Effect of load carriage and natural terrain conditions on cognitive performance in desert environments.

PubMed

Bhattacharyya, Debojyoti; Pal, Madhusudan; Chatterjee, Tirthankar; Majumdar, Dhurjati

2017-10-01

Correct decision making is a critical component of cognitive performance of a soldier, which may be influenced by the load carriage and terrain conditions during their deployment in desert environment. The present study was aimed to investigate the effects of loads and terrain conditions on the cognitive performance in a group of twelve healthy heat acclimatized infantry soldiers under natural desert environment. The soldiers participated in a 10min walking trial during carrying no load and also carrying 10.7, 21.4 and 30kg at two terrain conditions viz., sandy and hard. We studied attention, memory and executive function, which are having immense functional importance in military operations. Standardized cognitive test battery was applied to the participants after carrying each magnitude of load at each terrain. Baseline cognitive performance was recorded on a separate day and was compared with the performances recorded after the load carriage trials. An attempt was made to reveal the relationship between physiological workload (relative workload) and cognitive performance at the point of completion of load carriage trials. Load, terrains and load×terrain interaction did not produce any significant effect (p>0.05) on the cognitive performance. Attention and relative workload were found significantly correlated at hard terrain under no load, 21.4kg and 30kg. Significant correlation was found between executive function and relative workload at hard terrain under no load. Carrying upto 30kg load for 10min at 3.5-4kmph walking speed resulted in improvement in attention at sandy terrain, decrement in memory at both sandy and hard terrains and improvement in executive function at sandy terrain. Copyright © 2017 Elsevier Inc. All rights reserved.

Characterization of Course and Terrain and Their Effect on Skier Speed in World Cup Alpine Ski Racing

PubMed Central

Gilgien, Matthias; Crivelli, Philip; Spörri, Jörg; Kröll, Josef; Müller, Erich

2015-01-01

World Cup (WC) alpine ski racing consists of four main competition disciplines (slalom, giant slalom, super-G and downhill), each with specific course and terrain characteristics. The International Ski Federation (FIS) has regulated course length, altitude drop from start to finish and course setting in order to specify the characteristics of the respective competition disciplines and to control performance and injury-related aspects. However to date, no detailed data on course setting and its adaptation to terrain is available. It is also unknown how course and terrain characteristics influence skier speed. Therefore, the aim of the study was to characterize course setting, terrain geomorphology and their relationship to speed in male WC giant slalom, super-G and downhill. The study revealed that terrain was flatter in downhill compared to the other disciplines. In all disciplines, variability in horizontal gate distance (gate offset) was larger than in gate distance (linear distance from gate to gate). In giant slalom the horizontal gate distance increased with terrain inclination, while super-G and downhill did not show such a connection. In giant slalom and super-G, there was a slight trend towards shorter gate distances as the steepness of the terrain increased. Gates were usually set close to terrain transitions in all three disciplines. Downhill had a larger proportion of extreme terrain inclination changes along the skier trajectory per unit time skiing than the other disciplines. Skier speed decreased with increasing steepness of terrain in all disciplines except for downhill. In steep terrain, speed was found to be controllable by increased horizontal gate distances in giant slalom and by shorter gate distances in giant slalom and super-G. Across the disciplines skier speed was largely explained by course setting and terrain inclination in a multiple linear model. PMID:25760039

Terrain types and local-scale stratigraphy of grooved terrain on ganymede

NASA Technical Reports Server (NTRS)

Murchie, Scott L.; Head, James W.; Helfenstein, Paul; Plescia, Jeffrey B.

1986-01-01

Grooved terrain is subdivided on the basis of pervasive morphology into: (1) groove lanes - elongate parallel groove bands, (2) grooved polygons - polygonal domains of parallel grooves, (3) reticulate terrain - polygonal domains of orthogonal grooves, and (4) complex grooved terrain - polygons with several complexly cross-cutting groove sets. Detailed geologic mapping of select areas, employing previously established conventions for determining relative age relations, reveals a general three-stage sequence of grooved terrain emplacement: first, dissection of the lithosphere by throughgoing grooves, and pervasive deformation of intervening blocks; second, extensive flooding and continued deformation of the intervening blocks; third, repeated superposition of groove lanes concentrated at sites of initial throughgoing grooves. This sequence is corroborated by crater-density measurements. Dominant orientations of groove sets are parallel to relict zones of weakness that probably were reactivated during grooved terrain formation. Groove lane morphology and development consistent with that predicted for passive rifts suggests a major role of global expansion in grooved terrain formation.

Interpretation of laser/multi-sensor data for short range terrain modeling and hazard detection

NASA Technical Reports Server (NTRS)

Messing, B. S.

1980-01-01

A terrain modeling algorithm that would reconstruct the sensed ground images formed by the triangulation scheme, and classify as unsafe any terrain feature that would pose a hazard to a roving vehicle is described. This modeler greatly reduces quantization errors inherent in a laser/sensing system through the use of a thinning algorithm. Dual filters are employed to separate terrain steps from the general landscape, simplifying the analysis of terrain features. A crosspath analysis is utilized to detect and avoid obstacles that would adversely affect the roll of the vehicle. Computer simulations of the rover on various terrains examine the performance of the modeler.

Incorporating scale into digital terrain analysis

NASA Astrophysics Data System (ADS)

Dragut, L. D.; Eisank, C.; Strasser, T.

2009-04-01

Digital Elevation Models (DEMs) and their derived terrain attributes are commonly used in soil-landscape modeling. Process-based terrain attributes meaningful to the soil properties of interest are sought to be produced through digital terrain analysis. Typically, the standard 3 X 3 window-based algorithms are used for this purpose, thus tying the scale of resulting layers to the spatial resolution of the available DEM. But this is likely to induce mismatches between scale domains of terrain information and soil properties of interest, which further propagate biases in soil-landscape modeling. We have started developing a procedure to incorporate scale into digital terrain analysis for terrain-based environmental modeling (Drăguţ et al., in press). The workflow was exemplified on crop yield data. Terrain information was generalized into successive scale levels with focal statistics on increasing neighborhood size. The degree of association between each terrain derivative and crop yield values was established iteratively for all scale levels through correlation analysis. The first peak of correlation indicated the scale level to be further retained. While in a standard 3 X 3 window-based analysis mean curvature was one of the poorest correlated terrain attribute, after generalization it turned into the best correlated variable. To illustrate the importance of scale, we compared the regression results of unfiltered and filtered mean curvature vs. crop yield. The comparison shows an improvement of R squared from a value of 0.01 when the curvature was not filtered, to 0.16 when the curvature was filtered within 55 X 55 m neighborhood size. This indicates the optimum size of curvature information (scale) that influences soil fertility. We further used these results in an object-based image analysis environment to create terrain objects containing aggregated values of both terrain derivatives and crop yield. Hence, we introduce terrain segmentation as an alternative method for generating scale levels in terrain-based environmental modeling. Based on segments, R squared improved up to a value of 0.47. Before integrating the procedure described above into a software application, thorough comparison between the results of different generalization techniques, on different datasets and terrain conditions is necessary. This is the subject of our ongoing research as part of the SCALA project (Scales and Hierarchies in Landform Classification). References: Drăguţ, L., Schauppenlehner, T., Muhar, A., Strobl, J. and Blaschke, T., in press. Optimization of scale and parametrization for terrain segmentation: an application to soil-landscape modeling, Computers & Geosciences.

Integrating Terrain Maps Into a Reactive Navigation Strategy

NASA Technical Reports Server (NTRS)

Howard, Ayanna; Werger, Barry; Seraji, Homayoun

2006-01-01

An improved method of processing information for autonomous navigation of a robotic vehicle across rough terrain involves the integration of terrain maps into a reactive navigation strategy. Somewhat more precisely, the method involves the incorporation, into navigation logic, of data equivalent to regional traversability maps. The terrain characteristic is mapped using a fuzzy-logic representation of the difficulty of traversing the terrain. The method is robust in that it integrates a global path-planning strategy with sensor-based regional and local navigation strategies to ensure a high probability of success in reaching a destination and avoiding obstacles along the way. The sensor-based strategies use cameras aboard the vehicle to observe the regional terrain, defined as the area of the terrain that covers the immediate vicinity near the vehicle to a specified distance a few meters away.

41 CFR 101-45.004 - All terrain vehicles.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 41 Public Contracts and Property Management 2 2012-07-01 2012-07-01 false All terrain vehicles. 101-45.004 Section 101-45.004 Public Contracts and Property Management Federal Property Management... DESTRUCTION OF PERSONAL PROPERTY § 101-45.004 All terrain vehicles. (a) Three-wheeled all terrain vehicles...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 2 2011-01-01 2011-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 2 2013-01-01 2013-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 2 2014-01-01 2014-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 2 2012-01-01 2012-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

14 CFR 91.223 - Terrain awareness and warning system.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 2 2010-01-01 2010-01-01 false Terrain awareness and warning system. 91..., and Certificate Requirements § 91.223 Terrain awareness and warning system. (a) Airplanes manufactured... seat, unless that airplane is equipped with an approved terrain awareness and warning system that as a...

Interim Terrain Data (ITD) and Vector Product Interim Terrain Data (VITD) user's guide

DOT National Transportation Integrated Search

1996-09-01

This guide is intended to be a convenient reference for users of these types of terrain analysis data. ITD is a digitized version of the standard 1:50,000-scale tactical terrain analysis data base (TTADB) product produced by the Defense Mapping Agenc...

Terrain Traversing Device Having a Wheel with Microhooks

NASA Technical Reports Server (NTRS)

Parness, Aaron (Inventor); McKenzie, Clifford F. (Inventor)

2014-01-01

A terrain traversing device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface.

Large Terrain Continuous Level of Detail 3D Visualization Tool

NASA Technical Reports Server (NTRS)

Myint, Steven; Jain, Abhinandan

2012-01-01

This software solved the problem of displaying terrains that are usually too large to be displayed on standard workstations in real time. The software can visualize terrain data sets composed of billions of vertices, and can display these data sets at greater than 30 frames per second. The Large Terrain Continuous Level of Detail 3D Visualization Tool allows large terrains, which can be composed of billions of vertices, to be visualized in real time. It utilizes a continuous level of detail technique called clipmapping to support this. It offloads much of the work involved in breaking up the terrain into levels of details onto the GPU (graphics processing unit) for faster processing.

Using game engine for 3D terrain visualisation of GIS data: A review

NASA Astrophysics Data System (ADS)

Che Mat, Ruzinoor; Shariff, Abdul Rashid Mohammed; Nasir Zulkifli, Abdul; Shafry Mohd Rahim, Mohd; Hafiz Mahayudin, Mohd

2014-06-01

This paper reviews on the 3D terrain visualisation of GIS data using game engines that are available in the market as well as open source. 3D terrain visualisation is a technique used to visualise terrain information from GIS data such as a digital elevation model (DEM), triangular irregular network (TIN) and contour. Much research has been conducted to transform the 2D view of map to 3D. There are several terrain visualisation softwares that are available for free, which include Cesium, Hftool and Landserf. This review paper will help interested users to better understand the current state of art in 3D terrain visualisation of GIS data using game engines.

[Effects of Different Terrain Farmland on Codonopsis pilosula Growth in Loess Plateau Dry Areas].

PubMed

Wang, Hua-dong; Wu, Fa-ming

2014-12-01

To study the effects of different terrain farmland on Codonopsis pilosula growth in arid regions, and then to provide basis for choosing appropriate terrain for Codonopsis pilosula cultivation in the northwest region. Based on the observation of field production,plot cultivation experiment was designed to observe and record the effects of different terrain farmland on Codonopsis pilosula growth period and yeild, and to analyze the terrain effects on Codonopsis pilosula production comprehensively. There were no significant differences between field production and plot cultivation experiment. The results both showed that different terrain farmland significantly affected Codonopsis pilosula growth. Shade slope was the best, then sunny slope followed, terrace and ridge were not suitable for Codonopsis pilosula growth. The terrain is a critical part in Codonopsis pilosula production. To ensure the stability of Codonopsis pilosula production and economic benefits, it is best to choose the shade slope for cultivation.

Perception for rugged terrain

NASA Technical Reports Server (NTRS)

Kweon, In SO; Hebert, Martial; Kanade, Takeo

1989-01-01

A three-dimensional perception system for building a geometrical description of rugged terrain environments from range image data is presented with reference to the exploration of the rugged terrain of Mars. An intermediate representation consisting of an elevation map that includes an explicit representation of uncertainty and labeling of the occluded regions is proposed. The locus method used to convert range image to an elevation map is introduced, along with an uncertainty model based on this algorithm. Both the elevation map and the locus method are the basis of a terrain matching algorithm which does not assume any correspondences between range images. The two-stage algorithm consists of a feature-based matching algorithm to compute an initial transform and an iconic terrain matching algorithm to merge multiple range images into a uniform representation. Terrain modeling results on real range images of rugged terrain are presented. The algorithms considered are a fundamental part of the perception system for the Ambler, a legged locomotor.

77 FR 14584 - Eleventh Meeting: RTCA Special Committee 217, Joint With EUROCAE Working Group-44, Terrain and...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-03-12

... Committee 217, Joint With EUROCAE Working Group--44, Terrain and Airport Mapping Databases AGENCY: Federal... Special Committee 217, Joint with EUROCAE Working Group--44, Terrain and Airport Mapping Databases... Committee 217, Joint with EUROCAE Working Group--44, Terrain and Airport Mapping Databases. DATES: The...

Predicting Southern Appalachian overstory vegetation with digital terrain data

Treesearch

Paul V. Bolstad; Wayne Swank; James Vose

1998-01-01

Vegetation in mountainous regions responds to small-scale variation in terrain, largely due to effects on both temperature and soil moisture. However, there are few studies of quantitative, terrain-based methods for predicting vegetation composition. This study investigated relationships between forest composition, elevation, and a derived index of terrain shape, and...

Hydrographic Basins Analysis Using Digital Terrain Modelling

NASA Astrophysics Data System (ADS)

Mihaela, Pişleagă; -Minda Codruţa, Bădăluţă; Gabriel, Eleş; Daniela, Popescu

2017-10-01

The paper, emphasis the link between digital terrain modelling and studies of hydrographic basins, concerning the hydrological processes analysis. Given the evolution of computing techniques but also of the software digital terrain modelling made its presence felt increasingly, and established itself as a basic concept in many areas, due to many advantages. At present, most digital terrain modelling is derived from three alternative sources such as ground surveys, photogrammetric data capture or from digitized cartographic sources. A wide range of features may be extracted from digital terrain models, such as surface, specific points and landmarks, linear features but also areal futures like drainage basins, hills or hydrological basins. The paper highlights how the use appropriate software for the preparation of a digital terrain model, a model which is subsequently used to study hydrographic basins according to various geomorphological parameters. As a final goal, it shows the link between digital terrain modelling and hydrographic basins study that can be used to optimize the correlation between digital model terrain and hydrological processes in order to obtain results as close to the real field processes.

Virtual terrain: a security-based representation of a computer network

NASA Astrophysics Data System (ADS)

Holsopple, Jared; Yang, Shanchieh; Argauer, Brian

2008-03-01

Much research has been put forth towards detection, correlating, and prediction of cyber attacks in recent years. As this set of research progresses, there is an increasing need for contextual information of a computer network to provide an accurate situational assessment. Typical approaches adopt contextual information as needed; yet such ad hoc effort may lead to unnecessary or even conflicting features. The concept of virtual terrain is, therefore, developed and investigated in this work. Virtual terrain is a common representation of crucial information about network vulnerabilities, accessibilities, and criticalities. A virtual terrain model encompasses operating systems, firewall rules, running services, missions, user accounts, and network connectivity. It is defined as connected graphs with arc attributes defining dynamic relationships among vertices modeling network entities, such as services, users, and machines. The virtual terrain representation is designed to allow feasible development and maintenance of the model, as well as efficacy in terms of the use of the model. This paper will describe the considerations in developing the virtual terrain schema, exemplary virtual terrain models, and algorithms utilizing the virtual terrain model for situation and threat assessment.

Real-time terrain storage generation from multiple sensors towards mobile robot operation interface.

PubMed

Song, Wei; Cho, Seoungjae; Xi, Yulong; Cho, Kyungeun; Um, Kyhyun

2014-01-01

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots.

Real-Time Terrain Storage Generation from Multiple Sensors towards Mobile Robot Operation Interface

PubMed Central

Cho, Seoungjae; Xi, Yulong; Cho, Kyungeun

2014-01-01

A mobile robot mounted with multiple sensors is used to rapidly collect 3D point clouds and video images so as to allow accurate terrain modeling. In this study, we develop a real-time terrain storage generation and representation system including a nonground point database (PDB), ground mesh database (MDB), and texture database (TDB). A voxel-based flag map is proposed for incrementally registering large-scale point clouds in a terrain model in real time. We quantize the 3D point clouds into 3D grids of the flag map as a comparative table in order to remove the redundant points. We integrate the large-scale 3D point clouds into a nonground PDB and a node-based terrain mesh using the CPU. Subsequently, we program a graphics processing unit (GPU) to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images. Finally, we produce a nonground voxel map and a ground textured mesh as a terrain reconstruction result. Our proposed methods were tested in an outdoor environment. Our results show that the proposed system was able to rapidly generate terrain storage and provide high resolution terrain representation for mobile mapping services and a graphical user interface between remote operators and mobile robots. PMID:25101321

Tectonic evolution of the Pan-African arc assemblage in Southern Sinai An example from the Sa'al-Zaghra belt

NASA Astrophysics Data System (ADS)

Hassan, M.; Fowler, A.; Hassan, I.; Abu-Alam, T.; Stüwe, K.

2012-04-01

The southern Sinai basement is part of the broader Neoproterozoic Arabian-Nubian Shield, which occupies parts of northeastern Africa and the Arabian Peninsula. The Sinai exposures of the shield are uniquely located as they form a bridge between the two halves of the shield that are elsewhere separated by the Red Sea rift. For shield terrain fragments are exposed in Sinai: the Feiran-Solaf, Kid, Taba-Elat and Sa'al-Zaghra metamorphic belts. Of these, the Sa'al Zaghra terrain has received the least attention. The four terrains are separated from each other by vast areas of syn- and post tectonic granitoids that complicate the correlation and have led to numerous controversies with respect to their interpretation. In this project structural, petrological and age dating will be carried out to clarify the evolution of the Sa'al Zaghra terrain in order to establish the relationship between it and the other terrains. Preliminary work already undertaken during this research suggests that the Sa'al-Zaghra and Kid terrains have much in common with respect to their lithological assemblages, as well as their structural and metamorphic histories. The same may be said of the Feiran-Solaf and Taba-Elat terrains. Juxtaposition of these paired terrains presents an enigma in that the Sa'al-Zaghra and Kid terrains appear to separate the Feiran-Solaf and Taba-Elat terrains from each other. There are possibilities of ancient transform systems that may explain this configuration.

A multi-mode real-time terrain parameter estimation method for wheeled motion control of mobile robots

NASA Astrophysics Data System (ADS)

Li, Yuankai; Ding, Liang; Zheng, Zhizhong; Yang, Qizhi; Zhao, Xingang; Liu, Guangjun

2018-05-01

For motion control of wheeled planetary rovers traversing on deformable terrain, real-time terrain parameter estimation is critical in modeling the wheel-terrain interaction and compensating the effect of wheel slipping. A multi-mode real-time estimation method is proposed in this paper to achieve accurate terrain parameter estimation. The proposed method is composed of an inner layer for real-time filtering and an outer layer for online update. In the inner layer, sinkage exponent and internal frictional angle, which have higher sensitivity than that of the other terrain parameters to wheel-terrain interaction forces, are estimated in real time by using an adaptive robust extended Kalman filter (AREKF), whereas the other parameters are fixed with nominal values. The inner layer result can help synthesize the current wheel-terrain contact forces with adequate precision, but has limited prediction capability for time-variable wheel slipping. To improve estimation accuracy of the result from the inner layer, an outer layer based on recursive Gauss-Newton (RGN) algorithm is introduced to refine the result of real-time filtering according to the innovation contained in the history data. With the two-layer structure, the proposed method can work in three fundamental estimation modes: EKF, REKF and RGN, making the method applicable for flat, rough and non-uniform terrains. Simulations have demonstrated the effectiveness of the proposed method under three terrain types, showing the advantages of introducing the two-layer structure.

Integration of a synthetic vision system with airborne laser range scanner-based terrain referenced navigation for precision approach guidance

NASA Astrophysics Data System (ADS)

Uijt de Haag, Maarten; Campbell, Jacob; van Graas, Frank

2005-05-01

Synthetic Vision Systems (SVS) provide pilots with a virtual visual depiction of the external environment. When using SVS for aircraft precision approach guidance systems accurate positioning relative to the runway with a high level of integrity is required. Precision approach guidance systems in use today require ground-based electronic navigation components with at least one installation at each airport, and in many cases multiple installations to service approaches to all qualifying runways. A terrain-referenced approach guidance system is envisioned to provide precision guidance to an aircraft without the use of ground-based electronic navigation components installed at the airport. This autonomy makes it a good candidate for integration with an SVS. At the Ohio University Avionics Engineering Center (AEC), work has been underway in the development of such a terrain referenced navigation system. When used in conjunction with an Inertial Measurement Unit (IMU) and a high accuracy/resolution terrain database, this terrain referenced navigation system can provide navigation and guidance information to the pilot on a SVS or conventional instruments. The terrain referenced navigation system, under development at AEC, operates on similar principles as other terrain navigation systems: a ground sensing sensor (in this case an airborne laser scanner) gathers range measurements to the terrain; this data is then matched in some fashion with an onboard terrain database to find the most likely position solution and used to update an inertial sensor-based navigator. AEC's system design differs from today's common terrain navigators in its use of a high resolution terrain database (~1 meter post spacing) in conjunction with an airborne laser scanner which is capable of providing tens of thousands independent terrain elevation measurements per second with centimeter-level accuracies. When combined with data from an inertial navigator the high resolution terrain database and laser scanner system is capable of providing near meter-level horizontal and vertical position estimates. Furthermore, the system under development capitalizes on 1) The position and integrity benefits provided by the Wide Area Augmentation System (WAAS) to reduce the initial search space size and; 2) The availability of high accuracy/resolution databases. This paper presents results from flight tests where the terrain reference navigator is used to provide guidance cues for a precision approach.

Grooved Terrain on Ganymede: A Galileo-based Synthesis

NASA Technical Reports Server (NTRS)

Pappalardo, Robert T.; Collins, Geoffrey C.; Head, James W.; Moore, Jeffrey M.; Schenk, Paul M.

2003-01-01

Swaths of bright "grooved terrain" (sulci) on Ganymede are 10s to 100s of kilometers wide and cross-cut the older dark terrain, forming an intricate patchwork across 2/3 of Ganymede's surface. The view of grooved terrain developed from Voyager images is that bright cells are broad graben infilled by extrusion of relatively clean (silicate-poor) liquid water, warm ice, or icy slush, and then extended and faulted. Galileo imaging has greatly improved understanding of the emplacement history and geological implications of grooved terrain, supporting a rift-like model for its formation.

Cratering history of Miranda: Implications for geologic processes

USGS Publications Warehouse

Plescia, J.B.

1988-01-01

Miranda's surface is divisible into cratered terrain and coronae. The cratered terrain is the most heavily cratered of the terrains and presumably is the oldest. The frequency of craters in the cratered terrain is variable and related to position on the satellite. The coronae are also variably cratered. Elsinore and Arden Coronae have similar crater frequencies and may have formed simultaneously. They are of intermediate agompared to the cratered terrain and to Inverness Corona, which is the youngest major terrain. Graben formation appears to have occured both before and after the formation of the coronae reflecting periods of global expansion. Miranda's surfaces are, in general, the least cratered and therefore inferred to be the youngest within the Uranian system. ?? 1988.

Terrain and refractivity effects on non-optical paths

NASA Astrophysics Data System (ADS)

Barrios, Amalia E.

1994-07-01

The split-step parabolic equation (SSPE) has been used extensively to model tropospheric propagation over the sea, but recent efforts have extended this method to propagation over arbitrary terrain. At the Naval Command, Control and Ocean Surveillance Center (NCCOSC), Research, Development, Test and Evaluation Division, a split-step Terrain Parabolic Equation Model (TPEM) has been developed that takes into account variable terrain and range-dependent refractivity profiles. While TPEM has been previously shown to compare favorably with measured data and other existing terrain models, two alternative methods to model radiowave propagation over terrain, implemented within TPEM, will be presented that give a two to ten-fold decrease in execution time. These two methods are also shown to agree well with measured data.

Image-based terrain modeling with thematic mapper applied to resolving the limit of Holocene Lake expansion in the Great Salt Lake Desert, Utah, part 1

NASA Technical Reports Server (NTRS)

Merola, John A.

1989-01-01

The LANDSAT Thematic Mapper (TM) scanner records reflected solar energy from the earth's surface in six wavelength regions, or bands, and one band that records emitted energy in the thermal region, giving a total of seven bands. Useful research was extracted about terrain morphometry from remote sensing measurements and this information is used in an image-based terrain model for selected coastal geomorphic features in the Great Salt Lake Desert (GSLD). Technical developments include the incorporation of Aerial Profiling of Terrain System (APTS) data in satellite image analysis, and the production and use of 3-D surface plots of TM reflectance data. Also included in the technical developments is the analysis of the ground control point spatial distribution and its affects on geometric correction, and the terrain mapping procedure; using satellite data in a way that eliminates the need to degrade the data by resampling. The most common approach for terrain mapping with multispectral scanner data includes the techniques of pattern recognition and image classification, as opposed to direct measurement of radiance for identification of terrain features. The research approach in this investigation was based on an understanding of the characteristics of reflected light resulting from the variations in moisture and geometry related to terrain as described by the physical laws of radiative transfer. The image-based terrain model provides quantitative information about the terrain morphometry based on the physical relationship between TM data, the physical character of the GSLD, and the APTS measurements.

Evaluating terrain based criteria for snow avalanche exposure ratings using GIS

NASA Astrophysics Data System (ADS)

Delparte, Donna; Jamieson, Bruce; Waters, Nigel

2010-05-01

Snow avalanche terrain in backcountry regions of Canada is increasingly being assessed based upon the Avalanche Terrain Exposure Scale (ATES). ATES is a terrain based classification introduced in 2004 by Parks Canada to identify "simple", "challenging" and "complex" backcountry areas. The ATES rating system has been applied to well over 200 backcountry routes, has been used in guidebooks, trailhead signs and maps and is part of the trip planning component of the AVALUATOR™, a simple decision-support tool for backcountry users. Geographic Information Systems (GIS) offers a means to model and visualize terrain based criteria through the use of digital elevation model (DEM) and land cover data. Primary topographic variables such as slope, aspect and curvature are easily derived from a DEM and are compatible with the equivalent evaluation criteria in ATES. Other components of the ATES classification are difficult to extract from a DEM as they are not strictly terrain based. An overview is provided of the terrain variables that can be generated from DEM and land cover data; criteria from ATES which are not clearly terrain based are identified for further study or revision. The second component of this investigation was the development of an algorithm for inputting suitable ATES criteria into a GIS, thereby mimicking the process avalanche experts use when applying the ATES classification to snow avalanche terrain. GIS based classifications were compared to existing expert assessments for validity. The advantage of automating the ATES classification process through GIS is to assist avalanche experts with categorizing and mapping remote backcountry terrain.

An X-Band Radar Terrain Feature Detection Method for Low-Altitude SVS Operations and Calibration Using LiDAR

NASA Technical Reports Server (NTRS)

Young, Steve; UijtdeHaag, Maarten; Campbell, Jacob

2004-01-01

To enable safe use of Synthetic Vision Systems at low altitudes, real-time range-to-terrain measurements may be required to ensure the integrity of terrain models stored in the system. This paper reviews and extends previous work describing the application of x-band radar to terrain model integrity monitoring. A method of terrain feature extraction and a transformation of the features to a common reference domain are proposed. Expected error distributions for the extracted features are required to establish appropriate thresholds whereby a consistency-checking function can trigger an alert. A calibration-based approach is presented that can be used to obtain these distributions. To verify the approach, NASA's DC-8 airborne science platform was used to collect data from two mapping sensors. An Airborne Laser Terrain Mapping (ALTM) sensor was installed in the cargo bay of the DC-8. After processing, the ALTM produced a reference terrain model with a vertical accuracy of less than one meter. Also installed was a commercial-off-the-shelf x-band radar in the nose radome of the DC-8. Although primarily designed to measure precipitation, the radar also provides estimates of terrain reflectivity at low altitudes. Using the ALTM data as the reference, errors in features extracted from the radar are estimated. A method to estimate errors in features extracted from the terrain model is also presented.

77 FR 29749 - Twelfth Meeting: RTCA Special Committee 217, Joint with EUROCAE WG-44, Terrain and Airport...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-18

... Committee 217, Joint with EUROCAE WG-44, Terrain and Airport Mapping Databases AGENCY: Federal Aviation... 217, Joint with EUROCAE WG-44, Terrain and Airport Mapping Databases. SUMMARY: The FAA is issuing this..., Terrain and Airport Mapping Databases. DATES: The meeting will be held June 18-22, 2012, from 9:00 a.m.-5...

Flooding of Ganymede's bright terrains by low-viscosity water-ice lavas.

PubMed

Schenk, P M; McKinnon, W B; Gwynn, D; Moore, J M

2001-03-01

Large regions of the jovian moon Ganymede have been resurfaced, but the means has been unclear. Suggestions have ranged from volcanic eruptions of liquid water or solid ice to tectonic deformation, but definitive high-resolution morphological evidence has been lacking. Here we report digital elevation models of parts of the surface of Ganymede, derived from stereo pairs combining data from the Voyager and Galileo spacecraft, which reveal bright, smooth terrains that lie at roughly constant elevations 100 to 1,000 metres below the surrounding rougher terrains. These topographic data, together with new images that show fine-scale embayment and burial of older features, indicate that the smooth terrains were formed by flooding of shallow structural troughs by low-viscosity water-ice lavas. The oldest and most deformed areas (the 'reticulate' terrains) in general have the highest relative elevations, whereas units of the most common resurfaced type--the grooved terrain--lie at elevations between those of the smooth and reticulate terrains. Bright terrain, which accounts for some two-thirds of the surface, probably results from a continuum of processes, including crustal rifting, shallow flooding and groove formation. Volcanism plays an integral role in these processes, and is consistent with partial melting of Ganymede's interior.

Some examples of deep structure of the Archean from geophysics

NASA Technical Reports Server (NTRS)

Smithson, S. B.; Johnson, R. A.; Pierson, W. R.

1986-01-01

The development of Archean crust remains as one of the significant problems in earth science, and a major unknown concerning Archean terrains is the nature of the deep crust. The character of crust beneath granulite terrains is especially fascinating because granulites are generally interpreted to represent a deep crustal section. Magnetic data from this area can be best modeled with a magnetized wedge of older Archean rocks (granulitic gneisses) underlying the younger Archean greenstone terrain. The dip of the boundary based on magnetic modeling is the same as the dip of the postulated thrust-fault reflection. Thus several lines of evidence indicate that the younger Archean greenstone belt terrain is thrust above the ancient Minnesota Valley gneiss terrain, presumably as the greenstone belt was accreted to the gneiss terrain, so that the dipping reflection represents a suture zone. Seismic data from underneath the granulite-facies Minnesota gneiss terrain shows abundant reflections between 3 and 6 s, or about 9 to 20 km. These are arcuate or dipping multicyclic events indicative of layering.

Learned navigation in unknown terrains: A retraction method

NASA Technical Reports Server (NTRS)

Rao, Nageswara S. V.; Stoltzfus, N.; Iyengar, S. Sitharama

1989-01-01

The problem of learned navigation of a circular robot R, of radius delta (is greater than or equal to 0), through a terrain whose model is not a-priori known is considered. Two-dimensional finite-sized terrains populated by an unknown (but, finite) number of simple polygonal obstacles are also considered. The number and locations of the vertices of each obstacle are unknown to R. R is equipped with a sensor system that detects all vertices and edges that are visible from its present location. In this context two problems are covered. In the visit problem, the robot is required to visit a sequence of destination points, and in the terrain model acquisition problem, the robot is required to acquire the complete model of the terrain. An algorithmic framework is presented for solving these two problems using a retraction of the freespace onto the Voronoi diagram of the terrain. Algorithms are then presented to solve the visit problem and the terrain model acquisition problem.

Slip-based terrain estimation with a skid-steer vehicle

NASA Astrophysics Data System (ADS)

Reina, Giulio; Galati, Rocco

2016-10-01

In this paper, a novel approach for online terrain characterisation is presented using a skid-steer vehicle. In the context of this research, terrain characterisation refers to the estimation of physical parameters that affects the terrain ability to support vehicular motion. These parameters are inferred from the modelling of the kinematic and dynamic behaviour of a skid-steer vehicle that reveals the underlying relationships governing the vehicle-terrain interaction. The concept of slip track is introduced as a measure of the slippage experienced by the vehicle during turning motion. The proposed terrain estimation system includes common onboard sensors, that is, wheel encoders, electrical current sensors and yaw rate gyroscope. Using these components, the system can characterise terrain online during normal vehicle operations. Experimental results obtained from different surfaces are presented to validate the system in the field showing its effectiveness and potential benefits to implement adaptive driving assistance systems or to automatically update the parameters of onboard control and planning algorithms.

Vegetation-terrain feature relationships in southeast Arizona

NASA Technical Reports Server (NTRS)

Schrumpf, B. J. (Principal Investigator); Mouat, D. A.

1972-01-01

There are no author-identified significant results in this report. Studies of relationships of vegetation distribution to geomorphic characteristics of the landscape and of plant phenological patterns to vegetation identification of satellite imagery indicate that there exists positive relationships between certain plant species and certain terrain features. Not all species were found to exhibit positive relationships with all terrain feature variables, but enough positive relationships seem to exist to indicate that terrain feature variable-vegetation relationship studies have a definite place in plant ecological investigations. Even more importantly, the vegetation groups examined appeared to be successfully discriminated by the terrain feature variables. This would seem to indicate that spatial interpretations of vegetation groups may be possible. While vegetational distributions aren't determined by terrain feature differences, terrain features do mirror factors which directly influence vegetational response and hence distribution. As a result, those environmental features which can be readily and rapidly ascertained on relatively small-scale imagery may prove to be valuable indicators of vegetation distribution.

Stratigraphy of the layered terrain in Valles Marineris, Mars

NASA Technical Reports Server (NTRS)

Komatsu, G.; Strom, Roger G.

1991-01-01

The layered terrain in Valles Marineris provides information about its origin and the geologic history of this canyon system. Whether the terrain is sedimentary material deposited in a dry or lacustrine environment, or volcanic material related to the tectonics of the canyon is still controversial. However, recent studies of Gangis Layered Terrain suggests a cyclic sequence of deposition and erosion under episodic lacustrine conditions. The stratigraphic studies are extended to four other occurrences of layered terrains in Valles Marineris in an attempt to correlate and distinguish between depositional environments. The Juvantae Chasma, Hebes Chasma, Ophir and Candor Chasmata, Melas Chasma, and Gangis Layered Terrain were examined. Although there are broad similarities among the layered terrains, no two deposits are exactly alike. This suggests that there was no synchronized regional depositional processes to form all the layered deposits. However, the similar erosional style of the lower massive weakly bedded unit in Hebes, Gangis, and Ophir-Candor suggests it may have been deposited under similar circumstances.

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.

Terrain Portrayal for Synthetic Vision Systems Head-Down Displays Evaluation Results

NASA Technical Reports Server (NTRS)

Hughes, Monica F.; Glaab, Louis J.

2007-01-01

A critical component of SVS displays is the appropriate presentation of terrain to the pilot. At the time of this study, the relationship between the complexity of the terrain presentation and resulting enhancements of pilot SA and pilot performance had been largely undefined. The terrain portrayal for SVS head-down displays (TP-HDD) simulation examined the effects of two primary elements of terrain portrayal on the primary flight display (PFD): variations of digital elevation model (DEM) resolution and terrain texturing. Variations in DEM resolution ranged from sparsely spaced (30 arc-sec) to very closely spaced data (1 arc-sec). Variations in texture involved three primary methods: constant color, elevation-based generic, and photo-realistic, along with a secondary depth cue enhancer in the form of a fishnet grid overlay.

Integrated Collision Avoidance System for Air Vehicle

NASA Technical Reports Server (NTRS)

Lin, Ching-Fang (Inventor)

2013-01-01

Collision with ground/water/terrain and midair obstacles is one of the common causes of severe aircraft accidents. The various data from the coremicro AHRS/INS/GPS Integration Unit, terrain data base, and object detection sensors are processed to produce collision warning audio/visual messages and collision detection and avoidance of terrain and obstacles through generation of guidance commands in a closed-loop system. The vision sensors provide more information for the Integrated System, such as, terrain recognition and ranging of terrain and obstacles, which plays an important role to the improvement of the Integrated Collision Avoidance System.

Estimating Slopes In Images Of Terrain By Use Of BRDF

NASA Technical Reports Server (NTRS)

Scholl, Marija S.

1995-01-01

Proposed method of estimating slopes of terrain features based on use of bidirectional reflectivity distribution function (BRDF) in analyzing aerial photographs, satellite video images, or other images produced by remote sensors. Estimated slopes integrated along horizontal coordinates to obtain estimated heights; generating three-dimensional terrain maps. Method does not require coregistration of terrain features in pairs of images acquired from slightly different perspectives nor requires Sun or other source of illumination to be low in sky over terrain of interest. On contrary, best when Sun is high. Works at almost all combinations of illumination and viewing angles.

Mars: Fretted and chaotic terrains

NASA Technical Reports Server (NTRS)

Sharp, R. P.

1973-01-01

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

Mathematical Modeling Of The Terrain Around A Robot

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1992-01-01

In conceptual system for modeling of terrain around autonomous mobile robot, representation of terrain used for control separated from representation provided by sensors. Concept takes motion-planning system out from under constraints imposed by discrete spatial intervals of square terrain grid(s). Separation allows sensing and motion-controlling systems to operate asynchronously; facilitating integration of new map and sensor data into planning of motions.

The Effects of Terrain Properties on Determining Crater Model Ages of Lunar Surfaces

NASA Astrophysics Data System (ADS)

Kirchoff, M. R.; Marchi, S.

2017-12-01

Analyzing crater size-frequency distributions (SFDs) and using them to determine model ages of surfaces is an important technique for understanding the Moon's geologic history and evolution. Small craters with diameters (D) < 1 km are frequently used, especially given the very high resolution imaging now available from Lunar Reconnaissance Orbiter Narrow and Wide Angle Cameras (LROC-NAC/WAC) and the Selene Terrain Camera. However, for these diameters, final crater sizes and shapes are affected by the properties of the terrains on which they are formed [1], which alters crater SFD shapes [2]. We use the Model Production Function (MPF; [2]), which includes terrain properties in computing crater production functions, to explore how incorporating terrain properties affects the estimation of crater model ages. First, crater SFDs are compiled utilizing LROC-WAC/NAC images to measure craters with diameters from 10 m up to 20 km (size of largest crater measured depends on the terrain). A nested technique is used to obtain this wide diameter range: D ≥ 0.5 km craters are measured in the largest area, D = 0.09-0.5 km craters are measured in a smaller area within the largest area, and D = 0.01-0.1 km craters are measured in the smallest area located in both of the larger areas. Then, we quantitatively fit the crater SFD with distinct MPFs that use broadly different terrain properties. Terrain properties are varied through coarsely altering the parameters in the crater scaling law [1] that represent material type (consolidated, unconsolidated, porous), material tensile strength, and material density (for further details see [2]). We also discuss the effect of changing terrain properties with depth (i.e., layering). Finally, fits are used to compute the D = 1 km crater model ages for the terrains. We discuss the new constraints on how terrain properties affect crater model ages from our analyses of a variety of lunar terrains from highlands to mare and impact melt to continuous ejecta deposits. References: [1] Holsapple, K. A & Housen, K. R., Icarus 187, 345-356, 2007. [2] Marchi, S., et al., AJ 137, 4936-4948, 2009.

A method to harness global crowd-sourced data to understand travel behavior in avalanche terrain.

NASA Astrophysics Data System (ADS)

Hendrikx, J.; Johnson, J.

2015-12-01

To date, most studies of the human dimensions of decision making in avalanche terrain has focused on two areas - post-accident analysis using accident reports/interviews and, the development of tools as decision forcing aids. We present an alternate method using crowd-sourced citizen science, for understanding decision-making in avalanche terrain. Our project combines real-time GPS tracking via a smartphone application, with internet based surveys of winter backcountry users as a method to describe and quantify travel practices in concert with group decision-making dynamics, and demographic data of participants during excursions. Effectively, we use the recorded GPS track taken within the landscape as an expression of the decision making processes and terrain usage by the group. Preliminary data analysis shows that individual experience levels, gender, avalanche hazard, and group composition all influence the ways in which people travel in avalanche terrain. Our results provide the first analysis of coupled real-time GPS tracking of the crowd while moving in avalanche terrain combined with psychographic and demographic correlates. This research will lead to an improved understanding of real-time decision making in avalanche terrain. In this paper we will specifically focus on the presentation of the methods used to solicit, and then harness the crowd to obtain data in a unique and innovative application of citizen science where the movements within the terrain are the desired output data (Figure 1). Figure 1: Example GPS tracks sourced from backcountry winter users in the Teton Pass area (Wyoming), from the 2014-15 winter season, where tracks in red represent those recorded as self-assessed experts (as per our survey), and where tracks in blue represent those recorded as self-assessed intermediates. All tracks shown were obtained under similar avalanche conditions. Statistical analysis of terrain metrics showed that the experts used steeper terrain than the intermediate users under similar avalanche conditions, demonstrating different terrain choice and use as a function of experience rather than hazard level.

Convective boundary layer heights over mountainous terrain - A review of concepts -

NASA Astrophysics Data System (ADS)

De Wekker, Stephan; Kossmann, Meinolf

2015-12-01

Mountainous terrain exerts an important influence on the Earth's atmosphere and affects atmospheric transport and mixing at a wide range of temporal and spatial scales. The vertical scale of this transport and mixing is determined by the height of the atmospheric boundary layer, which is therefore an important parameter in air pollution studies, weather forecasting, climate modeling, and many other applications. It is recognized that the spatio-temporal structure of the daytime convective boundary layer (CBL) height is strongly modified and more complex in hilly and mountainous terrain compared to flat terrain. While the CBL over flat terrain is mostly dominated by turbulent convection, advection from multi-scale thermally driven flows plays an important role for the CBL evolution over mountainous terrain. However, detailed observations of the CBL structure and understanding of the underlying processes are still limited. Characteristics of CBL heights in mountainous terrain are reviewed for dry, convective conditions. CBLs in valleys and basins, where hazardous accumulation of pollutants is of particular concern, are relatively well-understood compared to CBLs over slopes, ridges, or mountain peaks. Interests in the initiation of shallow and deep convection, and of budgets and long-range transport of air pollutants and trace gases, have triggered some recent studies on terrain induced exchange processes between the CBL and the overlying atmosphere. These studies have helped to gain more insight into CBL structure over complex mountainous terrain, but also show that the universal definition of CBL height over mountains remains an unresolved issue. The review summarizes the progress that has been made in documenting and understanding spatio-temporal behavior of CBL heights in mountainous terrain and concludes with a discussion of open research questions and opportunities for future research.

Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

NASA Technical Reports Server (NTRS)

Bajracharya, Max; Howard, Andrew B.; Matthies, Larry H.

2009-01-01

Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

Simulation and Analysis of Topographic Effect on Land Surface Albedo over Mountainous Areas

NASA Astrophysics Data System (ADS)

Hao, D.; Wen, J.; Xiao, Q.

2017-12-01

Land surface albedo is one of the significant geophysical variables affecting the Earth's climate and controlling the surface radiation budget. Topography leads to the formation of shadows and the redistribution of incident radiation, which complicates the modeling and estimation of the land surface albedo. Some studies show that neglecting the topography effect may lead to significant bias in estimating the land surface albedo for the sloping terrain. However, for the composite sloping terrain, the topographic effects on the albedo remain unclear. Accurately estimating the sub-topographic effect on the land surface albedo over the composite sloping terrain presents a challenge for remote sensing modeling and applications. In our study, we focus on the development of a simplified estimation method for land surface albedo including black-sky albedo (BSA) and white-sky albedo (WSA) of the composite sloping terrain at a kilometer scale based on the fine scale DEM (30m) and quantitatively investigate and understand the topographic effects on the albedo. The albedo is affected by various factors such as solar zenith angle (SZA), solar azimuth angle (SAA), shadows, terrain occlusion, and slope and aspect distribution of the micro-slopes. When SZA is 30°, the absolute and relative deviations between the BSA of flat terrain and that of rugged terrain reaches 0.12 and 50%, respectively. When the mean slope of the terrain is 30.63° and SZA=30°, the absolute deviation of BSA caused by SAA can reach 0.04. The maximal relative and relative deviation between the WSA of flat terrain and that of rugged terrain reaches 0.08 and 50%. These results demonstrate that the topographic effect has to be taken into account in the albedo estimation.

Dirt bikes and all terrain vehicles: the real threat to pediatric kidneys.

PubMed

Wu, Hsi-Yang; Gaines, Barbara A

2007-10-01

Recent reviews show that bicycles are the major cause of significant renal injury with few injuries occurring during contact sports. All-terrain vehicles are also responsible for significant pediatric renal trauma. We determined whether dirt bikes and all-terrain vehicles cause more significant renal injuries than contact sports. A retrospective review of our pediatric trauma database revealed 115 consecutive patients treated for renal trauma from 2000 to 2005. A total of 20 bicycle injuries occurred, including 6 on dirt bikes. A total of 13 all-terrain vehicle injuries occurred, including 4 involving rollovers. A total of 12 contact sport injuries occurred, including 2 during pick-up games. The mean grade of renal injury was compared among the mechanisms, with grades III-V considered high grade. In descending order of renal injury the mechanisms were dirt bike (2.8), all-terrain vehicle rollover (2.8), bicycle (2.3), all-terrain vehicle (2.1), contact sports (1.8) and organized contact sports (1.4). Dirt bikes and all-terrain vehicle rollovers caused significantly greater renal trauma than organized contact sports (2.8 vs 1.4, p = 0.007 and 0.02, respectively), whereas overall bicycle and all-terrain vehicle accidents resulted in similar renal trauma grades compared to those of all contact sports. The 2 high grade renal injuries during contact sports occurred during pick-up football games without protective gear. Physician advice regarding children with a solitary kidney should include avoiding dirt bikes and all-terrain vehicles. Efforts to limit all-terrain vehicle use in children younger than 16 years would decrease the risk of significant renal injury in this population more effectively than limiting contact sports participation.

Furrow Topography and the Elastic Thickness of Ganymede's Dark Terrain Lithosphere

NASA Technical Reports Server (NTRS)

Pappalardo, Robert T.; Nimmo, Francis; Giese, Bernd; Bader, Christina E.; DeRemer, Lindsay C.; Prockter, Louise M.

2003-01-01

The effective elastic thickness of Ganymede's lithosphere tell of the satellite's thermal evolution through time. Generally it has been inferred that dark terrain, which is less tectonically deformed than grooved terrain, represents regions of cooler and thicker lithosphere [1]. The ancient dark terrain is cut by furrows, tectonic troughs about 5 to 20 km in width, which may have formed in response to large ancient impacts [1, 2]. We have applied the methods of [3] to estimate effective elastic thickness based on topographic profiles across tectonic furrows, extracted from a stereo-derived digital elevation model (DEM) of dark terrain in Galileo Regio [4]. Asymmetry in furrow topography and inferred flexure suggests asymmetric furrow fault geometry. We find effective elastic thicknesses 0.4 km, similar to analyzed areas alongside bright grooved terrain. Data and Analysis: A broken-plate elastic model.

Relationships between vegetation and terrain variables in southeastern Arizona. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Mouat, D. A. (Principal Investigator)

1974-01-01

The author has identified the following significant results. Relationships were established between eight terrain variables and plant species and 31 vegetation types. Certain plant species are better than others for differentiating or discriminating groups of specified terrain variables. Certain terrain variables are better than others for differentiating or discriminating groups of vegetation types. Stepwise discriminant analysis was shown to be a useful tool in plant ecological studies.

Light Detection and Ranging-Based Terrain Navigation: A Concept Exploration

NASA Technical Reports Server (NTRS)

Campbell, Jacob; UijtdeHaag, Maarten; vanGraas, Frank; Young, Steve

2003-01-01

This paper discusses the use of Airborne Light Detection And Ranging (LiDAR) equipment for terrain navigation. Airborne LiDAR is a relatively new technology used primarily by the geo-spatial mapping community to produce highly accurate and dense terrain elevation maps. In this paper, the term LiDAR refers to a scanning laser ranger rigidly mounted to an aircraft, as opposed to an integrated sensor system that consists of a scanning laser ranger integrated with Global Positioning System (GPS) and Inertial Measurement Unit (IMU) data. Data from the laser range scanner and IMU will be integrated with a terrain database to estimate the aircraft position and data from the laser range scanner will be integrated with GPS to estimate the aircraft attitude. LiDAR data was collected using NASA Dryden's DC-8 flying laboratory in Reno, NV and was used to test the proposed terrain navigation system. The results of LiDAR-based terrain navigation shown in this paper indicate that airborne LiDAR is a viable technology enabler for fully autonomous aircraft navigation. The navigation performance is highly dependent on the quality of the terrain databases used for positioning and therefore high-resolution (2 m post-spacing) data was used as the terrain reference.

Environmental impacts of forest road construction on mountainous terrain.

PubMed

Caliskan, Erhan

2013-03-15

Forest roads are the base infrastructure foundation of forestry operations. These roads entail a complex engineering effort because they can cause substantial environmental damage to forests and include a high-cost construction. This study was carried out in four sample sites of Giresun, Trabzon(2) and Artvin Forest Directorate, which is in the Black Sea region of Turkey. The areas have both steep terrain (30-50% gradient) and very steep terrain (51-80% gradient). Bulldozers and hydraulic excavators were determined to be the main machines for forest road construction, causing environmental damage and cross sections in mountainous areas.As a result of this study, the percent damage to forests was determined as follows: on steep terrain, 21% of trees were damaged by excavators and 33% of trees were damaged by bulldozers during forest road construction, and on very steep terrain, 27% of trees were damaged by excavators and 44% of trees were damaged by bulldozers during forest road construction. It was also determined that on steep terrain, when excavators were used, 12.23% less forest area was destroyed compared with when bulldozers were used and 16.13% less area was destroyed by excavators on very steep terrain. In order to reduce the environmental damage on the forest ecosystem, especially in steep terrains, hydraulic excavators should replace bulldozers in forest road construction activities.

Terrain modeling for microwave landing system

NASA Technical Reports Server (NTRS)

Poulose, M. M.

1991-01-01

A powerful analytical approach for evaluating the terrain effects on a microwave landing system (MLS) is presented. The approach combines a multiplate model with a powerful and exhaustive ray tracing technique and an accurate formulation for estimating the electromagnetic fields due to the antenna array in the presence of terrain. Both uniform theory of diffraction (UTD) and impedance UTD techniques have been employed to evaluate these fields. Innovative techniques are introduced at each stage to make the model versatile to handle most general terrain contours and also to reduce the computational requirement to a minimum. The model is applied to several terrain geometries, and the results are discussed.

Terrain Traversing Device Having a Wheel with Microhooks

NASA Technical Reports Server (NTRS)

Wiltsie, Nicholas (Inventor); Carpenter, Kalind C. (Inventor); Parness, Aaron (Inventor)

2015-01-01

A terrain traversing device is described. The device includes an annular rotor element with a plurality of co-planar microspine hooks arranged on the periphery of the annular rotor element. Each microspine hook has an independently flexible suspension configuration that permits the microspine hook to initially engage an irregularity in a terrain surface at a preset initial engagement angle and subsequently engage the irregularity with a continuously varying engagement angle when the annular rotor element is rotated for urging the terrain traversing device to traverse a terrain surface. Improvements related to the design, fabrication and use of the microspine hooks in the device are also described.

Impact of Incline, Sex and Level of Performance on Kinematics During a Distance Race in Classical Cross-Country Skiing

PubMed Central

Stöggl, Thomas; Welde, Boye; Supej, Matej; Zoppirolli, Chiara; Rolland, Carsten G.; Holmberg, Hans-Christer; Pellegrini, Barbara

2018-01-01

Here, female and male elite cross-country (XC) skiers were compared on varying terrain during an official 10-km (women) and 15-km (men) Norwegian championship race. On the basis of race performance, 82 skiers were classified as fast (FS) (20 women, 20 men) or slower (SS) (21, 21) skiers. All were video recorded on flat (0°), intermediate (3.5°), uphill (7.1°) and steep uphill (11°) terrain during the race at a distance of 0.8, 1.2, 2.1 and 7.1 km from the start, respectively. All skiers employed exclusively double-poling (DP) on the flat section and, except for the male winner, exclusively diagonal stride (DIA) on the uphill sections. On the intermediate section, more men than women utilized DP and fewer DIA (p = 0.001), with no difference in kick double-poling (DPK). More FS than SS utilized DPK and fewer DIA (p = 0.001), with similar usage of DP. Males skied with faster and longer cycles but lower cycle rate compared with females (p < 0.001), with largest absolute sex differences on flat terrain (p < 0.001) and largest relative differences for cycle velocity and length on intermediate and uphill terrain. External power output rose with increasing incline, being higher for men and FS (p < 0.001). Cycle velocity on flat terrain was the best predictor of mean race velocity for the men, while cycle velocity on steep uphill was the best predictor for the women (both p < 0.001). In conclusion, incline, sex and level of performance influenced cycle characteristics and power output. Greatest absolute sex gap was on flat terrain, whereas the relative difference was greatest on intermediate and steep uphill terrain. We recommend usage of more DP and/or DPK, and less DIA and fewer transitions between techniques on intermediate terrain. Predictors of race performance are sex specific with greatest potential for enhancing performance on flat terrain for men and on steep uphill terrain for women. Key points There was a main effect of sex and level of performance, with longer and more rapid cycles by male than female skiers and by faster than slower skiers. The largest absolute sex differences in cycle velocity and length were observed on flat terrain, with these differences narrowing as the incline rose. However, the greatest relative sex differences were in cycle velocity on the intermediate terrain (23.3%) and for cycle length on steep uphill terrain (27.0%). The men employed DP and DPK to a greater extent and with fewer transitions on intermediate terrain than the women. Faster skiers (especially women) employed DPK to a greater and DIA to a lesser extent than the slower skiers, with approximately equal usage of DP. Cycle velocity on flat terrain was the best predictor of mean race velocity for the men, while cycle velocity on steep uphill terrain was the best predictor in the case of the women. As the incline increased, cycle velocity, cycle length and pole swing time were reduced, while poling time and external power output rose. A J-shaped pattern with respect to cycle rate was observed, with the lowest values on intermediate and highest on steep uphill terrain. PMID:29535586

Comparative analysis of hierarchical triangulated irregular networks to represent 3D elevation in terrain databases

NASA Astrophysics Data System (ADS)

Abdelguerfi, Mahdi; Wynne, Chris; Cooper, Edgar; Ladner, Roy V.; Shaw, Kevin B.

1997-08-01

Three-dimensional terrain representation plays an important role in a number of terrain database applications. Hierarchical triangulated irregular networks (TINs) provide a variable-resolution terrain representation that is based on a nested triangulation of the terrain. This paper compares and analyzes existing hierarchical triangulation techniques. The comparative analysis takes into account how aesthetically appealing and accurate the resulting terrain representation is. Parameters, such as adjacency, slivers, and streaks, are used to provide a measure on how aesthetically appealing the terrain representation is. Slivers occur when the triangulation produces thin and slivery triangles. Streaks appear when there are too many triangulations done at a given vertex. Simple mathematical expressions are derived for these parameters, thereby providing a fairer and a more easily duplicated comparison. In addition to meeting the adjacency requirement, an aesthetically pleasant hierarchical TINs generation algorithm is expected to reduce both slivers and streaks while maintaining accuracy. A comparative analysis of a number of existing approaches shows that a variant of a method originally proposed by Scarlatos exhibits better overall performance.

Little Dog learning of tractive and compressive terrain characteristics

NASA Astrophysics Data System (ADS)

Digney, Bruce L.

