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.

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.

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

NASA Astrophysics Data System (ADS)

Comin Cabrera, Francisco Jose

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

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

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.

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

Data-Driven Surface Traversability Analysis for Mars 2020 Landing Site Selection

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Rothrock, Brandon; Almeida, Eduardo; Ansar, Adnan; Otero, Richard; Huertas, Andres; Heverly, Matthew

2015-01-01

The objective of this paper is three-fold: 1) to describe the engineering challenges in the surface mobility of the Mars 2020 Rover mission that are considered in the landing site selection processs, 2) to introduce new automated traversability analysis capabilities, and 3) to present the preliminary analysis results for top candidate landing sites. The analysis capabilities presented in this paper include automated terrain classification, automated rock detection, digital elevation model (DEM) generation, and multi-ROI (region of interest) route planning. These analysis capabilities enable to fully utilize the vast volume of high-resolution orbiter imagery, quantitatively evaluate surface mobility requirements for each candidate site, and reject subjectivity in the comparison between sites in terms of engineering considerations. The analysis results supported the discussion in the Second Landing Site Workshop held in August 2015, which resulted in selecting eight candidate sites that will be considered in the third workshop.

Superficial Deposits at Gusev Crater Along Spirit Rover Traverses

NASA Technical Reports Server (NTRS)

Grant, J. A.; Arvidson, R.; Bell, J. F., III; Cabrol, N. A.; Carr, M. H.; Christensen, P.; Crumpler, L.; DesMarsais, D.; Ehlmann, B. L.; Ming, Douglas W.

2004-01-01

The Mars Exploration Rover Spirit has traversed a fairly flat, rock-strewn terrain whose surface is shaped primarily by impact events, although some of the landscape has been altered by eolian processes.Impacts ejected basaltic rocks that probably were part of locally formed lava flows from at least 10 meters depth.Some rocks have been textured and/or partially buried by windblown sediments less than 2 millimeters in diameter that concentrate within shallow, partially filled, circular impact depressions referred to as hollows.The terrain traversed during the 90-sol (martian solar day) nominal mission shows no evidence for an ancient lake in Gusev crater.

Surficial deposits at Gusev crater along Spirit Rover traverses

USGS Publications Warehouse

Grant, J. A.; Arvidson, R.; Bell, J.F.; Cabrol, N.A.; Carr, M.H.; Christensen, P.; Crumpler, L.; Des Marais, D.J.; Ehlmann, B.L.; Farmer, J.; Golombek, M.; Grant, F.D.; Greeley, R.; Herkenhoff, K.; Li, R.; McSween, H.Y.; Ming, D. W.; Moersch, J.; Rice, J. W.; Ruff, S.; Richter, L.; Squyres, S.; Sullivan, R.; Weitz, C.

2004-01-01

The Mars Exploration Rover Spirit has traversed a fairly flat, rock-strewn terrain whose surface is shaped primarily by impact events, although some of the landscape has been altered by eolian processes. Impacts ejected basaltic rocks that probably were part of locally formed lava flows from at least 10 meters depth. Some rocks have been textured and/or partially buried by windblown sediments less than 2 millimeters in diameter that concentrate within shallow, partially filled, circular impact depressions referred to as hollows. The terrain traversed during the 90-sol (martian solar day) nominal mission shows no evidence for an ancient lake in Gusev crater.

Learning to predict slip for ground robots

NASA Technical Reports Server (NTRS)

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

2006-01-01

In this paper we predict the amount of slip an exploration rover would experience using stereo imagery by learning from previous examples of traversing similar terrain. To do that, the information of terrain appearance and geometry regarding some location is correlated to the slip measured by the rover while this location is being traversed. This relationship is learned from previous experience, so slip can be predicted later at a distance from visual information only.

Induced vibrations facilitate traversal of cluttered obstacles

NASA Astrophysics Data System (ADS)

Thoms, George; Yu, Siyuan; Kang, Yucheng; Li, Chen

When negotiating cluttered terrains such as grass-like beams, cockroaches and legged robots with rounded body shapes most often rolled their bodies to traverse narrow gaps between beams. Recent locomotion energy landscape modeling suggests that this locomotor pathway overcomes the lowest potential energy barriers. Here, we tested the hypothesis that body vibrations induced by intermittent leg-ground contact facilitate obstacle traversal by allowing exploration of locomotion energy landscape to find this lowest barrier pathway. To mimic a cockroach / legged robot pushing against two adjacent blades of grass, we developed an automated robotic system to move an ellipsoidal body into two adjacent beams, and varied body vibrations by controlling an oscillation actuator. A novel gyroscope mechanism allowed the body to freely rotate in response to interaction with the beams, and an IMU and cameras recorded the motion of the body and beams. We discovered that body vibrations facilitated body rolling, significantly increasing traversal probability and reducing traversal time (P <0.0001, ANOVA). Traversal probability increased with and traversal time decreased with beam separation. These results confirmed our hypothesis and support the plausibility of locomotion energy landscapes for understanding the formation of locomotor pathways in complex 3-D terrains.

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.

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.;

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.

Terrain physical properties derived from orbital data and the first 360 sols of Mars Science Laboratory Curiosity rover observations in Gale Crater

NASA Astrophysics Data System (ADS)

Arvidson, R. E.; Bellutta, P.; Calef, F.; Fraeman, A. A.; Garvin, J. B.; Gasnault, O.; Grant, J. A.; Grotzinger, J. P.; Hamilton, V. E.; Heverly, M.; Iagnemma, K. A.; Johnson, J. R.; Lanza, N.; Le Mouélic, S.; Mangold, N.; Ming, D. W.; Mehta, M.; Morris, R. V.; Newsom, H. E.; Rennó, N.; Rubin, D.; Schieber, J.; Sletten, R.; Stein, N. T.; Thuillier, F.; Vasavada, A. R.; Vizcaino, J.; Wiens, R. C.

2014-06-01

Physical properties of terrains encountered by the Curiosity rover during the first 360 sols of operations have been inferred from analysis of the scour zones produced by Sky Crane Landing System engine plumes, wheel touch down dynamics, pits produced by Chemical Camera (ChemCam) laser shots, rover wheel traverses over rocks, the extent of sinkage into soils, and the magnitude and sign of rover-based slippage during drives. Results have been integrated with morphologic, mineralogic, and thermophysical properties derived from orbital data, and Curiosity-based measurements, to understand the nature and origin of physical properties of traversed terrains. The hummocky plains (HP) landing site and traverse locations consist of moderately to well-consolidated bedrock of alluvial origin variably covered by slightly cohesive, hard-packed basaltic sand and dust, with both embedded and surface-strewn rock clasts. Rock clasts have been added through local bedrock weathering and impact ejecta emplacement and form a pavement-like surface in which only small clasts (<5 to 10 cm wide) have been pressed into the soil during wheel passages. The bedded fractured (BF) unit, site of Curiosity's first drilling activity, exposes several alluvial-lacustrine bedrock units with little to no soil cover and varying degrees of lithification. Small wheel sinkage values (<1 cm) for both HP and BF surfaces demonstrate that compaction resistance countering driven-wheel thrust has been minimal and that rover slippage while traversing across horizontal surfaces or going uphill, and skid going downhill, have been dominated by terrain tilts and wheel-surface material shear modulus values.

Driving ATHLETE: Analysis of Operational Efficiency

NASA Technical Reports Server (NTRS)

Townsend, Julie; Mittman, David

2012-01-01

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) is a modular mobility and manipulation platform being developed to support NASA operations in a variety of missions, including exploration of planetary surfaces. The agile system consists of a symmetrical arrangement of six limbs, each with seven articulated degrees of freedom and a powered wheel. This design enables transport of bulky payloads over a wide range of terrain and is envisioned as a tool to mobilize habitats, power-generation equipment, and other supplies for long-range exploration and outpost construction. In FY2010, ATHLETE traversed more than 80 km in field environments over eight weeks of testing, demonstrating that the concept is well suited to long-range travel. Although ATHLETE is designed to travel at speeds of up to 5 kilometers per hour, the observed average traverse rate during field-testing rarely exceeded 1.5 kilometers per hour. This paper investigates sources of inefficiency in ATHLETE traverse operations and identifies targets for improvement of overall traverse rate.

Driving ATHLETE: Analysis of Operational Efficiency

NASA Technical Reports Server (NTRS)

Townsend, Julie; Mittman, David

2012-01-01

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) is a modular mobility and manipulation platform being developed to support NASA operations in a variety of missions, including exploration of planetary surfaces. The agile system consists of a symmetrical arrangement of six limbs, each with seven articulated degrees of freedom and a powered wheel. This design enables transport of bulky payloads over a wide range of terrain and is envisioned as a tool to mobilize habitats, power-generation equipment, and other supplies for long-range exploration and outpost construction. In 2010, ATHLETE traversed more than 80 km in field environments over eight weeks of testing, demonstrating that the concept is well suited to long-range travel. However, while ATHLETE is designed to travel at speeds of up to 5 kilometers per hour, the observed average traverse rate during field-testing rarely exceeded 1.5 kilometers per hour. This paper investigates sources of inefficiency in ATHLETE traverse operations and identifies targets for improvement of overall traverse rate.

Dynamic traversal of large gaps by insects and legged robots reveals a template.

PubMed

Gart, Sean W; Yan, Changxin; Othayoth, Ratan; Ren, Zhiyi; Li, Chen

2018-02-02

It is well known that animals can use neural and sensory feedback via vision, tactile sensing, and echolocation to negotiate obstacles. Similarly, most robots use deliberate or reactive planning to avoid obstacles, which relies on prior knowledge or high-fidelity sensing of the environment. However, during dynamic locomotion in complex, novel, 3D terrains, such as a forest floor and building rubble, sensing and planning suffer bandwidth limitation and large noise and are sometimes even impossible. Here, we study rapid locomotion over a large gap-a simple, ubiquitous obstacle-to begin to discover the general principles of the dynamic traversal of large 3D obstacles. We challenged the discoid cockroach and an open-loop six-legged robot to traverse a large gap of varying length. Both the animal and the robot could dynamically traverse a gap as large as one body length by bridging the gap with its head, but traversal probability decreased with gap length. Based on these observations, we developed a template that accurately captured body dynamics and quantitatively predicted traversal performance. Our template revealed that a high approach speed, initial body pitch, and initial body pitch angular velocity facilitated dynamic traversal, and successfully predicted a new strategy for using body pitch control that increased the robot's maximal traversal gap length by 50%. Our study established the first template of dynamic locomotion beyond planar surfaces, and is an important step in expanding terradynamics into complex 3D terrains.

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

Nesnas, Issa A.; Pivtoraiko, Mihail N.; Kelly, Alonzo; Fleder, Michael

2012-01-01

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Predicting Long-Range Traversability from Short-Range Stereo-Derived Geometry

NASA Technical Reports Server (NTRS)

Turmon, Michael; Tang, Benyang; Howard, Andrew; Brjaracharya, Max

2010-01-01

Based only on its appearance in imagery, this program uses close-range 3D terrain analysis to produce training data sufficient to estimate the traversability of terrain beyond 3D sensing range. This approach is called learning from stereo (LFS). In effect, the software transfers knowledge from middle distances, where 3D geometry provides training cues, into the far field where only appearance is available. This is a viable approach because the same obstacle classes, and sometimes the same obstacles, are typically present in the mid-field and the farfield. Learning thus extends the effective look-ahead distance of the sensors.

