al. (1995), Nature, 374, 783-785. DeMeo, F. E., R. P. Binzel, S. M. Slivan, and S. J. Bus (2009), Icarus, 202, 160-180. Dunn, T. L., T. J. McCoy, J. M. Sunshine, and H. Y. McSween (2010), Icarus, 208, 789-797. Gaffey, M. J., J. F. Bell, R. H. Brown, T. H. Burbine, J. L. Piatek, K. L. Reed, and D. A. Chaky (1993), Icarus, 106, 573-602. Granahan, J. C. (2002), Journal of Geophysical Research Planets, 107(E10), 5090-5100. Tholen, D. J. (1989), in Asteroids II, edited by R. P. Binzel, T. Gehrels, and M.S. Matthews, pp. 1139-1150, University of Arizona Press, Tucson.

Linking long-term planetary N-body simulations with periodic orbits: application to white dwarf pollution

NASA Astrophysics Data System (ADS)

Antoniadou, Kyriaki I.; Veras, Dimitri

2016-12-01

Mounting discoveries of debris discs orbiting newly formed stars and white dwarfs (WDs) showcase the importance of modelling the long-term evolution of small bodies in exosystems. WD debris discs are, in particular, thought to form from very long-term (0.1-5.0 Gyr) instability between planets and asteroids. However, the time-consuming nature of N-body integrators which accurately simulate motion over Gyrs necessitates a judicious choice of initial conditions. The analytical tools known as periodic orbits can circumvent the guesswork. Here, we begin a comprehensive analysis directly linking periodic orbits with N-body integration outcomes with an extensive exploration of the planar circular restricted three-body problem (CRTBP) with an outer planet and inner asteroid near or inside of the 2:1 mean motion resonance. We run nearly 1000 focused simulations for the entire age of the Universe (14 Gyr) with initial conditions mapped to the phase space locations surrounding the unstable and stable periodic orbits for that commensurability. In none of our simulations did the planar CRTBP architecture yield a long-time-scale (≳0.25 per cent of the age of the Universe) asteroid-star collision. The pericentre distance of asteroids which survived beyond this time-scale (≈35 Myr) varied by at most about 60 per cent. These results help affirm that collisions occur too quickly to explain WD pollution in the planar CRTBP 2:1 regime, and highlight the need for further periodic orbit studies with the eccentric and inclined TBP architectures and other significant orbital period commensurabilities.

The Asteroid Redirect Mission (ARM): Exploration of a Former Binary NEA?

NASA Technical Reports Server (NTRS)

Abell, P. A.; Mazanek, D. D.; Reeves, D. M.; Chodas, P. W.; Gates, M. M.; Johnson, L. N.; Ticker, R. L.

2016-01-01

The National Aeronautics and Space Administration (NASA) is developing the Asteroid Redirect Mission (ARM) as a capability demonstration for future human exploration, including use of high-power solar electric propulsion, which allows for the efficient movement of large masses through deep space. The ARM will also demonstrate the capability to conduct proximity operations with natural space objects and crewed operations beyond the security of quick Earth return. The Asteroid Redirect Robotic Mission (ARRM), currently in formulation, will visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, conduct a demonstration of a slow push planetary defense technique, and redirect the multi-ton boulder into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts aboard an Orion spacecraft will dock with the robotic vehicle to explore the boulder and return samples to Earth. The ARM is part of NASA's plan to advance technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. The ARM and subsequent availability of the asteroidal material in cis-lunar space, provide significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, and in-situ resource utilization (ISRU). The current reference target for the ARM is NEA (341843) 2008 EV5, which may have been the primary body of a former binary system (Busch et al., 2011; Tardivel et al., 2016). The ARRM will perform several close proximity operations to investigate the NEA and map its surface. A detailed investigation of this object may allow a better understanding of binary NEA physical characteristics and the possible outcomes for their evolution. An overview of the ARM robotic and crewed segments, including mission operations, and a discussion of potential opportunities for participation with the ARM will be provided in this presentation.

NEOWISE View of Comet Christensen

NASA Image and Video Library

2015-11-23

An infrared view from NASA's NEOWISE mission of the Oort cloud comet C/2006 W3 (Christensen). The spacecraft observed this comet on April 20th, 2010 as it traveled through the constellation Sagittarius. Comet Christensen was nearly 370 million miles (600 million kilometers) from Earth at the time. The image is half of a degree of the sky on each side. Infrared light with wavelengths of 3.4, 12 and 22 micron channels are mapped to blue, green, and red, respectively. The signal at these wavelengths is dominated primarily by the comet's dust thermal emission, giving it a golden hue. The WISE spacecraft was put into hibernation in 2011 upon completing its goal of surveying the entire sky in infrared light. WISE cataloged three quarters of a billion objects, including asteroids, stars and galaxies. In August 2013, NASA decided to reinstate the spacecraft on a mission to find and characterize more asteroids. http://photojournal.jpl.nasa.gov/catalog/PIA20118

Twenty-Fourth Lunar and Planetary Science Conference. Part 3: N-Z

NASA Technical Reports Server (NTRS)

1993-01-01

Papers from the conference are presented, and the topics covered include the following: planetary geology, meteorites, planetary composition, meteoritic composition, planetary craters, lunar craters, meteorite craters, petrology, petrography, volcanology, planetary crusts, geochronology, geomorphism, mineralogy, lithology, planetary atmospheres, impact melts, K-T Boundary Layer, volcanoes, planetary evolution, tectonics, planetary mapping, asteroids, comets, lunar soil, lunar rocks, lunar geology, metamorphism, chemical composition, meteorite craters, planetary mantles, and space exploration.

Adaptive training of cortical feature maps for a robot sensorimotor controller.

PubMed

Adams, Samantha V; Wennekers, Thomas; Denham, Sue; Culverhouse, Phil F

2013-08-01

This work investigates self-organising cortical feature maps (SOFMs) based upon the Kohonen Self-Organising Map (SOM) but implemented with spiking neural networks. In future work, the feature maps are intended as the basis for a sensorimotor controller for an autonomous humanoid robot. Traditional SOM methods require some modifications to be useful for autonomous robotic applications. Ideally the map training process should be self-regulating and not require predefined training files or the usual SOM parameter reduction schedules. It would also be desirable if the organised map had some flexibility to accommodate new information whilst preserving previous learnt patterns. Here methods are described which have been used to develop a cortical motor map training system which goes some way towards addressing these issues. The work is presented under the general term 'Adaptive Plasticity' and the main contribution is the development of a 'plasticity resource' (PR) which is modelled as a global parameter which expresses the rate of map development and is related directly to learning on the afferent (input) connections. The PR is used to control map training in place of a traditional learning rate parameter. In conjunction with the PR, random generation of inputs from a set of exemplar patterns is used rather than predefined datasets and enables maps to be trained without deciding in advance how much data is required. An added benefit of the PR is that, unlike a traditional learning rate, it can increase as well as decrease in response to the demands of the input and so allows the map to accommodate new information when the inputs are changed during training. Copyright © 2013 Elsevier Ltd. All rights reserved.

In-situ Chemical Exploration and Mapping using an Autonomous Underwater Vehicle

NASA Astrophysics Data System (ADS)

Camilli, R.; Bingham, B. S.; Jakuba, M.; Whelan, J.; Singh, H.; Whiticar, M.

2004-12-01

Recent advances in in-situ chemical sensing have emphasized several issues associated with making reliable chemical measurements in the ocean. Such measurements are often aliased temporally and or spatially, and may suffer from instrumentation artifacts, such as slow response time, limited dynamic range, hysteresis, and environmental sensitivities (eg., temperature and pressure). We focus on the in-situ measurement of light hydrocarbons. Specifically we examine data collected using a number of methods including: a vertical profiler, autonomous underwater vehicles (AUV) surveys, and adaptive spatio-temporal survey techniques. We present data collected using a commercial METS sensor on a vertical profiler to identify and map structures associated with ocean bottom methane sources in the Saanich inlet off Vancouver, Canada. This sensor was deployed in parallel with a submersible mass spectrometer and a shipboard equilibrator-gas chromatograph. Our results illustrate that spatial offsets as small as centimeters can produce significant differences in measured concentration. In addition, differences in response times between instruments can also alias the measurements. The results of this preliminary experiment underscore the challenges of quantifying ocean chemical processes with small-scale spatial variability and temporal variability that is often faster than the response times of many available instruments. We explore the capabilities and current limitations of autonomous underwater vehicles for extending the spatial coverage of new in-situ sensor technologies. We present data collected from deployments of Seabed, a passively stable, hover capable AUV, at large-scale gas blowout features located along the U.S. Atlantic margin. Although these deployments successfully revealed previously unobservable oceanographic processes, temporal aliasing caused by sensor response as well as tidal variability manifests itself, illustrating the possibilities for misinterpretation of localized periodic anomalies. Finally we present results of recent experimental chemical plume mapping surveys that were conducted off the coast of Massachusetts using adaptive behaviors that allow the AUV to optimize its mission plan to autonomously search for chemical anomalies. This adaptive operation is based on coupling the chemical sensor payload within a closed-loop architecture with the vehicle's navigation control system for real-time autonomous data assimilation and decision making processes. This allows the vehicle to autonomously refine the search strategy, thereby improving feature localization capabilities and enabling surveys at an appropriate temporal and spatial resolution.

Space manufacturing facilities: Space colonies; Proceedings of the Princeton Conference, Princeton University, Princeton, N.J., May 7-9, 1975

NASA Technical Reports Server (NTRS)

Grey, J.

1977-01-01

Reports submitted to the conference encompass: administration and law relating to inhabited space facilities and colonies; space manufacturing and processing; organization and construction of space habitats and management of space colony farms; winning and acquisition of lunar and asteroidal materials for sustaining autonomous space colonies. Attention is given to trajectories between earth, low earth orbit, earth-moon libration points (specifically L5), circumlunar parking orbits, and trajectories in translunar space; effects of low gravity and zero gravity on human physiology and on materials processing; architecture and landscaping for space colonies; closed ecosystems of space colonies. Varieties of human cultures and value hierarchies around the earth are examined for broader perspectives on the social organization of space colonies.

Phobos-Grunt ; Russian Sample Return Mission

NASA Astrophysics Data System (ADS)

Marov, M.

As an important milestone in the Mars exploration, space vehicle of new generation "Phobos-Grunt" is planned to be launched by the Russian Aviation and Space Agency. The project is optimized around Phobos sample return mission and follow up missions targeted to study some Main asteroid belt bodies, NEO , and short period comets. The principal constrain is "Soyuz-Fregat" rather than "Proton" launcher utilization to accomplish these challenging goals. The vehicle design incorporates innovative SEP technology involving electrojet engines that allowed us to increase significantly the missions energetic capabilities, as well as high autonomous on- board systems . Basic criteria underlining the "Phobos-Grunt" mission scenario, scientific objections and rationale, involving Mars observations during the vehicle insertion into Mars orbit and Phobos approach manoeuvres, are discussed and an opportunity for international cooperation is suggested.

Spacecraft Stabilization and Control for Capture of Non-Cooperative Space Objects

NASA Technical Reports Server (NTRS)

Joshi, Suresh; Kelkar, Atul G.

2014-01-01

This paper addresses stabilization and control issues in autonomous capture and manipulation of non-cooperative space objects such as asteroids, space debris, and orbital spacecraft in need of servicing. Such objects are characterized by unknown mass-inertia properties, unknown rotational motion, and irregular shapes, which makes it a challenging control problem. The problem is further compounded by the presence of inherent nonlinearities, signi cant elastic modes with low damping, and parameter uncertainties in the spacecraft. Robust dissipativity-based control laws are presented and are shown to provide global asymptotic stability in spite of model uncertainties and nonlinearities. It is shown that robust stabilization can be accomplished via model-independent dissipativity-based controllers using thrusters alone, while stabilization with attitude and position control can be accomplished using thrusters and torque actuators.

A Survey of Formal Methods for Intelligent Swarms

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Rash, James; Hinchey, Mike; Rouff, Chrustopher A.

2004-01-01

Swarms of intelligent autonomous spacecraft, involving complex behaviors and interactions, are being proposed for future space exploration missions. Such missions provide greater flexibility and offer the possibility of gathering more science data than traditional single spacecraft missions. The emergent properties of swarms make these missions powerful, but simultaneously far more difficult to design, and to assure that the proper behaviors will emerge. These missions are also considerably more complex than previous types of missions, and NASA, like other organizations, has little experience in developing or in verifying and validating these types of missions. A significant challenge when verifying and validating swarms of intelligent interacting agents is how to determine that the possible exponential interactions and emergent behaviors are producing the desired results. Assuring correct behavior and interactions of swarms will be critical to mission success. The Autonomous Nano Technology Swarm (ANTS) mission is an example of one of the swarm types of missions NASA is considering. The ANTS mission will use a swarm of picospacecraft that will fly from Earth orbit to the Asteroid Belt. Using an insect colony analogy, ANTS will be composed of specialized workers for asteroid exploration. Exploration would consist of cataloguing the mass, density, morphology, and chemical composition of the asteroids, including any anomalous concentrations of specific minerals. To perform this task, ANTS would carry miniaturized instruments, such as imagers, spectrometers, and detectors. Since ANTS and other similar missions are going to consist of autonomous spacecraft that may be out of contact with the earth for extended periods of time, and have low bandwidths due to weight constraints, it will be difficult to observe improper behavior and to correct any errors after launch. Providing V&V (verification and validation) for this type of mission is new to NASA, and represents the cutting edge in system correctness, and requires higher levels of assurance than other (traditional) missions that use a single or small number of spacecraft that are deterministic in nature and have near continuous communication access. One of the highest possible levels of assurance comes from the application of formal methods. Formal methods are mathematics-based tools and techniques for specifying and verifying (software and hardware) systems. They are particularly useful for specifying complex parallel systems, such as exemplified by the ANTS mission, where the entire system is difficult for a single person to fully understand, a problem that is multiplied with multiple developers. Once written, a formal specification can be used to prove properties of a system (e.g., the underlying system will go from one state to another or not into a specific state) and check for particular types of errors (e.g., race or livelock conditions). A formal specification can also be used as input to a model checker for further validation. This report gives the results of a survey of formal methods techniques for verification and validation of space missions that use swarm technology. Multiple formal methods were evaluated to determine their effectiveness in modeling and assuring the behavior of swarms of spacecraft using the ANTS mission as an example system. This report is the first result of the project to determine formal approaches that are promising for formally specifying swarm-based systems. From this survey, the most promising approaches were selected and are discussed relative to their possible application to the ANTS mission. Future work will include the application of an integrated approach, based on the selected approaches identified in this report, to the formal specification of the ANTS mission.

Spitzer observations of two mission-accessible, tiny asteroids

NASA Astrophysics Data System (ADS)

Mommert, M.; Hora, J.; Farnocchia, D.; Chesley, S.; Vokrouhlicky, D.; Trilling, D.; Mueller, M.; Harris, A.; Smith, H.; Fazio, G.

2014-07-01

Small asteroids are most likely collisional fragments of larger objects and make up a large fraction of the near-Earth-object (NEO) population. Despite their abundance, little is known about the physical properties of these objects, which is mainly due to their faintness, which also impedes their discovery. We report on Spitzer Space Telescope observations of two small NEOs, both of which are of interest as potential spacecraft targets. We observed NEOs 2009 BD using 25 hrs and 2011 MD using ˜20 hrs of Spitzer Infrared Array Camera Channel 2 time. For each target, we have combined the data into maps in the moving frame of the target, minimizing the background confusion. We did not detect 2009 BD and place an upper limit on its flux density, but we detected 2011 MD as a 2.2σ detection. We have analyzed the data on both objects in a combined model approach, using an asteroid thermophysical model and a model of non-gravitational forces acting on the object. As a result, we are able to constrain the physical properties of both objects. In the case of 2009 BD (Mommert et al. 2014), a wealth of existing astrometry data significantly constrains the physical properties of the object. We find two physically possible solutions. The first solution shows 2009 BD as a 2.9±0.3 m-sized massive rock body (bulk density ρ=2.9±0.5 g cm^{-3}) with an extremely high albedo of 0.85_{-0.10}^{+0.20} that is covered with regolith-like material, causing it to exhibit a low thermal inertia (thermal inertia Γ=30_{-10}^{+20} SI units). The second solution suggests 2009 BD to be a 4±1 m-sized asteroid with p_{V}=0.45_{-0.15}^{+0.35} that consists of a collection of individual bare rock slabs (Γ = 2000±1000 SI units, ρ = 1.7_{-0.4}^{+0.7} g cm^{-3}). We are unable to rule out either solution based on physical reasoning. The preliminary analysis of 2011 MD shows this object as a ˜6 m-sized asteroid with an albedo of ˜0.3. Additional constraints on the physical properties of these objects will be available at the time of the conference (Mommert et al., in preparation). 2009 BD and 2011 MD are the smallest asteroids for which physical properties have been constrained, providing unique insights into a population of asteroids that gives rise to frequent impacts on the Earth and the Moon. Furthermore, both asteroids are among the most easily accessible objects in space.

Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

DTIC Science & Technology

2016-01-01

satisfying journeys in my life. I would like to thank Ryan for his guidance through the truly exciting world of mobile robotics and robotic perception. Thank...Multi-session and Multi-robot SLAM . . . . . . . . . . . . . . . 15 1.3.3 Robust Techniques for SLAM Backends . . . . . . . . . . . . . . 18 1.4 A...sonar. xv CHAPTER 1 Introduction 1.1 The Importance of SLAM in Autonomous Robotics Autonomous mobile robots are becoming a promising aid in a wide

Powered Descent Trajectory Guidance and Some Considerations for Human Lunar Landing

NASA Technical Reports Server (NTRS)

Sostaric, Ronald R.

2007-01-01

The Autonomous Precision Landing and Hazard Detection and Avoidance Technology development (ALHAT) will enable an accurate (better than 100m) landing on the lunar surface. This technology will also permit autonomous (independent from ground) avoidance of hazards detected in real time. A preliminary trajectory guidance algorithm capable of supporting these tasks has been developed and demonstrated in simulations. Early results suggest that with expected improvements in sensor technology and lunar mapping, mission objectives are achievable.

Deep Interior: Probing the Structure of Primitive Bodies

NASA Astrophysics Data System (ADS)

Asphaug, Erik; Scheeres, Daniel; Safaeinili, Ali

Deep Interior is a mature Discovery-class mission concept focused on probing the geophysical behavior of primitive bodies, from the mechanics of their exterior materials to the structures of their interiors. Its theme is to discover how small bodies work - to learn the natural origin and evolution of asteroids, comets and other primitive bodies through radar reflection tomography and through detailed observations of the local and global effects of cratering. Learning the structure and mechanical response of asteroids and comets is also a precursor to resource utilization and hazardous asteroid mitigation. Overall the mission is aligned with NASA strategic sub-goal 3C, to advance scientific knowledge of the origin and history of the solar system ... and the hazards and resources present as humans explore space. Deep Interior deploys no complex landers or sub-spacecraft; the scientific instruments are a radar and a camera. A blast cratering experiments triggered by grenades leads to a low cost seismological investigation which complements the radar investigation. A desired addition is an imaging spectrometer. The science instruments are high heritage, as are the navigation techniques for orbiting and station-keeping. The mission conducts the following investigations at one or more asteroids: Radar Reflection Tomography (RRT). The first science phase is to operate a penetrating radar during each several-month rendezvous, deployed in reflection mode in the manner of ongoing radar investigations underway by Mars Express, Mars Reconnaissance Orbiter, and Kaguya. The RRT technique (Safaeinili et al., MAPS 2002) is analogous to performing a "CAT scan" from orbit: closely sampled radar echoes are processed to yield volumetric maps of mechanical and compositional boundaries, and to measure interior dielectric properties. Deep Interior utilizes a polar orbit (or station keeping) while the asteroid spins underneath; the result is to "peel the apple" with thousands of unique radar returns, providing global interior coverage. Camera images allow for the accurate reconstruction of spacecraft position at each radar acquisition. Radar flight heritage has been demonstrated by the MARSIS radar on Mars Express (Picardi et al., Science 2005; Plaut et al., Science 2007), the SHARAD radar onboard the Mars Reconnaissance Orbiter (Seu et al., JGR 2007), and the LRS radar onboard Kaguya (Ono et al, EPS 2007). The Mars radars have discovered detailed subsurface structure to km depths in a variety of terrains; early results from Kaguya demonstrate its ability to detect structure to km depths in basaltic materials on the Moon. A reflection radar deployed in orbit about a primitive body will enjoy significant simplifying benefits compared to using the same instrument for Mars or lunar radar science: (1) The proximity of operations leads to a much higher signal to noise, +30 dB or more. (2) The lack of an ionosphere makes for far simpler data modeling and analysis, compared with what is being required at Mars. (3) The body is globally illuminated during every data acquisition and since the final processing is a fully coherent focused processing based on all available observations, it will remove any "clutter" ambiguities. Laboratory measurements of dielectric properties for a suite of meteorite materials (Heggy et al., LPSC 2007) show that a 10 MHz radar can penetrate a chondritic asteroid up to 5 km diameter, and a 100 MHz radar can penetrate a chondritic asteroid up to 1 km diameter. The dielectric properties of different meteorite types can be discriminated, allowing radar to be used for interior compositional analysis. The primary trade is higher definition navigation for higher-resolution imaging, presuming that penetration requirements are met. It appears reliable that a SHARAD-type radar can image the global interior of a chondritic asteroid up to several km diameter. Radar imaging might leave a number of key questions unanswered, and to directly probe the mechanical behavior of an asteroid we conclude each rendezvous by observing one or more explosion cratering experiments. Cratering (CRT). Cratering is the primary mode of geologic evolution of asteroids, and meteoroid impacts can trigger outbursts on cometary nuclei. The process is important to study for its own sake, and a cratering experiment offers three additional science benefits: (1) final crater diameter and morphology indicates the mechanical behavior of regolith and other exterior materials; (2) cratering exposes the subsurface for analysis of interior materials; and (3) cratering might trigger global reverberations that can be detected using before-and-after image comparisons of toppled boulders and landslides. Small cratering events may be of global consequence on small asteroids (Asphaug, MAPS, in press) and thus a grenade of only a few kg is likely to send a detectable resurfacing reverberation spanning the asteroid. This experiment thus serves as a low cost proxy for primitive body seismology. Global seismic response is quantified using techniques that have been developed on Earth based on estimates for the dynamical acceleration of preciariously balanced rocks (Brune et al., JGR 2003). Ideally the mission would have two cratering charges per rendezvous target, differing by ˜2 orders of magnitude in yield, to bracket local to global response. Cratering and landslide physics will also be studied in this novel microgravity setting, for the purpose of establishing scaling rules and addressing fundamental problems of dense granular flow. Moreover, many cubic meters of ejected regolith are exposed for analysis of size distribution, clast shape, spectral heterogeneity, and dynamics. In the case that the asteroid is metastable (e.g. a rapid rotator), the small cratering event might trigger a global avalanche, in which case Deep Interior will observe the formation of transitory debris disks or small moons (e.g. Scheeres et al., Science 2007). Hazards to the spacecraft from these blast events have been computed from scaling laws for crater ejecta mass-velocity distributions, and are found to be minimal when the spacecraft is a few km away. This hazard drops to zero if the spacecraft is below the horizon of the blast, because dust is cleared out by the solar wind in about a day. Long term debris (moonlets and rings) are easily avoided since stable orbits are dynamically constrained (Scheeres et al., Icarus 1996). Unforeseen impacts with orbiting debris would occur at only a few cm/s.

The dynamical environment of asteroid 21 Lutetia according to different internal models

NASA Astrophysics Data System (ADS)

Aljbaae, S.; Chanut, T. G. G.; Carruba, V.; Souchay, J.; Prado, A. F. B. A.; Amarante, A.

2017-01-01

One of the most accurate models currently used to represent the gravity field of irregular bodies is the polyhedral approach. In this model, the mass of the body is assumed to be homogeneous, which may not be true for a real object. The main goal of the this paper is to study the dynamical effects induced by three different internal structures (uniform, three- and four-layered) of asteroid (21) Lutetia, an object that recent results from space probe suggest being at least partially differentiated. The Mascon gravity approach used in the this work consists of dividing each tetrahedron into eight parts to calculate the gravitational field around the asteroid. The zero-velocity curves show that the greatest displacement of the equilibrium points occurs in the position of the E4 point for the four-layered structure and the smallest one occurs in the position of the E3 point for the three-layered structure. Moreover, stability against impact shows that the planar limit gets slightly closer to the body with the four-layered structure. We then investigated the stability of orbital motion in the equatorial plane of (21) Lutetia and propose numerical stability criteria to map the region of stable motions. Layered structures could stabilize orbits that were unstable in the homogeneous model.

Dynamical model of binary asteroid systems through patched three-body problems

NASA Astrophysics Data System (ADS)

Ferrari, Fabio; Lavagna, Michèle; Howell, Kathleen C.

2016-08-01

The paper presents a strategy for trajectory design in the proximity of a binary asteroid pair. A novel patched approach has been used to design trajectories in the binary system, which is modeled by means of two different three-body systems. The model introduces some degrees of freedom with respect to a classical two-body approach and it is intended to model to higher accuracy the peculiar dynamical properties of such irregular and low gravity field bodies, while keeping the advantages of having a full analytical formulation and low computational cost required. The neighborhood of the asteroid couple is split into two regions of influence where two different three-body problems describe the dynamics of the spacecraft. These regions have been identified by introducing the concept of surface of equivalence (SOE), a three-dimensional surface that serves as boundary between the regions of influence of each dynamical model. A case of study is presented, in terms of potential scenario that may benefit of such an approach in solving its mission analysis. Cost-effective solutions to land a vehicle on the surface of a low gravity body are selected by generating Poincaré maps on the SOE, seeking intersections between stable and unstable manifolds of the two patched three-body systems.

Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

Smooth pond-like deposits on asteroid 4 Vesta: First results from the Dawn mission.

NASA Astrophysics Data System (ADS)

Hiesinger, H.; Ruesch, O.; Jaumann, R.; Nathues, A.; Raymond, C. A.; Russell, C. T.

2012-04-01

The Dawn spacecraft arrived at Vesta on July 16, 2011 to study the asteroid with a Framing Camera (FC), a Visible & Infrared Spectrometer (VIR), and a Gamma Ray and Neutron Detector (GRaND) [1]. Dawn provides the first high-resolution data from its survey orbit, high-altitude mapping orbit (HAMO), and low-altitude mapping orbit (LAMO). FC data revealed smooth pond-like deposits of ambiguous origin, similar to deposits on other asteroids, including Eros and Itokawa [2,3]. Several scenarios for the origin of these deposits can be tested with Dawn data, including volcanism, impact sedimentation, impact melt deposition, dust levitation and transport, seismic shaking, or landslides. We measured 83 small (~7 km2 average size) smooth deposits distributed across the surface of Vesta. Most ponds on Vesta occur on the floors of impact craters and in irregular depressions. We did not observe inflow of material into the depressions. Most of these deposits have well-defined geological contacts, indicating that they are younger than the surrounding terrain. However, lunar impact melt pools that formed contemporaneously with surrounding ejecta blankets show similar stratigraphic relationships. Sometimes the albedo of these ponds is lower than the surrounding terrain, in other cases the ponds are indistinguishable from the adjacent terrain. The ponds preferentially occur in a band between -10 and 30 degrees latitude with fewer ponds north of ~30 degrees and even fewer ponds in the southern hemisphere, i.e., the Rheasilvia region. The largest cluster of ponds occurs in the vicinity of the Marcia impact crater, which is part of the so-called snowman craters. Similar, but smaller (<230 m diameter) smooth ponds were also reported from the surface of asteroid Eros [2]. Robinson et al. [2] found that most smooth ponds on Eros occur in equatorial regions and concluded that the most likely process for their formation is electrostatic levitation and redistribution of the finest regolith components (<100 µm). Sierks et al. [4] argued that along the terminator, particularly strong electric fields can develop between the sun-lit and shaded areas, e.g., within craters, resulting in particle motion from sun-lit to dark regions. Dust levitation and transport was also discussed for asteroid 25143 Itokawa [3]. [1] Russell et al., (2007), Earth Moon Planets, 101; [2] Robinson et al., (2002), Met. Planet. Sci., 37; [3] Yano et al., (2006), Science, 312; [4] Sierks et al., (2011), Space Sci. Rev., doi:10.1007/s11214-011-9745-4. This research has been supported by the German Space Agency (DLR) and NASA. We would like to thank the Dawn Operations Team for their success-ful planning and acquisition of high-quality Vesta data.

Visualization of Near-Infrared Spectral Data of Eros Using the Small Body Mapping Tool

NASA Astrophysics Data System (ADS)

Klima, Rachel L.; Ernst, Carolyn

2016-10-01

One of the primary drivers for many missions visiting asteroids is to advance our understanding of their composition beyond what can be (and is) already measured by telescopes. Without sample return or lander missions, this task relies primarily on resolved near-infrared spectroscopic measurements. Scientific analysis using spectral data collected by point spectrometers is not as straightforward as for imaging spectrometers, where the local spatial context is immediately available. In the case of Eros and other highly non-spherical bodies, this problem becomes even more severe when trying to locate spectra that cross a mapped feature that bends over an irregularly shaped surface. Thus, it is often the case that outside of the mission teams, few from the community at large delve into these data sets, as they lack the tools necessary to incorporate the spectral information into geological analyses of the asteroids. Ultimately, we seek to make such spectral datasets, which NASA has invested significant amounts of money to obtain, more widely accessible and user-friendly. The Small Bodies Mapping Tool (SBMT) is a Java-based, interactive, three-dimensional visualization tool written and developed at APL to map and analyze features on irregularly shaped solar system bodies. The SBMT can be used to locate and then "drape" spacecraft images, spectra, and laser altimetry around the shape model of such bodies. It provides a means for rapid identification of available data in a region of interest and allows features to be mapped directly onto the shape model. The program allows the free rotation of a shape model (including any overlain data) in all directions, so that the correlation and distribution of mapped features can be easily and globally observed.We will present the results of our work on the NEAR/Near-Infrared Spectrograph (NIS) data, including improvements to the calibration made by using the geometric information provided by the SBMT and improvements to the SMBT itself to allow spectral visualization, manipulation, and analysis of these data in a spatial context.

Stereo-vision-based terrain mapping for off-road autonomous navigation

NASA Astrophysics Data System (ADS)

Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

2009-05-01

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as nogo regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

Stereo Vision Based Terrain Mapping for Off-Road Autonomous Navigation

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Huertas, Andres; Matthies, Larry H.