2011-05-01

In recent years research into legged locomotion across extreme terrains has increased. Much of this work was done under the DARPA Learning Legged Locomotion program that utilized a standard Little Dog robot platform and prepared terrain test boards with known geometric data. While path planing using geometric information is necessary, acquiring and utilizing tractive and compressive terrain characteristics is equally important. This paper describes methods and results for learning tractive and compressive terrain characteristics with the Little Dog robot. The estimation of terrain traction and compressive/support capabilities using the mechanisms and movements of the robot rather than dedicated instruments is the goal of this research. The resulting characteristics may differ from those of standard tests, however they will be directly usable to the locomotion controllers given that they are obtained in the physical context of the actual robot and its actual movements. This paper elaborates on the methods used and presents results. Future work will develop better suited probabilistic models and interwave these methods with other purposeful actions of the robot to lessen the need for direct terrain probing actions.

An Investigation of the Hypotheses for Formation of the Platy-Ridged Terrain in Elysium Planitia, Mars

NASA Astrophysics Data System (ADS)

Yue, Z.; Gou, S.; Michael, G.; Di, K.; Xie, H.; Gong, H.; Shao, Y.

2017-07-01

The origin of the platy-ridged-polygonized (PRP) terrains on Martian surface has long been debated. The terrain has generally been classified as water, pack ice, or basalt lava related flow. The crater counting results of the PRP terrains suggest they are geologically very young; therefore, they are significant in understanding the recent evolution of Mars. This work evaluated the current hypotheses through detailed analysis of the distribution and microtopographies with the High Resolution Imaging Science Experiment (HiRISE) images for the PRP terrains in Elysium Planitia, Mars. Quantitative measurements and statistics of the typical features of the PRP terrains were also made. In addition, we also found an analog site in Tarim Basin in Xinjiang, China. Our results suggest that mud flow is responsible for the formation of the PRP terrains on the Mars surface, although the hypothesis of low-viscosity basalt lava floods cannot be completely excluded. This finding implies that a regional environment suitable for liquid water may have existed in recent geologic time, which has great importance for future Mars scientific exploration.

47 CFR 24.53 - Calculation of height above average terrain (HAAT).

Code of Federal Regulations, 2012 CFR

2012-10-01

... height above mean sea level. (b) Average terrain elevation shall be calculated using elevation data from... Digital Chart of the World (DCW) may be used. (c) Radial average terrain elevation is calculated as the...

47 CFR 24.53 - Calculation of height above average terrain (HAAT).

Code of Federal Regulations, 2011 CFR

2011-10-01

... height above mean sea level. (b) Average terrain elevation shall be calculated using elevation data from... Digital Chart of the World (DCW) may be used. (c) Radial average terrain elevation is calculated as the...

47 CFR 24.53 - Calculation of height above average terrain (HAAT).

Code of Federal Regulations, 2010 CFR

2010-10-01

... height above mean sea level. (b) Average terrain elevation shall be calculated using elevation data from... Digital Chart of the World (DCW) may be used. (c) Radial average terrain elevation is calculated as the...

47 CFR 24.53 - Calculation of height above average terrain (HAAT).

Code of Federal Regulations, 2014 CFR

2014-10-01

... height above mean sea level. (b) Average terrain elevation shall be calculated using elevation data from... Digital Chart of the World (DCW) may be used. (c) Radial average terrain elevation is calculated as the...

47 CFR 24.53 - Calculation of height above average terrain (HAAT).

Code of Federal Regulations, 2013 CFR

2013-10-01

... height above mean sea level. (b) Average terrain elevation shall be calculated using elevation data from... Digital Chart of the World (DCW) may be used. (c) Radial average terrain elevation is calculated as the...

Enhancing fuzzy robot navigation systems by mimicking human visual perception of natural terrain traversibility

NASA Technical Reports Server (NTRS)

Tunstel, E.; Howard, A.; Edwards, D.; Carlson, A.

2001-01-01

This paper presents a technique for learning to assess terrain traversability for outdoor mobile robot navigation using human-embedded logic and real-time perception of terrain features extracted from image data.

A Realistic Framework for Delay-Tolerant Network Routing in Open Terrains with Continuous Churn

NASA Astrophysics Data System (ADS)

Mahendran, Veeramani; Anirudh, Sivaraman K.; Murthy, C. Siva Ram

The conventional analysis of Delay-Tolerant Network (DTN) routing assumes that the terrain over which nodes move is closed implying that when the nodes hit a boundary, they either wrap around or get reflected. In this work, we study the effect of relaxing this closed terrain assumption on the routing performance, where a continuous stream of nodes enter the terrain and get absorbed upon hitting the boundary.

OLYMPEX Data Workshop: GPM View

NASA Technical Reports Server (NTRS)

Petersen, W.

2017-01-01

OLYMPEX Primary Objectives: Datasets to enable: (1) Direct validation over complex terrain at multiple scales, liquid and frozen precip types, (a) Do we capture terrain and synoptic regime transitions, orographic enhancements/structure, full range of precipitation intensity (e.g., very light to heavy) and types, spatial variability? (b) How well can we estimate space/time-accumulated precipitation over terrain (liquid + frozen)? (2) Physical validation of algorithms in mid-latitude cold season frontal systems over ocean and complex terrain, (a) What are the column properties of frozen, melting, liquid hydrometeors-their relative contributions to estimated surface precipitation, transition under the influence of terrain gradients, and systematic variability as a function of synoptic regime? (3) Integrated hydrologic validation in complex terrain, (a) Can satellite estimates be combined with modeling over complex topography to drive improved products (assimilation, downscaling) [Level IV products] (b) What are capabilities and limitations for use of satellite-based precipitation estimates in stream/river flow forecasting?

Statistical Modeling of Robotic Random Walks on Different Terrain

NASA Astrophysics Data System (ADS)

Naylor, Austin; Kinnaman, Laura

Issues of public safety, especially with crowd dynamics and pedestrian movement, have been modeled by physicists using methods from statistical mechanics over the last few years. Complex decision making of humans moving on different terrains can be modeled using random walks (RW) and correlated random walks (CRW). The effect of different terrains, such as a constant increasing slope, on RW and CRW was explored. LEGO robots were programmed to make RW and CRW with uniform step sizes. Level ground tests demonstrated that the robots had the expected step size distribution and correlation angles (for CRW). The mean square displacement was calculated for each RW and CRW on different terrains and matched expected trends. The step size distribution was determined to change based on the terrain; theoretical predictions for the step size distribution were made for various simple terrains. It's Dr. Laura Kinnaman, not sure where to put the Prefix.

A fault tolerant gait for a hexapod robot over uneven terrain.

PubMed

Yang, J M; Kim, J H

2000-01-01

The fault tolerant gait of legged robots in static walking is a gait which maintains its stability against a fault event preventing a leg from having the support state. In this paper, a fault tolerant quadruped gait is proposed for a hexapod traversing uneven terrain with forbidden regions, which do not offer viable footholds but can be stepped over. By comparing performance of straight-line motion and crab walking over even terrain, it is shown that the proposed gait has better mobility and terrain adaptability than previously developed gaits. Based on the proposed gait, we present a method for the generation of the fault tolerant locomotion of a hexapod over uneven terrain with forbidden regions. The proposed method minimizes the number of legs on the ground during walking, and foot adjustment algorithm is used for avoiding steps on forbidden regions. The effectiveness of the proposed strategy over uneven terrain is demonstrated with a computer simulation.

Differently Aged Terrain

NASA Image and Video Library

2010-07-09

NASA Cassini spacecraft examines old and new terrain on Saturn fascinating Enceladus, a moon where jets of water ice particles and vapor spew from the south pole. Newly created terrain is at the bottom, in the center and on the left of this view.

Terrain Display Alternatives Assessment of Information Density and Alerting Strategies

DOT National Transportation Integrated Search

1998-04-01

Current technology makes it possible to display navigation and terrain information on electronic : screens in the cockpit. The conventions used for position and terrain information must be clearly : presented so pilots can maintain their positional a...

Analysis of hydraulic steering system of tracked all-terrain vehicles' articulated mechanism

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

As for the researches on the dynamic characteristics of tracked all-terrain vehicles' articulated mechanism, the hydraulic feature of their steering system needs researching more, apart from the study on mechanical models. According to the maximum pressure required by the steering system of tracked all-terrain vehicle and the principle of the steering system, this paper conducts an analysis of the hydraulic steering system of the articulated mechanism. Based on the structure principle of the steering gear, a simulation model of the tracked all-terrain vehicle turning left is built. When building the simulation model of the steering gear, it makes a simulation analysis, taking the tracked all-terrain vehicle turning left as an example.

The Cyber War: Maintaining and Controlling the Key Cyber Terrain of the Cyberspace Domain

DTIC Science & Technology

2016-06-26

solution strategy to assess options that will enable the commander to realize the Air Force’s cyber mission. Recommendations will be made that will...will present a solution to assist the JFC in achieving cyberspace dominance. Background In the modern world of advanced technology, control of...the solutions are: 1) timely identification of key cyber terrain, 2) accurate mapping of the cyber terrain, 3) defense of key cyber terrain, and 4

Investigation of Terrain Analysis and Classification Methods for Ground Vehicles

DTIC Science & Technology

2012-08-27

exteroceptive terrain classifier takes exteroceptive sensor data (here, color stereo images of the terrain) as its input and returns terrain class...Mishkin & Laubach, 2006), the rover cannot safely travel beyond the distance it can image with its cameras, which has been as little as 15 meters or...field of view roughly 44°×30°, capturing pairs of color images at 640×480 pixels each (Videre Design, 2001). Range data were extracted from the stereo

Morphological Expressions of Crater Infill Collapse: Model Simulations of Chaotic Terrains on Mars

NASA Astrophysics Data System (ADS)

Roda, Manuel; Marketos, George; Westerweel, Jan; Govers, Rob

2017-10-01

Martian chaotic terrains are characterized by deeply depressed intensively fractured areas that contain a large number of low-strain tilted blocks. Stronger deformation (e.g., higher number of fractures) is generally observed in the rims when compared to the middle regions of the terrains. The distribution and number of fractures and tilted blocks are correlated with the size of the chaotic terrains. Smaller chaotic terrains are characterized by few fractures between undeformed blocks. Larger terrains show an elevated number of fractures uniformly distributed with single blocks. We investigate whether this surface morphology may be a consequence of the collapse of the infill of a crater. We perform numerical simulations with the Discrete Element Method and we evaluate the distribution of fractures within the crater and the influence of the crater size, infill thickness, and collapsing depth on the final morphology. The comparison between model predictions and the morphology of the Martian chaotic terrains shows strong statistical similarities in terms of both number of fractures and correlation between fractures and crater diameters. No or very weak correlation is observed between fractures and the infill thickness or collapsing depth. The strong correspondence between model results and observations suggests that the collapse of an infill layer within a crater is a viable mechanism for the peculiar morphology of the Martian chaotic terrains.

Terrain Commander: a next-generation remote surveillance system

NASA Astrophysics Data System (ADS)

Finneral, Henry J.

2003-09-01

Terrain Commander is a fully automated forward observation post that provides the most advanced capability in surveillance and remote situational awareness. The Terrain Commander system was selected by the Australian Government for its NINOX Phase IIB Unattended Ground Sensor Program with the first systems delivered in August of 2002. Terrain Commander offers next generation target detection using multi-spectral peripheral sensors coupled with autonomous day/night image capture and processing. Subsequent intelligence is sent back through satellite communications with unlimited range to a highly sophisticated central monitoring station. The system can "stakeout" remote locations clandestinely for 24 hours a day for months at a time. With its fully integrated SATCOM system, almost any site in the world can be monitored from virtually any other location in the world. Terrain Commander automatically detects and discriminates intruders by precisely cueing its advanced EO subsystem. The system provides target detection capabilities with minimal nuisance alarms combined with the positive visual identification that authorities demand before committing a response. Terrain Commander uses an advanced beamforming acoustic sensor and a distributed array of seismic, magnetic and passive infrared sensors to detect, capture images and accurately track vehicles and personnel. Terrain Commander has a number of emerging military and non-military applications including border control, physical security, homeland defense, force protection and intelligence gathering. This paper reviews the development, capabilities and mission applications of the Terrain Commander system.

Environmental impacts of forest road construction on mountainous terrain

PubMed Central

2013-01-01

Forest roads are the base infrastructure foundation of forestry operations. These roads entail a complex engineering effort because they can cause substantial environmental damage to forests and include a high-cost construction. This study was carried out in four sample sites of Giresun, Trabzon(2) and Artvin Forest Directorate, which is in the Black Sea region of Turkey. The areas have both steep terrain (30-50% gradient) and very steep terrain (51-80% gradient). Bulldozers and hydraulic excavators were determined to be the main machines for forest road construction, causing environmental damage and cross sections in mountainous areas. As a result of this study, the percent damage to forests was determined as follows: on steep terrain, 21% of trees were damaged by excavators and 33% of trees were damaged by bulldozers during forest road construction, and on very steep terrain, 27% of trees were damaged by excavators and 44% of trees were damaged by bulldozers during forest road construction. It was also determined that on steep terrain, when excavators were used, 12.23% less forest area was destroyed compared with when bulldozers were used and 16.13% less area was destroyed by excavators on very steep terrain. In order to reduce the environmental damage on the forest ecosystem, especially in steep terrains, hydraulic excavators should replace bulldozers in forest road construction activities. PMID:23497078

Autonomous terrain characterization and modelling for dynamic control of unmanned vehicles

NASA Technical Reports Server (NTRS)

Talukder, A.; Manduchi, R.; Castano, R.; Owens, K.; Matthies, L.; Castano, A.; Hogg, R.

2002-01-01

This end-to-end obstacle negotiation system is envisioned to be useful in optimized path planning and vehicle navigation in terrain conditions cluttered with vegetation, bushes, rocks, etc. Results on natural terrain with various natural materials are presented.

Modelling prehistoric terrain Models using LiDAR-data: a geomorphological approach

NASA Astrophysics Data System (ADS)

Höfler, Veit; Wessollek, Christine; Karrasch, Pierre

2015-10-01

Terrain surfaces conserve human activities in terms of textures and structures. With reference to archaeological questions, the geological archive is investigated by means of models regarding anthropogenic traces. In doing so, the high-resolution digital terrain model is of inestimable value for the decoding of the archive. The evaluation of these terrain models and the reconstruction of historical surfaces is still a challenging issue. Due to the data collection by means of LiDAR systems (light detection and ranging) and despite their subsequent pre-processing and filtering, recently anthropogenic artefacts are still present in the digital terrain model. Analysis have shown that elements, such as contour lines and channels, can well be extracted from a high-resolution digital terrain model. This way, channels in settlement areas show a clear anthropogenic character. This fact can also be observed for contour lines. Some contour lines representing a possibly natural ground surface and avoid anthropogenic artefacts. Comparable to channels, noticeable patterns of contour lines become visible in areas with anthropogenic artefacts. The presented workflow uses functionalities of ArcGIS and the programming language R.1 The method starts with the extraction of contour lines from the digital terrain model. Through macroscopic analyses based on geomorphological expert knowledge, contour lines are selected representing the natural geomorphological character of the surface. In a first step, points are determined along each contour line in regular intervals. This points and the corresponding height information which is taken from an original digital terrain model is saved as a point cloud. Using the programme library gstat, a variographic analysis and the use of a Kriging-procedure based on this follow.2-4 The result is a digital terrain model filtered considering geomorphological expert knowledge showing no human degradation in terms of artefacts, preserving the landscape-genetic character and can be called a prehistoric terrain model.

Complex geomorphologic assemblage of terrains in association with the banded terrain in Hellas basin, Mars

NASA Astrophysics Data System (ADS)

Diot, X.; El-Maarry, M. R.; Schlunegger, F.; Norton, K. P.; Thomas, N.; Grindrod, P. M.; Chojnacki, M.

2016-02-01

Hellas basin acts as a major sink for the southern highlands of Mars and is likely to have recorded several episodes of sedimentation and erosion. The north-western part of the basin displays a potentially unique Amazonian landscape domain in the deepest part of Hellas, called ;banded terrain;, which is a deposit characterized by an alternation of narrow band shapes and inter-bands displaying a sinuous and relatively smooth surface texture suggesting a viscous flow origin. Here we use high-resolution (HiRISE and CTX) images to assess the geomorphological interaction of the banded terrain with the surrounding geomorphologic domains in the NW interior of Hellas to gain a better understanding of the geological evolution of the region as a whole. Our analysis reveals that the banded terrain is associated with six geomorphologic domains: a central plateau named Alpheus Colles, plain deposits (P1 and P2), reticulate (RT1 and RT2) and honeycomb terrains. Based on the analysis of the geomorphology of these domains and their cross-cutting relationships, we show that no widespread deposition post-dates the formation of the banded terrain, which implies that this domain is the youngest and latest deposit of the interior of Hellas. Therefore, the level of geologic activity in the NW Hellas during the Amazonian appears to have been relatively low and restricted to modification of the landscape through mechanical weathering, aeolian and periglacial processes. Thermophysical data and cross-cutting relationships support hypotheses of modification of the honeycomb terrain via vertical rise of diapirs such as ice diapirism, and the formation of the plain deposits through deposition and remobilization of an ice-rich mantle deposit. Finally, the observed gradual transition between honeycomb and banded terrain suggests that the banded terrain may have covered a larger area of the NW interior of Hellas in the past than previously thought. This has implications on the understanding of the evolution of the deepest part of Hellas.

Sampling in rugged terrain

USGS Publications Warehouse

Dawson, D.K.; Ralph, C. John; Scott, J. Michael

1981-01-01

Work in rugged terrain poses some unique problems that should be considered before research is initiated. Besides the obvious physical difficulties of crossing uneven terrain, topography can influence the bird species? composition of a forest and the observer's ability to detect birds and estimate distances. Census results can also be affected by the slower rate of travel on rugged terrain. Density figures may be higher than results obtained from censuses in similar habitat on level terrain because of the greater likelihood of double-recording of individuals and of recording species that sing infrequently. In selecting a census technique, the researcher should weigh the efficiency and applicability of a technique for the objectives of his study in light of the added difficulties posed by rugged terrain. The variable circular-plot method is probably the most effective technique for estimating bird numbers. Bird counts and distance estimates are facilitated because the observer is stationary, and calculations of species? densities take into account differences in effective area covered amongst stations due to variability in terrain or vegetation structure. Institution of precautions that minimize the risk of injury to field personnel can often enhance the observer?s ability to detect birds.

Remote sensing of Earth terrain

NASA Technical Reports Server (NTRS)

Kong, Jin AU; Shin, Robert T.; Nghiem, Son V.; Yueh, Herng-Aung; Han, Hsiu C.; Lim, Harold H.; Arnold, David V.

1990-01-01

Remote sensing of earth terrain is examined. The layered random medium model is used to investigate the fully polarimetric scattering of electromagnetic waves from vegetation. The model is used to interpret the measured data for vegetation fields such as rice, wheat, or soybean over water or soil. Accurate calibration of polarimetric radar systems is essential for the polarimetric remote sensing of earth terrain. A polarimetric calibration algorithm using three arbitrary in-scene reflectors is developed. In the interpretation of active and passive microwave remote sensing data from the earth terrain, the random medium model was shown to be quite successful. A multivariate K-distribution is proposed to model the statistics of fully polarimetric radar returns from earth terrain. In the terrain cover classification using the synthetic aperture radar (SAR) images, the applications of the K-distribution model will provide better performance than the conventional Gaussian classifiers. The layered random medium model is used to study the polarimetric response of sea ice. Supervised and unsupervised classification procedures are also developed and applied to synthetic aperture radar polarimetric images in order to identify their various earth terrain components for more than two classes. These classification procedures were applied to San Francisco Bay and Traverse City SAR images.

The Effects of Synthetic and Enhanced Vision Technologies for Lunar Landings

NASA Technical Reports Server (NTRS)

Kramer, Lynda J.; Norman, Robert M.; Prinzel, Lawrence J., III; Bailey, Randall E.; Arthur, Jarvis J., III; Shelton, Kevin J.; Williams, Steven P.

2009-01-01

Eight pilots participated as test subjects in a fixed-based simulation experiment to evaluate advanced vision display technologies such as Enhanced Vision (EV) and Synthetic Vision (SV) for providing terrain imagery on flight displays in a Lunar Lander Vehicle. Subjects were asked to fly 20 approaches to the Apollo 15 lunar landing site with four different display concepts - Baseline (symbology only with no terrain imagery), EV only (terrain imagery from Forward Looking Infra Red, or FLIR, and LIght Detection and Ranging, or LIDAR, sensors), SV only (terrain imagery from onboard database), and Fused EV and SV concepts. As expected, manual landing performance was excellent (within a meter of landing site center) and not affected by the inclusion of EV or SV terrain imagery on the Lunar Lander flight displays. Subjective ratings revealed significant situation awareness improvements with the concepts employing EV and/or SV terrain imagery compared to the Baseline condition that had no terrain imagery. In addition, display concepts employing EV imagery (compared to the SV and Baseline concepts which had none) were significantly better for pilot detection of intentional but unannounced navigation failures since this imagery provided an intuitive and obvious visual methodology to monitor the validity of the navigation solution.

Ida and Dactyl: Spectral reflectance and color variations

USGS Publications Warehouse

Veverka, J.; Helfenstein, P.; Lee, P.; Thomas, P.; McEwen, A.; Belton, M.; Klaasen, K.; Johnson, T.V.; Granahan, J.; Fanale, F.; Geissler, P.; Head, J. W.

1996-01-01

Galileo SSI color data between 0.4 and 1.0 ??m demonstrate that both Ida and Dactyl are S-type asteroids with similar, but distinct spectra. Small but definite color variations are also observed on Ida itself and involve both the blue part of the spectrum and the depth of the 1-??m pyroxene-olivine band. Ida's surface can be classified into two color terrains: Terrain A has a shallower 1-??m absorption and a steeper visible red slope than does Terrain B. Qualitatively, the color-albedo systematics of these two terrains follow those noted for color units on Gaspra and the variations in 1-??m band depth with weathering described by Gaffey et al. (Gaffey, M. J., J. F. Bell, R. H. Brown, T. H. Burbine, J. Piatek, K. L. Reed, and D. A. Chaky 1993. Icarus 106, 573-602). Terrain A, with its slightly lower albedo, its shallower 1-??m band, and its slightly steeper visible red slope relative to Terrain B could be interpreted as the "more processed," "more mature," or the "more weathered" of the two terrains. Consistent with this interpretation is that Terrain A appears to be the ubiquitous background on most of Ida, while Terrain B is correlated with some small craters as well as with possible ejecta from the 10-km Azzurra impact structure. Because of these trends, it is less likely that differences between Terrains A and B are caused by an original compositional inhomogeneity within the body of Ida, although they do fall within the range known to occur within the Koronis family. The spectrum of Dactyl is similar to, but definitely different from, that of Terrain B on Ida. It does not conform to the pattern that obtains between the colors and albedos of Terrains A and B: the satellite's 1-??m band is deeper than that of Terrain B, but its albedo is lower, rather than higher. By itself, the deeper band depth could be interpreted, following Gaffey et al., to mean that Dactyl is a less weathered version of Terrain B on Ida, but such an interpretation is at odds with Dactyl's redder spectral slope. Thus, the explanation for the color difference between Dactyl and Ida is likely to be different from that which accounts for the differences between the two terrains on Ida. Given that Dactyl and Ida have very similar photometric properties (Helfenstein, P., J. Veverka, P. C. Thomas, D. P. Simonelli, K. Klassen, T. V. Johnson, F. Fanale, J. Granahan, A. S. McEwen, M. J. S. Belton, and C. R. Chapman 1996 Icarus 120, 48-65), thus ruling out any dramatic texture differences between the two surfaces, the most likely explanation is that the satellite has a slightly different composition (more pyroxene?) than Ida. The spectral difference is within the range reported by Binzel et al. (Binzel, R. P., S. Xu, and S. J. Bus 1993. Icarus 106, 608-611.) for members of the Koronis family, and could be caused by compositional inhomogeneities of the Koronis parent body rather than by post-breakup regolith processes. ?? 1996 Academic Press, Inc.

Ida and Dactyl: Spectral Reflectance and Color Variations

NASA Astrophysics Data System (ADS)

Veverka, J.; Helfenstein, P.; Lee, P.; Thomas, P.; McEwen, A.; Belton, M.; Klaasen, K.; Johnson, T. V.; Granahan, J.; Fanale, F.; Geissler, P.; Head, J. W., III

1996-03-01

Galileo SSI color data between 0.4 and 1.0 μm demonstrate that both Ida and Dactyl are S-type asteroids with similar, but distinct spectra. Small but definite color variations are also observed on Ida itself and involve both the blue part of the spectrum and the depth of the 1-μm pyroxene-olivine band. Ida's surface can be classified into two color terrains: Terrain A has a shallower 1-μm absorption and a steeper visible red slope than does Terrain B. Qualitatively, the color-albedo systematics of these two terrains follow those noted for color units on Gaspra and the variations in 1-μm band depth with weathering described by Gaffeyet al.(Gaffey, M. J., J. F. Bell, R. H. Brown, T. H. Burbine, J. Piatek, K. L. Reed, and D. A. Chaky 1993.Icarus106, 573-602). Terrain A, with its slightly lower albedo, its shallower 1-μm band, and its slightly steeper visible red slope relative to Terrain B could be interpreted as the “more processed,” “more mature,” or the “more weathered” of the two terrains. Consistent with this interpretation is that Terrain A appears to be the ubiquitous background on most of Ida, while Terrain B is correlated with some small craters as well as with possible ejecta from the 10-km Azzurra impact structure. Because of these trends, it is less likely that differences between Terrains A and B are caused by an original compositional inhomogeneity within the body of Ida, although they do fall within the range known to occur within the Koronis family. The spectrum of Dactyl is similar to, but definitely different from, that of Terrain B on Ida. It does not conform to the pattern that obtains between the colors and albedos of Terrains A and B: the satellite's 1-μm band is deeper than that of Terrain B, but its albedo is lower, rather than higher. By itself, the deeper band depth could be interpreted, following Gaffeyet al., to mean that Dactyl is a less weathered version of Terrain B on Ida, but such an interpretation is at odds with Dactyl's redder spectral slope. Thus, the explanation for the color difference between Dactyl and Ida is likely to be different from that which accounts for the differences between the two terrains on Ida. Given that Dactyl and Ida have very similar photometric properties (Helfenstein, P., J. Veverka, P. C. Thomas, D. P. Simonelli, K. Klassen, T. V. Johnson, F. Fanale, J. Granahan, A. S. McEwen, M. J. S. Belton, and C. R. Chapman 1996Icarus120, 48-65), thus ruling out any dramatic texture differences between the two surfaces, the most likely explanation is that the satellite has a slightly different composition (more pyroxene?) than Ida. The spectral difference is within the range reported by Binzelet al.(Binzel, R. P., S. Xu, and S. J. Bus 1993.Icarus106, 608-611.) for members of the Koronis family, and could be caused by compositional inhomogeneities of the Koronis parent body rather than by post-breakup regolith processes.

77 FR 12197 - Standard for All-Terrain Vehicles

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-29

... National Standard for Four-Wheel All-Terrain Vehicles Equipment Configuration, and Performance Requirements... product safety standard the American National Standard for Four Wheel All-Terrain Vehicles Equipment... shall not have a foldable, removable, or retractable structure in the ATV foot environment; (6...

75 FR 5767 - All Terrain Vehicle Chinese Language Webinar; Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2010-02-04

... CONSUMER PRODUCT SAFETY COMMISSION All Terrain Vehicle Chinese Language Webinar; Meeting AGENCY... announcing the following meeting: All Terrain Vehicle Chinese Language Webinar. The webinar will focus on CPSC's requirements for ATV's, including CPSC's Action Plan and mandatory vehicle requirements. Date...

Measuring the Non-Line-of-Sight Ultra-High-Frequency Channel in Mountainous Terrain: A Spread-Spectrum, Portable Channel Sounder

DTIC Science & Technology

2018-03-01

ER D C/ CR RE L TR -1 8- 3 ERDC 6.1 Basic Research Measuring the Non-Line-of-Sight Ultra- High - Frequency Channel in Mountainous Terrain... High - Frequency Channel in Mountainous Terrain A Spread-Spectrum, Portable Channel Sounder Samuel S. Streeter and Daniel J. Breton U.S. Army...spread-spectrum, portable channel sounder specifically designed to meas- ure the non-line-of-sight, ultra- high -frequency channel in mountainous terrain

An improved method of continuous LOD based on fractal theory in terrain rendering

NASA Astrophysics Data System (ADS)

Lin, Lan; Li, Lijun

2007-11-01

With the improvement of computer graphic hardware capability, the algorithm of 3D terrain rendering is going into the hot topic of real-time visualization. In order to solve conflict between the rendering speed and reality of rendering, this paper gives an improved method of terrain rendering which improves the traditional continuous level of detail technique based on fractal theory. This method proposes that the program needn't to operate the memory repeatedly to obtain different resolution terrain model, instead, obtains the fractal characteristic parameters of different region according to the movement of the viewpoint. Experimental results show that the method guarantees the authenticity of landscape, and increases the real-time 3D terrain rendering speed.

Complete Scene Recovery and Terrain Classification in Textured Terrain Meshes

PubMed Central

Song, Wei; Cho, Kyungeun; Um, Kyhyun; Won, Chee Sun; Sim, Sungdae

2012-01-01

Terrain classification allows a mobile robot to create an annotated map of its local environment from the three-dimensional (3D) and two-dimensional (2D) datasets collected by its array of sensors, including a GPS receiver, gyroscope, video camera, and range sensor. However, parts of objects that are outside the measurement range of the range sensor will not be detected. To overcome this problem, this paper describes an edge estimation method for complete scene recovery and complete terrain reconstruction. Here, the Gibbs-Markov random field is used to segment the ground from 2D videos and 3D point clouds. Further, a masking method is proposed to classify buildings and trees in a terrain mesh. PMID:23112653

Lunar terrain mapping and relative-roughness analysis

NASA Technical Reports Server (NTRS)

Rowan, L. C.; Mccauley, J. F.; Holm, E. A.

1971-01-01

Terrain maps of the equatorial zone were prepared at scales of 1:2,000,000 and 1:1,000,000 to classify lunar terrain with respect to roughness and to provide a basis for selecting sites for Surveyor and Apollo landings, as well as for Ranger and Lunar Orbiter photographs. Lunar terrain was described by qualitative and quantitative methods and divided into four fundamental classes: maria, terrae, craters, and linear features. Some 35 subdivisions were defined and mapped throughout the equatorial zone, and, in addition, most of the map units were illustrated by photographs. The terrain types were analyzed quantitatively to characterize and order their relative roughness characteristics. For some morphologically homogeneous mare areas, relative roughness can be extrapolated to the large scales from measurements at small scales.

A Transition from Depressed to Inverted Channels in Gorgonum Basin

NASA Image and Video Library

2016-10-05

This image shows a transition from depressed to inverted channels in the Gorgonum Basin. In the darker terrain, there are two channels that display depressed topography. As these two channels cross into the underlying brighter terrain, the channels now stand above the surrounding area, indicating they are inverted in topography. This change from depressed to inverted topography is the result of what is called "differential erosion." The channel may contain hardened sediments or have cements that make it more resistant to erosion relative to the darker terrain that once flowed through it. As a result, erosion has removed the less resistant upper darker terrain, leaving behind the more resistant channel standing above the underlying bright terrain. http://photojournal.jpl.nasa.gov/catalog/PIA21103

A walking prescription for statically-stable walkers based on walker/terrain interaction

NASA Technical Reports Server (NTRS)

Nagy, Peter V.; Whittaker, William L.; Desa, Subhas

1992-01-01

The walker/terrain interaction phenomena for the control of a statically stable walking machine are described. The algorithms, measures, and knowledge of walker/terrain interaction phenomena are then combined to form a prescription for how to walk on general terrain. This prescription consists of two parts: nominal control and reactive control. The function of nominal control is the evaluation and execution of planned motions, based on predicted foot force redistributions, to achieve reliable locomotion. The function of reactive control is the monitoring of walker/terrain interaction in real-time to detect anomalous conditions and then respond with the appropriate reflexive actions. Simulations and experiments have been used to test and verify various aspects of the walking prescription.

47 CFR 1.959 - Computation of average terrain elevation.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Wireless..., average terrain elevation must be calculated by computer using elevations from a 30 second point or better..., if the results differ significantly from the computer derived averages. (a) Radial average terrain...

47 CFR 1.959 - Computation of average terrain elevation.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Wireless..., average terrain elevation must be calculated by computer using elevations from a 30 second point or better..., if the results differ significantly from the computer derived averages. (a) Radial average terrain...

Geomorphic Evolution of Sputnik Planum and Surrounding Terrain

NASA Astrophysics Data System (ADS)

Howard, A. D.; Moore, J. M.; White, O. L.; Umurhan, O. M.; Schenk, P.; Beyer, R. A.; McKinnon, W. B.; Singer, K. N.; Spencer, J. R.; Stern, A.; Weaver, H. A., Jr.; Young, L. A.; Ennico Smith, K.; Olkin, C.

2015-12-01

The informally-named Sputnik Planum is a vast expanse (about 835 km east-west and 1500 km north-south) of N2, CH4, and CO ices which appears craterless at current resolutions, but which gives evidence of both glacial and convective flow in the ices (Stern and the New Horizons Team, Science, 2015). This ice field is surrounded by uplands of varying morphology from hilly terrain to the northeast, plains of apparent ices interspersed with rough terrain to the east, and textured ice surrounding the mountainous terrain to the southwest. The morphology and composition of this bordering terrain will provide clues to the long-term evolution of Sputnik Planum as higher resolution visual and spectral imaging of this region are returned from the New Horizons spacecraft over the next few months. Interactions between Sputnik Planum and surrounding terrain may have involved glacial erosion and deposition. The geomorphic evolution of this region will be discussed in the context of newly-returned encounter data.

On autonomous terrain model acquistion by a mobile robot

NASA Technical Reports Server (NTRS)

Rao, N. S. V.; Iyengar, S. S.; Weisbin, C. R.

1987-01-01

The following problem is considered: A point robot is placed in a terrain populated by an unknown number of polyhedral obstacles of varied sizes and locations in two/three dimensions. The robot is equipped with a sensor capable of detecting all the obstacle vertices and edges that are visible from the present location of the robot. The robot is required to autonomously navigate and build the complete terrain model using the sensor information. It is established that the necessary number of scanning operations needed for complete terrain model acquisition by any algorithm that is based on scan from vertices strategy is given by the summation of i = 1 (sup n) N(O sub i)-n and summation of i = 1 (sup n) N(O sub i)-2n in two- and three-dimensional terrains respectively, where O = (O sub 1, O sub 2,....O sub n) set of the obstacles in the terrain, and N(O sub i) is the number of vertices of the obstacle O sub i.

Periodic spring-mass running over uneven terrain through feedforward control of landing conditions.

PubMed

Palmer, Luther R; Eaton, Caitrin E

2014-09-01

This work pursues a feedforward control algorithm for high-speed legged locomotion over uneven terrain. Being able to rapidly negotiate uneven terrain without visual or a priori information about the terrain will allow legged systems to be used in time-critical applications and alongside fast-moving humans or vehicles. The algorithm is shown here implemented on a spring-loaded inverted pendulum model in simulation, and can be configured to approach fixed running height over uneven terrain or self-stable terrain following. Offline search identifies unique landing conditions that achieve a desired apex height with a constant stride period over varying ground levels. Because the time between the apex and touchdown events is directly related to ground height, the landing conditions can be computed in real time as continuous functions of this falling time. Enforcing a constant stride period reduces the need for inertial sensing of the apex event, which is nontrivial for physical systems, and allows for clocked feedfoward control of the swing leg.

Complex terrain influences ecosystem carbon responses to temperature and precipitation

NASA Astrophysics Data System (ADS)

Reyes, W. M.; Epstein, H. E.; Li, X.; McGlynn, B. L.; Riveros-Iregui, D. A.; Emanuel, R. E.

2017-08-01

Terrestrial ecosystem responses to temperature and precipitation have major implications for the global carbon cycle. Case studies demonstrate that complex terrain, which accounts for more than 50% of Earth's land surface, can affect ecological processes associated with land-atmosphere carbon fluxes. However, no studies have addressed the role of complex terrain in mediating ecophysiological responses of land-atmosphere carbon fluxes to climate variables. We synthesized data from AmeriFlux towers and found that for sites in complex terrain, responses of ecosystem CO2 fluxes to temperature and precipitation are organized according to terrain slope and drainage area, variables associated with water and energy availability. Specifically, we found that for tower sites in complex terrain, mean topographic slope and drainage area surrounding the tower explained between 51% and 78% of site-to-site variation in the response of CO2 fluxes to temperature and precipitation depending on the time scale. We found no such organization among sites in flat terrain, even though their flux responses exhibited similar ranges. These results challenge prevailing conceptual framework in terrestrial ecosystem modeling that assumes that CO2 fluxes derive from vertical soil-plant-climate interactions. We conclude that the terrain in which ecosystems are situated can also have important influences on CO2 responses to temperature and precipitation. This work has implications for about 14% of the total land area of the conterminous U.S. This area is considered topographically complex and contributes to approximately 15% of gross ecosystem carbon production in the conterminous U.S.

Multi-Scale and Object-Oriented Analysis for Mountain Terrain Segmentation and Geomorphological Assessment

NASA Astrophysics Data System (ADS)

Marston, B. K.; Bishop, M. P.; Shroder, J. F.

2009-12-01

Digital terrain analysis of mountain topography is widely utilized for mapping landforms, assessing the role of surface processes in landscape evolution, and estimating the spatial variation of erosion. Numerous geomorphometry techniques exist to characterize terrain surface parameters, although their utility to characterize the spatial hierarchical structure of the topography and permit an assessment of the erosion/tectonic impact on the landscape is very limited due to scale and data integration issues. To address this problem, we apply scale-dependent geomorphometric and object-oriented analyses to characterize the hierarchical spatial structure of mountain topography. Specifically, we utilized a high resolution digital elevation model to characterize complex topography in the Shimshal Valley in the Western Himalaya of Pakistan. To accomplish this, we generate terrain objects (geomorphological features and landform) including valley floors and walls, drainage basins, drainage network, ridge network, slope facets, and elemental forms based upon curvature. Object-oriented analysis was used to characterize object properties accounting for object size, shape, and morphometry. The spatial overlay and integration of terrain objects at various scales defines the nature of the hierarchical organization. Our results indicate that variations in the spatial complexity of the terrain hierarchical organization is related to the spatio-temporal influence of surface processes and landscape evolution dynamics. Terrain segmentation and the integration of multi-scale terrain information permits further assessment of process domains and erosion, tectonic impact potential, and natural hazard potential. We demonstrate this with landform mapping and geomorphological assessment examples.

Terrain Park Injuries

PubMed Central

Moffat, Craig; McIntosh, Scott; Bringhurst, Jade; Danenhauer, Karen; Gilmore, Nathan; Hopkins, Christy L.

2009-01-01

Background: This study examined demographics, injury pattern, and hospital outcome in patients injured in winter resort terrain parks. Methods: The study included patients ≥12 years of age who presented to a regional trauma center with an acute injury sustained at a winter resort. Emergency department (ED) research assistants collected patient injury and helmet use information using a prospectively designed questionnaire. ED and hospital data were obtained from trauma registry and hospital records. Results: Seventy-two patients were injured in a terrain park, and 263 patients were injured on non-terrain park slopes. Patients injured in terrain parks were more likely to be male [68/72 (94%) vs. 176/263 (67%), p<0.0001], younger in age [23 ± 7 vs. 36 ± 17, p<0.0001], live locally [47/72 (65%) vs. 124/263 (47%), p=0.006], use a snowboard [50/72 (69%) vs. 91/263 (35%), p<0.0001], hold a season pass [46/66 (70%) vs. 98/253 (39%), p<0.0001], and sustain an upper extremity injury [29/72 (40%) vs. 52/263 (20%), p<0.001] when compared to patients injured on non-terrain park slopes. There were no differences between the groups in terms of EMS transport to hospital, helmet use, admission rate, hospital length of stay, and patients requiring specialty consultation in the ED. Conclusions: Patients injured in terrain parks represent a unique demographic within winter resort patrons. Injury severity appears to be similar to those patients injured on non-terrain park slopes. PMID:20046245

Parallel Implementation of the Terrain Masking Algorithm

DTIC Science & Technology

1994-03-01

contains behavior rules which can define a computation or an algorithm. It can communicate with other process nodes, it can contain local data, and it can...terrain maskirg calculation is being performed. It is this algorithm that comsumes about seventy percent of the total terrain masking calculation time

Investigation of controlled flight into terrain : descriptions of flight paths for selected controlled flight into terrain (CFIT) aircraft accidents, 1985-1997

DOT National Transportation Integrated Search

1999-03-01

This report documents an investigation of the flight paths of 13 selected controlled flight into terrain (CFIT) aircraft accidents that occurred between 1985 and 1997. The Operations Assessment Division (DTS-43) and the Aviation Safety Division (DTS-...

47 CFR 73.813 - Determination of antenna height above average terrain (HAAT).

Code of Federal Regulations, 2012 CFR

2012-10-01

... 47 Telecommunication 4 2012-10-01 2012-10-01 false Determination of antenna height above average terrain (HAAT). 73.813 Section 73.813 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED... Determination of antenna height above average terrain (HAAT). HAAT determinations for LPFM stations will be made...

47 CFR 73.813 - Determination of antenna height above average terrain (HAAT).

Code of Federal Regulations, 2011 CFR

2011-10-01

... 47 Telecommunication 4 2011-10-01 2011-10-01 false Determination of antenna height above average terrain (HAAT). 73.813 Section 73.813 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED... Determination of antenna height above average terrain (HAAT). HAAT determinations for LPFM stations will be made...

47 CFR 73.813 - Determination of antenna height above average terrain (HAAT).

Code of Federal Regulations, 2014 CFR

2014-10-01

... 47 Telecommunication 4 2014-10-01 2014-10-01 false Determination of antenna height above average terrain (HAAT). 73.813 Section 73.813 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED... Determination of antenna height above average terrain (HAAT). HAAT determinations for LPFM stations will be made...

47 CFR 73.813 - Determination of antenna height above average terrain (HAAT).

Code of Federal Regulations, 2013 CFR

2013-10-01

... 47 Telecommunication 4 2013-10-01 2013-10-01 false Determination of antenna height above average terrain (HAAT). 73.813 Section 73.813 Telecommunication FEDERAL COMMUNICATIONS COMMISSION (CONTINUED... Determination of antenna height above average terrain (HAAT). HAAT determinations for LPFM stations will be made...

Rule-Based Motion Coordination for the Adaptive Suspension Vehicle on Ternary-Type Terrain

DTIC Science & Technology

1990-12-01

robot-window-array* nil) (defvar *robot..window..width* nil) (defvar * rebot -.window..heig)ht* nil) (defvar *terrain-buffer* nil) (defvar *terrain...cond ((momrber leg lift-able-leg. -test #’equal) log) (t nil)) .(dafmethod (test-overlap- rebot ipltcable-leg) (log) (nond ((and (member leg place-able

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 135.154 - Terrain awareness and warning system.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Terrain awareness and warning system. 135... Aircraft and Equipment § 135.154 Terrain awareness and warning system. (a) Airplanes manufactured after... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

14 CFR 121.354 - Terrain awareness and warning system.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Terrain awareness and warning system. 121... § 121.354 Terrain awareness and warning system. (a) Airplanes manufactured after March 29, 2002. No... awareness and warning system that meets the requirements for Class A equipment in Technical Standard Order...

Parameterization of norfolk sandy loam properties for stochastic modeling of light in-wheel motor UGV

USDA-ARS?s Scientific Manuscript database

To accurately develop a mathematical model for an In-Wheel Motor Unmanned Ground Vehicle (IWM UGV) on soft terrain, parameterization of terrain properties is essential to stochastically model tire-terrain interaction for each wheel independently. Operating in off-road conditions requires paying clos...

Impact of Terrain Features for Tactical Network Connectivity

DTIC Science & Technology

2013-09-01

Impact of Terrain Features for Tactical Network Connectivity David Tate Lance Joneckis John Fregeau Corinne Kramer David Sparrow I N S T I T U...2000. I N S T I T U T E F O R D E F E N S E A N A LY S E S IDA Document NS D-5026 Impact of Terrain Features for Tactical Network Connectivity...visibility is acceptable when networks operate over flat terrain. Under our simple LOS model of connectivity, mobility has little impact in such an

Wind turbine wake measurement in complex terrain

NASA Astrophysics Data System (ADS)

Hansen, KS; Larsen, GC; Menke, R.; Vasiljevic, N.; Angelou, N.; Feng, J.; Zhu, WJ; Vignaroli, A.; W, W. Liu; Xu, C.; Shen, WZ

2016-09-01

SCADA data from a wind farm and high frequency time series measurements obtained with remote scanning systems have been analysed with focus on identification of wind turbine wake properties in complex terrain. The analysis indicates that within the flow regime characterized by medium to large downstream distances (more than 5 diameters) from the wake generating turbine, the wake changes according to local atmospheric conditions e.g. vertical wind speed. In very complex terrain the wake effects are often “overruled” by distortion effects due to the terrain complexity or topology.

Cross-coupled control for all-terrain rovers.

PubMed

Reina, Giulio

2013-01-08

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

ARC-1989-AC89-7054

NASA Image and Video Library

1989-08-28

Voyager violet, green and ultraviolet images of Triton were map projected into cylindrical coordinates and combines to produce this false-color terrain map. Several compositionally distinct terrain and geologic features are portrayed. At center is a gray-blue unit referred to as 'cantaloupe' terrain because of its unusual topographic texture. The unit appears to predate other units to the left. Immediately adjacent to the cantaloupe terrain, is a smoother unit, represented by a reddish color, that has been dissected by a prominent fault system. This unit apparently overlies a much-higher-albedo material, seen farther left. A prominent angular albedo boundary separates relatively undisturbed smooth terrain from irregular patches which seem to emanate from circular, often bright-centered features. The parallel streaks may represent vented particulate materials blown in the same direction by winds in Triton's thin atmosphere.

Urban Modification of Convection and Rainfall in Complex Terrain

NASA Astrophysics Data System (ADS)

Freitag, B. M.; Nair, U. S.; Niyogi, D.

2018-03-01

Despite a globally growing proportion of cities located in regions of complex terrain, interactions between urbanization and complex terrain and their meteorological impacts are not well understood. We utilize numerical model simulations and satellite data products to investigate such impacts over San Miguel de Tucumán, Argentina. Numerical modeling experiments show urbanization results in 20-30% less precipitation downwind of the city and an eastward shift in precipitation upwind. Our experiments show that changes in surface energy, boundary layer dynamics, and thermodynamics induced by urbanization interact synergistically with the persistent forcing of atmospheric flow by complex terrain. With urbanization increasing in mountainous regions, land-atmosphere feedbacks can exaggerate meteorological forcings leading to weather impacts that require important considerations for sustainable development of urban regions within complex terrain.

Stratigraphy of the Perrine and Nun Sulci quadrangles (Jg-2 and Jg-5), Ganymede

NASA Technical Reports Server (NTRS)

Mcgill, George E.; Squyres, Steven W.

1991-01-01

Dark and light terrain materials in the Perrine and Nun Sulci quadrangles are divided into nine map units, four dark, and five light. These are placed in time-stratigraphic sequence primarily by means of embayment and cross-cutting relationships. Dark terrain is generally more heavily cratered and thus older that light terrain but, at least in these quadrangles, crater densities are not reliable indicators of relative ages among the four dark material units. The four mapped material units within dark terrain are: cratered dark materials (dc), grooved dark materials (dg), transitional dark materials (di), and dark materials, undivided (d). The five mapped units within light terrain are: intermediate light materials (li), grooved light materials (lg), irregularly grooved light materials (lgl), smooth light materials (ls), and light materials, undivided.

Self-position estimation using terrain shadows for precise planetary landing

NASA Astrophysics Data System (ADS)

Kuga, Tomoki; Kojima, Hirohisa

2018-07-01

In recent years, the investigation of moons and planets has attracted increasing attention in several countries. Furthermore, recently developed landing systems are now expected to reach more scientifically interesting areas close to hazardous terrain, requiring precise landing capabilities within a 100 m range of the target point. To achieve this, terrain-relative navigation (capable of estimating the position of a lander relative to the target point on the ground surface is actively being studied as an effective method for achieving highly accurate landings. This paper proposes a self-position estimation method using shadows on the terrain based on edge extraction from image processing algorithms. The effectiveness of the proposed method is validated through numerical simulations using images generated from a digital elevation model of simulated terrains.

Development Considerations for the ICESat-2 ATL18 Terrain and Canopy Global Gridded Product

NASA Astrophysics Data System (ADS)

Pitts, K. L.; Neuenschwander, A. L.

2016-12-01

The ICESat-2 mission, expected to launch in late 2017 or early 2018, will provide estimates of terrain and canopy heights along the satellite ground track which will provide a significant benefit to society through a variety of applications ranging from improved global digital terrain models to mapping the distribution of above ground vegetation structure. Shortly after launch of ICESat-2, the Global Ecosystem Dynamics Investigation (GEDI) mission will be placed on the International Space Station (ISS) and will also derive terrain and canopy heights using laser altimetry for latitudes covered by the ISS. NASA's GEDI mission is designed to capture forest structure in densely covered regions over a period of 12-18 months. This study will present the factors required to produce a global gridded product that fuses information from both ICESat-2 and GEDI. The gridded values from ICESat-2 will be calculated from the along-track geodetic measurements of the terrain and relative canopy heights (ATL08), but considerations must be made on how best to combine ICESat-2 terrain and canopy height estimates with GEDI terrain and canopy height estimates. In particular, factors such as phenology, spatial and temporal resolution, surface interpolation methods, and error propagation are presented.

The Global Color of Pluto from New Horizons

NASA Astrophysics Data System (ADS)

Olkin, Catherine B.; Spencer, John R.; Grundy, William M.; Parker, Alex H.; Beyer, Ross A.; Schenk, Paul M.; Howett, Carly J. A.; Stern, S. Alan; Reuter, Dennis C.; Weaver, Harold A.; Young, Leslie A.; Ennico, Kimberly; Binzel, Richard P.; Buie, Marc W.; Cook, Jason C.; Cruikshank, Dale P.; Dalle Ore, Cristina M.; Earle, Alissa M.; Jennings, Donald E.; Singer, Kelsi N.; Linscott, Ivan E.; Lunsford, Allen W.; Protopapa, Silvia; Schmitt, Bernard; Weigle, Eddie; the New Horizons Science Team

2017-12-01

The New Horizons flyby provided the first high-resolution color maps of Pluto. We present here, for the first time, an analysis of the color of the entire sunlit surface of Pluto and the first quantitative analysis of color and elevation on the encounter hemisphere. These maps show the color variation across the surface from the very red terrain in the equatorial region, to the more neutral colors of the volatile ices in Sputnik Planitia, the blue terrain of East Tombaugh Regio, and the yellow hue on Pluto’s North Pole. There are two distinct color mixing lines in the color-color diagrams derived from images of Pluto. Both mixing lines have an apparent starting point in common: the relatively neutral-color volatile-ice covered terrain. One line extends to the dark red terrain exemplified by Cthulhu Regio and the other extends to the yellow hue in the northern latitudes. There is a latitudinal dependence of the predominant color mixing line with the most red terrain located near the equator, less red distributed at mid-latitudes and more neutral terrain at the North Pole. This is consistent with the seasonal cycle controlling the distribution of colors on Pluto. Additionally, the red color is consistent with tholins. The yellow terrain (in the false color images) located at the northern latitudes occurs at higher elevations.

A framework for WRF to WRF-IBM grid nesting to enable multiscale simulations

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

Wiersema, David John; Lundquist, Katherine A.; Chow, Fotini Katapodes

With advances in computational power, mesoscale models, such as the Weather Research and Forecasting (WRF) model, are often pushed to higher resolutions. As the model’s horizontal resolution is refined, the maximum resolved terrain slope will increase. Because WRF uses a terrain-following coordinate, this increase in resolved terrain slopes introduces additional grid skewness. At high resolutions and over complex terrain, this grid skewness can introduce large numerical errors that require methods, such as the immersed boundary method, to keep the model accurate and stable. Our implementation of the immersed boundary method in the WRF model, WRF-IBM, has proven effective at microscalemore » simulations over complex terrain. WRF-IBM uses a non-conforming grid that extends beneath the model’s terrain. Boundary conditions at the immersed boundary, the terrain, are enforced by introducing a body force term to the governing equations at points directly beneath the immersed boundary. Nesting between a WRF parent grid and a WRF-IBM child grid requires a new framework for initialization and forcing of the child WRF-IBM grid. This framework will enable concurrent multi-scale simulations within the WRF model, improving the accuracy of high-resolution simulations and enabling simulations across a wide range of scales.« less

Ranging error analysis of single photon satellite laser altimetry under different terrain conditions

NASA Astrophysics Data System (ADS)

Huang, Jiapeng; Li, Guoyuan; Gao, Xiaoming; Wang, Jianmin; Fan, Wenfeng; Zhou, Shihong

2018-02-01

Single photon satellite laser altimeter is based on Geiger model, which has the characteristics of small spot, high repetition rate etc. In this paper, for the slope terrain, the distance of error's formula and numerical calculation are carried out. Monte Carlo method is used to simulate the experiment of different terrain measurements. The experimental results show that ranging accuracy is not affected by the spot size under the condition of the flat terrain, But the inclined terrain can influence the ranging error dramatically, when the satellite pointing angle is 0.001° and the terrain slope is about 12°, the ranging error can reach to 0.5m. While the accuracy can't meet the requirement when the slope is more than 70°. Monte Carlo simulation results show that single photon laser altimeter satellite with high repetition rate can improve the ranging accuracy under the condition of complex terrain. In order to ensure repeated observation of the same point for 25 times, according to the parameters of ICESat-2, we deduce the quantitative relation between the footprint size, footprint, and the frequency repetition. The related conclusions can provide reference for the design and demonstration of the domestic single photon laser altimetry satellite.

Viscous relaxation as a prerequisite for tectonic resurfacing on Ganymede: Insights from numerical models of lithospheric extension

USGS Publications Warehouse

Bland, Michael T.; McKinnon, William B.

2018-01-01

Ganymede’s bright terrain formed during a near-global resurfacing event (or events) that produced both heavily tectonized and relatively smooth terrains. The mechanism(s) by which resurfacing occurred on Ganymede (e.g., cryovolcanic or tectonic), and the relationship between the older, dark and the younger, bright terrain are fundamental to understanding the geological evolution of the satellite. Using a two-dimensional numerical model of lithospheric extension that has previously been used to successfully simulate surface deformation consistent with grooved terrain morphologies, we investigate whether large-amplitude preexisting topography can be resurfaced (erased) by extension (i.e., tectonic resurfacing). Using synthetically produced initial topography, we show that when the total relief of the initial topography is larger than 25–50 m, periodic groove-like structures fail to form. Instead, extension is localized in a few individual, isolated troughs. These results pose a challenge to the tectonic resurfacing hypothesis. We further investigate the effects of preexisting topography by performing suites of simulations initialized with topography derived from digital terrain models of Ganymede’s surface. These include dark terrain, fresh (relatively deep) impact craters, smooth bright terrain, and a viscously relaxed impact crater. The simulations using dark terrain and fresh impact craters are consistent with our simulations using synthetic topography: periodic groove-like deformation fails to form. In contrast, when simulations were initialized with bright smooth terrain topography, groove-like deformation results from a wide variety of heat flow and surface temperature conditions. Similarly, when a viscously relaxed impact crater was used, groove-like structures were able to form during extension. These results suggest that tectonic resurfacing may require that the amplitude of the initial topography be reduced before extension begins. We emphasize that viscous relaxation may be the key to enabling tectonic resurfacing, as the heat fluxes associated with groove terrain formation are also capable of reducing crater topography through viscous relaxation. For long-wavelength topography (large craters) viscous relaxation is unavoidable. We propose that the resurfacing of Ganymede occurred through a combination of viscous relaxation, tectonic resurfacing, cryovolcanism and, at least in a few cases, band formation. Variations in heat flow and strain magnitudes across Ganymede likely produced the complex variety of terrain types currently observed.

Viscous relaxation as a prerequisite for tectonic resurfacing on Ganymede: Insights from numerical models of lithospheric extension

NASA Astrophysics Data System (ADS)

Bland, Michael T.; McKinnon, William B.