Insects traversing grass-like vertical compliant beams

NASA Astrophysics Data System (ADS)

Li, Chen; Fearing, Ronald; Full, Robert

2014-03-01

Small running animals encounter many challenging terrains. These terrains can be filled with 3D, multi-component obstacles. Here, we study cockroaches (Blaberus discoidalis) moving through grass-like vertical compliant beams during escape. We created an apparatus to control and vary geometric parameters and mechanical properties of model grass including height, width, thickness, lateral and fore-aft spacings, angle, number of layers, stiffness, and damping. We observed a suite of novel locomotor behaviors not previously described on simpler 2D ground. When model grass height was >2 × body length and lateral spacing was <0.5 × body width, the animal primarily (probability P = 50%) rolled its body onto its side to rapidly (time t = 2.1 s) maneuver through the gaps between model grass. We developed a simple energy minimization model, and found that body roll reduces the energy barriers that the animal must overcome during traversal. We hypothesized that the animal's ellipsoidal body shape facilitated traversal. To test our hypothesis, we modified body shape by adding either a rectangular or an oval plate onto its dorsal surface, and found that P dropped by an order of magnitude and t more than doubled. Upon removal of either plate, both P and t recovered. Locomotor kinematics and geometry effectively coupled to terrain properties enables negotiation of 3D, multi-component obstacles, and provides inspiration for small robots to navigate such terrain with minimal sensing and control.

Traverse velocity maps for human exploration

NASA Astrophysics Data System (ADS)

Heinicke, Christiane; Johnston, Carmel; Sefton-Nash, Elliot; Foing, Bernard

2017-04-01

It is often proposed that humans are more effective and efficient in conducting exploratory work during planetary missions than rovers. However, even humans are hindered by the restrictions of their suits and by necessary precautions to ensure the astronauts' safety. During the 12-month simulation at the Hawaii Space Exploration Analog and Simulation facility, several members of the six-person crew conducted a large number of exploratory expeditions under conditions similar to a Mars crew. Over the course of 145 extra-vehicular activities (EVAs), they traversed several thousand kilometers of various types of terrain. The actual walking speeds of the crew members have been correlated with different properties of the terrain as determined from field excursions and remote sensing. The resulting terrain and velocity maps can be used both for ground truthing of satellite imagery, and potential EVA planning on celestial bodies.

Rover Graphical Simulator

NASA Technical Reports Server (NTRS)

Bon, Bruce; Seraji, Homayoun

2007-01-01

Rover Graphical Simulator (RGS) is a package of software that generates images of the motion of a wheeled robotic exploratory vehicle (rover) across terrain that includes obstacles and regions of varying traversability. The simulated rover moves autonomously, utilizing reasoning and decision-making capabilities of a fuzzy-logic navigation strategy to choose its path from an initial to a final state. RGS provides a graphical user interface for control and monitoring of simulations. The numerically simulated motion is represented as discrete steps with a constant time interval between updates. At each simulation step, a dot is placed at the old rover position and a graphical symbol representing the rover is redrawn at the new, updated position. The effect is to leave a trail of dots depicting the path traversed by the rover, the distances between dots being proportional to the local speed. Obstacles and regions of low traversability are depicted as filled circles, with buffer zones around them indicated by enclosing circles. The simulated robot is equipped with onboard sensors that can detect regional terrain traversability and local obstacles out to specified ranges. RGS won the NASA Group Achievement Award in 2002.

Infantry Weapons Test Methodology Study. Volume 3. Light Machine Gun Test Methodology

DTIC Science & Technology

1972-06-01

Trajjectnry and marionim ordiwate. to the target increases beyond 500 meters, the beaten zone will become shorter and wider. When fires are de - livered into...traversing amount of elevation change is de - handwheel. To insure adequate tar- termined by the slope of the terrain get coverage, a burst is fired after and...to the traversing handwheel. The 6-mii increments on the traversing amount of elevation change Is de - handwheel. To insure adequate tar- termined by

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

DspaceOgreTerrain 3D Terrain Visualization Tool

NASA Technical Reports Server (NTRS)

Myint, Steven; Jain, Abhinandan; Pomerantz, Marc I.

2012-01-01

DspaceOgreTerrain is an extension to the DspaceOgre 3D visualization tool that supports real-time visualization of various terrain types, including digital elevation maps, planets, and meshes. DspaceOgreTerrain supports creating 3D representations of terrains and placing them in a scene graph. The 3D representations allow for a continuous level of detail, GPU-based rendering, and overlaying graphics like wheel tracks and shadows. It supports reading data from the SimScape terrain- modeling library. DspaceOgreTerrain solves the problem of displaying the results of simulations that involve very large terrains. In the past, it has been used to visualize simulations of vehicle traverses on Lunar and Martian terrains. These terrains were made up of billions of vertices and would not have been renderable in real-time without using a continuous level of detail rendering technique.

Transforming Roving-Rolling Explorer (TRREx) for Planetary Exploration

NASA Astrophysics Data System (ADS)

Edwin, Lionel Ernest

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 many scientifically interesting missions require exploration platforms with capabilities for navigating such types of chaotic 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 dissertation proposes and analyses 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 novel 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 work presents the proposed design architecture and capabilities followed by the development of mathematical models and experiments that facilitate the mobility analysis of the TRREx in the rolling mode. The ability of the rover to self-propel in the rolling mode in the absence of a negative gradient increases its versatility and concept value. Therefore, a dynamic model of a planar version of the problem is first used to investigate the feasibility and value of such self-propelled locomotion - 'actuated rolling'. Construction and testing of a prototype Planar/Cylindrical TRREx that is capable of demonstrating actuated rolling is presented, and the results from the planar dynamic model are experimentally validated. This planar model is then built upon to develop a mathematical model of the spherical TRREx in the rolling mode, i.e. when the rover is a sphere and can steer itself through actuations that shift its center of mass to achieve the desired direction of roll. Case studies that demonstrate the capabilities of the rover in rolling mode and parametric analyses that investigate the dependence of the rover's mobility on its design are 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. It represents an important step toward developing a rover capable of traversing a variety of terrains that are impassible by the current fleet of rover designs, and thus has the potential to revolutionize planetary surface exploration.

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.

Learning for autonomous navigation : extrapolating from underfoot to the far field

NASA Technical Reports Server (NTRS)

Matthies, Larry; Turmon, Michael; Howard, Andrew; Angelova, Anelia; Tang, Benyang; Mjolsness, Eric

2005-01-01

Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter. Enabling robots to learn from experience may alleviate both of these problems. We define two paradigms for this, learning from 3-D geometry and learning from proprioception, and describe initial instantiations of them we have developed under DARPA and NASA programs. Field test results show promise for learning traversability of vegetated terrain, learning to extend the lookahead range of the vision system, and learning how slip varies with slope.

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.

Obstacle Classification and 3D Measurement in Unstructured Environments Based on ToF Cameras

PubMed Central

Yu, Hongshan; Zhu, Jiang; Wang, Yaonan; Jia, Wenyan; Sun, Mingui; Tang, Yandong

2014-01-01

Inspired by the human 3D visual perception system, we present an obstacle detection and classification method based on the use of Time-of-Flight (ToF) cameras for robotic navigation in unstructured environments. The ToF camera provides 3D sensing by capturing an image along with per-pixel 3D space information. Based on this valuable feature and human knowledge of navigation, the proposed method first removes irrelevant regions which do not affect robot's movement from the scene. In the second step, regions of interest are detected and clustered as possible obstacles using both 3D information and intensity image obtained by the ToF camera. Consequently, a multiple relevance vector machine (RVM) classifier is designed to classify obstacles into four possible classes based on the terrain traversability and geometrical features of the obstacles. Finally, experimental results in various unstructured environments are presented to verify the robustness and performance of the proposed approach. We have found that, compared with the existing obstacle recognition methods, the new approach is more accurate and efficient. PMID:24945679

FIDO prototype Mars rover field trials, Black Rock Summit, Nevada, as test of the ability of robotic mobility systems to conduct field science

NASA Astrophysics Data System (ADS)

Arvidson, R. E.; Squyres, S. W.; Baumgartner, E. T.; Schenker, P. S.; Niebur, C. S.; Larsen, K. W.; SeelosIV, F. P.; Snider, N. O.; Jolliff, B. L.

2002-08-01

The Field Integration Design and Operations (FIDO) prototype Mars rover was deployed and operated remotely for 2 weeks in May 2000 in the Black Rock Summit area of Nevada. The blind science operation trials were designed to evaluate the extent to which FIDO-class rovers can be used to conduct traverse science and collect samples. FIDO-based instruments included stereo cameras for navigation and imaging, an infrared point spectrometer, a color microscopic imager for characterization of rocks and soils, and a rock drill for core acquisition. Body-mounted ``belly'' cameras aided drill deployment, and front and rear hazard cameras enabled terrain hazard avoidance. Airborne Visible and Infrared Imaging Spectrometer (AVIRIS) data, a high spatial resolution IKONOS orbital image, and a suite of descent images were used to provide regional- and local-scale terrain and rock type information, from which hypotheses were developed for testing during operations. The rover visited three sites, traversed 30 m, and acquired 1.3 gigabytes of data. The relatively small traverse distance resulted from a geologically rich site in which materials identified on a regional scale from remote-sensing data could be identified on a local scale using rover-based data. Results demonstrate the synergy of mapping terrain from orbit and during descent using imaging and spectroscopy, followed by a rover mission to test inferences and to make discoveries that can be accomplished only with surface mobility systems.

Shape-assisted body reorientation enhances trafficability through cluttered terrain

NASA Astrophysics Data System (ADS)

Li, Chen; Pullin, Andrew; Haldane, Duncan; Fearing, Ronald; Full, Robert

2014-11-01

Many birds and fishes have slender, streamlined bodies that reduce fluid dynamic drag and allow fast and efficient locomotion. Similarly, numerous terrestrial animals run through cluttered terrain where 3-D, multi-component obstacles like grass, bushes, trees, walls, doors, and pillars also resist motion, but it is unknown whether their body shape plays a major role. Here, we challenged discoid cockroaches that possess a rounded, thin, nearly ellipsoidal body to run through tall, narrowly spaced, grass-like beams. The animals primarily rolled their body to the side to maneuver through the obstacle gaps. Reduction of body roundness by artificial shells inhibited this side roll maneuver, resulting in a lower traversal probability and a longer traversal time (P < 0.001, ANOVA). Inspired by this discovery, we added a cockroach-like, rounded exoskeleton shell to a legged robot of a nearly cuboidal body. The rounded shell enabled the robot to use passive side rolling to maneuver through beams. To explain the mechanism, we developed a simple physics model to construct an energy landscape of the body-terrain interaction, which allowed estimation of body forces and torques exerted by the beams. Our model revealed that, by passive interaction with the terrain, a rounded body (ellipsoid) rolled more easily than an angular body (cuboid) to access energy valleys between energy barriers caused by obstacles. Our study is the first to demonstrate that a terradynamically ``streamlined'' shape can reduce terrain resistance and enhance trafficability by assisting body reorientation.