2009-01-01

Successful off-road autonomous navigation by an unmanned ground vehicle (UGV) requires reliable perception and representation of natural terrain. While perception algorithms are used to detect driving hazards, terrain mapping algorithms are used to represent the detected hazards in a world model a UGV can use to plan safe paths. There are two primary ways to detect driving hazards with perception sensors mounted to a UGV: binary obstacle detection and traversability cost analysis. Binary obstacle detectors label terrain as either traversable or non-traversable, whereas, traversability cost analysis assigns a cost to driving over a discrete patch of terrain. In uncluttered environments where the non-obstacle terrain is equally traversable, binary obstacle detection is sufficient. However, in cluttered environments, some form of traversability cost analysis is necessary. The Jet Propulsion Laboratory (JPL) has explored both approaches using stereo vision systems. A set of binary detectors has been implemented that detect positive obstacles, negative obstacles, tree trunks, tree lines, excessive slope, low overhangs, and water bodies. A compact terrain map is built from each frame of stereo images. The mapping algorithm labels cells that contain obstacles as no-go regions, and encodes terrain elevation, terrain classification, terrain roughness, traversability cost, and a confidence value. The single frame maps are merged into a world map where temporal filtering is applied. In previous papers, we have described our perception algorithms that perform binary obstacle detection. In this paper, we summarize the terrain mapping capabilities that JPL has implemented during several UGV programs over the last decade and discuss some challenges to building terrain maps with stereo range data.

Environmental monitoring using autonomous vehicles: a survey of recent searching techniques.

PubMed

Bayat, Behzad; Crasta, Naveena; Crespi, Alessandro; Pascoal, António M; Ijspeert, Auke

2017-06-01

Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source localization has drawn increasing interest due to its scientific and commercial interest and the emergence of a new breed of robotic vehicles capable of operating in harsh environments without human supervision. The aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous vehicles. Motivated by fast paced advances in this challenging area, this paper surveys recent advances in searching techniques that are at the core of environmental monitoring strategies using autonomous vehicles. Copyright © 2017 Elsevier Ltd. All rights reserved.

Cotton phenotyping with lidar from a track-mounted platform

NASA Astrophysics Data System (ADS)

French, Andrew N.; Gore, Michael A.; Thompson, Alison

2016-05-01

High-Throughput Phenotyping (HTP) is a discipline for rapidly identifying plant architectural and physiological responses to environmental factors such as heat and water stress. Experiments conducted since 2010 at Maricopa, Arizona with a three-fold sensor group, including thermal infrared radiometers, active visible/near infrared reflectance sensors, and acoustic plant height sensors, have shown the validity of HTP with a tractor-based system. However, results from these experiments also show that accuracy of plant phenotyping is limited by the system's inability to discriminate plant components and their local environmental conditions. This limitation may be overcome with plant imaging and laser scanning which can help map details in plant architecture and sunlit/shaded leaves. To test the capability for mapping cotton plants with a laser system, a track-mounted platform was deployed in 2015 over a full canopy and defoliated cotton crop consisting of a scanning LIDAR driven by Arduinocontrolled stepper motors. Using custom Python and Tkinter code, the platform moved autonomously along a pipe-track at 0.1 m/s while collecting LIDAR scans at 25 Hz (0.1667 deg. beam). These tests showed that an autonomous LIDAR platform can reduce HTP logistical problems and provide the capability to accurately map cotton plants and cotton bolls. A prototype track-mounted platform was developed to test the use of LIDAR scanning for High- Throughput Phenotyping (HTP). The platform was deployed in 2015 at Maricopa, Arizona over a senescent cotton crop. Using custom Python and Tkinter code, the platform moved autonomously along a pipe-track at <1 m/s while collecting LIDAR scans at 25 Hz (0.1667 deg. beam). Scanning data mapped the canopy heights and widths, and detected cotton bolls.

Sensor-driven area coverage for an autonomous fixed-wing unmanned aerial vehicle.

PubMed

Paull, Liam; Thibault, Carl; Nagaty, Amr; Seto, Mae; Li, Howard

2014-09-01

Area coverage with an onboard sensor is an important task for an unmanned aerial vehicle (UAV) with many applications. Autonomous fixed-wing UAVs are more appropriate for larger scale area surveying since they can cover ground more quickly. However, their non-holonomic dynamics and susceptibility to disturbances make sensor coverage a challenging task. Most previous approaches to area coverage planning are offline and assume that the UAV can follow the planned trajectory exactly. In this paper, this restriction is removed as the aircraft maintains a coverage map based on its actual pose trajectory and makes control decisions based on that map. The aircraft is able to plan paths in situ based on sensor data and an accurate model of the on-board camera used for coverage. An information theoretic approach is used that selects desired headings that maximize the expected information gain over the coverage map. In addition, the branch entropy concept previously developed for autonomous underwater vehicles is extended to UAVs and ensures that the vehicle is able to achieve its global coverage mission. The coverage map over the workspace uses the projective camera model and compares the expected area of the target on the ground and the actual area covered on the ground by each pixel in the image. The camera is mounted on a two-axis gimbal and can either be stabilized or optimized for maximal coverage. Hardware-in-the-loop simulation results and real hardware implementation on a fixed-wing UAV show the effectiveness of the approach. By including the already developed automatic takeoff and landing capabilities, we now have a fully automated and robust platform for performing aerial imagery surveys.

Dynamical Integration of Language and Behavior in a Recurrent Neural Network for Human-Robot Interaction.

PubMed

Yamada, Tatsuro; Murata, Shingo; Arie, Hiroaki; Ogata, Tetsuya

2016-01-01

To work cooperatively with humans by using language, robots must not only acquire a mapping between language and their behavior but also autonomously utilize the mapping in appropriate contexts of interactive tasks online. To this end, we propose a novel learning method linking language to robot behavior by means of a recurrent neural network. In this method, the network learns from correct examples of the imposed task that are given not as explicitly separated sets of language and behavior but as sequential data constructed from the actual temporal flow of the task. By doing this, the internal dynamics of the network models both language-behavior relationships and the temporal patterns of interaction. Here, "internal dynamics" refers to the time development of the system defined on the fixed-dimensional space of the internal states of the context layer. Thus, in the execution phase, by constantly representing where in the interaction context it is as its current state, the network autonomously switches between recognition and generation phases without any explicit signs and utilizes the acquired mapping in appropriate contexts. To evaluate our method, we conducted an experiment in which a robot generates appropriate behavior responding to a human's linguistic instruction. After learning, the network actually formed the attractor structure representing both language-behavior relationships and the task's temporal pattern in its internal dynamics. In the dynamics, language-behavior mapping was achieved by the branching structure. Repetition of human's instruction and robot's behavioral response was represented as the cyclic structure, and besides, waiting to a subsequent instruction was represented as the fixed-point attractor. Thanks to this structure, the robot was able to interact online with a human concerning the given task by autonomously switching phases.

These two NASA F/A-18 aircraft are flying a test point for the Autonomous Formation Flight project o

NASA Technical Reports Server (NTRS)

2001-01-01

Two NASA F/A-18 aircraft are flying a test point for the Autonomous Formation Flight project over California's Mojave Desert. This second flight phase is mapping the wingtip vortex of the lead aircraft, the Systems Research Aircraft (tail number 847), on the trailing F/A-18 tail number 847. Wingtip vortex is a spiraling wind flowing from the wing during flight. The project is studying the drag and fuel reduction of precision formation flying.

Overview of Vesta Mineralogy Diversity

NASA Technical Reports Server (NTRS)

DeSanctis, M. C.; Ammannito, E.; Capria, M. T.; Capaccioni, F.; Carraro, F.; Fonte, S.; Frigeri, A.; Magni, G.; Marchi, S.; Palomba, E.;

MarcoPolo-R: Mission and Spacecraft Design

NASA Astrophysics Data System (ADS)

Peacocke, L.; Kemble, S.; Chapuy, M.; Scheer, H.

2013-09-01

The MarcoPolo-R mission is a candidate for the European Space Agency's medium-class Cosmic Vision programme, with the aim to obtain a 100 g sample of asteroid surface material and return it safely to the Earth. Astrium is one of two industrial contractors currently studying the mission to Phase A level, and the team has been working on the mission and spacecraft design since January 2012. Asteroids are some of the most primitive bodies in our solar system and are key to understanding the formation of the Earth, Sun and other planetary bodies. A returned sample would allow extensive analyses in the large laboratory-sized instruments here on Earth that are not possible with in-situ instruments. This analysis would also increase our understanding of the composition and structure of asteroids, and aid in plans for asteroid deflection techniques. In addition, the mission would be a valuable precursor for missions such as Mars Sample Return, demonstrating a high speed Earth re-entry and hard landing of an entry capsule. Following extensive mission analysis of both the baseline asteroid target 1996 FG3 and alternatives, a particularly favourable trajectory was found to the asteroid 2008 EV5 resulting in a mission duration of 4.5 to 6 years. In October 2012, the MarcoPolo-R baseline target was changed to 2008 EV5 due to its extremely primitive nature, which may pre-date the Sun. This change has a number of advantages: reduced DeltaV requirements, an orbit with a more benign thermal environment, reduced communications distances, and a reduced complexity propulsion system - all of which simplify the spacecraft design significantly. The single spacecraft would launch between 2022 and 2024 on a Soyuz-Fregat launch vehicle from Kourou. Solar electric propulsion is necessary for the outward and return transfers due to the DeltaV requirements, to minimise propellant mass. Once rendezvous with the asteroid is achieved, an observation campaign will begin to characterise the asteroid properties and map the surface in detail. Five potential sampling sites will be selected and closely observed in a local characterisation phase, leading to a single preferred sampling site being identified. The baseline instruments are a Narrow Angle Camera, a Mid-Infrared Spectrometer, a Visible Near-Infrared Spectrometer, a Radio Science Experiment, and a Close-up Camera. For the sampling phase, the spacecraft will perform a touch-and-go manoeuvre. A boom with a sampling mechanism at the end will be deployed, and the spacecraft will descend using visual navigation to touch the asteroid for some seconds. The rotary brush sampling mechanism will be activated on touchdown to obtain a good quality sample comprising regolith dust and pebbles. Low touchdown velocities and collision avoidance are critical at this point to prevent damage to the spacecraft and solar arrays. The spacecraft will then move away, returning to a safe orbit, and the sample will be transferred to an Earth Re-entry Capsule. After a final post-sampling characterisation campaign, the spacecraft will perform the return transfer to Earth. The Earth Re-entry Capsule will be released to directly enter the Earth's atmosphere, and is designed to survive a hard landing with no parachute deceleration. Once recovered, the asteroid sample would be extracted in a sample curation facility in preparation for the full analysis campaign. This presentation will describe Astrium's MarcoPolo-R mission and spacecraft design, with a focus on the innovative aspects of the design.

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

NASA Astrophysics Data System (ADS)

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

2012-07-01

Introduction, Japan has announced the official development of ``Hayabusa-2'', the second sample return mission to a Near-Earth asteroid. When the development is made smoothly, Hayabusa-2 will be launched in 2014. The predecessor spacecraft ``Hayabusa'' made a great success when it returned to the Earth in June 2010 with a capsule containing some particles obtained from S-type asteroid ``Itokawa.'' Rover system, The authors installed a tiny hopping rover called ``MINERVA'' into Hayabusa spacecraft. MINERVA weights only 591[g] but has an autonomous exploration capability on the microgravity environment on the small solar system bodies. MINERVA was successfully deployed from the mother spacecraft on 12 Nov 2005 at the vicinity of the target asteroid. But unfortunately it became a solar orbiting satellite since the relative position and the speed of the mother spacecraft around the target asteroid were worst. Nevertheless it worked well, demonstrating an autnomous capability and had survived until the comunication link was lost. The authors plan to install some rovers also into Hayabusa-2. The total concept is the same but this time multiple rovers are considered. Deployment mechanism, Two rovers are installed in one container and are developed at the same time. The maximum allowed weight for the container including two rovers is 2.5[kg] and we have to seek for a simple and a light-weighted deployment system. We developed a new deployment system drastically sophisticated from the one used for MINERVA in Hayabusa mission. Both the cover and the rovers are pushed by the springs after the tightly winded wire has been cut by the deployment trigger form the spacecraft. The new deployment system enables the following things. The cover and the rovers are deployed in different directions in one action. The uncertainty of the deployment speed is decreased. Microgravity experiment, Thanks to the courtesy of DLR (German Aerospace Center) based on the international cooperation between Germany and Japan on the development of Hayabusa-2 spacecraft, we had an opprotunity to evaluate the performance of the above mentioned deployment system by using the drop tower in Bremen. We made six drops in January 2012 to look at the speed and the direction of the cover and the rovers using various parameters, which were all performed successfully. This paper reports the result of the microgravity experiments.

Space Resources Roundtable 2

NASA Technical Reports Server (NTRS)

Ignatiev, A.

2000-01-01

Contents include following: Developing Technologies for Space Resource Utilization - Concept for a Planetary Engineering Research Institute. Results of a Conceptual Systems Analysis of Systems for 200 m Deep Sampling of the Martian Subsurface. The Role of Near-Earth Asteroids in Long-Term Platinum Supply. Core Drilling for Extra-Terrestrial Mining. Recommendations by the "LSP and Manufacturing" Group to the NSF-NASA Workshop on Autonomous Construction and Manufacturing for Space Electrical Power Systems. Plasma Processing of Lunar and Planetary Materials. Percussive Force Magnitude in Permafrost. Summary of the Issues Regarding the Martian Subsurface Explorer. A Costing Strategy for Manufacturing in Orbit Using Extraterrestrial Resources. Mine Planning for Asteroid Orebodies. Organic-based Dissolution of Silicates: A New Approach to Element Extraction from LunarRegohth. Historic Frontier Processes Active in Future Space-based Mineral Extraction. The Near-Earth Space Surveillance (NIESS) Mission: Discovery, Tracking, and Characterization of Asteroids, Comets, and Artificial Satellites with a microsatellite. Privatized Space Resource Property Ownership. The Fabrication of Silicon Solar Cells on the Moon Using In-Situ Resources. A New Strategy for Exploration Technology Development: The Human Exploration and Development of Space (HEDS) Exploratiori/Commercialization Technology Initiative. Space Resources for Space Tourism. Recovery of Volatiles from the Moon and Associated Issues. Preliminary Analysis of a Small Robot for Martian Regolith Excavation. The Registration of Space-based Property. Continuous Processing with Mars Gases. Drilling and Logging in Space; An Oil-Well Perspective. LORPEX for Power Surges: Drilling, Rock Crushing. An End-To-End Near-Earth Asteroid Resource Exploitation Plan. An Engineering and Cost Model for Human Space Settlement Architectures: Focus on Space Hotels and Moon/Mars Exploration. The Development and Realization of a Silicon-60-based Economy in CisLunar Space. Our Lunar Destiny: Creating a Lunar Economy. Cost-Effective Approaches to Lunar Passenger Transportation. Lunar Mineral Resources: Extraction and Application. Space Resources Development - The Link Between Human Exploration and the Long-term Commercialization of Space. Toward a More Comprehensive Evaluation of Space Information. Development of Metal Casting Molds by Sol-Gel Technology Using Planetary Resources. A New Concept in Planetary Exploration: ISRU with Power Bursts. Bold Space Ventures Require Fervent Public Support. Hot-pressed Iron from Lunar Soil. The Lunar Dust Problem: A Possible Remedy. Considerations on Use of Lunar Regolith in Lunar Constructions. Experimental Study on Water Production by Hydrogen Reduction of Lunar Soil Simulant in a Fixed Bed Reactor.

Pandora - Discovering the origin of the moons of Mars (a proposed Discovery mission)

NASA Astrophysics Data System (ADS)

Raymond, C. A.; Diniega, S.; Prettyman, T. H.

2015-12-01

After decades of intensive exploration of Mars, fundamental questions about the origin and evolution of the martian moons, Phobos and Deimos, remain unanswered. Their spectral characteristics are similar to C- or D-class asteroids, suggesting that they may have originated in the asteroid belt or outer solar system. Perhaps these ancient objects were captured separately, or maybe they are the fragments of a captured asteroid disrupted by impact. Various lines of evidence hint at other possibilities: one alternative is co-formation with Mars, in which case the moons contain primitive martian materials. Another is that they are re-accreted ejecta from a giant impact and contain material from the early martian crust. The Pandora mission, proposed in response to the 2014 NASA Discovery Announcement of Opportunity, will acquire new information needed to determine the provenance of the moons of Mars. Pandora will travel to and successively orbit Phobos and Deimos to map their chemical and mineral composition and further refine their shape and gravity. Geochemical data, acquired by nuclear- and infrared-spectroscopy, can distinguish between key origin hypotheses. High resolution imaging data will enable detailed geologic mapping and crater counting to determine the timing of major events and stratigraphy. Data acquired will be used to determine the nature of and relationship between "red" and "blue" units on Phobos, and determine how Phobos and Deimos are related. After identifying material representative of each moons' bulk composition, analysis of the mineralogical and elemental composition of this material will allow discrimination between the formation hypotheses for each moon. The information acquired by Pandora can then be compared with similar data sets for other solar system bodies and from meteorite studies. Understanding the formation of the martian moons within this larger context will yield a better understanding of processes acting in the early solar system, focusing in particular on Mars' accretionary environment.

Planetary cubesats - mission architectures

NASA Astrophysics Data System (ADS)

Bousquet, Pierre W.; Ulamec, Stephan; Jaumann, Ralf; Vane, Gregg; Baker, John; Clark, Pamela; Komarek, Tomas; Lebreton, Jean-Pierre; Yano, Hajime

2016-07-01

Miniaturisation of technologies over the last decade has made cubesats a valid solution for deep space missions. For example, a spectacular set 13 cubesats will be delivered in 2018 to a high lunar orbit within the frame of SLS' first flight, referred to as Exploration Mission-1 (EM-1). Each of them will perform autonomously valuable scientific or technological investigations. Other situations are encountered, such as the auxiliary landers / rovers and autonomous camera that will be carried in 2018 to asteroid 1993 JU3 by JAXA's Hayabusas 2 probe, and will provide complementary scientific return to their mothership. In this case, cubesats depend on a larger spacecraft for deployment and other resources, such as telecommunication relay or propulsion. For both situations, we will describe in this paper how cubesats can be used as remote observatories (such as NEO detection missions), as technology demonstrators, and how they can perform or contribute to all steps in the Deep Space exploration sequence: Measurements during Deep Space cruise, Body Fly-bies, Body Orbiters, Atmospheric probes (Jupiter probe, Venus atmospheric probes, ..), Static Landers, Mobile landers (such as balloons, wheeled rovers, small body rovers, drones, penetrators, floating devices, …), Sample Return. We will elaborate on mission architectures for the most promising concepts where cubesat size devices offer an advantage in terms of affordability, feasibility, and increase of scientific return.

Characterization of the Interior Density Structure of Near Earth Objects with Muons

NASA Astrophysics Data System (ADS)

Prettyman, T. H.; Sykes, M. V.; Miller, R. S.; Pinsky, L. S.; Empl, A.; Nolan, M. C.; Koontz, S. L.; Lawrence, D. J.; Mittlefehldt, D. W.; Reddell, B. D.

2015-12-01

Near Earth Objects (NEOs) are a diverse population of short-lived asteroids originating from the main belt and Jupiter family comets. Some have orbits that are easy to access from Earth, making them attractive as targets for science and exploration as well as a potential resource. Some pose a potential impact threat. NEOs have undergone extensive collisional processing, fragmenting and re-accreting to form rubble piles, which may be compositionally heterogeneous (e.g., like 2008 TC3, the precursor to Almahata Sitta). At present, little is known about their interior structure or how these objects are held together. The wide range of inferred NEO macroporosities hint at complex interiors. Information about their density structure would aid in understanding their formation and collisional histories, the risks they pose to human interactions with their surfaces, the constraints on industrial processing of NEO resources, and the selection of hazard mitigation strategies (e.g., kinetic impactor vs nuclear burst). Several methods have been proposed to characterize asteroid interiors, including radar imaging, seismic tomography, and muon imaging (muon radiography and tomography). Of these, only muon imaging has the potential to determine interior density structure, including the relative density of constituent fragments. Muons are produced by galactic cosmic ray showers within the top meter of asteroid surfaces. High-energy muons can traverse large distances through rock with little deflection. Muons transmitted through an Itokawa-sized asteroid can be imaged using a compact hodoscope placed on or near the surface. Challenges include background rejection and correction for variations in muon production with surface density. The former is being addressed by hodoscope design. Surface density variations can be determined via radar or muon limb imaging. The performance of muon imaging is evaluated for prospective NEO interior-mapping missions.

Comparing Results of SPH/N-body Impact Simulations Using Both Solid and Rubble-pile Target Asteroids

NASA Astrophysics Data System (ADS)

Durda, Daniel D.; Bottke, W. F.; Enke, B. L.; Nesvorný, D.; Asphaug, E.; Richardson, D. C.

2006-09-01

We have been investigating the properties of satellites and the morphology of size-frequency distributions (SFDs) resulting from a suite of 160 SPH/N-body simulations of impacts into 100-km diameter parent asteroids (Durda et al. 2004, Icarus 170, 243-257; Durda et al. 2006, Icarus, in press). These simulations have produced many valuable insights into the outcomes of cratering and disruptive impacts but were limited to monolithic basalt targets. As a natural consequence of collisional evolution, however, many asteroids have undergone a series of battering impacts that likely have left their interiors substantially fractured, if not completely rubblized. In light of this, we have re-mapped the matrix of simulations using rubble-pile target objects. We constructed the rubble-pile targets by filling the interior of the 100-km diameter spherical shell (the target envelope) with randomly sized solid spheres in mutual contact. We then assigned full damage (which reduces tensile and shear stresses to zero) to SPH particles in the contacts between the components; the remaining volume is void space. The internal spherical components have a power-law distribution of sizes simulating fragments of a pre-shattered parent object. First-look analysis of the rubble-pile results indicate some general similarities to the simulations with the monolithic targets (e.g., similar trends in the number of small, gravitationally bound satellite systems as a function of impact conditions) and some significant differences (e.g., size of largest remnants and smaller debris affecting size frequency distributions of resulting families). We will report details of a more thorough analysis and the implications for collisional models of the main asteroid belt. This work is supported by the National Science Foundation, grant number AST0407045.

Asteroid mining

NASA Astrophysics Data System (ADS)

Gertsch, Richard E.

The earliest studies of asteroid mining proposed retrieving a main belt asteroid. Because of the very long travel times to the main asteroid belt, attention has shifted to the asteroids whose orbits bring them fairly close to the Earth. In these schemes, the asteroids would be bagged and then processed during the return trip, with the asteroid itself providing the reaction mass to propel the mission homeward. A mission to one of these near-Earth asteroids would be shorter, involve less weight, and require a somewhat lower change in velocity. Since these asteroids apparently contain a wide range of potentially useful materials, our study group considered only them. The topics covered include asteroid materials and properties, asteroid mission selection, manned versus automated missions, mining in zero gravity, and a conceptual mining method.

Asteroid mining

NASA Technical Reports Server (NTRS)

Gertsch, Richard E.

1992-01-01

The earliest studies of asteroid mining proposed retrieving a main belt asteroid. Because of the very long travel times to the main asteroid belt, attention has shifted to the asteroids whose orbits bring them fairly close to the Earth. In these schemes, the asteroids would be bagged and then processed during the return trip, with the asteroid itself providing the reaction mass to propel the mission homeward. A mission to one of these near-Earth asteroids would be shorter, involve less weight, and require a somewhat lower change in velocity. Since these asteroids apparently contain a wide range of potentially useful materials, our study group considered only them. The topics covered include asteroid materials and properties, asteroid mission selection, manned versus automated missions, mining in zero gravity, and a conceptual mining method.

Geologic Map of the Northern Hemisphere of Vesta

NASA Astrophysics Data System (ADS)

Hiesinger, Harald; Ruesch, Ottaviano; Blewett, Dave T.; Buczkowski, Debra L.; Scully, Jennifer; Williams, Dave A.; Aileen Yingst, R.; Russell, Chris T.; Raymond, Carol A.

2013-04-01

For more than a year, the NASA Dawn mission acquired Framing Camera (FC) images from orbit around Vesta. The surface of the asteroid was completely imaged [1] before Dawn left for its next target, the asteroid Ceres. In an early phase of the mission, the southern and equatorial regions were imaged, allowing the production of several geologic quadrangle maps [2]. During the second High Altitude Mapping Orbit (HAMO-2), the northern hemisphere became illuminated and visible. Here we present the first geologic map of the northern vestan hemisphere, from 21°N to 85°N, derived mainly from HAMO-2 observations. Detailed studies of specific geologic features within this hemisphere are presented elsewhere [e.g., 3,4]. For our geologic map we used high-resolution FC images [5] with ~20 m/pixel from the Low Altitude Mapping Orbit (LAMO), which unfortunately only cover the southern part of the study area (21°N to 45°N). For areas farther north, LAMO images are supplemented with HAMO-2 images, which have a pixel scale of about 70 m/pixel. During the departure phase, images of the north pole area with even lower spatial resolutions were acquired. Due to observational constraints, considerable shadowing is present north of 75°. From these data, an albedo mosaic and a stereo-photogrammetric digital terrain model [6] was produced, which serve as basis for our geologic map. For the geologic mapping at a scale of 1:500,000, all data were incorporated into a Geographic Information System (ArcGIS). We have identified several geologic units within the study area, including cratered highland material (ch) and the Saturnalia Formation (Sf), which is characterized by large-scale ridges and troughs, presumably associated with the south polar Veneneia impact [7]. In addition, we mapped undifferentiated crater material (uc), discontinuous ejecta material (dem), and dark/bright crater material and dark/bright crater ray material (dc/bc and dcr/bcr). We will present a detailed description of the geologic units and their relative stratigraphy [8]. References: [1] Russell C. T. et al. (2012) GSA Ann. Meet., 152-1. [2] Yingst R. A. et al. (2012) EGU, Gen. Ass., 6225. [3] Blewett D. T. et al. (2012) GSA Ann. Meet., 152-9. [4] Scully J. (2012) DPS Meet. 44, #207.08. [5] Sierks H. et al. (2011) Space Sci Rev. [6] Preusker et al. (2012) LPSC 43, #2012. [7] Jaumann et al. (2012) Science Vol. 336, pp. 687-690. [8] Hiesinger H. et al. (2013) LPSC 44, #2582.

Phobos-Grunt: Russian sample return mission

NASA Astrophysics Data System (ADS)

Marov, M. Ya.; Avduevsky, V. S.; Akim, E. L.; Eneev, T. M.; Kremnev, R. S.; Kulikov, S. D.; Pichkhadze, K. M.; Popov, G. A.; Rogovsky, G. N.

2004-01-01

As an important milestone in the exploration of Mars and small bodies, a new generation space vehicle ``Phobos-Grunt'' is planned to be launched by the Russian Aviation and Space Agency. The project is optimized around a Phobos sample return mission and follow up missions targeted to study some main asteroid belt bodies, NEOs and short period comets. The principal constraint is use of the ``Soyuz-Fregat'' rather than the ``Proton'' launcher to accomplish these challenging goals. The vehicle design incorporates innovative SEP technology involving electrojet engines that allowed us to increase significantly the mission's energetic capabilities, as well as highly autonomous on-board systems. Basic criteria underlining the ``Phobos-Grunt'' mission scenario, scientific objectives and rationale including Mars observations during the vehicle's insertion into Mars orbit and Phobos approach maneuvers, are discussed and an opportunity for international cooperation is suggested.

ARAGO: a robotic observatrory for the variable sky

NASA Astrophysics Data System (ADS)

Boer, Michel; Acker, Agnes; Atteia, Jean-Luc; Buchholtz, Gilles; Colas, Francois; Deleuil, Magali; Dennefeld, Michel; Desert, Jean-Michel; Dolez, Noel; Eysseric, J.; Ferlet, Roger; Ferrari, Marc; Jean, Pierre; Klotz, Alain; Kouach, Driss; Lecavelier des Etangs, Alain; Lemaitre, Gerard R.; Marcowith, Alexandre; Marquette, Jean-Babtiste; Meunier, Jean-Pierre; Mochkovitch, Robert; Pain, Reynald; Pares, Laurent; Pinna, Henri; Pinna, Roger; Provost, Lionel; Roques, Sylvie; Schneider, Jean; Sivan, Jean-Pierre; Soubiran, Caroline; Thiebaut, Carole; Vauclair, Gerard; Verchere, Richard; Vidal-Madjar, Alfred

2002-12-01

We present the Advanced Robotic Agile Observatory (ARAGO), a project for a large variability survey of the sky, in the range 10-8Hz (year) to 1Hz. Among its scientific objectives are the detection of cosmic gamma-ray bursts, both on alert and serendipitously, orphan afterglows, extrasolar planets, AGNs, quasar microlensing, variable and flare stars, trans-neptunian asteroids, Earth-grazers, orbital debris, etc. A large Education and Public Outreach program will be an important part of the project. The telescope itself will be made of Silicon Carbide, allowing, among other advantages, a very light weight and agile capabilities. ARAGO will be fully autonomous, i.e. there will be no human intervention from the request to the data processing and result dissemination, nor to assist night or day operations. ARAGO will start routine observation by mid-2005.

Dynamic edge warping - An experimental system for recovering disparity maps in weakly constrained systems

NASA Technical Reports Server (NTRS)

Boyer, K. L.; Wuescher, D. M.; Sarkar, S.

1991-01-01

Dynamic edge warping (DEW), a technique for recovering reasonably accurate disparity maps from uncalibrated stereo image pairs, is presented. No precise knowledge of the epipolar camera geometry is assumed. The technique is embedded in a system including structural stereopsis on the front end and robust estimation in digital photogrammetry on the other for the purpose of self-calibrating stereo image pairs. Once the relative camera orientation is known, the epipolar geometry is computed and the system can use this information to refine its representation of the object space. Such a system will find application in the autonomous extraction of terrain maps from stereo aerial photographs, for which camera position and orientation are unknown a priori, and for online autonomous calibration maintenance for robotic vision applications, in which the cameras are subject to vibration and other physical disturbances after calibration. This work thus forms a component of an intelligent system that begins with a pair of images and, having only vague knowledge of the conditions under which they were acquired, produces an accurate, dense, relative depth map. The resulting disparity map can also be used directly in some high-level applications involving qualitative scene analysis, spatial reasoning, and perceptual organization of the object space. The system as a whole substitutes high-level information and constraints for precise geometric knowledge in driving and constraining the early correspondence process.

High-resolution mapping, characterization, and optimization of autonomously replicating sequences in yeast

PubMed Central

Liachko, Ivan; Youngblood, Rachel A.; Keich, Uri; Dunham, Maitreya J.

2013-01-01

DNA replication origins are necessary for the duplication of genomes. In addition, plasmid-based expression systems require DNA replication origins to maintain plasmids efficiently. The yeast autonomously replicating sequence (ARS) assay has been a valuable tool in dissecting replication origin structure and function. However, the dearth of information on origins in diverse yeasts limits the availability of efficient replication origin modules to only a handful of species and restricts our understanding of origin function and evolution. To enable rapid study of origins, we have developed a sequencing-based suite of methods for comprehensively mapping and characterizing ARSs within a yeast genome. Our approach finely maps genomic inserts capable of supporting plasmid replication and uses massively parallel deep mutational scanning to define molecular determinants of ARS function with single-nucleotide resolution. In addition to providing unprecedented detail into origin structure, our data have allowed us to design short, synthetic DNA sequences that retain maximal ARS function. These methods can be readily applied to understand and modulate ARS function in diverse systems. PMID:23241746

Autonomous mental development with selective attention, object perception, and knowledge representation

NASA Astrophysics Data System (ADS)

Ban, Sang-Woo; Lee, Minho

2008-04-01

Knowledge-based clustering and autonomous mental development remains a high priority research topic, among which the learning techniques of neural networks are used to achieve optimal performance. In this paper, we present a new framework that can automatically generate a relevance map from sensory data that can represent knowledge regarding objects and infer new knowledge about novel objects. The proposed model is based on understating of the visual what pathway in our brain. A stereo saliency map model can selectively decide salient object areas by additionally considering local symmetry feature. The incremental object perception model makes clusters for the construction of an ontology map in the color and form domains in order to perceive an arbitrary object, which is implemented by the growing fuzzy topology adaptive resonant theory (GFTART) network. Log-polar transformed color and form features for a selected object are used as inputs of the GFTART. The clustered information is relevant to describe specific objects, and the proposed model can automatically infer an unknown object by using the learned information. Experimental results with real data have demonstrated the validity of this approach.