2018-05-01

Ganymede's bright terrain formed during a near-global resurfacing event (or events) that produced both heavily tectonized and relatively smooth terrains. The mechanism(s) by which resurfacing occurred on Ganymede (e.g., cryovolcanic or tectonic), and the relationship between the older, dark and the younger, bright terrain are fundamental to understanding the geological evolution of the satellite. Using a two-dimensional numerical model of lithospheric extension that has previously been used to successfully simulate surface deformation consistent with grooved terrain morphologies, we investigate whether large-amplitude preexisting topography can be resurfaced (erased) by extension (i.e., tectonic resurfacing). Using synthetically produced initial topography, we show that when the total relief of the initial topography is larger than 25-50 m, periodic groove-like structures fail to form. Instead, extension is localized in a few individual, isolated troughs. These results pose a challenge to the tectonic resurfacing hypothesis. We further investigate the effects of preexisting topography by performing suites of simulations initialized with topography derived from digital terrain models of Ganymede's surface. These include dark terrain, fresh (relatively deep) impact craters, smooth bright terrain, and a viscously relaxed impact crater. The simulations using dark terrain and fresh impact craters are consistent with our simulations using synthetic topography: periodic groove-like deformation fails to form. In contrast, when simulations were initialized with bright smooth terrain topography, groove-like deformation results from a wide variety of heat flow and surface temperature conditions. Similarly, when a viscously relaxed impact crater was used, groove-like structures were able to form during extension. These results suggest that tectonic resurfacing may require that the amplitude of the initial topography be reduced before extension begins. We emphasize that viscous relaxation may be the key to enabling tectonic resurfacing, as the heat fluxes associated with groove terrain formation are also capable of reducing crater topography through viscous relaxation. For long-wavelength topography (large craters) viscous relaxation is unavoidable. We propose that the resurfacing of Ganymede occurred through a combination of viscous relaxation, tectonic resurfacing, cryovolcanism and, at least in a few cases, band formation. Variations in heat flow and strain magnitudes across Ganymede likely produced the complex variety of terrain types currently observed.

Terrain Portrayal for Head-Down Displays Experiment

NASA Technical Reports Server (NTRS)

Hughes, Monica F.; Takallu, M. A.

2002-01-01

The General Aviation Element of the Aviation Safety Program's Synthetic Vision Systems (SVS) Project is developing technology to eliminate low visibility induced General Aviation (GA) accidents. SVS displays present computer generated 3-dimensional imagery of the surrounding terrain on the Primary Flight Display (PFD) to greatly enhance pilot's situation awareness (SA), reducing or eliminating Controlled Flight into Terrain, as well as Low-Visibility Loss of Control accidents. SVS-conducted research is facilitating development of display concepts that provide the pilot with an unobstructed view of the outside terrain, regardless of weather conditions and time of day. A critical component of SVS displays is the appropriate presentation of terrain to the pilot. An experimental study has been conducted at NASA Langley Research Center (LaRC) to explore and quantify the relationship between the realism of the terrain presentation and resulting enhancements of pilot SA and pilot performance. Composed of complementary simulation and flight test efforts, Terrain Portrayal for Head-Down Displays (TP-HDD) experiments will help researchers evaluate critical terrain portrayal concepts. The experimental effort is to provide data to enable design trades that optimize SVS applications, as well as develop requirements and recommendations to facilitate the certification process. This paper focuses on the experimental set-up and preliminary qualitative results of the TP-HDD simulation experiment. In this experiment a fixed based flight simulator was equipped with various types of Head Down flight displays, ranging from conventional round dials (typical of most GA aircraft) to glass cockpit style PFD's. The variations of the PFD included an assortment of texturing and Digital Elevation Model (DEM) resolution combinations. A test matrix of 10 terrain display configurations (in addition to the baseline displays) were evaluated by 27 pilots of various backgrounds and experience levels. Qualitative (questionnaires) and quantitative (pilot performance and physiological) data were collected during the experimental runs. Preliminary results indicate that all of the evaluation pilots favored SVS displays over standard gauges, in terms of terrain awareness, SA, and perceived pilot performance. Among the terrain portrayal concepts tested, most pilots preferred the higher-resolution DEM. In addition, with minimal training, low-hour VFR evaluation pilots were able to negotiate a precision approach using SVS displays with a tunnel in the sky guidance concept.

Meso-beta scale numerical simulation studies of terrain-induced jet streak mass/momentum perturbations

NASA Technical Reports Server (NTRS)

Lin, Yuh-Lang; Kaplan, Michael L.

1992-01-01

Work performed during the report period is summarized. The first numerical experiment which was performed on the North Carolina Supercomputer Center's CRAY-YMP machine during the second half of FY92 involved a 36 hour simulation of the CCOPE case study. This first coarse-mesh simulation employed the GMASS model with a 178 x 108 x 32 matrix of grid points spaced approximately 24 km apart. The initial data was comprised of the global 2.5 x 2.5 degree analyses as well as all available North American rawinsonde data valid at 0000 UTC 11 July 1981. Highly-smoothed LFM-derived terrain data were utilized so as to determine the mesoscale response of the three-dimensional atmosphere to weak terrain forcing prior to including the observed highly complex terrain of the northern Rocky Mountain region. It was felt that the model should be run with a spectrum of terrain geometries, ranging from observed complex terrain to no terrain at all, to determine how crucial the terrain was in forcing the mesoscale phenomena. Both convection and stratiform (stable) precipitation were not allowed in this simulation so that their relative importance could be determined by inclusion in forth-coming simulations. A full suite of planetary boundary layer forcing was allowed in the simulation, including surface sensible and latent heat fluxes employing the Blakadar PBL formulation. The details of this simulation, which in many ways could be considered the control simulation, including the important synoptic-scale, meso-alpha scale, and meso-beta scale circulations is described. These results are compared to the observations diagnosed by Koch and his colleagues as well as hypotheses set forth in the project proposal for terrain-influences upon the jet stream and their role in the generation of mesoscale wave phenomenon. The fundamental goal of the analyses being the discrimination among background geostrophic adjustment, terrain influences, and shearing instability in the initiation and maintainance of mesoscale internal wave phenomena. Based upon these findings, FY93 plans are discussed. A review of linear theory and theoretical modeling of a geostrophic zonal wind anomaly is included.

Impact of Incline, Sex and Level of Performance on Kinematics During a Distance Race in Classical Cross-Country Skiing.

PubMed

Stöggl, Thomas; Welde, Boye; Supej, Matej; Zoppirolli, Chiara; Rolland, Carsten G; Holmberg, Hans-Christer; Pellegrini, Barbara

2018-03-01

Here, female and male elite cross-country (XC) skiers were compared on varying terrain during an official 10-km (women) and 15-km (men) Norwegian championship race. On the basis of race performance, 82 skiers were classified as fast (FS) (20 women, 20 men) or slower (SS) (21, 21) skiers. All were video recorded on flat (0°), intermediate (3.5°), uphill (7.1°) and steep uphill (11°) terrain during the race at a distance of 0.8, 1.2, 2.1 and 7.1 km from the start, respectively. All skiers employed exclusively double-poling (DP) on the flat section and, except for the male winner, exclusively diagonal stride (DIA) on the uphill sections. On the intermediate section, more men than women utilized DP and fewer DIA (p = 0.001), with no difference in kick double-poling (DPK). More FS than SS utilized DPK and fewer DIA (p = 0.001), with similar usage of DP. Males skied with faster and longer cycles but lower cycle rate compared with females (p < 0.001), with largest absolute sex differences on flat terrain (p < 0.001) and largest relative differences for cycle velocity and length on intermediate and uphill terrain. External power output rose with increasing incline, being higher for men and FS (p < 0.001). Cycle velocity on flat terrain was the best predictor of mean race velocity for the men, while cycle velocity on steep uphill was the best predictor for the women (both p < 0.001). In conclusion, incline, sex and level of performance influenced cycle characteristics and power output. Greatest absolute sex gap was on flat terrain, whereas the relative difference was greatest on intermediate and steep uphill terrain. We recommend usage of more DP and/or DPK, and less DIA and fewer transitions between techniques on intermediate terrain. Predictors of race performance are sex specific with greatest potential for enhancing performance on flat terrain for men and on steep uphill terrain for women.

A Unified Analysis of Structured Sonar-terrain Data using Bayesian Functional Mixed Models.

PubMed

Zhu, Hongxiao; Caspers, Philip; Morris, Jeffrey S; Wu, Xiaowei; Müller, Rolf

2018-01-01

Sonar emits pulses of sound and uses the reflected echoes to gain information about target objects. It offers a low cost, complementary sensing modality for small robotic platforms. While existing analytical approaches often assume independence across echoes, real sonar data can have more complicated structures due to device setup or experimental design. In this paper, we consider sonar echo data collected from multiple terrain substrates with a dual-channel sonar head. Our goals are to identify the differential sonar responses to terrains and study the effectiveness of this dual-channel design in discriminating targets. We describe a unified analytical framework that achieves these goals rigorously, simultaneously, and automatically. The analysis was done by treating the echo envelope signals as functional responses and the terrain/channel information as covariates in a functional regression setting. We adopt functional mixed models that facilitate the estimation of terrain and channel effects while capturing the complex hierarchical structure in data. This unified analytical framework incorporates both Gaussian models and robust models. We fit the models using a full Bayesian approach, which enables us to perform multiple inferential tasks under the same modeling framework, including selecting models, estimating the effects of interest, identifying significant local regions, discriminating terrain types, and describing the discriminatory power of local regions. Our analysis of the sonar-terrain data identifies time regions that reflect differential sonar responses to terrains. The discriminant analysis suggests that a multi- or dual-channel design achieves target identification performance comparable with or better than a single-channel design.

A Unified Analysis of Structured Sonar-terrain Data using Bayesian Functional Mixed Models

PubMed Central

Zhu, Hongxiao; Caspers, Philip; Morris, Jeffrey S.; Wu, Xiaowei; Müller, Rolf

2017-01-01

Sonar emits pulses of sound and uses the reflected echoes to gain information about target objects. It offers a low cost, complementary sensing modality for small robotic platforms. While existing analytical approaches often assume independence across echoes, real sonar data can have more complicated structures due to device setup or experimental design. In this paper, we consider sonar echo data collected from multiple terrain substrates with a dual-channel sonar head. Our goals are to identify the differential sonar responses to terrains and study the effectiveness of this dual-channel design in discriminating targets. We describe a unified analytical framework that achieves these goals rigorously, simultaneously, and automatically. The analysis was done by treating the echo envelope signals as functional responses and the terrain/channel information as covariates in a functional regression setting. We adopt functional mixed models that facilitate the estimation of terrain and channel effects while capturing the complex hierarchical structure in data. This unified analytical framework incorporates both Gaussian models and robust models. We fit the models using a full Bayesian approach, which enables us to perform multiple inferential tasks under the same modeling framework, including selecting models, estimating the effects of interest, identifying significant local regions, discriminating terrain types, and describing the discriminatory power of local regions. Our analysis of the sonar-terrain data identifies time regions that reflect differential sonar responses to terrains. The discriminant analysis suggests that a multi- or dual-channel design achieves target identification performance comparable with or better than a single-channel design. PMID:29749977

Hydrogeological characterisation and prospect of basement Aquifers of Ibarapa region, southwestern Nigeria

NASA Astrophysics Data System (ADS)

Akanbi, Olanrewaju Akinfemiwa

2018-06-01

The present study involved the use of 82 geo-electric soundings, and the measurement of well inventory and conduct of yield tests in 19 wells across the various bedrock terrains of Ibarapa region of southwestern Nigeria. The aim is to proffer solution to the unsustainable yield of the available boreholes in order to effectively exploit the existing groundwater resource in the area. From the geological reports, the area is underlain by four principal crystalline rocks that include porphyritic granite, gneisses, amphibolite and migmatite. The geo-electric studies revealed that the degree and extent of development of the weathered-fractured component varied, leading to diversity in groundwater yield and in aquifer vulnerability to contamination. The thickness of the weathered layer is greater than 18 m in areas underlain by amphibolite and gneisses and less than 13 m within migmatite and porphyritic granite terrains. High groundwater yield greater than 70 m3/day was recorded in wells within the zones of rock contacts and in areas with large concentration of bedrock fractures and elevated locations across the various bedrock terrains. Aquifer vulnerability is low in amphibolite, high in granitic terrains, low to moderate in gneisses and high to moderate in migmatite. Also, wells' depths and terrain elevation have a moderate to strong indirect relationship with groundwater yield in most bedrock terrains, except in high topographic areas underlain by porphyritic granite. Therefore, there is need for modification of well depth in accordance with the terrain elevation and hydrogeological complexity of the weathered-fractured components of the variuos bedrock terrains, so as to ensure a sustainable groundwater yield.

VISUAL and SLOPE: perspective and quantitative representation of digital terrain models.

Treesearch

R.J. McGaughey; R.H. Twito

1988-01-01

Two computer programs to help timber-harvest planners evaluate terrain for logging operations are presented. The first program, VISUAL, produces three-dimensional perspectives of a digital terrain model. The second, SLOPE, produces map-scaled overlays delineating areas of equal slope, aspect, or elevation. Both programs help planners familiarize themselves with new...

Interactive Map | USDA Plant Hardiness Zone Map

Science.gov Websites

Choose Basemap: Terrain Road Map Satellite Image Turn on Basemap Roads and Labels Zone Color Transparency menu to switch between Terrain, Road Map, and Satellite Image. Turn on Basemap Roads and Labels Click option is available only for Terrain and Satellite Image basemap choices. Zone Color Transparency The

Navigation and Hazard Avoidance for High-Speed Unmanned Ground Vehicles in Rough Terrain

DTIC Science & Technology

2008-07-07

Potential Field Navigation of High Speed Vehicles on Rough Terrain,” Robotica , Vol. 25, No. 4, pp 409-424, July 2007 Udengaard, M., and Iagnemma, K...Navigation of Unmanned Ground Vehicles on Uneven Terrain using Potential Fields," to appear in Robotica , 2007 [16] Spenko, M., Kuroda, Y., Dubowsky, S

Terrain Classification of Norwegian Slab Avalanche Accidents

ERIC Educational Resources Information Center

Hallandvik, Linda; Aadland, Eivind; Vikene, Odd Lennart

2016-01-01

It is difficult to rely on snow conditions, weather, and human factors when making judgments about avalanche risk because these variables are dynamic and complex; terrain, however, is more easily observed and interpreted. Therefore, this study aimed to investigate (1) the type of terrain in which historical fatal snow avalanche accidents in Norway…

WNDCOM: estimating surface winds in mountainous terrain

Treesearch

Bill C. Ryan

1983-01-01

WNDCOM is a mathematical model for estimating surface winds in mountainous terrain. By following the procedures described, the sheltering and diverting effect of terrain, the individual components of the windflow, and the surface wind in remote mountainous areas can be estimated. Components include the contribution from the synoptic scale pressure gradient, the sea...

Accuracy of an IFSAR-derived digital terrain model under a conifer forest canopy.

Treesearch

Hans-Erik Andersen; Stephen E. Reutebuch; Robert J. McGaughey

2005-01-01

Accurate digital terrain models (DTMs) are necessary for a variety of forest resource management applications, including watershed management, timber harvest planning, and fire management. Traditional methods for acquiring topographic data typically rely on aerial photogrammetry, where measurement of the terrain surface below forest canopy is difficult and error prone...

Triton - False Color of Cantaloupe Terrain

NASA Image and Video Library

1996-09-26

Voyager violet, green, and ultraviolet images of Triton were map projected into cylindrical coordinates and combined to produce this false color terrain map. Several compositionally distinct terrain and geologic features are portrayed. At center is a gray blue unit referred to as 'cantaloupe' terrain because of its unusual topographic texture. The unit appears to predate other units to the left. Immediately adjacent to the cantaloupe terrain, is a smoother unit, represented by a reddish color, that has been dissected by a prominent fault system. This unit apparently overlies a much higher albedo material, seen farther left. A prominent angular albedo boundary separates relatively undisturbed smooth terrain from irregular patches which have been derived from breakup of the same material. Also visible at the far left are diffuse, elongated streaks, which seem to emanate from circular, often bright centered features. The parallel streaks may represent vented particulate materials blown in the same direction by winds in Triton's thin atmosphere. The Voyager Mission was conducted by JPL for NASA's Office of Space Science and Applications. http://photojournal.jpl.nasa.gov/catalog/PIA00060

The geomorphology of Rhea - Implications for geologic history and surface processes

NASA Technical Reports Server (NTRS)

Moore, J. M.; Horner, V. M.; Greeley, R.

1985-01-01

Morphological analyses of landforms on Rhea are used to define three physiographic provinces: cratered terrain 1 undifferentiated; cratered terrain 1 lineated; and cratered terrain 2. The important statigraphic relationships between the different provinces are examined with respect to major impact basins and tectonic features. It is shown that the formation of multiringed basins may have caused, or at least controlled the locations of major resurfacing and mantling events. The diameters of the central peaks relative to the impact crater diameters are found to be significantly larger than those within the craters of the moon or Mercury. Both cratered and noncrater lineaments have regional orientations which do not fit current global or regional stress models. On the basis of the morphological analysis, a chronological order is established for the origin of the three provinces: the cratered terrain 1 province was formed first; and cratered terrain 1 lineated and cratered terrain 2 were formed second, and last, respectively. It is shown that the chronological order is generally consistent with current theoretical models of the evolution of Rhea.

Large eddy simulation for atmospheric boundary layer flow over flat and complex terrains

NASA Astrophysics Data System (ADS)

Han, Yi; Stoellinger, Michael; Naughton, Jonathan

2016-09-01

In this work, we present Large Eddy Simulation (LES) results of atmospheric boundary layer (ABL) flow over complex terrain with neutral stratification using the OpenFOAM-based simulator for on/offshore wind farm applications (SOWFA). The complete work flow to investigate the LES for the ABL over real complex terrain is described including meteorological-tower data analysis, mesh generation and case set-up. New boundary conditions for the lateral and top boundaries are developed and validated to allow inflow and outflow as required in complex terrain simulations. The turbulent inflow data for the terrain simulation is generated using a precursor simulation of a flat and neutral ABL. Conditionally averaged met-tower data is used to specify the conditions for the flat precursor simulation and is also used for comparison with the simulation results of the terrain LES. A qualitative analysis of the simulation results reveals boundary layer separation and recirculation downstream of a prominent ridge that runs across the simulation domain. Comparisons of mean wind speed, standard deviation and direction between the computed results and the conditionally averaged tower data show a reasonable agreement.

Flight Test Results of a Synthetic Vision Elevation Database Integrity Monitor

NASA Technical Reports Server (NTRS)

deHaag, Maarten Uijt; Sayre, Jonathon; Campbell, Jacob; Young, Steve; Gray, Robert

2001-01-01

This paper discusses the flight test results of a real-time Digital Elevation Model (DEM) integrity monitor for Civil Aviation applications. Providing pilots with Synthetic Vision (SV) displays containing terrain information has the potential to improve flight safety by improving situational awareness and thereby reducing the likelihood of Controlled Flight Into Terrain (CFIT). Utilization of DEMs, such as the digital terrain elevation data (DTED), requires a DEM integrity check and timely integrity alerts to the pilots when used for flight-critical terrain-displays, otherwise the DEM may provide hazardous misleading terrain information. The discussed integrity monitor checks the consistency between a terrain elevation profile synthesized from sensor information, and the profile given in the DEM. The synthesized profile is derived from DGPS and radar altimeter measurements. DEMs of various spatial resolutions are used to illustrate the dependency of the integrity monitor s performance on the DEMs spatial resolution. The paper will give a description of proposed integrity algorithms, the flight test setup, and the results of a flight test performed at the Ohio University airport and in the vicinity of Asheville, NC.

Integrated system for single leg walking

NASA Astrophysics Data System (ADS)

Simmons, Reid; Krotkov, Eric; Roston, Gerry

1990-07-01

The Carnegie Mellon University Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. This report describes an integrated software system capable of navigating a single leg of the robot over rugged terrain. The leg, based on an early design of the Ambler Planetary Rover, is suspended below a carriage that slides along rails. To walk, the system creates an elevation map of the terrain from laser scanner images, plans an appropriate foothold based on terrain and geometric constraints, weaves the leg through the terrain to position it above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced obstacles, and sand hills. The implemented system consists of a number of task-specific processes (two for planning, two for perception, one for real-time control) and a central control process that directs the flow of communication between processes.

Uncertainty analysis in geospatial merit matrix–based hydropower resource assessment

DOE PAGES

Pasha, M. Fayzul K.; Yeasmin, Dilruba; Saetern, Sen; ...

2016-03-30

Hydraulic head and mean annual streamflow, two main input parameters in hydropower resource assessment, are not measured at every point along the stream. Translation and interpolation are used to derive these parameters, resulting in uncertainties. This study estimates the uncertainties and their effects on model output parameters: the total potential power and the number of potential locations (stream-reach). These parameters are quantified through Monte Carlo Simulation (MCS) linking with a geospatial merit matrix based hydropower resource assessment (GMM-HRA) Model. The methodology is applied to flat, mild, and steep terrains. Results show that the uncertainty associated with the hydraulic head ismore » within 20% for mild and steep terrains, and the uncertainty associated with streamflow is around 16% for all three terrains. Output uncertainty increases as input uncertainty increases. However, output uncertainty is around 10% to 20% of the input uncertainty, demonstrating the robustness of the GMM-HRA model. Hydraulic head is more sensitive to output parameters in steep terrain than in flat and mild terrains. Furthermore, mean annual streamflow is more sensitive to output parameters in flat terrain.« less

Geological terrain models

NASA Technical Reports Server (NTRS)

Kaupp, V. H.; Macdonald, H. C.; Waite, W. P.

1981-01-01

The initial phase of a program to determine the best interpretation strategy and sensor configuration for a radar remote sensing system for geologic applications is discussed. In this phase, terrain modeling and radar image simulation were used to perform parametric sensitivity studies. A relatively simple computer-generated terrain model is presented, and the data base, backscatter file, and transfer function for digital image simulation are described. Sets of images are presented that simulate the results obtained with an X-band radar from an altitude of 800 km and at three different terrain-illumination angles. The simulations include power maps, slant-range images, ground-range images, and ground-range images with statistical noise incorporated. It is concluded that digital image simulation and computer modeling provide cost-effective methods for evaluating terrain variations and sensor parameter changes, for predicting results, and for defining optimum sensor parameters.

Walking on uneven terrain with a powered ankle prosthesis: A preliminary assessment.

PubMed

Shultz, Amanda H; Lawson, Brian E; Goldfarb, Michael

2015-01-01

A successful walking gait with a powered prosthesis depends heavily on proper timing of power delivery, or push-off. This paper describes a control approach which provides improved walking on uneven terrain relative to previous work intended for use on even (level) terrain. This approach is motivated by an initial healthy subject study which demonstrated less variation in sagittal plane shank angle than sagittal plane ankle angle when walking on uneven terrain relative to even terrain. The latter therefore replaces the former as the control signal used to initiate push-off in the powered prosthesis described herein. The authors demonstrate improvement in consistency for several gait characteristics, relative to healthy, as well as controller characteristics with the new control approach, including a 50% improvement in the consistency of the percentage of stride at which push-off is initiated.

Bathymetric terrain model of the Atlantic margin for marine geological investigations

USGS Publications Warehouse

Andrews, Brian D.; Chaytor, Jason D.; ten Brink, Uri S.; Brothers, Daniel S.; Gardner, James V.; Lobecker, Elizabeth A.; Calder, Brian R.

2016-01-01

A bathymetric terrain model of the Atlantic margin covering almost 725,000 square kilometers of seafloor from the New England Seamounts in the north to the Blake Basin in the south is compiled from existing multibeam bathymetric data for marine geological investigations. Although other terrain models of the same area are extant, they are produced from either satellite-derived bathymetry at coarse resolution (ETOPO1), or use older bathymetric data collected by using a combination of single beam and multibeam sonars (Coastal Relief Model). The new multibeam data used to produce this terrain model have been edited by using hydrographic data processing software to maximize the quality, usability, and cartographic presentation of the combined 100-meter resolution grid. The final grid provides the largest high-resolution, seamless terrain model of the Atlantic margin..

Cross-Coupled Control for All-Terrain Rovers

PubMed Central

Reina, Giulio

2013-01-01

Mobile robots are increasingly being used in challenging outdoor environments for applications that include construction, mining, agriculture, military and planetary exploration. In order to accomplish the planned task, it is critical that the motion control system ensure accuracy and robustness. The achievement of high performance on rough terrain is tightly connected with the minimization of vehicle-terrain dynamics effects such as slipping and skidding. This paper presents a cross-coupled controller for a 4-wheel-drive/4-wheel-steer robot, which optimizes the wheel motors' control algorithm to reduce synchronization errors that would otherwise result in wheel slip with conventional controllers. Experimental results, obtained with an all-terrain rover operating on agricultural terrain, are presented to validate the system. It is shown that the proposed approach is effective in reducing slippage and vehicle posture errors. PMID:23299625

Environmental modeling and recognition for an autonomous land vehicle

NASA Technical Reports Server (NTRS)

Lawton, D. T.; Levitt, T. S.; Mcconnell, C. C.; Nelson, P. C.

1987-01-01

An architecture for object modeling and recognition for an autonomous land vehicle is presented. Examples of objects of interest include terrain features, fields, roads, horizon features, trees, etc. The architecture is organized around a set of data bases for generic object models and perceptual structures, temporary memory for the instantiation of object and relational hypotheses, and a long term memory for storing stable hypotheses that are affixed to the terrain representation. Multiple inference processes operate over these databases. Researchers describe these particular components: the perceptual structure database, the grouping processes that operate over this, schemas, and the long term terrain database. A processing example that matches predictions from the long term terrain model to imagery, extracts significant perceptual structures for consideration as potential landmarks, and extracts a relational structure to update the long term terrain database is given.

Study on the performance of the articulated mechanism of tracked all-terrain vehicle

NASA Astrophysics Data System (ADS)

Meng, Zhongliang; Zang, Hao

2018-04-01

Tracked all-terrain vehicle consists of two vehicle bodies featured by superior performance, the running system which can meet the all-terrain requirement, the unique steering system, power system and the vehicle body protection system. This paper focuses on the study of the five freely articulated steering system of crawler-type all-terrain engineering vehicle. The study on the dynamic characteristics of the articulated steering system can't do without the dynamic analysis of the whole vehicle. Therefore, it first studies the overall model of the tracked all-terrain vehicle, and then based on the critical states where the overall model is situated under different road conditions, mathematical models of the articulated mechanism are built under different operating conditions and also the load bearing condition of the articulated mechanism is deduced.

Accuracy assessment of linear spectral mixture model due to terrain undulation

NASA Astrophysics Data System (ADS)

Wang, Tianxing; Chen, Songlin; Ma, Ya

2008-12-01

Mixture spectra are common in remote sensing due to the limitations of spatial resolution and the heterogeneity of land surface. During the past 30 years, a lot of subpixel model have developed to investigate the information within mixture pixels. Linear spectral mixture model (LSMM) is a simper and more general subpixel model. LSMM also known as spectral mixture analysis is a widely used procedure to determine the proportion of endmembers (constituent materials) within a pixel based on the endmembers' spectral characteristics. The unmixing accuracy of LSMM is restricted by variety of factors, but now the research about LSMM is mostly focused on appraisement of nonlinear effect relating to itself and techniques used to select endmembers, unfortunately, the environment conditions of study area which could sway the unmixing-accuracy, such as atmospheric scatting and terrain undulation, are not studied. This paper probes emphatically into the accuracy uncertainty of LSMM resulting from the terrain undulation. ASTER dataset was chosen and the C terrain correction algorithm was applied to it. Based on this, fractional abundances for different cover types were extracted from both pre- and post-C terrain illumination corrected ASTER using LSMM. Simultaneously, the regression analyses and the IKONOS image were introduced to assess the unmixing accuracy. Results showed that terrain undulation could dramatically constrain the application of LSMM in mountain area. Specifically, for vegetation abundances, a improved unmixing accuracy of 17.6% (regression against to NDVI) and 18.6% (regression against to MVI) for R2 was achieved respectively by removing terrain undulation. Anyway, this study indicated in a quantitative way that effective removal or minimization of terrain illumination effects was essential for applying LSMM. This paper could also provide a new instance for LSMM applications in mountainous areas. In addition, the methods employed in this study could be effectively used to evaluate different algorithms of terrain undulation correction for further study.

Quantifying relationships between abundances of cold-water coral Lophelia pertusa and terrain features: A case study on the Norwegian margin

NASA Astrophysics Data System (ADS)

Tong, Ruiju; Purser, Autun; Guinan, Janine; Unnithan, Vikram; Yu, Jinsongdi; Zhang, Chengcheng

2016-03-01

An understanding of how terrain features influence abundance of a particular species greatly aids in the development of accurate predictive habitat suitability models. In this study, we investigated the observed seafloor coverage of cold-water coral Lophelia pertusa in relation to seabed topography at the Sotbakken and Røst Reefs on the Norwegian margin. The primary terrain features at the study sites are a SW-NE stretching mound at Sotbakken Reef and SW-NE running ridges at Røst Reef, located at depths of ~300-400 m and ~250-320 m respectively. Ship-borne multibeam bathymetry data, JAGO dive video data and JAGO positioning data were used in this study. Terrain variables were calculated at scales of 30 m, 90 m and 170 m based on the bathymetry data. Additionally, we investigated the relationships between the terrain variables at multiple scales using the Unweighted Pair Group Method. The observed L. pertusa coverage at both reefs was found to be significantly correlated with most investigated terrain variables, with correlations increasing in strength with increase in analysis scale, suggesting that large scale terrain features likely play an important role in influencing L. pertusa distribution. Small scale terrain variations appear less important in determining the suitability of a region of seafloor for L. pertusa colonization. We conclude that bathymetric position index and curvature, as well as seabed aspect, most strongly correlate with coral coverage, indicating that local topographic highs, with an orientation into inflowing bottom currents, are most suitable for L. pertusa habitation. These results indicate that developing habitat suitability models for L. pertusa will benefit from inclusion of particular key terrain variables (e.g. aspect, plan curvature, mean curvature and slope) and that these should ideally be computed at multiple spatial scales with a greater gap in scales than we used in this study, to maximize the inclusion of the key variables in the model whilst minimizing redundancy.

Terrain Analysis for Human-Robot Interaction (TAH-RI): Enabling Terrain Understanding to Improve Tactical Behavior

DTIC Science & Technology

2005-04-01

determine terrain. (Howard, Seraji , & Tunstel 2001; Larson, Voyles, & Demir 2004) use inclinometers to determine the slope of the terrain. (Larson, Voyles...G .a............... jCurent Lonation Seht Currt Lons o in Workspace Weights N+FW Let j2 8 05 6608 + S SE Lon: 82 4225+’€;+"++ Fe ++et/Gride8 I5o04o𔃻s...o SShow Grld Lines i + iShow Cell Weights •+ iSS wArrows j Show Path fe .1 i Show Aerial Image li"’ .. . Run++ Trulla ........ j •:9 : 9 onltdm-82,e

Transitional morphology in west Deuteronilus Mensae, Mars - Implications for modification of the lowland/upland boundary

NASA Technical Reports Server (NTRS)

Parker, Timothy J.; Saunders, R. Stephen; Schneeberger, Dale M.

1989-01-01

The present examination of the west Deuteronilus Mensae region of Mars notes the changes in fretted terrain across the gradational boundary from uplands to lowlands to include a reduction of canyon wall slopes and depths, so that the fretted terrain north of the gradational boundary appears matted, but not obscured. The two process-classes that may account for the lateral overlap are the erosion of stratified upland terrain, and the deposition of plains materials onto the sloping upland margin and fretted terrain. A variety of plains-emplacement mechanisms is considered.

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

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Automated basin delineation from digital terrain data

NASA Technical Reports Server (NTRS)

Marks, D.; Dozier, J.; Frew, J.

1983-01-01

While digital terrain grids are now in wide use, accurate delineation of drainage basins from these data is difficult to efficiently automate. A recursive order N solution to this problem is presented. The algorithm is fast because no point in the basin is checked more than once, and no points outside the basin are considered. Two applications for terrain analysis and one for remote sensing are given to illustrate the method, on a basin with high relief in the Sierra Nevada. This technique for automated basin delineation will enhance the utility of digital terrain analysis for hydrologic modeling and remote sensing.

The Impact of Ensemble Kalman Filter Assimilation of Near-Surface Observations on the Predictability of Atmospheric Conditions over Complex Terrain: Results from Recent MATERHORN Field Program

NASA Astrophysics Data System (ADS)

Pu, Z.; Zhang, H.

2013-12-01

Near-surface atmospheric observations are the main conventional observations for weather forecasts. However, in modern numerical weather prediction, the use of surface observations, especially those data over complex terrain, remains a unique challenge. There are fundamental difficulties in assimilating surface observations with three-dimensional variational data assimilation (3DVAR). In our early study[1] (Pu et al. 2013), a series of observing system simulation experiments was performed with the ensemble Kalman filter (EnKF) and compared with 3DVAR for its ability to assimilate surface observations with 3DVAR. Using the advanced research version of the Weather Research and Forecasting (WRF) model, results demonstrate that the EnKF can overcome some fundamental limitations that 3DVAR has in assimilating surface observations over complex terrain. Specifically, through its flow-dependent background error term, the EnKF produces more realistic analysis increments over complex terrain in general. Over complex terrain, the EnKF clearly performs better than 3DVAR, because it is more capable of handling surface data in the presence of terrain misrepresentation. With this presentation, we further examine the impact of EnKF data assimilation on the predictability of atmospheric conditions over complex terrain with the WRF model and the observations obtained from the most recent field experiments of the Mountain Terrain Atmospheric Modeling and Observations (MATERHORN) Program. The MATERHORN program provides comprehensive observations over mountainous regions, allowing the opportunity to study the predictability of atmospheric conditions over complex terrain in great details. Specifically, during fall 2012 and spring 2013, comprehensive observations were collected of soil states, surface energy budgets, near-surface atmospheric conditions, and profiling measurements from multiple platforms (e.g., balloon, lidar, radiosondes, etc.) over Dugway Proving Ground (DPG), Utah. With the near-surface observations and sounding data obtained during the MATERHORN fall 2012 field experiment, a month-long cycled EnKF analysis and forecast was produced with the WRF model and an advanced EnKF data assimilation system. Results are compared with the WRF near real-time forecasting during the same month and a set of analysis with 3DVAR data assimilation. Overall evaluation suggests some useful insights on the impacts of different data assimilation methods, surface and soil states, terrain representation on the predictability of atmospheric conditions over mountainous terrain. Details will be presented. References [1] Pu, Z., H. Zhang, and J. A. Anderson,. 'Ensemble Kalman filter assimilation of near-surface observations over complex terrain: Comparison with 3DVAR for short-range forecasts.' Tellus A, vol. 65,19620. 2013. http://dx.doi.org/10.3402/tellusa.v65i0. 19620.

Merging of an EET CInSAR DEM with the SRTM DEM

NASA Astrophysics Data System (ADS)

Wegmuller, Urs; Wiesmann, Andreas; Santoro, Maurizio

2010-03-01

Cross-interferometry (CInSAR) using ERS-2 and ENVISAT ASAR SAR data acquired in the ERS like mode IS2 at VV-polarization with perpendicular baselines of approximately 2 kilometers permits generation of digital elevation models (DEMs). Thanks to the long perpendicular baselines CInSAR has a good potential to generate accurate DEMs over relatively flat terrain. Over sloped terrain the topographic phase gradients get very high and the signals decorrelate if the carrier frequency difference and the baseline effects do not compensate any more. As a result phase unwrapping gets very difficult so that often no reliable solution is obtained for hilly terrain, resulting in DEMs with significant spatial gaps.Spatial gaps in ERS-2 ENVISAT Tandem (EET) CInSAR DEMs over hilly terrain are clearly an important limitation to the utility of these DEMs. On the other hand the high quality achieved over relatively flat terrain is of high interest. As an attempt to significantly improve the utility of the "good information" contained in the CInSAR DEM we developed a methodology to merge a CInSAR DEM with another available DEM, e.g. the SRTM DEM.The methodology was applied to an area in California, USA, including relatively flat terrain belonging to the Mohave desert as well as hilly to mountainous terrain of the San Gabriel and Tehachapi Mountains.

LiDAR-based TWI and terrain attributes in improving parametric predictor for tree growth in southeast Finland

NASA Astrophysics Data System (ADS)

Mohamedou, Cheikh; Tokola, Timo; Eerikäinen, Kalle

2017-10-01

The effect of soil moisture content on vegetation and therefore on growth is well known. Information about the growth of forest stands is key in forest planning and management, and is the concern of various stakeholders. One way to assess moisture content and its impacts on forest growth is to apply the Topographic Wetness Index (TWI) and the derived terrain attributes from the Digital Terrain Model (DTM). The TWI is an important terrain attribute, used in various ecological studies. In the current study, a total of 9987 tally trees within 197 sample plots in southeastern Finland and LiDAR (Light Detection and Ranging) -based TWI were selected to examine: 1) the effect of cell resolutions and focal statistics of neighborhood cells of DTM, on tree diameter increment, and 2) possibilities to improve the prediction accuracy of an existing single-tree growth model using the terrain attributes and TWI with the combined effects of three characteristics (i.e., cell resolutions, neighborhood cells and terrain attributes). The results suggest that the TWI with terrain attributes improved the growth estimation significantly, and within different site types the Root Mean Square Errors (RMSE) were lowered substantially. The best results were obtained for birch trees. The higher resolution of the DTM and the lower focal neighborhood cells were found to be the best alternative in computing the TWI.

Laboratory simulations of the atmospheric mixed-layer in flow ...

EPA Pesticide Factsheets

A laboratory study of the influence of complex terrain on the interface between a well-mixed boundary layer and an elevated stratified layer was conducted in the towing-tank facility of the U.S. Environmental Protection Agency. The height of the mixed layer in the daytime boundary layer can have a strong influence on the concentration of pollutants within this layer. Deflections of streamlines at the height of the interface are primarily a function of hill Froude number (Fr), the ratio of mixed-layer height (zi) to terrain height (h), and the crosswind dimension of the terrain. The magnitude of the deflections increases as Fr increases and zi / h decreases. For mixing-height streamlines that are initially below the terrain top, the response is linear with Fr; for those initially above the terrain feature the response to Fr is more complex. Once Fr exceeds about 2, the terrain related response of the mixed layer interface decreases somewhat with increasing Fr (toward more neutral flow). Deflections are also shown to increase as the crosswind dimensions of the terrain increases. Comparisons with numerical modeling, limited field data and other laboratory measurements reported in the literature are favorable. Additionally, visual observations of dye streamers suggests that the flow structure exhibited for our elevated inversions passing over three dimensional hills is similar to that reported in the literature for continuously stratified flow over two-dimensional h

Discrepancy Between ASTER- and MODIS- Derived Land Surface Temperatures: Terrain Effects

PubMed Central

Liu, Yuanbo; Noumi, Yousuke; Yamaguchi, Yasushi

2009-01-01

The MODerate resolution Imaging Spectroradiometer (MODIS) and the Advanced Spaceborne Thermal Emission Reflection Radiometer (ASTER) are onboard the same satellite platform NASA TERRA. Both MODIS and ASTER offer routine retrieval of land surface temperatures (LSTs), and the ASTER- and MODIS-retrieved LST products have been used worldwide. Because a large fraction of the earth surface consists of mountainous areas, variations in elevation, terrain slope and aspect angles can cause biases in the retrieved LSTs. However, terrain-induced effects are generally neglected in most satellite retrievals, which may generate discrepancy between ASTER and MODIS LSTs. In this paper, we reported the terrain effects on the LST discrepancy with a case examination over a relief area at the Loess Plateau of China. Results showed that the terrain-induced effects were not major, but nevertheless important for the total LST discrepancy. A large local slope did not necessarily lead to a large LST discrepancy. The angle of emitted radiance was more important than the angle of local slope in generating the LST discrepancy. Specifically, the conventional terrain correction may be unsuitable for densely vegetated areas. The distribution of ASTER-to-MODIS emissivity suggested that the terrain correction was included in the generalized split window (GSW) based approach used to rectify MODIS LSTs. Further study should include the classification-induced uncertainty in emissivity for reliable use of satellite-retrieved LSTs over relief areas. PMID:22399955

An ice-rich flow origin for the banded terrain in the Hellas basin, Mars

NASA Astrophysics Data System (ADS)

Diot, X.; El-Maarry, M. R.; Guallini, L.; Schlunegger, F.; Norton, K. P.; Thomas, N.; Sutton, S.; Grindrod, P. M.

2015-12-01

The interior of Hellas Basin displays a complex landscape and a variety of geomorphological domains. One of these domains, the enigmatic banded terrain covers much of the northwestern part of the basin. We use high-resolution (Context Camera and High-Resolution Imaging Science Experiment) Digital Terrain Models to show that most of the complex viscous flowing behavior exhibited by the banded terrain is controlled by topography and flow-like interactions between neighboring banded terrain. Furthermore, the interior of the basin hosts several landforms suggestive of the presence of near-surface ice, which include polygonal patterns with elongated pits, scalloped depressions, isolated mounds, and collapse structures. We suggest that thermal contraction cracking and sublimation of near-surface ice are responsible for the formation and the development of most of the ice-related landforms documented in Hellas. The relatively pristine form, lack of superposed craters, and strong association with the banded terrain, suggest an Amazonian (<3 Ga) age of formation for these landforms. Finally, relatively high surface pressures (above the triple point of water) expected in Hellas and summertime temperatures often exceeding the melting point of water ice suggest that the basin may have recorded relatively "temperate" climatic conditions compared to other places on Mars. Therefore, the potentially ice-rich banded terrain may have deformed with lower viscosity and stresses compared to other locations on Mars, which may account for its unique morphology.

What Influences Youth to Operate All-Terrain Vehicles Safely?

ERIC Educational Resources Information Center

Grummon, A. H.; Heaney, C. A.; Dellinger, W. A.; Wilkins, J. R., III

2014-01-01

The operation of all-terrain vehicles (ATVs) by youth has contributed to the incidence of serious and fatal injuries among children. This study explored factors related to the frequency with which youth wore a helmet and refrained from engaging in three risky driving behaviors (driving at risky speeds, on paved roads and on unfamiliar terrain)…

75 FR 10552 - Sixth Meeting-RTCA Special Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-08

... 217: Joint With EUROCAE WG- 44 Terrain and Airport Mapping Databases AGENCY: Federal Aviation... Airport Mapping Databases. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 217: Joint with EUROCAE WG-44 Terrain and Airport Mapping Databases. DATES: The...

76 FR 27744 - Eighth Meeting-RTCA Special Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-05-12

... Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping Databases AGENCY: Federal Aviation... Airport Mapping Databases. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 217: Joint with EUROCAE WG-44 Terrain and Airport Mapping Databases. DATES: The...

76 FR 54527 - Ninth Meeting-RTCA Special Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-09-01

... 217: Joint With EUROCAE WG- 44 Terrain and Airport Mapping Databases AGENCY: Federal Aviation... Airport Mapping Databases. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 217: Joint with EUROCAE WG-44 Terrain and Airport Mapping Databases. DATES: The...

77 FR 47492 - Thirteenth Meeting: RTCA Special Committee 217, Terrain and Airport Mapping Databases, Joint With...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-08

... Committee 217, Terrain and Airport Mapping Databases, Joint With EUROCAE WG-44 AGENCY: Federal Aviation... 217, Terrain and Airport Mapping Databases, Joint with EUROCAE WG-44. SUMMARY: The FAA is issuing this... Mapping Databases, Joint with EUROCAE WG-44. DATES: The meeting will be held September 10-14, 2012, from 9...

76 FR 6179 - Eighth Meeting-RTCA Special Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-02-03

... Committee 217: Joint With EUROCAE WG-44 Terrain and Airport Mapping Databases AGENCY: Federal Aviation... Airport Mapping Databases. SUMMARY: The FAA is issuing this notice to advise the public of a meeting of RTCA Special Committee 217: Joint with EUROCAE WG-44 Terrain and Airport Mapping Databases. DATES: The...

77 FR 5616 - Proposed Technical Standard Order (TSO)-C151c, Terrain Awareness and Warning System (TAWS)

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-03

... (TSO)-C151c, Terrain Awareness and Warning System (TAWS) ACTION: Notice of availability and request for... second draft of Technical Standard Order (TSO)- C151c, Terrain Awareness and Warning System. Comments received from the initial June 2011 release, resulted in changes to the proposed document significant...

An All Sky Instantaneous Shortwave Solar Radiation Model for Mountainous Terrain

NASA Astrophysics Data System (ADS)

Zhang, S.; Li, X.; She, J.

2017-12-01

In mountainous terrain, solar radiation shows high heterogeneity in space and time because of strong terrain shading effects and significant variability of cloud cover. While existing GIS-based solar radiation models simulate terrain shading effects with relatively high accuracy and models based on satellite datasets consider fine scale cloud attenuation processes, none of these models have considered the geometrical relationships between sun, cloud, and terrain, which are important over mountainous terrain. In this research we propose sky cloud maps to represent cloud distribution in a hemispherical sky using MODIS cloud products. By overlaying skyshed (visible area in the hemispherical sky derived from DEM), sky map, and sky cloud maps, we are able to consider both terrain shading effects and anisotropic cloud attenuation in modeling instantaneous direct and diffuse solar radiation in mountainous terrain. The model is evaluated with field observations from three automatic weather stations in the Tizinafu watershed in the Kunlun Mountains of northwestern China. Overall, under all sky conditions, the model overestimates instantaneous global solar radiation with a mean absolute relative difference (MARD) of 22%. The model is also evaluated under clear sky (clearness index of more than 0.75) and partly cloudy sky (clearness index between 0.35 and 0.75) conditions with MARDs of 5.98% and 23.65% respectively. The MARD for very cloudy sky (clearness index less than 0.35) is relatively high. But these days occur less than 1% of the time. The model is sensitive to DEM data error, algorithms used in delineating skyshed, and errors in MODIS atmosphere and cloud products. Our model provides a novel approach for solar radiation modeling in mountainous areas.

Range Analysis and Terrain Preference of Adult Southern White Rhinoceros (Ceratotherium simum) in a South African Private Game Reserve: Insights into Carrying Capacity and Future Management.

PubMed

Thompson, S; Avent, T; Doughty, L S

2016-01-01

The Southern white rhinoceros (Ceratotherium simum) is a threatened species, central to the tourism appeal of private game reserves in South Africa. Privately owned reserves in South Africa tend to be smaller than government run reserves such as Kruger National Park. Because of their relatively small size and the often heterogeneous nature of the landscape private game reserve managers benefit from detailed knowledge of white rhinoceros terrain selection preferences, which can be assessed from their ranging behaviours. We collected adult and sub-adult white rhinoceros distribution data over a 15 month period, calculating individual range size using kernel density estimation analysis within a GIS. From this, terrain selectivity was calculated using 50% and 95% kernels to extract terrain composition values. Jacob's correction of the Ivlev's selectivity index was subsequently applied to the terrain composition of each individual to identify trends in selectivity. Results reveal that adult males hold exclusive territories considerably smaller than those found in previous work conducted in "open" or large reserves. Similarly, results for the size of male versus female territories were also not in keeping with those from previous field studies, with males, rather than females, having the larger territory requirement. Terrain selection for both genders and age classes (adult and sub-adult) showed a strong preference for open grassland and avoidance of hill slope and riparian terrains. This research reveals white rhinoceros terrain selection preferences and how they influence range requirements in small, closed reserves. We conclude that this knowledge will be valuable in future white rhinoceros conservation management in small private game reserves, particularly in decisions surrounding removal of surplus individuals or augmentation of existing populations, calculation of reserve carrying capacity and future private reserve acquisition.

Mineralogy of Rock Flour in Glaciated Volcanic Terrains: An Analog for a Cold and Icy Early Mars

NASA Technical Reports Server (NTRS)

Rampe, E. B.; Horgan, B.; Scudder, N.; Smith, R. J.; Rutledge, A. M.

2017-01-01

Geomorphological and mineralogical data from early Martian surfaces indicate liquid water was present on ancient Mars. The relative surface temperatures, however, remain a subject of debate. Was early Mars warm and wet or cold and icy with punctuated periods of warmth and ice melt? By characterizing the mineralogy and geochemistry of modern icy mafic terrains on Earth, we can search for these characteristics in early Martian terrains to better constrain the early Martian climate. Here, we describe the mineralogy of glacial flour in a modern glaciated volcanic terrain in Oregon, USA. We are particularly interested in secondary phases that form in these environments, and we hypothesize that poorly crystalline phases may preferentially form in these terrains because of the low temperatures and the seasonality of melt water production. A description of the mineralogy of the moraines, the composition of the amorphous materials, and the geochemistry of the glacial melt waters are presented elsewhere. Glacial flour is made up of silt- and clay-sized particles that form from the physical weathering of rock underlying a wet-based glacier as the glacier slides over it. Flour is usually transported from underneath a glacier by melt water streams. The geochemistry of glacial melt water streams has been studied extensively and has been used to infer weathering reactions within glacial systems. However, the mineralogy of these environments, especially on mafic volcanic terrains, is not well studied. Rock flour is a ubiquitous physical weathering product in glaciated terrains and, therefore, affects microbial habitats, stream and lake chemistry, and chemical weathering processes. and by studying the mineralogy of glacial flour, we can better understand geochemical and microbiological processes in subglacial and proglacial terrains.

a Voxel-Based Filtering Algorithm for Mobile LIDAR Data

NASA Astrophysics Data System (ADS)

Qin, H.; Guan, G.; Yu, Y.; Zhong, L.

2018-04-01

This paper presents a stepwise voxel-based filtering algorithm for mobile LiDAR data. In the first step, to improve computational efficiency, mobile LiDAR points, in xy-plane, are first partitioned into a set of two-dimensional (2-D) blocks with a given block size, in each of which all laser points are further organized into an octree partition structure with a set of three-dimensional (3-D) voxels. Then, a voxel-based upward growing processing is performed to roughly separate terrain from non-terrain points with global and local terrain thresholds. In the second step, the extracted terrain points are refined by computing voxel curvatures. This voxel-based filtering algorithm is comprehensively discussed in the analyses of parameter sensitivity and overall performance. An experimental study performed on multiple point cloud samples, collected by different commercial mobile LiDAR systems, showed that the proposed algorithm provides a promising solution to terrain point extraction from mobile point clouds.

Terrain feature recognition for synthetic aperture radar (SAR) imagery employing spatial attributes of targets

NASA Astrophysics Data System (ADS)

Iisaka, Joji; Sakurai-Amano, Takako

1994-08-01

This paper describes an integrated approach to terrain feature detection and several methods to estimate spatial information from SAR (synthetic aperture radar) imagery. Spatial information of image features as well as spatial association are key elements in terrain feature detection. After applying a small feature preserving despeckling operation, spatial information such as edginess, texture (smoothness), region-likeliness and line-likeness of objects, target sizes, and target shapes were estimated. Then a trapezoid shape fuzzy membership function was assigned to each spatial feature attribute. Fuzzy classification logic was employed to detect terrain features. Terrain features such as urban areas, mountain ridges, lakes and other water bodies as well as vegetated areas were successfully identified from a sub-image of a JERS-1 SAR image. In the course of shape analysis, a quantitative method was developed to classify spatial patterns by expanding a spatial pattern through the use of a series of pattern primitives.

Small-scale martian polygonal terrain: Implications for liquid surface water

USGS Publications Warehouse

Seibert, N.M.; Kargel, J.S.

2001-01-01

Images from the Mars Orbiter Camera (MOC) through August 1999 were analyzed for the global distribution of small-scale polygonal terrain not clearly resolved in Viking Orbiter imagery. With very few exceptions, small-scale polygonal terrain occurs at middle to high latitudes of the northern and southern hemisphere in Hesperian-age geologic units. The largest concentration of this terrain occurs in the Utopia basin in close association with scalloped depressions (interpreted as thermokarst) and appears to represent an Amazonia event. The morphology and occurence of small polygonal terrain suggest they are either mud desiccation cracks or ice-wedge polygons. Because the small-scale polygons in Utopia and Argyre Planitiae are associated with other cold-climate permafrost or glacial features, an ice-wedge model is preferred for these areas. Both cracking mechanisms work most effectively in water- or ice-rich finegrained material and may imply the seasonal or episodic existence of liquid water at the surface.

VTAC: virtual terrain assisted impact assessment for cyber attacks

NASA Astrophysics Data System (ADS)

Argauer, Brian J.; Yang, Shanchieh J.

2008-03-01

Overwhelming intrusion alerts have made timely response to network security breaches a difficult task. Correlating alerts to produce a higher level view of intrusion state of a network, thus, becomes an essential element in network defense. This work proposes to analyze correlated or grouped alerts and determine their 'impact' to services and users of the network. A network is modeled as 'virtual terrain' where cyber attacks maneuver. Overlaying correlated attack tracks on virtual terrain exhibits the vulnerabilities exploited by each track and the relationships between them and different network entities. The proposed impact assessment algorithm utilizes the graph-based virtual terrain model and combines assessments of damages caused by the attacks. The combined impact scores allow to identify severely damaged network services and affected users. Several scenarios are examined to demonstrate the uses of the proposed Virtual Terrain Assisted Impact Assessment for Cyber Attacks (VTAC).

Learning and Prediction of Slip from Visual Information

NASA Technical Reports Server (NTRS)

Angelova, Anelia; Matthies, Larry; Helmick, Daniel; Perona, Pietro

2007-01-01

This paper presents an approach for slip prediction from a distance for wheeled ground robots using visual information as input. Large amounts of slippage which can occur on certain surfaces, such as sandy slopes, will negatively affect rover mobility. Therefore, obtaining information about slip before entering such terrain can be very useful for better planning and avoiding these areas. To address this problem, terrain appearance and geometry information about map cells are correlated to the slip measured by the rover while traversing each cell. This relationship is learned from previous experience, so slip can be predicted remotely from visual information only. The proposed method consists of terrain type recognition and nonlinear regression modeling. The method has been implemented and tested offline on several off-road terrains including: soil, sand, gravel, and woodchips. The final slip prediction error is about 20%. The system is intended for improved navigation on steep slopes and rough terrain for Mars rovers.

Spatial and temporal variability of hyperspectral signatures of terrain

NASA Astrophysics Data System (ADS)

Jones, K. F.; Perovich, D. K.; Koenig, G. G.

2008-04-01

Electromagnetic signatures of terrain exhibit significant spatial heterogeneity on a range of scales as well as considerable temporal variability. A statistical characterization of the spatial heterogeneity and spatial scaling algorithms of terrain electromagnetic signatures are required to extrapolate measurements to larger scales. Basic terrain elements including bare soil, grass, deciduous, and coniferous trees were studied in a quasi-laboratory setting using instrumented test sites in Hanover, NH and Yuma, AZ. Observations were made using a visible and near infrared spectroradiometer (350 - 2500 nm) and hyperspectral camera (400 - 1100 nm). Results are reported illustrating: i) several difference scenes; ii) a terrain scene time series sampled over an annual cycle; and iii) the detection of artifacts in scenes. A principal component analysis indicated that the first three principal components typically explained between 90 and 99% of the variance of the 30 to 40-channel hyperspectral images. Higher order principal components of hyperspectral images are useful for detecting artifacts in scenes.

The Development of a Virtual McKenna Military Operations in Urban Terrain (MOUT) Site for Command, Control, Communication, Computing, Intelligence, Surveillance, and Reconnaissance (C4ISR) Studies

DTIC Science & Technology

2007-06-01

4.2 Creating the Skybox and Terrain Model .........................................................................7 4.3 Creating New Textures... Skybox and Terrain Model The next step was to build a sky box. Since it already resided in Raven Shield, the creation of the sky box was limited to

Evaluation of a Map Interpretation and Terrain Analysis Course for Nap-of-the-Earth Navigation. Research Report 1198.

ERIC Educational Resources Information Center

Holman, Garvin L.

This report documents the training effectiveness of a map interpretation and terrain analysis course (MITAC) developed to enhance the ability of helicopter pilots to navigate accurately during low altitude terrain following flight. A study comparing student aviators taught by the MITAC technique with a control group of students taught by…

Forests, shrubs, and terrain: top-down and bottom-up controls on forest structure

Treesearch

Paul V. Bolstad; Katherine J. Elliott; Chelcy F. Miniat

2018-01-01

Overstory forest structure responds to terrain‐related abiotic factors and to biotic interactions among overstory and understory plants. Unlike species abundance, tree height, biomass, and leaf area in many regions have been poorly quantified in relation to terrain‐driven environmental gradients. In addition, the magnitude of understory influences on overstory...