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

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

Planning Minimum-Energy Paths in an Off-Road Environment with Anisotropic Traversal Costs and Motion Constraints

DTIC Science & Technology

1989-06-01

problems, and (3) weighted-region problems. Since the minimum-energy path-planning problem addressed in this dissertation is a hybrid between the two...contains components that are strictly vehicle dependent, components that are strictly terrain dependent, and components representing a hybrid of...Single Segment Braking/Multiple Segment Hybrid Using Eq. (3.46), the traversal cost U 1,.-1 can be rewritten as Uop- 1 = mgD Itan01 , (4.12a) and the

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.

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.

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.

Robust, Flexible Motion Control for the Mars Explorer Rovers

NASA Technical Reports Server (NTRS)

Maimone, Mark; Biesiadecki, Jeffrey

2007-01-01

The Mobility Flight Software, running on computers aboard the Mars Explorer Rover (MER) robotic vehicles Spirit and Opportunity, affords the robustness and flexibility of control to enable safe and effective operation of these vehicles in traversing natural terrain. It can make the vehicles perform specific maneuvers commanded from Earth, and/or can autonomously administer multiple aspects of mobility, including choice of motion, measurement of actual motion, and even selection of targets to be approached. Motion of a vehicle can be commanded by use of multiple layers of control, ranging from motor control at a low level, direct drive operations (e.g., motion along a circular arc, motion along a straight line, or turn in place) at an intermediate level to goal-position driving (that is, driving to a specified location) at a high level. The software can also perform high-level assessment of terrain and selection of safe paths across the terrain: this involves processing of the digital equivalent of a local traversability map generated from images acquired by stereoscopic pairs of cameras aboard the vehicles. Other functions of the software include interacting with the rest of the MER flight software and performing safety checks.

Push-Pull Locomotion for Vehicle Extrication

NASA Technical Reports Server (NTRS)

Creager, Colin M.; Johnson, Kyle A.; Plant, Mark; Moreland, Scott J.; Skonieczny, Krzysztof

2014-01-01

For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. Typically, this risk can be reduced by using feedback from on-board sensors that assess the terrain. This work addressed the situations where a vehicle has already become immobilized or the desired route cannot be traversed using conventional rolling. Specifically, the focus was on using push-pull locomotion in high sinkage granular material. Push-pull locomotion is an alternative mode of travel that generates thrust through articulated motion, using vehicle components as anchors to push or pull against. It has been revealed through previous research that push-pull locomotion has the capacity for generating higher net traction forces than rolling, and a unique optical flow technique indicated that this is the result of a more efficient soil shearing method. It has now been found that pushpull locomotion results in less sinkage, lower travel reduction, and better power efficiency in high sinkage material as compared to rolling. Even when starting from an "entrapped" condition, push-pull locomotion was able to extricate the test vehicle. It is the authors' recommendation that push-pull locomotion be considered as a reliable back-up mode of travel for applications where terrain entrapment is a possibility.

Scout Rover Applications for Forward Acquisition of Soil and Terrain Data

NASA Astrophysics Data System (ADS)

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

2014-04-01

As opposed to the present mars exploration missions future mission concepts ask for a fast and safe traverse through vast and varied expanses of terrain. As seen during the Mars Exploration Rover (MER) mission the rovers suffered a lack of detailed soil and terrain information which caused Spirit to get permanently stuck in soft soil. The goal of the FASTER1 EU-FP7 project is to improve the mission safety and the effective traverse speed for planetary rover exploration by determining the traversability of the terrain and lowering the risk to enter hazardous areas. To achieve these goals, a scout rover will be used for soil and terrain sensing ahead of the main rover. This paper describes a highly mobile, and versatile micro scout rover that is used for soil and terrain sensing and is able to co-operate with a primary rover as part of the FASTER approach. The general reference mission idea and concept is addressed within this paper along with top-level requirements derived from the proposed ESA/NASA Mars Sample Return mission (MSR) [4]. Following the mission concept and requirements [3], a concept study for scout rover design and operations has been performed [5]. Based on this study the baseline for the Coyote II rover was designed and built as shown in Figure 1. Coyote II is equipped with a novel locomotion concept, providing high all terrain mobility and allowing to perform side-to-side steering maneuvers which reduce the soil disturbance as compared to common skid steering [6]. The rover serves as test platform for various scout rover application tests ranging from locomotion testing to dual rover operations. From the lessons learned from Coyote II and for an enhanced design, a second generation rover (namely Coyote III) as shown in Figure 2 is being built. This rover serves as scout rover platform for the envisaged FASTER proof of concept field trials. The rover design is based on the test results gained by the Coyote II trials. Coyote III is equipped with two soil sensors,(1) the Wheel Leg Soil Interaction Observation (WLSIO) system, and (2) a Dynamic Plate (DP). These two soil sensors are designed by [2] and proposed to evaluate the trafficability of terrain in front of the primary rover. While the main body houses the WLSIO system, the DP sensor is mounted to the rover via an electro-mechanical interface (EMI) [7], providing a modular payload bay. Within the FASTER approach the scout rover will travel ahead of a primary exploration rover acting as 'remote' sensor platform. This requires a specialized software setup for the scout rover, allowing to safely follow a predefined path while conducting soil measurements. The general operational concept of the scout rover acting in a dual rover team is addressed while focusing on the scout rover software implementation to allow autonomous traversal. A set of integration tests for dual rover operations is planned using the Coyote II and/or Coyote III platforms. Furthermore, it is intended to perform proof of concept field trials with Coyote III as scout rover and the ExoMars breadboard BRIDGET [1] as primary rover. Along with the test results from interface integration testing, the first test results of dual rover field operation may be presented.

My IGY in Antarctica

NASA Technical Reports Server (NTRS)

Bentley, Charles

2012-01-01

Dr Charles Bentley is the A.P. Crary Professor Emeritus of Geophysics, Department of Geology and Geophysics, University of Wisconsin-Madison. Dr. Bentley joined the Arctic Institute of North America in 1956 to participate in International Geophysical Year (IGY)-related activities in the Antarctic. He wintered over consecutively in 1957 and 1958 at Byrd Station, a station in the interior of West Antarctica that housed 24 men each winter - 12 Navy support people and 12 civilian scientists/technicians. During the austral summers, he also participated in over-snow traverses, first as co-leader, then leader (the other coleader went home after the first year). These traverses consisted of six men and three vehicles, and lasted several months. These traverses covered more than 1609 kilometers (1000 miles) of largely unmapped and unphotographed terrain. During these traverses, connections to Byrd Station were by radio (daily, when the transmission conditions were good enough) and roughly every 2 weeks by resupply flight.

Cognitive and perceptual principles of window-based computer dialogues

NASA Technical Reports Server (NTRS)

Pavel, M.; Card, S.

1986-01-01

The information-space flyer concept is similar to a flight simulator where one traverses over information topology (such as a sematic network) rather than a geographical terrain. Research and software engineering are discussed. Also included is a user manual.

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.

GOAT (goes over all terrain) vehicle: a scaleable robotic vehicle

NASA Astrophysics Data System (ADS)

Dodson, Michael G.; Owsley, Stanley L.; Moorehead, Stewart J.

2003-09-01

Many of the potential applications of mobile robots require a small to medium sized vehicle that is capable of traversing large obstacles and rugged terrain. Search and rescue operations require a robot small enough to drive through doorways, yet capable enough to surmount rubble piles and stairs. This paper presents the GOAT (Goes Over All Terrain) vehicle, a medium scale robot which incorporates a novel configuration which puts the drive wheels on the ends of actuated arms. This allows GOAT to adjust body height and posture and combines the benefits of legged locomotion with the ease of wheeled driving. The paper presents the design of the GOAT and the results of prototype construction and initial testing.

Lunar surface exploration using mobile robots

NASA Astrophysics Data System (ADS)

Nishida, Shin-Ichiro; Wakabayashi, Sachiko

2012-06-01

A lunar exploration architecture study is being carried out by space agencies. JAXA is carrying out research and development of a mobile robot (rover) to be deployed on the lunar surface for exploration and outpost construction. The main target areas for outpost construction and lunar exploration are mountainous zones. The moon's surface is covered by regolith. Achieving a steady traversal of such irregular terrain constitutes the major technical problem for rovers. A newly developed lightweight crawler mechanism can effectively traverse such irregular terrain because of its low contact force with the ground. This fact was determined on the basis of the mass and expected payload of the rover. This paper describes a plan for Japanese lunar surface exploration using mobile robots, and presents the results of testing and analysis needed in their development. This paper also gives an overview of the lunar exploration robot to be deployed in the SELENE follow-on mission, and the composition of its mobility, navigation, and control systems.

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.

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.

Identification of terrain cover using the optimum polarimetric classifier

NASA Technical Reports Server (NTRS)

Kong, J. A.; Swartz, A. A.; Yueh, H. A.; Novak, L. M.; Shin, R. T.

1988-01-01

A systematic approach for the identification of terrain media such as vegetation canopy, forest, and snow-covered fields is developed using the optimum polarimetric classifier. The covariance matrices for various terrain cover are computed from theoretical models of random medium by evaluating the scattering matrix elements. The optimal classification scheme makes use of a quadratic distance measure and is applied to classify a vegetation canopy consisting of both trees and grass. Experimentally measured data are used to validate the classification scheme. Analytical and Monte Carlo simulated classification errors using the fully polarimetric feature vector are compared with classification based on single features which include the phase difference between the VV and HH polarization returns. It is shown that the full polarimetric results are optimal and provide better classification performance than single feature measurements.

Traversing New Theoretical Frames for Intercultural Education: Gender, Intersectionality, Performativity

ERIC Educational Resources Information Center

Gregoriou, Zelia

2013-01-01

This paper attempts to renegotiate the conceptual and political borders of intercultural education by importing ways of thinking, concepts, aporias and questions relevant to a gendered study of intercultural interactions from theoretical terrains outside the disciplinary borders and discursive limits of intercultural education. A number of…

47 CFR 73.183 - Groundwave signals.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 47 Telecommunication 4 2010-10-01 2010-10-01 false Groundwave signals. 73.183 Section 73.183... Broadcast Stations § 73.183 Groundwave signals. (a) Interference that may be caused by a proposed assignment... measurements of any broadcast signal traversing the terrain involved. Figure M3 (See Note 1) shows the...

47 CFR 73.183 - Groundwave signals.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 47 Telecommunication 4 2011-10-01 2011-10-01 false Groundwave signals. 73.183 Section 73.183... Broadcast Stations § 73.183 Groundwave signals. (a) Interference that may be caused by a proposed assignment... measurements of any broadcast signal traversing the terrain involved. Figure M3 (See Note 1) shows the...

Culture, Relevance, and Schooling: Exploring Uncommon Ground

ERIC Educational Resources Information Center

Scherff, Lisa, Ed.; Spector, Karen, Ed.

2011-01-01

In "Culture, Relevance, and Schooling: Exploring Uncommon Ground," Lisa Scherff, Karen Spector, and the contributing authors conceive of culturally relevant and critically minded pedagogies in terms of opening up new spatial, discursive, and/or embodied learning terrains. Readers will traverse multiple landscapes and look into a variety of spaces…

Learning for autonomous navigation

NASA Technical Reports Server (NTRS)

Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

2005-01-01

Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter.