Autonomous Wheeled Robot Platform Testbed for Navigation and Mapping Using Low-Cost Sensors

NASA Astrophysics Data System (ADS)

Calero, D.; Fernandez, E.; Parés, M. E.

2017-11-01

This paper presents the concept of an architecture for a wheeled robot system that helps researchers in the field of geomatics to speed up their daily research on kinematic geodesy, indoor navigation and indoor positioning fields. The presented ideas corresponds to an extensible and modular hardware and software system aimed at the development of new low-cost mapping algorithms as well as at the evaluation of the performance of sensors. The concept, already implemented in the CTTC's system ARAS (Autonomous Rover for Automatic Surveying) is generic and extensible. This means that it is possible to incorporate new navigation algorithms or sensors at no maintenance cost. Only the effort related to the development tasks required to either create such algorithms needs to be taken into account. As a consequence, change poses a much small problem for research activities in this specific area. This system includes several standalone sensors that may be combined in different ways to accomplish several goals; that is, this system may be used to perform a variety of tasks, as, for instance evaluates positioning algorithms performance or mapping algorithms performance.

In Situ Mapping of the Organic Matter in Carbonaceous Chondrites and Mineral Relationships

NASA Technical Reports Server (NTRS)

Clemett, Simon J.; Messenger, S.; Thomas-Keprta, K. L.; Ross, D. K.

2012-01-01

Carbonaceous chondrite organic matter represents a fossil record of reactions that occurred in a range of physically, spatially and temporally distinct environments, from the interstellar medium to asteroid parent bodies. While bulk chemical analysis has provided a detailed view of the nature and diversity of this organic matter, almost nothing is known about its spatial distribution and mineralogical relationships. Such information is nevertheless critical to deciphering its formation processes and evolutionary history.

The Moon is a Planet Too: Lunar Science and Robotic Exploration

NASA Technical Reports Server (NTRS)

Cohen, Barbara

2008-01-01

The first decades of the 21st century will be marked by major lunar science and exploration activities. The Moon is a witness to 4.5 billion years of solar system history, recording that history more completely and more clearly than any other planetary body. Lunar science encompasses early planetary evolution and differentiation, lava eruptions and fire fountains, impact scars throughout time, and billions of years of volatile input. I will cover the main outstanding issues in lunar science today and the most intriguing scientific opportunities made possible by renewed robotic and human lunar exploration. Barbara is a planetary scientist at NASA s Marshall Space Flight Center. She studies meteorites from the Moon, Mars and asteroids and has been to Antarctica twice to hunt for them. Barbara also works on the Mars Exploration Rovers Spirit and Opportunity and has an asteroid named after her. She is currently helping the Lunar Precursor Robotics Program on the Lunar Mapping and Modeling Project, a project tasked by the Exploration System Mission Directorate (ESMD) to develop maps and tools of the Moon to benefit the Constellation Program lunar planning. She is also supporting the Science Mission Directorate s (SMD) lunar flight projects line at Marshall as the co-chair of the Science Definition Team for NASA s next robotic landers, which will be nodes of the International Lunar Network, providing geophysical information about the Moon s interior structure and composition.

Asteroid mass estimation using Markov-chain Monte Carlo

NASA Astrophysics Data System (ADS)

Siltala, Lauri; Granvik, Mikael

2017-11-01

Estimates for asteroid masses are based on their gravitational perturbations on the orbits of other objects such as Mars, spacecraft, or other asteroids and/or their satellites. In the case of asteroid-asteroid perturbations, this leads to an inverse problem in at least 13 dimensions where the aim is to derive the mass of the perturbing asteroid(s) and six orbital elements for both the perturbing asteroid(s) and the test asteroid(s) based on astrometric observations. We have developed and implemented three different mass estimation algorithms utilizing asteroid-asteroid perturbations: the very rough 'marching' approximation, in which the asteroids' orbital elements are not fitted, thereby reducing the problem to a one-dimensional estimation of the mass, an implementation of the Nelder-Mead simplex method, and most significantly, a Markov-chain Monte Carlo (MCMC) approach. We describe each of these algorithms with particular focus on the MCMC algorithm, and present example results using both synthetic and real data. Our results agree with the published mass estimates, but suggest that the published uncertainties may be misleading as a consequence of using linearized mass-estimation methods. Finally, we discuss remaining challenges with the algorithms as well as future plans.

Self-organizing control strategy for asteroid intelligent detection swarm based on attraction and repulsion

NASA Astrophysics Data System (ADS)

An, Meiyan; Wang, Zhaokui; Zhang, Yulin

2017-01-01

The self-organizing control strategy for asteroid intelligent detection swarm, which is considered as a space application instance of intelligent swarm, is developed. The leader-follower model for the asteroid intelligent detection swarm is established, and the further analysis is conducted for massive asteroid and small asteroid. For a massive asteroid, the leader spacecraft flies under the gravity field of the asteroid. For a small asteroid, the asteroid gravity is negligible, and a trajectory planning method is proposed based on elliptic cavity virtual potential field. The self-organizing control strategy for the follower spacecraft is developed based on a mechanism of velocity planning and velocity tracking. The simulation results show that the self-organizing control strategy is valid for both massive asteroid and small asteroid, and the exploration swarm forms a stable configuration.

BILLIARDS: Baseline Instrumented Lithology Lander, Inspector and Asteroid Redirection Demonstration System

NASA Technical Reports Server (NTRS)

Marcus, Matthew; Sloane, Joshua; Ortiz, Oliver; Barbee, Brent

2015-01-01

BILLIARDS Baseline Instrumented Lithology Lander, Inspector, and Asteroid Redirection Demonstration System Proposed demonstration mission for Billiard-Ball concept Select asteroid pair with natural close approach to minimize cost and complexity Primary Objectives Rendezvous with a small (10m), near Earth (alpha) asteroid Maneuver the alpha asteroid to a collision with a 100m (beta) asteroid Produce a detectable deflection or disruption of the beta asteroid Secondary objectives Contribute knowledge of asteroid composition and characteristics Contribute knowledge of small-body formation Opportunity for international collaboration

Explosive volcanism and the graphite-oxygen fugacity buffer on the parent asteroid(s) of the ureilite meteorites

NASA Technical Reports Server (NTRS)

Warren, Paul H.; Kallemeyn, Gregory W.

1992-01-01

A new model of the production of the uniformly low plagioclase and Al contents of ureilites is proposed. It is argued that those contents are consequences of widespread explosive volcanism during the evolution of the parent asteroid(s). It is noted that the great abundance of graphite on the ureilite asteroid(s) made them ideal sites for explosive volcanism driven by oxidation of graphite in partial melts ascending within the asteroid(s).

Asteroid team

NASA Technical Reports Server (NTRS)

Matson, D. L.

1988-01-01

The purpose of this task is to support asteroid research and the operation of an Asteroid Team within the Earth and Space Sciences Division at the Jet Propulsion Laboratory (JPL). The Asteroid Team carries out original research on asteroids in order to discover, better characterize and define asteroid properties. This information is needed for the planning and design of NASA asteroid flyby and rendezvous missions. The asteroid Team also provides scientific and technical advice to NASA and JPL on asteroid related programs. Work on asteroid classification continued and the discovery of two Earth-approaching M asteroids was published. In the asteroid photometry program researchers obtained N or Q photometry for more than 50 asteroids, including the two M-earth-crossers. Compositional analysis of infrared spectra (0.8 to 2.6 micrometer) of asteroids is continuing. Over the next year the work on asteroid classification and composition will continue with the analysis of the 60 reduced infrared spectra which we now have at hand. The radiometry program will continue with the reduction of the N and Q bandpass data for the 57 asteroids in order to obtain albedos and diameters. This year the emphasis will shift to IRAS follow-up observations; which includes objects not observed by IRAS and objects with poor or peculiar IRAS data. As in previous year, we plan to give top priority to any opportunities for observing near-Earth asteroids and the support (through radiometric lightcurve observations from the IRTF) of any stellar occultations by asteroids for which occultation observation expeditions are fielded. Support of preparing of IRAS data for publication and of D. Matson for his participation in the NASA Planetary Astronomy Management and Operations Working Group will continue.

Trace elements record complex histories in diogenites

NASA Astrophysics Data System (ADS)

Balta, J. B.; Beck, A. W.; McSween, H. Y.

2012-12-01

Diogenite meteorites are cumulate rocks composed mostly of orthopyroxene and chemically linked to eucrites (basaltic) and howardites (brecciated mixtures of diogenites and eucrites). Together, they represent the largest single family of achondrite meteorites delivered to Earth, and have been spectrally linked to the asteroid 4 Vesta, the largest remaining basaltic protoplanet. However, this spectral link is non-unique as many basaltic asteroids likely formed and were destroyed in the early solar system. Recent work suggested that Vesta may be an unlikely parent body for the diogenites based on correlations between trace elements and short-lived isotope decay products, which would be unlikely to survive on a body as large as Vesta due to its long cooling history [1]. Recent analyses of terrestrial and martian olivines have demonstrated that trace element spatial distributions can preserve evidence of their crystallization history even when major elements have been homogenized [2]. We have mapped minor elements including Cr, Al, and Ti in seemingly homogeneous diogenite orthopyroxenes and found a variety of previously unobserved textures. The pyroxenes in one sample (GRA 98108) are seemingly large grains of variable shapes and sizes, but the trace elements reveal internal grain boundaries between roughly-equal sized original subgrains, with equilibrated metamorphic triple junctions between them and trace element depletions at the boundaries. These trends suggest extraction of trace elements by a magma along those relict grain boundaries during a reheating event. Two other samples show evidence of fracturing and annealing, with trace element mobility within grains. One sample appears to have remained a closed system during annealing (MET 01084), while the other has interacted with a fluid or magma to move elements along annealed cracks (LEW 88679). These relict features establish that the history of diogenite pyroxenes is more complex than their homogeneous major element compositions imply. Many trace element analyses are performed using either bulk rock techniques or spot analyses, and these maps suggest those types of analyses likely sample variable trace element abundances even within otherwise homogeneous grains, rendering their results difficult to interpret. Consequently, the correlation discussed previously between trace elements and short lived isotopes has likely been impacted by post-magmatic alteration and cannot solely be used to argue that HED's cannot be derived from Vesta. Furthermore, these maps strengthen the HED-Vesta link by suggesting that the diogenites underwent an extended history of cooling, reheating, partial melting, impact fragmentation, fluid/melt migration, and finally re-annealing. These complicated steps are particularly noteworthy as the pyroxene cumulate layer on the asteroid Vesta should lie beneath the eucritic crust, implying that early impacts were able to penetrate that crust and affect the diogenite layers early in Vesta's history, most likely while the asteroid was still hot enough to allow for annealing and regrowth of fractured grains. [1] Schiller et al. (2011) [2] Milman-Barris et al. (2008)

International Asteroid Mission (IAM)

NASA Astrophysics Data System (ADS)

Yamaguchi, Ryuuji

1991-07-01

International Asteroid Mission (IAM) is a program aimed at developing resources of asteroids abundantly existing near the earth. This report describes the research results of design project of the International Space University (ISU) held in 1990 at Tront-York University. ISU research and asteroid survey results, and the manned asteroid mining mission are outlined. Classification of asteroids existing near the earth and asteroid resource processing and use analyses are conducted. Asteroid selection flow charts are introduced, and the 1982HR-Orpheus is selected as a candidate asteroid because it takes an approaching orbit toward the earth, requires small delta V, and possesses abundant carbonaceous chondrites. Characteristics of 1982HR-Orpheus are presented. Mission requirements, mission outlines, transportation systems, and mining and processing systems for manned asteroid mining missions are presented.

Aercibo S-band radar program

NASA Technical Reports Server (NTRS)

Campbell, Donald B.

1988-01-01

The high powered 12.6 cm wavelength radar on the 1000-ft Arecibo reflector is utilized for a number of solar system studies. Chief among these are: (1) surface reflectivity mapping of Venus, Mercury and the Moon. Resolutions achievable on Venus are less than 1.5 km over some areas, for Mercury about 30 km and for the Moon 200 m at present, (2) high time resolution ranging measurements to the surfaces of the terrestrial planets. These measurements are used to obtain profiles and scattering parameters in the equatorial region. They can also be used to test relativistic and gravitational theories by monitoring the rate of advance of the perihelion of the orbit of Mercury and placing limits on the stability of the gravitational constant, (3) measurements of the orbital parameters, figure, spin vector and surface properties of asteroids and comets, and (4) observations of the Galilean Satellites of Jupiter and the satellites of Mars, Phobos and Deimos. The Galilean Satellites of Jupiter were re-observed with the 12.6 cm radar for the first time since 1981. Much more accurate measurements of the scattering properties of the three icy satellites were obtained that generally confirmed previous observations. Unambiguous measurements of the cross section and circular polarizations ratio of Io were also obtained for the first time. The radar scattering properties of four mainbelt asteroids and one near-earth asteroid were studied.

FEMA Asteroid Impact Tabletop Exercise Simulations

DOE PAGES

Boslough, Mark; Jennings, Barbara; Carvey, Brad; ...

2015-05-19

We describe the computational simulations and damage assessments that we provided in support of a tabletop exercise (TTX) at the request of NASA's Near-Earth Objects Program Office. The overall purpose of the exercise was to assess leadership reactions, information requirements, and emergency management responses to a hypothetical asteroid impact with Earth. The scripted exercise consisted of discovery, tracking, and characterization of a hypothetical asteroid; inclusive of mission planning, mitigation, response, impact to population, infrastructure and GDP, and explicit quantification of uncertainty. Participants at the meeting included representatives of NASA, Department of Defense, Department of State, Department of Homeland Security/Federal Emergencymore » Management Agency (FEMA), and the White House. The exercise took place at FEMA headquarters. Sandia's role was to assist the Jet Propulsion Laboratory (JPL) in developing the impact scenario, to predict the physical effects of the impact, and to forecast the infrastructure and economic losses. We ran simulations using Sandia's CTH hydrocode to estimate physical effects on the ground, and to produce contour maps indicating damage assessments that could be used as input for the infrastructure and economic models. We used the FASTMap tool to provide estimates of infrastructure damage over the affected area, and the REAcct tool to estimate the potential economic severity expressed as changes to GDP (by nation, region, or sector) due to damage and short-term business interruptions.« less

FEMA Asteroid Impact Tabletop Exercise Simulations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Boslough, Mark; Jennings, Barbara; Carvey, Brad

We describe the computational simulations and damage assessments that we provided in support of a tabletop exercise (TTX) at the request of NASA's Near-Earth Objects Program Office. The overall purpose of the exercise was to assess leadership reactions, information requirements, and emergency management responses to a hypothetical asteroid impact with Earth. The scripted exercise consisted of discovery, tracking, and characterization of a hypothetical asteroid; inclusive of mission planning, mitigation, response, impact to population, infrastructure and GDP, and explicit quantification of uncertainty. Participants at the meeting included representatives of NASA, Department of Defense, Department of State, Department of Homeland Security/Federal Emergencymore » Management Agency (FEMA), and the White House. The exercise took place at FEMA headquarters. Sandia's role was to assist the Jet Propulsion Laboratory (JPL) in developing the impact scenario, to predict the physical effects of the impact, and to forecast the infrastructure and economic losses. We ran simulations using Sandia's CTH hydrocode to estimate physical effects on the ground, and to produce contour maps indicating damage assessments that could be used as input for the infrastructure and economic models. We used the FASTMap tool to provide estimates of infrastructure damage over the affected area, and the REAcct tool to estimate the potential economic severity expressed as changes to GDP (by nation, region, or sector) due to damage and short-term business interruptions.« less

Autonomic deficit not the cause of death in West Nile virus neurological disease.

PubMed

Wang, Hong; Siddharthan, Venkatraman; Hall, Jeffery O; Morrey, John D

2014-02-01

Some West Nile virus (WNV)-infected patients have been reported to manifest disease signs consistent with autonomic dysfunction. Moreover, WNV infection in hamsters causes reduced electromyography amplitudes of the gastrointestinal tract and diaphragm, and they have reduced heart rate variability (HRV), a read-out for the parasympathetic autonomic function. HRV was measured in both hamsters and mice using radiotelemetry to identify autonomic deficits. To identify areas of WNV infection within the medulla oblongata mapping to the dorsal motor nucleus of vagus (DMNV) and the nucleus ambiguus (NA), fluorogold dye was injected into the cervical trunk of the vagus nerve of hamsters. As a measurement of the loss of parasympathetic function, tachycardia was monitored contiguously over the time course of the disease. Decrease of HRV did not occur in all animals that died, which is not consistent with autonomic function being the mechanism of death. Fluorogold-stained cells in the DMNV were not stained for WNV envelope protein. Fourteen percent of WNV-stained cells were co-localized with fluorogold-stained cells in the NA. These data, however, did not suggest a fatal loss of autonomic functions because tachycardia was not observed in WNV-infected hamsters. Parasympathetic autonomic function deficit was not a likely mechanism of death in WNV-infected rodents and possibly in human patients with fatal WN neurological disease.

Integrated multi-sensor fusion for mapping and localization in outdoor environments for mobile robots

NASA Astrophysics Data System (ADS)

Emter, Thomas; Petereit, Janko

2014-05-01

An integrated multi-sensor fusion framework for localization and mapping for autonomous navigation in unstructured outdoor environments based on extended Kalman filters (EKF) is presented. The sensors for localization include an inertial measurement unit, a GPS, a fiber optic gyroscope, and wheel odometry. Additionally a 3D LIDAR is used for simultaneous localization and mapping (SLAM). A 3D map is built while concurrently a localization in a so far established 2D map is estimated with the current scan of the LIDAR. Despite of longer run-time of the SLAM algorithm compared to the EKF update, a high update rate is still guaranteed by sophisticatedly joining and synchronizing two parallel localization estimators.

Getting to Know Vesta

NASA Astrophysics Data System (ADS)

Martel, L. M. V.

2007-11-01

The howardite-eucrite-diogenite class of meteorites (called the HEDs) are rocks formed from basaltic magmas. What makes them special is that the HEDs have reflectance spectra in the visible and near-infrared that match spectra from asteroid 4 Vesta, implying Vesta is their parent body. We will soon have new data from Vesta from NASA's Dawn orbiting spacecraft, which carries a gamma ray and neutron detector, dubbed the GRaND instrument. GRaND will orbit asteroid 4 Vesta and dwarf planet Ceres and map the near-surface abundances of major and minor elements, and volatiles found in ices (in the case of Ceres) such as hydrogen, carbon, nitrogen, and oxygen. Tomohiro Usui and Harry Y. (Hap) McSween, Jr. (University of Tennessee) have proposed a way to interpret the upcoming GRaND data from Vesta based on well-analyzed samples of HED meteorites and a mixing model they devised that uses element ratios of the three expected rock types. In turn, the new data from Vesta may help scientists better understand the geologic context for HED meteorites.

Mineralogical Mapping of Asteroid Itokawa using Calibrated Hayabusa AMICA images and NIRS Spectrometer Data

NASA Astrophysics Data System (ADS)

Le Corre, Lucille; Becker, Kris J.; Reddy, Vishnu; Li, Jian-Yang; Bhatt, Megha

2016-10-01

The goal of our work is to restore data from the Hayabusa spacecraft that is available in the Planetary Data System (PDS) Small Bodies Node. More specifically, our objectives are to radiometrically calibrate and photometrically correct AMICA (Asteroid Multi-Band Imaging Camera) images of Itokawa. The existing images archived in the PDS are not in reflectance and not corrected from the effect of viewing geometry. AMICA images are processed with the Integrated Software for Imagers and Spectrometers (ISIS) system from USGS, widely used for planetary image analysis. The processing consists in the ingestion of the images in ISIS (amica2isis), updates to AMICA start time (sumspice), radiometric calibration (amicacal) including smear correction, applying SPICE ephemeris, adjusting control using Gaskell SUMFILEs (sumspice), projecting individual images (cam2map) and creating global or local mosaics. The application amicacal has also an option to remove pixels corresponding to the polarizing filters on the left side of the image frame. The amicacal application will include a correction for the Point Spread Function. The last version of the PSF published by Ishiguro et al. in 2014 includes correction for the effect of scattered light. This effect is important to correct because it can add 10% level in error and is affecting mostly the longer wavelength filters such as zs and p. The Hayabusa team decided to use the color data for six of the filters for scientific analysis after correcting for the scattered light. We will present calibrated data in I/F for all seven AMICA color filters. All newly implemented ISIS applications and map projections from this work have been or will be distributed to the community via ISIS public releases. We also processed the NIRS spectrometer data, and we will perform photometric modeling, then apply photometric corrections, and finally extract mineralogical parameters. The end results will be the creation of pyroxene chemistry and olivine/pyroxene ratio maps of Itokawa using NIRS and AMICA map products. All the products from this work will be archived on the PDS website. This work was supported by NASA Planetary Missions Data Analysis Program grant NNX13AP27G.

The planetary spatial data infrastructure for the OSIRIS-REx mission

NASA Astrophysics Data System (ADS)

DellaGiustina, D. N.; Selznick, S.; Nolan, M. C.; Enos, H. L.; Lauretta, D. S.

2017-12-01

The primary objective of the Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer (OSIRIS-REx) mission is to return a pristine sample of carbonaceous material from primitive asteroid (101955) Bennu. Understanding the geospatial context of Bennu is critical to choosing a sample-site and also linking the nature of the sample to the global properties of Bennu and the broader asteroid population. We established a planetary spatial data infrastructure (PSDI) support the primary objective of OSIRIS-REx. OSIRIS-REx is unique among planetary missions in that all remote sensing is performed to support the sample return objective. Prior to sampling, OSIRIS-REx will survey Bennu for nearly two years to select and document the most valuable primary and backup sample sites. During this period, the mission will combine coordinated observations from five science instruments into four thematic maps: deliverability, safety, sampleability, and scientific value. The deliverability map assesses the probability that the flight dynamics team can deliver the spacecraft to the desired location. The safety map indicates the probability that physical hazards are present at the sample-site. The sampleability map quantifies the probability that a sample can be successfully collected from the surface. Finally, the scientific value map shows the probability that the collected sample contains organics and volatiles and also places the sample site in a definitive geological context relative to Bennu's history. The OSIRIS-REx Science Processing and Operations Center (SPOC) serves as the operational PSDI for the mission. The SPOC is tasked with intake of all data from the spacecraft and other ground sources and assimilating these data into a single comprehensive system for processing and presentation. The SPOC centralizes all geographic data of Bennu in a relational database and ensures that standardization and provenance are maintained throughout proximity operations.The SPOC is a live system that handles inputs from spacecraft and science instrument telemetry, and science data producers. It includes multiple levels of validation, both automated and manual to process all data in a robust and reliable manner and eventually deliver it to the NASA Planetary Data System for archive.

Synopsis of Precision Landing and Hazard Avoidance (PL&HA) Capabilities for Space Exploration

NASA Technical Reports Server (NTRS)

Robertson, Edward A.

2017-01-01

Until recently, robotic exploration missions to the Moon, Mars, and other solar system bodies relied upon controlled blind landings. Because terrestrial techniques for terrain relative navigation (TRN) had not yet been evolved to support space exploration, landing dispersions were driven by the capabilities of inertial navigation systems combined with surface relative altimetry and velocimetry. Lacking tight control over the actual landing location, mission success depended on the statistical vetting of candidate landing areas within the predicted landing dispersion ellipse based on orbital reconnaissance data, combined with the ability of the spacecraft to execute a controlled landing in terms of touchdown attitude, attitude rates, and velocity. In addition, the sensors, algorithms, and processing technologies required to perform autonomous hazard detection and avoidance in real time during the landing sequence were not yet available. Over the past decade, NASA has invested substantial resources on the development, integration, and testing of autonomous precision landing and hazard avoidance (PL&HA) capabilities. In addition to substantially improving landing accuracy and safety, these autonomous PL&HA functions also offer access to targets of interest located within more rugged and hazardous terrain. Optical TRN systems are baselined on upcoming robotic landing missions to the Moon and Mars, and NASA JPL is investigating the development of a comprehensive PL&HA system for a Europa lander. These robotic missions will demonstrate and mature PL&HA technologies that are considered essential for future human exploration missions. PL&HA technologies also have applications to rendezvous and docking/berthing with other spacecraft, as well as proximity navigation, contact, and retrieval missions to smaller bodies with microgravity environments, such as asteroids.

ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results

NASA Astrophysics Data System (ADS)

Theil, S.; Ammann, N.; Andert, F.; Franz, T.; Krüger, H.; Lehner, H.; Lingenauber, M.; Lüdtke, D.; Maass, B.; Paproth, C.; Wohlfeil, J.

2018-03-01

Since 2010 the German Aerospace Center is working on the project Autonomous Terrain-based Optical Navigation (ATON). Its objective is the development of technologies which allow autonomous navigation of spacecraft in orbit around and during landing on celestial bodies like the Moon, planets, asteroids and comets. The project developed different image processing techniques and optical navigation methods as well as sensor data fusion. The setup—which is applicable to many exploration missions—consists of an inertial measurement unit, a laser altimeter, a star tracker and one or multiple navigation cameras. In the past years, several milestones have been achieved. It started with the setup of a simulation environment including the detailed simulation of camera images. This was continued by hardware-in-the-loop tests in the Testbed for Robotic Optical Navigation (TRON) where images were generated by real cameras in a simulated downscaled lunar landing scene. Data were recorded in helicopter flight tests and post-processed in real-time to increase maturity of the algorithms and to optimize the software. Recently, two more milestones have been achieved. In late 2016, the whole navigation system setup was flying on an unmanned helicopter while processing all sensor information onboard in real time. For the latest milestone the navigation system was tested in closed-loop on the unmanned helicopter. For that purpose the ATON navigation system provided the navigation state for the guidance and control of the unmanned helicopter replacing the GPS-based standard navigation system. The paper will give an introduction to the ATON project and its concept. The methods and algorithms of ATON are briefly described. The flight test results of the latest two milestones are presented and discussed.

Understanding Asteroid Disruptions Using Very Young Dust Bands

NASA Astrophysics Data System (ADS)

Espy Kehoe, Ashley J.; Kehoe, T. J.; Colwell, J. E.; Dermott, S. F.

2013-10-01

Zodiacal dust bands are structures that result from the dynamical sculpting of the dust particles released in the catastrophic disruption of an asteroid. Partial dust bands are the recently discovered younger siblings of the dust bands, ones that are still forming and due to very recent disruptions within the last few hundred thousand years. During the early stages of formation, these structures retain information on the original catastrophic disruptions that produced them (since the dust has not yet been lost or significantly altered by orbital or collisional decay). The first partial dust band, at about 17 degrees latitude, was revealed using a very precise method of co-adding the IRAS data set. We have shown that these partial dust bands exhibit structure consistent with a forming band, can be used to constrain the original size distribution of the dust produced in the catastrophic disruption of an asteroid, and these very young structures also allow a much better estimate of the total amount of dust released in the disruption. In order to interpret the observations and constrain the parameters of the dust injected into the cloud following an asteroid disruption, we have developed detailed models of the dynamical evolution of the dust that makes up the band. We model the dust velocity distribution resulting from the initial impact and then track the orbital evolution of the dust under the effects of gravitational perturbations from all the planets as well as radiative forces of Poynting-Robertson drag, solar wind drag and radiation pressure and use these results to produce maps of the thermal emission. Through the comparison of our newly completed dynamical evolution models with the coadded observations, we can put constraints on the parameters of dust producing the band. We confirm the source of the band as the very young Emilkowalski cluster ( <250,000 years; Nesvorny et al., 2003) and present our most recent estimates of the size-distribution and cross-sectional area of material in the band and discuss the implications of these constraints on the temporal evolution of the zodiacal cloud and to the structure of the parent asteroid.

Multi-Autonomous Ground-robotic International Challenge (MAGIC) 2010

DTIC Science & Technology

2010-12-14

SLAM technique since this setup, having a LIDAR with long-range high-accuracy measurement capability, allows accurate localization and mapping more...achieve the accuracy of 25cm due to the use of multi-dimensional information. OGM is, similarly to SLAM , carried out by using LIDAR data. The OGM...a result of the development and implementation of the hybrid feature-based/scan-matching Simultaneous Localization and Mapping ( SLAM ) technique, the

Magician Simulator: A Realistic Simulator for Heterogenous Teams of Autonomous Robots. MAGIC 2010 Challenge

DTIC Science & Technology

2011-02-07

Sensor UGVs (SUGV) or Disruptor UGVs, depending on their payload. The SUGVs included vision, GPS/IMU, and LIDAR systems for identifying and tracking...employed by all the MAGICian research groups. Objects of interest were tracked using standard LIDAR and Computer Vision template-based feature...tracking approaches. Mapping was solved through Multi-Agent particle-filter based Simultaneous Locali- zation and Mapping ( SLAM ). Our system contains

Characterizing the Lunar Particulate Atmosphere with the Autonomous Lunar Dust Observer (ALDO)

NASA Astrophysics Data System (ADS)

Grund, C. J.; Colwell, J. A.

2008-07-01

Photoelectric effects and solar wind charge the lunar surface, levitating particles. ALDO maps suspended dust in 3D using lidar. Phenomenology and instrument modeling, applications, projected performance and concepts of operation are discussed.

Mapping Vesta: First Results from Dawn's Survey Orbit

NASA Technical Reports Server (NTRS)

Jaumann, R.; Yingst, A. R.; Pieters, C. M.; Russell, C. T.; Raymond, C. A.; Neukum, G.; Mottola, S.; Keller, H. U.; Nathues, A.; Sierks, H.;

Autonomous vehicle motion control, approximate maps, and fuzzy logic

NASA Technical Reports Server (NTRS)

Ruspini, Enrique H.

1993-01-01

Progress on research on the control of actions of autonomous mobile agents using fuzzy logic is presented. The innovations described encompass theoretical and applied developments. At the theoretical level, results of research leading to the combined utilization of conventional artificial planning techniques with fuzzy logic approaches for the control of local motion and perception actions are presented. Also formulations of dynamic programming approaches to optimal control in the context of the analysis of approximate models of the real world are examined. Also a new approach to goal conflict resolution that does not require specification of numerical values representing relative goal importance is reviewed. Applied developments include the introduction of the notion of approximate map. A fuzzy relational database structure for the representation of vague and imprecise information about the robot's environment is proposed. Also the central notions of control point and control structure are discussed.