ATRAN Terrain Sensing Guidance-The Grand-Daddy System

NASA Astrophysics Data System (ADS)

Koch, Richard F.; Evans, Donald C.

1980-12-01

ATRAN was the pioneer terrain sensing guidance system developed in the 1950 era and deployed in Europe on the Air Force's mobile, ground launched TM-76A MACE cruise missile in the late 1950's and early 1960's. The background, principles and technology are described for this system which was the forerunner of todays modern autonomous standoff terrain sensing guided weapons.

Robot Would Climb Steep Terrain

NASA Technical Reports Server (NTRS)

Kennedy, Brett; Ganino, Anthony; Aghazarian, Hrand; Hogg, Robert; McHerny, Michael; Garrett, Michael

2007-01-01

This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

Nano-metrology and terrain modelling - convergent practice in surface characterisation

USGS Publications Warehouse

Pike, R.J.

2000-01-01

The quantification of magnetic-tape and disk topography has a macro-scale counterpart in the Earth sciences - terrain modelling, the numerical representation of relief and pattern of the ground surface. The two practices arose independently and continue to function separately. This methodological paper introduces terrain modelling, discusses its similarities to and differences from industrial surface metrology, and raises the possibility of a unified discipline of quantitative surface characterisation. A brief discussion of an Earth-science problem, subdividing a heterogeneous terrain surface from a set of sample measurements, exemplifies a multivariate statistical procedure that may transfer to tribological applications of 3-D metrological height data.

Perception, planning, and control for walking on rugged terrain

NASA Technical Reports Server (NTRS)

Simmons, Reid; Krotkov, Eric

1991-01-01

The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.

Integration of radar altimeter, precision navigation, and digital terrain data for low-altitude flight

NASA Technical Reports Server (NTRS)

Zelenka, Richard E.

1992-01-01

A Kalman filter for the integration of a radar altimeter into a terrain database-dependent guidance system was developed. Results obtained from a low-altitude helicopter flight test data acquired over moderately rugged terrain showed that the proposed Kalman filter removes large disparities in predicted above-ground-level (AGL) altitude in the presence of measurement anomalies and dropouts. Integration of a radar altimeter makes it possible to operate a near-terrain guidance system at or below 50 ft (subject to obstacle-avoidance limitations), whereas without radar altimeter integration, a minimum clearance altitude of 220 AGL is needed, as is suggested by previous work.

Quantitative analysis of terrain units mapped in the northern quarter of Venus from Venera 15/16 data

NASA Technical Reports Server (NTRS)

Schaber, G. G.

1991-01-01

The contacts between 34 geological/geomorphic terrain units in the northern quarter of Venus mapped from Venera 15/16 data were digitized and converted to a Sinusoidal Equal-Area projection. The result was then registered with a merged Pioneer Venus/Venera 15/16 altimetric database, root mean square (rms) slope values, and radar reflectivity values derived from Pioneer Venus. The resulting information includes comparisons among individual terrain units and terrain groups to which they are assigned in regard to percentage of map area covered, elevation, rms slopes, distribution of suspected craters greater than 10 km in diameter.

Surface terrain characteristics and monsoon season mass balance of debris-covered glaciers in the Khumbu Himal, Nepal, obtained from high resolution Pléiades imagery.

NASA Astrophysics Data System (ADS)

Klug, Christoph; Nicholson, Lindsey; Rieg, Lorenzo; Sailer, Rudolf; Wirbel, Anna

2016-04-01

Debris-covered glaciers in the eastern Himalaya have pronounced surface relief consisting of hummocks and hollows, ice cliffs, lakes and former lake beds. This relief and spatially variable surface properties are expected to influence the spatially distributed surface energy balance and related ice mass loss and atmospheric interactions, but only a few studies have so far explicitly examined the nature of the surface terrain and its textures . In this work we present a new high-resolution digital terrain model (DTM) of a portion of the Khumbu Himal in the eastern Nepalese Himalaya, derived from Pléiades satellite imagery sampled in spring 2015. We use this DTM to study the terrain characteristics of five sample glaciers and analyse the inter- and intra- glacier variability of terrain characteristics in the context of glacier flow velocities and surface changes presented in previous studies in the area. In parallel to this analysis we also present the seasonal geodetic mass balance between spring and fall 2015, and relate it to the terrain properties, surface velocity and limited knowledge of the local lapse rates in meteorological conditions during this monsoon season.

3D Visualization for Phoenix Mars Lander Science Operations

NASA Technical Reports Server (NTRS)

Edwards, Laurence; Keely, Leslie; Lees, David; Stoker, Carol

2012-01-01

Planetary surface exploration missions present considerable operational challenges in the form of substantial communication delays, limited communication windows, and limited communication bandwidth. A 3D visualization software was developed and delivered to the 2008 Phoenix Mars Lander (PML) mission. The components of the system include an interactive 3D visualization environment called Mercator, terrain reconstruction software called the Ames Stereo Pipeline, and a server providing distributed access to terrain models. The software was successfully utilized during the mission for science analysis, site understanding, and science operations activity planning. A terrain server was implemented that provided distribution of terrain models from a central repository to clients running the Mercator software. The Ames Stereo Pipeline generates accurate, high-resolution, texture-mapped, 3D terrain models from stereo image pairs. These terrain models can then be visualized within the Mercator environment. The central cross-cutting goal for these tools is to provide an easy-to-use, high-quality, full-featured visualization environment that enhances the mission science team s ability to develop low-risk productive science activity plans. In addition, for the Mercator and Viz visualization environments, extensibility and adaptability to different missions and application areas are key design goals.

A method for simulating the release of natural gas from the rupture of high-pressure pipelines in any terrain.

PubMed

Deng, Yajun; Hu, Hongbing; Yu, Bo; Sun, Dongliang; Hou, Lei; Liang, Yongtu

2018-01-15

The rupture of a high-pressure natural gas pipeline can pose a serious threat to human life and environment. In this research, a method has been proposed to simulate the release of natural gas from the rupture of high-pressure pipelines in any terrain. The process of gas releases from the rupture of a high-pressure pipeline is divided into three stages, namely the discharge, jet, and dispersion stages. Firstly, a discharge model is established to calculate the release rate of the orifice. Secondly, an improved jet model is proposed to obtain the parameters of the pseudo source. Thirdly, a fast-modeling method applicable to any terrain is introduced. Finally, based upon these three steps, a dispersion model, which can take any terrain into account, is established. Then, the dispersion scenarios of released gas in four different terrains are studied. Moreover, the effects of pipeline pressure, pipeline diameter, wind speed and concentration of hydrogen sulfide on the dispersion scenario in real terrain are systematically analyzed. The results provide significant guidance for risk assessment and contingency planning of a ruptured natural gas pipeline. Copyright © 2017. Published by Elsevier B.V.

Context-Based Urban Terrain Reconstruction from Uav-Videos for Geoinformation Applications

NASA Astrophysics Data System (ADS)

Bulatov, D.; Solbrig, P.; Gross, H.; Wernerus, P.; Repasi, E.; Heipke, C.

2011-09-01

Urban terrain reconstruction has many applications in areas of civil engineering, urban planning, surveillance and defense research. Therefore the needs of covering ad-hoc demand and performing a close-range urban terrain reconstruction with miniaturized and relatively inexpensive sensor platforms are constantly growing. Using (miniaturized) unmanned aerial vehicles, (M)UAVs, represents one of the most attractive alternatives to conventional large-scale aerial imagery. We cover in this paper a four-step procedure of obtaining georeferenced 3D urban models from video sequences. The four steps of the procedure - orientation, dense reconstruction, urban terrain modeling and geo-referencing - are robust, straight-forward, and nearly fully-automatic. The two last steps - namely, urban terrain modeling from almost-nadir videos and co-registration of models 6ndash; represent the main contribution of this work and will therefore be covered with more detail. The essential substeps of the third step include digital terrain model (DTM) extraction, segregation of buildings from vegetation, as well as instantiation of building and tree models. The last step is subdivided into quasi- intrasensorial registration of Euclidean reconstructions and intersensorial registration with a geo-referenced orthophoto. Finally, we present reconstruction results from a real data-set and outline ideas for future work.

Cancer mortality in residents of the terrain-shielded area exposed to fallout from the Nagasaki atomic bombing

PubMed Central

Mine, Mariko; Kondo, Hisayoshi; Matsuda, Naoki; Shibata, Yoshisada; Takamura, Noboru

2018-01-01

Abstract The health effects of radiation exposure from the atomic bomb fallout remain unclear. The objective of the present study is to elucidate the association between low-dose radiation exposure from the atomic bomb fallout and cancer mortality among Nagasaki atomic bomb survivors. Of 77 884 members in the Nagasaki University Atomic Bomb Survivors Cohort, 610 residents in the terrain-shielded area with fallout were selected for this analysis; 1443 residents in the terrain-shielded area without fallout were selected as a control group; and 3194 residents in the direct exposure area were also selected for study. Fifty-two deaths due to cancer in the terrain-shielded fallout area were observed during the follow-up period from 1 January 1970 to 31 December 2012. The hazard ratio for cancer mortality in the terrain-shielded fallout area was 0.90 (95% confidence interval: 0.65–1.24). No increase in the risk of cancer mortality was observed, probably because the dose of the radiation exposure was low for residents in the terrain-shielded fallout areas of the Nagasaki atomic bomb, and also because the number of study subjects was small. PMID:29036510

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.

PubMed

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

2017-03-25

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance.

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles

PubMed Central

Zhou, Ling; Cheng, Xianghong; Zhu, Yixian; Dai, Chenxi; Fu, Jinbo

2017-01-01

Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance. PMID:28346346

The Mysteries and Curiosities of Mars: A Tour of Unusual and Unexplained Terrains

NASA Astrophysics Data System (ADS)

Kerber, L.

2017-12-01

The large amount of data available from orbiting satellites around Mars has provided a wealth of information about the Martian surface and geological history. The published literature tends to focus on regions of Mars for which there are ready explanations; however, many regions of Mars remain mysterious. In this contribution, we present some of the strangest and least explained terrains on Mars: The Taffy Terrain: This complex terrain, consisting of swirling layers with variably sized bands, is present mostly at the bottom of Hellas Basin, but versions of it can also be found on the floor of Melas Chasma and in the Medusae Fossae Formation near Apollinaris Sulci. While little has been written about the taffy terrain, hypotheses include "glacial features" and salt domes. The taffy terrain bears some resemblance to submarine salt domes in the Gulf of Mexico, glacial deposits with mixed ash and ice in Iceland, or chalk formations in Egypt's White Desert. The Fishscale Terrain: At the northern edge of Lucus Planum, the friable Medusae Fossae Formation transitions into a chaos-like terrain with hundreds of mesas forming a pattern like the scales of a fish. While chaos terrains are mysterious in general, this morphologically fresh, near-equatorial chaos is especially unusual. Polygonal Ridges in Gordii Dorsum: Also a part of the Medusae Fossae Formation, the ridges in Gordii Dorsum represent a negative image of the fishscale terrain—a intricate lattice of slender black ridges. These are thought to form via the embayment of the fishscale terrain with lava and the subsequent erosion of the original mesas. Horseshoe Features: These geomorphological features look like inverted barchan dunes, but they are actually pits eroded into the surface of the Medusae Fossae Formation. Channels surrounding Elysium Mons: These channel systems are among the most complex on Mars, but they appear on a young Amazonian lava surface. The channels cut through topography, anastomose, and create streamlined islands. Strange flows around cones: Some rootless cones in Cerberus Palus have unusual flows coming out of them. Possible hypotheses include lava or mudflows. Sinus Meridiani: This region is host to arcuate ridge lattices, circular mesas with concentric patterns, and straight, subparallel ridges, similar to other ridges found near the South Pole.

The Efficacy of Using Synthetic Vision Terrain-Textured Images to Improve Pilot Situation Awareness

NASA Technical Reports Server (NTRS)

Uenking, Michael D.; Hughes, Monica F.

2002-01-01

The General Aviation Element of the Aviation Safety Program's Synthetic Vision Systems (SVS) Project is developing technology to eliminate low visibility induced General Aviation (GA) accidents. SVS displays present computer generated 3-dimensional imagery of the surrounding terrain on the Primary Flight Display (PFD) to greatly enhance pilot's situation awareness (SA), reducing or eliminating Controlled Flight into Terrain, as well as Low-Visibility Loss of Control accidents. SVS-conducted research is facilitating development of display concepts that provide the pilot with an unobstructed view of the outside terrain, regardless of weather conditions and time of day. A critical component of SVS displays is the appropriate presentation of terrain to the pilot. An experimental study is being conducted at NASA Langley Research Center (LaRC) to explore and quantify the relationship between the realism of the terrain presentation and resulting enhancements of pilot SA and performance. Composed of complementary simulation and flight test efforts, Terrain Portrayal for Head-Down Displays (TP-HDD) experiments will help researchers evaluate critical terrain portrayal concepts. The experimental effort is to provide data to enable design trades that optimize SVS applications, as well as develop requirements and recommendations to facilitate the certification process. In this part of the experiment a fixed based flight simulator was equipped with various types of Head Down flight displays, ranging from conventional round dials (typical of most GA aircraft) to glass cockpit style PFD's. The variations of the PFD included an assortment of texturing and Digital Elevation Model (DEM) resolution combinations. A test matrix of 10 terrain display configurations (in addition to the baseline displays) were evaluated by 27 pilots of various backgrounds and experience levels. Qualitative (questionnaires) and quantitative (pilot performance and physiological) data were collected during the experimental runs. This paper focuses on the experimental set-up and final physiological results of the TP-HDD simulation experiment. The physiological measures of skin temperature, heart rate, and muscle response, show a decreased engagement (while using the synthetic vision displays as compared to the baseline conventional display) of the sympathetic and somatic nervous system responses which, in turn, indicates a reduced level of mental workload. This decreased level of workload is expected to enable improvement in the pilot's situation and terrain awareness.

Terrain Portrayal for Head-Down Displays Flight Test

NASA Technical Reports Server (NTRS)

Hughes, Monica F.; Glaab, Louis J.

2003-01-01

The Synthetic Vision Systems General Aviation (SVS-GA) element of NASA's Aviation Safety Program is developing technology to eliminate low visibility induced General Aviation (GA) accidents through the application of synthetic vision techniques. SVS displays present computer generated 3-dimensional imagery of the surrounding terrain to greatly enhance pilot's situation awareness (SA), reducing or eliminating Controlled Flight into Terrain (CFIT), as well as Low-Visibility Loss of Control (LVLOC) accidents. In addition to substantial safety benefits, SVS displays have many potential operational benefits that can lead to flight in instrument meteorological conditions (IMC) resembling those conducted in visual meteorological conditions (VMC). Potential benefits could include lower landing minimums, more approach options, reduced training time, etc. SVS conducted research will develop display concepts providing the pilot with an unobstructed view of the outside terrain, regardless of weather conditions and time of day. A critical component of SVS displays is the appropriate presentation of terrain to the pilot. The relationship between the realism of the terrain presentation and resulting enhancements of pilot SA and pilot performance has been largely undefined. Comprised of coordinated simulation and flight test efforts, the terrain portrayal for head-down displays (TP-HDD) test series examined the effects of two primary elements of terrain portrayal: variations of digital elevation model (DEM) resolution and terrain texturing. Variations in DEM resolution ranged from sparsely spaced (30 arc-sec/2,953ft) to very closely spaced data (1 arc-sec/98 ft). Variations in texture involved three primary methods: constant color, elevation-based generic, and photo-realistic, along with a secondary depth cue enhancer in the form of a fishnet grid overlay. The TP-HDD test series was designed to provide comprehensive data to enable design trades to optimize all SVS applications, as well as develop requirements and recommendations to facilitate the implementation and certification of SVS displays. The TP-HDD flight experiment utilized the NASA LaRC Cessna 206 Stationaire and evaluated eight terrain portrayal concepts in an effort to confirm and extend results from the previously conducted TP-HDD simulation experiment. A total of 15 evaluation pilots, of various qualifications, accumulated over 75 hours of dedicated research flight time at Newport News (PHF) and Roanoke (ROA), VA, airports from August through October, 2002. This report will present results from the portion of testing conducted at Roanoke, VA.

Precision Landing and Hazard Avoidance Doman

NASA Technical Reports Server (NTRS)

Robertson, Edward A.; Carson, John M., III

2016-01-01

The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking. Autonomous PL&HA builds upon the core GN&C capabilities developed to enable soft, controlled landings on the Moon, Mars, and other solar system bodies. Through the addition of a Terrain Relative Navigation (TRN) function, precision landing within tens of meters of a map-based target is possible. The addition of a 3-D terrain mapping lidar sensor improves the probability of a safe landing via autonomous, real-time Hazard Detection and Avoidance (HDA). PL&HA significantly improves the probability of mission success and enhances access to sites of scientific interest located in challenging terrain. PL&HA can also utilize external navigation aids, such as navigation satellites and surface beacons. Advanced Lidar Sensors High precision ranging, velocimetry, and 3-D terrain mapping Terrain Relative Navigation (TRN) TRN compares onboard reconnaissance data with real-time terrain imaging data to update the S/C position estimate Hazard Detection and Avoidance (HDA) Generates a high-resolution, 3-D terrain map in real-time during the approach trajectory to identify safe landing targets Inertial Navigation During Terminal Descent High precision surface relative sensors enable accurate inertial navigation during terminal descent and a tightly controlled touchdown within meters of the selected safe landing target.

The Application of Lidar to Synthetic Vision System Integrity

NASA Technical Reports Server (NTRS)

Campbell, Jacob L.; UijtdeHaag, Maarten; Vadlamani, Ananth; Young, Steve

2003-01-01

One goal in the development of a Synthetic Vision System (SVS) is to create a system that can be certified by the Federal Aviation Administration (FAA) for use at various flight criticality levels. As part of NASA s Aviation Safety Program, Ohio University and NASA Langley have been involved in the research and development of real-time terrain database integrity monitors for SVS. Integrity monitors based on a consistency check with onboard sensors may be required if the inherent terrain database integrity is not sufficient for a particular operation. Sensors such as the radar altimeter and weather radar, which are available on most commercial aircraft, are currently being investigated for use in a real-time terrain database integrity monitor. This paper introduces the concept of using a Light Detection And Ranging (LiDAR) sensor as part of a real-time terrain database integrity monitor. A LiDAR system consists of a scanning laser ranger, an inertial measurement unit (IMU), and a Global Positioning System (GPS) receiver. Information from these three sensors can be combined to generate synthesized terrain models (profiles), which can then be compared to the stored SVS terrain model. This paper discusses an initial performance evaluation of the LiDAR-based terrain database integrity monitor using LiDAR data collected over Reno, Nevada. The paper will address the consistency checking mechanism and test statistic, sensitivity to position errors, and a comparison of the LiDAR-based integrity monitor to a radar altimeter-based integrity monitor.

Terrain Extraction by Integrating Terrestrial Laser Scanner Data and Spectral Information

NASA Astrophysics Data System (ADS)

Lau, C. L.; Halim, S.; Zulkepli, M.; Azwan, A. M.; Tang, W. L.; Chong, A. K.

2015-10-01

The extraction of true terrain points from unstructured laser point cloud data is an important process in order to produce an accurate digital terrain model (DTM). However, most of these spatial filtering methods just utilizing the geometrical data to discriminate the terrain points from nonterrain points. The point cloud filtering method also can be improved by using the spectral information available with some scanners. Therefore, the objective of this study is to investigate the effectiveness of using the three-channel (red, green and blue) of the colour image captured from built-in digital camera which is available in some Terrestrial Laser Scanner (TLS) for terrain extraction. In this study, the data acquisition was conducted at a mini replica landscape in Universiti Teknologi Malaysia (UTM), Skudai campus using Leica ScanStation C10. The spectral information of the coloured point clouds from selected sample classes are extracted for spectral analysis. The coloured point clouds which within the corresponding preset spectral threshold are identified as that specific feature point from the dataset. This process of terrain extraction is done through using developed Matlab coding. Result demonstrates that a higher spectral resolution passive image is required in order to improve the output. This is because low quality of the colour images captured by the sensor contributes to the low separability in spectral reflectance. In conclusion, this study shows that, spectral information is capable to be used as a parameter for terrain extraction.

TouchTerrain: A simple web-tool for creating 3D-printable topographic models

NASA Astrophysics Data System (ADS)

Hasiuk, Franciszek J.; Harding, Chris; Renner, Alex Raymond; Winer, Eliot

2017-12-01

An open-source web-application, TouchTerrain, was developed to simplify the production of 3D-printable terrain models. Direct Digital Manufacturing (DDM) using 3D Printers can change how geoscientists, students, and stakeholders interact with 3D data, with the potential to improve geoscience communication and environmental literacy. No other manufacturing technology can convert digital data into tangible objects quickly at relatively low cost; however, the expertise necessary to produce a 3D-printed terrain model can be a substantial burden: knowledge of geographical information systems, computer aided design (CAD) software, and 3D printers may all be required. Furthermore, printing models larger than the build volume of a 3D printer can pose further technical hurdles. The TouchTerrain web-application simplifies DDM for elevation data by generating digital 3D models customized for a specific 3D printer's capabilities. The only required user input is the selection of a region-of-interest using the provided web-application with a Google Maps-style interface. Publically available digital elevation data is processed via the Google Earth Engine API. To allow the manufacture of 3D terrain models larger than a 3D printer's build volume the selected area can be split into multiple tiles without third-party software. This application significantly reduces the time and effort required for a non-expert like an educator to obtain 3D terrain models for use in class. The web application is deployed at http://touchterrain.geol.iastate.edu/.

Reasoning with inaccurate spatial knowledge. [for Planetary Rover

NASA Technical Reports Server (NTRS)

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

1988-01-01

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

Key Terrain: Application to the Layers of Cyberspace

DTIC Science & Technology

2017-03-01

in the early stages and exploration into better integrating military strategies could prove beneficial to those working to develop relevant and...200 words) The concept of key terrain is a common fixture in military strategy and tactics. The emergence of cyberspace, with characteristics unseen...concept of key terrain is a common fixture in military strategy and tactics. The emergence of cyberspace, with characteristics unseen in any

Accuracy of a high-resolution lidar terrain model under a conifer forest canopy

Treesearch

S.E. Reutebuch; R.J. McGaughey; H.-E. Andersen; W.W. Carson

2003-01-01

Airborne laser scanning systems can provide terrain elevation data for open areas with a vertical accuracy of 15 cm. In this study, a high-resolution digital terrain model (DTM) was produced from high-density lidar data. Vegetation in the 500-ha mountainous study area varied from bare ground to dense 70-year-old conifer forest. Conventional ground survey methods were...

Map Interpretation and Terrain Analysis Course (MITAC) for Infantrymen: Illustrated Lectures

DTIC Science & Technology

1982-01-01

Factors Influencing Map Design . . . . . ..... ............ 4 Interpretation of Terrain Relief and Other Topographic Features...Institute (ARI) sponsored a project to design and develop a map interpretation and terrain analysis course (MITAC) to improve the ability of Army...helicopter pilots to navigate accurately when flying at nap-of-the-earth (NOE) altitudes (McGrath, 1975; McGrath & Foster, 1975). MITAC was designed to

The HIGHLEAD program: locating and designing highlead harvest units by using digital terrain models.

Treesearch

R.H. Twito; S.E. Reutebuch; R.J. McGaughey

1988-01-01

PLANS, a software package for integrated timber-harvest planning, uses digital terrain models to provide the topographic data needed to fit harvest and transportation designs to specific terrain. HIGHLEAD, an integral program in the PLANS package, is used to design the timber-harvest units to be yarded by highlead systems. It solves for the yarding limits of direct...

Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Are Titan's radial Labyrinth terrains surface expressions of large laccoliths?

NASA Astrophysics Data System (ADS)

Schurmeier, L.; Dombard, A. J.; Malaska, M.; Radebaugh, J.

2017-12-01

The Labyrinth terrain unit may be the one of the best examples of the surface expression of Titan's complicated history. They are characterized as highly eroded, dissected, and elevated plateaus and remnant ridges, with an assumed composition that is likely organic-rich based on radar emissivity. How these features accumulated organic-rich sediments and formed topographic highs by either locally uplifting or surviving pervasive regional deflation or erosion is an important question for understanding the history of Titan. There are several subsets of Labyrinth terrains, presumably with differing evolutionary histories and formation processes. We aim to explain the formation of a subset of Labyrinth terrain units informally referred to as "radial Labyrinth terrains." They are elevated and appear dome-like, circular in planform, have a strong radial dissection pattern, are bordered by Undifferentiated Plains units, and are found in the mid-latitudes. Based on their shape, clustering, and dimensions, we suggest that they may be the surface expression of large subsurface laccoliths. A recent study by Manga and Michaut (Icarus, 2017) explained Europa's lenticulae (pits, domes, spots) with the formation of saucer-shaped sills that form laccoliths around the brittle-ductile transition depth within the ice shell (1-5 km). Here, we apply the same scaling relationships and find that the larger size of radial labyrinth terrains with Titan's higher gravity implies deeper intrusion depths of around 20-40 km. This intrusion depth matches the expected brittle-ductile transition on Titan based on our finite element simulations and yield strength envelope analyses. We hypothesize that Titan's radial labyrinth terrains formed as cryovolcanic (water) intrusions that rose to the brittle-ductile transition within the ice shell where they spread horizontally, and uplifted the overlying ice. The organic-rich sedimentary cover also uplifted, becoming more susceptible to pluvial and fluvial erosion, and hence resulting in uplifted, highly eroded terrains within the Undifferentiated Plains unit. Since widespread evidence for cryovolcanism has been marginal on Titan, perhaps a large proportion of it is intrusive, expressed as radial Labyrinth terrains on Titan.

Integrated terrain mapping with digital Landsat images in Queensland, Australia

USGS Publications Warehouse

Robinove, Charles Joseph

1979-01-01

Mapping with Landsat images usually is done by selecting single types of features, such as soils, vegetation, or rocks, and creating visually interpreted or digitally classified maps of each feature. Individual maps can then be overlaid on or combined with other maps to characterize the terrain. Integrated terrain mapping combines several terrain features into each map unit which, in many cases, is more directly related to uses of the land and to methods of land management than the single features alone. Terrain brightness, as measured by the multispectral scanners in Landsat 1 and 2, represents an integration of reflectance from the terrain features within the scanner's instantaneous field of view and is therefore more correlatable with integrated terrain units than with differentiated ones, such as rocks, soils, and vegetation. A test of the feasibilty of the technique of mapping integrated terrain units was conducted in a part of southwestern Queensland, Australia, in cooperation with scientists of the Queensland Department of Primary Industries. The primary purpose was to test the use of digital classification techniques to create a 'land systems map' usable for grazing land management. A recently published map of 'land systems' in the area (made by aerial photograph interpretation and ground surveys), which are integrated terrain units composed of vegetation, soil, topography, and geomorphic features, was used as a basis for comparison with digitally classified Landsat multispectral images. The land systems, in turn, each have a specific grazing capacity for cattle (expressed in beasts per km 2 ) which is estimated following analysis of both research results and property carrying capacities. Landsat images, in computer-compatible tape form, were first contrast-stretched to increase their visual interpretability, and digitally classified by the parallelepiped method into distinct spectral classes to determine their correspondence to the land systems classes and to areally smaller, but readily recognizable, 'land units.' Many land systems appeared as distinct spectral classes or as acceptably homogeneous combinations of several spectral classes. The digitally classified map corresponded to the general geographic patterns of many of the land systems. Statistical correlation of the digitally classified map and the published map was not possible because the published map showed only land systems whereas the digitally classified map showed some land units as well as systems. The general correspondence of spectral classes to the integrated terrain units means that the digital mapping of the units may precede fieldwork and act as a guide to field sampling and detailed terrain unit description as well as measuring of the location, area, and extent of each unit. Extension of the Landsat mapping and classification technique to other arid and semi-arid regions of the world may be feasible.

Use of borehole and surface geophysics to investigate ground-water quality near a road-deicing salt-storage facility, Valparaiso, Indiana

USGS Publications Warehouse

Risch, M.R.; Robinson, B.A.

2001-01-01

Two surface surveys of terrain electromagnetic conductivity were used to map the horizontal extent of the saltwater plume in areas without monitoring wells. Background values of terrain conductivity were measured in an area where water-quality and borehole geophysical data did not indicate saline or brackish water. Based on a guideline from previous case studies, the boundaries of the saltwater plume were mapped where terrain conductivity was 1.5 times background. The extent of the saltwater plume, based on terrain conductivity, generally was consistent with the available water-quality and borehole electromagnetic-conductivity data and with directions of ground-water flow determined from water-level altitudes.

The fretted terrain of the Nilosyrtis Mensae region of Mars: Clues to the timing of dichotomy formation and the emplacement of the northern plains

NASA Technical Reports Server (NTRS)

Detroye, Jeff E.; Williams, Steven H.

1994-01-01

Geologic mapping of the fretted terrain of the Nilosyrtis Mensae region of Mars has revealed geomorphic evidence that the breakup of the plateau units to the south of Nilosyrtis occurred well before the plains units to the north were emplaced in the late Hesperian time. The plains units were deposited against the fretted terrain which has undergone some modification by mass wasting but not significant backwasting. The morphology observed at the contact between plains and the fretted terrain is consistent with that expected where the edge of a pile of sedimentary debris has undergone mass wasting and other erosion.

Analysis of Voyager images of Europa - plasma bombardment

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

Johnson, R.E.; Nelson, M.L.; Nccord, T.B.

1988-09-01

Voyager-derived data on the albedos of Europa are presently photometrically corrected and converted into average, single-scattering form, in order to analyze them as a function of angular distance from the apex of orbital motion. A hypothesized magnetospheric modification of the Europa surface is confirmed by the UV absorption found in the 0.35-micron filter data; this absorption directly correlates with the longitudinal ion implantation distribution in both terrain types. A red spectrum is found in both terrain types as well, and is found to be constant across the surface. A uniform increase is noted in the dark terrain absorption over thatmore » in the bright terrain. 43 references.« less

Role of artesian groundwater in forming Martian permafrost features

NASA Technical Reports Server (NTRS)

Howard, Alan D.

1991-01-01

Various landforms possibly related to formation (growth), movement, or decay of ground ice have been identified on Mars, including fretted terrain (ft) and associated lobate debris aprons (lda), the chaotic terrain, concentric crater fills (ccf), polygonal ground, softened terrain, small domes that are possibly pingos, and curvilinear (fingerprint) features (cuf). Glaciers may also have been present. Some of these may involve ice derived from artesian groundwater. Topical areas of discussion are: Mars groundwater and the location of permafrost features; the ft, lda, ccf, and cuf; role of artesian groundwater in formation of fretted terrain, lobate debris blankets, and concentric crater fills; sources of glacial ice; and pingos and other pseudovolcanic structures.

Immersed Boundary Methods for High-Resolution Simulation of Atmospheric Boundary-Layer Flow Over Complex Terrain

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

Lundquist, K A

Mesoscale models, such as the Weather Research and Forecasting (WRF) model, are increasingly used for high resolution simulations, particularly in complex terrain, but errors associated with terrain-following coordinates degrade the accuracy of the solution. Use of an alternative Cartesian gridding technique, known as an immersed boundary method (IBM), alleviates coordinate transformation errors and eliminates restrictions on terrain slope which currently limit mesoscale models to slowly varying terrain. In this dissertation, an immersed boundary method is developed for use in numerical weather prediction. Use of the method facilitates explicit resolution of complex terrain, even urban terrain, in the WRF mesoscale model.more » First, the errors that arise in the WRF model when complex terrain is present are presented. This is accomplished using a scalar advection test case, and comparing the numerical solution to the analytical solution. Results are presented for different orders of advection schemes, grid resolutions and aspect ratios, as well as various degrees of terrain slope. For comparison, results from the same simulation are presented using the IBM. Both two-dimensional and three-dimensional immersed boundary methods are then described, along with details that are specific to the implementation of IBM in the WRF code. Our IBM is capable of imposing both Dirichlet and Neumann boundary conditions. Additionally, a method for coupling atmospheric physics parameterizations at the immersed boundary is presented, making IB methods much more functional in the context of numerical weather prediction models. The two-dimensional IB method is verified through comparisons of solutions for gentle terrain slopes when using IBM and terrain-following grids. The canonical case of flow over a Witch of Agnesi hill provides validation of the basic no-slip and zero gradient boundary conditions. Specified diurnal heating in a valley, producing anabatic winds, is used to validate the use of flux (non-zero) boundary conditions. This anabatic flow set-up is further coupled to atmospheric physics parameterizations, which calculate surface fluxes, demonstrating that the IBM can be coupled to various land-surface parameterizations in atmospheric models. Additionally, the IB method is extended to three dimensions, using both trilinear and inverse distance weighted interpolations. Results are presented for geostrophic flow over a three-dimensional hill. It is found that while the IB method using trilinear interpolation works well for simple three-dimensional geometries, a more flexible and robust method is needed for extremely complex geometries, as found in three-dimensional urban environments. A second, more flexible, immersed boundary method is devised using inverse distance weighting, and results are compared to the first IBM approach. Additionally, the functionality to nest a domain with resolved complex geometry inside of a parent domain without resolved complex geometry is described. The new IBM approach is used to model urban terrain from Oklahoma City in a one-way nested configuration, where lateral boundary conditions are provided by the parent domain. Finally, the IB method is extended to include wall model parameterizations for rough surfaces. Two possible implementations are presented, one which uses the log law to reconstruct velocities exterior to the solid domain, and one which reconstructs shear stress at the immersed boundary, rather than velocity. These methods are tested on the three-dimensional canonical case of neutral atmospheric boundary layer flow over flat terrain.« less

JAPE 91: Influence of terrain masking of the acoustic propagation of helicopter noise

NASA Technical Reports Server (NTRS)

Naz, P.

1993-01-01

The acoustic propagation in the case of a noise source masked by a small element of terrain has been investigated experimentally. These data have been measured during the 'terrain masking' experiment of the NATO JAPE 91 experimental campaign. The main objective of that experiment was to study the acoustic detection of a helicopter masked by a small hill. Microphones have been placed at different locations on the shadow zone of the hill to study the effect of the terrain obstruction on sound propagation. The results presented come from data measured by Atlas Elektronik and by ISL, and have been processed together. The terrain obstruction causes an excess attenuation of the SPL (Sound Pressure Level) for all the frequencies, but this attenuation is more effective for the high frequencies than for the low frequencies. Results typical of diffraction phenomena have been observed; the SPL is minimal at the foot of the hill and is relatively constant beyond it.

Design and flight evaluation of an integrated navigation and near-terrain helicopter guidance system for night-time and adverse weather operations

NASA Technical Reports Server (NTRS)

Swenson, Harry N.; Zelenka, Richard E.; Dearing, Munro G.; Hardy, Gordon H.; Clark, Raymond; Davis, Tom; Amatrudo, Gary; Zirkler, Andre

1994-01-01

NASA and the U.S. Army have designed, developed, and flight evaluated a Computer Aiding for Low Altitude Helicopter Flight (CALAHF) guidance system. This system provides guidance to the pilot for near terrain covert helicopter operations. It automates the processing of precision navigation information, helicopter mission requirements, and terrain flight guidance. The automation is presented to the pilot through symbology on a helmet-mounted display. The symbology is a 'pilot-centered' design which preserves pilot flexibility and authority over the CALAHF system's automation. An extensive flight evaluation of the system has been conducted using the U.S. Army's NUH-60 STAR (Systems Testbed for Avionics Research) research helicopter. The evaluations were flown over a multiwaypoint helicopter mission in rugged mountainous terrain, at terrain clearance altitudes from 300 to 125 ft and airspeeds from 40 to 110 knots. The results of these evaluations showed that the pilots could precisely follow the automation symbology while maintaining a high degree of situational awareness.

Terrain Portrayal for Synthetic Vision Systems Head-Down Displays Evaluation Results: Compilation of Pilot Transcripts

NASA Technical Reports Server (NTRS)

Hughes, Monica F.; Glaab, Louis J.

2007-01-01

The Terrain Portrayal for Head-Down Displays (TP-HDD) simulation experiment addressed multiple objectives involving twelve display concepts (two baseline concepts without terrain and ten synthetic vision system (SVS) variations), four evaluation maneuvers (two en route and one approach maneuver, plus a rare-event scenario), and three pilot group classifications. The TP-HDD SVS simulation was conducted in the NASA Langley Research Center's (LaRC's) General Aviation WorkStation (GAWS) facility. The results from this simulation establish the relationship between terrain portrayal fidelity and pilot situation awareness, workload, stress, and performance and are published in the NASA TP entitled Terrain Portrayal for Synthetic Vision Systems Head-Down Displays Evaluation Results. This is a collection of pilot comments during each run of the TP-HDD simulation experiment. These comments are not the full transcripts, but a condensed version where only the salient remarks that applied to the scenario, the maneuver, or the actual research itself were compiled.

Terrain intelligence Chita Oblast (U.S.S.R.)

USGS Publications Warehouse

,

1943-01-01

The following folio of maps and explanatory tables outlines the principal terrain features of the Chita Oblast.  Each map and table is devoted to a specialized set of problems; together they cover such subjects as terrain appreciations, rivers, surface-water and ground-water supplies, construction materials, fuels, suitability for temporary roads and airfields, mineral resources, and geology.  These maps and data were complied by the United States Geological Survey.

A Physics Based Vehicle Terrain Interaction Model for Soft Soil off-Road Vehicle Simulations

DTIC Science & Technology

2012-01-01

assumed terrain deformation, use of empirical relationships for the deformation, or finite/discrete element approaches for the terrain. A real-time...vertical columns of soil, and the deformation of each is modeled using visco-elasto-plastic compressibility relationships that relate subsoil pressures to...produced by tractive and turning forces will also be incorporated into the model. Both the vertical and horizontal force/displacement relationships

Terrain Mechanics and Modeling Research Program: Enhanced Vehicle Dynamics Module

DTIC Science & Technology

2009-05-01

ER D C/ G SL T R- 09 -8 Terrain Mechanics and Modeling Research Program Enhanced Vehicle Dynamics Module Daniel C. Creighton, George...public release; distribution is unlimited. Terrain Mechanics and Modeling Research Program ERDC/GSL TR-09-8 May 2009 Enhanced Vehicle Dynamics...Module Daniel C. Creighton, George B. McKinley, and Randolph A. Jones Geotechnical and Structures Laboratory U.S. Army Engineer Research and

Ambler: Performance of a six-legged planetary rover

NASA Astrophysics Data System (ADS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1995-01-01

In this paper we quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. We present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. We document the performance of a novel dead-reckoning approach, and analyze its accuracy. We describe the results of autonomous walking experiments in terms of terrain traversed, walking speed and endurance.

Operational Site Selection for Unmanned Aircraft

DTIC Science & Technology

2011-06-01

eliminate unsuitable areas, the Op Site Selection process must first consider landcover , terrain, and specifications for one or more UAS platforms...areas, the OSS process must first consider landcover , terrain, and specifi- cations for one or more UAS platforms. To select the most optimal sites, the...by landcover , ERDC/CERL TR-11-16 2 soil type, slope, and aspect. The individual terrain units are pre- determined and delineated by a separate

Fusing Laser Reflectance and Image Data for Terrain Classification for Small Autonomous Robots

DTIC Science & Technology

2014-12-01

limit us to low power, lightweight sensors , and a maximum range of approximately 5 meters. Contrast these robot characteristics to typical terrain...classifi- cation work which uses large autonomous ground vehicles with sensors mounted high above the ground. Terrain classification for small autonomous...into predefined classes [10], [11]. However, wheeled vehicles offer the ability to use non-traditional sensors such as vibration sensors [12] and

Status of Sundstrand research

NASA Technical Reports Server (NTRS)

Bateman, Don

1991-01-01

Wind shear detection status is presented in the form of view-graphs. The following subject areas are covered: second generation detection (Q-bias, gamma bias, temperature biases, maneuvering flight modulation, and altitude modulation); third generation wind shear detection (use wind shear computation to augment flight path and terrain alerts, modulation of alert thresholds based on wind/terrain data base, incorporate wind shear/terrain alert enhancements from predictive sensor data); and future research and development.

Assessment of antipodal-impact terrains on Mars

NASA Astrophysics Data System (ADS)

Williams, David A.; Greeley, Ronald

1994-08-01

The regions anitpodal to Mars' three largest impact basins, Hellas, Isidis, and Argyre, were assessed for evidence of impact-induced disrupted terrains. Photogeology and computer modeling using the Simplified Arbitrary Lagrangian Eulerian (SALE) finite element code suggest that such terrains could have been found by the Hellas impact. Maximum antipodal pressures are 1100 MPa for Hellas, 520 MPa for Isidis, and 150 MPa for Argyre. The results suggest that if antipodal fracturing were associated with later volcanism, then Alba Patera may be related to the Hellas event, as proposed by Peterson (1978). Alba Patera is a unique volcano in the solar system, being a shield volcano which emitted large volume lava flows. This volcanism could be the result of the focusing of seismic energy which created a fractured region that served as a volcanic conduit for the future release of large volumes of magma. No disrupted terrain features are observed antipodal to the Isidis or Argyre basins, although some of the old fractures in Noctis Labyrinthus could have originated in response to the Isidis impact, and later have been reactivated by the Tharsis tectonics assumed to have produced Noctis. If the lower calculated antipodal pressures for Argyre were capable of producing disrupted terrains, then the terrains have been covered subsequently by volcanic or aeolian material, or modified beyond recognition.

Cancer mortality in residents of the terrain-shielded area exposed to fallout from the Nagasaki atomic bombing.

PubMed

Yokota, Kenichi; Mine, Mariko; Kondo, Hisayoshi; Matsuda, Naoki; Shibata, Yoshisada; Takamura, Noboru

2018-01-01

The health effects of radiation exposure from the atomic bomb fallout remain unclear. The objective of the present study is to elucidate the association between low-dose radiation exposure from the atomic bomb fallout and cancer mortality among Nagasaki atomic bomb survivors. Of 77 884 members in the Nagasaki University Atomic Bomb Survivors Cohort, 610 residents in the terrain-shielded area with fallout were selected for this analysis; 1443 residents in the terrain-shielded area without fallout were selected as a control group; and 3194 residents in the direct exposure area were also selected for study. Fifty-two deaths due to cancer in the terrain-shielded fallout area were observed during the follow-up period from 1 January 1970 to 31 December 2012. The hazard ratio for cancer mortality in the terrain-shielded fallout area was 0.90 (95% confidence interval: 0.65-1.24). No increase in the risk of cancer mortality was observed, probably because the dose of the radiation exposure was low for residents in the terrain-shielded fallout areas of the Nagasaki atomic bomb, and also because the number of study subjects was small. © The Author 2017. Published by Oxford University Press on behalf of The Japan Radiation Research Society and Japanese Society for Radiation Oncology.

Assessment of antipodal-impact terrains on Mars

NASA Technical Reports Server (NTRS)

Williams, David A.; Greeley, Ronald

1994-01-01

The regions anitpodal to Mars' three largest impact basins, Hellas, Isidis, and Argyre, were assessed for evidence of impact-induced disrupted terrains. Photogeology and computer modeling using the Simplified Arbitrary Lagrangian Eulerian (SALE) finite element code suggest that such terrains could have been found by the Hellas impact. Maximum antipodal pressures are 1100 MPa for Hellas, 520 MPa for Isidis, and 150 MPa for Argyre. The results suggest that if antipodal fracturing were associated with later volcanism, then Alba Patera may be related to the Hellas event, as proposed by Peterson (1978). Alba Patera is a unique volcano in the solar system, being a shield volcano which emitted large volume lava flows. This volcanism could be the result of the focusing of seismic energy which created a fractured region that served as a volcanic conduit for the future release of large volumes of magma. No disrupted terrain features are observed antipodal to the Isidis or Argyre basins, although some of the old fractures in Noctis Labyrinthus could have originated in response to the Isidis impact, and later have been reactivated by the Tharsis tectonics assumed to have produced Noctis. If the lower calculated antipodal pressures for Argyre were capable of producing disrupted terrains, then the terrains have been covered subsequently by volcanic or aeolian material, or modified beyond recognition.

Expression of terrain and surface geology in high-resolution helicopter-borne gravity gradient (AGG) data: examples from Great Sand Dunes National Park, Rio Grande Rift, Colorado

USGS Publications Warehouse

Drenth, Benjamin J.

2013-01-01

Airborne gravity gradient (AGG) data are rapidly becoming standard components of geophysical mapping programs, due to their advantages in cost, access, and resolution advantages over measurements of the gravity field on the ground. Unlike conventional techniques that measure the gravity field, AGG methods measure derivatives of the gravity field. This means that effects of terrain and near-surface geology are amplified in AGG data, and that proper terrain corrections are critically important for AGG data processing. However, terrain corrections require reasonable estimates of density for the rocks and sediments that make up the terrain. A recommended philosophical approach is to use the terrain and surface geology, with their strong expression in AGG data, to the interpreter’s advantage. An example of such an approach is presented here for an area with very difficult ground access and little ground gravity data. Nettleton-style profiling is used with AGG data to estimate the densities of the sand dunefield and adjacent Precambrian rocks from the area of Great Sand Dunes National Park in southern Colorado. Processing of the AGG data using the density estimate for the dunefield allows buried structures, including a hypothesized buried basement bench, to be mapped beneath the sand dunes.

Received signal strength and local terrain profile data for radio network planning and optimization at GSM frequency bands.

PubMed

Popoola, Segun I; Atayero, Aderemi A; Faruk, Nasir

2018-02-01

The behaviour of radio wave signals in a wireless channel depends on the local terrain profile of the propagation environments. In view of this, Received Signal Strength (RSS) of transmitted signals are measured at different points in space for radio network planning and optimization. However, these important data are often not publicly available for wireless channel characterization and propagation model development. In this data article, RSS data of a commercial base station operating at 900 and 1800 MHz were measured along three different routes of Lagos-Badagry Highway, Nigeria. In addition, local terrain profile data of the study area (terrain elevation, clutter height, altitude, and the distance of the mobile station from the base station) are extracted from Digital Terrain Map (DTM) to account for the unique environmental features. Statistical analyses and probability distributions of the RSS data are presented in tables and graphs. Furthermore, the degree of correlations (and the corresponding significance) between the RSS and the local terrain parameters were computed and analyzed for proper interpretations. The data provided in this article will help radio network engineers to: predict signal path loss; estimate radio coverage; efficiently reuse limited frequencies; avoid interferences; optimize handover; and adjust transmitted power level.

Flight Simulator Evaluation of Synthetic Vision Display Concepts to Prevent Controlled Flight Into Terrain (CFIT)

NASA Technical Reports Server (NTRS)

Arthur, Jarvis J., III; Prinzel, Lawrence J., III; Kramer, Lynda J.; Parrish, Russell V.; Bailey, Randall E.

2004-01-01

In commercial aviation, over 30-percent of all fatal accidents worldwide are categorized as Controlled Flight Into Terrain (CFIT) accidents, where a fully functioning airplane is inadvertently flown into the ground. The major hypothesis for a simulation experiment conducted at NASA Langley Research Center was that a Primary Flight Display (PFD) with synthetic terrain will improve pilots ability to detect and avoid potential CFITs compared to conventional instrumentation. All display conditions, including the baseline, contained a Terrain Awareness and Warning System (TAWS) and Vertical Situation Display (VSD) enhanced Navigation Display (ND). Each pilot flew twenty-two approach departure maneuvers in Instrument Meteorological Conditions (IMC) to the terrain challenged Eagle County Regional Airport (EGE) in Colorado. For the final run, flight guidance cues were altered such that the departure path went into terrain. All pilots with a synthetic vision system (SVS) PFD (twelve of sixteen pilots) noticed and avoided the potential CFIT situation. The four pilots who flew the anomaly with the conventional baseline PFD configuration (which included a TAWS and VSD enhanced ND) had a CFIT event. Additionally, all the SVS display concepts enhanced the pilot s situational awareness, decreased workload and improved flight technical error (FTE) compared to the baseline configuration.

Cooperative terrain model acquisition by a team of two or three point-robots

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

Rao, N.S.V.; Protopopescu, V.; Manickam, N.

1996-04-01

We address the model acquisition problem for an unknown planar terrain by a team of two or three robots. The terrain is cluttered by a finite number of polygonal obstacles whose shapes and positions are unknown. The robots are point-sized and equipped with visual sensors which acquire all visible parts of the terrain by scan operations executed from their locations. The robots communicate with each other via wireless connection. The performance is measured by the number of the sensor (scan) operations which are assumed to be the most time-consuming of all the robot operations. We employ the restricted visibility graphmore » methods in a hierarchical setup. For terrains with convex obstacles and for teams of n(= 2, 3) robots, we prove that the sensing time is reduced by a factor of 1/n. For terrains with concave corners, the performance of the algorithm depends on the number of concave regions and their depths. A hierarchical decomposition of the restricted visibility graph into n-connected and (n - 1)-or-less connected components is considered. The performance for the n(= 2, 3) robot team is expressed in terms of the sizes of n-connected components, and the sizes and diameters of (n - 1)-or-less connected components.« less

A cross-sectional examination of the physical fitness and selected health attributes of recreational all-terrain vehicle riders and off-road motorcyclists.

PubMed

Burr, Jamie F; Jamnik, Veronica; Gledhill, Norman

2010-11-01

The aims of this study were: (1) to characterize selected fitness and health attributes of two types of habitual recreational off-road vehicle riders - off-road motorcyclists and all-terrain vehicle riders; (2) to explore differences among riders in terms of vehicle type, age, and gender; and (3) to compare the fitness and health of riders to population norms and clinical health standards. Canadian off-road riders (n = 141) of both sexes aged 16 years and over were recruited through local and national off-road riding organizations. Anthropometry, fitness, and health measures of off-road motorcycle and all-terrain vehicle riders were compared with population norms, health standards, and physical activity guidelines. Off-road motorcycle riders had above average aerobic fitness (79th percentile), while all-terrain vehicle riders were lower than average (40th percentile). All riders had a healthy blood lipid profile and a low incidence of the metabolic syndrome (12.9%) compared with members of the general population. Off-road motorcycle riders had healthier body composition and fitness than all-terrain vehicle riders; however, the body composition of off-road motorcycle riders was no healthier than that of the general population and all-terrain vehicle riders were worse than the general population. Off-road motorcycle riders had healthier anthropometry and fitness than all-terrain vehicle riders and thus fewer health risk factors for future disease, demonstrating that the physiological profiles of off-road riders are dependent on vehicle type.

A terrain-based paired-site sampling design to assess biodiversity losses from eastern hemlock decline

USGS Publications Warehouse

Young, J.A.; Smith, D.R.; Snyder, C.D.; Lemarie, D.P.

2002-01-01

Biodiversity surveys are often hampered by the inability to control extraneous sources of variability introduced into comparisons of populations across a heterogenous landscape. If not specifically accounted for a priori, this noise can weaken comparisons between sites, and can make it difficult to draw inferences about specific ecological processes. We developed a terrain-based, paired-site sampling design to analyze differences in aquatic biodiversity between streams draining eastern hemlock (Tsuga canadensis) forests, and those draining mixed hardwood forests in Delaware Water Gap National Recreation Area (USA). The goal of this design was to minimize variance due to terrain influences on stream communities, while representing the range of hemlock dominated stream environments present in the park. We used geographic information systems (GIS) and cluster analysis to define and partition hemlock dominated streams into terrain types based on topographic variables and stream order. We computed similarity of forest stands within terrain types and used this information to pair hemlock-dominated streams with hardwood counterparts prior to sampling. We evaluated the effectiveness of the design through power analysis and found that power to detect differences in aquatic invertebrate taxa richness was highest when sites were paired and terrain type was included as a factor in the analysis. Precision of the estimated difference in mean richness was nearly doubled using the terrain-based, paired site design in comparison to other evaluated designs. Use of this method allowed us to sample stream communities representative of park-wide forest conditions while effectively controlling for landscape variability.

Range Analysis and Terrain Preference of Adult Southern White Rhinoceros (Ceratotherium simum) in a South African Private Game Reserve: Insights into Carrying Capacity and Future Management

PubMed Central

Thompson, S.; Doughty, L. S.

2016-01-01

The Southern white rhinoceros (Ceratotherium simum) is a threatened species, central to the tourism appeal of private game reserves in South Africa. Privately owned reserves in South Africa tend to be smaller than government run reserves such as Kruger National Park. Because of their relatively small size and the often heterogeneous nature of the landscape private game reserve managers benefit from detailed knowledge of white rhinoceros terrain selection preferences, which can be assessed from their ranging behaviours. We collected adult and sub-adult white rhinoceros distribution data over a 15 month period, calculating individual range size using kernel density estimation analysis within a GIS. From this, terrain selectivity was calculated using 50% and 95% kernels to extract terrain composition values. Jacob’s correction of the Ivlev’s selectivity index was subsequently applied to the terrain composition of each individual to identify trends in selectivity. Results reveal that adult males hold exclusive territories considerably smaller than those found in previous work conducted in “open” or large reserves. Similarly, results for the size of male versus female territories were also not in keeping with those from previous field studies, with males, rather than females, having the larger territory requirement. Terrain selection for both genders and age classes (adult and sub-adult) showed a strong preference for open grassland and avoidance of hill slope and riparian terrains. This research reveals white rhinoceros terrain selection preferences and how they influence range requirements in small, closed reserves. We conclude that this knowledge will be valuable in future white rhinoceros conservation management in small private game reserves, particularly in decisions surrounding removal of surplus individuals or augmentation of existing populations, calculation of reserve carrying capacity and future private reserve acquisition. PMID:27622566

Sippar Sulcus, Ganymede

NASA Technical Reports Server (NTRS)

2001-01-01

These two frames, derived from images of Jupiter's moon Ganymede by NASA's Galileo and Voyager spacecraft, show bright terrain types and topography within an area called Sippar Sulcus in Ganymede's southern hemisphere. All three dominant structural styles of the bright regions -- grooved terrain, smooth terrain and reticulate terrain -- are represented.

The left frame (a) is a mosaic of images taken by Galileo with a resolution of 180 meters (590 feet) per pixel superimposed on lower-resolution Voyager images. A swath of smooth terrain crosses the scene diagonally from upper right to center left. Irregularly shaped enclosures are interpreted as calderas, which, on Earth, are depressions typically caused by collapse of subsurface lava reservoirs. The numerous bright patches are due to secondary impacts from creation of a large crater, Osiris, which is out of the frame to the right.

The right frame (b) shows a digital elevation model of the three-dimensional shape of the same scene. Relative elevation values have been color-coded and merged with the Galileo image mosaic. The inset shows a geological map highlighting areas of grooved terrain (g, black), reticulate terrain (r, gray), smooth terrain (s, white), calderas (hatched), and locations for higher-resolution views PIA-XXC [fig3a] (upper box) and PIA-XXD [fig3b] (lower box).

These images were prepared by the Lunar and Planetary Institute, Houston, and included in a report by Dr. Paul Schenk et al. in the March 1, 2001, edition of the journal Nature.

The Jet Propulsion Laboratory, a division of the California Institute of Technology in Pasadena, manages the Galileo and Voyager missions for NASA's Office of Space Science, Washington, D.C.

Images and data received from Galileo are posted on the Galileo mission home page at http://www.jpl.nasa.gov/galileo. Background information and educational context for the images can be found at http://www.jpl.nasa.gov/galileo/sepo.

Mapping landslide susceptibility using data-driven methods.

PubMed

Zêzere, J L; Pereira, S; Melo, R; Oliveira, S C; Garcia, R A C

2017-07-01

Most epistemic uncertainty within data-driven landslide susceptibility assessment results from errors in landslide inventories, difficulty in identifying and mapping landslide causes and decisions related with the modelling procedure. In this work we evaluate and discuss differences observed on landslide susceptibility maps resulting from: (i) the selection of the statistical method; (ii) the selection of the terrain mapping unit; and (iii) the selection of the feature type to represent landslides in the model (polygon versus point). The work is performed in a single study area (Silveira Basin - 18.2km 2 - Lisbon Region, Portugal) using a unique database of geo-environmental landslide predisposing factors and an inventory of 82 shallow translational slides. The logistic regression, the discriminant analysis and two versions of the information value were used and we conclude that multivariate statistical methods perform better when computed over heterogeneous terrain units and should be selected to assess landslide susceptibility based on slope terrain units, geo-hydrological terrain units or census terrain units. However, evidence was found that the chosen terrain mapping unit can produce greater differences on final susceptibility results than those resulting from the chosen statistical method for modelling. The landslide susceptibility should be assessed over grid cell terrain units whenever the spatial accuracy of landslide inventory is good. In addition, a single point per landslide proved to be efficient to generate accurate landslide susceptibility maps, providing the landslides are of small size, thus minimizing the possible existence of heterogeneities of predisposing factors within the landslide boundary. Although during last years the ROC curves have been preferred to evaluate the susceptibility model's performance, evidence was found that the model with the highest AUC ROC is not necessarily the best landslide susceptibility model, namely when terrain mapping units are heterogeneous in size and reduced in number. Copyright © 2017 Elsevier B.V. All rights reserved.