47 CFR 73.183 - Groundwave signals.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 47 Telecommunication 4 2014-10-01 2014-10-01 false Groundwave signals. 73.183 Section 73.183... Broadcast Stations § 73.183 Groundwave signals. (a) Interference that may be caused by a proposed assignment... measurements of any broadcast signal traversing the terrain involved. Figure M3 (See Note 1) shows the...

47 CFR 73.183 - Groundwave signals.

Code of Federal Regulations, 2012 CFR

2012-10-01

... 47 Telecommunication 4 2012-10-01 2012-10-01 false Groundwave signals. 73.183 Section 73.183... Broadcast Stations § 73.183 Groundwave signals. (a) Interference that may be caused by a proposed assignment... measurements of any broadcast signal traversing the terrain involved. Figure M3 (See Note 1) shows the...

47 CFR 73.183 - Groundwave signals.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 47 Telecommunication 4 2013-10-01 2013-10-01 false Groundwave signals. 73.183 Section 73.183... Broadcast Stations § 73.183 Groundwave signals. (a) Interference that may be caused by a proposed assignment... measurements of any broadcast signal traversing the terrain involved. Figure M3 (See Note 1) shows the...

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.

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

Multi-stage classification method oriented to aerial image based on low-rank recovery and multi-feature fusion sparse representation.

PubMed

Ma, Xu; Cheng, Yongmei; Hao, Shuai

2016-12-10

Automatic classification of terrain surfaces from an aerial image is essential for an autonomous unmanned aerial vehicle (UAV) landing at an unprepared site by using vision. Diverse terrain surfaces may show similar spectral properties due to the illumination and noise that easily cause poor classification performance. To address this issue, a multi-stage classification algorithm based on low-rank recovery and multi-feature fusion sparse representation is proposed. First, color moments and Gabor texture feature are extracted from training data and stacked as column vectors of a dictionary. Then we perform low-rank matrix recovery for the dictionary by using augmented Lagrange multipliers and construct a multi-stage terrain classifier. Experimental results on an aerial map database that we prepared verify the classification accuracy and robustness of the proposed method.

Terrain-Moisture Classification Using GPS Surface-Reflected Signals

NASA Technical Reports Server (NTRS)

Grant, Michael S.; Acton, Scott T.; Katzberg, Stephen J.

2006-01-01

In this study we present a novel method of land surface classification using surface-reflected GPS signals in combination with digital imagery. Two GPS-derived classification features are merged with visible image data to create terrain-moisture (TM) classes, defined here as visibly identifiable terrain or landcover classes containing a surface/soil moisture component. As compared to using surface imagery alone, classification accuracy is significantly improved for a number of visible classes when adding the GPS-based signal features. Since the strength of the reflected GPS signal is proportional to the amount of moisture in the surface, use of these GPS features provides information about the surface that is not obtainable using visible wavelengths alone. Application areas include hydrology, precision agriculture, and wetlands mapping.

Mars Rover Navigation Results Using Sun Sensor Heading Determination

NASA Technical Reports Server (NTRS)

Volpe, Richard

1998-01-01

Upcoming missions to the surface of Mars will use mobile robots to traverse long distances from the landing site. To prepare for these missions, the prototype rover, Rocky 7, has been tested in desert field trials conducted with a team of planetary scientists. While several new capabilities have been demonstrated, foremost among these was sun-sensor based traversal of natural terrain totaling a distance of one kilometer. This paper describes navigation results obtained in the field tests, where cross-track error was only 6% of distance traveled. Comparison with previous results of other planetary rover systems shows this to be a significant improvement.

Mapping the Apollo 17 Astronauts' Positions Based on LROC Data and Apollo Surface Photography

NASA Astrophysics Data System (ADS)

Haase, I.; Oberst, J.; Scholten, F.; Gläser, P.; Wählisch, M.; Robinson, M. S.

2011-10-01

The positions from where the Apollo 17 astronauts recorded panoramic image series, e.g. at the so-called "traverse stations", were precisely determined using ortho-images (0.5 m/pxl) as well as Digital Terrain Models (DTM) (1.5 m/pxl and 100 m/pxl) derived from Lunar Reconnaissance Orbiter Camera (LROC) data. Features imaged in the Apollo panoramas were identified in LROC ortho-images. Least-squares techniques were applied to angles measured in the panoramas to determine the astronaut's position to within the ortho-image pixel. The result of our investigation of Traverse Station 1 in the north-west of Steno Crater is presented.

Nature Photography - Tortoise

NASA Image and Video Library

2017-01-04

A large turtle traverses rocky terrain as it heads toward sea oats near a railroad crossing sign at NASA's Kennedy Space Center in Florida. The center shares a border with the Merritt Island National Wildlife Refuge. More than 330 native and migratory bird species, 25 mammals, 117 fishes and 65 amphibians and reptiles call Kennedy and the wildlife refuge home.

78 FR 66942 - Orthopaedic and Rehabilitation Devices Panel of the Medical Devices Advisory Committee; Notice of...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-07

...., polyetheretherketone) materials. They are intended to be inserted between the vertebral bodies into the disc space from... mobility in confined spaces, at an elevated height, climb curbs, ascend/descend stairs, traverse obstacles, travel over a wider variety of terrain, and negotiate uneven/inclined surfaces. Stair-climbing...

Mars Pathfinder and Mars Global Surveyor Outreach Compilation

NASA Astrophysics Data System (ADS)

1999-09-01

This videotape is a compilation of the best NASA JPL (Jet Propulsion Laboratory) videos of the Mars Pathfinder and Mars Global Surveyor missions. The mission is described using animation and narration as well as some actual footage of the entire sequence of mission events. Included within these animations are the spacecraft orbit insertion; descent to the Mars surface; deployment of the airbags and instruments; and exploration by Sojourner, the Mars rover. JPL activities at spacecraft control during significant mission events are also included at the end. The spacecraft cameras pan the surrounding Mars terrain and film Sojourner traversing the surface and inspecting rocks. A single, brief, processed image of the Cydonia region (Mars face) at an oblique angle from the Mars Global Surveyor is presented. A description of the Mars Pathfinder mission, instruments, landing and deployment process, Mars approach, spacecraft orbit insertion, rover operation are all described using computer animation. Actual color footage of Sojourner as well as a 360 deg pan of the Mars terrain surrounding the spacecraft is provided. Lower quality black and white photography depicting Sojourner traversing the Mars surface and inspecting Martian rocks also is included.

Mars Pathfinder and Mars Global Surveyor Outreach Compilation

NASA Technical Reports Server (NTRS)

1999-01-01

This videotape is a compilation of the best NASA JPL (Jet Propulsion Laboratory) videos of the Mars Pathfinder and Mars Global Surveyor missions. The mission is described using animation and narration as well as some actual footage of the entire sequence of mission events. Included within these animations are the spacecraft orbit insertion; descent to the Mars surface; deployment of the airbags and instruments; and exploration by Sojourner, the Mars rover. JPL activities at spacecraft control during significant mission events are also included at the end. The spacecraft cameras pan the surrounding Mars terrain and film Sojourner traversing the surface and inspecting rocks. A single, brief, processed image of the Cydonia region (Mars face) at an oblique angle from the Mars Global Surveyor is presented. A description of the Mars Pathfinder mission, instruments, landing and deployment process, Mars approach, spacecraft orbit insertion, rover operation are all described using computer animation. Actual color footage of Sojourner as well as a 360 deg pan of the Mars terrain surrounding the spacecraft is provided. Lower quality black and white photography depicting Sojourner traversing the Mars surface and inspecting Martian rocks also is included.

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

Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars

USGS Publications Warehouse

Li, R.; Archinal, B.A.; Arvidson, R. E.; Bell, J.; Christensen, P.; Crumpler, L.; Des Marais, D.J.; Di, K.; Duxbury, T.; Golombek, M.P.; Grant, J. A.; Greeley, R.; Guinn, J.; Johnson, Aaron H.; Kirk, R.L.; Maimone, M.; Matthies, L.H.; Malin, M.; Parker, T.; Sims, M.; Thompson, S.; Squyres, S. W.; Soderblom, L.A.

2006-01-01

By sol 440, the Spirit rover has traversed a distance of 3.76 km (actual distance traveled instead of odometry). Localization of the lander and the rover along the traverse has been successfully performed at the Gusev crater landing site. We localized the lander in the Gusev crater using two-way Doppler radio positioning and cartographic triangulations through landmarks visible in both orbital and ground images. Additional high-resolution orbital images were used to verify the determined lander position. Visual odometry and bundle adjustment technologies were applied to compensate for wheel slippage, azimuthal angle drift, and other navigation errors (which were as large as 10.5% in the Husband Hill area). We generated topographic products, including 72 ortho maps and three-dimensional (3-D) digital terrain models, 11 horizontal and vertical traverse profiles, and one 3-D crater model (up to sol 440). Also discussed in this paper are uses of the data for science operations planning, geological traverse surveys, surveys of wind-related features, and other science applications. Copyright 2006 by the American Geophysical Union.

Three-dimensional lithospheric electrical structure of Southern Granulite Terrain, India and its tectonic implications

NASA Astrophysics Data System (ADS)

Patro, Prasanta K.; Sarma, S. V. S.; Naganjaneyulu, K.

2014-01-01

crustal as well as the upper mantle lithospheric electrical structure of the Southern Granulite Terrain (SGT) is evaluated, using the magnetotelluric (MT) data from two parallel traverses: one is an 500 km long N-S trending traverse across SGT and another a 200 km long traverse. Data space Occam 3-D inversion was used to invert the MT data. The electrical characterization of lithospheric structure in SGT shows basically a highly resistive (several thousands of Ohm meters) upper crustal layer overlying a moderately resistive (a few hundred Ohm meters) lower crustal layer which in turn is underlain by the upper mantle lithosphere whose resistivity shows significant changes along the traverse. The highly resistive upper crustal layer is interspersed with four major conductive features with three of them cutting across the crustal column, bringing out a well-defined crustal block structure in SGT with individual highly resistive blocks showing correspondence to the geologically demarcated Salem, Madurai, and Trivandrum blocks. The 3-D model also brought out a well-defined major crustal conductor located in the northern half of the Madurai block. The electrical characteristics of this south dipping conductor and its close spatial correlation with two of the major structural elements, viz., Karur-Oddanchatram-Kodaikanal Shear Zone and Karur-Kamban-Painavu-Trichur Shear Zone, suggest that this conductive feature is closely linked to the subduction-collision tectonic processes in the SGT, and it is inferred that the Archean Dharwar craton/neoproterozoic SGT terrain boundary lies south of the Palghat-Cauvery shear zone. The results also showed that the Achankovil shear zone is characterized by a well-defined north dipping conductive feature. The resistive block adjoining this conductor on the southern side, representing the Trivandrum block, is shown to be downthrown along this north dipping crustal conductor relative to the Madurai block, suggesting a northward movement of Trivandrum block colliding against the Madurai block. The lithospheric upper mantle electrical structure of the SGT up to a depth of 100 km may be broadly divided into two distinctly different segments, viz., northern and southern segments. The northern lithospheric segment, over a major part, is characterized by a thick resistive upper mantle, while the southern one is characterized by a dominantly conductive medium suggesting a relatively thinned lithosphere in the southern segment.