Mapping Near-Earth Hazards

NASA Astrophysics Data System (ADS)

Kohler, Susanna

2016-06-01

How can we hunt down all the near-Earth asteroids that are capable of posing a threat to us? A new study looks at whether the upcoming Large Synoptic Survey Telescope (LSST) is up to the job.Charting Nearby ThreatsLSST is an 8.4-m wide-survey telescope currently being built in Chile. When it goes online in 2022, it will spend the next ten years surveying our sky, mapping tens of billions of stars and galaxies, searching for signatures of dark energy and dark matter, and hunting for transient optical events like novae and supernovae. But in its scanning, LSST will also be looking for asteroids that approach near Earth.Cumulative number of near-Earth asteroids discovered over time, as of June 16, 2016. [NASA/JPL/Chamberlin]Near-Earth objects (NEOs) have the potential to be hazardous if they cross Earths path and are large enough to do significant damage when they impact Earth. Earths history is riddled with dangerous asteroid encounters, including the recent Chelyabinsk airburst in 2013, the encounter that caused the kilometer-sized Meteor Crater in Arizona, and the impact thought to contribute to the extinction of the dinosaurs.Recognizing the potential danger that NEOs can pose to Earth, Congress has tasked NASA with tracking down 90% of NEOs larger than 140 meters in diameter. With our current survey capabilities, we believe weve discovered roughly 25% of these NEOs thus far. Now a new study led by Tommy Grav (Planetary Science Institute) examines whether LSST will be able to complete this task.Absolute magnitude, H, of asynthetic NEO population. Though these NEOs are all larger than 140 m, they have a large spread in albedos. [Grav et al. 2016]Can LSST Help?Based on previous observations of NEOs and resulting predictions for NEO properties and orbits, Grav and collaborators simulate a synthetic population of NEOs all above 140 m in size. With these improved population models, they demonstrate that the common tactic of using an asteroids absolute magnitude as a proxy for its size is a poor approximation, due to asteroids large spread in albedos. Roughly 23% of NEOs larger than 140 m have absolute magnitudes fainter than H = 22 mag, the authors show which is the value usually assumed as the default absolute magnitude of a 140 m NEO.Fraction of NEOs weve detected as a function of time based on the authors simulations of the current surveys (red), LSST plus the current surveys (black), NEOCam plus the current surveys (blue), and the combined result for all surveys (green). [Grav et al. 2016]Taking this into account, Grav and collaborators then use information about the planned LSST survey strategies and detection limits to test what fraction of this synthetic NEO population LSST will be able to detect in its proposed 10-year mission.The authors find that, within 10 years, LSST will likely be able to detect only 63% of NEOs larger than 140 m. Luckily, LSST may not have to work alone; in addition to the current surveys in operation, a proposed infrared space-based survey mission called NEOCam is planned for launch in 2021. If NEOCam is funded, it will complement LSSTs discovery capabilities, potentially allowing the two surveys to jointly achieve the 90% detection goal within a decade.CitationT. Grav et al 2016 AJ 151 172. doi:10.3847/0004-6256/151/6/172

First results in terrain mapping for a roving planetary explorer

NASA Technical Reports Server (NTRS)

Krotkov, E.; Caillas, C.; Hebert, M.; Kweon, I. S.; Kanade, Takeo

1989-01-01

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Hereditary sensory and autonomic neuropathy type I in a Chinese family: British C133W mutation exists in the Chinese.

PubMed

Bi, Hongyan; Gao, Yunying; Yao, Sheng; Dong, Mingrui; Headley, Alexander Peter; Yuan, Yun

2007-10-01

Hereditary sensory and autonomic neuropathy type I (HSAN I) is an autosomal dominant disorder of the peripheral nervous system characterized by marked progressive sensory loss, with variable autonomic and motor involvement. The HSAN I locus maps to chromosome 9q22.1-22.3 and is caused by mutations in the gene coding for serine palmitoyltransferase long chain base subunit 1 (SPTLC1). Sequencing in HSAN I families have previously identified mutations in exons 5, 6 and 13 of this gene. Here we report the clinical, electrophysiological and pathological findings of a proband in a Chinese family with HSAN I. The affected members showed almost typical clinical features. Electrophysiological findings showed an axonal, predominantly sensory, neuropathy with motor and autonomic involvement. Sural nerve biopsy showed loss of myelinated and unmyelinated fibers. SPTLC1 mutational analysis revealed the C133W mutation, a mutation common in British HSAN I families.

Mapping planetary caves with an autonomous, heterogeneous robot team

NASA Astrophysics Data System (ADS)

Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

The OSIRIS-REx Thermal Emission Spectrometer (OTES)

NASA Astrophysics Data System (ADS)

Hamilton, Victoria; Christensen, Philip

2014-05-01

The OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer) mission is a planetary science mission that will study and return a sample from the carbonaceous asteroid Bennu (1999 RQ36). It is the third mission selected under NASA's New Frontiers Program, and is scheduled to be launched in September of 2016 [1]. The spacecraft will carry a suite of instruments designed to map the physical and mineralogical/chemical properties of Bennu at extremely high spatial resolution (down to cm-scales) to both characterize the asteroid in detail (providing context for the returned sample and data for comparison to astronomical observations) and select a safe and scientifically compelling sample site. The OSIRIS-REx Thermal Emission Spectrometer (OTES) is an uncooled, FTIR point spectrometer that will map the thermal flux and spectral properties of the asteroid Bennu to characterize the Yarkovsky effect and map the surface mineralogy. OTES measures from ~5 - 50 µm with a signal to noise ratio (SNR) of >325 between 7.4 and 33.3 μm for a 325 K target. The design of the spectrometer is heritage from the Mars Global Surveyor TES and the Mars Exploration Rovers Mini-TES instruments. The heart of the instrument is a Michelson interferometer that collects one interferogram every two seconds (where each two-second data acquisition is called an ICK, for Incremental Counter Keeper). OTES's spectral resolution is 10 cm-1 and its field of view is 8 mrad, which is achieved with a 15.2-cm f/3.91 Ritchey-Chretien telescope. At Bennu, OTES will have an accuracy of better than 3% and a precision (noise equivalent spectral radiance, NESR) of ≤2.3x10-8 W cm-2 sr-1 /cm-1 between 300 and 1350 cm-1. These values are sufficient to quantify the thermal flux responsible for the Yarkovsky effect and detect signatures of key minerals having band depths ≥5%. OTES in-flight calibration will be achieved via a two-point calibration that uses space and an internal, conical blackbody calibration target. The first in-flight observations will be collected during Earth gravity assist, which also will permit verification of co-alignment with the OSIRIS-REx OVIRS (visible and near infrared) spectrometer [2]. Mapping of the thermal and compositional variation of Bennu will take place at global (~40 m/pixel) and sample site (~4 m/pixel) scales over several mission phases and at multiple times of day, providing a comprehensive data set for thermophysical and compositional studies. [1] Lauretta, D. S. and the OSIRIS-REx Team (2012) Lunar and Planet. Sci., 43, #2491. [2] Simon-Miller, A. A. and D. C. Reuter (2013) Lunar and Planet. Sci., 44, #1100.

A Radiation-Hard Silicon Drift Detector Array for Extraterrestrial Element Mapping

NASA Technical Reports Server (NTRS)

Gaskin, Jessica; Chen, Wei; De Geronimo, Gianluigi; Keister, Jeff; Li, Shaouri; Li, Zhen; Siddons, David P.; Smith, Graham

2011-01-01

Measurement of x-rays from the surface of objects can tell us about the chemical composition Absorption of radiation causes characteristic fluorescence from material being irradiated. By measuring the spectrum of the radiation and identifying lines in the spectrum, the emitting element (s) can be identified. This technique works for any object that has no absorbing atmosphere and significant surface irradiation : Our Moon, the icy moons of Jupiter, the moons of Mars, the planet Mercury, Asteroids and Comets

Zodiacal light and the asteroid belt - The view from Pioneer 10

NASA Technical Reports Server (NTRS)

Hanner, M. S.; Weinberg, J. L.; Deshields, L. M., II; Green, B. A.; Toller, G. N.

1974-01-01

Brightnesses measured by the Pioneer 10 imaging photopolarimeter in two regions of sky were compared on sky maps at sun-spacecraft distances from 2.4 to 4.8 AU to determine the spatial extent of the zodiacal light. Data in the ecliptic at elongations greater than 90 deg show negligible contribution to the zodiacal light beyond 3.3 AU, the 2:1 Jupiter resonance. The zodiacal light brightness at 2.4 AU is less than 10% of that observed at 1 AU.

Mid-IR Spectra of HED Meteorites and Synthetic Pyroxenes: Reststrahlen Features (9-12 micron)

NASA Technical Reports Server (NTRS)

Lim, Lucy F.; Emery, Joshua P.; Moskovitz, Nicholas A.

2010-01-01

In an earlier study. Hamilton (2000) mapped the behavior of the 9-12 micron reststrahlen structures with composition in a suite of primarily natural terrestrial pyroxenes. Here we examine the same set of reststrahlen features in the spectra of diogenites and eucrites and place them in the context of the terrestrial samples and of a suite of well-characterized synthetic pyroxenes. The results will be useful to the interpretation of mid-IR spectra of 4 Vesta and other basaltic asteroids.

Lunar and Planetary Science XXXVI, Part 4

NASA Technical Reports Server (NTRS)

2005-01-01

Contents include the following: High-Resolution Electron Energy-Loss Spectroscopy (HREELS) Using a Monochromated TEM/STEM. Dynamical Evolution of Planets in Open Clusters. Experimental Petrology of the Basaltic Shergottite Yamato 980459: Implications for the Thermal Structure of the Martian Mantle. Cryogenic Reflectance Spectroscopy of Highly Hydrated Sulfur-bearing Salts. Implications for Core Formation of the Earth from High Pressure-Temperature Au Partitioning Experiments. Uranium-Thorium Cosmochronology. Protracted Core Differentiation in Asteroids from 182Hf-182W Systematics in the Eagle Station Pallasite. Maximizing Mission Science Return Through Use of Spacecraft Autonomy: Active Volcanism and the Autonomous Sciencecraft Experiment. Classification of Volcanic Eruptions on Io and Earth Using Low-Resolution Remote Sensing Data. Isotopic Mass Fractionation Laws and the Initial Solar System (sup26)Al/(sup27)Al Ratio. Catastrophic Disruption of Porous and Solid Ice Bodies (sup187)Re-(sup187)Os Isotope Disturbance in LaPaz Mare Basalt Meteorites. Comparative Petrology and Geochemistry of the LaPaz Mare Basalt Meteorites. A Comparison of the Structure and Bonding of Carbon in Apex Chert Kerogenous Material and Fischer-Tropsch-Type Carbons. Broad Spectrum Characterization of Returned Samples: Orientation Constraints of Small Samples on X-Ray and Other Spectroscopies. Apollo 14 High-Ti Picritic Glass: Oxidation/Reduction by Condensation of Alkali Metals. New Lunar Meteorites from Oman: Dhofar 925, 960 and 961. The First Six Months of Iapetus Observations by the Cassini ISS Camera. First Imaging Results from the Iapetus B/C Flyby of the Cassini Spacecraft. Radiative Transfer Calculations for the Atmosphere of Mars in the 200-900 nm Range. Geomorphologic Map of the Atlantis Basin, Terra Sirenum, Mars. The Meaning of Iron 60: A Nearby Supernova Injected Short-lived Radionuclides into Our Protoplanetary Disk.

The Asteroid Impact Mission - Deflection Demonstration (AIM - D2)

NASA Astrophysics Data System (ADS)

Küppers, M.; Michel, P.; Carnelli, I.

2017-09-01

The Asteroid Impact Mission (AIM) is ESA's contribution to the international Asteroid Impact Deflection Assessment (AIDA) cooperation, targeting the demonstration of deflection of a hazardous near-earth asteroid. AIM will also be the first in-depth investigation of a binary asteroid and make measurements that are relevant for the preparation of asteroid resource utilisation. AIM is foreseen to rendezvous with the binary near-Earth asteroid (65803) Didymos and to observe the system before, during, and after the impact of NASA's Double Asteroid Redirection Test (DART) spacecraft. Here we describe the observations to be done by the simplified version Asteroid Impact Mission - Deflection Demonstration (AIM-D2) and show that most of the original AIM objectives can still be achieved.

Effects of YORP-induced rotational fission on the small size end of the Main Belt asteroid size distribution

NASA Astrophysics Data System (ADS)

Rossi, Alessandro; Jacobson, S.; Marzari, F.; Scheeres, D.; Davis, D. R.

2013-10-01

From the results of a comprehensive asteroid population evolution model, we conclude that the YORP-induced rotational fission hypothesis has strong repercussions for the small size end of the Main Belt asteroid size frequency distribution. These results are consistent with observed asteroid population statistics. The foundation of this model is the asteroid rotation model of Marzari et al. (2011), which incorporates both the YORP effect and collisional evolution. This work adds to that model the rotational fission hypothesis (i.e. when the rotation rate exceeds a critical value, erosion and binary formation occur). The YORP effect timescale for large asteroids with diameters D > ~6 km is longer than the collision timescale in the Main Belt, thus the frequency of large asteroids is determined by a collisional equilibrium (e.g. Bottke 2005), but for small asteroids with diameters D < ~6 km, the asteroid population evolution model confirms that YORP-induced rotational fission destroys small asteroids more frequently than collisions. Therefore, the frequency of these small asteroids is determined by an equilibrium between the creation of new asteroids out of the impact debris of larger asteroids and the destruction of these asteroids by YORP-induced rotational fission. By introducing a new source of destruction that varies strongly with size, YORP-induced rotational fission alters the slope of the size frequency distribution. Using the outputs of the asteroid population evolution model and a 1-D collision evolution model, we can generate this new size frequency distribution and it matches the change in slope observed by the SKADS survey (Gladman 2009). This agreement is achieved with both an accretional power-law or a truncated “Asteroids were Born Big” size frequency distribution (Weidenschilling 2010, Morbidelli 2009).

Near-Earth Asteroid Returned Sample (NEARS)

NASA Technical Reports Server (NTRS)

Shoemaker, Eugene M.; Cheng, Andrew F.

1994-01-01

The concept of the Near-Earth Asteroid Returned Sample (NEARS) mission is to return to Earth 10-100 g from each of four to six sites on a near-Earth asteroid and to perform global characterization of the asteroid and measure mass, volume, and density to ten percent. The target asteroid for the mission is 4660 Nereus, probably a primitive C-type asteroid, with the alternate target being 1989ML, an extremely accessible asteroid of unknown type. Launch dates will be 1998, 2000, 2002, and 2004 on the Delta II-7925 launch vehicle. The mission objectives are three-fold. (1) Provide first direct and detailed petrological, chemical, age, and isotopic characterization of a near-Earth asteroid and relate it to terrestrial, lunar, and meteoritic materials. (2) Sample the asteroid regolith and characterize any exotic fragments. (3) Identify heterogeneity in the asteroid's isotopic properties, age, and elemental chemistry.

Asteroid size distributions for the main belt and for asteroid families

NASA Astrophysics Data System (ADS)

Kazantzev, A.; Kazantzeva, L.

2017-12-01

The asteroid-size distribution for he Eos family was constructed. The WISE database containing the albedo p and the size D of over 80,000 asteroids was used. The b parameter of the power-law dependence has a minimum at some average values of the asteroid size of the family. A similar dependence b(D) exists for the whole asteroid belt. An assumption on the possible similarity of the formation mechanisms of the asteroid belt as a whole and separate families is made.

Self-Consistent Chaotic Transport in a High-Dimensional Mean-Field Hamiltonian Map Model

DOE PAGES

Martínez-del-Río, D.; del-Castillo-Negrete, D.; Olvera, A.; ...

2015-10-30

We studied the self-consistent chaotic transport in a Hamiltonian mean-field model. This model provides a simplified description of transport in marginally stable systems including vorticity mixing in strong shear flows and electron dynamics in plasmas. Self-consistency is incorporated through a mean-field that couples all the degrees-of-freedom. The model is formulated as a large set of N coupled standard-like area-preserving twist maps in which the amplitude and phase of the perturbation, rather than being constant like in the standard map, are dynamical variables. Of particular interest is the study of the impact of periodic orbits on the chaotic transport and coherentmore » structures. Furthermore, numerical simulations show that self-consistency leads to the formation of a coherent macro-particle trapped around the elliptic fixed point of the system that appears together with an asymptotic periodic behavior of the mean field. To model this asymptotic state, we introduced a non-autonomous map that allows a detailed study of the onset of global transport. A turnstile-type transport mechanism that allows transport across instantaneous KAM invariant circles in non-autonomous systems is discussed. As a first step to understand transport, we study a special type of orbits referred to as sequential periodic orbits. Using symmetry properties we show that, through replication, high-dimensional sequential periodic orbits can be generated starting from low-dimensional periodic orbits. We show that sequential periodic orbits in the self-consistent map can be continued from trivial (uncoupled) periodic orbits of standard-like maps using numerical and asymptotic methods. Normal forms are used to describe these orbits and to find the values of the map parameters that guarantee their existence. Numerical simulations are used to verify the prediction from the asymptotic methods.« less

Self-Consistent Chaotic Transport in a High-Dimensional Mean-Field Hamiltonian Map Model

DOE Office of Scientific and Technical Information (OSTI.GOV)

Martínez-del-Río, D.; del-Castillo-Negrete, D.; Olvera, A.

We studied the self-consistent chaotic transport in a Hamiltonian mean-field model. This model provides a simplified description of transport in marginally stable systems including vorticity mixing in strong shear flows and electron dynamics in plasmas. Self-consistency is incorporated through a mean-field that couples all the degrees-of-freedom. The model is formulated as a large set of N coupled standard-like area-preserving twist maps in which the amplitude and phase of the perturbation, rather than being constant like in the standard map, are dynamical variables. Of particular interest is the study of the impact of periodic orbits on the chaotic transport and coherentmore » structures. Furthermore, numerical simulations show that self-consistency leads to the formation of a coherent macro-particle trapped around the elliptic fixed point of the system that appears together with an asymptotic periodic behavior of the mean field. To model this asymptotic state, we introduced a non-autonomous map that allows a detailed study of the onset of global transport. A turnstile-type transport mechanism that allows transport across instantaneous KAM invariant circles in non-autonomous systems is discussed. As a first step to understand transport, we study a special type of orbits referred to as sequential periodic orbits. Using symmetry properties we show that, through replication, high-dimensional sequential periodic orbits can be generated starting from low-dimensional periodic orbits. We show that sequential periodic orbits in the self-consistent map can be continued from trivial (uncoupled) periodic orbits of standard-like maps using numerical and asymptotic methods. Normal forms are used to describe these orbits and to find the values of the map parameters that guarantee their existence. Numerical simulations are used to verify the prediction from the asymptotic methods.« less

Social technology restriction alters state-anxiety but not autonomic activity in humans.

PubMed

Durocher, John J; Lufkin, Kelly M; King, Michelle E; Carter, Jason R

2011-12-01

Social technology is extensively used by young adults throughout the world, and it has been suggested that interrupting access to this technology induces anxiety. However, the influence of social technology restriction on anxiety and autonomic activity in young adults has not been formally examined. Therefore, we hypothesized that restriction of social technology would increase state-anxiety and alter neural cardiovascular regulation of arterial blood pressure. Twenty-one college students (age 18-23 yr) were examined during two consecutive weeks in which social technology use was normal or restricted (randomized crossover design). Mean arterial pressure (MAP), heart rate, and muscle sympathetic nerve activity (MSNA) were measured at rest and during several classic autonomic stressors, including isometric handgrip, postexercise muscle ischemia, cold pressor test, and mental stress. Tertile analysis revealed that restriction of social technology was associated with increases (12 ± 2 au; range 5 to 21; n = 7), decreases (-6 ± 2 au; range -2 to -11; n = 6), or no change (0 ± 0 au; range -1 to 3; n = 8) in state-anxiety. Social technology restriction did not alter MAP (74 ± 1 vs. 73 ± 1 mmHg), heart rate (62 ± 2 vs. 61 ± 2 beats/min), or MSNA (9 ± 1 vs. 9 ± 1 bursts/min) at rest, and it did not alter neural or cardiovascular responses to acute stressors. In conclusion, social technology restriction appears to have an interindividual influence on anxiety, but not autonomic activity. It remains unclear how repeated bouts, or chronic restriction of social technology, influence long-term psychological and cardiovascular health.

Behavioral and autonomic responses to acute restraint stress are segregated within the lateral septal area of rats.

PubMed

Reis, Daniel G; Scopinho, América A; Guimarães, Francisco S; Corrêa, Fernando M A; Resstel, Leonardo B M

2011-01-01

The Lateral Septal Area (LSA) is involved with autonomic and behavior responses associated to stress. In rats, acute restraint (RS) is an unavoidable stress situation that causes autonomic (body temperature, mean arterial pressure (MAP) and heart rate (HR) increases) and behavioral (increased anxiety-like behavior) changes in rats. The LSA is one of several brain regions that have been involved in stress responses. The aim of the present study was to investigate if the neurotransmission blockade in the LSA would interfere in the autonomic and behavioral changes induced by RS. Male Wistar rats with bilateral cannulae aimed at the LSA, an intra-abdominal datalogger (for recording internal body temperature), and an implanted catheter into the femoral artery (for recording and cardiovascular parameters) were used. They received bilateral microinjections of the non-selective synapse blocker cobalt chloride (CoCl(2), 1 mM/ 100 nL) or vehicle 10 min before RS session. The tail temperature was measured by an infrared thermal imager during the session. Twenty-four h after the RS session the rats were tested in the elevated plus maze (EPM). Inhibition of LSA neurotransmission reduced the MAP and HR increases observed during RS. However, no changes were observed in the decrease in skin temperature and increase in internal body temperature observed during this period. Also, LSA inhibition did not change the anxiogenic effect induced by RS observed 24 h later in the EPM. The present results suggest that LSA neurotransmission is involved in the cardiovascular but not the temperature and behavioral changes induced by restraint stress.

Flyght Dynamics of Artificial Satellite of the Minor Asteroid

NASA Astrophysics Data System (ADS)

Zakharov, Alexander; Eismont, Natan; Ledkov, Anton; Simonov, Alexander; Pol, Vadim

During last years the scientific interest to the asteroid is constantly growing. It may be explained by different reasons. One of the most important from them is confirmation of the fact that the asteroids present the real hazard to the Earth. The Chelyabinsk event demonstrates strong in support of this statement. Besides, the asteroids exploration promises to supply new data for understanding of the solar system origin and evolution. And the projects aimed to reach this goal have begun from the NASA NEAR mission to Eros. It was the first one when the spacecraft was landed on the surface of the asteroid. The other successive mission was fulfilled by JAXA with Hayabusa spacecraft which has returned to the Earth soil samples of Itokawa asteroid. In the nearest future the mission to RQ 36 asteroid is planned supposing landing and soil samples return. Unavoidable phase of such missions is the spacecraft flight in vicinity of the target asteroid, for example on the asteroid satellite orbit. It should be mentioned that quite visible number of asteroids has geometric form which is far from being sphere. Accordingly the gravity field of such asteroid cannot be presented as the one close to sphere. The problem is that prior to the mission to the asteroid one cannot receive good enough knowledge of its gravity field and even its gravity field constant. In the paper the flight dynamics problem of spacecraft moving along asteroid satellite orbit is explored. It is supposed that the asteroid is comparatively small with diameter (maximum size) about 300 m, like Apophis asteroid has, or less. To approximate the gravity field of asteroid the last is considered as totality of mass points. We assume such approach as more simple and effective as compared with the commonly accepted use of Legendre polynomial expansion. Different orbits near asteroid are analyzed with the sets of orbital parameters determining the size of orbit, its shape and position with respect to the Sun. The goal of this analysis is to understand what initial orbital parameters deliver stability of the orbit in terms of avoiding the collision with the asteroid surface. The orbital heights are calculated which allow to consider the asteroid gravity field as close to the spherical one de-pending on the shape of asteroid. Also maneuvers are estimated necessary for keeping the spacecraft on asteroid satellite orbit and for changing orbital parameters. Taking into account that gravity field parameters of the target asteroids may have pure accuracy it is supposed that spacecraft starts its motion in vicinity of the asteroid from the high enough orbit and then after processing of the tracking data maneuvers are executed to decrease spacecraft altitude. Methods of this procedure optimization are explored.

Edge-on View of Near-Earth Asteroids

NASA Image and Video Library

2012-05-16

NEOWISE, the asteroid-hunting portion of NASA WISE mission, illustrates the differences between orbits of a typical near-Earth asteroid blue and a potentially hazardous asteroid, or PHA orange. PHAs are a subset of the near-Earth asteroids NEAs.

Development and Demonstration of Autonomous Behaviors for Urban Environment Exploration

DTIC Science & Technology

2012-04-01

exploration, mapping, localization, autonomy, lidar , SLAM 1. INTRODUCTION As global conflicts move into more urban settings, unmanned ground vehicles...mounted Hokuyo lidar is paired with a vertically mounted Hokuyo lidar as an inexpensive way for 3D perception of the environment. In addition, a pair...and mapping ( SLAM ) problem do exist,2–4 most have yet to tackle the problem of online SLAM throughout a multi-story building and/or incorporating

Localizing Ground Penetrating RADAR: A Step Towards Robust Autonomous Ground Vehicle Localization

DTIC Science & Technology

2016-07-14

localization designed to complement existing approaches with a low sensitivity to failure modes of LIDAR, camera, and GPS/INS sensors due to its low...the detailed design and results from highway testing, which uses a simple heuristic for fusing LGPR estimates with a GPS/INS system. Cross-track... designed to enable a priori map-based local- ization. LGPR offers complementary capabilities to tradi- tional optics-based approaches to map-based

Mapa Sociolinguistico. Analisis demolinguistico de la Comunidad Autonoma Vasca derivado del padron de 1986 (Sociolinguistic Map. Demolinguistic analysis of the Autonomous Basque Community derived from the 1986 Census).

ERIC Educational Resources Information Center

Basque Autonomous Community, Vitoria (Spain). General Secretariat of Linguistic Policy.

Sociolinguistic data are presented in the form of sophisticated maps and tables in this pioneering study on the status of the Basque language. Based on information collected from the 1986 census, the major demographic characteristics of Basque are examined in order to ascertain the factors and processes that have contributed to its current status.…

Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission

NASA Technical Reports Server (NTRS)

Maimone, Mark; Johnson, Andrew; Cheng, Yang; Willson, Reg; Matthies, Larry H.

2004-01-01

In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.

Intelligent Autonomy for Unmanned Surface and Underwater Vehicles

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Woodward, Gail

2011-01-01

As the Autonomous Underwater Vehicle (AUV) and Autonomous Surface Vehicle (ASV) platforms mature in endurance and reliability, a natural evolution will occur towards longer, more remote autonomous missions. This evolution will require the development of key capabilities that allow these robotic systems to perform a high level of on-board decisionmaking, which would otherwise be performed by humanoperators. With more decision making capabilities, less a priori knowledge of the area of operations would be required, as these systems would be able to sense and adapt to changing environmental conditions, such as unknown topography, currents, obstructions, bays, harbors, islands, and river channels. Existing vehicle sensors would be dual-use; that is they would be utilized for the primary mission, which may be mapping or hydrographic reconnaissance; as well as for autonomous hazard avoidance, route planning, and bathymetric-based navigation. This paper describes a tightly integrated instantiation of an autonomous agent called CARACaS (Control Architecture for Robotic Agent Command and Sensing) developed at JPL (Jet Propulsion Laboratory) that was designed to address many of the issues for survivable ASV/AUV control and to provide adaptive mission capabilities. The results of some on-water tests with US Navy technology test platforms are also presented.

Study of Some Dynamical Phenomena in the Solar System

NASA Astrophysics Data System (ADS)

Vaduvescu, O.

1997-08-01

The number of minor bodies in the Solar System is continuing to increase. More than 30,000 asteroids have been discovered by 1996, and about 7,000 have been catalogued. About 855 comets had known orbits by 1994. The number of known planetary satellites reached 60 (1996). All these minor bodies require improved astrometry, also more accurate physical parameters (sizes, masses, albedo, etc) to ensure accurate determination of their orbits. Some rapid dynamical phenomena could bring valuable information in this sense. Occultations and appulses (close approaches) of stars by asteroids represent the most accurate phenomena to determine or constraint sizes and shape of the asteroids. Given a fixed place, such events are very rare. Moreover, their prediction could be quite inaccurate, due to the reduced accuracy in both stellar and asteroid positions. Coordinated international campaigns, such as those lead by EAON (European Asteroidal Occultation Network) and IOTA (International Occultation Timing Association) could determine sizes and shapes of the asteroids. Some events could also lead to the discovery of double or triple asteroids systems. Four appulses involving PPM catalog stars and the minor planets (7) Iris, (297) Caecilia, (382) Dodona, and (824) Anastasia were observed by the author using the F=6m/D=0.38m refractor of the Astronomical Institute of the Romanian Academy (AIRA) in Bucharest. None were recorded as occultations, but their reduced astrometry (~0.01 arcsec) brought valuable information about the time of minimum approach and the minimum distance between the start and the asteroid, leading to some constraints about their sizes. Mutual phenomena in the systems of satellites of Jupiter and Saturn could bring valuable information about planetary and satellite masses, also about their moons orbits. Such phenomena are eclipses, occultations and passages between a satellite and the planet, and mutual eclipses and occultations between two satellites. Such events took place in 1995-1996 in the system of Saturn, when Earth passed through the plane of the ring of Saturn, allowing increased accuracy in timing and astrometry of the events, via photometry. Some contributions have been made by AIRA part of the international campaign PHESAT95 lead by Bureau des Longitudes in Paris, in which the author was involved part of a small team (3 people). Astrometry of a small CCD field (<5 arcmin) from a light polluted place (such as Bucharest) can be challenging, due to the few number of stars in the field, also to the low density of the astrometric catalogs (e.g., PPM). Most of the times only one or two stars in the field can be used for astrometry. The orientation of the CCD camera on the sky has to be determined for every observation, due to the flexure of the F=6m refractor which was determined to be different given various positions of the telescope during the night. A catalog of double, triple and multiple PPM stars in a small field (5x5 arcmin) was built in order to allow the observation of an orientation field close to every science field observed during the night. Some contributions to the astronomical software library of AIRA and its Astronomical Yearbook were made by the author in conjunction with this thesis. Other software were written to assist the observing runs and data reduction. We note here the following: CELESTIAL MAPS 5.0, MAPSAT, APRPPM, TOP, INTTOP, ORIENT, RELCCD, ABSCCD, PARGEO, SEPAD, EPHEMERID, LAPLACE, etc. Some contributions to the correlation of the orbital elements of the asteroids (semimajor axis, eccentricity, inclination, longitude of the ascending node and longitude of the perihelium) were made using the ASTEROIDS II database using the principal component analysis. A curious distribution of perihelion longitudes of the asteroids showing symmetry of the number of asteroids around perihelion longitude 180 deg was found using the IRAS database. This could be attributed to perturbations from Jupiter. Scanned thesis in pdf format available online at http://ovidiuvh.tripod.com/Teza-Romania/ (200 pags, 9 MB)

Small bodies and the outer planets and Appendices 1 and 2

NASA Technical Reports Server (NTRS)

Davis, D. R.