Galileo's Multiinstrument Spectral View of Europa's Surface Composition

USGS Publications Warehouse

Fanale, F.P.; Granahan, J.C.; McCord, T.B.; Hansen, G.; Hibbitts, C.A.; Carlson, R.; Matson, D.; Ocampo, A.; Kamp, L.; Smythe, W.; Leader, F.; Mehlman, R.; Greeley, R.; Sullivan, R.; Geissler, P.; Barth, C.; Hendrix, A.; Clark, B.; Helfenstein, P.; Veverka, J.; Belton, M.J.S.; Becker, K.; Becker, T.

1999-01-01

We have combined spectral reflectance data from the Solid State Imaging (SSI) experiment, the Near-Infrared Mapping Spectrometer (NIMS), and the Ultraviolet Spectrometer (UVS) in an attempt to determine the composition and implied genesis of non-H2O components in the optical surface of Europa. We have considered four terrains: (1) the "dark terrains" on the trailing hemisphere, (2) the "mottled terrain," (3) the linea on the leading hemisphere, and (4) the linea embedded in the dark terrain on the trailing hemisphere. The darker materials in these terrains exhibit remarkably similar spectra in both the visible and near infrared. In the visible, a downturn toward shorter wavelengths has been attributed to sulfur. The broad concentrations of dark material on the trailing hemisphere was originally thought to be indicative of exogenic sulfur implantation. While an exogenic cause is still probable, more recent observations by the UVS team at higher spatial resolution have led to their suggestions that the role of the bombardment may have primarily been to sputter away overlying ice and to reveal underlying endogenic non-H2O contaminants. If so, this might explain why the spectra in all these terrains are so similar despite the fact that the contaminants in the linea are clearly endogenic and those in the mottled terrain are almost certainly so. In the near infrared, all these terrains exhibit much more asymmetrical bands at 1.4 and 2.0 ??m at shorter wavelengths than spectra from elsewhere on Europa. It has been argued that this is because the water molecules are bound in hydrated salts. However, this interpretation has been challenged and it has also been argued that pure coarse ice can exhibit such asymmetric bands under certain conditions. The nature of this controversy is briefly discussed, as are theoretical and experimental studies bearing on this problem. ?? 1999 Academic Press.

Formation and degradation of chaotic terrain in the Galaxias regions of Mars: implications for near-surface storage of ice

NASA Astrophysics Data System (ADS)

Gallagher, Colman; Balme, Matt; Soare, Richard; Conway, Susan J.

2018-07-01

Galaxias Chaos is a region of low plateaus separated by narrow fractures - a chaotic terrain. Galaxias Mensae and Galaxias Colles are characterised by mesa and knobby terrains of individual landforms, or small assemblages, separated by plains. Galaxias Chaos has been attributed to ground disturbance due to sublimation in shallow subsurface ice-rich deposits, Galaxias Mensae and Galaxias Colles to sublimation and degradation of icy surface materials, without production of chaotic terrain. Liquid water has not been regarded as a product of the degradation of these icy terrains. This paper asks two research questions: (1) what was the total extent of the different modes of landscape degradation, especially chaotic terrain, involved in producing the present landscapes of Galaxias Chaos and Galaxias Mensae-Colles; (2) can the generation of liquid water as a product of landscape degradation be ruled-out? Using a morphological-statistical approach, including power spectrum analysis of relief, our observations and analyses show that present mesa-knobby terrains of Galaxias Mensae-Colles evolved from a landscape that had the same directional pattern and relief as presently found in Galaxias Chaos. This terrain extended across ∼440,000 km2 but ∼22,000 km3 (average thickness, 77 m) have been lost across ∼285,000 km2. This represents a significant loss of ice-bearing deposits. Moreover, this surface degradation was spatially partitioned by landforms associated with elevated ground heating and the transmission of a fluid in the shallow subsurface towards a distal channel. In answer to research question 2, it cannot be determined definitively if the fluid involved was groundwater, generated by the thermal destabilisation of the icy deposits, or low viscosity lava. However, it is likely that the degradation of Galaxias Mensae-Colles was not a consequence of sublimation alone. These findings underscore the significance of cryo-volcanic interactions in the cycling of water between the Martian surface and the atmosphere.

Geomorphological Mapping of Sputnik Planum and Surrounding Terrain on Pluto

NASA Astrophysics Data System (ADS)

White, O. L.; Stern, S. A.; Weaver, H. A., Jr.; Olkin, C.; Ennico Smith, K.; Young, L. A.; Moore, J. M.; Cheng, A. F.

2015-12-01

The New Horizons flyby of Pluto in July 2015 has provided the first few close-up images of the Kuiper belt object, which reveal it to have a highly diverse range of terrains, implying a complex geological history. The highest resolution images that have yet been returned are seven lossy 400 m/pixel frames that cover the majority of the prominent Plutonian feature informally named Sputnik Planum (all feature names are currently informal), and its surroundings. This resolution is sufficient to allow detailed geomorphological mapping of this area to commence. Lossless versions of all 15 frames that make up the mosaic will be returned in September 2015, and the map presented at AGU will incorporate the total area covered by these frames. Sputnik Planum, with an area of ~650,000 km2, is notable for its smooth appearance and apparent total lack of impact craters at 400 m/pixel resolution. The Planum actually displays a wide variety of textures across its expanse, which includes smooth and pitted plains to the south, polygonal terrain at its center (the polygons can reach tens of kilometers in size and are bounded by troughs that sometimes feature central ridges), and, to the north, darker polygonal terrain displaying patterns indicative of glacial flow. Within these plains there exist several well-defined outcrops of a mottled, light/dark unit that reach from several to tens of kilometers across. Separating Sputnik Planum from the dark, cratered equatorial terrain of Cthulhu Regio on its south-western margin is a unit of chaotically arranged mountains; similar mountainous units exist on the south and western margins. The northern margin is bounded by rugged, hilly, cratered terrain into which ice of Sputnik Planum appears to be intruding in places. Terrain of similar relief exists to the east, but is much brighter than that to the north. The southernmost extent of the mosaic features a unit of rough, undulating terrain that displays very few impact craters at 400 m/pixel resolution.

Ames Stereo Pipeline for Operation IceBridge

NASA Astrophysics Data System (ADS)

Beyer, R. A.; Alexandrov, O.; McMichael, S.; Fong, T.

2017-12-01

We are using the NASA Ames Stereo Pipeline to process Operation IceBridge Digital Mapping System (DMS) images into terrain models and to align them with the simultaneously acquired LIDAR data (ATM and LVIS). The expected outcome is to create a contiguous, high resolution terrain model for each flight that Operation IceBridge has flown during its eight year history of Arctic and Antarctic flights. There are some existing terrain models in the NSIDC repository that cover 2011 and 2012 (out of the total period of 2009 to 2017), which were made with the Agisoft Photoscan commercial software. Our open-source stereo suite has been verified to create terrains of similar quality. The total number of images we expect to process is around 5 million. There are numerous challenges with these data: accurate determination and refinement of camera pose when the images were acquired based on data logged during the flights and/or using information from existing orthoimages, aligning terrains with little or no features, images containing clouds, JPEG artifacts in input imagery, inconsistencies in how data was acquired/archived over the entire period, not fully reliable camera calibration files, and the sheer amount of data. We will create the majority of terrain models at 40 cm/pixel with a vertical precision of 10 to 20 cm. In some circumstances when the aircraft was flying higher than usual, those values will get coarser. We will create orthoimages at 10 cm/pixel (with the same caveat that some flights are at higher altitudes). These will differ from existing orthoimages by using the underlying terrain we generate rather than some pre-existing very low-resolution terrain model that may differ significantly from what is on the ground at the time of IceBridge acquisition.The results of this massive processing will be submitted to the NSIDC so that cryosphere researchers will be able to use these data for their investigations.

Comparing Selections of Environmental Variables for Ecological Studies: A Focus on Terrain Attributes.

PubMed

Lecours, Vincent; Brown, Craig J; Devillers, Rodolphe; Lucieer, Vanessa L; Edinger, Evan N

2016-01-01

Selecting appropriate environmental variables is a key step in ecology. Terrain attributes (e.g. slope, rugosity) are routinely used as abiotic surrogates of species distribution and to produce habitat maps that can be used in decision-making for conservation or management. Selecting appropriate terrain attributes for ecological studies may be a challenging process that can lead users to select a subjective, potentially sub-optimal combination of attributes for their applications. The objective of this paper is to assess the impacts of subjectively selecting terrain attributes for ecological applications by comparing the performance of different combinations of terrain attributes in the production of habitat maps and species distribution models. Seven different selections of terrain attributes, alone or in combination with other environmental variables, were used to map benthic habitats of German Bank (off Nova Scotia, Canada). 29 maps of potential habitats based on unsupervised classifications of biophysical characteristics of German Bank were produced, and 29 species distribution models of sea scallops were generated using MaxEnt. The performances of the 58 maps were quantified and compared to evaluate the effectiveness of the various combinations of environmental variables. One of the combinations of terrain attributes-recommended in a related study and that includes a measure of relative position, slope, two measures of orientation, topographic mean and a measure of rugosity-yielded better results than the other selections for both methodologies, confirming that they together best describe terrain properties. Important differences in performance (up to 47% in accuracy measurement) and spatial outputs (up to 58% in spatial distribution of habitats) highlighted the importance of carefully selecting variables for ecological applications. This paper demonstrates that making a subjective choice of variables may reduce map accuracy and produce maps that do not adequately represent habitats and species distributions, thus having important implications when these maps are used for decision-making.

Comparison and Analysis of Geometric Correction Models of Spaceborne SAR

PubMed Central

Jiang, Weihao; Yu, Anxi; Dong, Zhen; Wang, Qingsong

2016-01-01

Following the development of synthetic aperture radar (SAR), SAR images have become increasingly common. Many researchers have conducted large studies on geolocation models, but little work has been conducted on the available models for the geometric correction of SAR images of different terrain. To address the terrain issue, four different models were compared and are described in this paper: a rigorous range-doppler (RD) model, a rational polynomial coefficients (RPC) model, a revised polynomial (PM) model and an elevation derivation (EDM) model. The results of comparisons of the geolocation capabilities of the models show that a proper model for a SAR image of a specific terrain can be determined. A solution table was obtained to recommend a suitable model for users. Three TerraSAR-X images, two ALOS-PALSAR images and one Envisat-ASAR image were used for the experiment, including flat terrain and mountain terrain SAR images as well as two large area images. Geolocation accuracies of the models for different terrain SAR images were computed and analyzed. The comparisons of the models show that the RD model was accurate but was the least efficient; therefore, it is not the ideal model for real-time implementations. The RPC model is sufficiently accurate and efficient for the geometric correction of SAR images of flat terrain, whose precision is below 0.001 pixels. The EDM model is suitable for the geolocation of SAR images of mountainous terrain, and its precision can reach 0.007 pixels. Although the PM model does not produce results as precise as the other models, its efficiency is excellent and its potential should not be underestimated. With respect to the geometric correction of SAR images over large areas, the EDM model has higher accuracy under one pixel, whereas the RPC model consumes one third of the time of the EDM model. PMID:27347973

Secondary chaotic terrain formation in the higher outflow channels of southern circum-Chryse, Mars

USGS Publications Warehouse

Rodriguez, J.A.P.; Kargel, J.S.; Tanaka, K.L.; Crown, D.A.; Berman, D.C.; Fairen, A.G.; Baker, V.R.; Furfaro, R.; Candelaria, P.; Sasaki, S.

2011-01-01

Higher outflow channel dissection in the martian region of southern circum-Chryse appears to have extended from the Late Hesperian to the Middle Amazonian Epoch. These outflow channels were excavated within the upper 1. km of the cryolithosphere, where no liquid water is expected to have existed during these geologic epochs. In accordance with previous work, our examination of outflow channel floor morphologies suggests the upper crust excavated by the studied outflow channels consisted of a thin (a few tens of meters) layer of dry geologic materials overlying an indurated zone that extends to the bases of the investigated outflow channels (1. km in depth). We find that the floors of these outflow channels contain widespread secondary chaotic terrains (i.e., chaotic terrains produced by the destruction of channel-floor materials). These chaotic terrains occur within the full range of outflow channel dissection and tend to form clusters. Our examination of the geology of these chaotic terrains suggests that their formation did not result in the generation of floods. Nevertheless, despite their much smaller dimensions, these chaotic terrains are comprised of the same basic morphologic elements (e.g., mesas, knobs, and smooth deposits within scarp-bound depressions) as those located in the initiation zones of the outflow channels, which suggests that their formation must have involved the release of ground volatiles. We propose that these chaotic terrains developed not catastrophically but gradually and during multiple episodes of nested surface collapse. In order to explain the formation of secondary chaotic terrains within zones of outflow channel dissection, we propose that the regional Martian cryolithosphere contained widespread lenses of volatiles in liquid form. In this model, channel floor collapse and secondary chaotic terrain formation would have taken place as a consequence of instabilities arising during their exhumation by outflow channel dissection. Within relatively warm upper crustal materials in volcanic settings, or within highly saline crustal materials where cryopegs developed, lenses of volatiles in liquid form within the cryolithosphere could have formed, and/or remained stable.In addition, our numerical simulations suggest that low thermal conductivity, dry fine-grained porous geologic materials just a few tens of meters in thickness (e.g., dunes, sand sheets, some types of regolith materials), could have produced high thermal anomalies resulting in subsurface melting. The existence of a global layer of dry geologic materials overlying the cryolithosphere would suggest that widespread lenses of fluids existed (and may still exist) at shallow depths wherever these materials are fine-grained and porous. The surface ages of the investigated outflow channels and chaotic terrains span a full 500 to 700. Myr. Chaotic terrains similar in dimensions and morphology to secondary chaotic terrains are not observed conspicuously throughout the surface of Mars, suggesting that intra-cryolithospheric fluid lenses may form relatively stable systems. The existence of widespread groundwater lenses at shallow depths of burial has tremendous implications for exobiological studies and future human exploration. We find that the clear geomorphologic anomaly that the chaotic terrains and outflow channels of southern Chryse form within the Martian landscape could have been a consequence of large-scale resurfacing resulting from anomalously extensive subsurface melt in this region of the planet produced by high concentrations of salts within the regional upper crust. Crater count statistics reveal that secondary chaotic terrains and the outflow channels within which they occur have overlapping ages, suggesting that the instabilities leading to their formation rapidly dissipated, perhaps as the thickness of the cryolithosphere was reset following the disruption of the upper crustal thermal structure produced during outflow channel ex

Terrain Navigation Concepts for Autonomous Vehicles,

DTIC Science & Technology

1984-06-01

AD-fi144 994 TERRAIN NAVIGATION CONCEPTS FOR AUTONOMOUS VEHICLES (U) i/i I ARMY ENGINEER OPOGRAPHIC LABS FORT BELVOIR VA R D LEIGHTY JUN 84 ETL-R@65...FUNCTIONS The pacing problem for developing autonomous vehicles that can efficiently move to designated locations in the real world in the perfor- mance...autonomous functions can serve as general terrain navigation requirements for our discussion of autonomous vehicles . LEIGHTY Can we build a vehicular system

Ambler - Performance of a six-legged planetary rover

NASA Astrophysics Data System (ADS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1992-08-01

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

SpaceTime Environmental Image Information for Scene Understanding

DTIC Science & Technology

2016-04-01

public Internet resources such as Google,65 MapQuest,66 Bing,67 and Yahoo Maps.68 Approved for public release; distribution unlimited. 9 Table 3...azimuth angle 3 Terrain and location: USACE AGC — Satellite/aerial imagery and terrain analysis 4 Terrain and location: Google, MapQuest, Bing, Yahoo ...Maps. [accessed 2015 Dec]. https://www.bing.com/maps/. 68. YAHOO ! Maps. [accessed 2015 Dec]. https://maps.yahoo.com/b/. 69. 557th Weather Wing. US

A Galerkin Approach to Define Measured Terrain Surfaces with Analytic Basis Vectors to Produce a Compact Representation

DTIC Science & Technology

2010-11-01

defined herein as terrain whose surface deformation due to a single vehicle traversing the surface is negligible, such as paved roads (both asphalt ...ground vehicle reliability predictions. Current application of this work is limited to the analysis of U.S. Highways, comprised of both asphalt and...Highways that are consistent between asphalt and concrete roads b. The principle terrain characteristics are defined with analytic basis vectors

Ambler - Performance of a six-legged planetary rover

NASA Technical Reports Server (NTRS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1992-01-01

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

A reactive system for open terrain navigation: Performance and limitations

NASA Technical Reports Server (NTRS)

Langer, D.; Rosenblatt, J.; Hebert, M.

1994-01-01

We describe a core system for autonomous navigation in outdoor natural terrain. The system consists of three parts: a perception module which processes range images to identify untraversable regions of the terrain, a local map management module which maintains a representation of the environment in the vicinity of the vehicle, and a planning module which issues commands to the vehicle controller. Our approach is to use the concept of 'early traversability evaluation', and on the use of reactive planning for generating commands to drive the vehicle. We argue that our approach leads to a robust and efficient navigation system. We illustrate our approach by an experiment in which a vehicle travelled autonomously for one kilometer through unmapped cross-country terrain.

Validation of the AMC-71 Mobility Model. Appendix A: Vehicle Data. Appendix B: Location and Description of Test Sites. Appendix C: Definitions of Terrain Terms and Procedures Used to Collect Terrain Data for Validation Tests. Appendix D: Basic Terrain Data

DTIC Science & Technology

1976-03-01

vegetation of the area, including maples, poplars, and pines dith scattered low shrubs and blueberry patches growing in loamy sand (SP-SM) with some...mostly lichens, grasses, and blueberry bushes along with scattered currant bushes as vegetable cover. Also, of the remaining 2204 ft, 568 ft was open with...NUHI1ER 4-:. TERRAIN UNIT S CONTINUES -40- -•r’ W -0 _..• ,- . STAT IO (NS q4 4 S C 1 4C I.- /=-too 7 ’o S- - S 4,- -. - 7s 4 Profile- -k-, jp" Continued

Terrain profiling from Seasat altimetry

NASA Technical Reports Server (NTRS)

Brooks, R. L.

1981-01-01

To determine their applicability for terrain profiling, Seasat altimeter measurements were analyzed for the following geographic areas: (1) Andean salars of southern Bolivia; (2) Alaska; (3) south-central Arizona; (4) imperial Valley of California; (5) Yuma Valley of Arizona; and (6) Great Salt Lake Desert. Analysis of the data over all of these geographic areas shows that the satellite altimeter servo did not respond quickly enough to changing terrain features. However, it is demonstrated that retracking of the archived surface return waveforms yields surface elevations over smooth terrain accurate to + or - 1 m when correlated with large scale maps. The retracking algorithm used and its verification over the salars of southern Bolivia are described. Results are presented for each of the six geographic areas.

Grooved Terrain on Ganymede: First Results from Galileo High-Resolution Imaging

USGS Publications Warehouse

Pappalardo, R.T.; Head, J.W.; Collins, G.C.; Kirk, R.L.; Neukum, G.; Oberst, J.; Giese, B.; Greeley, R.; Chapman, C.R.; Helfenstein, P.; Moore, Johnnie N.; McEwen, A.; Tufts, B.R.; Senske, D.A.; Herbert, Breneman H.; Klaasen, K.

1998-01-01

High-resolution Galileo imaging has provided important insight into the origin and evolution of grooved terrain on Ganymede. The Uruk Sulcus target site was the first imaged at high resolution, and considerations of resolution, viewing geometry, low image compression, and complementary stereo imaging make this region extremely informative. Contrast variations in these low-incidence angle images are extreme and give the visual impression of topographic shading. However, photometric analysis shows that the scene must owe its character to albedo variations. A close correlation of albedo variations to topography is demonstrated by limited stereo coverage, allowing extrapolation of the observed brightness and topographic relationships to the rest of the imaged area. Distinct geological units are apparent across the region, and ridges and grooves are ubiquitous within these units. The stratigraphically lowest and most heavily cratered units ("lineated grooved terrain") generally show morphologies indicative of horst-and-graben-style normal faulting. The stratigraphically highest groove lanes ("parallel ridged terrain") exhibit ridges of roughly triangular cross section, suggesting that tilt-block-style normal faulting has shaped them. These extensional-tectonic models are supported by crosscutting relationships at the margins of groove lanes. Thus, a change in tectonic style with time is suggested in the Uruk Sulcus region, varying from horst and graben faulting for the oldest grooved terrain units to tilt block normal faulting for the latest units. The morphologies and geometries of some stratigraphically high units indicate that a strike-slip component of deformation has played an important role in shaping this region of grooved terrain. The most recent tectonic episode is interpreted as right-lateral transtension, with its tectonic pattern of two contemporaneous structural orientations superimposed on older units of grooved terrain. There is little direct evidence for cryovolcanic resurfacing in the Uruk Sulcus region; instead tectonism appears to be the dominant geological process that has shaped the terrain. A broad wavelength of deformation is indicated, corresponding to the Voyager-observed topography, and may be the result of ductile necking of the lithosphere, while a finer scale of deformation probably reflects faulting of the brittle near surface. The results here form a basis against which other Galileo grooved terrain observations can be compared. ?? 1998 Academic Press.

Nonlinear adaptive formation control for a class of autonomous holonomic planetary exploration rovers

NASA Astrophysics Data System (ADS)

Ganji, Farid

This dissertation presents novel nonlinear adaptive formation controllers for a heterogeneous group of holonomic planetary exploration rovers navigating over flat terrains with unknown soil types and surface conditions. A leader-follower formation control architecture is employed. In the first part, using a point-mass model for robots and a Coulomb-viscous friction model for terrain resistance, direct adaptive control laws and a formation speed-adaptation strategy are developed for formation navigation over unknown and changing terrain in the presence of actuator saturation. On-line estimates of terrain frictional parameters compensate for unknown terrain resistance and its variations. In saturation events over difficult terrain, the formation speed is reduced based on the speed of the slowest saturated robot, using internal fleet communication and a speed-adaptation strategy, so that the formation error stays bounded and small. A formal proof for asymptotic stability of the formation system in non-saturated conditions is given. The performance of robot controllers are verified using a modular 3-robot formation simulator. Simulations show that the formation errors reduce to zero asymptotically under non-saturated conditions as is guaranteed by the theoretical proof. In the second part, the proposed adaptive control methodology is extended for formation control of a class of omnidirectional rovers with three independently-driven universal holonomic rigid wheels, where the rovers' rigid-body dynamics, drive-system electromechanical characteristics, and wheel-ground interaction mechanics are incorporated. Holonomic rovers have the ability to move simultaneously and independently in translation and rotation, rendering great maneuverability and agility, which makes them suitable for formation navigation. Novel nonlinear adaptive control laws are designed for the input voltages of the three wheel-drive motors. The motion resistance, which is due to the sinkage of rover wheels in soft planetary terrain, is modeled using classical terramechanics theory. The unknown system parameters for adaptive estimation pertain to the rolling resistance forces and scrubbing resistance torques at the wheel-terrain interfaces. Novel terramechanical formulas for terrain resistance forces and torques are derived via considering the universal holonomic wheels as rigid toroidal wheels moving forward and/or sideways as well as turning on soft ground. The asymptotic stability of the formation control system is rigorously proved using Lyapunov's direct method.

Geologic Mapping of the V-36 Thetis Regio Quadrangle: 2008 Progress Report

NASA Technical Reports Server (NTRS)

Basilevsky, A. T.; Head, James W.

2008-01-01

As a result of mapping, eleven material stratigraphic units and three structural units have been identified and mapped. The material units include (from older to younger): tessera terrain material (tt), material of densely fractured plains (pdf), material of fractured and ridged plains (pfr), material of shield plains (psh), material of plains with wrinkle ridges (pwr), material of smooth plains of intermediate brightness (psi), material of radardark smooth plains (psd), material of lineated plains (pli) material of lobate plains (plo), material of craters having no radar-dark haloes (c1), and material of craters having clear dark haloes (c2). The morphologies and probably the nature of the material units in the study area are generally similar to those observed in other regions of Venus [2]. The youngest units are lobate plains (plo) which here typically look less lobate than in other areas of the planet. Close to them in age are smooth plains which are indeed smooth and represented by two varieties mentioned above. Lineated plains (pli) are densely fractured in a geometrically regular way. Plains with wrinkle ridges, being morphologically similar to those observed in other regions, here occupy unusually small areas. Shield (psh) plains here are also not abundant. Locally they show wrinkle ridging. Fractured and ridged plains (pfr), which form in other regions, the so called ridge belts, are observed as isolated areas of clusters of ridged plains surrounded by other units. Densely fractured plains (pdf) are present in relatively small areas in association with coronae and corona-like features. Tessera terrain (tt) is dissected by structures oriented in two or more directions. Structures are so densely packed that the morphology (and thus nature) of the precursor terrain is not known. Structural units include tessera transitional terrain (ttt), fracture belts (fb) and rifted terrain (rt). Tessera transitional terrain was first identified and mapped by [4] as areas of fractured and ridged plains (pfr) and densely fractured plains (pdf) deformed by transverse faults that made it formally resemble tessera terrain (tt). The obvious difference between units tt and ttt is the recognizable morphology of precursor terrain of unit ttt. Fracture belts are probably ancient rift zones [3]. Rifted terrain (rt), as in other regions of Venus, is so saturated with faults that according to the recommendation of [1, 5] it should be mapped as a structural unit.

Dynamic modeling and mobility analysis of the transforming roving-rolling explorer (TRREx) as it Traverses Rugged Martian Terrain

NASA Astrophysics Data System (ADS)

Edwin, Lionel E.; Mazzoleni, Andre P.

2016-03-01

All planetary surface exploration missions thus far have employed traditional rovers with a rocker-bogie suspension. These rovers can navigate moderately rough and flat terrain, but are not designed to traverse rugged terrain with steep slopes. The fact is, however, that the most scientifically interesting missions require exploration platforms with capabilities for navigating such types of rugged terrain. This issue motivates the development of new kinds of rovers that take advantage of the latest advances in robotic technologies to traverse rugged terrain efficiently. This work analyzes one such rover concept called the Transforming Roving-Rolling Explorer (TRREx) that is principally aimed at addressing the above issue. Biologically inspired by the way the armadillo curls up into a ball when threatened, and the way the golden wheel spider uses the dynamic advantages of a sphere to roll down hills when escaping danger, the TRREx rover can traverse like a traditional 6-wheeled rover over conventional terrain, but can also transform itself into a sphere, when necessary, to travel down steep inclines, or navigate rough terrain. This paper investigates the mobility of the TRREx when it is in its rolling mode, i.e. when it is a sphere and can steer itself through actuations that shift its center of mass to achieve the desired direction of roll. A mathematical model describing the dynamics of the rover in this spherical configuration is presented, and actuated rolling is demonstrated through computer simulation. Parametric analyzes that investigate the rover's mobility as a function of its design parameters are also presented. This work highlights the contribution of the spherical rolling mode to the enhanced mobility of the TRREx rover and how it could enable challenging surface exploration missions in the future.

Heading for the Hills: Risk Avoidance Drives Den Site Selection in African Wild Dogs

PubMed Central

Jackson, Craig R.; Power, R. John; Groom, Rosemary J.; Masenga, Emmanuel H.; Mjingo, Ernest E.; Fyumagwa, Robert D.; Røskaft, Eivin; Davies-Mostert, Harriet

2014-01-01

Compared to their main competitors, African wild dogs (Lycaon pictus) have inferior competitive abilities and interspecific competition is a serious fitness-limiting factor. Lions (Panthera leo) are the dominant large carnivore in African savannah ecosystems and wild dogs avoid them both spatially and temporally. Wild dog young are particularly vulnerable and suffer high rates of mortality from lions. Since lions do not utilize all parts of the landscape with an equal intensity, spatial variation in lion densities can be exploited by wild dogs both during their general ranging behaviour, but more specifically when they are confined to a den with vulnerable young. Since patches of rugged terrain are associated with lower lion densities, we hypothesized that these comparatively safe habitats should be selected by wild dogs for denning. We investigated the relationship between the distribution of 100 wild dog den sites and the occurrence of rugged terrain in four wild dog populations located in Tanzania, Zimbabwe and South Africa. A terrain ruggedness index was derived from a 90 m digital elevation model and used to map terrain ruggedness at each site. We compared characteristics of actual and potential (random) den sites to determine how wild dogs select den sites. The distributions of wild dog dens were strongly associated with rugged terrain and wild dogs actively selected terrain that was more rugged than that available on average. The likelihood of encountering lions is reduced in these habitats, minimizing the risk to both adults and pups. Our findings have important implications for the conservation management of the species, especially when assessing habitat suitability for potential reintroductions. The simple technique used to assess terrain ruggedness may be useful to investigate habitat suitability, and even predict highly suitable denning areas, across large landscapes. PMID:24918935

Iapetus Bright and Dark Terrains

NASA Technical Reports Server (NTRS)

1990-01-01

Saturn's outermost large moon, Iapetus, has a bright, heavily cratered icy terrain and a dark terrain, as shown in this Voyager 2 image taken on August 22, 1981. Amazingly, the dark material covers precisely the side of Iapetus that leads in the direction of orbital motion around Saturn (except for the poles), whereas the bright material occurs on the trailing hemisphere and at the poles. The bright terrain is made of dirty ice, and the dark terrain is surfaced by carbonaceous molecules, according to measurements made with Earth-based telescopes. Iapetus' dark hemisphere has been likened to tar or asphalt and is so dark that no details within this terrain were visible to Voyager 2. The bright icy hemisphere, likened to dirty snow, shows many large impact craters. The closest approach by Voyager 2 to Iapetus was a relatively distant 600,000 miles, so that our best images, such as this, have a resolution of about 12 miles. The dark material is made of organic substances, probably including poisonous cyano compounds such as frozen hydrogen cyanide polymers. Though we know a little about the dark terrain's chemical nature, we do not understand its origin. Two theories have been developed, but neither is fully satisfactory--(1) the dark material may be organic dust knocked off the small neighboring satellite Phoebe and 'painted' onto the leading side of Iapetus as the dust spirals toward Saturn and Iapetus hurtles through the tenuous dust cloud, or (2) the dark material may be made of icy-cold carbonaceous 'cryovolcanic' lavas that were erupted from Iapetus' interior and then blackened by solar radiation, charged particles, and cosmic rays. A determination of the actual cause, as well as discovery of any other geologic features smaller than 12 miles across, awaits the Cassini Saturn orbiter to arrive in 2004.

Heading for the hills: risk avoidance drives den site selection in African wild dogs.

PubMed

Jackson, Craig R; Power, R John; Groom, Rosemary J; Masenga, Emmanuel H; Mjingo, Ernest E; Fyumagwa, Robert D; Røskaft, Eivin; Davies-Mostert, Harriet

2014-01-01

Compared to their main competitors, African wild dogs (Lycaon pictus) have inferior competitive abilities and interspecific competition is a serious fitness-limiting factor. Lions (Panthera leo) are the dominant large carnivore in African savannah ecosystems and wild dogs avoid them both spatially and temporally. Wild dog young are particularly vulnerable and suffer high rates of mortality from lions. Since lions do not utilize all parts of the landscape with an equal intensity, spatial variation in lion densities can be exploited by wild dogs both during their general ranging behaviour, but more specifically when they are confined to a den with vulnerable young. Since patches of rugged terrain are associated with lower lion densities, we hypothesized that these comparatively safe habitats should be selected by wild dogs for denning. We investigated the relationship between the distribution of 100 wild dog den sites and the occurrence of rugged terrain in four wild dog populations located in Tanzania, Zimbabwe and South Africa. A terrain ruggedness index was derived from a 90 m digital elevation model and used to map terrain ruggedness at each site. We compared characteristics of actual and potential (random) den sites to determine how wild dogs select den sites. The distributions of wild dog dens were strongly associated with rugged terrain and wild dogs actively selected terrain that was more rugged than that available on average. The likelihood of encountering lions is reduced in these habitats, minimizing the risk to both adults and pups. Our findings have important implications for the conservation management of the species, especially when assessing habitat suitability for potential reintroductions. The simple technique used to assess terrain ruggedness may be useful to investigate habitat suitability, and even predict highly suitable denning areas, across large landscapes.

Rates and causes of accidents for general aviation aircraft operating in a mountainous and high elevation terrain environment.

PubMed

Aguiar, Marisa; Stolzer, Alan; Boyd, Douglas D

2017-10-01

Flying over mountainous and/or high elevation terrain is challenging due to rapidly changeable visibility, gusty/rotor winds and downdrafts and the necessity of terrain avoidance. Herein, general aviation accident rates and mishap cause/factors were determined (2001-2014) for a geographical region characterized by such terrain. Accidents in single piston engine-powered aircraft for states west of the US continental divide characterized by mountainous terrain and/or high elevation (MEHET) were identified from the NTSB database. MEHET-related-mishaps were defined as satisfying any one, or more, criteria (controlled flight into terrain/obstacles (CFIT), downdrafts, mountain obscuration, wind-shear, gusting winds, whiteout, instrument meteorological conditions; density altitude, dust-devil) cited as factors/causal in the NTSB report. Statistics employed Poisson distribution and contingency tables. Although the MEHET-related accident rate declined (p<0.001) 57% across the study period, the high proportion of fatal accidents showed little (40-43%) diminution (χ 2 =0.935). CFIT and wind gusts/shear were the most frequent accident cause/factor categories. For CFIT accidents, half occurred in degraded visibility with only 9% operating under instrument flight rules (IFR) and the majority (85%) involving non-turbo-charged engine-powered aircraft. For wind-gust/shear-related accidents, 44% occurred with a cross-wind exceeding the maximum demonstrated aircraft component. Accidents which should have been survivable but which nevertheless resulted in a fatal outcome were characterized by poor accessibility (60%) and shoulder harness under-utilization (41%). Despite a declining MEHET-related accident rate, these mishaps still carry an elevated risk of a fatal outcome. Airmen should be encouraged to operate in this environment utilizing turbo-charged-powered airplanes and flying under IFR to assure terrain clearance. Copyright © 2017 Elsevier Ltd. All rights reserved.

Exploring Anthropology’s Value to Military Strategy Since 2000

DTIC Science & Technology

2014-04-01

anthropological study of military culture, MA2 : anthropological study for the military, in endeavors such as the Human Terrain System concept, where teams of...Anthropology The AAA has judged MA2 as the least ethical category of military anthropology by means of its code of ethics, CEAUSSIC reports, and...open debates on its blog. The lighting rod system most associated with MA2 is the Human Terrain Team, (HTT) employed under the Human Terrain System

Tactical Intelligence Applications Experimentation (TIAX) Report. Intelligence Preparation of the Battlefield (IPB)-An Automated Approach to Terrain and Mobility Corridor Analysis

DTIC Science & Technology

1978-10-20

Preparation of the Battlefield (IPB) - Phase A An Automated Approach to Terrain and Mobility Cocridor Analysis Prepared For The ;*ttlefield Systems... the Battlefield (IPB) - Phase A An Automated Approach to Terrain and Mobility Corridcr Analysis, Prepared For The Battlefield Systems Integration... series of snapshots developed for Option A. The situation snapshots would be deteloped in like manner for each option, and stored in an

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

NASA Technical Reports Server (NTRS)

Krotkov, Eric; Simmons, Reid

1992-01-01

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

NASA Astrophysics Data System (ADS)

Krotkov, Eric; Simmons, Reid

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Vegetation and terrain mapping in Alaska using Landsat MSS and digital terrain data

USGS Publications Warehouse

Shasby, Mark; Carneggie, David M.

1986-01-01

During the past 5 years, the U.S. Geological Survey's (USGS) Earth Resources Observation Systems (EROS) Data Center Field Office in Anchorage, Alaska has worked cooperatively with Federal and State resource management agencies to produce land-cover and terrain maps for 245 million acres of Alaska. The need for current land-cover information in Alaska comes principally from the mandates of the Alaska National Interest Lands Conservation Act (ANILCA), December 1980, which requires major land management agencies to prepare comprehensive management plans. The land-cover mapping projects integrate digital Landsat data, terrain data, aerial photographs, and field data. The resultant land-cover and terrain maps and associated data bases are used for resource assessment, management, and planning by many Alaskan agencies including the U.S. Fish and Wildlife Service, U.S. Forest Service, Bureau of Land Management, and Alaska Department of Natural Resources. Applications addressed through use of the digital land-cover and terrain data bases range from comprehensive refuge planning to multiphased sampling procedures designed to inventory vegetation statewide. The land-cover mapping programs in Alaska demonstrate the operational utility of digital Landsat data and have resulted in a new land-cover mapping program by the USGS National Mapping Division to compile 1:250,000-scale land-cover maps in Alaska using a common statewide land-cover map legend.

Method based on the Laplace equations to reconstruct the river terrain for two-dimensional hydrodynamic numerical modeling

NASA Astrophysics Data System (ADS)

Lai, Ruixun; Wang, Min; Yang, Ming; Zhang, Chao

2018-02-01

The accuracy of the widely-used two-dimensional hydrodynamic numerical model depends on the quality of the river terrain model, particularly in the main channel. However, in most cases, the bathymetry of the river channel is difficult or expensive to obtain in the field, and there is a lack of available data to describe the geometry of the river channel. We introduce a method that originates from the grid generation with the elliptic equation to generate streamlines of the river channel. The streamlines are numerically solved with the Laplace equations. In the process, streamlines in the physical domain are first computed in a computational domain, and then transformed back to the physical domain. The interpolated streamlines are integrated with the surrounding topography to reconstruct the entire river terrain model. The approach was applied to a meandering reach in the Qinhe River, which is a tributary in the middle of the Yellow River, China. Cross-sectional validation and the two-dimensional shallow-water equations are used to test the performance of the river terrain generated. The results show that the approach can reconstruct the river terrain using the data from measured cross-sections. Furthermore, the created river terrain can maintain a geometrical shape consistent with the measurements, while generating a smooth main channel. Finally, several limitations and opportunities for future research are discussed.

An Efficient Method to Create Digital Terrain Models from Point Clouds Collected by Mobile LiDAR Systems

NASA Astrophysics Data System (ADS)

Gézero, L.; Antunes, C.

2017-05-01

The digital terrain models (DTM) assume an essential role in all types of road maintenance, water supply and sanitation projects. The demand of such information is more significant in developing countries, where the lack of infrastructures is higher. In recent years, the use of Mobile LiDAR Systems (MLS) proved to be a very efficient technique in the acquisition of precise and dense point clouds. These point clouds can be a solution to obtain the data for the production of DTM in remote areas, due mainly to the safety, precision, speed of acquisition and the detail of the information gathered. However, the point clouds filtering and algorithms to separate "terrain points" from "no terrain points", quickly and consistently, remain a challenge that has caught the interest of researchers. This work presents a method to create the DTM from point clouds collected by MLS. The method is based in two interactive steps. The first step of the process allows reducing the cloud point to a set of points that represent the terrain's shape, being the distance between points inversely proportional to the terrain variation. The second step is based on the Delaunay triangulation of the points resulting from the first step. The achieved results encourage a wider use of this technology as a solution for large scale DTM production in remote areas.

Pluto: Pits and mantles on uplands north and east of Sputnik Planitia

NASA Astrophysics Data System (ADS)

Howard, Alan D.; Moore, Jeffrey M.; White, Oliver L.; Umurhan, Orkan M.; Schenk, Paul M.; Grundy, William M.; Schmitt, Bernard; Philippe, Sylvain; McKinnon, William B.; Spencer, John R.; Beyer, Ross A.; Stern, S. Alan; Ennico, Kimberly; Olkin, Cathy B.; Weaver, Harold A.; Young, Leslie A.; New Horizons Science Team

2017-09-01

The highlands region north and east of Sputnik Planitia can be subdivided into seven terrain types based on their physiographic expression. The northern rough uplands are characterized by jagged uplands and broad troughs, and it may contain a deeply-eroded ancient mantle. Dissected terrain has been interpreted to have been eroded by paleo-glaciation. The smooth uplands and pits terrain contains broad, rolling uplands surrounding complexes of pits, some of which contain smooth floors. The uplands are mantled by smooth-surfaced deposits possibly derived from adjacent pits through low-power explosive cryovolcanism or through slow vapor condensation. The eroded smooth uplands appear to have originally been smooth uplands and pits terrain modified by small-scale sublimation pitting. The bright pitted uplands features intricate texturing by reticulate ridges that may have originated by sublimation erosion, volatile condensation, or both. The bladed terrain is characterized by parallel ridges oriented north-south and is discussed in a separate paper. The dark uplands are mantled with reddish deposits that may be atmospherically deposited tholins. Their presence has affected long-term landform evolution. Widespread pit complexes occur on most of the terrain units. Most appear to be associated with tectonic lineations. Some pits are floored by broad expanses of ices, whereas most feature deep, conical depressions. A few pit complexes are enclosed by elevated rims of uncertain origin.

Distant Secondary Craters and Age Constraints on Young Martian Terrains

NASA Technical Reports Server (NTRS)

McEwen, A.; Preblich, B.; Turtle, E.; Studer, D.; Artemieva, N.; Golombek, M.; Hurst, M.; Kirk, R.; Burr, D.

2005-01-01

Are small (less than approx. 1 km diameter) craters on Mars and the Moon dominated by primary impacts, by secondary impacts of much larger primary craters, or are both primaries and secondaries significant? This question is critical to age constraints for young terrains and for older terrains covering small areas, where only small craters are superimposed on the unit. If the martian rayed crater Zunil is representative of large impact events on Mars, then the density of secondaries should exceed the density of primaries at diameters a factor of 1000 smaller than that of the largest contributing primary crater. On the basis of morphology and depth/diameter measurements, most small craters on Mars could be secondaries. Two additional observations (discussed below) suggest that the production functions of Hartmann and Neukum predict too many primary craters smaller than a few hundred meters in diameter. Fewer small, high-velocity impacts may explain why there appears to be little impact regolith over Amazonian terrains. Martian terrains dated by small craters could be older than reported in recent publications.

Satellite Gravity Drilling the Earth

NASA Technical Reports Server (NTRS)

vonFrese, R. R. B.; Potts, L. V.; Leftwich, T. E.; Kim, H. R.; Han, S.-H.; Taylor, P. T.; Ashgharzadeh, M. F.

2005-01-01

Analysis of satellite-measured gravity and topography can provide crust-to-core mass variation models for new insi@t on the geologic evolution of the Earth. The internal structure of the Earth is mostly constrained by seismic observations and geochemical considerations. We suggest that these constraints may be augmented by gravity drilling that interprets satellite altitude free-air gravity observations for boundary undulations of the internal density layers related to mass flow. The approach involves separating the free-air anomalies into terrain-correlated and -decorrelated components based on the correlation spectrum between the anomalies and the gravity effects of the terrain. The terrain-decorrelated gravity anomalies are largely devoid of the long wavelength interfering effects of the terrain gravity and thus provide enhanced constraints for modeling mass variations of the mantle and core. For the Earth, subcrustal interpretations of the terrain-decorrelated anomalies are constrained by radially stratified densities inferred from seismic observations. These anomalies, with frequencies that clearly decrease as the density contrasts deepen, facilitate mapping mass flow patterns related to the thermodynamic state and evolution of the Earth's interior.

Quasi-analytical treatment of spatially averaged radiation transfer in complex terrain

NASA Astrophysics Data System (ADS)

Löwe, H.; Helbig, N.

2012-04-01

We provide a new quasi-analytical method to compute the topographic influence on the effective albedo of complex topography as required for meteorological, land-surface or climate models. We investigate radiative transfer in complex terrain via the radiosity equation on isotropic Gaussian random fields. Under controlled approximations we derive expressions for domain averages of direct, diffuse and terrain radiation and the sky view factor. Domain averaged quantities are related to a type of level-crossing probability of the random field which is approximated by longstanding results developed for acoustic scattering at ocean boundaries. This allows us to express all non-local horizon effects in terms of a local terrain parameter, namely the mean squared slope. Emerging integrals are computed numerically and fit formulas are given for practical purposes. As an implication of our approach we provide an expression for the effective albedo of complex terrain in terms of the sun elevation angle, mean squared slope, the area averaged surface albedo, and the direct-to-diffuse ratio of solar radiation. As an application, we compute the effective albedo for the Swiss Alps and discuss possible generalizations of the method.

Realistic terrain visualization based on 3D virtual world technology

NASA Astrophysics Data System (ADS)

Huang, Fengru; Lin, Hui; Chen, Bin; Xiao, Cai

2009-09-01

The rapid advances in information technologies, e.g., network, graphics processing, and virtual world, have provided challenges and opportunities for new capabilities in information systems, Internet applications, and virtual geographic environments, especially geographic visualization and collaboration. In order to achieve meaningful geographic capabilities, we need to explore and understand how these technologies can be used to construct virtual geographic environments to help to engage geographic research. The generation of three-dimensional (3D) terrain plays an important part in geographical visualization, computer simulation, and virtual geographic environment applications. The paper introduces concepts and technologies of virtual worlds and virtual geographic environments, explores integration of realistic terrain and other geographic objects and phenomena of natural geographic environment based on SL/OpenSim virtual world technologies. Realistic 3D terrain visualization is a foundation of construction of a mirror world or a sand box model of the earth landscape and geographic environment. The capabilities of interaction and collaboration on geographic information are discussed as well. Further virtual geographic applications can be developed based on the foundation work of realistic terrain visualization in virtual environments.

Realistic terrain visualization based on 3D virtual world technology

NASA Astrophysics Data System (ADS)

Huang, Fengru; Lin, Hui; Chen, Bin; Xiao, Cai

2010-11-01

The rapid advances in information technologies, e.g., network, graphics processing, and virtual world, have provided challenges and opportunities for new capabilities in information systems, Internet applications, and virtual geographic environments, especially geographic visualization and collaboration. In order to achieve meaningful geographic capabilities, we need to explore and understand how these technologies can be used to construct virtual geographic environments to help to engage geographic research. The generation of three-dimensional (3D) terrain plays an important part in geographical visualization, computer simulation, and virtual geographic environment applications. The paper introduces concepts and technologies of virtual worlds and virtual geographic environments, explores integration of realistic terrain and other geographic objects and phenomena of natural geographic environment based on SL/OpenSim virtual world technologies. Realistic 3D terrain visualization is a foundation of construction of a mirror world or a sand box model of the earth landscape and geographic environment. The capabilities of interaction and collaboration on geographic information are discussed as well. Further virtual geographic applications can be developed based on the foundation work of realistic terrain visualization in virtual environments.

Crater Moreux

NASA Technical Reports Server (NTRS)

1997-01-01

Color image of part of the Ismenius Lacus region of Mars (MC-5 quadrangle) containing the impact crater Moreux (right center); north toward top. The scene shows heavily cratered highlands in the south on relatively smooth lowland plains in the north separated by a belt of dissected terrain, containing flat-floored valleys, mesas, and buttes. This image is a composite of Viking medium-resolution images in black and white and low-resolution images in color. The image extends from latitude 36 degrees N. to 50 degrees N. and from longitude 310 degrees to 340 degrees; Lambert conformal conic projection. The dissected terrain along the highlands/lowlands boundary consists of the flat-floored valleys of Deuteronilus Mensae (on left) and Prontonilus Mensae (on right) and farther north the small, rounded hills of knobby terrain. Flows on the mensae floors contain striae that run parallel to valley walls; where valleys meet, the striae merge, similar to medial moraines on glaciers. Terraces within the valley hills have been interpreted as either layered rocks or wave terraces. The knobby terrain has been interpreted as remnants of the old, densely cratered highland terrain perhaps eroded by mass wasting.

Sculpting Mountains: Interactive Terrain Modeling Based on Subsurface Geology.

PubMed

Cordonnier, Guillaume; Cani, Marie-Paule; Benes, Bedrich; Braun, Jean; Galin, Eric

2018-05-01

Most mountain ranges are formed by the compression and folding of colliding tectonic plates. Subduction of one plate causes large-scale asymmetry while their layered composition (or stratigraphy) explains the multi-scale folded strata observed on real terrains. We introduce a novel interactive modeling technique to generate visually plausible, large scale terrains that capture these phenomena. Our method draws on both geological knowledge for consistency and on sculpting systems for user interaction. The user is provided hands-on control on the shape and motion of tectonic plates, represented using a new geologically-inspired model for the Earth crust. The model captures their volume preserving and complex folding behaviors under collision, causing mountains to grow. It generates a volumetric uplift map representing the growth rate of subsurface layers. Erosion and uplift movement are jointly simulated to generate the terrain. The stratigraphy allows us to render folded strata on eroded cliffs. We validated the usability of our sculpting interface through a user study, and compare the visual consistency of the earth crust model with geological simulation results and real terrains.

Application of historical mobility testing to sensor-based robotic performance

NASA Astrophysics Data System (ADS)

Willoughby, William E.; Jones, Randolph A.; Mason, George L.; Shoop, Sally A.; Lever, James H.

2006-05-01

The USA Engineer Research and Development Center (ERDC) has conducted on-/off-road experimental field testing with full-sized and scale-model military vehicles for more than fifty years. Some 4000 acres of local terrain are available for tailored field evaluations or verification/validation of future robotic designs in a variety of climatic regimes. Field testing and data collection procedures, as well as techniques for quantifying terrain in engineering terms, have been developed and refined into algorithms and models for predicting vehicle-terrain interactions and resulting forces or speeds of military-sized vehicles. Based on recent experiments with Matilda, Talon, and Pacbot, these predictive capabilities appear to be relevant to most robotic systems currently in development. Utilization of current testing capabilities with sensor-based vehicle drivers, or use of the procedures for terrain quantification from sensor data, would immediately apply some fifty years of historical knowledge to the development, refinement, and implementation of future robotic systems. Additionally, translation of sensor-collected terrain data into engineering terms would allow assessment of robotic performance a priori deployment of the actual system and ensure maximum system performance in the theater of operation.

Adaptive Behavior for Mobile Robots

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance

2009-01-01

The term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

The Color of Pluto from New Horizons

NASA Astrophysics Data System (ADS)

Olkin, Catherine; Spencer, John R.; Grundy, William M.; Parker, Alex; Beyer, Ross A.; Reuter, Dennis; Schenk, Paul M.; Stern, S. Alan; Weaver, Harold A.; Young, Leslie; Ennico, Kimberly; Binzel, Richard P.; Buie, Marc W.; Cook, Jason C.; Cruikshank, Dale P.; Dalle Ore, Cristina M.; Earle, Alissa; Howett, Carly; Jennings, Donald E.; Singer, Kelsi N.; Linscott, Ivan; Lunsford, Allen; Protopapa, Silvia; Schmitt, Bernard; Weigle, Eddie; and the New Horizons Science Team

2017-10-01

The New Horizons flyby provided the first high-resolution color maps of Pluto. These maps show the color variegation across the surface from the very red terrain in the equatorial region, to the more neutral colors of the volatile ices in Sputnik Planitia, the blue terrain of east Tombaugh Regio and the yellow hue on Pluto's north pole. There are two distinct color mixing lines in the color-color diagrams derived from images of Pluto. Both mixing lines have an apparent starting point in common: the relatively neutral color volatile-ice covered terrain. One line extends to the dark red terrain exemplified by Cthulu Regio and the other extends to the yellow hue in the northern latitudes. The red color is consistent with a non-ice component on the surface and is consistent with tholins.

The Color of Pluto from New Horizons

NASA Astrophysics Data System (ADS)

Olkin, C.; Spencer, J. R.; Grundy, W. M.; Parker, A. H.; Beyer, R. A.; Reuter, D.; Schenk, P.; Stern, A.; Weaver, H. A., Jr.; Young, L. A.; Ennico Smith, K.

2017-12-01

The New Horizons flyby provided the first high-resolution color maps of Pluto. These maps show the color variegation across the surface from the very red terrain in the equatorial region, to the more neutral colors of the volatile ices in Sputnik Planitia, the blue terrain of east Tombaugh Regio and the yellow hue on Pluto's north pole. There are two distinct color mixing lines in the color-color diagrams derived from images of Pluto. Both mixing lines have an apparent starting point in common: the relatively neutral color volatile-ice covered terrain. One line extends to the dark red terrain exemplified by Cthulu Regio and the other extends to the yellow hue in the northern latitudes. The red color is consistent with a non-ice component on the surface and is consistent with tholins.

Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.

PubMed

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

PubMed Central

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip. PMID:24790582

Laser Imaging Detection and Ranging Performance in a High-Fidelity Lunar Terrain Field

NASA Technical Reports Server (NTRS)

Chuang, Jason

2015-01-01

The prime objective of this project is to evaluate Laser Imaging Detection and Ranging (LIDAR) systems and compare their performance for hazard avoidance when tested at the NASA Marshall Space Flight Center's (MSFC's) lunar high-fidelity terrain field (see fig. 1). Hazard avoidance is the ability to avoid boulders, holes, or slopes that would jeopardize a safe landing and the deployment of scientific payloads. This capability is critical for any sample return mission intending to land in challenging terrain. Since challenging terrain is frequently where the most scientifically attractive targets are, hazard avoidance will be among the highest priorities for future robotic exploration missions. The maturation of hazard avoidance sensing addressed in this project directly supports the MSFC Tier I priority of sample return.

Design and analysis of a magneto-rheological damper for an all terrain vehicle

NASA Astrophysics Data System (ADS)

Krishnan Unni, R.; Tamilarasan, N.

2018-02-01

A shock absorber design intended to replace the existing conventional shock absorber with a controllable system using a Magneto-rheological damper is introduced for an All Terrain Vehicle (ATV) that was designed for Baja SAE competitions. Suspensions are a vital part of an All Terrain Vehicles as it endures various surfaces and requires utmost attention while designing. COMSOL multi-physics software is used for applications that have coupled physics problems and is a unique tool that is used for the designing and analysis phase of the Magneto-rheological damper for the considered application and the model is optimized based on Taguchi using DOE software. The magneto-rheological damper is designed to maximize the damping force with the measured geometric constraints for the All Terrain Vehicle.

The Effects of Terrain and Navigation on Human Extravehicular Activity Walkback Performance on the Moon

NASA Technical Reports Server (NTRS)

Norcross, Jason; Stroud, Leah C.; Schaffner, Grant; Glass, Brian J.; Lee, Pascal C.; Jones, Jeff A.; Gernhardt, Michael L.

2008-01-01

Results of the EVA Walkback Test showed that 6 male astronauts were able to ambulate 10 km on a level treadmill while wearing a prototype EVA suit in simulated lunar gravity. However, the effects of lunar terrain, topography, and real-time navigation on ambulation performance are unknown. Primary objective: To characterize the effect of lunar-like terrain and navigation on VO2 and distance traveled during an unsuited 10 km (straight-line distance) ambulatory return in earth gravity.

The transition from an Archean granite-greenstone terrain into a charnockite terrain in southern India

NASA Technical Reports Server (NTRS)

Condie, K. C.; Allen, P.

1983-01-01

In southern India, it is possible to study the transition from an Archean granite-greenstone terrain (the Karnataka province) into high grade charnockites. The transition occurs over an outcrop width of 20-35 km and appears to represent burial depths ranging from 15 to 20 km. Field and geochemical studies indicate that the charnockites developed at the expense of tonalites, granites, and greenstones. South of the transition zone, geobarometer studies indicate burial depths of 7-9 kb.

Applications of Microwaves to Remote Sensing of Terrain

NASA Technical Reports Server (NTRS)

Porter, R. A.

1975-01-01

A survey and study was conducted to define the role that microwaves may play in the measurement of a variety of terrain-related parameters. The survey consisted of discussions with many users and researchers in the field of remote sensing. In addition, a survey questionnaire was prepared and replies were solicited from these and other users and researchers. The results of the survey, and associated bibliography, were studied and conclusions were drawn as to the usefulness of radiometric systems for remote sensing of terrain.