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.

A Comparison of Two Path Planners for Planetary Rovers

NASA Technical Reports Server (NTRS)

Tarokh, M.; Shiller, Z.; Hayati, S.

1999-01-01

The paper presents two path planners suitable for planetary rovers. The first is based on fuzzy description of the terrain, and genetic algorithm to find a traversable path in a rugged terrain. The second planner uses a global optimization method with a cost function that is the path distance divided by the velocity limit obtained from the consideration of the rover static and dynamic stability. A description of both methods is provided, and the results of paths produced are given which show the effectiveness of the path planners in finding near optimal paths. The features of the methods and their suitability and application for rover path planning are compared

San Francisco 's Golden Gate: A bridge between historically distinct coyote (Canis latrans) populations?

USGS Publications Warehouse

Sacks, Benjamin N.; Ernest, Holly B.; Boydston, Erin E.

2006-01-01

Although coyotes (Canis latrans) are wellknown for their adaptability to human-modified landscapes (Riley et al. 2003), as with any medium to large-sized carnivore, they typically avoid highly urbanized areas (Crooks 2002), preferring instead to use habitat fragments linked by vegetated corridors (Tigas et al. 2002). However, recent observations of coyotes in San Francisco indicate their willingness to traverse even the most densely urbanized terrain (Rubenstein 2003). Herein we use DNA to show, in an extreme example, that an adult male coyote caught in the northern tip of the San Francisco peninsula traversed the 2-km Golden Gate Bridge, potentially linking historically distinct coyote populations.

Mobility analysis, simulation, and scale model testing for the design of wheeled planetary rovers

NASA Technical Reports Server (NTRS)

Lindemann, Randel A.; Eisen, Howard J.

1993-01-01

The use of computer based techniques to model and simulate wheeled rovers on rough natural terrains is considered. Physical models of a prototype vehicle can be used to test the correlation of the simulations in scaled testing. The computer approaches include a quasi-static planar or two dimensional analysis and design tool based on the traction necessary for the vehicle to have imminent mobility. The computer program modeled a six by six wheel drive vehicle of original kinematic configuration, called the Rocker Bogie. The Rocker Bogie was optimized using the quasi-static software with respect to its articulation parameters prior to fabrication of a prototype. In another approach used, the dynamics of the Rocker Bogie vehicle in 3-D space was modeled on an engineering workstation using commercial software. The model included the complex and nonlinear interaction of the tire and terrain. The results of the investigation yielded numerical and graphical results of the rover traversing rough terrain on the earth, moon, and Mars. In addition, animations of the rover excursions were also generated. A prototype vehicle was then used in a series of testbed and field experiments. Correspondence was then established between the computer models and the physical model. The results indicated the utility of the quasi-static tool for configurational design, as well as the predictive ability of the 3-D simulation to model the dynamic behavior of the vehicle over short traverses.

Bayes classification of interferometric TOPSAR data

NASA Technical Reports Server (NTRS)

Michel, T. R.; Rodriguez, E.; Houshmand, B.; Carande, R.

1995-01-01

We report the Bayes classification of terrain types at different sites using airborne interferometric synthetic aperture radar (INSAR) data. A Gaussian maximum likelihood classifier was applied on multidimensional observations derived from the SAR intensity, the terrain elevation model, and the magnitude of the interferometric correlation. Training sets for forested, urban, agricultural, or bare areas were obtained either by selecting samples with known ground truth, or by k-means clustering of random sets of samples uniformly distributed across all sites, and subsequent assignments of these clusters using ground truth. The accuracy of the classifier was used to optimize the discriminating efficiency of the set of features that was chosen. The most important features include the SAR intensity, a canopy penetration depth model, and the terrain slope. We demonstrate the classifier's performance across sites using a unique set of training classes for the four main terrain categories. The scenes examined include San Francisco (CA) (predominantly urban and water), Mount Adams (WA) (forested with clear cuts), Pasadena (CA) (urban with mountains), and Antioch Hills (CA) (water, swamps, fields). Issues related to the effects of image calibration and the robustness of the classification to calibration errors are explored. The relative performance of single polarization Interferometric data classification is contrasted against classification schemes based on polarimetric SAR data.

Terrain classification and land hazard mapping in Kalsi-Chakrata area (Garhwal Himalaya), India

NASA Astrophysics Data System (ADS)

Choubey, Vishnu D.; Litoria, Pradeep K.

Terrain classification and land system mapping of a part of the Garhwal Himalaya (India) have been used to provide a base map for land hazard evaluation, with special reference to landslides and other mass movements. The study was based on MSS images, aerial photographs and 1:50,000 scale maps, followed by detailed field-work. The area is composed of two groups of rocks: well exposed sedimentary Precambrian formations in the Himalayan Main Boundary Thrust Belt and the Tertiary molasse deposits of the Siwaliks. Major tectonic boundaries were taken as the natural boundaries of land systems. A physiographic terrain classification included slope category, forest cover, occurrence of landslides, seismicity and tectonic activity in the area.

An Experimental Study of an Ultra-Mobile Vehicle for Off-Road Transportation.

DTIC Science & Technology

1983-02-01

Control with Active Compliance ....... 97 ( 5.5 Force Tracking .... ................. .... 97 5.6 Attitude Sensor Evaluation .. ........... . .101 6...93 5.7 OSU Hexapod Traversing Obstacle ............ ... 95 - 5.8 Vehicle Attitude Across Obstacle Using No Terrain- Adaptive ...Underspecified Gait Using Attitude Control and Active Compliance 100 5.12 Foot Force Tracking Using Active Compliance in an Underspecified Gait

Infantry Small-Unit Mountain Operations

DTIC Science & Technology

2011-02-01

expended to traverse it.  Unique sustainment solutions. Sustainment in a mountain environment is a challenging and time-consuming process . Terrain...a particular environment during the intelligence preparation of the battlefield (IPB) process and provide the analysis to the company. The IPB...consists of a four-step process that includes—  Defining the operational environment.  Describing environmental effects on operations.  Evaluating the

Axel Robotic Platform for Crater and Extreme Terrain Exploration

NASA Technical Reports Server (NTRS)

Nesnas, Issa A.; Matthews, Jaret B.; Edlund, Jeffrey A.; Burdick, Joel W.; Abad-Manterola, Pablo

2012-01-01

To be able to conduct science investigations on highly sloped and challenging terrains, it is necessary to deploy science payloads to such locations and collect and process in situ samples. A tethered robotic platform has been developed that is capable of exploring very challenging terrain. The Axel rover is a symmetrical rover that is minimally actuated, can traverse arbitrary paths, and operate upside-down or right-side up. It can be deployed from a larger platform (rover, lander, or aerobot) or from a dual Axel configuration. Axel carries and manages its own tether, reducing damage to the tether during operations. Fundamentally, Axel is a two-wheeled rover with a symmetric body and a trailing link. Because the primary goal is minimal complexity, this version of the Axel rover uses only four primary actuators to control its wheels, tether, and a trailing link. A fifth actuator is used for level winding of tether onto Axel s spool.

Oman-India pipeline sets survey challenges. Crossing involves most rugged terrain, water depths four times greater than previous attempts

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

Flynn, J.

1995-02-01

Decisions concerning the route for the world`s deepest pipeline call for some of the most challenging commercial oceanographic and engineering surveys ever undertaken. Oman Oil Co.`s 1, 170-kilometer pipeline will carry 2 billion cubic feet of gas daily across the Arabian Sea from Oman to the northern coast of India at the Gulf of Kutch. Not only will the project be in water depths four times greater than any previous pipeline, but it will cross some of the world`s most rugged seabed terrain, traversing ridges and plunging into deep canyons. Project costs are likely to approach $5 billion.

Experimental Semiautonomous Vehicle

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.; Mishkin, Andrew H.; Litwin, Todd E.; Matthies, Larry H.; Cooper, Brian K.; Nguyen, Tam T.; Gat, Erann; Gennery, Donald B.; Firby, Robert J.; Miller, David P.;

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.

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.

Rotary Actuators Based on Pneumatically Driven Elastomeric Structures.

PubMed

Gong, Xiangyu; Yang, Ke; Xie, Jingjin; Wang, Yanjun; Kulkarni, Parth; Hobbs, Alexander S; Mazzeo, Aaron D

2016-09-01

Unique elastomeric rotary actuators based on pneumatically driven peristaltic motion are demonstrated. Using silicone-based wheels, these motors enable a new class of soft locomotion not found in nature, which is capable of withstanding impact, traversing irregular terrain, and operating in water. For soft robotics, this work marks progress toward providing torque without bending actuators. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

1994-01-01

The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

The three year goal for the Kansas State USRA/NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of crossing rough terrain, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation, and path planning skills.

Mobility platform coupling device and method for coupling mobility platforms

DOEpatents

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

2002-01-01

A coupling device for connecting a first mobility platform to a second mobility platform in tandem. An example mobility platform is a robot. The coupling device has a loose link mode for normal steering conditions and a locking position, tight link mode for navigation across difficult terrain and across obstacles, for traversing chasms, and for navigating with a reduced footprint in tight steering conditions.

Vector quantizer designs for joint compression and terrain categorization of multispectral imagery

NASA Technical Reports Server (NTRS)

Gorman, John D.; Lyons, Daniel F.

1994-01-01

Two vector quantizer designs for compression of multispectral imagery and their impact on terrain categorization performance are evaluated. The mean-squared error (MSE) and classification performance of the two quantizers are compared, and it is shown that a simple two-stage design minimizing MSE subject to a constraint on classification performance has a significantly better classification performance than a standard MSE-based tree-structured vector quantizer followed by maximum likelihood classification. This improvement in classification performance is obtained with minimal loss in MSE performance. The results show that it is advantageous to tailor compression algorithm designs to the required data exploitation tasks. Applications of joint compression/classification include compression for the archival or transmission of Landsat imagery that is later used for land utility surveys and/or radiometric analysis.

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.

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…

Mars Exploration Rovers as Virtual Instruments for Determination of Terrain Roughness and Physical Properties

NASA Technical Reports Server (NTRS)

Arvidson, R. E.; Lindemann, R.; Matijevic, J.; Richter, L.; Sullivan, R.; Haldemann, A.; Anderson, R.; Snider, N.

2003-01-01

The two 2003 Mars Exploration Rovers (MERs), in combination with the Athena Payload, will be used as virtual instrument systems to infer terrain properties during traverses, in addition to using the rover wheels to excavate trenches, exposing subsurface materials for remote and in-situ observations. The MERs are being modeled using finite element-based rover system transfer functions that utilize the distribution of masses associated with the vehicle, together with suspension and wheel dynamics, to infer surface roughness and mechanical properties from traverse time series data containing vehicle yaw, pitch, roll, encoder counts, and motor currents. These analyses will be supplemented with imaging and other Athena Payload measurements. The approach is being validated using Sojourner data, the FIDO rover, and experiments with MER testbed vehicles. In addition to conducting traverse science and associated analyses, trenches will be excavated by the MERs to depths of approximately 10-20 cm by locking all but one of the front wheels and rotating that wheel backwards so that the excavated material is piled up on the side of the trench away from the vehicle. Soil cohesion and angle of internal friction will be determined from the trench telemetry data. Emission spectroscopy and in-situ observations will be made using the Athena payload before and after imaging. Trenching and observational protocols have been developed using Sojourner results; data from the FIDO rover, including trenches dug into sand, mud cracks, and weakly indurated bedrock; and experiments with MER testbed rovers. Particular attention will be focused on Mini-TES measurements designed to determine the abundance and state of subsurface water (e.g. hydrated, in zeolites, residual pore ice?) predicted to be present from Odyssey GRS/NS/HEND data.