1974-01-01

Correlations of asteroid spectral reflectivity characteristics with orbital parameters have been sought. Asteroid proper elements and extreme heliocentric distance were examined. Only general trends were noted, primarily red asteroids and asteroids with IR (.95 micron) absorption bands are concentrated toward the inner part of the belt. Also, asteroids with the pyroxene band tend to have larger proper eccentricities relative to non-banded asteroids.

Overview of NASA's In Space Robotic Servicing

NASA Technical Reports Server (NTRS)

Reed, Benjamin B.

2015-01-01

The panel discussion will start with a presentation of the work of the Satellite Servicing Capabilities Office (SSCO), a team responsible for the overall management, coordination, and implementation of satellite servicing technologies and capabilities for NASA. Born from the team that executed the five Hubble servicing missions, SSCO is now maturing a core set of technologies that support both servicing goals and NASA's exploration and science objectives, including: autonomous rendezvous and docking systems; dexterous robotics; high-speed, fault-tolerant computing; advanced robotic tools, and propellant transfer systems. SSCOs proposed Restore-L mission, under development since 2009, is rapidly advancing the core capabilities the fledgling satellite-servicing industry needs to jumpstart a new national industry. Restore-L is also providing key technologies and core expertise to the Asteroid Redirect Robotic Mission (ARRM), with SSCO serving as the capture module lead for the ARRM effort. Reed will present a brief overview of SSCOs history, capabilities and technologies.

Enabling Remote and Automated Operations at The Red Buttes Observatory

NASA Astrophysics Data System (ADS)

Ellis, Tyler G.; Jang-Condell, Hannah; Kasper, David; Yeigh, Rex R.

2016-01-01

The Red Buttes Observatory (RBO) is a 60 centimeter Cassegrain telescope located ten miles south of Laramie, Wyoming. The size and proximity of the telescope comfortably make the site ideal for remote and automated observations. This task required development of confidence in control systems for the dome, telescope, and camera. Python and WinSCP script routines were created for the management of science images and weather. These scripts control the observatory via the ASCOM standard libraries and allow autonomous operation after initiation.The automation tasks were completed primarily to rejuvenate an aging and underutilized observatory with hopes to contribute to an international exoplanet hunting team with other interests in potentially hazardous asteroid detection. RBO is owned and operated solely by the University of Wyoming. The updates and proprietor status have encouraged the development of an undergraduate astronomical methods course including hands-on experience with a research telescope, a rarity in bachelor programs for astrophysics.

Both size-frequency distribution and sub-populations of the main-belt asteroid population are consistent with YORP-induced rotational fission

NASA Astrophysics Data System (ADS)

Jacobson, S.; Scheeres, D.; Rossi, A.; Marzari, F.; Davis, D.

2014-07-01

From the results of a comprehensive asteroid-population-evolution model, we conclude that the YORP-induced rotational-fission hypothesis has strong repercussions for the small size end of the main-belt asteroid size-frequency distribution and is consistent with observed asteroid-population statistics and with the observed sub-populations of binary asteroids, asteroid pairs and contact binaries. The foundation of this model is the asteroid-rotation model of Marzari et al. (2011) and Rossi et al. (2009), which incorporates both the YORP effect and collisional evolution. This work adds to that model the rotational fission hypothesis (i.e. when the rotation rate exceeds a critical value, erosion and binary formation occur; Scheeres 2007) and binary-asteroid evolution (Jacobson & Scheeres, 2011). The YORP-effect timescale for large asteroids with diameters D > ˜ 6 km is longer than the collision timescale in the main belt, thus the frequency of large asteroids is determined by a collisional equilibrium (e.g. Bottke 2005), but for small asteroids with diameters D < ˜ 6 km, the asteroid-population evolution model confirms that YORP-induced rotational fission destroys small asteroids more frequently than collisions. Therefore, the frequency of these small asteroids is determined by an equilibrium between the creation of new asteroids out of the impact debris of larger asteroids and the destruction of these asteroids by YORP-induced rotational fission. By introducing a new source of destruction that varies strongly with size, YORP-induced rotational fission alters the slope of the size-frequency distribution. Using the outputs of the asteroid-population evolution model and a 1-D collision evolution model, we can generate this new size-frequency distribution and it matches the change in slope observed by the SKADS survey (Gladman 2009). This agreement is achieved with both an accretional power-law or a truncated ''Asteroids were Born Big'' size-frequency distribution (Weidenschilling 2010, Morbidelli 2009). The binary-asteroid evolution model is highly constrained by the modeling done in Jacobson & Scheeres, and therefore the asteroid-population evolution model has only two significant free parameters: the ratio of low-to-high-mass-ratio binaries formed after rotational fission events and the mean strength of the binary YORP (BYORP) effect. Using this model, we successfully reproduce the observed small-asteroid sub-populations, which orthogonally constrain the two free parameters. We find the outcome of rotational fission most likely produces an initial mass-ratio fraction that is four to eight times as likely to produce high-mass-ratio systems as low-mass-ratio systems, which is consistent with rotational fission creating binary systems in a flat distribution with respect to mass ratio. We also find that the mean of the log-normal BYORP coefficient distribution B ≈ 10^{-2}.

Mission options for rendezvous with the most accessible Near-Earth Asteroid - 1989 ML

NASA Technical Reports Server (NTRS)

Mcadams, Jim V.

1992-01-01

The recent discovery of the Amor-class 1989 ML, the most accessible known asteroid for minimum-energy rendezvous missions, has expedited the search for frequent, low-cost Near-Earth Asteroid rendezvous and round-trip missions. This paper identifies trajectory characteristics and assesses mass performance for low Delta V ballistic rendezvous opportunities to 1989 ML during the period 1996-2010. This asteroid also offers occasional unique extended mission opportunities, such as the lowest known Delta V requirement for any asteroid sample return mission as well as pre-rendezvous asteroid flyby and post-rendezvous comet flyby opportunities requiring less than 5.25 km/sec total Delta V. This paper also briefly comments concerning mission opportunities for asteroid 1991 JW, which recently replaced other known asteroids as the most accessible Near-Earth Asteroid for fast rendezvous and round-trip missions.

Speckle interferometry of asteroids

NASA Technical Reports Server (NTRS)

Drummond, Jack

1988-01-01

This final report for NASA Contract NAGw-867 consists of abstracts of the first three papers in a series of four appearing in Icarus that were funded by the preceding contract NAGw-224: (1) Speckle Interferometry of Asteroids I. 433 Eros; (2) Speckle Interferometry of Asteroids II. 532 Herculina; (3) Speckle Interferometry of Asteroids III. 511 Davida and its Photometry; and the fourth abstract attributed to NAGw-867, (4) Speckle Interferometry of Asteroids IV. Reconstructed images of 4 Vesta; and a review of the results from the asteroid interferometry program at Steward Observatory prepared for the Asteroids II book, (5) Speckle Interferometry of Asteroids. Two papers on asteroids, indirectly related to speckle interferometry, were written in part under NAGw-867. One is in press and its abstract is included here: Photometric Geodesy of Main-Belt Asteroids. II. Analysis of Lightcurves for Poles, Periods and Shapes; and the other paper, Triaxial Ellipsoid Dimensions and Rotational Pole of 2 Pallas from Two Stellar Occultations, is included in full.

From Here to ET

NASA Astrophysics Data System (ADS)

Mathews, J. D.

SETI (Search for ExtraTerrestrial Intelligence) has thus far proven negative. The assumptions that have driven these searches are reexamined to determine if a new paradigm for future searches can be identified. To this end, the apparent path of evolving human exploration of the solar system and the local galaxy is used to assess where it might lead in the relative near future while noting that we are not overtly intending to contact ET (ExtraTerrestrials). The basic premise is that human space exploration must be highly efficient, cost effective, and autonomous as placing humans beyond low Earth orbit is fraught with political, economic, and technical difficulties. With this basis, it is concluded that only by developing and deploying self-replicating robotic spacecraft--and the incumbent communication systems--can the human race efficiently explore even the asteroid belt let alone the vast reaches of the Kuiper Belt, Oort Cloud, and beyond. It is assumed that ET would have followed a similar path. The technical practicality of and our progress towards this autonomous, self-replicating exobot--Explorer roBot or EB--is further examined with the conclusion that the narrow-beam, laser-based communication network that would likely be em- ployed, would be difficult to detect from a nearby star systems thus offering an explanation of the failure of SETI to date. It is further argued, as have others, that EBs are likely a common feature of the galaxy.

Asteroid mass estimation using Markov-Chain Monte Carlo techniques

NASA Astrophysics Data System (ADS)

Siltala, Lauri; Granvik, Mikael

2016-10-01

Estimates for asteroid masses are based on their gravitational perturbations on the orbits of other objects such as Mars, spacecraft, or other asteroids and/or their satellites. In the case of asteroid-asteroid perturbations, this leads to a 13-dimensional inverse problem where the aim is to derive the mass of the perturbing asteroid and six orbital elements for both the perturbing asteroid and the test asteroid using astrometric observations. We have developed and implemented three different mass estimation algorithms utilizing asteroid-asteroid perturbations into the OpenOrb asteroid-orbit-computation software: the very rough 'marching' approximation, in which the asteroid orbits are fixed at a given epoch, reducing the problem to a one-dimensional estimation of the mass, an implementation of the Nelder-Mead simplex method, and most significantly, a Markov-Chain Monte Carlo (MCMC) approach. We will introduce each of these algorithms with particular focus on the MCMC algorithm, and present example results for both synthetic and real data. Our results agree with the published mass estimates, but suggest that the published uncertainties may be misleading as a consequence of using linearized mass-estimation methods. Finally, we discuss remaining challenges with the algorithms as well as future plans, particularly in connection with ESA's Gaia mission.

Coordinated Mapping of Sea Ice Deformation Features with Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Maksym, T.; Williams, G. D.; Singh, H.; Weissling, B.; Anderson, J.; Maki, T.; Ackley, S. F.

2016-12-01

Decreases in summer sea ice extent in the Beaufort and Chukchi Seas has lead to a transition from a largely perennial ice cover, to a seasonal ice cover. This drives shifts in sea ice production, dynamics, ice types, and thickness distribution. To examine how the processes driving ice advance might also impact the morphology of the ice cover, a coordinated ice mapping effort was undertaken during a field campaign in the Beaufort Sea in October, 2015. Here, we present observations of sea ice draft topography from six missions of an Autonomous Underwater Vehicle run under different ice types and deformation features observed during autumn freeze-up. Ice surface features were also mapped during coordinated drone photogrammetric missions over each site. We present preliminary results of a comparison between sea ice surface topography and ice underside morphology for a range of sample ice types, including hummocked multiyear ice, rubble fields, young ice ridges and rafts, and consolidated pancake ice. These data are compared to prior observations of ice morphological features from deformed Antarctic sea ice. Such data will be useful for improving parameterizations of sea ice redistribution during deformation, and for better constraining estimates of airborne or satellite sea ice thickness.

Asteroid/meteorite streams

NASA Astrophysics Data System (ADS)

Drummond, J.

The independent discovery of the same three streams (named alpha, beta, and gamma) among 139 Earth approaching asteroids and among 89 meteorite producing fireballs presents the possibility of matching specific meteorites to specific asteroids, or at least to asteroids in the same stream and, therefore, presumably of the same composition. Although perhaps of limited practical value, the three meteorites with known orbits are all ordinary chondrites. To identify, in general, the taxonomic type of the parent asteroid, however, would be of great scientific interest since these most abundant meteorite types cannot be unambiguously spectrally matched to an asteroid type. The H5 Pribram meteorite and asteroid 4486 (unclassified) are not part of a stream, but travel in fairly similar orbits. The LL5 Innisfree meteorite is orbitally similar to asteroid 1989DA (unclassified), and both are members of a fourth stream (delta) defined by five meteorite-dropping fireballs and this one asteroid. The H5 Lost City meteorite is orbitally similar to 1980AA (S type), which is a member of stream gamma defined by four asteroids and four fireballs. Another asteroid in this stream is classified as an S type, another is QU, and the fourth is unclassified. This stream suggests that ordinary chondrites should be associated with S (and/or Q) asteroids. Two of the known four V type asteroids belong to another stream, beta, defined by five asteroids and four meteorite-dropping (but unrecovered) fireballs, making it the most probable source of the eucrites. The final stream, alpha, defined by five asteroids and three fireballs is of unknown composition since no meteorites have been recovered and only one asteroid has an ambiguous classification of QRS. If this stream, or any other as yet undiscovered ones, were found to be composed of a more practical material (e.g., water or metalrich), then recovery of the associated meteorites would provide an opportunity for in-hand analysis of a potential near-Earth resource.

Asteroid/meteorite streams

NASA Technical Reports Server (NTRS)

Drummond, J.

1991-01-01

The independent discovery of the same three streams (named alpha, beta, and gamma) among 139 Earth approaching asteroids and among 89 meteorite producing fireballs presents the possibility of matching specific meteorites to specific asteroids, or at least to asteroids in the same stream and, therefore, presumably of the same composition. Although perhaps of limited practical value, the three meteorites with known orbits are all ordinary chondrites. To identify, in general, the taxonomic type of the parent asteroid, however, would be of great scientific interest since these most abundant meteorite types cannot be unambiguously spectrally matched to an asteroid type. The H5 Pribram meteorite and asteroid 4486 (unclassified) are not part of a stream, but travel in fairly similar orbits. The LL5 Innisfree meteorite is orbitally similar to asteroid 1989DA (unclassified), and both are members of a fourth stream (delta) defined by five meteorite-dropping fireballs and this one asteroid. The H5 Lost City meteorite is orbitally similar to 1980AA (S type), which is a member of stream gamma defined by four asteroids and four fireballs. Another asteroid in this stream is classified as an S type, another is QU, and the fourth is unclassified. This stream suggests that ordinary chondrites should be associated with S (and/or Q) asteroids. Two of the known four V type asteroids belong to another stream, beta, defined by five asteroids and four meteorite-dropping (but unrecovered) fireballs, making it the most probable source of the eucrites. The final stream, alpha, defined by five asteroids and three fireballs is of unknown composition since no meteorites have been recovered and only one asteroid has an ambiguous classification of QRS. If this stream, or any other as yet undiscovered ones, were found to be composed of a more practical material (e.g., water or metalrich), then recovery of the associated meteorites would provide an opportunity for in-hand analysis of a potential near-Earth resource.

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner.

PubMed

An, Jhonghyun; Choi, Baehoon; Sim, Kwee-Bo; Kim, Euntai

2016-07-20

There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1) static local coordinate occupancy grid map (SLOGM) building and (2) intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation.

Novel Intersection Type Recognition for Autonomous Vehicles Using a Multi-Layer Laser Scanner

PubMed Central

An, Jhonghyun; Choi, Baehoon; Sim, Kwee-Bo; Kim, Euntai

2016-01-01

There are several types of intersections such as merge-roads, diverge-roads, plus-shape intersections and two types of T-shape junctions in urban roads. When an autonomous vehicle encounters new intersections, it is crucial to recognize the types of intersections for safe navigation. In this paper, a novel intersection type recognition method is proposed for an autonomous vehicle using a multi-layer laser scanner. The proposed method consists of two steps: (1) static local coordinate occupancy grid map (SLOGM) building and (2) intersection classification. In the first step, the SLOGM is built relative to the local coordinate using the dynamic binary Bayes filter. In the second step, the SLOGM is used as an attribute for the classification. The proposed method is applied to a real-world environment and its validity is demonstrated through experimentation. PMID:27447640

An autonomous dynamical system captures all LCSs in three-dimensional unsteady flows.

PubMed

Oettinger, David; Haller, George

2016-10-01

Lagrangian coherent structures (LCSs) are material surfaces that shape the finite-time tracer patterns in flows with arbitrary time dependence. Depending on their deformation properties, elliptic and hyperbolic LCSs have been identified from different variational principles, solving different equations. Here we observe that, in three dimensions, initial positions of all variational LCSs are invariant manifolds of the same autonomous dynamical system, generated by the intermediate eigenvector field, ξ 2 (x 0 ), of the Cauchy-Green strain tensor. This ξ 2 -system allows for the detection of LCSs in any unsteady flow by classical methods, such as Poincaré maps, developed for autonomous dynamical systems. As examples, we consider both steady and time-aperiodic flows, and use their dual ξ 2 -system to uncover both hyperbolic and elliptic LCSs from a single computation.

Autonomous microexplosives subsurface tracing system final report.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Engler, Bruce Phillip; Nogan, John; Melof, Brian Matthew

The objective of the autonomous micro-explosive subsurface tracing system is to image the location and geometry of hydraulically induced fractures in subsurface petroleum reservoirs. This system is based on the insertion of a swarm of autonomous micro-explosive packages during the fracturing process, with subsequent triggering of the energetic material to create an array of micro-seismic sources that can be detected and analyzed using existing seismic receiver arrays and analysis software. The project included investigations of energetic mixtures, triggering systems, package size and shape, and seismic output. Given the current absence of any technology capable of such high resolution mapping ofmore » subsurface structures, this technology has the potential for major impact on petroleum industry, which spends approximately $1 billion dollar per year on hydraulic fracturing operations in the United States alone.« less

Asteroid selection for mission opportunities. Appendix: Asteroid data sheets

NASA Technical Reports Server (NTRS)

1972-01-01

The characteristics of asteroids selected as possible space mission objectives are presented. The asteroids are described according to: (1) magnitude, (2) spectral reflectivity; (3) phase factors, (4) polarization, (5) light curve, and (6) physical parameters. The data are tabulated on specific formats for each asteroid considered.

Asteroid surface mineralogy: Evidence from earth-based telescope observations

NASA Technical Reports Server (NTRS)

Mccord, T. B.

1978-01-01

The interpretation of asteroid reflectance spectrophotometry in terms of mineralogical types gives inferred mineral assemblages for about 60 asteroids. Asteroid surface materials are compared with similar materials that make up many meteorites. The absence of asteroids with spectra that match identically the ordinary chondrites is noted.

ALMA 1.3 mm Map of the HD 95086 System

NASA Astrophysics Data System (ADS)

Su, Kate Y. L.; MacGregor, Meredith A.; Booth, Mark; Wilner, David J.; Flaherty, Kevin; Hughes, A. Meredith; Phillips, Neil M.; Malhotra, Renu; Hales, Antonio S.; Morrison, Sarah; Ertel, Steve; Matthews, Brenda C.; Dent, William R. F.; Casassus, Simon

2017-12-01

Planets and minor bodies such as asteroids, Kuiper-Belt objects, and comets are integral components of a planetary system. Interactions among them leave clues about the formation process of a planetary system. The signature of such interactions is most prominent through observations of its debris disk at millimeter wavelengths where emission is dominated by the population of large grains that stay close to their parent bodies. Here we present ALMA 1.3 mm observations of HD 95086, a young early-type star that hosts a directly imaged giant planet b and a massive debris disk with both asteroid- and Kuiper-Belt analogs. The location of the Kuiper-Belt analog is resolved for the first time. The system can be depicted as a broad (ΔR/R ˜ 0.84), inclined (30° ± 3°) ring with millimeter emission peaked at 200 ± 6 au from the star. The 1.3 mm disk emission is consistent with a broad disk with sharp boundaries from 106 ± 6 to 320 ± 20 au with a surface density distribution described by a power law with an index of -0.5 ± 0.2. Our deep ALMA map also reveals a bright source located near the edge of the ring, whose brightness at 1.3 mm and potential spectral energy distribution are consistent with it being a luminous star-forming galaxy at high redshift. We set constraints on the orbital properties of planet b assuming coplanarity with the observed disk.

Exploiting map plans as resources for action

NASA Technical Reports Server (NTRS)

Payton, David

1989-01-01

When plans are used as programs for controlling the action of autonomous or teleoperated robots, their abstract representation can easily obscure a great deal of the critical knowledge that originally led to the planned course of action. An autonomous vehicle experiment is highlighted which illustrates how the information barriers created by abstraction can result in undesirable action. It is then shown how the same task can be performed correctly using plans as a resource for action. As a result of this simple change in outlook, problems requiring opportunistic reaction to unexpected changes in the environment can be solved.

Meteoritic and Asteroidal Constraints on the Identification and Collisional Evolution of Asteroid Families

NASA Technical Reports Server (NTRS)

Gaffey, Michael J.; Kelley, Michael S.; Hardersen, Paul S.

2002-01-01

Studies of meteorites and observations of asteroids can provide important constraints on the formation and evolution of asteroid families. The iron meteorites alone require the disruption of 85 differentiated asteroids, and the potential formation of 85 families. Additional information is contained in the original extended abstract.

REVIEWS OF TOPICAL PROBLEMS: Satellites of asteroids

NASA Astrophysics Data System (ADS)

Prokof'eva, Valentina V.; Tarashchuk, V. P.; Gor'kavyi, N. N.

1995-06-01

More than 6000 asteroids in the Solar System have now been discovered and enumerated, and about 500 of them have been investigated in detail by different methods. This rewiew gives observational evidence which indicates that no fewer than 10% of asteroids may be composed of two or more bodies. This was supported by the detection of a satellite of the asteroid Ida by the Galileo spacecraft. This discovery symbolises the change of both observational and theoretical paradigms. Space and ground observations of asteroids by modern teghniques may give extensive new data for modelling double asteroids. The analysis of problems of stability, formation and dynamics of asteroid satellites shows that their sphere of stable motion extends up to several hundred asteroid radii. The idea that the origin of the asteroid satellites may be explained in the frame of a unified accretion model of planetary satellite formation is proposed and justified.

Asteroid rotation. I - Tabulation and analysis of rates, pole positions and shapes. II - A theory for the collisional evolution of rotation rates

NASA Technical Reports Server (NTRS)

Harris, A. W.; Burns, J. A.

1979-01-01

Rotation properties and shape data for 182 asteroids are compiled and analyzed, and a collisional model for the evolution of the mean rotation rate of asteroids is proposed. Tabulations of asteroid rotation rates, taxonomic types, pole positions, sizes and shapes and plots of rotation frequency and light curve amplitude against size indicate that asteroid rotational frequency increases with decreasing size for all asteroids except those of the C or S classes. Light curve data also indicate that small asteroids are more irregular in shape than large asteroids. The dispersion in rotation rates observed is well represented by a three dimensional Maxwellian distribution, suggestive of collisional encounters between asteroids. In the proposed model, the rotation rate is found to tend toward an equilibrium value, at which spin-up due to infrequent, large collisions is balanced by a drag due to the larger number of small collisions. The lower mean rotation rate of C-type asteroids is attributed to a lower means density of that class, and the increase in rotation rate with decreasing size is interpreted as indicative of a substantial population of strong asteroids.

OCAMS: The OSIRIS-REx Camera Suite

NASA Astrophysics Data System (ADS)

Rizk, B.; Drouet d'Aubigny, C.; Golish, D.; Fellows, C.; Merrill, C.; Smith, P.; Walker, M. S.; Hendershot, J. E.; Hancock, J.; Bailey, S. H.; DellaGiustina, D. N.; Lauretta, D. S.; Tanner, R.; Williams, M.; Harshman, K.; Fitzgibbon, M.; Verts, W.; Chen, J.; Connors, T.; Hamara, D.; Dowd, A.; Lowman, A.; Dubin, M.; Burt, R.; Whiteley, M.; Watson, M.; McMahon, T.; Ward, M.; Booher, D.; Read, M.; Williams, B.; Hunten, M.; Little, E.; Saltzman, T.; Alfred, D.; O'Dougherty, S.; Walthall, M.; Kenagy, K.; Peterson, S.; Crowther, B.; Perry, M. L.; See, C.; Selznick, S.; Sauve, C.; Beiser, M.; Black, W.; Pfisterer, R. N.; Lancaster, A.; Oliver, S.; Oquest, C.; Crowley, D.; Morgan, C.; Castle, C.; Dominguez, R.; Sullivan, M.

2018-02-01

The OSIRIS-REx Camera Suite (OCAMS) will acquire images essential to collecting a sample from the surface of Bennu. During proximity operations, these images will document the presence of satellites and plumes, record spin state, enable an accurate model of the asteroid's shape, and identify any surface hazards. They will confirm the presence of sampleable regolith on the surface, observe the sampling event itself, and image the sample head in order to verify its readiness to be stowed. They will document Bennu's history as an example of early solar system material, as a microgravity body with a planetesimal size-scale, and as a carbonaceous object. OCAMS is fitted with three cameras. The MapCam will record color images of Bennu as a point source on approach to the asteroid in order to connect Bennu's ground-based point-source observational record to later higher-resolution surface spectral imaging. The SamCam will document the sample site before, during, and after it is disturbed by the sample mechanism. The PolyCam, using its focus mechanism, will observe the sample site at sub-centimeter resolutions, revealing surface texture and morphology. While their imaging requirements divide naturally between the three cameras, they preserve a strong degree of functional overlap. OCAMS and the other spacecraft instruments will allow the OSIRIS-REx mission to collect a sample from a microgravity body on the same visit during which it was first optically acquired from long range, a useful capability as humanity reaches out to explore near-Earth, Main-Belt and Jupiter Trojan asteroids.

Trajectory Design Employing Convex Optimization for Landing on Irregularly Shaped Asteroids

NASA Technical Reports Server (NTRS)

Pinson, Robin M.; Lu, Ping

2016-01-01

Mission proposals that land on asteroids are becoming popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site. The problem under investigation is how to design a fuel-optimal powered descent trajectory that can be quickly computed on- board the spacecraft, without interaction from ground control. An optimal trajectory designed immediately prior to the descent burn has many advantages. These advantages include the ability to use the actual vehicle starting state as the initial condition in the trajectory design and the ease of updating the landing target site if the original landing site is no longer viable. For long trajectories, the trajectory can be updated periodically by a redesign of the optimal trajectory based on current vehicle conditions to improve the guidance performance. One of the key drivers for being completely autonomous is the infrequent and delayed communication between ground control and the vehicle. Challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies and low thrust vehicles. There are two previous studies that form the background to the current investigation. The first set looked in-depth at applying convex optimization to a powered descent trajectory on Mars with promising results.1, 2 This showed that the powered descent equations of motion can be relaxed and formed into a convex optimization problem and that the optimal solution of the relaxed problem is indeed a feasible solution to the original problem. This analysis used a constant gravity field. The second area applied a successive solution process to formulate a second order cone program that designs rendezvous and proximity operations trajectories.3, 4 These trajectories included a Newtonian gravity model. The equivalence of the solutions between the relaxed and the original problem is theoretically established. The proposed solution for designing the asteroid powered descent trajectory is to use convex optimization, a gravity model with higher fidelity than Newtonian, and an iterative solution process to design the fuel optimal trajectory. The solution to the convex optimization problem is the thrust profile, magnitude and direction, that will yield the minimum fuel trajectory for a soft landing at the target site, subject to various mission and operational constraints. The equations of motion are formulated in a rotating coordinate system and includes a high fidelity gravity model. The vehicle's thrust magnitude can vary between maximum and minimum bounds during the burn. Also, constraints are included to ensure that the vehicle does not run out of propellant, or go below the asteroid's surface, and any vehicle pointing requirements. The equations of motion are discretized and propagated with the trapezoidal rule in order to produce equality constraints for the optimization problem. These equality constraints allow the optimization algorithm to solve the entire problem, without including a propagator inside the optimization algorithm.

The Use of EPI-Splines to Model Empirical Semivariograms for Optimal Spatial Estimation

DTIC Science & Technology

2016-09-01

proliferation of unmanned systems in military and civilian sectors has occurred at lightning speed. In the case of Autonomous Underwater Vehicles or...SLAM is a method of position estimation that relies on map data [3]. In this process, the creation of the map occurs as the vehicle is navigating the...that ensures minimal errors. This technique is accomplished in two steps. The first step is creation of the semivariogram. The semivariogram is a

Teaching Engineering with Autonomous Learning Activities

ERIC Educational Resources Information Center

Otero, Beatriz; Rodríguez, Eva; Royo, Pablo

2015-01-01

This paper proposes several activities that encourage self-learning in engineering courses. For each activity, the context and the pedagogical issues addressed are described emphasizing strengths and weaknesses. Specifically, this work describes and implements five activities, which are: questionnaires, conceptual maps, videos, jigsaw and…

Physical studies of asteroids. XXXII. Rotation periods and UBVRI-colours for selected asteroids

NASA Astrophysics Data System (ADS)

Piironen, J.; Lagerkvist, C.-I.; Erikson, A.; Oja, T.; Magnusson, P.; Festin, L.; Nathues, A.; Gaul, M.; Velichko, F.

1998-03-01

We present lightcurves of selected asteroids. Most of the asteroids were included to obtain refined spin periods. Enhanced periods were determined for 11 Parthenope, 306 Unitas and 372 Palma. We confirmed the spin periods of 8 Flora, 13 Egeria, 71 Niobe, 233 Asterope, 291 Alice, 409 Aspasia, 435 Ella and 512 Taurinensis. We determined also BV-colours for most of the included asteroids and UBVRI-colours for a total of 22 asteroids.

Simultaneous Mass Determination for Gravitationally Coupled Asteroids

NASA Astrophysics Data System (ADS)

Baer, James; Chesley, Steven R.

2017-08-01

The conventional least-squares asteroid mass determination algorithm allows us to solve for the mass of a large subject asteroid that is perturbing the trajectory of a smaller test asteroid. However, this algorithm is necessarily a first approximation, ignoring the possibility that the subject asteroid may itself be perturbed by the test asteroid, or that the encounter’s precise geometry may be entangled with encounters involving other asteroids. After reviewing the conventional algorithm, we use it to calculate the masses of 30 main-belt asteroids. Compared to our previous results, we find new mass estimates for eight asteroids (11 Parthenope, 27 Euterpe, 51 Neimausa, 76 Freia, 121 Hermione, 324 Bamberga, 476 Hedwig, and 532 Herculina) and significantly more precise estimates for six others (2 Pallas, 3 Juno, 4 Vesta, 9 Metis, 16 Psyche, and 88 Thisbe). However, we also find that the conventional algorithm yields questionable results in several gravitationally coupled cases. To address such cases, we describe a new algorithm that allows the epoch state vectors of the subject asteroids to be included as solve-for parameters, allowing for the simultaneous solution of the masses and epoch state vectors of multiple subject and test asteroids. We then apply this algorithm to the same 30 main-belt asteroids and conclude that mass determinations resulting from current and future high-precision astrometric sources (such as Gaia) should conduct a thorough search for possible gravitational couplings and account for their effects.

A Power Sailer Mission for a Jovian Orbiter and Trojan Asteroid Flybys

NASA Astrophysics Data System (ADS)

Kawaguchi, J.