Investigation of the Representation of OLEs and Terrain Effects Within the Coastal Zone in the EDMF Parameterization Scheme: An Airborne Doppler Wind Lidar Perspective

DTIC Science & Technology

2013-10-07

OLEs and Terrain Effects Within the Coastal Zone in the EDMF Parameterization Scheme: An Airborne Doppler Wind Lidar Perspective Annual Report Under...UPP related investigations that will be carried out in Year 3. RELATED PROJECTS ONR contract to study the utilization of Doppler wind lidar (DWL...MATERHORN2012) Paper presented at the Coherent Laser Radar Conference, June 2013 Airborne DWL investigations of flow over complex terrain (MATERHORN

Sliding GAIT Algorithm for the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE)

NASA Technical Reports Server (NTRS)

Townsend, Julie; Biesiadecki, Jeffrey

2012-01-01

The design of a surface robotic system typically involves a trade between the traverse speed of a wheeled rover and the terrain-negotiating capabilities of a multi-legged walker. The ATHLETE mobility system, with both articulated limbs and wheels, is uniquely capable of both driving and walking, and has the flexibility to employ additional hybrid mobility modes. This paper introduces the Sliding Gait, an intermediate mobility algorithm faster than walking with better terrain-handling capabilities than wheeled mobility.

Pluto Fretted Terrain

NASA Image and Video Library

2016-05-20

NASA New Horizons scientists have spotted an expanse of terrain they describe as fretted bright plains divided into polygon-shaped blocks by a network of dark, connected valleys in Pluto informally named Venera Terra region.

Geomorphological Mapping of Sputnik Planum and Surrounding Terrain on Pluto

NASA Astrophysics Data System (ADS)

White, Oliver; Stern, Alan; Weaver, Hal; Olkin, Cathy; Ennico, Kimberly; Young, Leslie; Moore, Jeff

2015-11-01

The New Horizons flyby of Pluto in July 2015 has provided the first few close-up images of the Kuiper belt object, which reveal it to have a highly diverse range of terrains, implying a complex geological history. The highest resolution images that have yet been returned are seven lossy 400 m/pixel frames that cover the majority of the prominent Plutonian feature informally named Sputnik Planum (all feature names are currently informal), and its surroundings. This resolution is sufficient to allow detailed geomorphological mapping of this area to commence. Lossless versions of all 15 frames that make up the mosaic will be returned in September 2015, and the map presented at DPS will incorporate the total area covered by these frames.Sputnik Planum, with an area of ~650,000 km2, is notable for its smooth appearance and apparent total lack of impact craters at 400 m/pixel resolution. The Planum actually displays a wide variety of textures across its expanse, which includes smooth and pitted plains to the south, polygonal terrain at its center (the polygons can reach tens of kilometers in size and are bounded by troughs that sometimes feature central ridges), and, to the north, darker polygonal terrain displaying patterns indicative of glacial flow. Within these plains there exist several well-defined outcrops of a mottled, light/dark unit that reach from several to tens of kilometers across. Separating Sputnik Planum from the dark, cratered equatorial terrain of Cthulhu Regio on its south-western margin is a unit of chaotically arranged mountains (Hillary Montes); similar mountainous units exist on the south and western margins. The northern margin is bounded by rugged, hilly, cratered terrain (Cousteau Rupes) into which ice of Sputnik Planum appears to be intruding in places. Terrain of similar relief exists to the east, but is much brighter than that to the north. The southernmost extent of the mosaic features a unit of rough, undulating terrain (Pandemonium Dorsa) that displays very few impact craters at 400 m/pixel resolution.This work was supported by the NASA New Horizons project.

Densely Cratered Terrain Near the Terminator

NASA Image and Video Library

2011-08-16

NASA Dawn spacecraft shows densely cratered terrain near Vesta terminator on August 6, 2011. This image was taken through the framing camera clear filter aboard the spacecraft. North is pointing towards the two oclock position.

Curiosity Traverse into Different Terrain

NASA Image and Video Library

2013-01-15

This image maps the traverse of NASA Mars rover Curiosity from Bradbury Landing to Yellowknife Bay, with an inset documenting a change in the ground thermal properties with arrival at a different type of terrain.

Northern Arabia Etched Terrain

NASA Image and Video Library

2002-06-17

Many places on Mars, such as in this image from NASA Mars Odyssey spacecraft of a crater superposed on the floor of a larger crater, display scabby, eroded landscapes that commonly are referred to as etched terrain.

Advanced Terrain Displays for Transport Category Aircraft

DOT National Transportation Integrated Search

1992-02-01

A preliminary evaluation of terrain information presentation methods was conducted in a part-task simulation study. Pilots qualified on autoflight aircraft used both paper and prototypical electronic instrument approach plate formats to obtain terrai...

Heavily Cratered Terrain at South Pole

NASA Image and Video Library

2000-08-05

NASA Mariner 10 photo reveals a heavily cratered terrain on Mercury with a prominent scrap extending several hundred kilometers across the upper left. A crater, nested in a larger crater, is at top center.

Intercrater Plains and Heavily Cratered Terrain

NASA Image and Video Library

2000-08-05

This image, from NASA Mariner 10 spacecraft which launched in 1974, shows intercrater plains and heavily cratered terrain typical of much of Mercury outside the area affected by the formation of the Caloris basin.

Orthographic Stereo Correlator on the Terrain Model for Apollo Metric Images

NASA Technical Reports Server (NTRS)

Kim, Taemin; Husmann, Kyle; Moratto, Zachary; Nefian, Ara V.

2011-01-01

A stereo correlation method on the object domain is proposed to generate the accurate and dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce high-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. Given camera parameters of an image pair from bundle adjustment in ASP, a correlation window is defined on the terrain with the predefined surface normal of a post rather than image domain. The squared error of back-projected images on the local terrain is minimized with respect to the post elevation. This single dimensional optimization is solved efficiently and improves the accuracy of the elevation estimate.

Scientific exploration of low-gravity planetary bodies using the Highland Terrain Hopper

NASA Astrophysics Data System (ADS)

Mège, D.; Grygorczuk, J.; Gurgurewicz, J.; Wiśniewski, Ł.; Rickman, H.; Banaszkiewicz, M.; Kuciński, T.; Skocki, K.

2013-09-01

Field geoscientists need to collect three-dimensional data in order characterise the lithologic succession and structure of terrains, recontruct their evolution, and eventually reveal the history of a portion of the planet. This is achieved by walking up and down mountains and valleys, interpreting geological and geophysical traverses, and reading measures made at station located at key sites on mountain peaks or rocky promontories. These activities have been denied to conventional planetary exploration rovers because engineering constraints for landing are strong, especially in terms of allowed terrain roughness and slopes. The Highland Terrain Hopper, a new, light and robust locomotion system, addresses the challenge of accessing most areas on low-gravity planetary body for performing scientific observations and measurements, alone or as part of a hopper commando. Examples of geological applications on Mars and the Moon are given.

System and Method for Aiding Pilot Preview, Rehearsal, Review, and Real-Time Visual Acquisition of Flight Mission Progress

NASA Technical Reports Server (NTRS)

Prinzel, III, Lawrence J. (Inventor); Pope, Alan T. (Inventor); Williams, Steven P. (Inventor); Bailey, Randall E. (Inventor); Arthur, Jarvis J. (Inventor); Kramer, Lynda J. (Inventor); Schutte, Paul C. (Inventor)

2012-01-01

Embodiments of the invention permit flight paths (current and planned) to be viewed from various orientations to provide improved path and terrain awareness via graphical two-dimensional or three-dimensional perspective display formats. By coupling the flight path information with a terrain database, uncompromising terrain awareness relative to the path and ownship is provided. In addition, missed approaches, path deviations, and any navigational path can be reviewed and rehearsed before performing the actual task. By rehearsing a particular mission, check list items can be reviewed, terrain awareness can be highlighted, and missed approach procedures can be discussed by the flight crew. Further, the use of Controller Pilot Datalink Communications enables data-linked path, flight plan changes, and Air Traffic Control requests to be integrated into the flight display of the present invention.

Measurements of thermal updraft intensity over complex terrain using American white pelicans and a simple boundary-layer forecast model

USGS Publications Warehouse

Shannon, H.D.; Young, G.S.; Yates, M.; Fuller, Mark R.; Seegar, W.

2003-01-01

An examination of boundary-layer meteorological and avian aerodynamic theories suggests that soaring birds can be used to measure the magnitude of vertical air motions within the boundary layer. These theories are applied to obtain mixed-layer normalized thermal updraft intensity over both flat and complex terrain from the climb rates of soaring American white pelicans and from diagnostic boundary-layer model-produced estimates of the boundary-layer depth zi and the convective velocity scale w*. Comparison of the flatland data with the profiles of normalized updraft velocity obtained from previous studies reveals that the pelican-derived measurements of thermal updraft intensity are in close agreement with those obtained using traditional research aircraft and large eddy simulation (LES) in the height range of 0.2 to 0.8 zi. Given the success of this method, the profiles of thermal vertical velocity over the flatland and the nearby mountains are compared. This comparison shows that these profiles are statistically indistinguishable over this height range, indicating that the profile for thermal updraft intensity varies little over this sample of complex terrain. These observations support the findings of a recent LES study that explored the turbulent structure of the boundary layer using a range of terrain specifications. For terrain similar in scale to that encountered in this study, results of the LES suggest that the terrain caused less than an 11% variation in the standard deviation of vertical velocity.

Quasi-analytical treatment of spatially averaged radiation transfer in complex terrain

NASA Astrophysics Data System (ADS)

LöWe, H.; Helbig, N.

2012-10-01

We provide a new quasi-analytical method to compute the subgrid topographic influences on the shortwave radiation fluxes and the effective albedo in complex terrain as required for large-scale meteorological, land surface, or climate models. We investigate radiative transfer in complex terrain via the radiosity equation on isotropic Gaussian random fields. Under controlled approximations we derive expressions for domain-averaged fluxes of direct, diffuse, and terrain radiation and the sky view factor. Domain-averaged quantities can be related to a type of level-crossing probability of the random field, which is approximated by long-standing results developed for acoustic scattering at ocean boundaries. This allows us to express all nonlocal horizon effects in terms of a local terrain parameter, namely, the mean-square slope. Emerging integrals are computed numerically, and fit formulas are given for practical purposes. As an implication of our approach, we provide an expression for the effective albedo of complex terrain in terms of the Sun elevation angle, mean-square slope, the area-averaged surface albedo, and the ratio of atmospheric direct beam to diffuse radiation. For demonstration we compute the decrease of the effective albedo relative to the area-averaged albedo in Switzerland for idealized snow-covered and clear-sky conditions at noon in winter. We find an average decrease of 5.8% and spatial patterns which originate from characteristics of the underlying relief. Limitations and possible generalizations of the method are discussed.

Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

NASA Technical Reports Server (NTRS)

Colombano, Silvano P.; Kirchner, Frank; Spenneberg, Dirk; Starman, Jared; Hanratty, James; Kovsmeyer, David (Technical Monitor)

2003-01-01

NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

Influence of micro-topography and crown characteristics on tree height estimations in tropical forests based on LiDAR canopy height models

NASA Astrophysics Data System (ADS)

Alexander, Cici; Korstjens, Amanda H.; Hill, Ross A.

2018-03-01

Tree or canopy height is an important attribute for carbon stock estimation, forest management and habitat quality assessment. Airborne Laser Scanning (ALS) based on Light Detection and Ranging (LiDAR) has advantages over other remote sensing techniques for describing the structure of forests. However, sloped terrain can be challenging for accurate estimation of tree locations and heights based on a Canopy Height Model (CHM) generated from ALS data; a CHM is a height-normalised Digital Surface Model (DSM) obtained by subtracting a Digital Terrain Model (DTM) from a DSM. On sloped terrain, points at the same elevation on a tree crown appear to increase in height in the downhill direction, based on the ground elevations at these points. A point will be incorrectly identified as the treetop by individual tree crown (ITC) recognition algorithms if its height is greater than that of the actual treetop in the CHM, which will be recorded as the tree height. In this study, the influence of terrain slope and crown characteristics on the detection of treetops and estimation of tree heights is assessed using ALS data in a tropical forest with complex terrain (i.e. micro-topography) and tree crown characteristics. Locations and heights of 11,442 trees based on a DSM are compared with those based on a CHM. The horizontal (DH) and vertical displacements (DV) increase with terrain slope (r = 0.47 and r = 0.54 respectively, p < 0.001). The overestimations in tree height are up to 16.6 m on slopes greater than 50° in our study area in Sumatra. The errors in locations (DH) and tree heights (DV) are modelled for trees with conical and spherical tree crowns. For a spherical tree crown, DH can be modelled as R sin θ, and DV as R (sec θ - 1). In this study, a model is developed for an idealised conical tree crown, DV = R (tan θ - tan ψ), where R is the crown radius, and θ and ψ are terrain and crown angles respectively. It is shown that errors occur only when terrain angle exceeds the crown angle, with the horizontal displacement equal to the crown radius. Errors in location are seen to be greater for spherical than conical trees on slopes where crown angles of conical trees are less than the terrain angle. The results are especially relevant for biomass and carbon stock estimations in tropical forests where there are trees with large crown radii on slopes.

Geophysical Character and Geochemical Evolution of the Mesoproterozoic Figueira Branca Intrusive Suite, SW Amazon Craton (Brazil)

NASA Astrophysics Data System (ADS)

Louro, Vinicius; Cawood, Peter; Mantovani, Marta

2016-04-01

The Jauru Terrain hosts the Figueira Branca Intrusive Suite (FBS) in the SW of the Amazon Craton (Brazil). The FBS is a series of 1425 Ma layered mafic intrusions, previously interpreted as anorogenic. The FBS area is located in foreland to the Santa Helena orogen, formed by the subduction of the Rio Alegre Terrain under the Jauru Terrain. Potential field methods (magnetic and gravity), gamma-ray spectrometry, geochemical and isotope data were used to characterize and to model the extent of FBS magmatism, the distribution of faults and shear zones in the area, to evaluate affinities of the magmatic activity, and the relation between the FBS and the Santa Helena orogen. The geophysical methods identified three anomalies corresponding with FBS outcrops. A fourth anomaly with significantly higher amplitude was observed to the north of the three anomalies. From south to north, the anomalies were named Indiavaí, Azteca, Figueira Branca and Jauru. These anomalies were modeled and indicated a northwest-southeast trend, parallel to regional shear zones. The gamma-ray data enabled the collection of 50 samples from the FBS rocks, the Alto Jauru group that hosts the FBS, from nearby intrusive suites, and the Rio Alegre Terrain. The 30 freshest samples were analyzed by X-ray fluorescence for oxides and some trace elements, 20 by ICP-MS for Rare-Earth Elements and 10 for Nd-Sr isotope analyses. The FBS samples were gabbros and gabbro-norites with Nb/Yb-Th/Yb and TiO2/Yb-Nb/Yb ratios indicating varying degrees of crustal interaction. The TiO2/Yb-Nb/Yb data suggested a subduction related component and the ɛNd-ɛSr indicated a juvenile source. Samples from coeval adjacent intermediate magma suites displayed similar characteristics, which suggest derivation from a bimodal source probably related with the subduction of the Rio Alegre Terrain. We interpreted the tectonic setting of the FBS as a result of a roll-back of the subducted slab, which resulted in rejuvenation of the mantle under Jauru Terrain to form the FBS and nearby suites, but also under the subducting Rio Alegre Terrain, producing the magma that formed the 1412 Ma to 1380 Ma Santa Rita Suite in the Rio Alegre Terrain, which has a juvenile ɛNd(t) signature (+3.6). Thus in summary out data indicate that the FBS was part of the origin and evolution of the magmatic suites of the Rio Alegre and Jauru Terrains.

CFIT Prevention Using Synthetic Vision

NASA Technical Reports Server (NTRS)

Arthur, Jarvis J., III; Prinzel, Lawrence J., III; Kramer, Lynda J.; Bailey, Randall E.; Parrish, Russell V.

2003-01-01

In commercial aviation, over 30-percent of all fatal accidents worldwide are categorized as Controlled Flight Into Terrain (CFIT) accidents where a fully functioning airplane is inadvertently flown into the ground, water, or an obstacle. An experiment was conducted at NASA Langley Research Center investigating the presentation of a synthetic terrain database scene to the pilot on a Primary Flight Display (PFD). The major hypothesis for the experiment is that a synthetic vision system (SVS) will improve the pilot s ability to detect and avoid a potential CFIT compared to conventional flight instrumentation. All display conditions, including the baseline, contained a Terrain Awareness and Warning System (TAWS) and Vertical Situation Display (VSD) enhanced Navigation Display (ND). Sixteen pilots each flew 22 approach - departure maneuvers in Instrument Meteorological Conditions (IMC) to the terrain challenged Eagle County Regional Airport (EGE) in Colorado. For the final run, the flight guidance cues were altered such that the departure path went into the terrain. All pilots with a SVS enhanced PFD (12 of 16 pilots) noticed and avoided the potential CFIT situation. All of the pilots who flew the anomaly with the baseline display configuration (which included a TAWS and VSD enhanced ND) had a CFIT event.

The Nucleus of Comet 9P-Tempel 1: Shape and Geology from Two Flybys

NASA Technical Reports Server (NTRS)

Thomas, P.; A'Hearn, M.; Belton, M. J. S.; Brownlee, D.; Carcich, B.; Hermalyn, B.; Klaasen, K.; Sackett, S.; Schultz, P. H.; Veverka, J.;

Crater Moreux

NASA Image and Video Library

1998-06-08

Color image of part of the Ismenius Lacus region of Mars (MC-5 quadrangle) containing the impact crater Moreux (right center); north toward top. The scene shows heavily cratered highlands in the south on relatively smooth lowland plains in the north separated by a belt of dissected terrain, containing flat-floored valleys, mesas, and buttes. This image is a composite of Viking medium-resolution images in black and white and low-resolution images in color. The image extends from latitude 36 degrees N. to 50 degrees N. and from longitude 310 degrees to 340 degrees; Lambert conformal conic projection. The dissected terrain along the highlands/lowlands boundary consists of the flat-floored valleys of Deuteronilus Mensae (on left) and Prontonilus Mensae (on right) and farther north the small, rounded hills of knobby terrain. Flows on the mensae floors contain striae that run parallel to valley walls; where valleys meet, the striae merge, similar to medial moraines on glaciers. Terraces within the valley hills have been interpreted as either layered rocks or wave terraces. The knobby terrain has been interpreted as remnants of the old, densely cratered highland terrain perhaps eroded by mass wasting. http://photojournal.jpl.nasa.gov/catalog/PIA00420

Processes Modifying Cratered Terrains on Pluto

NASA Technical Reports Server (NTRS)

Moore, J. M.

2015-01-01

The July encounter with Pluto by the New Horizons spacecraft permitted imaging of its cratered terrains with scales as high as approximately 100 m/pixel, and in stereo. In the initial download of images, acquired at 2.2 km/pixel, widely distributed impact craters up to 260 km diameter are seen in the near-encounter hemisphere. Many of the craters appear to be significantly degraded or infilled. Some craters appear partially destroyed, perhaps by erosion such as associated with the retreat of scarps. Bright ice-rich deposits highlight some crater rims and/or floors. While the cratered terrains identified in the initial downloaded images are generally seen on high-to-intermediate albedo surfaces, the dark equatorial terrain informally known as Cthulhu Regio is also densely cratered. We will explore the range of possible processes that might have operated (or still be operating) to modify the landscape from that of an ancient pristinely cratered state to the present terrains revealed in New Horizons images. The sequence, intensity, and type of processes that have modified ancient landscapes are, among other things, the record of climate and volatile evolution throughout much of the Pluto's existence. The deciphering of this record will be discussed. This work was supported by NASA's New Horizons project.

Using Visual Odometry to Estimate Position and Attitude

NASA Technical Reports Server (NTRS)

Maimone, Mark; Cheng, Yang; Matthies, Larry; Schoppers, Marcel; Olson, Clark

2007-01-01

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Inertial instrument system for aerial surveying

USGS Publications Warehouse

Brown, R.H.; Chapman, W.H.; Hanna, W.F.; Mongan, C.E.; Hursh, J.W.

1985-01-01

An inertial guidance system for aerial surveying has been developed under contract to the U.S. Geological Survey. This prototype system, known as the aerial profiling of terrain (APT) system, is designed to determine continuously the positions of points along an aircraft flight path, or the underlying terrain profile, to an accuracy of + or - 0.5 ft (15 cm) vertically and + or - 2 ft (61 cm) horizontally. The system 's objective thus is to accomplish, from a fixed-wing aircraft, what would traditionally be accomplished from ground-based topographic surveys combined with aerial photography and photogrammetry. The two-part strategy for measuring the terrain profile entails: (1) use of an inertial navigator for continuous determination of the three-coordinate position of the aircraft, and (2) use of an eye-safe pulsed laser profiler for continuous measurement of the vertical distance from aircraft to land surface, so that the desired terrain profile can then be directly computed. The APT system, installed in a DeHavilland Twin Otter aircraft, is typically flown at a speed of 115 mph (105 knots) at an altitude of 2,000 ft (610 m) above the terrain. Performance-evaluation flights have shown that the vertical and horizontal accuracy specifications are met. (USGS)

Numerical and Experimental Methods for Wake Flow Analysis in Complex Terrain

NASA Astrophysics Data System (ADS)

Castellani, Francesco; Astolfi, Davide; Piccioni, Emanuele; Terzi, Ludovico

2015-06-01

Assessment and interpretation of the quality of wind farms power output is a non-trivial task, which poses at least three main challenges: reliable comprehension of free wind flow, which is stretched to the limit on very complex terrains, realistic model of how wake interactions resemble on the wind flow, awareness of the consequences on turbine control systems, including alignment patterns to the wind and, consequently, power output. The present work deals with an onshore wind farm in southern Italy, which has been a test case of IEA- Task 31 Wakebench project: 17 turbines, with 2.3 MW of rated power each, are sited on a very complex terrain. A cluster of machines is investigated through numerical and experimental methods: CFD is employed for simulating wind fields and power extraction, as well as wakes, are estimated through the Actuator Disc model. SCADA data mining techniques are employed for comparison between models and actual performances. The simulations are performed both on the real terrain and on flat terrain, in order to disentangle the effects of complex flow and wake effects. Attention is devoted to comparison between actual alignment patterns of the cluster of turbines and predicted flow deviation.

Further study of terrain effects on the mesoscale spectrum of atmospheric motions

NASA Technical Reports Server (NTRS)

Jasperson, W. H.; Nastrom, G. D.; Fritts, D. C.

1990-01-01

Wind and temperature data collected on commercial airliners are used to investigate the effects of underlying terrain on mesoscale variability. These results expand upon those of Nastrom et al., by including all available data from the Global Atmospheric Sampling Program (GASP) and by more closely focusing on the coupling of variance with the roughness of the underlying terrain over mountainous regions. The earlier results, showing that variances are larger over mountains than over oceans or plains, with greatest increases at wavelengths below about 80 km, are confirmed. Statistical tests are used to confirm that these differences are highly significant. Over mountainous regions the roughness of the underlying terrain was parameterized from topographic data and it was found that variances are highly correlated with roughness and, in the troposphere, with background windspeed. Average variances over the roughest terrain areas range up to about ten times larger than those over the oceans. These results are found to follow the scaling with stability predicted in the framework of linenar gravity wave theory. The implications of these results for vertical transports of momentum and energy, assuming they are due to gravity waves and considering the effects of intermittency and anisotroy, are also discussed.

Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming

NASA Astrophysics Data System (ADS)

Hubicki, Christian; Goldman, Daniel; Ames, Aaron

In terrestrial locomotion, gait dynamics and motor control behaviors are tuned to interact efficiently and stably with the dynamics of the terrain (i.e. terradynamics). This controlled interaction must be particularly thoughtful in bipeds, as their reduced contact points render them highly susceptible to falls. While bipedalism under rigid terrain assumptions is well-studied, insights for two-legged locomotion on soft terrain, such as sand and dirt, are comparatively sparse. We seek an understanding of how biological bipeds stably and economically negotiate granular media, with an eye toward imbuing those abilities in bipedal robots. We present a trajectory optimization method for controlled systems subject to granular intrusion. By formulating a large-scale nonlinear program (NLP) with reduced-order resistive force theory (RFT) models and jamming cone dynamics, the optimized motions are informed and shaped by the dynamics of the terrain. Using a variant of direct collocation methods, we can express all optimization objectives and constraints in closed-form, resulting in rapid solving by standard NLP solvers, such as IPOPT. We employ this tool to analyze emergent features of bipedal locomotion in granular media, with an eye toward robotic implementation.

12. VIEW OF ROAD ACROSS RELATIVELY FLAT TERRAIN (SECTION E), ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

12. VIEW OF ROAD ACROSS RELATIVELY FLAT TERRAIN (SECTION E), RECENTLY CLEARED OF SMALL TREES AND BRUSH BY THE KOOTENAI NATIONAL FOREST - Troy-Libby Highway, Between Troy & Libby, Troy, Lincoln County, MT

Fire whirlwind formation over flat terrain.

Treesearch

Donald A. Haines; Gerald H. Updike

1971-01-01

This paper examines the factors that lead to the genesis of fire whirlwinds over flat terrain. Also presented is an estimate of the number of days one might expect to encounter meteorological conditions that permit such formations.

AirMSPI PODEX BigSur Terrain Images

Atmospheric Science Data Center

2013-12-13

... Browse Images from the PODEX 2013 Campaign   Big Sur target (Big Sur, California) 02/03/2013 Terrain-projected   Select ...   Version number   For more information, see the Data Product Specifications (DPS)   ...

Tandem mobile robot system

DOEpatents

Buttz, James H.; Shirey, David L.; Hayward, David R.

2003-01-01

A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

Terrain Analysis Procedural Guide for Railroads (Report Number 10 in the ETL Series on Guides for Army Terrain Analysis).

DTIC Science & Technology

1982-12-01

study was conducted under DA Project 4A762707A855, Task C, Work 6 Unit 21, "Military Geographic Analysis Technology." This study was done under the...supplement to the Terrain Analysis Procedural Guide for Roads and Related Structures (ETL-0205, October 1979). In sparsely inhabited study areas, railroad data... study area. " W, In general, three major sources of information are available that will = be helpful in the production of factor overlays for railroads

The western Wabigoon Subprovince, Superior Province, Canada: Archean greenstone succession in rifted basement complex

NASA Technical Reports Server (NTRS)

Edwards, G. R.; Davis, D. W.

1986-01-01

The Wabigoon Subprovince, interposed between the predominantly metasedimentary-plutonic and gneissic English River and Quetico Subprovinces to the north and south respectively, exposed Archean greenstone and granitoid rocks for a strike length of greater than 700 km. Based on predominating rock types, the western part of the subprovince is divided into two terrains: the northern Wabigoon volcano-sedimentary and pluonic terrain (NWW) and the Wabigoon Diapiric Axis terrain (WDA). Both the NWW and WDA are described according to volcanic sequence, geological faults, chemical composition and evolutionary history.

Digital terrain modelling and industrial surface metrology - Converging crafts

USGS Publications Warehouse

Pike, R.J.

2001-01-01

Quantitative characterisation of surface form, increasingly from digital 3-D height data, is cross-disciplinary and can be applied at any scale. Thus, separation of industrial-surface metrology from its Earth-science counterpart, (digital) terrain modelling, is artificial. Their growing convergence presents an opportunity to develop in surface morphometry a unified approach to surface representation. This paper introduces terrain modelling and compares it with metrology, noting their differences and similarities. Examples of potential redundancy among parameters illustrate one of the many issues common to both disciplines. ?? 2001 Elsevier Science Ltd. All rights reserved.

An advanced terrain modeler for an autonomous planetary rover

NASA Technical Reports Server (NTRS)

Hunter, E. L.

1980-01-01

A roving vehicle capable of autonomously exploring the surface of an alien world is under development and an advanced terrain modeler to characterize the possible paths of the rover as hazardous or safe is presented. This advanced terrain modeler has several improvements over the Troiani modeler that include: a crosspath analysis, better determination of hazards on slopes, and methods for dealing with missing returns at the extremities of the sensor field. The results from a package of programs to simulate the roving vehicle are then examined and compared to results from the Troiani modeler.

Terrain type recognition using ERTS-1 MSS images

NASA Technical Reports Server (NTRS)

Gramenopoulos, N.

1973-01-01

For the automatic recognition of earth resources from ERTS-1 digital tapes, both multispectral and spatial pattern recognition techniques are important. Recognition of terrain types is based on spatial signatures that become evident by processing small portions of an image through selected algorithms. An investigation of spatial signatures that are applicable to ERTS-1 MSS images is described. Artifacts in the spatial signatures seem to be related to the multispectral scanner. A method for suppressing such artifacts is presented. Finally, results of terrain type recognition for one ERTS-1 image are presented.

Adding Complex Terrain and Stable Atmospheric Condition Capability to the OpenFOAM-based Flow Solver of the Simulator for On/Offshore Wind Farm Applications (SOWFA): Preprint

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

Churchfield, M. J.; Sang, L.; Moriarty, P. J.

This paper describes changes made to NREL's OpenFOAM-based wind plant aerodynamics solver such that it can compute the stably stratified atmospheric boundary layer and flow over terrain. Background about the flow solver, the Simulator for Off/Onshore Wind Farm Applications (SOWFA) is given, followed by details of the stable stratification/complex terrain modifications to SOWFA, along with somepreliminary results calculations of a stable atmospheric boundary layer and flow over a simply set of hills.

Adding Complex Terrain and Stable Atmospheric Condition Capability to the Simulator for On/Offshore Wind Farm Applications (SOWFA) (Presentation)

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

Churchfield, M. J.

This presentation describes changes made to NREL's OpenFOAM-based wind plant aerodynamics solver so that it can compute the stably stratified atmospheric boundary layer and flow over terrain. Background about the flow solver, the Simulator for Off/Onshore Wind Farm Applications (SOWFA) is given, followed by details of the stable stratification/complex terrain modifications to SOWFA, along with some preliminary results calculations of a stable atmospheric boundary layer and flow over a simple set of hills.

Martian impact craters - Correlations of ejecta and interior morphologies with diameter, latitude, and terrain

NASA Technical Reports Server (NTRS)

Barlow, Nadine G.; Bradley, Tracy L.

1990-01-01

An effort is made to establish the ability of a correlation between crater morphology and latitude, diameter, and terrain, to discriminate among the effects of impact energy, atmosphere, and subsurface volatiles in 3819 larger-than-8 km diameter craters distributed over the Martian surface. It is noted that changes in ejecta and interior morphology correlate with increases in crater diameter, and that while many of the interior structures exhibit distributions interpretable as terrain-dependent, central peak and peak ring interior morphologies exhibit minimal relationships with planetary properties.

Chaotic terrain of Mars - A tectonic interpretation from Mariner 6 imagery

NASA Technical Reports Server (NTRS)

Wilson, R. C.; Harp, E. L.; Picard, M. D.; Ward, S. H.

1973-01-01

Sharp et al. (1971) define chaotic terrain as an irregular jumble of topographic forms covering a certain area within Pyrrhae Regio and adjacent regions centered at about 10 deg S., 35 deg W. This area is covered by Mariner 6 television imagery. An analysis of fracture patterns in the Martian surface from high-resolution Mariner 6 imagery suggests that the lineaments observed in both the chaotic terrain and the cratered plateau areas in Pyrrhae Regio are tectonic fractures resulting from stresses within the Martian crust.

Intelligence Aid for Evaluating Enemy Courses of Action (ENCOA): Guide for Manual and HP41-C/HP41-CV Calculator Procedures

DTIC Science & Technology

1982-06-01

for use by intellignece analysts in field operations, tactical training, and academic DD I 1473wu EDITION OF f OV 65 IS OBSOLETE UNCLASSIFIED SECURITY...Category Factor t.i Fields of fire 1.2 Cover and concealment 1.0 TERRAIN FACTORS 1. oblt 1.4 Seize/deny key terrain 1.5 Observation 1.o Natural/ artificial ...provisions of terrain. - 1.6 Exploits or accommodates natural and artificial obstacles. 2.0 U.S. FORCE FACTORS *: As related to mission accomplishment

A terrain based simulation system to predict the interference caused by networks of spread spectrum systems

NASA Astrophysics Data System (ADS)

Hagen, William E.; Holtzman, Julian C.

The Army Terrain Integrated Interference Prediction System (ATIIPS), a CAD terrain based simulation tool for determining the degradation effects on a network on nonspread spectrum radios caused by a network of spread spectrum radios is presented. A brief overview of the program is given, with typical graphics displays shown. Typical results for both a link simulation of interference and for a network simulation, using a slow hopped FM/FSK spread spectrum interfering radio network on a narrow band FM/FSK fixed frequency digital radio are presented.

Suitability of Spatial Interpolation Techniques in Varying Aquifer Systems of a Basaltic Terrain for Monitoring Groundwater Availability

NASA Astrophysics Data System (ADS)

Katpatal, Y. B.; Paranjpe, S. V.; Kadu, M. S.

2017-12-01

Geological formations act as aquifer systems and variability in the hydrological properties of aquifers have control over groundwater occurrence and dynamics. To understand the groundwater availability in any terrain, spatial interpolation techniques are widely used. It has been observed that, with varying hydrogeological conditions, even in a geologically homogenous set up, there are large variations in observed groundwater levels. Hence, the accuracy of groundwater estimation depends on the use of appropriate interpretation techniques. The study area of the present study is Venna Basin of Maharashtra State, India which is a basaltic terrain with four different types of basaltic layers laid down horizontally; weathered vesicular basalt, weathered and fractured basalt, highly weathered unclassified basalt and hard massive basalt. The groundwater levels vary with topography as different types of basalts are present at varying depths. The local stratigraphic profiles were generated at different types of basaltic terrains. The present study aims to interpolate the groundwater levels within the basin and to check the co-relation between the estimated and the observed values. The groundwater levels for 125 observation wells situated in these different basaltic terrains for 20 years (1995 - 2015) have been used in the study. The interpolation was carried out in Geographical Information System (GIS) using ordinary kriging and Inverse Distance Weight (IDW) method. A comparative analysis of the interpolated values of groundwater levels is carried out for validating the recorded groundwater level dataset. The results were co-related to various types of basaltic terrains present in basin forming the aquifer systems. Mean Error (ME) and Mean Square Errors (MSE) have been computed and compared. It was observed that within the interpolated values, a good correlation does not exist between the two interpolation methods used. The study concludes that in crystalline basaltic terrain, interpolation methods must be verified with the changes in the geological profiles.

Application of the Deformation Information System for automated analysis and mapping of mining terrain deformations - case study from SW Poland

NASA Astrophysics Data System (ADS)

Blachowski, Jan; Grzempowski, Piotr; Milczarek, Wojciech; Nowacka, Anna

2015-04-01

Monitoring, mapping and modelling of mining induced terrain deformations are important tasks for quantifying and minimising threats that arise from underground extraction of useful minerals and affect surface infrastructure, human safety, the environment and security of the mining operation itself. The number of methods and techniques used for monitoring and analysis of mining terrain deformations is wide and expanding with the progress in geographical information technologies. These include for example: terrestrial geodetic measurements, Global Navigation Satellite Systems, remote sensing, GIS based modelling and spatial statistics, finite element method modelling, geological modelling, empirical modelling using e.g. the Knothe theory, artificial neural networks, fuzzy logic calculations and other. The presentation shows the results of numerical modelling and mapping of mining terrain deformations for two cases of underground mining sites in SW Poland, hard coal one (abandoned) and copper ore (active) using the functionalities of the Deformation Information System (DIS) (Blachowski et al, 2014 @ http://meetingorganizer.copernicus.org/EGU2014/EGU2014-7949.pdf). The functionalities of the spatial data modelling module of DIS have been presented and its applications in modelling, mapping and visualising mining terrain deformations based on processing of measurement data (geodetic and GNSS) for these two cases have been characterised and compared. These include, self-developed and implemented in DIS, automation procedures for calculating mining terrain subsidence with different interpolation techniques, calculation of other mining deformation parameters (i.e. tilt, horizontal displacement, horizontal strain and curvature), as well as mapping mining terrain categories based on classification of the values of these parameters as used in Poland. Acknowledgments. This work has been financed from the National Science Centre Project "Development of a numerical method of mining ground deformation modelling in complex geological and mining conditions" UMO-2012/07/B/ST10/04297 executed at the Faculty of Geoengineering, Mining and Geology of the Wroclaw University of Technology (Poland).

Terrain-based Predictive Modeling of a Functional Riparian Corridor in a Coastal Northern California Watershed

NASA Astrophysics Data System (ADS)

Robinson, T.; Davis, J. D.

2016-12-01

Riparian corridors and their associated geomorphic landforms (e.g., channels, floodplains, and terraces) and vegetation communities (e.g., forests and wetlands) have been significantly degraded in California, prompting an expansion of efforts to delineate riparian corridors and identify priorities for conservation via deed restrictions and easements. Current techniques to delineate riparian corridors for these purposes include fixed-width buffers based on stream centerlines and digitization of woody vegetation from aerial photos. Although efficient, these delineation methods do not accurately capture the extent of ecologically functional riparian corridors and result in riparian habitat being excluded from conservation efforts while non-riparian is included. From a physical perspective, ecologically functional riparian corridors have widths that vary with topography and ample space for dynamic fluvial geomorphic processes that create and maintain river morphology and vegetation and sustain ecological interactions that extend from the stream channel laterally into upland ecosystems and up- and downstream ecosystems in longitudinal directions. New terrain-based spatial analysis techniques and high-resolution digital terrain data show promise in delineating ecologically functional riparian corridors. In this study, we compare the efficacy of three terrain-based predictors of riparian corridors that have emerged in the literature—elevation above channel, flow accumulation, and distance from channel. The results of each terrain predictor are compared with field-based indicators of the riparian corridor of an alluvial reach of Mark West Creek in Sonoma County, California (a mediterranean climate). Indicators include soil type, fluvial geomorphic landforms, and vegetation. A one-meter digital terrain model from LiDAR (Light Detection and Ranging) supplied by a NASA ROSES grant is used as the base terrain data for spatial analysis. We discuss in detail the use of regional curves of hydraulic geometry in the calculation of the elevation above channel predictor because it offers the advantage of efficiency while carrying significant potential for error.

A framework for global terrain classification using 250-m DEMs to predict geohazards

NASA Astrophysics Data System (ADS)

Iwahashi, J.; Matsuoka, M.; Yong, A.

2016-12-01

Geomorphology is key for identifying factors that control geohazards induced by landslides, liquefaction, and ground shaking. To systematically identify landforms that affect these hazards, Iwahashi and Pike (2007; IP07) introduced an automated terrain classification scheme using 1-km-scale Shuttle Radar Topography Mission (SRTM) digital elevation models (DEMs). The IP07 classes describe 16 categories of terrain types and were used as a proxy for predicting ground motion amplification (Yong et al., 2012; Seyhan et al., 2014; Stewart et al., 2014; Yong, 2016). These classes, however, were not sufficiently resolved because coarse-scaled SRTM DEMs were the basis for the categories (Yong, 2016). Thus, we develop a new framework consisting of more detailed polygonal global terrain classes to improve estimations of soil-type and material stiffness. We first prepare high resolution 250-m DEMs derived from the 2010 Global Multi-resolution Terrain Elevation Data (GMTED2010). As in IP07, we calculate three geometric signatures (slope, local convexity and surface texture) from the DEMs. We create additional polygons by using the same signatures and multi-resolution segmentation techniques on the GMTED2010. We consider two types of surface texture thresholds in different window sizes (3x3 and 13x13 pixels), in addition to slope and local convexity, to classify pixels within the DEM. Finally, we apply the k-means clustering and thresholding methods to the 250-m DEM and produce more detailed polygonal terrain classes. We compare the new terrain classification maps of Japan and California with geologic, aerial photography, and landslide distribution maps, and visually find good correspondence of key features. To predict ground motion amplification, we apply the Yong (2016) method for estimating VS30. The systematic classification of geomorphology has the potential to provide a better understanding of the susceptibility to geohazards, which is especially vital in populated areas.

The Chaotic Terrains of Mercury: A History of Large-Scale Crustal Devolatilization

NASA Astrophysics Data System (ADS)

Rodriguez, J. A. P.; Domingue, D. L.; Berman, D. C.; Kargel, J. S.; Baker, V. R.; Teodoro, L. F.; Banks, M.; Leonard, G.

2018-05-01

Approximately 400 million years after the Caloris basin impact, extensive collapse formed Mercury's chaotic terrains. Collapse likely resulted from regionally elevated heat flow devolatilizing crustal materials along NE and NW extensional faults.

Pluto Bladed Terrain in 3-D

NASA Image and Video Library

2016-03-31

One of the strangest landforms spotted by NASA New Horizons spacecraft when it flew past Pluto last July was the bladed terrain just east of Tombaugh Regio, the informal name given to Pluto large heart-shaped surface feature.

Terrain Perception for DEMO III

NASA Technical Reports Server (NTRS)

Manduchi, R.; Bellutta, P.; Matthies, L.; Owens, K.; Rankin, A.

2000-01-01

The Demo III program has as its primary focus the development of autonomous mobility for a small rugged cross country vehicle. In this paper we report recent progress on both stereo-based obstacle detection and terrain cover color-based classification.

Tendril-producing Geysers on Enceladus South Polar Terrain

NASA Image and Video Library

2015-04-14

This graphic plots the source locations of geysers scientists have located on Enceladus south polar terrain, with the 36 most active geyser sources marked and color coded by the behavior of the grains erupting from the geysers.

Reconfigurable robots for all terrain exploration

NASA Technical Reports Server (NTRS)

Schenker, P. S.; Pirjanian, P.; Balaram, B.; Ali, K. S.; Trebi-Ollennu, A.; Huntsberger, T. L.; Aghazarian, H.; Kennedy, B. A.; Baumgartner, E. T.; Iagnemma, K.;

Topography and Albedo Image of Grooved Terrain on Vesta

NASA Image and Video Library

2011-11-29

These images from NASA Dawn spacecraft show part of the grooved terrain in asteroid Vesta Pinaria quadrangle, which is in the southern hemisphere. Large-scale grooves and depressions can be seen running diagonally across the image.

Rovers for intelligent, agile traverse of challenging terrain

NASA Technical Reports Server (NTRS)

Schenker, P.; Huntsberger, T.; Pirjanian, P.; Dubowsky, S.; Iagnemma, K.; Sujan, V.

2003-01-01

Planetary surface mobility has to date been limited to benign locations. If rover systems could be developed for more challenging terrain, e.g., sloped and irregularly feathered areas, then planetary science opportunities would be greatly expanded.

DEVELOPMENT OF LAND COVER AND TERRAIN DATA BASES FOR THE INNOKO NATIONAL WILDLIFE REFUGE, ALASKA, USING LANDSAT AND DIGITAL TERRAIN DATA.

USGS Publications Warehouse

Markon, Carl J.; Talbot, Stephen

1986-01-01

Landsat-derived land cover maps and associated elevation, slope, and aspect class maps were produced for the Innoko National Wildlife Refuge (3,850,000 acres; 1,555,095 hectares) in northwestern Alaska. These maps and associated digital data products are being used by the U. S. Fish and Wildlife Service for wildlife management, research, and comprehensive conservation planning. Portions of two Landsat Multispectral Scanner (MSS) scenes and digital terrain data were used to produce 1:250,000 scale land cover and terrain maps. Prints of summer and winter Landsat MSS scenes were used to manually interpret broad physiographic strata. These strata were transferred to U. S. Geological Survey 1:250,000-scale topographic maps and digitized. Seven major land cover classes and 23 subclasses were identified. The major land cover classes include: forest, scrub, dwarf scrub and related types, herbaceous, scarcely vegetated areas, water, and shadow.

Geomorphic evidence for ancient seas in west Deuteronilus Mensae, Mars-1: Regional geomorphology

NASA Technical Reports Server (NTRS)

Parker, Timothy J.; Schneeberger, Dale M.; Pieri, David C.; Saunders, R. Stephen

1987-01-01

The fretted terrain in west Deuteronilus Mensae consists of extensive cratered upland penninsulas or isolated plateaus cut by long, finger-like canyons typically 10 to 20 km wide and upwards of 300 km long. The longest of these canyons trend roughly north-south to north-northeast, which may reflect some local structural and/or topographic control. At least three geomorphic zones roughly parallel to the lowland/upland boundary, suggestive of increasing modification northward, can be recognized on the fretted region of the region. The southern-most zone (zone A) consists of sharply defined fretted terrain. The middle zone (zone B) consists of well defined fretted terrain in which the plateau surfaces appear smoother, with a somewhat darker and much less varied albedo surface than those of zone A. The northern-most zone (zone C) consists of rounded or softened fretted terrain. The zones were interpreted as surface exposures of successively lower stratigraphic units.

Introduction Wind farms in complex terrains: an introduction.

PubMed

Alfredsson, P H; Segalini, A

2017-04-13

Wind energy is one of the fastest growing sources of sustainable energy production. As more wind turbines are coming into operation, the best locations are already becoming occupied by turbines, and wind-farm developers have to look for new and still available areas-locations that may not be ideal such as complex terrain landscapes. In these locations, turbulence and wind shear are higher, and in general wind conditions are harder to predict. Also, the modelling of the wakes behind the turbines is more complicated, which makes energy-yield estimates more uncertain than under ideal conditions. This theme issue includes 10 research papers devoted to various fluid-mechanics aspects of using wind energy in complex terrains and illustrates recent progress and future developments in this important field.This article is part of the themed issue 'Wind energy in complex terrains'. © 2017 The Author(s).

Pitted terrains on (1) Ceres and implications for shallow subsurface volatile distribution

PubMed Central

Platz, T.; Schorghofer, N.; Prettyman, T. H.; De Sanctis, M. C.; Crown, D. A.; Schmedemann, N.; Neesemann, A.; Kneissl, T.; Marchi, S.; Schenk, P. M.; Bland, M. T.; Schmidt, B. E.; Hughson, K. H. G.; Tosi, F.; Zambon, F.; Mest, S. C.; Yingst, R. A.; Williams, D. A.; Russell, C. T.; Raymond, C. A.

2017-01-01

Abstract Prior to the arrival of the Dawn spacecraft at Ceres, the dwarf planet was anticipated to be ice‐rich. Searches for morphological features related to ice have been ongoing during Dawn's mission at Ceres. Here we report the identification of pitted terrains associated with fresh Cerean impact craters. The Cerean pitted terrains exhibit strong morphological similarities to pitted materials previously identified on Mars (where ice is implicated in pit development) and Vesta (where the presence of ice is debated). We employ numerical models to investigate the formation of pitted materials on Ceres and discuss the relative importance of water ice and other volatiles in pit development there. We conclude that water ice likely plays an important role in pit development on Ceres. Similar pitted terrains may be common in the asteroid belt and may be of interest to future missions motivated by both astrobiology and in situ resource utilization. PMID:28989206

Pitted terrains on (1) Ceres and implications for shallow subsurface volatile distribution.

PubMed

Sizemore, H G; Platz, T; Schorghofer, N; Prettyman, T H; De Sanctis, M C; Crown, D A; Schmedemann, N; Neesemann, A; Kneissl, T; Marchi, S; Schenk, P M; Bland, M T; Schmidt, B E; Hughson, K H G; Tosi, F; Zambon, F; Mest, S C; Yingst, R A; Williams, D A; Russell, C T; Raymond, C A

2017-07-16

Prior to the arrival of the Dawn spacecraft at Ceres, the dwarf planet was anticipated to be ice-rich. Searches for morphological features related to ice have been ongoing during Dawn's mission at Ceres. Here we report the identification of pitted terrains associated with fresh Cerean impact craters. The Cerean pitted terrains exhibit strong morphological similarities to pitted materials previously identified on Mars (where ice is implicated in pit development) and Vesta (where the presence of ice is debated). We employ numerical models to investigate the formation of pitted materials on Ceres and discuss the relative importance of water ice and other volatiles in pit development there. We conclude that water ice likely plays an important role in pit development on Ceres. Similar pitted terrains may be common in the asteroid belt and may be of interest to future missions motivated by both astrobiology and in situ resource utilization.

Automated thematic mapping and change detection of ERTS-A images

NASA Technical Reports Server (NTRS)

Gramenopoulos, N. (Principal Investigator)

1975-01-01

The author has identified the following significant results. In the first part of the investigation, spatial and spectral features were developed which were employed to automatically recognize terrain features through a clustering algorithm. In this part of the investigation, the size of the cell which is the number of digital picture elements used for computing the spatial and spectral features was varied. It was determined that the accuracy of terrain recognition decreases slowly as the cell size is reduced and coincides with increased cluster diffuseness. It was also proven that a cell size of 17 x 17 pixels when used with the clustering algorithm results in high recognition rates for major terrain classes. ERTS-1 data from five diverse geographic regions of the United States were processed through the clustering algorithm with 17 x 17 pixel cells. Simple land use maps were produced and the average terrain recognition accuracy was 82 percent.

Procedures for the interpretation and use of elevation scanning laser/multi-sensor data for short range hazard detection and avoidance for an autonomous planetary rover

NASA Technical Reports Server (NTRS)

Troiani, N.; Yerazunis, S. W.

1978-01-01

An autonomous roving science vehicle that relies on terrain data acquired by a hierarchy of sensors for navigation was one method of carrying out such a mission. The hierarchy of sensors included a short range sensor with sufficient resolution to detect every possible obstacle and with the ability to make fast and reliable terrain characterizations. A multilaser, multidetector triangulation system was proposed as a short range sensor. The general system was studied to determine its perception capabilities and limitations. A specific rover and low resolution sensor system was then considered. After studying the data obtained, a hazard detection algorithm was developed that accounts for all possible terrains given the sensor resolution. Computer simulation of the rover on various terrains was used to test the entire hazard detection system.

Mass data graphics requirements for symbol generators: example 2D airport navagation and 3D terrain function

NASA Astrophysics Data System (ADS)

Schiefele, Jens; Bader, Joachim; Kastner, S.; Wiesemann, Thorsten; von Viebahn, Harro

2002-07-01

Next generation of cockpit display systems will display mass data. Mass data includes terrain, obstacle, and airport databases. Display formats will be two and eventually 3D. A prerequisite for the introduction of these new functions is the availability of certified graphics hardware. The paper describes functionality and required features of an aviation certified 2D/3D graphics board. This graphics board should be based on low-level and hi-level API calls. These graphic calls should be very similar to OpenGL. All software and the API must be aviation certified. As an example application, a 2D airport navigation function and a 3D terrain visualization is presented. The airport navigation format is based on highly precise airport database following EUROCAE ED-99/RTCA DO-272 specifications. Terrain resolution is based on EUROCAE ED-98/RTCA DO-276 requirements.

Analysis of geologic terrain models for determination of optimum SAR sensor configuration and optimum information extraction for exploration of global non-renewable resources. Pilot study: Arkansas Remote Sensing Laboratory, part 1, part 2, and part 3

NASA Technical Reports Server (NTRS)

Kaupp, V. H.; Macdonald, H. C.; Waite, W. P.; Stiles, J. A.; Frost, F. S.; Shanmugam, K. S.; Smith, S. A.; Narayanan, V.; Holtzman, J. C. (Principal Investigator)

1982-01-01

Computer-generated radar simulations and mathematical geologic terrain models were used to establish the optimum radar sensor operating parameters for geologic research. An initial set of mathematical geologic terrain models was created for three basic landforms and families of simulated radar images were prepared from these models for numerous interacting sensor, platform, and terrain variables. The tradeoffs between the various sensor parameters and the quantity and quality of the extractable geologic data were investigated as well as the development of automated techniques of digital SAR image analysis. Initial work on a texture analysis of SEASAT SAR imagery is reported. Computer-generated radar simulations are shown for combinations of two geologic models and three SAR angles of incidence.

Pitted terrains on (1) Ceres and implications for shallow subsurface volatile distribution

USGS Publications Warehouse

Sizemore, H.G.; Platz, Thomas; Schorghofer, Norbert; Prettyman, Thomas; De Sanctis, Maria Christina; Crown, David A.; Schmedemann, Nico; Nessemann, Andeas; Kneissl, Thomas; Simone Marchi,; Schenk, Paul M.; Bland, Michael T.; Schmidt, B.E.; Hughson, Kynan H.G.; Tosi, F.; Zambon, F; Mest, S.C.; Yingst, R.A.; Williams, D.A.; Russell, C.T.; Raymond, C.A.

2017-01-01

Prior to the arrival of the Dawn spacecraft at Ceres, the dwarf planet was anticipated to be ice-rich. Searches for morphological features related to ice have been ongoing during Dawn's mission at Ceres. Here we report the identification of pitted terrains associated with fresh Cerean impact craters. The Cerean pitted terrains exhibit strong morphological similarities to pitted materials previously identified on Mars (where ice is implicated in pit development) and Vesta (where the presence of ice is debated). We employ numerical models to investigate the formation of pitted materials on Ceres and discuss the relative importance of water ice and other volatiles in pit development there. We conclude that water ice likely plays an important role in pit development on Ceres. Similar pitted terrains may be common in the asteroid belt and may be of interest to future missions motivated by both astrobiology and in situ resource utilization.

Combined application of airborne and terrestrial laserscanning for quantifying sediment relocation by a large debris flow event

NASA Astrophysics Data System (ADS)

Bremer, Magnus; Sass, Oliver; Vetter, Michael; Geilhausen, Martin

2010-05-01

Country-wide ALS datasets of high resolution become more and more available and can provide a solid basis for geomorphological research. On the other hand, terrain changes after geomorphological extreme events can be quickly and flexibly documented by TLS and be compared to the pre-existing ALS datasets. For quantifying net-erosion, net-sedimentation and transport rates of events like rock falls, landslides and debris flows, comparing TLS surveys after the event to ALS data before the event is likely to become a widespread and powerful tool. However, the accuracy and possible errors of fitting ALS and TLS data have to be carefully assessed. We tried to quantify sediment movement and terrain changes caused by a major debris-flow-event in the Halltal in the Karwendel Mountains (Tyrol, Austria). Wide areas of limestone debris were dissected and relocated in the course of an exceptional rainstorm event on 29th June 2008. The event occurred 64 years after wildfire-driven deforestation. In the area, dense dwarf pine (pinus mugo) shrub cover is widespread, causing specific problems in generating terrain models. We compared a pre-event ALS-dataset, provided by the federal-state of Tyrol, and a post-event TLS survey. The two scanner systems have differing system characteristics (scan angles, resolutions, application of dGPS, etc.), causing different systematic and random errors. Combining TLS and ALS point data was achieved using an algorithm of the RISCAN_PRO software (Multi Station Adjustment), enabling a least square fitting between the two surfaces. Adjustment and registration accuracies as well as the quality of applied vegetation filters, mainly eliminating non-groundpoints from the raw data, are crucial for the generation of high-quality terrain models and a reliable comparison of the two data sets. Readily available filter algorithms provide good performance for gently sloped terrain and high forest vegetation. However, the low krummholz vegetation on steep terrain proved difficult to be filtered. This is due to a small height difference between terrain and canopy, a very strong height variation of the terrain points compared to the height variation of the canopy points and a very high density of the vegetation. The letter leads to very low percentages of groundpoints (1 - 5%). A combined filtering approach using a surface-based filter and a morphological filter, adapted to the characteristics of the krummholz vegetation were applied to overcome these problems. In the next step, the datasets were compared, erosion- and sedimentation areas were detected and quantified (cut-and-fill) in view of the accuracy achieved. The position of the relocated surface areas were compared to the morphological structures of the initial surface (inclination, curvature, flowpaths, hydrological catchments). Considerable deviations between the datasets were caused, besides the geomorphic terrain changes, by systematic and random errors. Due to the scanner perspective, parts of the steep slopes are depicted inaccurately by ALS. Rugged terrain surfaces cause random errors of ALS/TLS adjustment when the ratio of point density to surface variability is low. Due to multiple returns and alteration of pulse shape, terrain altitude is frequently overestimated when dense shrub cover is present. This effect becomes stronger with larger footprints. Despite these problems, erosional and depositional areas of debris flows could be clearly identified and match the results of field surveys. Strongest erosion occurred along the flowpaths with the greatest runoff concentration, mainly at the bedrock-debris interface.

Near-Surface Wind Predictions in Complex Terrain with a CFD Approach Optimized for Atmospheric Boundary Layer Flows

NASA Astrophysics Data System (ADS)

Wagenbrenner, N. S.; Forthofer, J.; Butler, B.; Shannon, K.