Curiosity Trek

NASA Image and Video Library

2015-12-10

The Mars Science Laboratory, Curiosity, continues its exciting traverse of Mars. In an image acquired in September, it was exploring the boundary between two rock units: the light-toned Murray Formation and the overlying and darker-toned Stimson unit. We can clearly see the rover in a complex terrain marked by tonally varied rocks, which on the surface, can correspond to the contact between rock units and dark sand. http://photojournal.jpl.nasa.gov/catalog/PIA20211

Development of Intelligent Unmanned Systems

DTIC Science & Technology

2011-05-01

statistical analysis on the terrain map. The data points are stored in the corresponding cells of the Traversability Grid as a linked list of 3-D Cartesian...allowed for multiple configurations of specified data to be as flexible as possible. For example, when an object is being created the knowledge store ...library was also used for querying and storing spatial data . It provided many geometric abstractions necessary such as overlap and intersects

Terrain, weather pose challenges in Minnesota project

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

Trojack, L.

1994-12-01

This paper briefly reviews an innovative method used in installing a natural gas pipeline in Minnesota which traversed a marsh area. Because of the special problems associated with this wetland area, special equipment and techniques had to be used to minimize disturbance associated with the construction. It describes the equipment and the resulting performance the equipment had. It proved to significantly reduce disturbance and result in minimum site restoration work.

Wheeled hopping robot

DOEpatents

Fischer, Gary J [Albuquerque, NM

2010-08-17

The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

Combustion powered linear actuator

DOEpatents

Fischer, Gary J.

2007-09-04

The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

Experiences with operations and autonomy of the Mars Pathfinder Microrover.

NASA Astrophysics Data System (ADS)

Mishkin, A. H.; Morrison, J. C.; Nguyen, T. T.; Stone, H. W.; Cooper, B. K.; Wilcox, B. H.

The Microrover Flight Experiment (MFEX) is a NASA OACT (Office of Advanced Concepts and Technology) flight experiment which, integrated with the Mars Pathfinder (MPF) lander and spacecraft system, landed on Mars on July 4, 1997. In the succeeding 30 sols (1 sol = 1 Martian day), the Sojourner microrover accomplished all of its primary and extended mission objectives. After completion of the originally planned extended mission, MFEX continued to conduct a series of technology experiments, deploy its alpha proton X-ray spectrometer (APXS) on rocks and soil, and image both terrain features and the lander. This mission was conducted under the constraints of a once-per-sol opportunity for command and telemetry transmissions between the lander and Earth operators. As such, the MFEX rover was required to carry out its mission, including terrain navigation and contingency response, under supervised autonomous control. For example, goal locations were specified daily by human operators; the rover then safely traversed to these locations. During traverses, the rover autonomously detected and avoided rock, slope, and drop-off hazards, changing its path as needed before turning back towards its goal. This capability to operate in an unmodeled environment, choosing actions in response to sensor input to accomplish requested objectives, is unique among robotic space missions to date.

Climate Change from the Mars Exploration Rover Landing Sites: From Wet in the Noachian to Dry and Desiccating Since the Hesperian

NASA Technical Reports Server (NTRS)

Golombek, M. P.; Grant, J. A.; Crumpler, L. S.; Greeley, R.; Arvidson, R. E.

2005-01-01

Mars Exploration Rover Opportunity discovered sedimentary dirty evaporites in Meridiani Planum that were deposited in salt-water playas or sabkhas in the Noachian, roughly coeval with a variety of geomorphic indicators (valley networks, degraded craters and highly eroded terrain) of a possible early warmer and wetter environment. In contrast, the cratered plains of Gusev that Spirit has traversed (exclusive of the Columbia Hills) have been dominated by impact and eolian processes and a gradation history that argues for a dry and desiccating environment since the Late Hesperian. This paper reviews the surficial geology and gradation history of the plains in Gusev crater as observed along the traverse by Spirit that supports this climate change from the two landing sites on Mars.

Forestry Vehicle

NASA Technical Reports Server (NTRS)

1982-01-01

Power Pack II provides an economical means of moving a power source into remote roadless forest areas. It was developed by Prof. Miles and his associates, working in cooperation with the University of California's Department of Forestry. The team combined its own design of an all-terrain vehicle with a suspension system based on the NASA load equalization technology. Result is an intermediate-sized unit which carries a power source and the powered tools to perform a variety of forest management tasks which cannot be done economically with current equipment. Power Pack II can traverse very rough terrain and climb a 60 degree slope; any one of the wheels can move easily over an obstacle larger than itself. Work is being done on a more advanced Power Pack III.

Applying FastSLAM to Articulated Rovers

NASA Astrophysics Data System (ADS)

Hewitt, Robert Alexander

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

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.

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

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.

Health Monitoring for Condition-Based Maintenance of a HMMWV using an Instrumented Diagnostic Cleat

DTIC Science & Technology

2008-10-15

identify faults in the bearings, shaft , etc. In wheeled ground vehicles, loading varies significantly as mentioned above. If loads acting on the...vehicle could be fully measured or controlled in terms of the terrain input motions and/or spindle forces/moments, fault identification in wheeled...diagnostic results. - Vehicle speed traversing the cleat can be controlled. - Configuration of cleats can be designed to develop specific tests for

FuzzObserver

NASA Technical Reports Server (NTRS)

Howard, Ayanna; Bayard, David

2006-01-01

Fuzzy Feature Observation Planner for Small Body Proximity Observations (FuzzObserver) is a developmental computer program, to be used along with other software, for autonomous planning of maneuvers of a spacecraft near an asteroid, comet, or other small astronomical body. Selection of terrain features and estimation of the position of the spacecraft relative to these features is an essential part of such planning. FuzzObserver contributes to the selection and estimation by generating recommendations for spacecraft trajectory adjustments to maintain the spacecraft's ability to observe sufficient terrain features for estimating position. The input to FuzzObserver consists of data from terrain images, including sets of data on features acquired during descent toward, or traversal of, a body of interest. The name of this program reflects its use of fuzzy logic to reason about the terrain features represented by the data and extract corresponding trajectory-adjustment rules. Linguistic fuzzy sets and conditional statements enable fuzzy systems to make decisions based on heuristic rule-based knowledge derived by engineering experts. A major advantage of using fuzzy logic is that it involves simple arithmetic calculations that can be performed rapidly enough to be useful for planning within the short times typically available for spacecraft maneuvers.

Equations of motion of the lunar roving vehicle.

NASA Technical Reports Server (NTRS)

Kaufman, S.

1973-01-01

Equations of motion have been formulated for a four-wheel vehicle as it traverses a terrain characterized by slopes, craters, bumps, washboards, or a power spectrum. Independent suspension and electric motor propulsion are considered. These equations were programmed on the UNIVAC 1108 digital computer. Results are given for the steerability of the Lunar Roving Vehicle (LRV) which was found to be satisfactory for normal operating speeds and turning radii. The vehicle was also found to be satisfactory against overturning in both the pitch and roll mode, and results are presented for various speeds as the LRV engages a bump on meter in diameter and of varying heights. Speed, power consumption, and load characteristics are presented for the LRV traversing a simulated lunar soil at full throttle. Comparisons are given against data compiled from the Apollo 15 mission.

The elephant graveyard - A planet-wide Mars sample return

NASA Astrophysics Data System (ADS)

Heinsheimer, T. F.; Corn, Barbara

1991-10-01

A method is presented for collecting documented Martian samples from the surface of the entire planet based partly on research done for a 1994 Mars balloon mission. Smart balloons are employed to collect samples from difficult terrains, fly 100-200 km with the sample to more manageable terrains, and are retrieved by a rover mission for return to earth. Elements of the sample-return method are described in detail with attention given to the projected rates of success for each portion of the technology. The SNAKE, Canniballoon, and 'Brilliant Ants' concepts are described in terms of level of development, function within the mission, and technological requirements. Substantial research presently exists in the areas of deployment, on-site sample assessment, pick-up, and designs for the ballons and ground-traversing guideropes.

Coniferous forest classification and inventory using Landsat and digital terrain data

NASA Technical Reports Server (NTRS)

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

1986-01-01

Machine-processing techniques were used in a Forest Classification and Inventory System (FOCIS) procedure to extract and process tonal, textural, and terrain information from registered Landsat multispectral and digital terrain data. Using FOCIS as a basis for stratified sampling, the softwood timber volumes of the Klamath National Forest and Eldorado National Forest were estimated within standard errors of 4.8 and 4.0 percent, respectively. The accuracy of these large-area inventories is comparable to the accuracy yielded by use of conventional timber inventory methods, but, because of automation, the FOCIS inventories are more rapid (9-12 months compared to 2-3 years for conventional manual photointerpretation, map compilation and drafting, field sampling, and data processing) and are less costly.

A computer analysis of ERTS data of the Lake Gregory area of South Australia with particular emphasis on its role in terrain classification for engineering. M.S. Thesis

NASA Technical Reports Server (NTRS)

Lodwick, G. D. (Principal Investigator)

1976-01-01

A digital computer and multivariate statistical techniques were used to analyze 4-band multispectral data. A representation of the original data for each of the four bands allows a certain degree of terrain interpretation; however, variations in appearance of sites within and between bands, without additional criteria for deciding which representation should be preferred, create difficulties for classification. Investigation of the video data groups produced by principal components analysis and cluster analysis techniques shows that effective correlations with classifications of terrain produced by conventional methods could be carried out. The analyses also highlighted underlying relationships between the various elements. The approach used allows large areas (185 cm by 185 cm) to be classified into fundamental units within a matter of hours and can be applied to those parts of the Earth where facilities for conventional studies are poor or lacking.

Biomechanical and Physiological Validation of the Omni-Directional Treadmill Upgrade as a Mobility Platform for Immersive Environments

DTIC Science & Technology

2011-04-01

a potentially unstable single limb ( Marigold and Patla, 2002; Murray et al., 1985). In theory, adopting a more flexed posture should also lower the...when knowingly traversing slippery terrain ( Marigold and Patla). Despite minimal differences in temporal-spatial values and kinematics for the two...Walking in Healthy Individuals. J. Appl. Physiol. 2008, 104, 747–755. 22 Marigold , D. S.; Patla, A. E. Strategies for Dynamic Stability During

Planning minimum-energy paths in an off-road environment with anisotropic traversal costs and motion constraints. Doctoral thesis

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

Ross, R.S.