The paper presents an innovative Solar Power Sail spacecraft mission that ushers the the century's new planetary explorations. The plan has been studied at ISAS/JAXA in Japan for the start of the project in very new future. The mission is defined as an engineering technology demonstrator, similar to the 'Hayabusa' (MUSES-C) that is currently flying toward an asteroid for a world's first sample-return attempt. The spacecraft studied here uses a world's first hybrid photon / ion propulsions taking the advantage of thin film photo-volatic technology. The mission has very new multi-purposes: First of all, the mission aims at flying-bys to the Trojan asteroids for the first time. And it is simply the first spacecraft to the Jupiter's distance powered only by solar cells. Utilizing the power surplus available at the Earth distance, the spacecraft is supposed to drive its ultra-high specific impulse ion engines aboard with the combination of the Earth gravity assist. The intended specific impulse will be 10,000 seconds, almost as 3.3 times efficient as existing contemporary ion engines. Not only the technology demonstration, in addition to the Trojan asteroid flybys, there are still more new innovative science purposes carried by this spacecraft. Among them, what should be emphasized is a background emission mapping excluding ecliptic dust cloud, which is cleared beyond four AU distance from the Sun. This will reveal the fundamental questions as to the extraordinary young stars observed only in deep IR region. Furthermore, this single spacecraft carries both a Jovian orbiter and an atmospheric reentry probe, both of which will constitute a spacious and simultaneous magnetoshere measurement at the Jovian polar region, via a formation flight. This is what has yet been tried so far in long solar planetary exploration history. ISAS/JAXA is now seriously investigating the spacecraft development and it may put a budgetary proposal for the start of the project hopefully very soon.

SPHEREx: Science Opportunities for Solar System Astronomy

NASA Astrophysics Data System (ADS)

Lisse, Carey Michael; SPHEREx Science Team

2018-01-01

SPHEREx, a mission in NASA's Medium Explorer (MIDEX) program that was selected for Phase A study in August 2017, will perform an all-sky near-infrared spectral survey between 0.75 - 5.0 µm in R = 41 filters, and with R = 135 coverage from 4.2 - 5.0 µm, reaching L ~ 19 (5-sigma).SPHEREx has high potential for solar system science. The 96-band survey will cover the entire sky 4 times over the course of 2 years, including thousands of foreground solar system asteroids, comets, Trojans, and KBOs. By canvassing the entire solar system for 2 years, SPHEREx has the potential not only to achieve a relatively complete sensitivity limited survey of the solar system's bodies, but also some capability to search for variation in these bodies over time.For example, the large legacy dataset of SPHEREx will update the WISE catalogue of asteroid sizes and albedos by providing a spectral survey of tens of thousands of bodies. It will provide spectral classification of hundreds of Trojan asteroids, allowing for direct comparison to the asteroid results. It will extend optical surveys of comet composition by dynamical type to hundreds of objects in the NIR, while determining water/dust/CO/CO2 activity vs distance. SPHEREx will also map in great temporal and spatial detail the zodiacal dust debris disk cloud that these bodies produce, providing an unprecedented level of information concerning the sources and sinks of this material.In this paper, we discuss the data release schedule and some example science studies the planetary astronomy community will be able to access using the SPHEREx database. We also outline existing plans within the SPHEREx team to develop software tools to enable easy access to the data and to conduct catalog searches, and ways in which the community can provide input to the SPHEREx Science Team on scientific studies and data/software requirements for those studies, enabling a large number of scientific studies while finding interesting targets for follow-up observations with Hubble, JWST, ALMA, etc.

The Shape, Internal Structure and Dynamics of 433 Eros from the NEAR Laser Ranging Investigation

NASA Astrophysics Data System (ADS)

Zuber, M. T.; Smith, D. E.; Cheng, A. F.; Garvin, J. B.; NLR Science Team

2000-10-01

The NEAR Laser Rangefinder, an instrument on the NEAR-Shoemaker spacecraft, has been mapping the detailed shape of asteroid 433 Eros since February 29, 2000. The instrument has a range resolution of 31 cm and a surface spot size that varies between 8 to 45 m (depending on orbital altitude), yielding along-track profiles that are often contiguous or overlapping. The NLR has so far provided over 7 million valid measurements of the range from the NEAR-Shoemaker spacecraft to the surface of 433 Eros, which are converted to mass-centered radii through solutions for the spacecraft orbit from Doppler tracking. The current spherical harmonic model, produced in a joint solution between altimetry and Doppler, is to degree and order 48 and is characterized by a spatial resolution of 470 m and a vertical accuracy of a few tens of meters. The shape model has an RMS misfit of 1000 +/- 126 m to an ellipsoid, which represents a poor fit compared to other measured asteroids. Eros' complex shape was dominated by collisions but the asteroid shows no evidence of dumbbell-like structure suggestive of a contact binary bound loosely by self-gravitation. Clustered regions of high slopes on the walls of the two largest depressions represent evidence for structural competence. The offset between the asteroid's center of mass and center of figure can be explained by a density gradient of only 4.3 kg m-3 km-1. This minor deviation of internal structure from homogeneity is likely due to variations in mechanical competence (regolith distribution and variations in internal porosity) rather than composition. Regolith thicknesses of a few tens of meters are inferred from depths of topographic benches in craters. Impact crater morphology shows evidence of influence from both gravity and structural control. Small-scale topography reveals ridges and grooves likely generated by impact-related fracturing.

Howardite Noble Gases as Indicators of Asteroid Surface Processing

NASA Technical Reports Server (NTRS)

Cartwright, J. A.; Mittlefehldt, D. W.; Herrin, J. S.; Ott, U.

2011-01-01

The HED (Howardite, Eucrite and Diogenite) group meteorites likely or iginate from the Asteroid 4 Vesta - one of two asteroid targets of NA SA's Dawn mission. Whilst Howardites are polymict breccias of eucriti c and diogenitic material that often contain "regolithic" petrologica l features, neither their exact regolithic nature nor their formation processes are well defined. As the Solar Wind (SW) noble gas compon ent is implanted onto surfaces of solar system bodies, noble gas anal yses of Howardites provides a key indicator of regolithic origin. In addition to SW, previous work by suggested that restricted Ni (300-12 00 micro g/g) and Al2O3 (8-9 wt%) contents may indicate an ancient we ll-mixed regolith. Our research combines petrological, compositional and noble gas analyses to help improve understanding of asteroid reg olith formation processes, which will play an intergral part in the i nterpretation of Dawn mission data. Following compositional and petrological analyses, we developed a regolith grading scheme for our sampl e set of 30 Howardites and polymict Eucrites. In order to test the r egolith indicators suggested by, our 8 selected samples exhibited a r ange of Ni, Al2O3 contents and regolithic grades. Noble gas analyses were performed using furnace stepheating on our MAP 215-50 noble gas mass spectrometer. Of our 8 howardites, only 3 showed evidence of SW noble gases (e.g approaching Ne-20/Ne-22 approximately equals 13.75, Ne-21/Ne-22 approximately equals 0.033). As these samples display low regolithic grades and a range of Ni and Al2O3 contents, so far we are unable to find any correlation between these indicators and "regolit hic" origin. These results have a number of implications for both Ho wardite and Vesta formation, and may suggest complex surface stratigr aphies and surface-gardening processes.

Making an Iron Planet: The Case for Repeated Hit and Run Collisions

NASA Astrophysics Data System (ADS)

Asphaug, E. I.; Reufer, A.

2014-12-01

Earth, Venus, Mars and some of the largest asteroids have massive silicate mantles surrounding iron cores, and chondritic compositions. Against this backdrop are anomalies like the iron planet Mercury, and the Moon with almost no core, and metallic asteroids like Psyche. The Moon can be explained by giant impact, but for Mercury a giant impact (Benz et al., Icarus 1988) is problematic. Mercury must retain substantial volatiles after its obliteration (e.g. Peplowski et al., Science 2011), and must somehow avoid accreting its ejected silicates (Gladman and Coffey, MAPS 2009). SPH simulations have shown (Asphaug and Reufer, Nature Geosciences 2014; Sarid et al., LPSC 2014) that a differentiated chondritic proto-Mercury about 3 times its present mass can be stripped of its mantle in one energetic hit and run collision with a larger planet (proto-Venus or proto-Earth). To preserve Mercury's volatiles we also consider the scenario of lower energy hit and runs, in succession. We show that if 20 Mars-like planets accreted stochastically to form Venus and the Earth, then the statistics of attrition is likely to lead to one planet (Mercury) expressing repeated mantle stripping, and another planet (Mars) relatively undisturbed. For iron asteroids the "missing mantle paradox" likewise looms prominent. Where does it go, and how do we strip away so much mantle rock (in some cases down to a bare iron core; Yang et al., Nature 2007, Moskovitz et al., EPSL 2011) while leaving asteroids like Vesta presumably intact? According to the hit and run hypothesis, the sink for all this missing silicate is the larger accreted bodies at the top of the feeding chain, as they win the pairwise dynamical competition for stripped materials. This exotic origin of relics is only relevant to those few pairwise encounters that do not accrete both bodies. So the small survivors are lucky, and how they are lucky -- their attrition bias -- is manifested as compositional diversity and a preponderance of iron relics.

Geochemistry at 4 Vesta: Observations Using Fast Neutrons

NASA Technical Reports Server (NTRS)

Lawrence, David J.; Prettyman, Thomas H.; Feldman, William C.; Bazell, David; Mittlefehldt, David W.; Peplowski, Patrick N.; Reedy, Robert C.

2012-01-01

Dawn is currently in orbit around the asteroid 4 Vesta, and one of the major objectives of the mission is to probe the relationship of Vesta to the Howardite, Eucrite, and Diogenite (HED) meteorites. As Vesta is an example of a differentiated planetary embryo, Dawn will also provide fundamental information about planetary evolution in the early solar system [1]. To help accomplish this overall goal, the Dawn spacecraft carries the Gamma-Ray and Neutron Detector (GRaND). GRaND uses planetary gamma-ray and neutron spectroscopy to measure the surface elemental composition of Vesta and will provide information that is unique and complementary to that provided by the other Dawn instruments and investigations. Gamma-ray and neutron spectroscopy is a standard technique for measuring planetary compositions [2], having successfully made measurements at near-Earth asteroids, the Moon, Mars, Mercury and now Vesta. GRaND has made the first measurements of the neutron spectrum from any asteroid (previous asteroid measurements were only made with gamma-rays). Dawn has been collecting data at Vesta since July 2011. The prime data collection period for GRaND is the Low-Altitude Mapping Orbit (LAMO), which started on 12 December 2011 and will last through spring 2012. During LAMO, the Dawn spacecraft orbits at an average altitude of 210 km above the surface of Vesta, which allows good neutron and gamma-ray signals to be detected from Vesta. A description of the overall goals of GRaND and a summary of the initial findings are given elsewhere [3,4]. The subject of this study is to present the information that will be returned from GRaND using fast neutron measurements. Here, we discuss what fast neutrons can reveal about Vesta s surface composition, how such data can address Dawn science goals, and describe fast neutron measurements made in the early portion of the Vesta LAMO phase.

Asteroid Lightcurve Analysis at Isaac Aznar Observatory Aras De Los Olmos, Valencia, Spain

NASA Astrophysics Data System (ADS)

Macias, Amadeo Aznar

2015-01-01

The Isaac Aznar Observatory conducts astrometric and photometric studies of asteroids. This paper contains the photometric results of four asteroids obtained from 2014 April to August. These asteroids were selected from the Collaborative Asteroid Lightcurve Link (CALL) web site: 1088 Mitaka, 2956 Yeomans, 3894 Williamcooke, and (4555) 1974QL.

Rotational and translational considerations in kinetic impact deflection of potentially hazardous asteroids

NASA Astrophysics Data System (ADS)

Zhang, Fei; Xu, Bo; Circi, Christian; Zhang, Lei

2017-04-01

Kinetic impact may be the most reliable and easily implemented method to deflect hazardous asteroids using current technology. Depending on warning time, it can be effective on asteroids with diameters of a few hundred meters. Current impact deflection research often focuses on the orbital dynamics of asteroids. In this paper, we use the ejection outcome of a general oblique impact to calculate how an asteroid's rotational and translational state changes after impact. The results demonstrate how small impactors affect the dynamical state of small asteroids having a diameter of about 100 m. According to these consequences, we propose using several small impactors to hit an asteroid continuously and gently, making the deflection mission relatively flexible. After calculating the rotational variation, we find that the rotational state, especially of slender non-porous asteroids, can be changed significantly. This gives the possibility of using multiple small impactors to mitigate a potentially hazardous asteroid by spinning it up into pieces, or to despin one for future in-situ investigation (e.g., asteroid retrieval or mining).

Asteroids and Meteorites from Venus? Only the Earth Goddess Knows

NASA Astrophysics Data System (ADS)

Dones, Henry; Zahnle, Kevin J.; Alvarellos, José L.

2018-04-01

No meteorites from Venus have been found; indeed, some find theirexistence unlikely because of the perceived difficulty of launchingrocks at speeds above 10 km/s and traversing the planet's 93 baratmosphere. [1] Nonetheless, we keep hope alive, since cosmochemistssay they can identify Cytherean meteorites, should candidates be found[2]. Gladman et al. [3] modeled the exchange of impact ejecta betweenthe terrestrial planets, but did not consider meteorites launched fromVenus in any detail. At the time of Gladman's work, no asteroids thatremained entirely within Earth's orbit were known. 14 suchEarth-interior objects with good orbits have now been discovered, andare known as Atiras, for the Pawnee goddess of the Earth. The largestknown member of the class is 163693 Atira, a binary whose componentshave diameters of approximately 4.8 and 1 km. Discovery of Atiras isvery incomplete because they can only be seen at small solarelongations [4]. Greenstreet et al. [5] modeled the orbitaldistribution of Atiras from main-belt asteroidal and cometary sourceregions, while Ribeiro et al. [6] mapped the stability region ofhypothetical Atiras and integrated the orbits of clones of 12 realAtiras for 1 million years. 97% of the clones survived for 1 Myrimpact with Venus was the most common fate of those that met theirends. We have performed orbital integrations of 1000 clones of each ofthe known Atiras, and of hypothetical ejecta that escape Venus afterasteroid impacts, for 10-100 Myr. The latter calculations usetechniques like those of Alvarellos et al. [7] and Zahnle et al. [8]for transfer amongst Jupiter's galilean satellites. Our goals are toestimate the fraction of Atiras that are ejecta launched from Venus,the time spent in space by hypothetical meteorites from Venus, and therate at which such meteorites strike the Earth.[1] Gilmore M., et al (2017). Space Sci. Rev. 212, 1511. [2] JourdanF., Eroglu E. (2017). MAPS 52, 884. [3] Gladman B.J., etal. (1996). Science 271, 1387. [4] Masi G. (2003). Icarus 163,389. [5] Greenstreet S., Ngo H., Gladman B. (2012). Icarus 217,355. [6] Ribeiro A.O., et al. (2016). MNRAS 458, 4471. [7] Alvarellos,J.L., et al. (2008). Icarus 194, 636. [8] Zahnle, K., etal. (2008). Icarus 194, 660.

Critical Trajectories for the Human Settlement of the High Frontier

NASA Astrophysics Data System (ADS)

Valentine, Lee S.

2007-02-01

If preservation and prosperity of humanity on the Earth and human settlement of space are our goals, we should concentrate on a commercial path to get there. Commercial enterprise has a long history of fortuitously aiding scientific progress. We expect radical changes in the cost of earth to orbit transportation, and in the methods and efficacy of deep space transportation, within the next two decades. A successful space tourism industry, beginning with suborbital tourism, will greatly drive down the cost of access to orbit over the next 15 years. Inexpensive transportation to low Earth orbit is the first requirement for a great future on the High Frontier. Inexpensive means the cost associated with a mature transportation system. A mature system has a cost of three to five times the cost of the propellant. The first cheap, reliable and highly reusable rocket engines are just now appearing in vehicles. With an assured market and high flight rate, the heretofore glacial progress in reducing the cost of space transportation is likely to become rapid. This is the first critical enabling example of synergy between free market economics and scientific and technical progress in space. It will not be the last. New high power switches and ultracapacitors developed for the automotive market make possible cheap, robust and reliable mass driver engines. In space construction, using masses of nonterrestrial materials make the gravity tractor technique much more capable than previous schemes to maneuver asteroids. Ion propulsion will continue to improve and the first solar sails will be flown. Advanced robotics will allow remarkable improvements in productivity. The computing power available to robots began to follow the exponential Moore's law less than decade ago. The first commercial autonomous mobile robots appeared in late summer 2006. Humans, however, will be required for the foreseeable future in repair and supervisory roles, particularly in unstructured settings such as asteroid mines. The evolution from small tourist stations of the next decade to large space hotels will make economical the use of fully closed life-support systems. These could be considered the first space colonies. Derivatives of these commercial space hotels may form suitable Moon and asteroid mining habitats. Using nonterrestrial materials is a key to opening the space frontier. Dozens of rendezvous missions to Near Earth Objects will be needed to assay their resources and to plan rational NEO diversion. The development of NEO mining techniques serves two purposes, raw materials supply and planetary defense. We need economical trajectories to and from these bodies. These trajectories must not only be economical in terms of delta V or time, but in dollars, and in the time value of money, factors not generally considered by the OMB. Satellite solar power stations may be a $500 billion per year market worldwide and cheap nickel steel from asteroids may be an enabler of power satellite construction. One asteroid of the right size and composition in a suitable orbit could open this market. Platinum group metals may be an important export, either as a primary product, or as a byproduct of nickel steel alloy production. Other products, derived from carbon, may also be important. The first economical product from an asteroid mine is likely to be water, for propellant or life-support and radiation shielding in space hotels.

Small main-belt asteroid spectroscopic survey: Initial results

NASA Technical Reports Server (NTRS)

Xu, Shui; Binzel, Richard P.; Burbine, Thomas H.; Bus, Schelte J.

1995-01-01

The spectral characterization of small asteroids is important for understanding the evolution of their compositional and mineralogical properties. We report the results of a CCD spectroscopic survey of small main-belt asteroids which we call the Small Main-belt Asteroid Spectroscopic Survey (SMASS). Spectra of 316 asteroids were obtained, with wavelength coverage ranging from 4000 to 10000 A (0.4 to 1 micrometers). More than half of the objects in our survey have diameters less than 20 km. Survey results include the identification of the first object resembling ordinary chondrite meteorites among the main-belt asteroids (Binzel, R. P., et al, 1993) and observations of more than 20 asteroids showing basaltic achondrite spectral absorption features that strongly link Vesta as the parent body for the basaltic achondrite meteorites (Binzel, R. P., and S. Xu 1993). A potential Mars-crossing asteroid analog to ordinary chondrite meteorites (H chondrites), 2078 Nanking, is reported here. Through a principal component analysis, we have assigned classifications to the members of our sample. The majority of the small main-belt asteroids belong to S and C classes, similar to large asteroids. Our analysis shows that two new classes are justified which we label as J and O. Small asteroids display more diversity in spectral absorption features than the larger ones, which may indicate a greater variation of compositions in the small asteroid population. We found a few candidates for olivine-rich asteroids within the S class. Although the total number of olivine-rich candidates is relatively small, we present evidence suggesting that such objects are more prevalent at smaller sizes.

The Asteroid Impact and Deflection Assessment Mission and its Potential Contributions to Human Exploration of Asteroids

NASA Technical Reports Server (NTRS)

Abell, Paul A.; Rivkin, Andy S.

2014-01-01

The joint ESA and NASA Asteroid Impact and Deflection Assessment (AIDA) mission will directly address aspects of NASA's Asteroid Initiative and will contribute to future human exploration. The NASA Asteroid Initiative is comprised of two major components: the Grand Challenge and the Asteroid Mission. The first component, the Grand Challenge, focuses on protecting Earth's population from asteroid impacts by detecting potentially hazardous objects with enough warning time to either prevent them from impacting the planet, or to implement civil defense procedures. The Asteroid Mission, involves sending astronauts to study and sample a near-Earth asteroid (NEA) prior to conducting exploration missions of the Martian system, which includes Phobos and Deimos. AIDA's primary objective is to demonstrate a kinetic impact deflection and characterize the binary NEA Didymos. The science and technical data obtained from AIDA will aid in the planning of future human exploration missions to NEAs and other small bodies. The dual robotic missions of AIDA, ESA's Asteroid Impact Monitor (AIM) and NASA's Double Asteroid Redirection Test (DART), will provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of the binary target Didymos both prior to and after the kinetic impact demonstration. The knowledge gained from this mission will help identify asteroidal physical properties in order to maximize operational efficiency and reduce mission risk for future small body missions. The AIDA data will help fill crucial strategic knowledge gaps concerning asteroid physical characteristics that are relevant for human exploration considerations at similar small body destinations.

Compositional studies of primitive asteroids

NASA Technical Reports Server (NTRS)

Vilas, Faith

1991-01-01

Primitive asteroids in the solar system (C, P, D class and associated subclasses) are believed to have undergone less thermal processing compared with the differential (S class) asteroids. Telescopic spectra of C class asteroids show effects of aqueous alteration products produced when heating of the asteroids was sufficient to melt surface water, but not strong enough to produce differentiation. Spectrum analysis of P and D class asteroids suggests that aqueous alteration terminated in the outer belt and did not operate at the distance of Jupiter's orbit.

Studies of asteroids, comets, and Jupiter's outer satellites

NASA Technical Reports Server (NTRS)

Bowell, Edward

1991-01-01

Observational, theoretical, and computational research was performed, mainly on asteroids. Two principal areas of research, centering on astrometry and photometry, are interrelated in their aim to study the overall structure of the asteroid belt and the physical and orbital properties of individual asteroids. Two highlights are: detection of CN emission from Chiron; and realization that 1990 MB is the first known Trojan type asteroid of a planet other than Jupiter. A new method of asteroid orbital error analysis, based on Bayesian theory, was developed.

Asteroid exploration and utilization: The Hawking explorer

NASA Technical Reports Server (NTRS)

Carlson, Alan; Date, Medha; Duarte, Manny; Erian, Neil; Gafka, George; Kappler, Peter; Patano, Scott; Perez, Martin; Ponce, Edgar; Radovich, Brian

1991-01-01

The Earth is nearing depletion of its natural resources at a time when human beings are rapidly expanding the frontiers of space. The resources which may exist on asteroids could have enormous potential for aiding and enhancing human space exploration as well as life on Earth. With the possibly limitless opportunities that exist, it is clear that asteroids are the next step for human existence in space. This report comprises the efforts of NEW WORLDS, Inc. to develop a comprehensive design for an asteroid exploration/sample return mission. This mission is a precursor to proof-of-concept missions that will investigate the validity of mining and materials processing on an asteroid. Project STONER (Systematic Transfer of Near Earth Resources) is based on two utilization scenarios: (1) moving an asteroid to an advantageous location for use by Earth; and (2) mining an asteroids and transporting raw materials back to Earth. The asteroid explorer/sample return mission is designed in the context of both scenarios and is the first phase of a long range plane for humans to utilize asteroid resources. The report concentrates specifically on the selection of the most promising asteroids for exploration and the development of an exploration scenario. Future utilization as well as subsystem requirements of an asteroid sample return probe are also addressed.

Asteroid exploration and utilization: The Hawking explorer

NASA Astrophysics Data System (ADS)

Carlson, Alan; Date, Medha; Duarte, Manny; Erian, Neil; Gafka, George; Kappler, Peter; Patano, Scott; Perez, Martin; Ponce, Edgar; Radovich, Brian

1991-12-01

The Earth is nearing depletion of its natural resources at a time when human beings are rapidly expanding the frontiers of space. The resources which may exist on asteroids could have enormous potential for aiding and enhancing human space exploration as well as life on Earth. With the possibly limitless opportunities that exist, it is clear that asteroids are the next step for human existence in space. This report comprises the efforts of NEW WORLDS, Inc. to develop a comprehensive design for an asteroid exploration/sample return mission. This mission is a precursor to proof-of-concept missions that will investigate the validity of mining and materials processing on an asteroid. Project STONER (Systematic Transfer of Near Earth Resources) is based on two utilization scenarios: (1) moving an asteroid to an advantageous location for use by Earth; and (2) mining an asteroids and transporting raw materials back to Earth. The asteroid explorer/sample return mission is designed in the context of both scenarios and is the first phase of a long range plane for humans to utilize asteroid resources. The report concentrates specifically on the selection of the most promising asteroids for exploration and the development of an exploration scenario. Future utilization as well as subsystem requirements of an asteroid sample return probe are also addressed.

Lunar and Planetary Science XXXV: Asteroids, Meteors, Comets

NASA Technical Reports Server (NTRS)

2004-01-01

Reports included:Long Term Stability of Mars Trojans; Horseshoe Asteroids and Quasi-satellites in Earth-like Orbits; Effect of Roughness on Visible Reflectance Spectra of Planetary Surface; SUBARU Spectroscopy of Asteroid (832) Karin; Determining Time Scale of Space Weathering; Change of Asteroid Reflectance Spectra by Space Weathering: Pulse Laser Irradiation on Meteorite Samples; Reflectance Spectra of CM2 Chondrite Mighei Irradiated with Pulsed Laser and Implications for Low-Albedo Asteroids and Martian Moons; Meteorite Porosities and Densities: A Review of Trends in the Data; Small Craters in the Inner Solar System: Primaries or Secondaries or Both?; Generation of an Ordinary-Chondrite Regolith by Repetitive Impact; Asteroid Modal Mineralogy Using Hapke Mixing Models: Validation with HED Meteorites; Particle Size Effect in X-Ray Fluorescence at a Large Phase Angle: Importance on Elemental Analysis of Asteroid Eros (433); An Investigation into Solar Wind Depletion of Sulfur in Troilite; Photometric Behaviour Dependent on Solar Phase Angle and Physical Characteristics of Binary Near-Earth-Asteroid (65803) 1996 GT; Spectroscopic Observations of Asteroid 4 Vesta from 1.9 to 3.5 micron: Evidence of Hydrated and/or Hydroxylated Minerals; Multi-Wavelength Observations of Asteroid 2100 Ra-Shalom: Visible, Infrared, and Thermal Spectroscopy Results; New Peculiarities of Cometary Outburst Activity; Preliminary Shape Modeling for the Asteroid (25143) Itokawa, AMICA of Hayabusa Mission; Scientific Capability of MINERVA Rover in Hayabusa Asteroid Mission; Characteristics and Current Status of Near Infrared Spectrometer for Hayabusa Mission; Sampling Strategy and Curation Plan of Hayabusa Asteroid Sample Return Mission; Visible/Near-Infrared Spectral Properties of MUSES C Target Asteroid 25143 Itokawa; Calibration of the NEAR XRS Solar Monitor; Modeling Mosaic Degradation of X-Ray Measurements of 433 Eros by NEAR-Shoemaker; Scattered Light Remediation and Recalibration of near Sheomaker s NIS Global Dataaset at 433 Eros; Evaluation of Preparation and Measuring Techniques for Interplanetary Dust Particles for the MIDAS Experiment on Rosetta; Chiron: a Proposed Remote Sensing Prompt Gamma Ray Activation Analysis Instrument for a Nuclear Powered Prometheus Mission;From Present Surveying to Future Prospecting of the Asteroid Belt; Asteroid Physical Properties Probe Microgravity Testing of a Surface Sampling System for Sample Return from Small Solar System Bodies;and Penetrator Coring Apparatus for Cometary Surfaces.

The Next Generation of Mars-GRAM and Its Role in the Autonomous Aerobraking Development Plan

NASA Technical Reports Server (NTRS)

Justh, Hilary L.; Justus, Carl G.; Ramey, Holly S.

2011-01-01

The Mars Global Reference Atmospheric Model (Mars-GRAM) is an engineering-level atmospheric model widely used for diverse mission applications. Mars-GRAM 2010 is currently being used to develop the onboard atmospheric density estimator that is part of the Autonomous Aerobraking Development Plan. In previous versions, Mars-GRAM was less than realistic when used for sensitivity studies for Thermal Emission Spectrometer (TES) MapYear=0 and large optical depth values, such as tau=3. A comparison analysis has been completed between Mars-GRAM, TES and data from the Planetary Data System (PDS) resulting in updated coefficients for the functions relating density, latitude, and longitude of the sun. The adjustment factors are expressed as a function of height (z), Latitude (Lat) and areocentric solar longitude (Ls). The latest release of Mars-GRAM 2010 includes these adjustment factors that alter the in-put data from MGCM and MTGCM for the Mapping Year 0 (user-controlled dust) case. The greatest adjustment occurs at large optical depths such as tau greater than 1. The addition of the adjustment factors has led to better correspondence to TES Limb data from 0-60 km as well as better agreement with MGS, ODY and MRO data at approximately 90-135 km. Improved simulations utilizing Mars-GRAM 2010 are vital to developing the onboard atmospheric density estimator for the Autonomous Aerobraking Development Plan. Mars-GRAM 2010 was not the only planetary GRAM utilized during phase 1 of this plan; Titan-GRAM and Venus-GRAM were used to generate density data sets for Aerobraking Design Reference Missions. These data sets included altitude profiles (both vertical and along a trajectory), GRAM perturbations (tides, gravity waves, etc.) and provided density and scale height values for analysis by other Autonomous Aero-braking team members.

Time-dependent changes in autonomic control of splanchnic vascular resistance and heart rate in ANG II-salt hypertension.

PubMed

Kuroki, Marcos T; Guzman, Pilar A; Fink, Gregory D; Osborn, John W

2012-02-01

Previous studies suggest that ANG II-induced hypertension in rats fed a high-salt (HS) diet (ANG II-salt hypertension) has a neurogenic component dependent on an enhanced sympathetic tone to the splanchnic veins and independent from changes in sympathetic nerve activity to the kidney or hind limb. The purpose of this study was to extend these findings and test whether altered autonomic control of splanchnic resistance arteries and the heart also contributes to the neurogenic component. Mean arterial pressure (MAP), heart rate (HR), superior mesenteric artery blood flow, and mesenteric vascular resistance (MVR) were measured during 4 control days, 14 days of ANG II delivered subcutaneously (150 ng·kg(-1)·min(-1)), and 4 days of recovery in conscious rats fed a HS (2% NaCl) or low-salt (LS; 0.1% NaCl) diet. Autonomic effects on MAP, HR, and MVR were assessed by acute ganglionic blockade with hexamethonium (20 mg/kg iv) on day 3 of control, days 1, 3, 5, 7, 10, and 13 of ANG II, and day 4 of recovery. MVR increased during ANG II infusion in HS and LS rats but remained elevated only in HS rats. Additionally, the MVR response to hexamethonium was enhanced on days 10 and 13 of ANG II selectively in HS rats. Compared with LS rats, HR in HS rats was higher during the 2nd wk of ANG II, and its response to hexamethonium was greater on days 7, 10, and 13 of ANG II. These results suggest that ANG II-salt hypertension is associated with delayed changes in autonomic control of splanchnic resistance arteries and the heart.

Postural tachycardia syndrome: time frequency mapping

NASA Technical Reports Server (NTRS)

Novak, V.; Novak, P.; Opfer-Gehrking, T. L.; Low, P. A.