2014-12-01

Near-surface wind predictions are important for a number of applications, including transport and dispersion, wind energy forecasting, and wildfire behavior. Researchers and forecasters would benefit from a wind model that could be readily applied to complex terrain for use in these various disciplines. Unfortunately, near-surface winds in complex terrain are not handled well by traditional modeling approaches. Numerical weather prediction models employ coarse horizontal resolutions which do not adequately resolve sub-grid terrain features important to the surface flow. Computational fluid dynamics (CFD) models are increasingly being applied to simulate atmospheric boundary layer (ABL) flows, especially in wind energy applications; however, the standard functionality provided in commercial CFD models is not suitable for ABL flows. Appropriate CFD modeling in the ABL requires modification of empirically-derived wall function parameters and boundary conditions to avoid erroneous streamwise gradients due to inconsistences between inlet profiles and specified boundary conditions. This work presents a new version of a near-surface wind model for complex terrain called WindNinja. The new version of WindNinja offers two options for flow simulations: 1) the native, fast-running mass-consistent method available in previous model versions and 2) a CFD approach based on the OpenFOAM modeling framework and optimized for ABL flows. The model is described and evaluations of predictions with surface wind data collected from two recent field campaigns in complex terrain are presented. A comparison of predictions from the native mass-consistent method and the new CFD method is also provided.

Voyager 2 Color Image of Enceladus, Almost Full Disk

NASA Technical Reports Server (NTRS)

1990-01-01

This color Voyager 2 image mosaic shows the water-ice-covered surface of Enceladus, one of Saturn's icy moons. Enceladus' diameter of just 500 km would fit across the state of Arizona, yet despite its small size Enceladus exhibits one of the most interesting surfaces of all the icy satellites. Enceladus reflects about 90% of the incident sunlight (about like fresh-fallen snow), placing it among the most reflective objects in the Solar System. Several geologic terrains have superposed crater densities that span a factor of at least 500, thereby indicating huge differences in the ages of these terrains. It is possible that the high reflectivity of Enceladus' surface results from continuous deposition of icy particles from Saturn's E-ring, which in fact may originate from icy volcanoes on Enceladus' surface. Some terrains are dominated by sinuous mountain ridges from 1 to 2 km high (3300 to 6600 feet), whereas other terrains are scarred by linear cracks, some of which show evidence for possible sideways fault motion such as that of California's infamous San Andreas fault. Some terrains appear to have formed by separation of icy plates along cracks, and other terrains are exceedingly smooth at the resolution of this image. The implication carried by Enceladus' surface is that this tiny ice ball has been geologically active and perhaps partially liquid in its interior for much of its history. The heat engine that powers geologic activity here is thought to be elastic deformation caused by tides induced by Enceladus' orbital motion around Saturn and the motion of another moon, Dione.

Birds achieve high robustness in uneven terrain through active control of landing conditions.

PubMed

Birn-Jeffery, Aleksandra V; Daley, Monica A

2012-06-15

We understand little about how animals adjust locomotor behaviour to negotiate uneven terrain. The mechanical demands and constraints of such behaviours likely differ from uniform terrain locomotion. Here we investigated how common pheasants negotiate visible obstacles with heights from 10 to 50% of leg length. Our goal was to determine the neuro-mechanical strategies used to achieve robust stability, and address whether strategies vary with obstacle height. We found that control of landing conditions was crucial for minimising fluctuations in stance leg loading and work in uneven terrain. Variation in touchdown leg angle (θ(TD)) was correlated with the orientation of ground force during stance, and the angle between the leg and body velocity vector at touchdown (β(TD)) was correlated with net limb work. Pheasants actively targeted obstacles to control body velocity and leg posture at touchdown to achieve nearly steady dynamics on the obstacle step. In the approach step to an obstacle, the birds produced net positive limb work to launch themselves upward. On the obstacle, body dynamics were similar to uniform terrain. Pheasants also increased swing leg retraction velocity during obstacle negotiation, which we suggest is an active strategy to minimise fluctuations in peak force and leg posture in uneven terrain. Thus, pheasants appear to achieve robustly stable locomotion through a combination of path planning using visual feedback and active adjustment of leg swing dynamics to control landing conditions. We suggest that strategies for robust stability are context specific, depending on the quality of sensory feedback available, especially visual input.

Fractal Landscape Algorithms for Environmental Simulations

NASA Astrophysics Data System (ADS)

Mao, H.; Moran, S.

2014-12-01

Natural science and geographical research are now able to take advantage of environmental simulations that more accurately test experimental hypotheses, resulting in deeper understanding. Experiments affected by the natural environment can benefit from 3D landscape simulations capable of simulating a variety of terrains and environmental phenomena. Such simulations can employ random terrain generation algorithms that dynamically simulate environments to test specific models against a variety of factors. Through the use of noise functions such as Perlin noise, Simplex noise, and diamond square algorithms, computers can generate simulations that model a variety of landscapes and ecosystems. This study shows how these algorithms work together to create realistic landscapes. By seeding values into the diamond square algorithm, one can control the shape of landscape. Perlin noise and Simplex noise are also used to simulate moisture and temperature. The smooth gradient created by coherent noise allows more realistic landscapes to be simulated. Terrain generation algorithms can be used in environmental studies and physics simulations. Potential studies that would benefit from simulations include the geophysical impact of flash floods or drought on a particular region and regional impacts on low lying area due to global warming and rising sea levels. Furthermore, terrain generation algorithms also serve as aesthetic tools to display landscapes (Google Earth), and simulate planetary landscapes. Hence, it can be used as a tool to assist science education. Algorithms used to generate these natural phenomena provide scientists a different approach in analyzing our world. The random algorithms used in terrain generation not only contribute to the generating the terrains themselves, but are also capable of simulating weather patterns.

Ganymede Impact Crater Morphology as Revealed by Galileo

NASA Astrophysics Data System (ADS)

Weitz, C. M.; Head, J. W.; Pappalardo, R.; Chapman, C.; Greeley, R.; Helfenstein, P.; Neukum, G.; Galileo SSI Team

1997-07-01

We have used the Galileo G1, G2, G7, and G8 images to study the morpholo- gy and degradation of impact craters on Ganymede. Results from the G1 and G2 data showed three types of degradation states: pristine, partially degraded, and heavily degraded. With the more recent G7 and G8 images, there are now several other distinct crater morphologies that we have identified. Enki Catena is about 120 km in length and consists of 13 attached impact craters. The six craters in the chain that impacted onto the bright terrain have visible bright ejecta while those that impacted onto the dark terrain have barely visible ejecta. Kittu crater is about 15 km in diameter and it has a bright central peak surrounded by a bright floor and hummocky wall material. The crater rim in the north is linear in appearance at the location that corresponds to the boundary between the groove terrain and the adjacent dark terrain, indicating structural control by the underlying topography. The dark rays that are easily seen in the Voyager images are barely visible in the Galileo image. Neith crater has a central fractured dome surrounded by a jagged central ring, smoother outer ejecta facies, and less prominent outer rings. Achelous crater and its neighbor, which were imaged at low sun angle to show topography, have smooth floors and subdued pedestal ejecta. Nicholson Regio has tectonically disrupted craters on the groove and fractured terrains while the surrounding smoother dark terrain has numerous degrad- ed craters that may indicate burial by resurfacing or by regolith development.

Buoyant Turbulence Kinetic Energy (TKE) Production in Katabatic Flow Despite Stable Thermal Stratification

NASA Astrophysics Data System (ADS)

Oldroyd, H. J.; Pardyjak, E.; Higgins, C. W.; Parlange, M. B.

2015-12-01

As micrometeorological research shifts to increasingly non-idealized environments, the lens through which we view classical atmospheric boundary layer theory must also shift to accommodate unfamiliar behavior. We present observations of katabatic flow over a steep (35.5 degree), alpine slope and draw comparisons with classical theory for nocturnal boundary layers (NBL) over flat terrain to delineate key physical differences and similarities. In both cases, the NBL is characterized by a strong, terrain-aligned thermal stratification. Over flat terrain, this temperature inversion tends to stabilize perturbations and suppresses vertical motions. Hence, the buoyancy term in the TKE budget equation acts as a sink. In contrast, the steep-slope katabatic flow regime is characterized by buoyant TKE production despite NBL thermal stratification. This buoyant TKE production occurs because streamwise (upslope) heat fluxes, which are typically treated as unimportant over flat terrain, contribute to the total vertical buoyancy flux since the gravity vector is not terrain-normal. Due to a relatively small number of observations over steep terrain, the turbulence structure of such flows and the implications of buoyant TKE production in the NBL have gone largely unexplored. As an important consequence of this characteristic, we show that conventional stability characterizations require careful coordinate system alignment and interpretation for katabatic flows. The streamwise heat fluxes play an integral role in characterizing stability and turbulent transport, more broadly, in katabatic flows. Therefore, multi-scale statistics and budget analyses describing physical interactions between turbulent fluxes at various scales are presented to interpret similarities and differences between the observations and classical theories regarding streamwise heat fluxes.

Modeling of the "PLAN DA MATTUN" Archaeological Site Using a Combination of Different Sensors

NASA Astrophysics Data System (ADS)

Novák, D.; Tokarczyk, P.; Theiler, P. W.

2012-07-01

Plan da Mattun is located at ~2200 metre above sea level in the Tasna valley in alpine south-eastern Switzerland. In this remote location, finds dating back to the time of Ötzi (3000 B.C.) were discovered by archaeologists from the University of Zurich. For detailed investigations of the site as well as for documentation and visualization purposes the archaeologists were interested in digital models of the terrain and of certain boulders. In the presented project a digital terrain model of the rock stream located at the beginning of the valley was created, as well as detailed models of four larger boulders. These boulders average to 15 metre in height and width. The roughness of terrain makes it difficult to access certain areas and requires using multiple surveying techniques in order to cover all objects of interest. Therefore the digital terrain model was acquired using a combination of terrestrial laser scanning (TLS) and photogrammetric recording from an unmanned aerial vehicle (UAV). The larger boulders were reconstructed with a combination of TLS, terrestrial and UAV-based photogrammetry. With this approach it was possible to acquire a highaccuracy dataset over an area of 0.12 km2 under difficult conditions. The dataset includes a digital terrain model with a ground sampling distance of 10 cm and a relative accuracy of 2 cm in moderately sloped terrain. The larger boulders feature a resolution of 1 cm and a relative accuracy of 0.5 cm. The 3D data is to be used both for archaeological visualization purposes and for geological analysis of the rock stream.

ATHLETE: Lunar Cargo Unloading from a High Deck

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2010-01-01

As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are at least comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be lighter than a conventional all-terrain mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of freedom to be used as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A power-take-off from the wheel actuates the tools, so that they can take advantage of the 1+ horsepower motor in each wheel to enable drilling, gripping or other power-tool functions.

Terrain Type for Phoenix Landing

NASA Image and Video Library

2007-07-09

This view shows the texture of the ground in the area that was favored as a landing site for NASA Phoenix Mars Lander mission. The pattern resembles permafrost terrain on Earth, where cycles of thawing and freezing cause cracking into polygon shapes.

Bladed Terrain on Pluto: Possible Origins and Evolution

NASA Technical Reports Server (NTRS)

Moore, J. M.; Howard, A. D.; Umurhan, O. M.; White, O. L.; Schenk, P. M.; Beyer, R. A.; Grundy, W. M.; Young, L. A.; Stern, S. A.; Weaver, H. A.;

Intercrater Plains and Heavily Cratered Terrain - First Encounter

NASA Image and Video Library

2000-01-18

Intercrater plains and heavily cratered terrain typical of much of Mercury outside the area affected by the formation of the Caloris basin are shown in this image taken during the NASA Mariner 10 first encounter with Mercury in 1974.

Quantitative Evaluation of a Planetary Renderer for Terrain Relative Navigation

NASA Astrophysics Data System (ADS)

Amoroso, E.; Jones, H.; Otten, N.; Wettergreen, D.; Whittaker, W.

2016-11-01

A ray-tracing computer renderer tool is presented based on LOLA and LROC elevation models and is quantitatively compared to LRO WAC and NAC images for photometric accuracy. We investigated using rendered images for terrain relative navigation.

32 CFR 636.29 - Go-carts, minibikes, and all terrain vehicles (ATV's).

Code of Federal Regulations, 2010 CFR

2010-07-01

... (SPECIFIC INSTALLATIONS) Fort Stewart, Georgia § 636.29 Go-carts, minibikes, and all terrain vehicles (ATV's... applicable Georgia State Law and Fort Stewart traffic laws and regulations contained in this part. (b) “Go...

Photometric diversity of terrains on Triton

NASA Technical Reports Server (NTRS)

Hillier, J.; Veverka, J.; Helfenstein, P.; Lee, P.

1994-01-01

Voyager disk-resolved images of Triton in the violet (0.41 micrometers) and green (0.56 micrometer wavelengths have been analyzed to derive the photometric characteristics of terrains on Triton. Similar conclusions are found using two distinct but related definitions of photometric units, one based on color ratio and albedo properties (A. S. McEwen, 1990), the other on albedo and brightness ratios at different phase angles (P. Lee et al., 1992). A significant diversity of photometric behavior, much broader than that discovered so far on any other icy satellite, occurs among Triton's terrains. Remarkably, differences in photometric behavior do not correlate well with geologic terrain boundaries defined on the basis of surface morphology. This suggests that in most cases photometric properties on Triton are controlled by thin deposits superposed on underlying geologic units. Single scattering albedos are 0.98 or higher and asymmetry factors range from -0.35 to -0.45 for most units. The most distinct scattering behavior is exhibited by the reddish northern units already identified as the Anomalously Scattering Region (ASR), which scatters light almost isotropically with g = -0.04. In part due to the effects of Triton's clouds and haze, it is difficult to constrain the value of bar-theta, Hapke's macroscopic roughness parameter, precisely for Triton or to map differences in bar-theta among the different photometric terrains. However, our study shows that Triton must be relatively smooth, with bar-theta less than 15-20 degs and suggests that a value of 14 degs is appropriate. The differences in photometric characteristics lead to significantly different phase angle behavior for the various terrains. For example, a terrain (e.g., the ASR) that appears dark relative to another at low phase angles will reverse its contrast (become relatively brighter) at larger phase angles. The photometric parameters have been used to calculate hemispherical albedos for the units and to infer likely surface temperatures. Based on these results, we determine that all but the most southerly regions (i.e., mostly south of the equator) of the reddish northern terrains are likely to have been covered with deposits of nitrogen frost at the time of the Voyager flyby, in agreement with the suggestion from the photometry that these units are overlain by a thin veneer of material.

Snow Depth from Lidar: Challenges and New Technology for Measurements in Extreme Terrain

NASA Astrophysics Data System (ADS)

Berisford, D. F.; Kadatskiy, V.; Boardman, J. W.; Bormann, K.; Deems, J. S.; Goodale, C. E.; Mattmann, C. A.; Ramirez, P.; Richardson, M.; Painter, T. H.

2014-12-01

The Airborne Snow Observatory (ASO) uses an airborne LiDAR system to measure basin-wide snow depth with cm-scale accuracy at ~1m spatial resolution. This is accomplished by creating a Digital Elevation Model (DEM) over snow-free terrain in the summer, then repeating the flights again when the terrain is snow-covered and subtracting the elevations. Snow Water Equivalent (SWE) is then calculated by incorporating modeled snow density estimates, and when combined with coincident spectrometer albedo measurements, informs distributed hydrologic modeling and runoff prediction. This method provides SWE estimates of unprecedented accuracy and extent compared to traditional snow surveys and towers, and 24hr latency data products through the ASO processing pipeline using Apache Tika and OODT software. The timely ASO outputs support operational decision making by water/dam operators for optimal water management. The water-resource snowpack in the western US lies in remote mountainous terrain, spanning large areas containing steep faces at all aspects, often amongst tree canopy. This extreme terrain presents unusual challenges for LiDAR, and requires high altitude flights to achieve wide area coverage, high point density to capture small terrain features, and the ability to capture all slope aspects without shadowing. These challenges were met by the new state-of-the-art Riegl LMS-Q1560 LiDAR system, which incorporates two independent laser channels and a single rotating mirror. Both lasers and mirror are designed to provide forward, backward, and nadir look capability, which minimizes shadowing and ensures data capture even on very steep slopes. The system is capable of logging more than 10 simultaneous pulses in the air, which allows data collection at extremely high resolution while maintaining very high altitude which reduces complete region acquisition time significantly, and allows data collection over terrain with extreme elevation variation. Our experience to-date includes acquisition of data over terrain relief of more than 3500m, and ranges of up to 6000m in a single swath. We present data acquired during spring of 2013 and 2014 in western Colorado and the central Sierra Nevada, which demonstrates the capability of the new LiDAR technology and shows basin-wide measured snow depth and SWE results.

False Color Terrain Model of Phoenix Workspace

NASA Image and Video Library

2008-05-28

This is a terrain model of Phoenix Robotic Arm workspace. It has been color coded by depth with a lander model for context. The model has been derived using images from the depth perception feature from Phoenix Surface Stereo Imager SSI.

USGS Maps

USGS Publications Warehouse

,

1994-01-01

Most USGS topographic maps use brown contours to show the shape and elevation of the terrain. Elevations are usually shown in feet, but on some maps they are in meters. Contour intervals vary, depending mainly on the scale of the map and the type of terrain.

Ganymede - Dark Terrain in Galileo Regio

NASA Image and Video Library

1997-09-07

This view of a part of the Galileo Regio region on Jupiter moon Ganymede shows fine details of the dark terrain that makes up about half of the surface of the planet-sized moon. http://photojournal.jpl.nasa.gov/catalog/PIA00278

Dichotomy Boundary at Aeolis Mensae, Mars: Fretted Terrain Developed in a Sedimentary Deposit

NASA Astrophysics Data System (ADS)

Irwin, R. P., III; Watters, T. R.; Howard, A. D.; Maxwell, T. A.; Craddock, R. A.

2003-03-01

Fretted terrain in Aeolis Mensae, Mars, developed in a sedimentary deposit. A thick, massive unit with a capping layer or duricrust overlies a more durable layered sequence. Wind, collapse, and minor fluvial activity contributed to degradation.

Nonturbulent dispersion processes in complex terrain

Treesearch

Michael A. Fosberg; Douglas G. Fox; E.A. Howard; Jack D. Cohen

1976-01-01

Mass divergence influences on plume dispersion modify classic Gaussian calculations by as much as a factor of two in complex terrain. The Gaussian plume was derived in flux form to include this process.Authors' response to comments and criticism received following this publication:

Autonomous precision landing using terrain-following navigation

NASA Technical Reports Server (NTRS)

Vaughan, R. M.; Gaskell, R. W.; Halamek, P.; Klumpp, A. R.; Synnott, S. P.

1991-01-01

Terrain-following navigation studies that have been done over the past two years in the navigation system section at JPL are described. A descent to Mars scenario based on Mars Rover and Sample Return mission profiles is described, and navigation and image processing issues pertaining to descent phases where landmark picture can be obtained are examined. A covariance analysis is performed to verify that landmark measurements from a terrain-following navigation system can satisfy precision landing requirements. Image processing problems involving known landmarks in actual pictures are considered. Mission design alternatives that can alleviate some of these problems are suggested.

Sakhalin Island terrain intelligence

USGS Publications Warehouse

,

1943-01-01

This folio of maps and explanatory tables outlines the principal terrain features of Sakhalin Island. Each map and table is devoted to a specialized set of problems; together they cover the subjects of terrain appreciation, climate, rivers, water supply, construction materials, suitability for roads, suitability for airfields, fuels and other mineral resources, and geology. In most cases, the map of the island is divided into two parts: N. of latitude 50° N., Russian Sakhalin, and south of latitude 50° N., Japanese Sakhalin or Karafuto. These maps and data were compiled by the United States Geological Survey during the period from March to September, 1943.

Ride qualities criteria validation/pilot performance study: Flight test results

NASA Technical Reports Server (NTRS)

Nardi, L. U.; Kawana, H. Y.; Greek, D. C.

1979-01-01

Pilot performance during a terrain following flight was studied for ride quality criteria validation. Data from manual and automatic terrain following operations conducted during low level penetrations were analyzed to determine the effect of ride qualities on crew performance. The conditions analyzed included varying levels of turbulence, terrain roughness, and mission duration with a ride smoothing system on and off. Limited validation of the B-1 ride quality criteria and some of the first order interactions between ride qualities and pilot/vehicle performance are highlighted. An earlier B-1 flight simulation program correlated well with the flight test results.

Generation of topographic terrain models utilizing synthetic aperture radar and surface level data

NASA Technical Reports Server (NTRS)

Imhoff, Marc L. (Inventor)

1991-01-01

Topographical terrain models are generated by digitally delineating the boundary of the region under investigation from the data obtained from an airborne synthetic aperture radar image and surface elevation data concurrently acquired either from an airborne instrument or at ground level. A set of coregistered boundary maps thus generated are then digitally combined in three dimensional space with the acquired surface elevation data by means of image processing software stored in a digital computer. The method is particularly applicable for generating terrain models of flooded regions covered entirely or in part by foliage.

Large Terrain Modeling and Visualization for Planets

NASA Technical Reports Server (NTRS)

Myint, Steven; Jain, Abhinandan; Cameron, Jonathan; Lim, Christopher

2011-01-01

Physics-based simulations are actively used in the design, testing, and operations phases of surface and near-surface planetary space missions. One of the challenges in realtime simulations is the ability to handle large multi-resolution terrain data sets within models as well as for visualization. In this paper, we describe special techniques that we have developed for visualization, paging, and data storage for dealing with these large data sets. The visualization technique uses a real-time GPU-based continuous level-of-detail technique that delivers multiple frames a second performance even for planetary scale terrain model sizes.

Natural environment analysis

NASA Technical Reports Server (NTRS)

Frost, W.

1985-01-01

The influence of terrain features on wind loading of the space shuttle while on the launch pad, or during early liftoff, was investigated both qualitatively and quantitatively. The climatology and meteorology producing macroscale wind patterns and characteristics for the Vandenburg Air Force Base launch site are described. Field test data are analyzed, and the nature and characteristic of flow disturbances due to the various terrain features, both natural and man-made, are reviewed. The magnitude of these wind loads are estimated. Finally, effects of turbulence are discussed. It is concluded that the influence of complex terrain can create significant wind loading on the vehicle.

FOCIS: A forest classification and inventory system using LANDSAT and digital terrain data

NASA Technical Reports Server (NTRS)

Strahler, A. H.; Franklin, J.; Woodcook, C. E.; Logan, T. L.

1981-01-01

Accurate, cost-effective stratification of forest vegetation and timber inventory is the primary goal of a Forest Classification and Inventory System (FOCIS). Conventional timber stratification using photointerpretation can be time-consuming, costly, and inconsistent from analyst to analyst. FOCIS was designed to overcome these problems by using machine processing techniques to extract and process tonal, textural, and terrain information from registered LANDSAT multispectral and digital terrain data. Comparison of samples from timber strata identified by conventional procedures showed that both have about the same potential to reduce the variance of timber volume estimates over simple random sampling.

Three-dimensional visualization of geographical terrain data using temporal parallax difference induction

NASA Astrophysics Data System (ADS)

Mayhew, Christopher A.; Mayhew, Craig M.

2009-02-01

Vision III Imaging, Inc. (the Company) has developed Parallax Image Display (PIDTM) software tools to critically align and display aerial images with parallax differences. Terrain features are rendered obvious to the viewer when critically aligned images are presented alternately at 4.3 Hz. The recent inclusion of digital elevation models in geographic data browsers now allows true three-dimensional parallax to be acquired from virtual globe programs like Google Earth. The authors have successfully developed PID methods and code that allow three-dimensional geographical terrain data to be visualized using temporal parallax differences.

The Terrain of Margaritifer Chaos

NASA Technical Reports Server (NTRS)

1999-01-01

The jumbled and broken terrain in the picture on the left is known as chaotic terrain. Chaotic terrain was first observed in Mariner 6 and 7 images of Mars more than 30 years ago, and is thought to result from collapse after material--perhaps water or ice--was removed from the subsurface by events such as the formation of giant flood channels. The region shown here is named 'Margaritifer Chaos'. The left picture is a Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) red wide angle camera context frame that covers an area 115 km (71 miles) across. The small white box is centered at 10.3oS, 21.4oW and indicates the location of the high-resolution view on the right. The high resolution view (right) covers a small portion of the Margaritifer Chaos at 1.8 meters (6 feet) per pixel. The area shown is 3 km (1.9 miles) across. Uplands are lumpy with small bright outcrops of bedrock. Lowlands or valleys in the chaotic terrain have floors covered by light-toned windblown d rifts. This image is typical of the very highest-resolution views of the equatorial latitudes of Mars. Both pictures are illuminated from the left/upper left, north is toward the top.

How to characterize terrains on 4 Vesta using Dawn Framing Camera color bands?

NASA Astrophysics Data System (ADS)

Le Corre, Lucille; Reddy, Vishnu; Nathues, Andreas; Cloutis, Edward A.

2011-12-01

We present methods for terrain classification on 4 Vesta using Dawn Framing Camera (FC) color information derived from laboratory spectra of HED meteorites and other Vesta-related assemblages. Color and spectral parameters have been derived using publicly available spectra of these analog materials to identify the best criteria for distinguishing various terrains. We list the relevant parameters for identifying eucrites, diogenites, mesosiderites, pallasites, clinopyroxenes and olivine + orthopyroxene mixtures using Dawn FC color cubes. Pseudo Band I minima derived by fitting a low order polynomial to the color data are found to be useful for extracting the pyroxene chemistry. Our investigation suggests a good correlation (R2 = 0.88) between laboratory measured ferrosilite (Fs) pyroxene chemistry vs. those from pseudo Band I minima using equations from Burbine et al. (Burbine, T.H., Buchanan, P.C., Dolkar, T., Binzel, R.P. [2009]. Planetary Science 44, 1331-1341). The pyroxene chemistry information is a complementary terrain classification capability beside the color ratios. We also investigated the effects of exogenous material (i.e., CM2 carbonaceous chondrites) on the spectra of HEDs using laboratory mixtures of these materials. Our results are the basis for an automated software pipeline that will allow us to classify terrains on 4 Vesta efficiently.

Dawn HAMO Image 70

NASA Image and Video Library

2015-12-04

This view from NASA's Dawn spacecraft shows different types of terrain located side by side on Ceres: a smooth terrain at right with numerous small impact craters, and a less-cratered, hummocky terrain at left. A huge crater chain crosses the scene diagonally from upper left to lower right. The smooth terrain, which is in the western part of Yalode impact basin, is interrupted by a set of roughly parallel furrows and ridges at upper right. These linear features are perpendicular to another set of smaller, fainter linear markings, which appear just below them. An impact into the hummocky terrain formed a crater, seen at left, 14 miles (22 kilometers) in diameter with a central peak. A great deal of material has slumped down the walls of the crater -- a phenomenon called mass wasting. The crater's impact ejecta forms a smooth blanket around its rim, which takes on a streaky texture leading away from the crater toward lower right. The image was taken during in Dawn's High Altitude Mapping Orbit (HAMO) phase from an altitude of 911 miles (1,466 kilometers) on Oct. 6, 2015. Image resolution is 394 feet (120 meters) per pixel. The image is centered at 37 degrees south latitude, 279 degrees east longitude. http://photojournal.jpl.nasa.gov/catalog/PIA20133

Terrain stiffness and ankle biomechanics during simulated half-squat parachute landing.

PubMed

Niu, Wenxin; Fan, Yubo

2013-12-01

A hard surface is potentially one of the risk factors for ankle injuries during parachute landing, but this has never been experimentally validated. This study was designed to evaluate the effects of terrain stiffness on ankle biomechanics during half-squat parachute landing (HSPL). Eight male and eight female healthy participants landed on three surfaces with standard HSPL technique. The three surfaces were cushioned mats with different thicknesses (0 mm, 4 mm, and 8 mm). The effects of terrain hardness and gender and their interaction with ground reaction forces, ankle kinematics, and electromyograms of selected lower-extremity muscles were statistically analyzed with multivariate analysis of variance. The effects of terrain stiffness and the interaction between factors on all variables were not statistically significant. The effects of gender were not statistically significant on most variables. The peak angular velocity of the ankle dorsiflexion was significantly lower in men (mean 1345 degree x s(-1)) than in women (mean 1965 degree x s(-1)). A spongy surface even eliminated the differences between men compared to women in the activity of their tibialis anterior during simulated HSPL. Terrain stiffness, in the ranges tested, did not appear to influence ankle biomechanics among individuals performing HSPL. Additional studies are required to know whether this finding is applicable to realistic parachuting.

Evaluation of Light Detection and Ranging (LIDAR) for measuring river corridor topography

USGS Publications Warehouse

Bowen, Z.H.; Waltermire, R.G.

2002-01-01

LIDAR is relatively new in the commercial market for remote sensing of topography and it is difficult to find objective reporting on the accuracy of LIDAR measurements in an applied context. Accuracy specifications for LIDAR data in published evaluations range from 1 to 2 m root mean square error (RMSEx,y) and 15 to 20 cm RMSEz. Most of these estimates are based on measurements over relatively flat, homogeneous terrain. This study evaluated the accuracy of one LIDAR data set over a range of terrain types in a western river corridor. Elevation errors based on measurements over all terrain types were larger (RMSEz equals 43 cm) than values typically reported. This result is largely attributable to horizontal positioning limitations (1 to 2 m RMSEx,y) in areas with variable terrain and large topographic relief. Cross-sectional profiles indicated algorithms that were effective for removing vegetation in relatively flat terrain were less effective near the active channel where dense vegetation was found in a narrow band along a low terrace. LIDAR provides relatively accurate data at densities (50,000 to 100,000 points per km2) not feasible with other survey technologies. Other options for projects requiring higher accuracy include low-altitude aerial photography and intensive ground surveying.

New formulation for interferometric synthetic aperture radar for terrain mapping

NASA Astrophysics Data System (ADS)

Jakowatz, Charles V., Jr.; Wahl, Daniel E.; Eichel, Paul H.; Thompson, Paul A.

1994-06-01

The subject of interferometric synthetic aperture radar (IFSAR) for high-accuracy terrain elevation mapping continues to gain importance in the arena of radar signal processing. Applications to problems in precision terrain-aided guidance and automatic target recognition, as well as a variety of civil applications, are being studied by a number of researchers. Not unlike many other areas of SAR processing, the subject of IFSAR can, at first glance, appear to be somewhat mysterious. In this paper we show how the mathematics of IFSAR for terrain elevation mapping using a pair of spotlight mode SAR collections can be derived in a very straightforward manner. Here, we employ an approach that relies entirely on Fourier transforms, and utilizes no reference to range equations or Doppler concepts. The result is a simplified explanation of the fundamentals of interferometry, including an easily-seen link between image domain phase difference and terrain elevation height. The derivation builds upon previous work by the authors in which a framework for spotlight mode SAR image formation based on an analogy to 3D computerized axial tomography (CAT) was developed. After outlining the major steps in the mathematics, we show how a computer simulator which utilizes 3D Fourier transforms can be constructed that demonstrates all of the major aspects of IFSAR from spotlight mode collections.

The assessment of environmentally sensitive forest road construction in Calabrian pine forest areas of Turkey.

PubMed

Tunay, Metin

2006-07-01

Forest road construction by bulldozers in Calabrian Pine (Pinus brutia Ten.) forests on mountainous terrain of Turkey causes considerable damage to the environment and the forest standing alongside the road. This situation obliges a study of environmentally sound road construction in Turkey. This study was carried out in 4 sample sites of Antalya Forest Directorate in steep (34-50% gradient) and very steep terrain (51-70% gradient) conditions with bulldozer and excavator machine and direct damages to forest during road construction was determined, including forest area losses and damages to downhill trees in mountainous areas. It was determined that in steep terrain when excavators were used, less forest area (22.16%) was destroyed compared to bulldozers and 26.54% less area in very steep terrain. The proportion of damage on trees where bulldozer worked was nearly twofold higher than excavator was used. The results of this research show that the environmentally sensitive techniques applied for the road construction projects are considerably superior to the traditional use of bulldozers on steep slopes. The environmentally sound forest road construction by use of excavator must be considered an appropriate and reliable solution for mountainous terrain where areas of sensitive forest ecosystems are to be opened up.

A terrain-based site characterization map of California with implications for the contiguous United States

USGS Publications Warehouse

Yong, Alan K.; Hough, Susan E.; Iwahashi, Junko; Braverman, Amy

2012-01-01

We present an approach based on geomorphometry to predict material properties and characterize site conditions using the VS30 parameter (time‐averaged shear‐wave velocity to a depth of 30 m). Our framework consists of an automated terrain classification scheme based on taxonomic criteria (slope gradient, local convexity, and surface texture) that systematically identifies 16 terrain types from 1‐km spatial resolution (30 arcsec) Shuttle Radar Topography Mission digital elevation models (SRTM DEMs). Using 853 VS30 values from California, we apply a simulation‐based statistical method to determine the mean VS30 for each terrain type in California. We then compare the VS30 values with models based on individual proxies, such as mapped surface geology and topographic slope, and show that our systematic terrain‐based approach consistently performs better than semiempirical estimates based on individual proxies. To further evaluate our model, we apply our California‐based estimates to terrains of the contiguous United States. Comparisons of our estimates with 325 VS30 measurements outside of California, as well as estimates based on the topographic slope model, indicate our method to be statistically robust and more accurate. Our approach thus provides an objective and robust method for extending estimates of VS30 for regions where in situ measurements are sparse or not readily available.

ATHLETE: A Limbed Vehicle for Solar System Exploration

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2012-01-01

As part of the Human-Robot Systems project funded by NASA, the Jet Propulsion Laboratory has developed a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25% lighter than a conventional mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of-freedom to use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb.

Active formation of `chaos terrain' over shallow subsurface water on Europa

NASA Astrophysics Data System (ADS)

Schmidt, B. E.; Blankenship, D. D.; Patterson, G. W.; Schenk, P. M.

2011-11-01

Europa, the innermost icy satellite of Jupiter, has a tortured young surface and sustains a liquid water ocean below an ice shell of highly debated thickness. Quasi-circular areas of ice disruption called chaos terrains are unique to Europa, and both their formation and the ice-shell thickness depend on Europa's thermal state. No model so far has been able to explain why features such as Conamara Chaos stand above surrounding terrain and contain matrix domes. Melt-through of a thin (few-kilometre) shell is thermodynamically improbable and cannot raise the ice. The buoyancy of material rising as either plumes of warm, pure ice called diapirs or convective cells in a thick (>10 kilometres) shell is insufficient to produce the observed chaos heights, and no single plume can create matrix domes. Here we report an analysis of archival data from Europa, guided by processes observed within Earth's subglacial volcanoes and ice shelves. The data suggest that chaos terrains form above liquid water lenses perched within the ice shell as shallow as 3kilometres. Our results suggest that ice-water interactions and freeze-out give rise to the diverse morphologies and topography of chaos terrains. The sunken topography of Thera Macula indicates that Europa is actively resurfacing over a lens comparable in volume to the Great Lakes in North America.

Improving the Terrain-Based Parameter for the Assessment of Snow Redistribution in the Col du Lac Blanc Area and Comparisons with TLS Snow Depth Data

NASA Astrophysics Data System (ADS)

Schön, Peter; Prokop, Alexander; Naaim-Bouvet, Florence; Nishimura, Kouichi; Vionnet, Vincent; Guyomarc'h, Gilbert

2014-05-01

Wind and the associated snow drift are dominating factors determining the snow distribution and accumulation in alpine areas, resulting in a high spatial variability of snow depth that is difficult to evaluate and quantify. The terrain-based parameter Sx characterizes the degree of shelter or exposure of a grid point provided by the upwind terrain, without the computational complexity of numerical wind field models. The parameter has shown to qualitatively predict snow redistribution with good reproduction of spatial patterns, but has failed to quantitatively describe the snow redistribution, and correlations with measured snow heights were poor. The objective of our research was to a) identify the sources of poor correlations between predicted and measured snow re-distribution and b) improve the parameters ability to qualitatively and quantitatively describe snow redistribution in our research area, the Col du Lac Blanc in the French Alps. The area is at an elevation of 2700 m and particularly suited for our study due to its constant wind direction and the availability of data from a meteorological station. Our work focused on areas with terrain edges of approximately 10 m height, and we worked with 1-2 m resolution digital terrain and snow surface data. We first compared the results of the terrain-based parameter calculations to measured snow-depths, obtained by high-accuracy terrestrial laser scan measurements. The results were similar to previous studies: The parameter was able to reproduce observed patterns in snow distribution, but regression analyses showed poor correlations between terrain-based parameter and measured snow-depths. We demonstrate how the correlations between measured and calculated snow heights improve if the parameter is calculated based on a snow surface model instead of a digital terrain model. We show how changing the parameter's search distance and how raster re-sampling and raster smoothing improve the results. To improve the parameter's quantitative abilities, we modified the parameter, based on the comparisons with TLS data and the terrain and wind conditions specific to the research site. The modification is in a linear form f(x) = a * Sx, where a is a newly introduced parameter; f(x) yields the estimates for the snow height. We found that the parameter depends on the time period between the compared snow surfaces and the intensity of drifting snow events, which are linked to wind velocities. At the Col du Lac Blanc test side, blowing snow flux is recorded with snow particle counters (SPC). Snow flux is the number of drifting snow particles per time and area. Hence, the SPC provide data about the duration and intensity of drifting snow events, two important factors not accounted for by the terrain parameter Sx. We analyse how the SPC snow flux data can be used to estimate the magnitude of the new variable parameter a. We could improve the parameters' correlations with measured snow heights and its ability to quantitatively describe snow distribution in the Col du Lac Blanc area. We believe that our work is also a prerequisite to further improve the parameter's ability to describe snow redistribution.

URBAN MORPHOLOGICAL ANALYSIS FOR MESOSCALE METEOROLOGICAL AND DISPERSION MODELING APPLICATIONS: CURRENT ISSUES

EPA Science Inventory

Representing urban terrain characteristics in mesoscale meteorological and dispersion models is critical to produce accurate predictions of wind flow and temperature fields, air quality, and contaminant transport. A key component of the urban terrain representation is the charac...

14 CFR 61.31 - Type rating requirements, additional training, and authorization requirements.

Code of Federal Regulations, 2014 CFR

2014-01-01

... goggle operation flight planning, including night terrain interpretation and factors affecting terrain... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) AIRMEN CERTIFICATION: PILOTS, FLIGHT INSTRUCTORS, AND... Administrator has authorized the flight or series of flights; (2) The Administrator has determined that an...

14 CFR 61.31 - Type rating requirements, additional training, and authorization requirements.

Code of Federal Regulations, 2013 CFR

2013-01-01

... goggle operation flight planning, including night terrain interpretation and factors affecting terrain... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) AIRMEN CERTIFICATION: PILOTS, FLIGHT INSTRUCTORS, AND... Administrator has authorized the flight or series of flights; (2) The Administrator has determined that an...

14 CFR 61.31 - Type rating requirements, additional training, and authorization requirements.

Code of Federal Regulations, 2012 CFR

2012-01-01

... goggle operation flight planning, including night terrain interpretation and factors affecting terrain... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) AIRMEN CERTIFICATION: PILOTS, FLIGHT INSTRUCTORS, AND... Administrator has authorized the flight or series of flights; (2) The Administrator has determined that an...

PLUME DISPERSION IN STABLY STRATIFIED FLOWS OVER COMPLEX TERRAIN, PHASE 2

EPA Science Inventory

Laboratory experiments were conducted in a stratified towing tank to investigate plume dispersion in stably stratified flows. First, plume dispersion over an idealized terrain model with a simulated elevated inversion in the atmosphere was investigated. These results were compare...

Terrain modeling for real-time simulation

NASA Astrophysics Data System (ADS)

Devarajan, Venkat; McArthur, Donald E.

1993-10-01

There are many applications, such as pilot training, mission rehearsal, and hardware-in-the- loop simulation, which require the generation of realistic images of terrain and man-made objects in real-time. One approach to meeting this requirement is to drape photo-texture over a planar polygon model of the terrain. The real time system then computes, for each pixel of the output image, the address in a texture map based on the intersection of the line-of-sight vector with the terrain model. High quality image generation requires that the terrain be modeled with a fine mesh of polygons while hardware costs limit the number of polygons which may be displayed for each scene. The trade-off between these conflicting requirements must be made in real-time because it depends on the changing position and orientation of the pilot's eye point or simulated sensor. The traditional approach is to develop a data base consisting of multiple levels of detail (LOD), and then selecting for display LODs as a function of range. This approach could lead to both anomalies in the displayed scene and inefficient use of resources. An approach has been developed in which the terrain is modeled with a set of nested polygons and organized as a tree with each node corresponding to a polygon. This tree is pruned to select the optimum set of nodes for each eye-point position. As the point of view moves, the visibility of some nodes drops below the limit of perception and may be deleted while new points must be added in regions near the eye point. An analytical model has been developed to determine the number of polygons required for display. This model leads to quantitative performance measures of the triangulation algorithm which is useful for optimizing system performance with a limited display capability.

International Digital Elevation Model Service (IDEMS): A Revived IAG Service

NASA Astrophysics Data System (ADS)

Kelly, K. M.; Hirt, C., , Dr; Kuhn, M.; Barzaghi, R.

2017-12-01

A newly developed International Digital Elevation Model Service (IDEMS) is now available under the umbrella of the International Gravity Field Service of the International Association of Geodesy. Hosted and operated by Environmental Systems Research Institute (Esri) (http://www.esri.com/), the new IDEMS website is available at: https://idems.maps.arcgis.com/home/index.html. IDEMS provides a focus for distribution of data and information about various digital elevation models, including spherical-harmonic models of Earth's global topography and lunar and planetary DEM. Related datasets, such as representation of inland water within DEMs, and relevant software which are available in the public domain are also provided. Currently, IDEMS serves as repository of links to providers of global terrain and bathymetry, terrain related Earth models and datasets such as digital elevation data services managed and maintained by Esri (Terrain and TopoBathy), Bedmap2-Ice thickness and subglacial topographic model of Antarctica and Ice, Cloud, and Land Elevation ICESat/GLAS Data, as well as planetary terrain data provided by PDS Geosciences Node at Washington University, St. Louis. These services provide online access to a collection of multi-resolution and multi-source elevation and bathymetry data, including metadata and source information. In addition to IDEMS current holdings of terrestrial and planetary DEMs, some topography related products IDEMS may include in future are: dynamic ocean topography, 3D crustal density models, Earth's dynamic topography, etc. IDEMS may also consider terrain related products such as quality assessments, global terrain corrections, global height anomaly-to-geoid height corrections and other geodesy-relevant studies and products. IDEMS encourages contributions to the site from the geodetic community in any of the product types listed above. Please contact the authors if you would like to contribute or recommend content you think appropriate for IDEMS.

Vertical structure and microphysical characteristics of precipitation on the high terrain and lee side of the Olympic Mountains

NASA Astrophysics Data System (ADS)

Zagrodnik, J. P.; McMurdie, L. A.; Houze, R.

2017-12-01

As mid-latitude cyclones pass over coastal mountain ranges, the processes producing their clouds and precipitation are modified when they encounter complex terrain, leading to a maximum in precipitation fallout on the windward slopes and a minimum on the lee side. The precipitation that does reach the high terrain and lee side of a mountain range can be theoretically determined by a complex interaction between the dynamics of air lifting over the terrain, the thermodynamics of moist air, and the microphysical time required to grow particles large enough to fall out. To date, there have been few observational studies that have focused on the nonlinear microphysical processes contributing to the variability of precipitation that is received on the lee side slopes of a mountain range such as the Olympic Mountains. The 2015-16 Olympic Mountains Experiment (OLYMPEX) collected unprecedented observations on the high terrain and lee side of the Olympic Mountains including frequent soundings on Vancouver Island, dual-polarization Doppler radar, multi-frequency airborne radar, and ground-based particle size and crystal habit observations at the higher elevation Hurricane Ridge site. We utilize these observations to examine the evolution of the vertical structure and microphysical precipitation characteristics over the high terrain and leeside within the context of large-scale dynamic and thermodynamic conditions that evolve during the passage of cold season mid-latitude cyclones. The primary goal is to determine the degree to which the observed variability in lee side precipitation amount and microphysical properties are controlled by variations in temperature, flow speed and direction, shear, and stability associated with characteristic synoptic storm sectors and frontal passages.

A Quantitative Analysis of the Fretted Terrain Valleys, Arabia Terra, Mars

NASA Astrophysics Data System (ADS)

Mason, Kelsey Anne

Fretted terrain describes regions on Mars with low-lying, flat valleys separated by steep cliffs that often form polygonal-shaped mesas. The fretted terrain valleys have a morphology distinct from other valleys found on Mars, and their unknown origin may hold insights into critical questions about Mars' tectonic, magmatic, and hydrologic history. Current hypothesis for the formation of the fretted terrain include fracturing as well as hydrological flow processes such as fluvial or glacial erosion. The region for this study is located in eastern Arabia Terra and is the type-location for fretted terrain. By qualitatively and quantitatively documenting the planform, or map-view, valley geometries and orientations throughout the fretted terrain, this study better constrains the origin of the valleys. Valleys were mapped using automated routines in ArcGIS including the D8 flow direction algorithm. Valleys were then grouped geographically into basins and also by Strahler order. The valleys were then segmented every 50 km and the azimuth of each segment was calculated. The resulting valley azimuths were analyzed using rose diagrams to quantitatively describe the planform geometries of the valleys. Qualitatively, the majority of basins were found to have rectangular valley geometries. The downslope direction was calculated for each basin, and it was compared to the corresponding valley azimuths. The basins with rectangular valley geometries had valleys with an azimuth mode nearly parallel to the downslope direction and another azimuth mode perpendicular to the downslope direction. The valley azimuth mode parallel to the downslope direction is attributed to hydrological flow processes while the mode perpendicular to the downslope direction is attributed to fracturing related to the formation or existence of the Mars global dichotomy boundary.

Measurements of car-body lateral vibration induced by high-speed trains negotiating complex terrain sections under strong wind conditions

NASA Astrophysics Data System (ADS)

Liu, Dongrun; Lu, Zhaijun; Zhong, Mu; Cao, Tianpei; Chen, Dong; Xiong, Yupu

2018-02-01

Assessment of the vibration of high-speed trains negotiating complex sections of terrain under strong wind conditions is very important for research into the operation safety and comfort of passengers on high-speed trains. To assess the vibration of high-speed trains negotiating complex sections of terrain under strong wind conditions, we performed a field measurement when the train passes through typical sections of complex terrain along the Lanzhou-Xinjiang high-speed railway in China. We selected the lateral vibration conditions, including the roll angle and lateral displacement of car-body gravity centre through two typical representative sections (embankment-tunnel-embankment and embankment-rectangular transition-cutting) for analysis. The results show that the severe car-swaying phenomenon occurs when the high-speed train moves through the test section, and the car-body lateral vibration characteristic is related significantly to the state of the terrain and topography along the railway. The main causes for this car-swaying phenomenon may be the transitions between different windproof structures, and the greater the scale of the transition region between different windproof structures or landform changes, the more obvious the car-swaying phenomenon becomes. The lateral vibration of the car-body is relatively steady when the train is running through terrain with minor changes in topography, such as the windbreak installed on the bridge and embankment, but the tail car sways more violently than the head car. When the vehicle runs from the windbreak installed on the embankment into the tunnel (or in the opposite direction), the tail car sways more intensely than the head car, and the head car runs relatively stable in the tunnel.

Listening to a personal music player is associated with fewer but more serious injuries among snowboarders in a terrain park: a case-control study.

PubMed

Russell, Kelly; Meeuwisse, Willem; Nettel-Aguirre, Alberto; Emery, Carolyn A; Gushue, Shantel; Wishart, Jillian; Romanow, Nicole; Rowe, Brian H; Goulet, Claude; Hagel, Brent E

2015-01-01

Some snowboarders listen to music on a personal music player and the objective was to determine if listening to music was associated with injury in a terrain park. A case-control study was conducted at a terrain park in Alberta, Canada during the 2008-2009 and 2009-2010 winter seasons. Cases were snowboarders who were injured in the terrain park and presented to either the ski patrol and/or a nearby emergency department (ED). Demographic, environmental and injury characteristics were collected from standardised ski patrol Accident Report Forms, ED medical records and telephone interviews. Controls were uninjured snowboarders using the same terrain park and were interviewed as they approached the lift-line on randomly selected days and times. Multivariable logistic regression determined if listening to music was associated with the odds of snowboard injury. Overall, 333 injured cases and 1261 non-injured controls were enrolled; 69 (21%) cases and 425 (34%) controls were listening to music. Snowboarders listening to music had significantly lower odds of injury compared with those not listening to music (adjusted odds ratio (OR) 0.68; 95% CI 0.48 to 0.98). Snowboarders listening to music had significantly higher odds of presenting to the ED versus ski patrol only compared with those not listening to music (adjusted OR 2.09; 95% CI 1.07 to 4.05). While listening to music decreased the odds of any injury in the terrain park, it increased the odds of an injury resulting in ED presentation. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Irregular-Mesh Terrain Analysis and Incident Solar Radiation for Continuous Hydrologic Modeling in Mountain Watersheds

NASA Astrophysics Data System (ADS)

Moreno, H. A.; Ogden, F. L.; Alvarez, L. V.

2016-12-01

This research work presents a methodology for estimating terrain slope degree, aspect (slope orientation) and total incoming solar radiation from Triangular Irregular Network (TIN) terrain models. The algorithm accounts for self shading and cast shadows, sky view fractions for diffuse radiation, remote albedo and atmospheric backscattering, by using a vectorial approach within a topocentric coordinate system and establishing geometric relations between groups of TIN elements and the sun position. A normal vector to the surface of each TIN element describes slope and aspect while spherical trigonometry allows computingunit vector defining the position of the sun at each hour and day of the year. Thus, a dot product determines the radiation flux at each TIN element. Cast shadows are computed by scanning the projection of groups of TIN elements in the direction of the closest perpendicular plane to the sun vector only in the visible horizon range. Sky view fractions are computed by a simplified scanning algorithm from the highest to the lowest triangles along prescribed directions and visible distances, useful to determine diffuse radiation. Finally, remotealbedo is computed from the sky view fraction complementary functions for prescribed albedo values of the surrounding terrain only for significant angles above the horizon. The sensitivity of the different radiative components is tested a in a moutainuous watershed in Wyoming, to seasonal changes in weather and surrounding albedo (snow). This methodology represents an improvement on the current algorithms to compute terrain and radiation values on triangular-based models in an accurate and efficient manner. All terrain-related features (e.g. slope, aspect, sky view fraction) can be pre-computed and stored for easy access for a subsequent, progressive-in-time, numerical simulation.

Wind Doesn't Just Stop at the Earth's Surface

NASA Astrophysics Data System (ADS)

Clifton, A. J.

2017-12-01

Wind turbines are increasingly being installed in complex terrain such as the pre-Alpine regions of Germany, Austria, and other European Alpine regions, mountainous regions across USA and Canada, and many other parts of the world. In these areas, the system of the atmosphere, terrain, geology, people, and power system has is deeply interconnected but couplings are not completely known. This leads to challenging development conditions, increased cost of energy compared to flat terrain, and sometimes to tensions between different stakeholders. In this presentation, an overview of the wind energy system will be presented, and the challenges of developing wind energy in complex terrain will be highlighted. Results from several recent measurement campaigns and associated modelling carried out by members of WindForS will be used as examples. WindForS is a southern Germany-based research consortium of more than 20 groups at higher education and research institutes, with strong links to government and industry. Finally, the new WindForS wind energy research facility in complex terrain will be introduced. The new test site will be located in the hilly, forested terrain of the Swabian Alps between Stuttgart and Germany, and will consist of two wind turbines with four meteorological towers. The test site will be used for accompanying ecological research and will also have mobile eddy covariance measurement stations as well as bird and bat monitoring systems. Seismic and noise monitoring systems are also planned. The large number of auxiliary measurements at this facility are intended to allow the complete atmosphere-wind turbine-environment-people system to be characterized. A major focus of the presentation will be on opportunities for interdisciplinary collaboration between the atmospheric science and geosciences communities and other stakeholders.

47 CFR 1.959 - Computation of average terrain elevation.

Code of Federal Regulations, 2013 CFR

2013-10-01

... Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Grants by...) of this chapter, average terrain elevation must be calculated by computer using elevations from a 30... also be done manually, if the results differ significantly from the computer derived averages. (a...

47 CFR 1.959 - Computation of average terrain elevation.

Code of Federal Regulations, 2012 CFR

2012-10-01

... Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Grants by...) of this chapter, average terrain elevation must be calculated by computer using elevations from a 30... also be done manually, if the results differ significantly from the computer derived averages. (a...

47 CFR 1.959 - Computation of average terrain elevation.

Code of Federal Regulations, 2014 CFR

2014-10-01

... Section 1.959 Telecommunication FEDERAL COMMUNICATIONS COMMISSION GENERAL PRACTICE AND PROCEDURE Grants by...) of this chapter, average terrain elevation must be calculated by computer using elevations from a 30... also be done manually, if the results differ significantly from the computer derived averages. (a...

Management Can Reduce Mobility of Escherichia coli compared to traditional groundwater tracers within karst terrains

USDA-ARS?s Scientific Manuscript database

An understanding of fundamental processes controlling pathogen movement is necessary to protect water resources across the globe. Limited filtration and turbulent flow make karst aquifers susceptible to microbial contamination. Groundwater tracers typically used in karst terrains include fluorescent...

Miranda Geologic History Variety of Terrain

NASA Image and Video Library

1996-01-29

Miranda reveals a complex geologic history in this view, acquired by NASA's Voyager 2 on Jan. 24, 1986, around its close approach to the Uranian moon. At least three terrain types of different age and geologic style are evident. http://photojournal.jpl.nasa.gov/catalog/PIA00141

Effect of Forest Harvesting on Hydrogeomorphic Processes in Steep Terrain of Central Japan

EPA Science Inventory

Forest harvesting activities affect various hydrogeomorphic processes in forest terrain, including increases in occurrence of mass movements (i.e., landslides and debris flows), and changes in sediment transport rate in channels. Thus, the influence of harvesting on these process...

41 CFR 101-45.004 - All terrain vehicles.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 41 Public Contracts and Property Management 2 2010-07-01 2010-07-01 true All terrain vehicles. 101-45.004 Section 101-45.004 Public Contracts and Property Management Federal Property Management Regulations System FEDERAL PROPERTY MANAGEMENT REGULATIONS UTILIZATION AND DISPOSAL 45-SALE, ABANDONMENT, OR...

Ground Collision Avoidance System (Igcas)

NASA Technical Reports Server (NTRS)

Prosser, Kevin (Inventor); Hook, Loyd (Inventor); Skoog, Mark A (Inventor)

2017-01-01

The present invention is a system and method for aircraft ground collision avoidance (iGCAS) comprising a modular array of software, including a sense own state module configured to gather data to compute trajectory, a sense terrain module including a digital terrain map (DTM) and map manger routine to store and retrieve terrain elevations, a predict collision threat module configured to generate an elevation profile corresponding to the terrain under the trajectory computed by said sense own state module, a predict avoidance trajectory module configured to simulate avoidance maneuvers ahead of the aircraft, a determine need to avoid module configured to determine which avoidance maneuver should be used, when it should be initiated, and when it should be terminated, a notify Module configured to display each maneuver's viability to the pilot by a colored GUI, a pilot controls module configured to turn the system on and off, and an avoid module configured to define how an aircraft will perform avoidance maneuvers through 3-dimensional space.

Effects of a Velocity-Vector Based Command Augmentation System and Synthetic Vision System Terrain Portrayal and Guidance Symbology Concepts on Single-Pilot Performance

NASA Technical Reports Server (NTRS)

Liu, Dahai; Goodrich, Kenneth H.; Peak, Bob

2010-01-01

This study investigated the effects of synthetic vision system (SVS) concepts and advanced flight controls on the performance of pilots flying a light, single-engine general aviation airplane. We evaluated the effects and interactions of two levels of terrain portrayal, guidance symbology, and flight control response type on pilot performance during the conduct of a relatively complex instrument approach procedure. The terrain and guidance presentations were evaluated as elements of an integrated primary flight display system. The approach procedure used in the study included a steeply descending, curved segment as might be encountered in emerging, required navigation performance (RNP) based procedures. Pilot performance measures consisted of flight technical performance, perceived workload, perceived situational awareness and subjective preference. The results revealed that an elevation based generic terrain portrayal significantly improved perceived situation awareness without adversely affecting flight technical performance or workload. Other factors (pilot instrument rating, control response type, and guidance symbology) were not found to significantly affect the performance measures.