1989-06-01

For a vehicle operating across arbitrarily-contoured terrain, finding the most fuel-efficient route between two points can be viewed as a high-level global path-planning problem with traversal costs and stability dependent on the direction of travel (anisotropic). The problem assumes a two-dimensional polygonal map of homogeneous cost regions for terrain representation constructed from elevation information. The anisotropic energy cost of vehicle motion has a non-braking component dependent on horizontal distance, a braking component dependent on vertical distance, and a constant path-independent component. The behavior of minimum-energy paths is then proved to be restricted to a small, but optimal set of traversalmore » types. An optimal-path-planning algorithm, using a heuristic search technique, reduces the infinite number of paths between the start and goal points to a finite number by generating sequences of goal-feasible window lists from analyzing the polygonal map and applying pruning criteria. The pruning criteria consist of visibility analysis, heading analysis, and region-boundary constraints. Each goal-feasible window lists specifies an associated convex optimization problem, and the best of all locally-optimal paths through the goal-feasible window lists is the globally-optimal path. These ideas have been implemented in a computer program, with results showing considerably better performance than the exponential average-case behavior predicted.« less

Validity of a device designed to measure braking power in bicycle disc brakes.

PubMed

Miller, Matthew C; Fink, Philip W; Macdermid, Paul William; Perry, Blake G; Stannard, Stephen R

2017-07-21

Real-world cycling performance depends not only on exercise capacities, but also on efficiently traversing the bicycle through the terrain. The aim of this study was to determine if it was possible to quantify the braking done by a cyclist in the field. One cyclist performed 408 braking trials (348 on a flat road; 60 on a flat dirt path) over 5 days on a bicycle fitted with brake torque and angular velocity sensors to measure brake power. Based on Newtonian physics, the sum of brake work, aerodynamic drag and rolling resistance was compared with the change in kinetic energy in each braking event. Strong linear relationships between the total energy removed from the bicycle-rider system through braking and the change in kinetic energy were observed on the tar-sealed road (r 2  = 0.989; p < 0.0001) and the dirt path (r 2  = 0.952; p < 0.0001). T-tests revealed no difference between the total energy removed and the change in kinetic energy on the road (p = 0.715) or dirt (p = 0.128). This study highlights that brake torque and angular velocity sensors are valid for calculating brake power on the disc brakes of a bicycle in field conditions. Such a device may be useful for investigating cyclists' ability to traverse through various terrains.

Terrain Safety Assessment in Support of the Mars Science Laboratory Mission

NASA Technical Reports Server (NTRS)

Kipp, Devin

2012-01-01

In August 2012, the Mars Science Laboratory (MSL) mission will pioneer the next generation of robotic Entry, Descent, and Landing (EDL) systems by delivering the largest and most capable rover to date to the surface of Mars. The process to select the MSL landing site took over five years and began with over 50 initial candidate sites from which four finalist sites were chosen. The four finalist sites were examined in detail to assess overall science merit, EDL safety, and rover traversability on the surface. Ultimately, the engineering assessments demonstrated a high level of safety and robustness at all four finalist sites and differences in the assessment across those sites were small enough that neither EDL safety nor rover traversability considerations could significantly discriminate among the final four sites. Thus the MSL landing site at Gale Crater was selected from among the four finalists primarily on the basis of science considerations.

Planning for execution monitoring on a planetary rover

NASA Technical Reports Server (NTRS)

Gat, Erann; Firby, R. James; Miller, David P.

1990-01-01

A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation.

Mapping the Apollo 17 landing site area based on Lunar Reconnaissance Orbiter Camera images and Apollo surface photography

NASA Astrophysics Data System (ADS)

Haase, I.; Oberst, J.; Scholten, F.; Wählisch, M.; Gläser, P.; Karachevtseva, I.; Robinson, M. S.

2012-05-01

Newly acquired high resolution Lunar Reconnaissance Orbiter Camera (LROC) images allow accurate determination of the coordinates of Apollo hardware, sampling stations, and photographic viewpoints. In particular, the positions from where the Apollo 17 astronauts recorded panoramic image series, at the so-called “traverse stations”, were precisely determined for traverse path reconstruction. We analyzed observations made in Apollo surface photography as well as orthorectified orbital images (0.5 m/pixel) and Digital Terrain Models (DTMs) (1.5 m/pixel and 100 m/pixel) derived from LROC Narrow Angle Camera (NAC) and Wide Angle Camera (WAC) images. Key features captured in the Apollo panoramic sequences were identified in LROC NAC orthoimages. Angular directions of these features were measured in the panoramic images and fitted to the NAC orthoimage by applying least squares techniques. As a result, we obtained the surface panoramic camera positions to within 50 cm. At the same time, the camera orientations, North azimuth angles and distances to nearby features of interest were also determined. Here, initial results are shown for traverse station 1 (northwest of Steno Crater) as well as the Apollo Lunar Surface Experiment Package (ALSEP) area.

Mars Pathfinder and the exploration of southern Amazonis Planitia

NASA Technical Reports Server (NTRS)

Barlow, Nadine G.

1994-01-01

The southern region of Amazonis Planitia provides a variety of target terrains for a roving vehicle such as the Mars Pathfinder Mission. A landing site is proposed at 4 deg N latitude 162 deg W longitude. This area has a reference altitude of between 0 and -1 km and consists of relatively smooth Amazonian-aged deposits within the entire 100 x 200 km landing ellipse. The proposed landing site is within the Upper Member Medusae Fossae Formation deposits (Amu) and near the boundary with Middle Member Medusae Fossae Formation deposits (Amm) and Member 1 Arcadia Formation plains (Aa(sub 1)). Slightly further afield are 107-km-diameter Nicholson crater, its ejecta deposits, and knobby terrain of proposed Hesperian age (HNu). Depending on the exact landing site of the spacecraft and the traverse distance of the rover, these materials also may be sampled.

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom (Editor); Freise, Jon (Editor)

1990-01-01

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom; Freise, Jon

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

Hopping robot

DOEpatents

Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

2001-01-01

The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

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

PubMed

Schuerger, Andrew C; Lee, Pascal

2015-06-01

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

Minerva: An Integrated Geospatial/Temporal Toolset for Real-time Science Decision Making and Data Collection

NASA Astrophysics Data System (ADS)

Lees, D. S.; Cohen, T.; Deans, M. C.; Lim, D. S. S.; Marquez, J.; Heldmann, J. L.; Hoffman, J.; Norheim, J.; Vadhavk, N.

2016-12-01

Minerva integrates three capabilities that are critical to the success of NASA analogs. It combines NASA's Exploration Ground Data Systems (xGDS) and Playbook software, and MIT's Surface Exploration Traverse Analysis and Navigation Tool (SEXTANT). Together, they help to plan, optimize, and monitor traverses; schedule and track activity; assist with science decision-making and document sample and data collection. Pre-mission, Minerva supports planning with a priori map data (e.g., UAV and satellite imagery) and activity scheduling. During missions, xGDS records and broadcasts live data to a distributed team who take geolocated notes and catalogue samples. Playbook provides live schedule updates and multi-media chat. Post-mission, xGDS supports data search and visualization for replanning and analysis. NASA's BASALT (Biologic Analog Science Associated with Lava Terrains) and FINESSE (Field Investigations to Enable Solar System Science and Exploration) projects use Minerva to conduct field science under simulated Mars mission conditions including 5 and 15 minute one-way communication delays. During the recent BASALT-FINESSE mission, two field scientists (EVA team) executed traverses across volcanic terrain to characterize and sample basalts. They wore backpacks with communications and imaging capabilities, and carried field portable spectrometers. The Science Team was 40 km away in a simulated mission control center. The Science Team monitored imaging (video and still), spectral, voice, location and physiological data from the EVA team via the network from the field, under communication delays. Minerva provided the Science Team with a unified context of operations at the field site, so they could make meaningful remote contributions to the collection of 10's of geotagged samples. Minerva's mission architecture will be presented with technical details and capabilities. Through the development, testing and application of Minerva, we are defining requirements for the design of future capabilities to support human and human-robotic missions to deep space and Mars.

Minimal feedback to a rhythm generator improves the robustness to slope variations of a compass biped.

PubMed

Spitz, Jonathan; Evstrachin, Alexandrina; Zacksenhouse, Miriam

2015-08-20

In recent years there has been a growing interest in the field of dynamic walking and bio-inspired robots. However, while walking and running on a flat surface have been studied extensively, walking dynamically over terrains with varying slope remains a challenge. Previously we developed an open loop controller based on a central pattern generator (CPG). The controller applied predefined torque patterns to a compass-gait biped, and achieved stable gaits over a limited range of slopes. In this work, this range is greatly extended by applying a once per cycle feedback to the CPG controller. The terrain's slope is measured and used to modify both the CPG frequency and the torque amplitude once per step. A multi-objective optimization algorithm was used to tune the controller parameters for a simulated CB model. The resulting controller successfully traverses terrains with slopes ranging from +7° to -8°, comparable to most slopes found in human constructed environments. Gait stability was verified by computing the linearized Poincaré Map both numerically and analytically.

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.

Mars Exploration Rovers Entry, Descent, and Landing Trajectory Analysis

NASA Technical Reports Server (NTRS)

Desai, Prasun N.; Knocke, Philip C.

2007-01-01

In this study we present a novel method of land surface classification using surface-reflected GPS signals in combination with digital imagery. Two GPS-derived classification features are merged with visible image data to create terrain-moisture (TM) classes, defined here as visibly identifiable terrain or landcover classes containing a surface/soil moisture component. As compared to using surface imagery alone, classification accuracy is significantly improved for a number of visible classes when adding the GPS-based signal features. Since the strength of the reflected GPS signal is proportional to the amount of moisture in the surface, use of these GPS features provides information about the surface that is not obtainable using visible wavelengths alone. Application areas include hydrology, precision agriculture, and wetlands mapping.

Integrating remote sensing and terrain data in forest fire modeling

NASA Astrophysics Data System (ADS)

Medler, Michael Johns

Forest fire policies are changing. Managers now face conflicting imperatives to re-establish pre-suppression fire regimes, while simultaneously preventing resource destruction. They must, therefore, understand the spatial patterns of fires. Geographers can facilitate this understanding by developing new techniques for mapping fire behavior. This dissertation develops such techniques for mapping recent fires and using these maps to calibrate models of potential fire hazards. In so doing, it features techniques that strive to address the inherent complexity of modeling the combinations of variables found in most ecological systems. Image processing techniques were used to stratify the elements of terrain, slope, elevation, and aspect. These stratification images were used to assure sample placement considered the role of terrain in fire behavior. Examination of multiple stratification images indicated samples were placed representatively across a controlled range of scales. The incorporation of terrain data also improved preliminary fire hazard classification accuracy by 40%, compared with remotely sensed data alone. A Kauth-Thomas transformation (KT) of pre-fire and post-fire Thematic Mapper (TM) remotely sensed data produced brightness, greenness, and wetness images. Image subtraction indicated fire induced change in brightness, greenness, and wetness. Field data guided a fuzzy classification of these change images. Because fuzzy classification can characterize a continuum of a phenomena where discrete classification may produce artificial borders, fuzzy classification was found to offer a range of fire severity information unavailable with discrete classification. These mapped fire patterns were used to calibrate a model of fire hazards for the entire mountain range. Pre-fire TM, and a digital elevation model produced a set of co-registered images. Training statistics were developed from 30 polygons associated with the previously mapped fire severity. Fuzzy classifications of potential burn patterns were produced from these images. Observed field data values were displayed over the hazard imagery to indicate the effectiveness of the model. Areas that burned without suppression during maximum fire severity are predicted best. Areas with widely spaced trees and grassy understory appear to be misrepresented, perhaps as a consequence of inaccuracies in the initial fire mapping.