1996-01-01

Orthostatic tachycardia is common but its specificity remains uncertain. Our preliminary work suggested that using autonomic function testing in conjunction with time-frequency mapping (TFM), it might be possible to characterize a subset of the postural tachycardia syndrome (POTS), that is due to a restricted autonomic neuropathy. We describe 20 patients (17 women and 3 men, aged 14-43 years) with florid POTS and 20 controls (14 women and 6 men, aged 20-41 years). Autonomic failure was quantified by its distribution (cardiovagal, adrenergic and sudomotor) and severity, a symptom profile was generated, and spectral indices, based on modified Wigner distribution during rest and head-up tilt (80 degrees) were evaluated. During tilt-up POTS patients differed from controls by an excessive heart rate (> 130 bpm) (P < 0.001), and higher diastolic pressure (P < 0.01). During rest, cardiovagal oscillations (at respiratory frequencies [RF]) and slow rhythms at nonrespiratory frequencies (NONRF) (from 0.01 to 0.07 Hz) in R-R intervals (RRI) (P < 0.01) were reduced. Both RF and NONRF rhythms in RRI were further blunted with tilt-up (P < 0.001). Slow adrenergic vasomotor rhythms in blood pressure (BP) (approximately 0.07 Hz) surged with tilt-up and returned to normal levels afterwards. The index of sympatho-vagal balance (NONRF-Systolic BP (SBP)/RF-RRI) was dramatically increased in POTS (P < 0.001). Distal postganglionic sudomotor failure was observed, and impairment of the BP responses to the Valsalva maneuver (phase II) suggested peripheral adrenergic dysfunction. Persistent orthostatic dizziness, tiredness, gastrointestinal symptoms and palpitations were common in POTS patients. It is possible to identify a subset of POTS patients who have a length-dependent autonomic neuropathy, affecting the peripheral adrenergic and cardiovagal fibers, with relative preservation of cardiac adrenergic fibers.

Immune systems are not just for making you feel better: they are for controlling autonomous robots

NASA Astrophysics Data System (ADS)

Rosenblum, Mark

2005-05-01

The typical algorithm for robot autonomous navigation in off-road complex environments involves building a 3D map of the robot's surrounding environment using a 3D sensing modality such as stereo vision or active laser scanning, and generating an instantaneous plan to navigate around hazards. Although there has been steady progress using these methods, these systems suffer from several limitations that cannot be overcome with 3D sensing and planning alone. Geometric sensing alone has no ability to distinguish between compressible and non-compressible materials. As a result, these systems have difficulty in heavily vegetated environments and require sensitivity adjustments across different terrain types. On the planning side, these systems have no ability to learn from their mistakes and avoid problematic environmental situations on subsequent encounters. We have implemented an adaptive terrain classification system based on the Artificial Immune System (AIS) computational model, which is loosely based on the biological immune system, that combines various forms of imaging sensor inputs to produce a "feature labeled" image of the scene categorizing areas as benign or detrimental for autonomous robot navigation. Because of the qualities of the AIS computation model, the resulting system will be able to learn and adapt on its own through interaction with the environment by modifying its interpretation of the sensor data. The feature labeled results from the AIS analysis are inserted into a map and can then be used by a planner to generate a safe route to a goal point. The coupling of diverse visual cues with the malleable AIS computational model will lead to autonomous robotic ground vehicles that require less human intervention for deployment in novel environments and more robust operation as a result of the system's ability to improve its performance through interaction with the environment.

Aerobot Autonomy Architecture

NASA Technical Reports Server (NTRS)

Elfes, Alberto; Hall, Jeffery L.; Kulczycki, Eric A.; Cameron, Jonathan M.; Morfopoulos, Arin C.; Clouse, Daniel S.; Montgomery, James F.; Ansar, Adnan I.; Machuzak, Richard J.

2009-01-01

An architecture for autonomous operation of an aerobot (i.e., a robotic blimp) to be used in scientific exploration of planets and moons in the Solar system with an atmosphere (such as Titan and Venus) is undergoing development. This architecture is also applicable to autonomous airships that could be flown in the terrestrial atmosphere for scientific exploration, military reconnaissance and surveillance, and as radio-communication relay stations in disaster areas. The architecture was conceived to satisfy requirements to perform the following functions: a) Vehicle safing, that is, ensuring the integrity of the aerobot during its entire mission, including during extended communication blackouts. b) Accurate and robust autonomous flight control during operation in diverse modes, including launch, deployment of scientific instruments, long traverses, hovering or station-keeping, and maneuvers for touch-and-go surface sampling. c) Mapping and self-localization in the absence of a global positioning system. d) Advanced recognition of hazards and targets in conjunction with tracking of, and visual servoing toward, targets, all to enable the aerobot to detect and avoid atmospheric and topographic hazards and to identify, home in on, and hover over predefined terrain features or other targets of scientific interest. The architecture is an integrated combination of systems for accurate and robust vehicle and flight trajectory control; estimation of the state of the aerobot; perception-based detection and avoidance of hazards; monitoring of the integrity and functionality ("health") of the aerobot; reflexive safing actions; multi-modal localization and mapping; autonomous planning and execution of scientific observations; and long-range planning and monitoring of the mission of the aerobot. The prototype JPL aerobot (see figure) has been tested extensively in various areas in the California Mojave desert.

Explanation Capabilities for Behavior-Based Robot Control

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance L.

2012-01-01

A recent study that evaluated issues associated with remote interaction with an autonomous vehicle within the framework of grounding found that missing contextual information led to uncertainty in the interpretation of collected data, and so introduced errors into the command logic of the vehicle. As the vehicles became more autonomous through the activation of additional capabilities, more errors were made. This is an inefficient use of the platform, since the behavior of remotely located autonomous vehicles didn't coincide with the "mental models" of human operators. One of the conclusions of the study was that there should be a way for the autonomous vehicles to describe what action they choose and why. Robotic agents with enough self-awareness to dynamically adjust the information conveyed back to the Operations Center based on a detail level component analysis of requests could provide this description capability. One way to accomplish this is to map the behavior base of the robot into a formal mathematical framework called a cost-calculus. A cost-calculus uses composition operators to build up sequences of behaviors that can then be compared to what is observed using well-known inference mechanisms.

Asteroid surface materials - Mineralogical characterizations and cosmological implications

NASA Technical Reports Server (NTRS)

Gaffey, M. J.; Mccord, T. B.

1977-01-01

The theoretical basis for the interpretation of diagnostic spectral features is examined and previous characterizations of asteroid surface materials are considered. A summary is provided of results reported by Gaffey and McCord (1977) who have utilized the most sophisticated interpretive techniques available to interpret the spectral reflectance data of about 65 asteroids for mineralogic and petrologic information. Cosmological implications related to the study of asteroid surface materials are also considered, taking into account source bodies for the meteorites, postaccretionary thermal history, significant factors of asteroid thermal history, and the Apollo and Amor asteroids. It is found that the asteroids exhibit surface materials made up of assemblages of meteoritic minerals. The relative abundance of meteorite types reaching the earth's surface is very different from the population of mineralogic types on asteroid surfaces. The earth-crossing or -approaching asteroids apparently derive from a restricted source region or population which is very strongly depleted in the C2-like assemblages that dominate the belt as a whole.

Compositional differences between meteorites and near-Earth asteroids.

PubMed

Vernazza, P; Binzel, R P; Thomas, C A; DeMeo, F E; Bus, S J; Rivkin, A S; Tokunaga, A T

2008-08-14

Understanding the nature and origin of the asteroid population in Earth's vicinity (near-Earth asteroids, and its subset of potentially hazardous asteroids) is a matter of both scientific interest and practical importance. It is generally expected that the compositions of the asteroids that are most likely to hit Earth should reflect those of the most common meteorites. Here we report that most near-Earth asteroids (including the potentially hazardous subset) have spectral properties quantitatively similar to the class of meteorites known as LL chondrites. The prominent Flora family in the inner part of the asteroid belt shares the same spectral properties, suggesting that it is a dominant source of near-Earth asteroids. The observed similarity of near-Earth asteroids to LL chondrites is, however, surprising, as this meteorite class is relatively rare ( approximately 8 per cent of all meteorite falls). One possible explanation is the role of a size-dependent process, such as the Yarkovsky effect, in transporting material from the main belt.

How diverse is the asteroid belt?

NASA Technical Reports Server (NTRS)

Burbine, Thomas H.; Bell, Jeffrey F.

1993-01-01

For approximately twenty years, many different asteroid taxonomies, which used many different observational data sets, have been developed to try to group asteroids into classes that contain members with similar spectral characteristics. However, to understand the structure of the asteroid belt, the resulting classes are only useful if they are grouping together asteroids with somewhat similar mineralogies and thermal histories. Until recently, these taxonomies have focused on spectral reflectance data from 0.3 to 1.1 microns and visual albedo. But in the last five years, observational data sets (e.g., 0.8 to 2.5 microns spectra, CCD spectra, 3 microns spectra, and radar albedos) for a small number of asteroids were compiled that can give a better mineralogical interpretation, but whose use in asteroid taxonomy was relatively limited. Analyses of these 'supplementary' data sets show that most asteroid classes contain members with different compositions and/or thermal histories. To understand the diversity of the asteroid belt, the number of objects with these observations must be expanded and used in the next generation of taxonomies.

The Steward Observatory asteroid relational database

NASA Technical Reports Server (NTRS)

Sykes, Mark V.; Alvarezdelcastillo, Elizabeth M.

1992-01-01

The Steward Observatory Asteroid Relational Database (SOARD) was created as a flexible tool for undertaking studies of asteroid populations and sub-populations, to probe the biases intrinsic to asteroid databases, to ascertain the completeness of data pertaining to specific problems, to aid in the development of observational programs, and to develop pedagogical materials. To date SOARD has compiled an extensive list of data available on asteroids and made it accessible through a single menu-driven database program. Users may obtain tailored lists of asteroid properties for any subset of asteroids or output files which are suitable for plotting spectral data on individual asteroids. A browse capability allows the user to explore the contents of any data file. SOARD offers, also, an asteroid bibliography containing about 13,000 references. The program has online help as well as user and programmer documentation manuals. SOARD continues to provide data to fulfill requests by members of the astronomical community and will continue to grow as data is added to the database and new features are added to the program.

Origin of Martian Moons from Binary Asteroid Dissociation

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.; Lyons, Valerie J. (Technical Monitor)

2001-01-01

The origin of the Martian moons Deimos and Phobos is controversial. A common hypothesis for their origin is that they are captured asteroids, but the moons show no signs of having been heated by passage through a (hypothetical) thick martian atmosphere, and the mechanism by which an asteroid in solar orbit could shed sufficient orbital energy to be captured into Mars orbit has not been previously elucidated. Since the discovery by the space probe Galileo that the asteroid Ida has a moon 'Dactyl', a significant number of asteroids have been discovered to have smaller asteroids in orbit about them. The existence of asteroid moons provides a mechanism for the capture of the Martian moons (and the small moons of the outer planets). When a binary asteroid makes a close approach to a planet, tidal forces can strip the moon from the asteroid. Depending on the phasing, either or both can then be captured. Clearly, the same process can be used to explain the origin of any of the small moons in the solar system.

LandingNav: a precision autonomous landing sensor for robotic platforms on planetary bodies

NASA Astrophysics Data System (ADS)

Katake, Anup; Bruccoleri, Chrisitian; Singla, Puneet; Junkins, John L.

2010-01-01

Increased interest in the exploration of extra terrestrial planetary bodies calls for an increase in the number of spacecraft landing on remote planetary surfaces. Currently, imaging and radar based surveys are used to determine regions of interest and a safe landing zone. The purpose of this paper is to introduce LandingNav, a sensor system solution for autonomous landing on planetary bodies that enables landing on unknown terrain. LandingNav is based on a novel multiple field of view imaging system that leverages the integration of different state of the art technologies for feature detection, tracking, and 3D dense stereo map creation. In this paper we present the test flight results of the LandingNav system prototype. Sources of errors due to hardware limitations and processing algorithms were identified and will be discussed. This paper also shows that addressing the issues identified during the post-flight test data analysis will reduce the error down to 1-2%, thus providing for a high precision 3D range map sensor system.

Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments

NASA Astrophysics Data System (ADS)

Dragone, Mauro; O'Donoghue, Ruadhan; Leonard, John J.; O'Hare, Gregory; Duffy, Brian; Patrikalakis, Andrew; Leederkerken, Jacques

2005-06-01

The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem of "Soccer Anywhere" presents numerous research challenges including: (1) Simultaneous Localization and Mapping (SLAM) in dynamic, unstructured environments, (2) software control architectures for decentralized, distributed control of mobile agents, (3) integration of vision-based object tracking with dynamic control, and (4) social interaction with human participants. In addition to the intrinsic research merit of these topics, we believe that this capability would prove useful for outreach activities, in demonstrating robotics technology to primary and secondary school students, to motivate them to pursue careers in science and engineering.

Proceedings of the 38th Lunar and Planetary Science Conference

NASA Technical Reports Server (NTRS)

2007-01-01

The sessions in the conference include: Titan, Mars Volcanism, Mars Polar Layered Deposits, Early Solar System Isotopes, SPECIAL SESSION: Mars Reconnaissance Orbiter: New Ways of Studying the Red Planet, Achondrites: Exploring Oxygen Isotopes and Parent-Body Processes, Solar System Formation and Evolution, SPECIAL SESSION: SMART-1, . Impact Cratering: Observations and Experiments, SPECIAL SESSION: Volcanism and Tectonism on Saturnian Satellites, Solar Nebula Composition, Mars Fluvial Geomorphology, Asteroid Observations: Spectra, Mostly, Mars Sediments and Geochemistry: View from the Surface, Mars Tectonics and Crustal Dichotomy, Stardust: Wild-2 Revealed, Impact Cratering from Observations and Interpretations, Mars Sediments and Geochemistry: The Map View, Chondrules and Their Formation, Enceladus, Asteroids and Deep Impact: Structure, Dynamics, and Experiments, Mars Surface Process and Evolution, Martian Meteorites: Nakhlites, Experiments, and the Great Shergottite Age Debate, Stardust: Mainly Mineralogy, Astrobiology, Wind-Surface Interactions on Mars and Earth, Icy Satellite Surfaces, Venus, Lunar Remote Sensing, Space Weathering, and Impact Effects, Interplanetary Dust/Genesis, Mars Cratering: Counts and Catastrophes?, Chondrites: Secondary Processes, Mars Sediments and Geochemistry: Atmosphere, Soils, Brines, and Minerals, Lunar Interior and Differentiation, Mars Magnetics and Atmosphere: Core to Ionosphere, Metal-rich Chondrites, Organics in Chondrites, Lunar Impacts and Meteorites, Presolar/Solar Grains, Topics for Print Only papers are: Outer Planets/Satellites, Early Solar System, Interplanetary Dust, Comets and Kuiper Belt Objects, Asteroids and Meteoroids, Chondrites, Achondrites, Meteorite Related, Mars Reconnaissance Orbiter, Mars, Astrobiology, Planetary Differentiation, Impacts, Mercury, Lunar Samples and Modeling, Venus, Missions and Instruments, Global Warming, Education and Public Outreach, Poster sessions are: Asteroids/Kuiper Belt Objects, Galilean Satellites: Geology and Mapping, Titan, Volcanism and Tectonism on Saturnian Satellites, Early Solar System, Achondrite Hodgepodge, Ordinary Chondrites, Carbonaceous Chondrites, Impact Cratering from Observations and Interpretations, Impact Cratering from Experiments and Modeling, SMART-1, Planetary Differentiation, Mars Geology, Mars Volcanism, Mars Tectonics, Mars: Polar, Glacial, and Near-Surface Ice, Mars Valley Networks, Mars Gullies, Mars Outflow Channels, Mars Sediments and Geochemistry: Spirit and Opportunity, Mars Reconnaissance Orbiter: New Ways of Studying the Red Planet, Mars Reconnaissance Orbiter: Geology, Layers, and Landforms, Oh, My!, Mars Reconnaissance Orbiter: Viewing Mars Through Multicolored Glasses; Mars Science Laboratory, Phoenix, and ExoMars: Science, Instruments, and Landing Sites; Planetary Analogs: Chemical and Mineral, Planetary Analogs: Physical, Planetary Analogs: Operations, Future Mission Concepts, Planetary Data, Imaging, and Cartography, Outer Solar System, Presolar/Solar Grains, Stardust Mission; Interplanetary Dust, Genesis, Asteroids and Comets: Models, Dynamics, and Experiments, Venus, Mercury, Laboratory Instruments, Methods, and Techniques to Support Planetary Exploration; Instruments, Techniques, and Enabling Techologies for Planetary Exploration; Lunar Missions and Instruments, Living and Working on the Moon, Meteoroid Impacts on the Moon, Lunar Remote Sensing, Lunar Samples and Experiments, Lunar Atmosphere, Moon: Soils, Poles, and Volatiles, Lunar Topography and Geophysics, Lunar Meteorites, Chondrites: Secondary Processes, Chondrites, Martian Meteorites, Mars Cratering, Mars Surface Processes and Evolution, Mars Sediments and Geochemistry: Regolith, Spectroscopy, and Imaging, Mars Sediments and Geochemistry: Analogs and Mineralogy, Mars: Magnetics and Atmosphere, Mars Aeolian Geomorphology, Mars Data Processing and Analyses, Astrobiology, Engaging Student Educators and the Public in Planetary Science,

Detection of ice and organics on an asteroidal surface.

PubMed

Rivkin, Andrew S; Emery, Joshua P

2010-04-29

Recent observations, including the discovery in typical asteroidal orbits of objects with cometary characteristics (main-belt comets, or MBCs), have blurred the line between comets and asteroids, although so far neither ice nor organic material has been detected on the surface of an asteroid or directly proven to be an asteroidal constituent. Here we report the spectroscopic detection of water ice and organic material on the asteroid 24 Themis, a detection that has been independently confirmed. 24 Themis belongs to the same dynamical family as three of the five known MBCs, and the presence of ice on 24 Themis is strong evidence that it also is present in the MBCs. We conclude that water ice is more common on asteroids than was previously thought and may be widespread in asteroidal interiors at much smaller heliocentric distances than was previously expected.

Meteorite spectroscopy and characterization of asteroid surface materials

NASA Technical Reports Server (NTRS)

Gaffey, Michael J.

1991-01-01

The analysis of visible and near-infrared reflectance spectra is the primary means to determine surface mineralogy and petrology of individual asteroids. These individual studies provide the data to investigate the broader relationships between the asteroids and meteorites and between asteroids at different heliocentric distances. The main purpose is to improve the understanding of the origin, evolution, and inter-relationships of the asteroids; of their relationships to the meteorites; and of the processes active and the conditions present in the early inner solar system. Empirical information from the study of asteroids and the meteorites is essential to the adequate development and testing of the theoretical models for the accretion of the terrestrial planets, and for their early post-accretionary evolution. The recent results are outined in the following sections: (1) asteroid igneous processes, and (2) spinel-bearing asteroids and the nebular compositional gradient.

Asteroid Properties from Photometric Observations: Constraining Non-Gravitational Processes in Asteroids

NASA Astrophysics Data System (ADS)

Pravec, P.

2013-05-01

From October 2012 we run our NEOSource project on the Danish 1.54-m telescope on La Silla. The primary aim of the project is to study non-gravitational processes in asteroids near the Earth and in their source regions in the main asteroidal belt. In my talk, I will give a brief overview of our current knowledge of the asteroidal non- gravitational processes and how we study them with photometric observations. I will talk especially about binary and paired asteroids that appear to be formed by rotational fission, about detecting the Yarkovsky-O'Keefe-Radzievskii-Paddack (YORP) and BYORP (binary YORP) effects of anisotropic thermal emission from asteroids that change their spins and satellite orbits, and about non-principal axis rotators (the so called "tumblers") among the smallest, super-critically rotating asteroids with sizes < 100 meters.

Simultaneous Mass Determination for Gravitationally Coupled Asteroids

DOE Office of Scientific and Technical Information (OSTI.GOV)

Baer, James; Chesley, Steven R., E-mail: jimbaer1@earthlink.net

The conventional least-squares asteroid mass determination algorithm allows us to solve for the mass of a large subject asteroid that is perturbing the trajectory of a smaller test asteroid. However, this algorithm is necessarily a first approximation, ignoring the possibility that the subject asteroid may itself be perturbed by the test asteroid, or that the encounter’s precise geometry may be entangled with encounters involving other asteroids. After reviewing the conventional algorithm, we use it to calculate the masses of 30 main-belt asteroids. Compared to our previous results, we find new mass estimates for eight asteroids (11 Parthenope, 27 Euterpe, 51more » Neimausa, 76 Freia, 121 Hermione, 324 Bamberga, 476 Hedwig, and 532 Herculina) and significantly more precise estimates for six others (2 Pallas, 3 Juno, 4 Vesta, 9 Metis, 16 Psyche, and 88 Thisbe). However, we also find that the conventional algorithm yields questionable results in several gravitationally coupled cases. To address such cases, we describe a new algorithm that allows the epoch state vectors of the subject asteroids to be included as solve-for parameters, allowing for the simultaneous solution of the masses and epoch state vectors of multiple subject and test asteroids. We then apply this algorithm to the same 30 main-belt asteroids and conclude that mass determinations resulting from current and future high-precision astrometric sources (such as Gaia ) should conduct a thorough search for possible gravitational couplings and account for their effects.« less

AIDA: Asteroid Impact & Deflection Assessment

NASA Astrophysics Data System (ADS)

Cheng, Andrew; Michel, Patrick; Ulamec, Stephan; Reed, Cheryl; Galvez, Andres; Carnelli, Ian

On Feb. 15, 2013, an exceptionally close approach to Earth by the small asteroid 2012 DA14 was eagerly awaited by observers, but another small asteroid impacted Earth over Chelyabinsk, Russia the same day without warning, releasing several hundred kilotons TNT of energy and injuring over 1500 people. These dramatic events remind us of the needs to discover hazardous asteroids and to learn how to mitigate them. The AIDA mission is the first demonstration of a mitigation technique to protect the Earth from a potential asteroid impact, by performing a spacecraft kinetic impact on an asteroid to deflect it from its trajectory. We will provide an update on the status of parallel AIDA mission studies supported by ESA and NASA. AIDA is an international collaboration consisting of two independent but mutually supporting missions, one of which is the asteroid kinetic impactor, and the other is the characterization spacecraft which will orbit the asteroid system to monitor the deflection experiment and measure the results. These two missions are the NASA Double Asteroid Redirection Test (DART), which is the kinetic impactor, and the European Space Agency's Asteroid Impact Monitoring (AIM) mission, which is the characterization spacecraft. The target of the AIDA mission will be a binary asteroid, in which DART will target the secondary, smaller member in order to deflect the binary orbit. The resulting period change can be measured to within 10% by ground-based observations. The asteroid deflection will be measured to higher accuracy, and additional results of the DART impact, like the impact crater, will be studied in great detail by the AIM mission. AIDA will return vital data to determine the momentum transfer efficiency of the kinetic impact and key physical properties of the target asteroid. The two mission components of AIDA, DART and AIM, are each independently valuable, but when combined they provide a greatly increased knowledge return. The AIDA mission will combine US and European space experience and expertise to address an international problem, the asteroid impact hazard. AIDA will also be a valuable precursor to human spaceflight to an asteroid, as it would return unique information on an asteroid's strength and internal structure and would be particularly relevant to a human mission for asteroid mitigation. AIDA will furthermore return fundamental new science data on impact cratering, surface properties and interior structure. AIDA will target the binary Near-Earth asteroid Didymos with two independently launched spacecraft, with the deflection experiment to occur in October, 2022.

Dawn Arrives at Vesta: The Smallest Terrestrial Planet

NASA Astrophysics Data System (ADS)

Russell, C. T.; Raymond, C. A.; Coradini, A.; Nathues, A.; De Sanctis, M. C.; Prettyman, T. H.; Jaumann, R.; McSween, H. Y.; McCord, T. B.; Keller, H. U.; Rayman, M.

2011-12-01

The Dawn Mission is a revolutionary concept in planetary exploration. Within the cost cap of a low-cost Discovery mission, a spacecraft has been flown to the main asteroid belt and been put into orbit around its second most massive body, 4 Vesta. Vesta was clearly beginning its march to planet-hood when its accretion stopped, most probably by the formation of Jupiter. Dawn's exploration is enabled by an ion propulsion system that will not only allow Dawn to descend to 200 km altitude, but to leave Vesta, travel to and orbit 1 Ceres in 2015 and map this largest main belt asteroid, a dwarf planet. The initial images of the surface of Vesta have been astounding. They reveal the diverse geochemical processes driven by the internal heat of this 530 km diameter body and titanic forces that have battered Vesta for over 4.65 billion years. A large southern impact structure, troughs ringing the equator, striped craters, dark albedo features contrasting with very high albedo features and a richly colored surface distinguish this most unusual small world.

XRF Experiment for Elementary Surface Analysis

NASA Astrophysics Data System (ADS)

Köhler, E.; Dreißigacker, A.; Fabel, O.; van Gasselt, S.; Meyer, M.

2014-04-01

The proposed X-Ray Fluorescence Instrument Package (XRF-X and XRF-E) is being designed to quantitatively measure the composition and map the distribution of rock-surface materials in order to support the target area selection process for exploration, sampling, and mining. While energydispersive X-Ray fluorescence (EDX) makes use of Solar X-Rays for excitation to probe materials over arbitrary distances (by XRF-X), electron-beam excitation can be used for proximity measurements (by XRF-E) over short-distance of up to about 10 - 20m. This design is targeted at observing and analyzing surface compositions from orbital platforms and it is in particular applicable to all atmosphereless solidsurface bodies. While the instrument design for observing objects in the outer solar system is challenging due to low count rates, the Moon and objects of the asteroid belt usually receive solar X-ray radiation that allows to integrate a statistically reliable data basis. Asteroids are attractive targets and have been visited using X-ray fluorescence instruments by orbiting spacecraft in the past (Itokawa, Eros). They are wellaccessible objects for determining elemental compositions and assessing potential mineral resources.

Steve Ostro and the Near-Earth Asteroid Impact Hazard

NASA Astrophysics Data System (ADS)

Chapman, Clark R.

2009-09-01

The late Steve Ostro, whose scientific interests in Near-Earth Asteroids (NEAs) primarily related to his planetary radar research in the 1980s, soon became an expert on the impact hazard. He quickly realized that radar provided perspectives on close-approaching NEAs that were both very precise as well as complementary to traditional astrometry, enabling good predictions of future orbits and collision probabilities extending for centuries into the future. He also was among the few astronomers who considered the profound issues raised by this newly recognized hazard and by early suggestions of how to mitigate the hazard. With Carl Sagan, Ostro articulated the "deflection dilemma" and other potential low-probability but real dangers of mitigation technologies that might be more serious than the low-probability impact hazard itself. Yet Ostro maintained a deep interest in developing responsible mitigation technologies, in educating the public about the nature of the impact hazard, and in learning more about the population of threatening bodies, especially using the revealing techniques of delay-doppler radar mapping of NEAs and their satellites.

Near-earth asteroids - Possible sources from reflectance spectroscopy

NASA Technical Reports Server (NTRS)

Mcfadden, L. A.; Gaffey, M. J.; Mccord, T. B.

1985-01-01

The diversity of reflectance spectra noted among near-earth asteroids that were compared with selected asteroids, planets and satellites to determine possible source regions is indicative of different mineralogical composition and, accordingly, of more than one source region. Spectral signatures that are similar to those of main belt asteroids support models deriving some of these asteroids from the 5:2 Kirkwood gap and the Flora family, by way of gravitational perturbations. The differences in composition found between near-earth asteroids and planetary and satellite surfaces are in keeping with theoretical arguments that such bodies should not be sources. While some near-earth asteroids furnish portions of the earth's meteorite flux, other sources must also contribute.

The breakup of a main-belt asteroid 450 thousand years ago.

PubMed

Nesvorný, David; Vokrouhlický, David; Bottke, William F

2006-06-09

Collisions in the asteroid belt frequently lead to catastrophic breakups, where more than half of the target's mass is ejected into space. Several dozen large asteroids have been disrupted by impacts over the past several billion years. These impact events have produced groups of fragments with similar orbits called asteroid families. Here we report the discovery of a very young asteroid family around the object 1270 Datura. Our work takes advantage of a method for identification of recent breakups in the asteroid belt using catalogs of osculating (i.e., instantaneous) asteroid orbits. The very young families show up in these catalogs as clusters in a five-dimensional space of osculating orbital elements.

Chemical Mixing Model and K-Th-Ti Systematics and HED Meteorites for the Dawn Mission

NASA Technical Reports Server (NTRS)

Usui, T.; McSween, H. Y., Jr.; Mittlefehldt, D. W.; Prettyman, T. H.

2009-01-01

The Dawn mission will explore 4 Vesta, a large differentiated asteroid believed to be the parent body of the howardite, eucrite and diogenite (HED) meteorite suite. The Dawn spacecraft carries a gamma-ray and neutron detector (GRaND), which will measure the abundances of selected elements on the surface of Vesta. This study provides ways to leverage the large geochemical database on HED meteorites as a tool for interpreting chemical analyses by GRaND of mapped units on the surface of Vesta.

Reports of Planetary Geology Program, 1981

NASA Technical Reports Server (NTRS)

Holt, H. E. (Compiler)

1981-01-01

Abstracts of 205 reports from Principal investigators of NASA's Planetary Geology Program succinctly summarize work conducted and reflect the significant accomplishments. The entries are arranged under the following topics: (1) Saturnian satellites; (2) asteroids, comets and Galilean satellites; (3) cratering processes and landform development; (4) volcanic processes and landforms; (5) Aerolian processes and landforms; (6) fluvial, preglacial, and other processes of landform development; (7) Mars polar deposits, volatiles, and climate; (8) structure, tectonics, and stratigraphy; (9) remote sensing and regolith chemistry; (10) cartography and geologic mapping; and (11) special programs.

Accessibility of near-Earth asteroids, 1990

NASA Technical Reports Server (NTRS)

Hulkower, Neal D.; Child, Jack B.

1991-01-01

Previous research which analyzed the accessibility of all known near-Earth asteroids is updated. Since then, many new near-Earth asteroids have been discovered, and 1928 DB, the most accessible asteroid at that time, has been recovered. Many of these recently discovered near-Earth asteroids have promising orbital characteristics. In addition to accessibility (as defined by minimum global delta v), ideal rendezvous opportunities are identified.

CCD scanning for asteroids and comets

NASA Technical Reports Server (NTRS)

Gehrels, T.; Mcmillan, R. S.

1986-01-01

A change coupled device (CCD) is used in a scanning mode to find new asteroids and recover known asteroids and comet nuclei. Current scientific programs include recovery of asteroids and comet nuclei requested by the Minor Planet Center (MPC), discovery of new asteroids in the main belt and of unusual orbital types, and follow-up astrometry of selected new asteroids discovered. The routine six sigma limiting visual magnitude is 19.6 and slightly more than a square degree is scanned three times every 90 minutes of observing time during the fortnight centered on New Moon. Semiautomatic software for detection of moving objects is in routine use; angular speeds as low as 11.0 arcseconds per hour were distinguished from the effects of the Earth's atmosphere on the field of view. A typical set of three 29-minute scans near the opposition point along the ecliptic typically nets at least 5 new main-belt asteroids down to magnitude 19.6. In 18 observing runs (months) 43 asteroids were recovered, astrometric and photometric data on 59 new asteroids were reported, 10 new asteroids with orbital elements were consolidated, and photometry and positions of 22 comets were reported.