Quadtree of TIN: a new algorithm of dynamic LOD

NASA Astrophysics Data System (ADS)

Zhang, Junfeng; Fei, Lifan; Chen, Zhen

2009-10-01

Currently, Real-time visualization of large-scale digital elevation model mainly employs the regular structure of GRID based on quadtree and triangle simplification methods based on irregular triangulated network (TIN). TIN is a refined means to express the terrain surface in the computer science, compared with GRID. However, the data structure of TIN model is complex, and is difficult to realize view-dependence representation of level of detail (LOD) quickly. GRID is a simple method to realize the LOD of terrain, but contains more triangle count. A new algorithm, which takes full advantage of the two methods' merit, is presented in this paper. This algorithm combines TIN with quadtree structure to realize the view-dependence LOD controlling over the irregular sampling point sets, and holds the details through the distance of viewpoint and the geometric error of terrain. Experiments indicate that this approach can generate an efficient quadtree triangulation hierarchy over any irregular sampling point sets and achieve dynamic and visual multi-resolution performance of large-scale terrain at real-time.

Spacecraft studies of Phobos and Mars

NASA Technical Reports Server (NTRS)

Murray, Bruce C.

1990-01-01

Utilizing the Termoskan data set of the Phobos '88 mission we have recognized a new feature on Mars: Ejecta blanket Distinct In the THermal infrared (EDITH). Virtually all of the more than one hundred of these features discovered in the Termoskan data are located on the plains near Valles Manneris. EDITH's have a startlingly clear dependence upon terrains of Hesperian age, implying a spatial or temporal dependence on Hesperian terrains. Almost no thermally distinct ejecta blankets are associated with any of the thousands of craters within the data set that occur on the older Noachian units. EDITH's also do not appear on the portions of the younger Tharsis Amazonian units seen in the data. The Hesperian terrain dependence cannot be explained by either atmospheric or impactor variations; Noachian and Hesperian terrains must have experienced identical atmospheric and impactor conditions during Hesperian times. Thermally distinct eject a blankets therefore reflect target material differences and/or secondary modification processes. A further discussion of EIDTH's is presented.

Accuracy assessment of TanDEM-X IDEM using airborne LiDAR on the area of Poland

NASA Astrophysics Data System (ADS)

Woroszkiewicz, Małgorzata; Ewiak, Ireneusz; Lulkowska, Paulina

2017-06-01

The TerraSAR-X add-on for Digital Elevation Measurement (TanDEM-X) mission launched in 2010 is another programme - after the Shuttle Radar Topography Mission (SRTM) in 2000 - that uses space-borne radar interferometry to build a global digital surface model. This article presents the accuracy assessment of the TanDEM-X intermediate Digital Elevation Model (IDEM) provided by the German Aerospace Center (DLR) under the project "Accuracy assessment of a Digital Elevation Model based on TanDEM-X data" for the southwestern territory of Poland. The study area included: open terrain, urban terrain and forested terrain. Based on a set of 17,498 reference points acquired by airborne laser scanning, the mean errors of average heights and standard deviations were calculated for areas with a terrain slope below 2 degrees, between 2 and 6 degrees and above 6 degrees. The absolute accuracy of the IDEM data for the analysed area, expressed as a root mean square error (Total RMSE), was 0.77 m.

Determining the Suitability of Different Digital Elevation Models and Satellite Images for Fancy Maps. An Example of Cyprus

NASA Astrophysics Data System (ADS)

Drachal, J.; Kawel, A. K.

2016-06-01

The article describes the possibility of developing an overall map of the selected area on the basis of publicly available data. Such a map would take the form designed by the author with the colors that meets his expectations and a content, which he considers to be appropriate. Among the data available it was considered the use of satellite images of the terrain in real colors and, in the form of shaded relief, digital terrain models with different resolutions of the terrain mesh. Specifically the considered data were: MODIS, Landsat 8, GTOPO-30, SRTM-30, SRTM-1, SRTM-3, ASTER. For the test area the island of Cyprus was chosen because of the importance in tourism, a relatively small area and a clearly defined boundary. In the paper there are shown and discussed various options of the Cyprus terrain image obtained synthetically from variants of Modis, Landsat and digital elevation models of different resolutions.

An efficient approach for site-specific scenery prediction in surveillance imaging near Earth's surface

NASA Astrophysics Data System (ADS)

Jylhä, Juha; Marjanen, Kalle; Rantala, Mikko; Metsäpuro, Petri; Visa, Ari

2006-09-01

Surveillance camera automation and camera network development are growing areas of interest. This paper proposes a competent approach to enhance the camera surveillance with Geographic Information Systems (GIS) when the camera is located at the height of 10-1000 m. A digital elevation model (DEM), a terrain class model, and a flight obstacle register comprise exploited auxiliary information. The approach takes into account spherical shape of the Earth and realistic terrain slopes. Accordingly, considering also forests, it determines visible and shadow regions. The efficiency arises out of reduced dimensionality in the visibility computation. Image processing is aided by predicting certain advance features of visible terrain. The features include distance from the camera and the terrain or object class such as coniferous forest, field, urban site, lake, or mast. The performance of the approach is studied by comparing a photograph of Finnish forested landscape with the prediction. The predicted background is well-fitting, and potential knowledge-aid for various purposes becomes apparent.

Analysing wind farm efficiency on complex terrains

NASA Astrophysics Data System (ADS)

Castellani, Francesco; Astolfi, Davide; Terzi, Ludovico; Schaldemose Hansen, Kurt; Sanz Rodrigo, Javier

2014-06-01

Actual performances of onshore wind farms are deeply affected both by wake interactions and terrain complexity: therefore monitoring how the efficiency varies with the wind direction is a crucial task. Polar efficiency plot is therefore a useful tool for monitoring wind farm performances. The approach deserves careful discussion for onshore wind farms, where orography and layout commonly affect performance assessment. The present work deals with three modern wind farms, owned by Sorgenia Green, located on hilly terrains with slopes from gentle to rough. Further, onshore wind farm of Nprrekffir Enge has been analysed as a reference case: its layout is similar to offshore wind farms and the efficiency is mainly driven by wakes. It is shown and justified that terrain complexity imposes a novel and more consistent way for defining polar efficiency. Dependency of efficiency on wind direction, farm layout and orography is analysed and discussed. Effects of atmospheric stability have been also investigated through MERRA reanalysis data from NASA satellites. Monin-Obukhov Length has been used to discriminate climate regimes.

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

Rao, N.S.V.; Kareti, S.; Shi, Weimin

A formal framework for navigating a robot in a geometric terrain by an unknown set of obstacles is considered. Here the terrain model is not a priori known, but the robot is equipped with a sensor system (vision or touch) employed for the purpose of navigation. The focus is restricted to the non-heuristic algorithms which can be theoretically shown to be correct within a given framework of models for the robot, terrain and sensor system. These formulations, although abstract and simplified compared to real-life scenarios, provide foundations for practical systems by highlighting the underlying critical issues. First, the authors considermore » the algorithms that are shown to navigate correctly without much consideration given to the performance parameters such as distance traversed, etc. Second, they consider non-heuristic algorithms that guarantee bounds on the distance traversed or the ratio of the distance traversed to the shortest path length (computed if the terrain model is known). Then they consider the navigation of robots with very limited computational capabilities such as finite automata, etc.« less

Large eddy simulation modeling of particle-laden flows in complex terrain

NASA Astrophysics Data System (ADS)

Salesky, S.; Giometto, M. G.; Chamecki, M.; Lehning, M.; Parlange, M. B.

2017-12-01

The transport, deposition, and erosion of heavy particles over complex terrain in the atmospheric boundary layer is an important process for hydrology, air quality forecasting, biology, and geomorphology. However, in situ observations can be challenging in complex terrain due to spatial heterogeneity. Furthermore, there is a need to develop numerical tools that can accurately represent the physics of these multiphase flows over complex surfaces. We present a new numerical approach to accurately model the transport and deposition of heavy particles in complex terrain using large eddy simulation (LES). Particle transport is represented through solution of the advection-diffusion equation including terms that represent gravitational settling and inertia. The particle conservation equation is discretized in a cut-cell finite volume framework in order to accurately enforce mass conservation. Simulation results will be validated with experimental data, and numerical considerations required to enforce boundary conditions at the surface will be discussed. Applications will be presented in the context of snow deposition and transport, as well as urban dispersion.

Spacecraft studies of PHOBOS and Mars

NASA Astrophysics Data System (ADS)

Murray, Bruce C.

Utilizing the Termoskan data set of the Phobos '88 mission we have recognized a new feature on Mars: Ejecta blanket Distinct In the THermal infrared (EDITH). Virtually all of the more than one hundred of these features discovered in the Termoskan data are located on the plains near Valles Manneris. EDITH's have a startlingly clear dependence upon terrains of Hesperian age, implying a spatial or temporal dependence on Hesperian terrains. Almost no thermally distinct ejecta blankets are associated with any of the thousands of craters within the data set that occur on the older Noachian units. EDITH's also do not appear on the portions of the younger Tharsis Amazonian units seen in the data. The Hesperian terrain dependence cannot be explained by either atmospheric or impactor variations; Noachian and Hesperian terrains must have experienced identical atmospheric and impactor conditions during Hesperian times. Thermally distinct eject a blankets therefore reflect target material differences and/or secondary modification processes. A further discussion of EIDTH's is presented.

Automatic Computer Mapping of Terrain

NASA Technical Reports Server (NTRS)

Smedes, H. W.

1971-01-01

Computer processing of 17 wavelength bands of visible, reflective infrared, and thermal infrared scanner spectrometer data, and of three wavelength bands derived from color aerial film has resulted in successful automatic computer mapping of eight or more terrain classes in a Yellowstone National Park test site. The tests involved: (1) supervised and non-supervised computer programs; (2) special preprocessing of the scanner data to reduce computer processing time and cost, and improve the accuracy; and (3) studies of the effectiveness of the proposed Earth Resources Technology Satellite (ERTS) data channels in the automatic mapping of the same terrain, based on simulations, using the same set of scanner data. The following terrain classes have been mapped with greater than 80 percent accuracy in a 12-square-mile area with 1,800 feet of relief; (1) bedrock exposures, (2) vegetated rock rubble, (3) talus, (4) glacial kame meadow, (5) glacial till meadow, (6) forest, (7) bog, and (8) water. In addition, shadows of clouds and cliffs are depicted, but were greatly reduced by using preprocessing techniques.

An open source high-performance solution to extract surface water drainage networks from diverse terrain conditions

USGS Publications Warehouse

Stanislawski, Larry V.; Survila, Kornelijus; Wendel, Jeffrey; Liu, Yan; Buttenfield, Barbara P.

2018-01-01

This paper describes a workflow for automating the extraction of elevation-derived stream lines using open source tools with parallel computing support and testing the effectiveness of procedures in various terrain conditions within the conterminous United States. Drainage networks are extracted from the US Geological Survey 1/3 arc-second 3D Elevation Program elevation data having a nominal cell size of 10 m. This research demonstrates the utility of open source tools with parallel computing support for extracting connected drainage network patterns and handling depressions in 30 subbasins distributed across humid, dry, and transitional climate regions and in terrain conditions exhibiting a range of slopes. Special attention is given to low-slope terrain, where network connectivity is preserved by generating synthetic stream channels through lake and waterbody polygons. Conflation analysis compares the extracted streams with a 1:24,000-scale National Hydrography Dataset flowline network and shows that similarities are greatest for second- and higher-order tributaries.

Causes of accidents in terrain parks: an exploratory factor analysis of recreational freestylers' views.

PubMed

Carús, Luis

2014-03-01

This study examines ski and snowboard terrain park users' views on aspects associated with accidents by identifying and assessing variables that may influence the occurrence of accidents and the resulting injuries. The research was conducted in a major resort in the Spanish Pyrenees, using information gathered from freestyle skiers and snowboarders aged 6 or older. To identify interrelationships among variables and to group the variables belonging to unified concepts, an exploratory factor analysis was performed using varimax rotation. The results revealed 5 factors that grouped the measured variables that may influence the occurrence of accidents while freestyling in terrain parks. The park features, conditions of the activity, and the user's personal conditions were found to have the most substantial influence on the freestylers' perceptions. Variables identified as components of the main factors of accident risk in terrain parks should be incorporated into resort management communication and policies. © 2013 Wilderness Medical Society Published by Wilderness Medical Society All rights reserved.

A Height Estimation Approach for Terrain Following Flights from Monocular Vision.

PubMed

Campos, Igor S G; Nascimento, Erickson R; Freitas, Gustavo M; Chaimowicz, Luiz

2016-12-06

In this paper, we present a monocular vision-based height estimation algorithm for terrain following flights. The impressive growth of Unmanned Aerial Vehicle (UAV) usage, notably in mapping applications, will soon require the creation of new technologies to enable these systems to better perceive their surroundings. Specifically, we chose to tackle the terrain following problem, as it is still unresolved for consumer available systems. Virtually every mapping aircraft carries a camera; therefore, we chose to exploit this in order to use presently available hardware to extract the height information toward performing terrain following flights. The proposed methodology consists of using optical flow to track features from videos obtained by the UAV, as well as its motion information to estimate the flying height. To determine if the height estimation is reliable, we trained a decision tree that takes the optical flow information as input and classifies whether the output is trustworthy or not. The classifier achieved accuracies of 80 % for positives and 90 % for negatives, while the height estimation algorithm presented good accuracy.

Challenges in Understanding and Forecasting Winds in Complex Terrain.

NASA Astrophysics Data System (ADS)

Mann, J.; Fernando, J.; Wilczak, J. M.

2017-12-01

An overview will be given of some of the challenges in understanding and forecasting winds in complex terrain. These challenges can occur for several different reasons including 1) gaps in our understanding of fundamental physical boundary layer processes occurring in complex terrain; 2) a lack of adequate parameterizations and/or numerical schemes in NWP models; and 3) inadequate observations for initialization of NWP model forecasts. Specific phenomena that will be covered include topographic wakes/vortices, cold pools, gap flows, and mountain-valley winds, with examples taken from several air quality and wind energy related field programs in California as well as from the recent Second Wind Forecast Improvement Program (WFIP2) field campaign in the Columbia River Gorge/Basin area of Washington and Oregon States. Recent parameterization improvements discussed will include those for boundary layer turbulence, including 3D turbulence schemes, and gravity wave drag. Observational requirements for improving wind forecasting in complex terrain will be discussed, especially in the context of forecasting pressure gradient driven gap flow events.

Topological Landscapes: A Terrain Metaphor for ScientificData

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

Weber, Gunther H.; Bremer, Peer-Timo; Pascucci, Valerio

2007-08-01

Scientific visualization and illustration tools are designed to help people understand the structure and complexity of scientific data with images that are as informative and intuitive as possible. In this context, the use of metaphors plays an important role, since they make complex information easily accessible by using commonly known concepts. In this paper we propose a new metaphor, called 'Topological Landscapes', which facilitates understanding the topological structure of scalar functions. The basic idea is to construct a terrain with the same topology as a given dataset and to display the terrain as an easily understood representation of the actualmore » input data. In this projection from an n-dimensional scalar function to a two-dimensional (2D) model we preserve function values of critical points, the persistence (function span) of topological features, and one possible additional metric property (in our examples volume). By displaying this topologically equivalent landscape together with the original data we harness the natural human proficiency in understanding terrain topography and make complex topological information easily accessible.« less

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

Jones, Benjamin M.; Grosse, Guido; Arp, Christopher D.

Fire-induced permafrost degradation is well documented in boreal forests, but the role of fires in initiating thermokarst development in Arctic tundra is less well understood. Here we show that Arctic tundra fires may induce widespread thaw subsidence of permafrost terrain in the first seven years following the disturbance. Quantitative analysis of airborne LiDAR data acquired two and seven years post-fire, detected permafrost thaw subsidence across 34% of the burned tundra area studied, compared to less than 1% in similar undisturbed, ice-rich tundra terrain units. The variability in thermokarst development appears to be influenced by the interaction of tundra fire burnmore » severity and near-surface, ground-ice content. Subsidence was greatest in severely burned, ice-rich upland terrain (yedoma), accounting for -50% of the detected subsidence, despite representing only 30% of the fire disturbed study area. Microtopography increased by 340% in this terrain unit as a result of ice wedge degradation. Increases in the frequency, magnitude, and severity of tundra fires will contribute to future thermokarst development and associated landscape change in Arctic tundra regions.« less

Flight Test Evaluation of Synthetic Vision Concepts at a Terrain Challenged Airport

NASA Technical Reports Server (NTRS)

Kramer, Lynda J.; Prince, Lawrence J., III; Bailey, Randell E.; Arthur, Jarvis J., III; Parrish, Russell V.

2004-01-01

NASA's Synthetic Vision Systems (SVS) Project is striving to eliminate poor visibility as a causal factor in aircraft accidents as well as enhance operational capabilities of all aircraft through the display of computer generated imagery derived from an onboard database of terrain, obstacle, and airport information. To achieve these objectives, NASA 757 flight test research was conducted at the Eagle-Vail, Colorado airport to evaluate three SVS display types (Head-up Display, Head-Down Size A, Head-Down Size X) and two terrain texture methods (photo-realistic, generic) in comparison to the simulated Baseline Boeing-757 Electronic Attitude Direction Indicator and Navigation/Terrain Awareness and Warning System displays. The results of the experiment showed significantly improved situation awareness, performance, and workload for SVS concepts compared to the Baseline displays and confirmed the retrofit capability of the Head-Up Display and Size A SVS concepts. The research also demonstrated that the tunnel guidance display concept used within the SVS concepts achieved required navigation performance (RNP) criteria.

Mapping Nearby Terrain in 3D by Use of a Grid of Laser Spots

NASA Technical Reports Server (NTRS)

Padgett, Curtis; Liebe, Carl; Chang, Johnny; Brown, Kenneth

2007-01-01

A proposed optoelectronic system, to be mounted aboard an exploratory robotic vehicle, would be used to generate a three-dimensional (3D) map of nearby terrain and obstacles for purposes of navigating the vehicle across the terrain and avoiding the obstacles. The difference between this system and the other systems would lie in the details of implementation. In this system, the illumination would be provided by a laser. The beam from the laser would pass through a two-dimensional diffraction grating, which would divide the beam into multiple beams propagating in different, fixed, known directions. These beams would form a grid of bright spots on the nearby terrain and obstacles. The centroid of each bright spot in the image would be computed. For each such spot, the combination of (1) the centroid, (2) the known direction of the light beam that produced the spot, and (3) the known baseline would constitute sufficient information for calculating the 3D position of the spot.

Global terrain classification using Multiple-Error-Removed Improved-Terrain (MERIT) to address susceptibility of landslides and other geohazards

NASA Astrophysics Data System (ADS)

Iwahashi, J.; Yamazaki, D.; Matsuoka, M.; Thamarux, P.; Herrick, J.; Yong, A.; Mital, U.

2017-12-01

A seamless model of landform classifications with regional accuracy will be a powerful platform for geophysical studies that forecast geologic hazards. Spatial variability as a function of landform on a global scale was captured in the automated classifications of Iwahashi and Pike (2007) and additional developments are presented here that incorporate more accurate depictions using higher-resolution elevation data than the original 1-km scale Shuttle Radar Topography Mission digital elevation model (DEM). We create polygon-based terrain classifications globally by using the 280-m DEM interpolated from the Multi-Error-Removed Improved-Terrain DEM (MERIT; Yamazaki et al., 2017). The multi-scale pixel-image analysis method, known as Multi-resolution Segmentation (Baatz and Schäpe, 2000), is first used to classify the terrains based on geometric signatures (slope and local convexity) calculated from the 280-m DEM. Next, we apply the machine learning method of "k-means clustering" to prepare the polygon-based classification at the globe-scale using slope, local convexity and surface texture. We then group the divisions with similar properties by hierarchical clustering and other statistical analyses using geological and geomorphological data of the area where landslides and earthquakes are frequent (e.g. Japan and California). We find the 280-m DEM resolution is only partially sufficient for classifying plains. We nevertheless observe that the categories correspond to reported landslide and liquefaction features at the global scale, suggesting that our model is an appropriate platform to forecast ground failure. To predict seismic amplification, we estimate site conditions using the time-averaged shear-wave velocity in the upper 30-m (VS30) measurements compiled by Yong et al. (2016) and the terrain model developed by Yong (2016; Y16). We plan to test our method on finer resolution DEMs and report our findings to obtain a more globally consistent terrain model as there are known errors in DEM derivatives at higher-resolutions. We expect the improvement in DEM resolution (4 times greater detail) and the combination of regional and global coverage will yield a consistent dataset of polygons that have the potential to improve relations to the Y16 estimates significantly.

Metabolic Costs of Military Load Carriage over Complex Terrain.

PubMed

Looney, David P; Santee, William R; Karis, Anthony J; Blanchard, Laurie A; Rome, Maxwell N; Carter, Alyssa J; Potter, Adam W

2018-05-31

Dismounted military operations often involve prolonged load carriage over complex terrain, which can result in excessive metabolic costs that can directly impair soldiers' performance. Although estimating these demands is a critical interest for mission planning purposes, it is unclear whether existing estimation equations developed from controlled laboratory- and field-based studies accurately account for energy costs of traveling over complex terrain. This study investigated the accuracy of the following equations for military populations when applied to data collected over complex terrain with two different levels of load carriage: American College of Sports Medicine (2002), Givoni and Goldman (1971), Jobe and White (2009), Minetti et al (2002), Pandolf et al (1977), and Santee et al (2003). Nine active duty military personnel (age 21 ± 3 yr; height 1.72 ± 0.07 m; body mass 83.4 ± 12.9 kg; VO2 max 47.8 ± 3.9 mL/kg/min) were monitored during load carriage (with loads equal to 30% and 45% of body mass) over a 10-km mixed terrain course on two separate test days. The course was divided into four 2.5-km laps of 40 segments based on distance, grade, and/or surface factors. Timing gates and radio-frequency identification cards (SportIdent; Scarborough Orienteering, Huntington Beach, CA) were used to record completion times for each course segment. Breath-by-breath measures of energy expenditure were collected using portable oxygen exchange devices (COSMED Sri., Rome, Italy) and compared model estimates. The Santee et al equation performed best, demonstrating the smallest estimation bias (-13 ± 87 W) and lowest root mean square error (99 W). Current predictive equations underestimate the metabolic cost of load carriage by military personnel over complex terrain. Applying the Santee et al correction factor to the Pandolf et al equation may be the most suitable approach for estimating metabolic demands in these circumstances. However, this work also outlines the need for improvements to these methods, new method development and validation, or the use of a multi-model approach to account for mixed terrain.

Intercomparison of terrain-following coordinate transformation and immersed boundary methods in large-eddy simulation of wind fields over complex terrain

NASA Astrophysics Data System (ADS)

Fang, Jiannong; Porté-Agel, Fernando

2016-09-01

Accurate modeling of complex terrain, especially steep terrain, in the simulation of wind fields remains a challenge. It is well known that the terrain-following coordinate transformation method (TFCT) generally used in atmospheric flow simulations is restricted to non-steep terrain with slope angles less than 45 degrees. Due to the advantage of keeping the basic computational grids and numerical schemes unchanged, the immersed boundary method (IBM) has been widely implemented in various numerical codes to handle arbitrary domain geometry including steep terrain. However, IBM could introduce considerable implementation errors in wall modeling through various interpolations because an immersed boundary is generally not co-located with a grid line. In this paper, we perform an intercomparison of TFCT and IBM in large-eddy simulation of a turbulent wind field over a three-dimensional (3D) hill for the purpose of evaluating the implementation errors in IBM. The slopes of the three-dimensional hill are not steep and, therefore, TFCT can be applied. Since TFCT is free from interpolation-induced implementation errors in wall modeling, its results can serve as a reference for the evaluation so that the influence of errors from wall models themselves can be excluded. For TFCT, a new algorithm for solving the pressure Poisson equation in the transformed coordinate system is proposed and first validated for a laminar flow over periodic two-dimensional hills by comparing with a benchmark solution. For the turbulent flow over the 3D hill, the wind-tunnel measurements used for validation contain both vertical and horizontal profiles of mean velocities and variances, thus allowing an in-depth comparison of the numerical models. In this case, TFCT is expected to be preferable to IBM. This is confirmed by the presented results of comparison. It is shown that the implementation errors in IBM lead to large discrepancies between the results obtained by TFCT and IBM near the surface. The effects of different schemes used to implement wall boundary conditions in IBM are studied. The source of errors and possible ways to improve the IBM implementation are discussed.

Platform for Testing Robotic Vehicles on Simulated Terrain

NASA Technical Reports Server (NTRS)

Lindemann, Randel

2006-01-01

The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes. The VTTP consists mostly of a 16-ft-(4.88-m)-square tilt table. The tilt can be adjusted to any angle between 0 (horizontal) and 25 . The test surface of the table can be left bare; can be covered with hard, high-friction material; or can be covered with sand, gravel, and/or other ground-simulating material or combination of materials to a thickness of as much as 6 in. (approx. 15 cm). Models of rocks, trenches, and other obstacles can be placed on the simulated terrain. For example, for one of the Mars- Rover tests, a high-friction mat was attached to the platform, then a 6-in.- ( 15 cm) deep layer of dry, loose beach sand was deposited on the mat. The choice of these two driving surface materials was meant to bound the range of variability of terrain that the rover was expected to encounter on the Martian surface. At each of the different angles at which tests were performed, for some of the tests, rocklike concrete obstacles ranging in height from 10 to 25 cm were placed in the path of the rover (see figure). The development of the VTTP was accompanied by development of a methodology of testing to characterize the performance and modes of failure of a vehicle under test. In addition to variations in slope, ground material, and obstacles, testing typically includes driving up-slope, down-slope, cross-slope, and at intermediate angles relative to slope. Testing includes recording of drive-motor currents, wheel speeds, articulation of suspension mechanisms, and the actual path of the vehicle over the simulated terrain. The collected data can be used to compute curves that summarize torque, speed, power-demand, and slip characteristics of wheels during the traverse.

Cryovolcanic Resurfacing on Pluto

NASA Astrophysics Data System (ADS)

Singer, K. N.; Schenk, P.; White, O. L.; Moore, J. M.; McKinnon, W. B.; Grundy, W. M.; Spencer, J. R.; Stern, A.; Cook, J. C.; Nimmo, F.; Howard, A. D.; Cruikshank, D. P.; Beyer, R. A.; Umurhan, O. M.; Lauer, T.; Weaver, H. A., Jr.; Young, L. A.; Ennico Smith, K.

2017-12-01

Pluto displays several different young geologic terrains with few-to-no identifiable impact craters. Distinct terrains to the southwest of the informally named Sputnik Planitia may have been resurfaced by cryovolcanic processes, of a type and scale so far unique to Pluto [1,2]. The most prominent structures are two very large mounds with deep central depressions. The informally named Wright Mons stands 4 km high and the main mound spans 150 km and Piccard Mons is 7 km high and 225 km wide. Hummocky terrain with a characteristic wavelength of 8-12 km covers the flanks of Wright Mons and much of the surrounding terrain. Smaller boulders, blocks, slabs, or ridges on the order of a few km are superimposed on the hummocks. The large-scale slopes across the broad flanks of the Wright Mons are 3-5°. The central depression walls are typically 10°, but reach 20° in some locations. A number of other cavi or irregular depressions of various sizes (a few to 30 km) are scattered throughout the terrain and do not appear to be impact craters. There are few signs of potential individual flows but the large-scale hummocky texture is suggestive of viscous flow. We will explore a number of potential mechanisms for creation of Wright and Piccard Mons and the nearby terrains. These unique terrains present modeling challenges for building relatively young, large cryovolcanic constructs on outer solar system bodies. Tidal heating is thought to end early in Pluto-system history [3] and radiogenic heating levels are relatively low [4], although a subsurface ocean may still persist into the present day [5]. We will discuss the possible volcanic materials on Pluto and their mobility under different heating scenarios, as well as other possible emplacement processes. [1] Moore et al., (2016) Science 351, 1284-1293. [2] Singer et al. (2016) LPSC absract 47, 2276. [3] Cheng et al. (2014) Icarus 233, 242-258. [4] McKinnon et al. (1997) In: Stern, S.A., Tholen, D.J. (Eds.), Pluto and Charon. UofA Press, 295-343. [5] Robuchon and Nimmo (2011) Icarus 216, 426-439.

Bathymetric Terrain Model of the Puerto Rico Trench and the Northeastern Caribbean Region for Marine Geological Investigations

USGS Publications Warehouse

Andrews, Brian D.; ten Brink, Uri S.; Danforth, William W.; Chaytor, Jason D.; Granja-Bruna, J; Carbo-Gorosabel, A

2014-01-01

Multibeam bathymetry data collected in the Puerto Rico Trench and Northeast Caribbean region are compiled into a seamless bathymetric terrain model for broad-scale geological investigations of the trench system. These data, collected during eight separate surveys between 2002 and 2013, covering almost 180,000 square kilometers are published here in large format map sheet and digital spatial data. This report describes the common multibeam data collection, and processing methods used to produce the bathymetric terrain model and corresponding data source polygon. Details documenting the complete provenance of the data are also provided in the metadata in the Data Catalog section.

Analysis and Testing of a LIDAR-Based Approach to Terrain Relative Navigation for Precise Lunar Landing

NASA Technical Reports Server (NTRS)

Johnson, Andrew E.; Ivanov, Tonislav I.

2011-01-01

To increase safety and land near pre-deployed resources, future NASA missions to the moon will require precision landing. A LIDAR-based terrain relative navigation (TRN) approach can achieve precision landing under any lighting conditions. This paper presents results from processing flash lidar and laser altimeter field test data that show LIDAR TRN can obtain position estimates less than 90m while automatically detecting and eliminating incorrect measurements using internal metrics on terrain relief and data correlation. Sensitivity studies show that the algorithm has no degradation in matching performance with initial position uncertainties up to 1.6 km

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.

High-gain Antenna & Terrain

NASA Image and Video Library

1997-07-06

Areas of rocky Martian terrain are seen in this image, taken by the Imager for Mars Pathfinder (IMP) on Sol 2. Portions of a lander petal and deflated airbag are at lower left. The dark disk at center is the high-gain antenna, and the silver cylindrical objects at upper right are part of the antenna's mechanism. An area of relatively smooth terrain is seen at upper right, which may offer clues to how this area was formed, and may be a future target for Sojourner's studies. The black area at lower right and small strip at top center is missing data. http://photojournal.jpl.nasa.gov/catalog/PIA00625

Fretted Terrain Valleys

NASA Technical Reports Server (NTRS)

2004-01-01

30 October 2004 This Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) image shows shallow tributary valleys in the Ismenius Lacus fretted terrain region of northern Arabia Terra. These valleys exhibit a variety of typical fretted terrain valley wall and floor textures, including a lineated, pitted material somewhat reminiscent of the surface of a brain. Origins for these features are still being debated within the Mars science community; there are no clear analogs to these landforms on Earth. This image is located near 39.9oN, 332.1oW. The picture covers an area about 3 km (1.9 mi) wide. Sunlight illuminates the scene from the lower left.

Refining Landsat classification results using digital terrain data

USGS Publications Warehouse

Miller, Wayne A.; Shasby, Mark

1982-01-01

 Scientists at the U.S. Geological Survey's Earth Resources Observation systems (EROS) Data Center have recently completed two land-cover mapping projects in which digital terrain data were used to refine Landsat classification results. Digital ter rain data were incorporated into the Landsat classification process using two different procedures that required developing decision criteria either subjectively or quantitatively. The subjective procedure was used in a vegetation mapping project in Arizona, and the quantitative procedure was used in a forest-fuels mapping project in Montana. By incorporating digital terrain data into the Landsat classification process, more spatially accurate landcover maps were produced for both projects.

Landsat analysis of tropical forest succession employing a terrain model

NASA Technical Reports Server (NTRS)

Barringer, T. H.; Robinson, V. B.; Coiner, J. C.; Bruce, R. C.

1980-01-01

Landsat multispectral scanner (MSS) data have yielded a dual classification of rain forest and shadow in an analysis of a semi-deciduous forest on Mindonoro Island, Philippines. Both a spatial terrain model, using a fifth side polynomial trend surface analysis for quantitatively estimating the general spatial variation in the data set, and a spectral terrain model, based on the MSS data, have been set up. A discriminant analysis, using both sets of data, has suggested that shadowing effects may be due primarily to local variations in the spectral regions and can therefore be compensated for through the decomposition of the spatial variation in both elevation and MSS data.

General aviation accidents, 1983-1994 : identification of factors related to controlled-flight-into-terrain (CFIT) accidents

DOT National Transportation Integrated Search

1997-07-01

The purpose of this report is to describe the characteristics of general aviation (GA) accidents and to identify factors : related to the occurrence of controlled-flight-into-terrain (CFIT) accidents in GA. : This study used the National Transportati...

Digital elevation modeling via curvature interpolation for lidar data

USDA-ARS?s Scientific Manuscript database

Digital elevation model (DEM) is a three-dimensional (3D) representation of a terrain's surface - for a planet (including Earth), moon, or asteroid - created from point cloud data which measure terrain elevation. Its modeling requires surface reconstruction for the scattered data, which is an ill-p...

Map Reading beyond Information Given: The Expert Orienteers' Internal Knowledge about Terrain.

ERIC Educational Resources Information Center

Murakoshi, Shin

1990-01-01

Compares novice and expert orienteers' map interpretation skills. Subjects asked to judge terrain from maps, including conditions inferable without corresponding map symbols. Experts' interpretation of identical symbols implies use of experiential knowledge. Internal knowledge characteristics discussed in terms of episodic-semantic memory…

How environmental justice patterns are shaped by place: terrain and tree canopy in Cincinnati, Ohio, USA

EPA Science Inventory

Understanding the spatial distribution of environmental amenities requires consideration of social and biogeophysical factors, and how they interact to produce patterns of environmental justice or injustice. In this study, we explicitly account for terrain, a key local environmen...

Mountain Biking: Does Rough Terrain Make Rugged Riders?

ERIC Educational Resources Information Center

Cinque, Chris

1987-01-01

No formal research has been conducted on the training effects and injury risks of all-terrain bicycles in mountain biking, but experience indicates they are apparently safe and may provide greater fitness benefits than traditional bicycles. The bicycles are described, and their apparent benefits are discussed. (MT)

Active formation of 'chaos terrain' over shallow subsurface water on Europa.

PubMed

Schmidt, B E; Blankenship, D D; Patterson, G W; Schenk, P M

2011-11-16

Europa, the innermost icy satellite of Jupiter, has a tortured young surface and sustains a liquid water ocean below an ice shell of highly debated thickness. Quasi-circular areas of ice disruption called chaos terrains are unique to Europa, and both their formation and the ice-shell thickness depend on Europa's thermal state. No model so far has been able to explain why features such as Conamara Chaos stand above surrounding terrain and contain matrix domes. Melt-through of a thin (few-kilometre) shell is thermodynamically improbable and cannot raise the ice. The buoyancy of material rising as either plumes of warm, pure ice called diapirs or convective cells in a thick (>10 kilometres) shell is insufficient to produce the observed chaos heights, and no single plume can create matrix domes. Here we report an analysis of archival data from Europa, guided by processes observed within Earth's subglacial volcanoes and ice shelves. The data suggest that chaos terrains form above liquid water lenses perched within the ice shell as shallow as 3 kilometres. Our results suggest that ice-water interactions and freeze-out give rise to the diverse morphologies and topography of chaos terrains. The sunken topography of Thera Macula indicates that Europa is actively resurfacing over a lens comparable in volume to the Great Lakes in North America. ©2011 Macmillan Publishers Limited. All rights reserved

Planning Routes Across Economic Terrains: Maximizing Utility, Following Heuristics

PubMed Central

Zhang, Hang; Maddula, Soumya V.; Maloney, Laurence T.

2010-01-01

We designed an economic task to investigate human planning of routes in landscapes where travel in different kinds of terrain incurs different costs. Participants moved their finger across a touch screen from a starting point to a destination. The screen was divided into distinct kinds of terrain and travel within each kind of terrain imposed a cost proportional to distance traveled. We varied costs and spatial configurations of terrains and participants received fixed bonuses minus the total cost of the routes they chose. We first compared performance to a model maximizing gain. All but one of 12 participants failed to adopt least-cost routes and their failure to do so reduced their winnings by about 30% (median value). We tested in detail whether participants’ choices of routes satisfied three necessary conditions (heuristics) for a route to maximize gain. We report failures of one heuristic for 7 out of 12 participants. Last of all, we modeled human performance with the assumption that participants assign subjective utilities to costs and maximize utility. For 7 out 12 participants, the fitted utility function was an accelerating power function of actual cost and for the remaining 5, a decelerating power function. We discuss connections between utility aggregation in route planning and decision under risk. Our task could be adapted to investigate human strategy and optimality of route planning in full-scale landscapes. PMID:21833269

Evidence for Possible Exposed Water Ice Deposits in Martian Low Latitude Chasms and Chaos

NASA Technical Reports Server (NTRS)

Leovy, C.; Wood, S. E.; Catling, D.; Montgomery, D. R.; Moore, J.; Barnhart, C.; Ginder, E.; Louie, M.

2004-01-01

A light-toned interior layer deposit (ILD) on the floor of the deep martian depression Juventae Chasma is found to have a relatively high thermal inertia approx. 500 J m(exp -2) s(exp -1/2) K(exp -1). This could imply rock, but is also similar to the average value of thermal inertia found for north polar layered deposits. Furthermore, ILD-B is found to exhibit a bluff and terrace structure . A terrace structure arises naturally in model simulations of the sublimation of large ice deposits. Such a staircase terrain, of course, is a further characteristic of north polar layered terrain. Morphological similarity, thermal inertia in the range of thermal inertias of the north polar cap layered terrain, and relatively high albedo lead us to propose that the ILD-B may consist of residual water ice partially covered by, and perhaps mixed with, varying amounts of dust or sand. Other ILDs (A-C) are also found in Juventae Chasma. While these ILDs lack the close morphological resemblance to the north polar cap, they share many other common features and appear to be part of the same formation. Similar ILDs are found in chaotic terrain elsewhere in the martian tropics. This leads us to propose that water ice may exist in the martian tropics today and may be implicit in the formation of chaotic terrain.

Strike-Slip Faulting Processes on Ganymede: Global Morphological Mapping and Structural Interpretation of Grooved and Transitional Terrains

NASA Astrophysics Data System (ADS)

Burkhard, L. M.; Cameron, M. E.; Smith-Konter, B. R.; Seifert, F.; Pappalardo, R. T.; Collins, G. C.

2015-12-01

Ganymede's fractured surface reveals many large-scale, morphologically distinct regions of inferred distributed shear and strike-slip faulting that may be important to the structural development of its surface and in the transition from dark to light (grooved) materials. To better understand the role of strike-slip tectonism in shaping Ganymede's complex icy surface, we perform a detailed mapping of key examples of strike-slip morphologies (i.e., en echelon structures, strike-slip duplexes, laterally offset pre-existing features, and possible strained craters) from Galileo and Voyager images. We focus on complex structures associated with grooved terrain (e.g. Nun Sulcus, Dardanus Sulcus, Tiamat Sulcus, and Arbela Sulcus) and terrains transitional from dark to light terrain (e.g. the boundary between Nippur Sulcus and Marius Regio, including Byblus Sulcus and Philus Sulcus). Detailed structural interpretations suggest strong evidence of strike-slip faulting in some regions (i.e., Nun and Dardanus Sulcus); however, further investigation of additional strike-slip structures is required of less convincing regions (i.e., Byblus Sulcus). Where applicable, these results are synthesized into a global database representing an inferred sense of shear for many of Ganymede's fractures. Moreover, when combined with existing observations of extensional features, these results help to narrow down the range of possible principal stress directions that could have acted at the regional or global scale to produce grooved terrain on Ganymede.

Ray craters on Ganymede: Implications for cratering apex-antapex asymmetry and surface modification processes

NASA Astrophysics Data System (ADS)

Xu, Luyuan; Hirata, Naoyuki; Miyamoto, Hideaki

2017-10-01

As the youngest features on Ganymede, ray craters are useful in revealing the sources of recent impactors and surface modification processes on the satellite. We examine craters with D > 10 km on Ganymede from images obtained by the Voyager and Galileo spacecraft to identify ray craters and study their spatial distributions. Furthermore, we carefully select images of appropriate solar and emission angles to obtain unbiased ray crater densities. As a result, we find that the density of large ray craters (D > 25 km) on the bright terrain exhibits an apex-antapex asymmetry, and its degree of asymmetry is much lower than the theoretical estimation for ecliptic comets. For large craters (D > 25 km), ecliptic comets ought to be less important than previously assumed, and a possible explanation is that nearly isotropic comets may play a more important role on Ganymede than previously thought. We also find that small ray craters (10 km < D < 25 km) on the bright terrain and ray craters (D > 10 km) on the dark terrain show no apex-antapex asymmetry. We interpret that the distribution difference between the terrain types comes from preferential thermal sublimation on the dark terrain, while the distribution difference between large and small ray craters suggests that rays of small craters are more readily erased by some surface modification processes, such as micrometeorite gardening.

Accuracy Assessment of Lidar-Derived Digital Terrain Model (dtm) with Different Slope and Canopy Cover in Tropical Forest Region

NASA Astrophysics Data System (ADS)

Salleh, M. R. M.; Ismail, Z.; Rahman, M. Z. A.

2015-10-01

Airborne Light Detection and Ranging (LiDAR) technology has been widely used recent years especially in generating high accuracy of Digital Terrain Model (DTM). High density and good quality of airborne LiDAR data promises a high quality of DTM. This study focussing on the analysing the error associated with the density of vegetation cover (canopy cover) and terrain slope in a LiDAR derived-DTM value in a tropical forest environment in Bentong, State of Pahang, Malaysia. Airborne LiDAR data were collected can be consider as low density captured by Reigl system mounted on an aircraft. The ground filtering procedure use adaptive triangulation irregular network (ATIN) algorithm technique in producing ground points. Next, the ground control points (GCPs) used in generating the reference DTM and these DTM was used for slope classification and the point clouds belong to non-ground are then used in determining the relative percentage of canopy cover. The results show that terrain slope has high correlation for both study area (0.993 and 0.870) with the RMSE of the LiDAR-derived DTM. This is similar to canopy cover where high value of correlation (0.989 and 0.924) obtained. This indicates that the accuracy of airborne LiDAR-derived DTM is significantly affected by terrain slope and canopy caver of study area.

Learning for Autonomous Navigation

NASA Technical Reports Server (NTRS)

Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

2005-01-01

Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

Digital terrain tapes: user guide

USGS Publications Warehouse

,

1980-01-01

DMATC's digital terrain tapes are a by-product of the agency's efforts to streamline the production of raised-relief maps. In the early 1960's DMATC developed the Digital Graphics Recorder (DGR) system that introduced new digitizing techniques and processing methods into the field of three-dimensional mapping. The DGR system consisted of an automatic digitizing table and a computer system that recorded a grid of terrain elevations from traces of the contour lines on standard topographic maps. A sequence of computer accuracy checks was performed and then the elevations of grid points not intersected by contour lines were interpolated. The DGR system produced computer magnetic tapes which controlled the carving of plaster forms used to mold raised-relief maps. It was realized almost immediately that this relatively simple tool for carving plaster molds had enormous potential for storing, manipulating, and selectively displaying (either graphically or numerically) a vast number of terrain elevations. As the demand for the digital terrain tapes increased, DMATC began developing increasingly advanced digitizing systems and now operates the Digital Topographic Data Collection System (DTDCS). With DTDCS, two types of data elevations as contour lines and points, and stream and ridge lines are sorted, matched, and resorted to obtain a grid of elevation values for every 0.01 inch on each map (approximately 200 feet on the ground). Undefined points on the grid are found by either linear or or planar interpolation.

Turbulence structure of the near-surface boundary layer in complex terrain

NASA Astrophysics Data System (ADS)

Sfyri, Eleni; Rotach, Mathias Walter; Stiperski, Ivana; Bosveld, Fred; Lehner, Manuela; Obleitner, Friedrich

2017-04-01

Monin-Obukhov Similarity Theory (MOST) is evaluated in two cases: truly complex terrain (CT) and horizontally inhomogeneous and flat (HIF) terrain. CT data are derived from 5 measurement sites, which differ in terms of slope, orientation and surface roughness at the Inn Valley of Austria (i-Box) and HIF data come from one measurement site at the Cabauw experimental site (Netherlands). The applicability of the surface-layer, 'ideal' similarity relations is examined for both data-sets and the non-dimensional variances of temperature and humidity as a function of stability (z/L, where L is the Obukhov length) are compared for each type of terrain. Large deviations from the reference curves in case of temperature are observed in both CT and HIF, leading to the conclusion that these deviations are not due to the complex terrain but due to inappropriate near-neutral description of the reference curves. It is found here that the non-dimensional temperature variance exhibits a -1 slope in the near-neutral region, for both CT and HIF datasets. In addition, the constant-fluxes hypothesis of the MOST is evaluated at one i-Box site. It is found that only about 1% of the data show constant momentum, sensible and latent heat fluxes with height. Therefore, local scaling instead of surface layer scaling is being used in this study.

Galileo photometry of asteroid 243 Ida

USGS Publications Warehouse

Helfenstein, P.; Veverka, J.; Thomas, P.C.; Simonelli, D.P.; Klaasen, K.; Johnson, T.V.; Fanale, F.; Granahan, J.; McEwen, A.S.; Belton, M.; Chapman, C.

1996-01-01

Galileo imaging observations over phase angles 19.5?? to 109.8?? are combined with near-opposition Earth-based data to derive the photometric properties of Ida. To first order these properties are uniform over the surface and well modeled at ?? = 0.55 ??m by Hapke parameters ????0 = 0.22, h = 0.020, B0 = 1.5, g = -0.33, and ?? = 18?? with corresponding geometric albedo p = 0.21??0.030.01 and Bond albedo AB = 0.081??0.0170.008. Ida's photometric properties are more similar to those of "average S-asteroids" (P. Helfenstein and J. Veverka 1989, Asteroids II, Univ. of Arizona Press, Tucson) than are those of 951 Gaspra. Two primary color units are identified on Ida: Terrain A exhibits a spectrum with relatively shallower 1-??m absorption and a relatively steeper red spectral slope than average Ida, while Terrain B has a deeper 1-??m absorption and a less steep red slope. The average photometric properties of Ida and Terrain A are similar while those of Terrain B differ mostly in having a slightly higher value of ????0 (0.22 versus 0.21), suggesting that Terrain B consists of slightly brighter, more transparent regolith particles. Galileo observations of Ida's satellite Dactyl over phase angles 19.5?? to 47.6?? suggest photometric characteristics similar to those of Ida, the major difference being Dactyl's slightly lower albedo (0.20 compared to 0.21). ?? 1990 Academic Press, Inc.

Terrain Models in Field Geology Courses.

ERIC Educational Resources Information Center

Whittecar, G. Richard

1984-01-01

Describes a terrain model for geologic mapping which, when combined with exercises in rock description, Brunton compass manipulation, orienteering, and geologic report writing, allows students to refine skills needed for summer field camp. Advantages and limitations of the model and its use in a field course are also discussed. (BC)

Discourse-Centric Learning Analytics: Mapping the Terrain

ERIC Educational Resources Information Center

Knight, Simon; Littleton, Karen

2015-01-01

There is an increasing interest in developing learning analytic techniques for the analysis, and support of, high-quality learning discourse. This paper maps the terrain of discourse-centric learning analytics (DCLA), outlining the distinctive contribution of DCLA and outlining a definition for the field moving forwards. It is our claim that DCLA…

Laser Altimeter for Flight Simulator

NASA Technical Reports Server (NTRS)

Webster, L. D.

1986-01-01

Height of flight-simulator probe above model of terrain measured by automatic laser triangulation system. Airplane simulated by probe that moves over model of terrain. Altitude of airplane scaled from height of probe above model. Height measured by triangulation of laser beam aimed at intersection of model surface with plumb line of probe.

Comparative readability of enroute low altitude charts with and without terrain depiction.

DOT National Transportation Integrated Search

1978-04-01

The U.S. National Ocean Survey has issued an experimental copy of Enroute Low Altitude Chart L-3/4 dated April 21, 1977, as part of a program to explore the feasibility of introducing terrain depiction on the charts. The FAA's Air Traffic Service (AA...

Informal Karst Education in the United States and Internationally

ERIC Educational Resources Information Center

North, Leslie A.

2011-01-01

Despite the abundance of karst terrains and the important role they play in a wide variety of roles including supplying freshwater drinking supplies, no single, comprehensive study investigates the role of informal education for the improved understanding and protection of the terrains. Commonly overlooked anthropogenic karst disturbances…

Group Dynamics and Decision Making: Backcountry Recreationists in Avalanche Terrain

ERIC Educational Resources Information Center

Bright, Leslie Shay

2010-01-01

The purpose of this study was to describe and determine the prevalence of decision-making characteristics of recreational backcountry groups when making a decision of where to travel and ride in avalanche terrain from the perspective of individuals. Decision-making characteristics encompassed communication, decision-making processes, leadership,…

Map-Reading Skill Development with 3D Technologies

ERIC Educational Resources Information Center

Carbonell Carrera, Carlos; Avarvarei, Bogdan Vlad; Chelariu, Elena Liliana; Draghia, Lucia; Avarvarei, Simona Catrinel

2017-01-01

Landforms often are represented on maps using abstract cartographic techniques that the reader must interpret for successful three-dimensional terrain visualization. New technologies in 3D landscape representation, both digital and tangible, offer the opportunity to visualize terrain in new ways. The results of a university student workshop, in…

Targeting for Effect Analytical Framework for Counterland Operations

DTIC Science & Technology

1998-05-01

battlefield. Statistics from World War II show that in open terrain about 75 percent of combat casualties were caused by artillery; in mixed terrain this...34Petroleum as a Center of Gravity," Strategic Structures AY 96 Coursebook (Maxwell AFB, Ala.: Air Command and Staff College, 1996), 628. 31. Dunnigan, 458

Design and Flight Evaluation of an Integrated Navigation and Near-Terrain Helicopter Guidance System for Nighttime and Adverse Weather Operations

DOT National Transportation Integrated Search

1994-08-01

NASA and the U.S. Army have designed, developed, and flight evaluated a : Computer Aiding for Low-Altitude Helicopter Flight (CALAHF) guidance system. : This system provides guidance to the pilot for near-terrain covert helicopter : operations. It au...

Remote sensing of earth terrain

NASA Technical Reports Server (NTRS)

Kong, Jin AU; Yueh, Herng-Aung; Shin, Robert T.

1991-01-01

Abstracts from 46 refereed journal and conference papers are presented for research on remote sensing of earth terrain. The topics covered related to remote sensing include the following: mathematical models, vegetation cover, sea ice, finite difference theory, electromagnetic waves, polarimetry, neural networks, random media, synthetic aperture radar, electromagnetic bias, and others.

Impacts of terrain attributes on economics and the environment: Costs of reducing potential nitrogen pollution in wheat production

USDA-ARS?s Scientific Manuscript database

The economic cost of achieving desired environmental outcomes from uniform and variable rate fertilizer application technologies depends both on market forces and agronomic properties. Using spatial econometric methods, we analyze the impact of nitrogen fertilizer supply by terrain attribute on the...

Navigating the Bio-Politics of Childhood

ERIC Educational Resources Information Center

Lee, Nick; Motzkau, Johanna

2011-01-01

Childhood research has long shared a bio-political terrain with state agencies in which children figure primarily as "human futures". In the 20th century bio-social dualism helped to make that terrain navigable by researchers, but, as life processes increasingly become key sites of bio-political action, bio-social dualism is becoming…

Performance of a Battery Electric Vehicle in the Cold Climate and Hilly Terrain of Vermont

DOT National Transportation Integrated Search

2008-12-23

The goal of this research project was to determine the performance of a battery electric vehicle (BEV) in the cold climate and hilly terrain of Vermont. For this study, a 2005 Toyota Echo was converted from an internal combustion engine (ICE) vehicle...

Terrain matching image pre-process and its format transform in autonomous underwater navigation

NASA Astrophysics Data System (ADS)

Cao, Xuejun; Zhang, Feizhou; Yang, Dongkai; Yang, Bogang

2007-06-01

Underwater passive navigation technology is one of the important development orientations in the field of modern navigation. With the advantage of high self-determination, stealth at sea, anti-jamming and high precision, passive navigation is completely meet with actual navigation requirements. Therefore passive navigation has become a specific navigating method for underwater vehicles. The scientists and researchers in the navigating field paid more attention to it. The underwater passive navigation can provide accurate navigation information with main Inertial Navigation System (INS) for a long period, such as location and speed. Along with the development of micro-electronics technology, the navigation of AUV is given priority to INS assisted with other navigation methods, such as terrain matching navigation. It can provide navigation ability for a long period, correct the errors of INS and make AUV not emerge from the seabed termly. With terrain matching navigation technique, in the assistance of digital charts and ocean geographical characteristics sensors, we carry through underwater image matching assistant navigation to obtain the higher location precision, therefore it is content with the requirement of underwater, long-term, high precision and all-weather of the navigation system for Autonomous Underwater Vehicles. Tertian-assistant navigation (TAN) is directly dependent on the image information (map information) in the navigating field to assist the primary navigation system according to the path appointed in advance. In TAN, a factor coordinative important with the system operation is precision and practicability of the storable images and the database which produce the image data. If the data used for characteristics are not suitable, the system navigation precision will be low. Comparing with terrain matching assistant navigation system, image matching navigation system is a kind of high precision and low cost assistant navigation system, and its matching precision directly influences the final precision of integrated navigation system. Image matching assistant navigation is spatially matching and aiming at two underwater scenery images coming from two different sensors matriculating of the same scenery in order to confirm the relative displacement of the two images. In this way, we can obtain the vehicle's location in fiducial image known geographical relation, and the precise location information given from image matching location is transmitted to INS to eliminate its location error and greatly enhance the navigation precision of vehicle. Digital image data analysis and processing of image matching in underwater passive navigation is important. In regard to underwater geographic data analysis, we focus on the acquirement, disposal, analysis, expression and measurement of database information. These analysis items structure one of the important contents of underwater terrain matching and are propitious to know the seabed terrain configuration of navigation areas so that the best advantageous seabed terrain district and dependable navigation algorithm can be selected. In this way, we can improve the precision and reliability of terrain assistant navigation system. The pre-process and format transformation of digital image during underwater image matching are expatiated in this paper. The information of the terrain status in navigation areas need further study to provide the reliable data terrain characteristic and underwater overcast for navigation. Through realizing the choice of sea route, danger district prediction and navigating algorithm analysis, TAN can obtain more high location precision and probability, hence provide technological support for image matching of underwater passive navigation.

Terrain Modelling for Immersive Visualization for the Mars Exploration Rovers

NASA Technical Reports Server (NTRS)

Wright, J.; Hartman, F.; Cooper, B.; Maxwell, S.; Yen, J.; Morrison, J.

2004-01-01

Immersive environments are being used to support mission operations at the Jet Propulsion Laboratory. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover and is being used for the Mars Exploration Rover (MER) missions. The stereo imagery captured by the rovers is used to create 3D terrain models, which can be viewed from any angle, to provide a powerful and information rich immersive visualization experience. These technologies contributed heavily to both the mission success and the phenomenal level of public outreach achieved by Mars Pathfinder and MER. This paper will review the utilization of terrain modelling for immersive environments in support of MER.

ARC-1986-A86-7031

NASA Image and Video Library

1986-01-26

P-29515 BW Range: 42,000 kilometers (26,000 miles) This image of Miranda, obtained by Voyager 2 on approach, shows an unusual 'chevron' figure and regions of distinctly differing terrain on the Uranian moon. Grooved areas baring light and dark bands, distinct from other areas of mottled terrain, are visible at this resolution of about 600 meters (2,000 feet). The bright V-shaped feature in the grooved areas is the 'cheron' observed in earlier, lower-resolution images. Cutting across the bands are sinuous scarps, probably faults. Superimposed on both types of terrain are many bowl-shaped impact craters less than 5 km (3 mi) wide. The entire picture spans an area about 220 km (140 mi) across.