Asteroid search program

NASA Astrophysics Data System (ADS)

This document is dedicated first to the criteria used to select a candidate asteroid. It contains the known characteristics of this asteroid as well as the assumptions made about it. It ends with a preliminary study of other possible more favorable candidates which might be found in the near future. Special attention is paid to the possible existence of Earth-Sun Trojan asteroids. Second, there is a description of the current state of our limited knowledge about the asteroids, and of the instruments and techniques being used to improve this knowledge. The contribution to asteroid research which can be expected from the new instruments already in space or due to be launched in this decade is then discussed. The last part of this document gives a description of different ways of improving our knowledge about the asteroids, both quantitatively and qualitatively. A proposal requiring reasonable financing and manpower to improve asteroid research is presented. It is believed that the implementation of such a program would have a dramatic effect on asteroid research. For example, a significant increase in both the rate of discovery of asteroids and their corresponding orbital parameters would be obtained. This program could be fully operational 3 years after its implementation.

Studies of asteroids, comets, and Jupiter's outer satellites

NASA Technical Reports Server (NTRS)

Bowell, Edward

1988-01-01

The work comprises observational, theoretical, and computational research on asteroids, together with a smaller effort concerning the astrometry of comets and Jupiter's satellites JVI through JXIII. Two principal areas of research, centering on astrometry and photometry, are interrelated in their aim to study the overall structure of the asteroid belt and the physical and orbital properties of individual asteroids. About 2000 accurate photographic positions of asteroids and comets, including a number from the Lowell, Palomar, and Goethe-Link archival plate collections, the last of which was donated to us last winter by Indiana University were measured and published. Charge coupled device (CCD) astrometry of 36 faint targets was undertaken, including 4 comets; JVI, JVII, JVIII, JLX, JXI, and JXII; and 26 asteroids, most of which are Earth-approachers. A deep, bias-correctable asteroid survey (LUKAS), the aim of which is to determine the true spatial distribution of asteroids down to subkilometer diameters was started. A series of eight plates at the UK Schmidt telescope that contain images of asteroids as faint as V approximately 22 mag was obtained. Analysis of microdensitometric scans of two plates has shown that about 98 percent of the asteroid images could be identified completely automatically.

Motion planning for autonomous vehicle based on radial basis function neural network in unstructured environment.

PubMed

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-09-18

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality.

Motion Planning for Autonomous Vehicle Based on Radial Basis Function Neural Network in Unstructured Environment

PubMed Central

Chen, Jiajia; Zhao, Pan; Liang, Huawei; Mei, Tao

2014-01-01

The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments. The proposed algorithm extracts the drivable region from the perception grid map based on the global path, which is available in the road network. The sample points are randomly selected in the drivable region, and a gradient descent method is used to train the RBF network. The parameters of the motion-planning algorithm are verified through the simulation and experiment. It is observed that the proposed approach produces a flexible, smooth, and safe path that can fit any road shape. The method is implemented on autonomous vehicle and verified against many outdoor scenes; furthermore, a comparison of proposed method with the existing well-known Rapidly-exploring Random Tree (RRT) method is presented. The experimental results show that the proposed method is highly effective in planning the vehicle path and offers better motion quality. PMID:25237902

Semantic Mapping and Motion Planning with Turtlebot Roomba

NASA Astrophysics Data System (ADS)

Aslam Butt, Rizwan; Usman Ali, Syed M.

2013-12-01

In this paper, we have successfully demonstrated the semantic mapping and motion planning experiments on Turtlebot Robot using Microsoft Kinect in ROS environment. Moreover, we have also performed the comparative studies on various sampling based motion planning algorithms with Turtlebot in Open Motion Planning Library. Our comparative analysis revealed that Expansive Space Trees (EST) surmounted all other approaches with respect to memory occupation and processing time. We have also tried to summarize the related concepts of autonomous robotics which we hope would be helpful for beginners.

Mobile robot exploration and navigation of indoor spaces using sonar and vision

NASA Technical Reports Server (NTRS)

Kortenkamp, David; Huber, Marcus; Koss, Frank; Belding, William; Lee, Jaeho; Wu, Annie; Bidlack, Clint; Rodgers, Seth

1994-01-01

Integration of skills into an autonomous robot that performs a complex task is described. Time constraints prevented complete integration of all the described skills. The biggest problem was tuning the sensor-based region-finding algorithm to the environment involved. Since localization depended on matching regions found with the a priori map, the robot became lost very quickly. If the low level sensing of the world is not working, then high level reasoning or map making will be unsuccessful.

A Simple Hierarchical Pooling Data Structure for Loop Closure

DTIC Science & Technology

2016-10-16

ticated agglomerative schemes at a fraction of the effort. 1.1 Related work Loop closure is a key component in robotic mapping (SLAM) [37], autonomous...appearance-only slam-fab-map 2.0. In: Robotics : Science and Systems. vol. 5. Seattle, USA (2009) 7. Dong, J., Soatto, S.: Domain size pooling in local...detection with bags of binary words. In: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ Intl. Conf. on. pp. 51–58. IEEE (2011) 9. Geiger, A

Storyboard GALILEO CRUISE SCIENCE OPPORTUNITIES describes asteroid encounters

NASA Technical Reports Server (NTRS)

1989-01-01

Storyboard with mosaicked image of an asteroid and entitled GALILEO CRUISE SCIENCE OPPORTUNITIES describes asteroid objectives. These objectives include: first asteroid encounter; surface geology, composition size, shape, mass; and relation of primitive bodies to meteorites.

Development of autonomous grasping and navigating robot

NASA Astrophysics Data System (ADS)

Kudoh, Hiroyuki; Fujimoto, Keisuke; Nakayama, Yasuichi

2015-01-01

The ability to find and grasp target items in an unknown environment is important for working robots. We developed an autonomous navigating and grasping robot. The operations are locating a requested item, moving to where the item is placed, finding the item on a shelf or table, and picking the item up from the shelf or the table. To achieve these operations, we designed the robot with three functions: an autonomous navigating function that generates a map and a route in an unknown environment, an item position recognizing function, and a grasping function. We tested this robot in an unknown environment. It achieved a series of operations: moving to a destination, recognizing the positions of items on a shelf, picking up an item, placing it on a cart with its hand, and returning to the starting location. The results of this experiment show the applicability of reducing the workforce with robots.

Anti-Adrenergic and Hemodynamic Effects of Ranolazine in Conscious Dogs Zhao, Anti-Adrenergic Effect of Ranolazine

PubMed Central

Zhao, Gong; Walsh, Erin; Shryock, John; Messina, Eric; Wu, Yuzhi; Zeng, Dewan; Xu, Xiaobin; Ochoa, Manuel; Baker, Stephen; Hintze, Thomas; Belardinelli, Luiz

2012-01-01

Effects of ranolazine alone and in the presence of phenylephrine (PE) or isoproterenol (ISO) on hemodynamics, coronary blood flow (CBF) and heart rate (HR) in the absence and presence of hexamethonium (a ganglionic blocker) were studied in conscious dogs. Ranolazine (0.4, 1.2, 3.6 and 6 mg/kg, IV) alone caused transient (<1 min) and reversible hemodynamic changes. PE (0.3 to 10 μg/kg) caused a dose-dependent increase in BP and decrease in HR. ISO (0.01 to 0.3 μg/kg) caused a dose-dependent decrease in BP and increase in HR. Ranolazine at moderate (4-5 μM) and high (11-13 μM) concentrations did not affect the changes in MAP and HR caused by either PE or ISO, or partially attenuated these effects, respectively. However, in dogs treated with hexamethonium (20 mg/kg) to cause autonomic blockade, ranolazine (both 4-5 and 11-13 μM) significantly attenuated both the PE- and ISO-induced changes in MAP. The results suggest that a potential anti-adrenergic effect of ranolazine was masked by autonomic control mechanisms in conscious dogs, but could be observed when these mechanisms were inhibited (e.g., in the hexamethonium-treated dog). Ranolazine, at plasma concentrations below 10 μM and in conscious dogs with intact autonomic regulation, had minimal anti-adrenergic (α and β) effects. PMID:21633249

Earth-approaching asteroid streams

NASA Astrophysics Data System (ADS)

Drummond, J. D.

1991-01-01

Three association patterns have been noted among 139 earth-approaching asteroids on the basis of current orbital similarity; these asteroid streams, consisting of two groups of five members and one of four, can be matched to three of the four meteorite-producing fireball streams determined by Halliday et al. (1990). If the asteroid streams are true nonrandom associations, the opportunity arises for studies of an 'exploded' asteroid in the near-earth environment. Near-earth asteroid-search projects are encouraged to search the mean orbit of the present streams in order to discover additional association members.

Depletion of the Outer Asteroid Belt

PubMed

Liou; Malhotra

1997-01-17

During the early history of the solar system, it is likely that the outer planets changed their distance from the sun, and hence, their influence on the asteroid belt evolved with time. The gravitational influence of Jupiter and Saturn on the orbital evolution of asteroids in the outer asteroid belt was calculated. The results show that the sweeping of mean motion resonances associated with planetary migration efficiently destabilizes orbits in the outer asteroid belt on a time scale of 10 million years. This mechanism provides an explanation for the observed depletion of asteroids in that region.

Asteroid volatiles inventory

NASA Technical Reports Server (NTRS)

Lebofsky, L. A.; Jones, T. D.; Herbert, F.

1989-01-01

Asteroids appear in light of telescopic and meteority studies to be the most accessible repositories of early solar system history available. In the cooler regions of the outer asteroid belt, apparently unaffected by severe heating, the C, P, and D populations appear to harbor significant inventories of volatiles; the larger primordial belt population may have had an even greater percentage of volatile-rich, low-albedo asteroids, constituting a potent asteroid for veneering early terrestrial planet atmospheres. The volatile-rich asteroids contain carbon, structurally bound and adsorbed water, as well as remnants of interstellar material predating the solar system.

Depletion of the Outer Asteroid Belt

NASA Technical Reports Server (NTRS)

Liou, Jer-Chyi; Malhotra, Renu

1997-01-01

During the early history of the solar system, it is likely that the outer planets changed their distance from the sun, and hence, their influence on the asteroid belt evolved with time. The gravitational influence of Jupiter and Saturn on the orbital evolution of asteroids in the outer asteroid belt was calculated. The results show that the sweeping of mean motion resonances associated with planetary migration efficiently destabilizes orbits in the outer asteroid belt on a time scale of 10 million years. This mechanism provides an explanation for the observed depletion of asteroids in that region.

Recovering and Mining Asteroids with a Gas-Sealed Enclosure

NASA Astrophysics Data System (ADS)

Jenniskens, P.; Damer, B.; Norkus, R.; Pilotz, S.; Grigsby, B.; Adams, C.; Blair, B. R.

2015-01-01

The internal structure of weakly consolidated rubble piles and primitive asteroids can be studied closer to home, and such asteroids can be mined, if it is possible to create a gas-sealed enclosure around the asteroid.

The Steward Observatory asteroid relational database

NASA Technical Reports Server (NTRS)

Sykes, Mark V.; Alvarezdelcastillo, Elizabeth M.

1991-01-01

The Steward Observatory Asteroid Relational Database (SOARD) was created as a flexible tool for undertaking studies of asteroid populations and sub-populations, to probe the biases intrinsic to asteroid databases, to ascertain the completeness of data pertaining to specific problems, to aid in the development of observational programs, and to develop pedagogical materials. To date, SOARD has compiled an extensive list of data available on asteroids and made it accessible through a single menu-driven database program. Users may obtain tailored lists of asteroid properties for any subset of asteroids or output files which are suitable for plotting spectral data on individual asteroids. The program has online help as well as user and programmer documentation manuals. The SOARD already has provided data to fulfill requests by members of the astronomical community. The SOARD continues to grow as data is added to the database and new features are added to the program.

Identification of a primordial asteroid family constrains the original planetesimal population.

PubMed

Delbo', Marco; Walsh, Kevin; Bolin, Bryce; Avdellidou, Chrysa; Morbidelli, Alessandro

2017-09-08

A quarter of known asteroids is associated with more than 100 distinct asteroid families, meaning that these asteroids originate as impact fragments from the family parent bodies. The determination of which asteroids of the remaining population are members of undiscovered families, or accreted as planetesimals from the protoplanetary disk, would constrain a critical phase of planetary formation by unveiling the unknown planetesimal size distribution. We discovered a 4-billion-year-old asteroid family extending across the entire inner part of the main belt whose members include most of the dark asteroids previously unlinked to families. This allows us to identify some original planetesimals, which are all larger than 35 kilometers, supporting the view of asteroids being born big. Their number matches the known distinct meteorite parent bodies. Copyright © 2017 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

Shape and spin of asteroid 967 Helionape

NASA Astrophysics Data System (ADS)

Apostolovska, G.; Kostov, A.; Donchev, Z.; Bebekovska, E. Vchkova; Kuzmanovska, O.

2018-04-01

Knowledge of the spin and shape parameters of the asteroids is very important for understanding of the conditions during the creation of our planetary system and formation of asteroid populations. The main belt asteroid and Flora family member 967 Helionape was observed during five apparitions. The observations were made at the Bulgarian National Astronomical Observatory (BNAO) Rozhen, since March 2006 to March 2016. Lihtcurve inversion method (Kaasalainen et al. (2001)), applied on 12 relative lightcurves obtained at various geometric conditions of the asteroid, reveals the spin vector, the sense of rotation and the preliminary shape model of the asteroid. Our aim is to contribute in increasing the set of asteroids with known spin and shape parameters. This could be done with dense lightcurves, obtained during small number of apparitions, in combination with sparse data produced by photometric asteroid surveys such as the Gaia satellite (Hanush (2011)).

Large-Scale Experimental Planetary Science Meets Planetary Defense: Deorbiting an Asteroidal Satellite

NASA Technical Reports Server (NTRS)

Cintala, M. J.; Durda, D. D.; Housen, K. R.

2005-01-01

Other than remote-sensing and spacecraft-derived data, the only information that exists regarding the physical and chemical properties of asteroids is that inferred through calculations, numerical simulations, extrapolation of experiments, and meteorite studies. Our understanding of the dynamics of accretion of planetesimals, collisional disruption of asteroids, and the macroscopic, shock-induced modification of the surfaces of such small objects is also, for the most part, founded on similar inferences. While considerable strides have been made in improving the state of asteroid science, too many unknowns remain to assert that we understand the parameters necessary for the more practical problem of deflecting an asteroid or asteroid pair on an Earth-intersecting trajectory. Many of these deficiencies could be reduced or eliminated by intentionally deorbiting an asteroidal satellite and monitoring the resulting collision between it and the primary asteroid, a capability that is well within the limitations of current technology.

Workshop on Oxygen in Asteroids and Meteorites

NASA Technical Reports Server (NTRS)

2005-01-01

Contents include the following: Constraints on the detection of solar nebula's oxidation state through asteroid observation. Oxidation/Reduction Processes in Primitive Achondrites. Low-Temperature Chemical Processing on Asteroids. On the Formation Location of Asteroids and Meteorites. The Spectral Properties of Angritic Basalts. Correlation Between Chemical and Oxygen Isotopic Compositions in Chondrites. Effect of In-Situ Aqueous Alteration on Thermal Model Heat Budgets. Oxidation-Reduction in Meteorites: The Case of High-Ni Irons. Ureilite Atmospherics: Coming up for Air on a Parent Body. High Temperature Effects Including Oxygen Fugacity, in Pre-Planetary and Planetary Meteorites and Asteroids. Oxygen Isotopic Variation of Asteroidal Materials. High-Temperature Chemical Processing on Asteroids: An Oxygen Isotope Perspective. Oxygen Isotopes and Origin of Opaque Assemblages from the Ningqiang Carbonaceous Chondrite. Water Distribution in the Asteroid Belt. Comparative Planetary Mineralogy: V Systematics in Planetary Pyroxenes and fo 2 Estimates for Basalts from Vesta.

ASIME 2016 White Paper: Answers to Questions from the Asteroid Miners

NASA Astrophysics Data System (ADS)

Galache, Jl; Graps, A. L.; Asime 2016 Contributors, 30

2017-09-01

The aim of the Asteroid Science Intersections with In-Space Mine Engineering (ASIME) 2016 conference on September 21-22, 2016 in Luxembourg City was to provide an environment for the detailed discussion of the specific properties of asteroids, with the engineering needs of space missions that utilise asteroids. The ASIME 2016 Conference produced a layered record of discussions from the asteroid scientists and the asteroid miners to understand each other's key concerns and to address key scientific questions from the asteroid mining companies: Planetary Resources, Deep Space Industries and TransAstra. These Questions were the focus of the two-day conference, were addressed by scientists inside and outside of the ASIME 2016 Conference and were the focus of this White Paper. The answers in this White Paper point to the Science Knowledge Gaps (SKGs) for advancing the asteroid in-space resource utilisation domain.

Assessment of the Gaussian Covariance Approximation over an Earth-Asteroid Encounter Period

NASA Technical Reports Server (NTRS)

Mattern, Daniel

2017-01-01

In assessing the risk an asteroid may pose to the Earth, the asteroids state is often predicted for many years, often decades. Only by accounting for the asteroids initial state uncertainty can a measure of the risk be calculated. With the asteroids state uncertainty growing as a function of the initial velocity uncertainty, orbit velocity at the last state update, and the time from the last update to the epoch of interest, the asteroids position uncertainties can grow to many times the size of the Earth when propagated to the encounter risk corridor. This paper examines the merits of propagating the asteroids state covariance as an analytical matrix. The results of this study help to bound the efficacy of applying different metrics for assessing the risk an asteroid poses to the Earth. Additionally, this work identifies a criterion for when different covariance propagation methods are needed to continue predictions after an Earth-encounter period.

Asteroid Initiative Industry and Partner Day

NASA Image and Video Library

2013-06-18

NASA Deputy Administrator Lori Garver discusses the progress being made on NASA's mission to capture, redirect, and explore an asteroid during the Asteroid Initiative Industry and Partner Day at NASA Headquarters on Tuesday, June 18, 2013 in Washington. NASA also announced an Asteroid Grand Challenge focused on finding all asteroid threats to human populations and knowing what to do about them. Photo Credit: (NASA/Bill Ingalls)

A Study of Cybele Asteroids. I. Spin Properties of Ten Asteroids

NASA Astrophysics Data System (ADS)

Lagerkvist, Claes-Ingvar; Erikson, Anders; Lahulla, Felix; De Martino, Mario; Nathues, Andreas; Dahlgren, Mats

2001-01-01

As a part of an observational program on Cybele asteroids we have obtained lightcurves of 10 of the larger asteroids. In this paper the results are presented for 229 Adelinda, 260 Huberta, 401 Ottilia, 420 Bertholda, 466 Tisiphone, 522 Helga, 570 Kythera, 713 Luscinia, 909 Ulla, and 1467 Mashona. Spin properties have been determined for the first time for 8 of these asteroids.

Surprise! The oft-ignored Moon might actually be important for changing the spins of asteroids during Earth flybys

NASA Astrophysics Data System (ADS)

Tuttle Keane, James; Siu, Hosea C.; Moskovitz, Nicholas A.; Binzel, Richard P.

2015-11-01

Analysis near-Earth asteroid archival data has revealed that asteroids with Earth MOIDs (minimum orbit intersection distance; a proxy for flyby distance) smaller than 1.0-1.5 lunar distances have a systematically larger dispersion in spin rate than more distant flybys (Siu, et al. 2015, DPS). While tidal torques during close encounters are expected to alter the spin states of asteroids (e.g. Scheeres et al. 2000, Icarus), there is no intrinsic reason to expect the observed sharp transition in spin rate distribution at 1.0-1.5 lunar distances, as tidal forces drop off smoothly with distance.While the Moon itself is too diminutive to directly alter the spin-states of asteroids, we show that its presence is enough to significantly affect asteroid encounter trajectories. Asteroids entering the Earth-Moon system are subject to three-body dynamics (due to the combined gravitational effects of the Earth and Moon). Depending on the flyby geometry, the Moon can act as a temporary sink for the asteroid's geocentric orbital energy. This allows some fraction of asteroids to have closer approaches with the Earth than expected when considering the Earth-Moon barycenter alone. In rare cases (~0.1%) this process enables the capture of temporary moons around the Earth (Granvik et al. 2012, Icarus). Asteroids that undergo these "enhanced" flybys can have both closer-than-expected encounter distances (resulting in more significant tidal perturbations), and repeated encounters with the Earth and Moon before leaving the system (resulting in the accumulation of multiple tidal interactions). By numerically solving the circular restricted three-body problem, we show that this process naturally produces a sharp transition in the asteroid population: asteroids with MOIDs less than 1.5 lunar distances can undergo these enhanced close approaches, possibly explaining the sharp transition in the dispersion of asteroid spin rates at this distance. Future work will investigate the efficiency of this process, and the relationship between the physical response of the asteroid to tidal perturbations and the statistical distribution of asteroid spin rates.

Neural Network-Based Landmark Recognition and Navigation with IAMRs. Understanding the Principles of Thought and Behavior.

ERIC Educational Resources Information Center

Doty, Keith L.

1999-01-01

Research on neural networks and hippocampal function demonstrating how mammals construct mental maps and develop navigation strategies is being used to create Intelligent Autonomous Mobile Robots (IAMRs). Such robots are able to recognize landmarks and navigate without "vision." (SK)

Asteroid Redirect Crewed Mission Nominal Design and Performance

NASA Technical Reports Server (NTRS)

Condon, Gerald; williams, Jacob

2014-01-01

In 2010, the President announced that, in 2025, the U.S. intended to launch a human mission to an asteroid [1]. This announcement was followed by the idea of a Capability Driven Framework (CDF) [2], which is based on the idea of evolving capabilities from less demanding to more demanding missions to multiple possible destinations and with increased flexibility, cost effectiveness and sustainability. Focused missions, such as a NASA inter-Center study that examined the viability and implications of sending a crew to a Near Earth Asteroid (NEA) [3], provided a way to better understand and evaluate the utility of these CDF capabilities when applied to an actual mission. The long duration of the NEA missions were contrasted with a concept described in a study prepared for the Keck Institute of Space Studies (KISS) [4] where a robotic spacecraft would redirect an asteroid to the Earth-Moon vicinity, where a relatively short duration crewed mission could be conducted to the captured asteroid. This mission concept was included in the National Aeronautics and Space Administration (NASA) fiscal year 2014 budget request, as submitted by the NASA Administrator [5]. NASA studies continued to examine the idea of a crewed mission to a captured asteroid in the Earth-Moon vicinity. During this time was an announcement of NASA's Asteroid Grand Challenge [6]. Key goals for the Asteroid Grand Challenge are to locate, redirect, and explore an asteroid, as well as find and plan for asteroid threats. An Asteroid Redirect Mission (ARM) study was being conducted, which supports this Grand Challenge by providing understanding in how to execute an asteroid rendezvous, capture it, and redirect it to Earth-Moon space, and, in particular, to a distant retrograde orbit (DRO). Subsequent to the returning of the asteroid to a DRO, would be the launch of a crewed mission to rendezvous with the redirected asteroid. This report examines that crewed mission by assessing the Asteroid Redirect Crewed Mission (ARCM) nominal design and performance costs associated with an Orion based crewed rendezvous mission to a captured asteroid in an Earth-Moon DRO. The ARM study includes two fundamental mission phases: 1) The Asteroid Redirect Robotic Mission (ARRM) and 2) the ARCM. The ARRM includes a solar electric propulsion based robotic asteroid return vehicle (ARV) sent to rendezvous with a selected near Earth asteroid, capture it, and return it to a DRO in the Earth-Moon vicinity. The DRO is selected over other possible asteroid parking orbits due to its achievability (by both the robotic and crewed vehicles) and by its stability (e.g., no orbit maintenance is required). After the return of the asteroid to the Earth-Moon vicinity, the ARCM is executed and carries a crew of two astronauts to a DRO to rendezvous with the awaiting ARV with the asteroid. The outbound and inbound transfers employ lunar gravity assist (LGA) flybys to reduce the Orion propellant requirement for the overall nominal mission, which provides a nominal mission with some reserve propellant for possible abort situations. The nominal mission described in this report provides a better understanding of the mission considerations as well as the feasibility of such a crewed mission, particularly with regard to spacecraft currently undergoing development, such as the Orion vehicle and the Space Launch System (SLS).

Asteroid Family Associations of Active Asteroids

NASA Astrophysics Data System (ADS)

Hsieh, Henry H.; Novaković, Bojan; Kim, Yoonyoung; Brasser, Ramon

2018-02-01

We report on the results of a systematic search for associated asteroid families for all active asteroids known to date. We find that 10 out of 12 main-belt comets (MBCs) and five out of seven disrupted asteroids are linked with known or candidate families, rates that have ∼0.1% and ∼6% probabilities, respectively, of occurring by chance, given the overall family association rate of 37% for asteroids in the main asteroid belt. We find previously unidentified family associations between 238P/Read and the candidate Gorchakov family, 311P/PANSTARRS and the candidate Behrens family, 324P/La Sagra and the Alauda family, 354P/LINEAR and the Baptistina family, P/2013 R3-B (Catalina-PANSTARRS) and the Mandragora family, P/2015 X6 (PANSTARRS) and the Aeolia family, P/2016 G1 (PANSTARRS) and the Adeona family, and P/2016 J1-A/B (PANSTARRS) and the Theobalda family. All MBCs with family associations belong to families that contain asteroids with primitive taxonomic classifications and low average reported albedos (\\overline{{p}V}≲ 0.10), while disrupted asteroids with family associations belong to families that contain asteroids that span wider ranges of taxonomic types and average reported albedos (0.06< \\overline{{p}V}< 0.25). These findings are consistent with MBC activity being closely correlated to composition (i.e., whether an object is likely to contain ice), while disrupted asteroid activity is not as sensitive to composition. Given our results, we describe a sequence of processes by which the formation of young asteroid families could lead to the production of present-day MBCs.

Resurfacing asteroids from YORP spin-up and failure

NASA Astrophysics Data System (ADS)

Graves, Kevin J.; Minton, David A.; Hirabayashi, Masatoshi; DeMeo, Francesca E.; Carry, Benoit

2018-04-01

The spectral properties of S and Q-type asteroids can change over time due to interaction with the solar wind and micrometeorite impacts in a process known as 'space weathering.' Space weathering raises the spectral slope and decreases the 1 μm absorption band depth in the spectra of S and Q-type asteroids. Over time, Q-type asteroids, which have very similar spectra to ordinary chondrite meteorites, will change into S-type asteroids. Because there are a significant number of Q-type asteroids, there must be some process which is resurfacing S-type asteroids into Q-types. In this study, we use asteroid data from the Sloan Digital Sky Survey to show a trend between the slope through the g‧, r‧, and i‧ filters, called the gri-slope, and size that holds for all populations of S and Q-type asteroids in the inner solar system, regardless of orbit. We model the evolution of a suite of asteroids in a Monte Carlo YORP rotational evolution and space weathering model. We show that spin-up and failure from YORP is one of the key resurfacing mechanisms that creates the observed weathering trends with size. By varying the non-dimensional YORP coefficient and running time of the present model over the range 475-1425 Myr, we find a range of values for the space weathering timescale, τSW ≈ 19-80 Myr at 2.2 AU. We also estimate the time to weather a newly resurfaced Q-type asteroid into an S-complex asteroid at 1 AU, τQ → S(1AU) ≈ 2-7 Myr.

THE ASTEROID DISTRIBUTION IN THE ECLIPTIC

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ryan, Erin Lee; Woodward, Charles E.; Dipaolo, Andrea

2009-06-15

We present analysis of the asteroid surface density distribution of main-belt asteroids (mean perihelion {delta} {approx_equal} 2.404 AU) in five ecliptic latitude fields, -17 {approx}> {beta}({sup 0}) {approx}< +15, derived from deep Large Binocular Telescope V-band (85% completeness limit V = 21.3 mag) and Spitzer Space Telescope IRAC 8.0 {mu}m (80% completeness limit {approx}103 {mu}Jy) fields enabling us to probe the 0.5-1.0 km diameter asteroid population. We discovered 58 new asteroids in the optical survey as well as 41 new bodies in the Spitzer fields. The derived power-law slopes of the number of asteroids per square degree are similar withinmore » each {approx}5{sup 0} ecliptic latitude bin with a mean value of -0.111 {+-} 0.077. For the 23 known asteroids detected in all four IRAC channels mean albedos range from 0.24 {+-} 0.07 to 0.10 {+-} 0.05. No low-albedo asteroids (p{sub V} {approx}< 0.1) were detected in the Spitzer FLS fields, whereas in the SWIRE fields they are frequent. The SWIRE data clearly samples asteroids in the middle and outer belts providing the first estimates of these km-sized asteroids' albedos. Our observed asteroid number densities at optical wavelengths are generally consistent with those derived from the Standard Asteroid Model within the ecliptic plane. However, we find an overdensity at {beta} {approx}> 5{sup 0} in our optical fields, while the infrared number densities are underdense by factors of 2 to 3 at all ecliptic latitudes.« less

Basalt or Not? Near-infrared Spectra, Surface Mineralogical Estimates, and Meteorite Analogs for 33 Vp-type Asteroids

NASA Astrophysics Data System (ADS)

Hardersen, Paul S.; Reddy, Vishnu; Cloutis, Edward; Nowinski, Matt; Dievendorf, Margaret; Genet, Russell M.; Becker, Savan; Roberts, Rachel

2018-07-01

Investigations of the main asteroid belt and efforts to constrain that population’s physical characteristics involve the daunting task of studying hundreds of thousands of small bodies. Taxonomic systems are routinely employed to study the large-scale nature of the asteroid belt because they utilize common observational parameters, but asteroid taxonomies only define broadly observable properties and are not compositionally diagnostic. This work builds upon the results of work by Hardersen et al., which has the goal of constraining the abundance and distribution of basaltic asteroids throughout the main asteroid belt. We report on the near-infrared (NIR: 0.7 to 2.5 μm) reflectance spectra, surface mineralogical characterizations, analysis of spectral band parameters, and meteorite analogs for 33 Vp asteroids. NIR reflectance spectroscopy is an effective remote sensing technique to detect most pyroxene group minerals, which are spectrally distinct with two very broad spectral absorptions at ∼0.9 and ∼1.9 μm. Combined with the results from Hardersen et al., we identify basaltic asteroids for ∼95% (39/41) of our inner-belt Vp sample, but only ∼25% (2/8) of the outer-belt Vp sample. Inner-belt basaltic asteroids are most likely associated with (4) Vesta and represent impact fragments ejected from previous collisions. Outer-belt Vp asteroids exhibit disparate spectral, mineralogical, and meteorite analog characteristics and likely originate from diverse parent bodies. The discovery of two additional likely basaltic asteroids provides additional evidence for an outer-belt basaltic asteroid population.

Mining the apollo and amor asteroids.

PubMed

O'leary, B

1977-07-22

Earth-approaching asteroids could provide raw materials for space manufacturing. For certain asteroids the total energy per unit mass for the transfer of asteroidal resources to a manufacturing site in high Earth orbit is comparable to that for lunar materials. For logistical reasons the cost may be many times less. Optical studies suggest that these asteroids have compositions corresponding to those of carbonaceous and ordinary chondrites, with some containing large quantities of iron and nickel; others are thought to contain carbon, nitrogen, and hydrogen, elements that appear to be lacking on the moon. The prospect that several new candidate asteroids will be discovered over the next few years increases the likelihood that a variety of asteroidal resource materials can be retrieved on low-energy missions.