A compressed sensing method with analytical results for lidar feature classification

NASA Astrophysics Data System (ADS)

Allen, Josef D.; Yuan, Jiangbo; Liu, Xiuwen; Rahmes, Mark

2011-04-01

We present an innovative way to autonomously classify LiDAR points into bare earth, building, vegetation, and other categories. One desirable product of LiDAR data is the automatic classification of the points in the scene. Our algorithm automatically classifies scene points using Compressed Sensing Methods via Orthogonal Matching Pursuit algorithms utilizing a generalized K-Means clustering algorithm to extract buildings and foliage from a Digital Surface Models (DSM). This technology reduces manual editing while being cost effective for large scale automated global scene modeling. Quantitative analyses are provided using Receiver Operating Characteristics (ROC) curves to show Probability of Detection and False Alarm of buildings vs. vegetation classification. Histograms are shown with sample size metrics. Our inpainting algorithms then fill the voids where buildings and vegetation were removed, utilizing Computational Fluid Dynamics (CFD) techniques and Partial Differential Equations (PDE) to create an accurate Digital Terrain Model (DTM) [6]. Inpainting preserves building height contour consistency and edge sharpness of identified inpainted regions. Qualitative results illustrate other benefits such as Terrain Inpainting's unique ability to minimize or eliminate undesirable terrain data artifacts.

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 Spectral System for Terrain Classification, Mineralogy of Vesta from the Dawn Framing Cameras

NASA Astrophysics Data System (ADS)

Reddy, V.; Le Corre, L.; Nathues, A.; Hall, I.; Gutierrez-Marques, P.; Hoffmann, M.

2011-10-01

The Dawn mission will rendezvous with asteroid (4) Vesta in July 2011. We have developed a set of equations for extracting mean pyroxene chemistry (Ferrosilite and Wollastonite) for classifying terrains on Vesta by using the Dawn Framing Camera (FC) multi-color bands. The Automated Spectral System (ASS) utilizes pseudo-Band I minima to estimate the mean pyroxene chemistry of diogenites, and basaltic eucrites. The mean pyroxene chemistries of cumulate eucrites, and howardites overlap each other on the pyroxene quadrilateral and hence are harder to distinguish. We expect our ASS to carry a bulk of the terrain classification and mineralogy workload utilizing these equations and complement the work of DawnKey (Le Corre et al., 2011, DPS/EPSC 2011). The system will also provide surface mineral chemistry layers that can be used for mapping Vesta's surface.

Lunar rover technology demonstrations with Dante and Ratler

NASA Technical Reports Server (NTRS)

Krotkov, Eric; Bares, John; Katragadda, Lalitesh; Simmons, Reid; Whittaker, Red

1994-01-01

Carnegie Mellon University has undertaken a research, development, and demonstration program to enable a robotic lunar mission. The two-year mission scenario is to traverse 1,000 kilometers, revisiting the historic sites of Apollo 11, Surveyor 5, Ranger 8, Apollo 17, and Lunokhod 2, and to return continuous live video amounting to more than 11 terabytes of data. Our vision blends autonomously safeguarded user driving with autonomous operation augmented with rich visual feedback, in order to enable facile interaction and exploration. The resulting experience is intended to attract mass participation and evoke strong public interest in lunar exploration. The encompassing program that forwards this work is the Lunar Rover Initiative (LRI). Two concrete technology demonstration projects currently advancing the Lunar Rover Initiative are: (1) The Dante/Mt. Spurr project, which, at the time of this writing, is sending the walking robot Dante to explore the Mt. Spurr volcano, in rough terrain that is a realistic planetary analogue. This project will generate insights into robot system robustness in harsh environments, and into remote operation by novices; and (2) The Lunar Rover Demonstration project, which is developing and evaluating key technologies for navigation, teleoperation, and user interfaces in terrestrial demonstrations. The project timetable calls for a number of terrestrial traverses incorporating teleoperation and autonomy including natural terrain this year, 10 km in 1995. and 100 km in 1996. This paper will discuss the goals of the Lunar Rover Initiative and then focus on the present state of the Dante/Mt. Spurr and Lunar Rover Demonstration projects.

Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain

PubMed Central

Li, Zhengcai; Wang, Yang

2014-01-01

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system. PMID:25276849

Coordinated control of slip ratio for wheeled mobile robots climbing loose sloped terrain.

PubMed

Li, Zhengcai; Wang, Yang

2014-01-01

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system.

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.

Spectroscopic classification of icy satellites of Saturn I: Identification of terrain units on Dione

NASA Astrophysics Data System (ADS)

Scipioni, F.; Tosi, F.; Stephan, K.; Filacchione, G.; Ciarniello, M.; Capaccioni, F.; Cerroni, P.

2013-11-01

Dione is one of the largest and densest icy satellites of Saturn. Its surface shows a marked asymmetry between its leading and trailing hemispheres, the leading side being brighter than the trailing side, which shows regions mantled by a dark veneer whose origin is likely exogenic. In order to identify different terrain units we applied the Spectral Angle Mapper (SAM) classification technique to Dione’s hyperspectral images acquired by the Visual and Infrared Mapping Spectrometer (VIMS) onboard the Cassini Orbiter in the infrared range (0.88-5.12 μm). On a relatively limited portion of the surface of Dione we first identified nine spectral endmembers, corresponding to as many terrain units, which mostly distinguish for water ice abundance and ice grain size. We then used these endmembers in SAM to achieve a comprehensive classification of the entire surface. The analysis of the infrared spectra returned by VIMS shows that different regions of Dione have variations in water ice bands depths, in average ice grain size, and in the concentration of contaminants, such as CO2 and hydrocarbons, which are clearly connected to morphological and geological structures. Generally, the spectral units that classify optically dark terrains are those showing suppressed water ice bands, a finer ice grain size and a higher concentration of carbon dioxide. Conversely, spectral units labeling brighter regions have deeper water ice absorption bands, higher albedo and a smaller concentration of contaminants. We also considered VIMS cubes of the small satellite Helene (one of the two Dione’s trojan moons) and we compared its infrared spectra to those of the spectral units found on Dione. We observe that the closest match between the spectra of the two satellites occurs for one of the youngest and freshest terrain units on Dione: the Creusa crater region.

(abstract) Geological Tour of Southwestern Mexico

NASA Technical Reports Server (NTRS)

Adams, Steven L.; Lang, Harold R.

1993-01-01

Nineteen Landsat Themic Mapper quarter scenes, coregistered at 28.5 m spatial resolution with three arc second digital topographic data, were used to create a movie, simulating a flight over the Guerrero and Mixteco terrains of southwestern Mexico. The flight path was chosen to elucidate important structural, stratigraphic, and geomorphic features. The video, available in VHS format, is a 360 second animation consisting of 10 800 total frames. The simulated velocity during three 120 second flight segments of the video is approximately 37 000 km per hour, traversing approximately 1 000 km on the ground.

High-Performance 3D Articulated Robot Display

NASA Technical Reports Server (NTRS)

Powell, Mark W.; Torres, Recaredo J.; Mittman, David S.; Kurien, James A.; Abramyan, Lucy

2011-01-01

In the domain of telerobotic operations, the primary challenge facing the operator is to understand the state of the robotic platform. One key aspect of understanding the state is to visualize the physical location and configuration of the platform. As there is a wide variety of mobile robots, the requirements for visualizing their configurations vary diversely across different platforms. There can also be diversity in the mechanical mobility, such as wheeled, tracked, or legged mobility over surfaces. Adaptable 3D articulated robot visualization software can accommodate a wide variety of robotic platforms and environments. The visualization has been used for surface, aerial, space, and water robotic vehicle visualization during field testing. It has been used to enable operations of wheeled and legged surface vehicles, and can be readily adapted to facilitate other mechanical mobility solutions. The 3D visualization can render an articulated 3D model of a robotic platform for any environment. Given the model, the software receives real-time telemetry from the avionics system onboard the vehicle and animates the robot visualization to reflect the telemetered physical state. This is used to track the position and attitude in real time to monitor the progress of the vehicle as it traverses its environment. It is also used to monitor the state of any or all articulated elements of the vehicle, such as arms, legs, or control surfaces. The visualization can also render other sorts of telemetered states visually, such as stress or strains that are measured by the avionics. Such data can be used to color or annotate the virtual vehicle to indicate nominal or off-nominal states during operation. The visualization is also able to render the simulated environment where the vehicle is operating. For surface and aerial vehicles, it can render the terrain under the vehicle as the avionics sends it location information (GPS, odometry, or star tracking), and locate the vehicle over or on the terrain correctly. For long traverses over terrain, the visualization can stream in terrain piecewise in order to maintain the current area of interest for the operator without incurring unreasonable resource constraints on the computing platform. The visualization software is designed to run on laptops that can operate in field-testing environments without Internet access, which is a frequently encountered situation when testing in remote locations that simulate planetary environments such as Mars and other planetary bodies.

Water Detection Based on Object Reflections

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Matthies, Larry H.

2012-01-01

Water bodies are challenging terrain hazards for terrestrial unmanned ground vehicles (UGVs) for several reasons. Traversing through deep water bodies could cause costly damage to the electronics of UGVs. Additionally, a UGV that is either broken down due to water damage or becomes stuck in a water body during an autonomous operation will require rescue, potentially drawing critical resources away from the primary operation and increasing the operation cost. Thus, robust water detection is a critical perception requirement for UGV autonomous navigation. One of the properties useful for detecting still water bodies is that their surface acts as a horizontal mirror at high incidence angles. Still water bodies in wide-open areas can be detected by geometrically locating the exact pixels in the sky that are reflecting on candidate water pixels on the ground, predicting if ground pixels are water based on color similarity to the sky and local terrain features. But in cluttered areas where reflections of objects in the background dominate the appearance of the surface of still water bodies, detection based on sky reflections is of marginal value. Specifically, this software attempts to solve the problem of detecting still water bodies on cross-country terrain in cluttered areas at low cost.

Classification of Informal Settlements Through the Integration of 2d and 3d Features Extracted from Uav Data

NASA Astrophysics Data System (ADS)

Gevaert, C. M.; Persello, C.; Sliuzas, R.; Vosselman, G.

2016-06-01

Unmanned Aerial Vehicles (UAVs) are capable of providing very high resolution and up-to-date information to support informal settlement upgrading projects. In order to provide accurate basemaps, urban scene understanding through the identification and classification of buildings and terrain is imperative. However, common characteristics of informal settlements such as small, irregular buildings with heterogeneous roof material and large presence of clutter challenge state-of-the-art algorithms. Especially the dense buildings and steeply sloped terrain cause difficulties in identifying elevated objects. This work investigates how 2D radiometric and textural features, 2.5D topographic features, and 3D geometric features obtained from UAV imagery can be integrated to obtain a high classification accuracy in challenging classification problems for the analysis of informal settlements. It compares the utility of pixel-based and segment-based features obtained from an orthomosaic and DSM with point-based and segment-based features extracted from the point cloud to classify an unplanned settlement in Kigali, Rwanda. Findings show that the integration of 2D and 3D features leads to higher classification accuracies.

Automatic control of a mobile Viking lander on the surface of Mars

NASA Technical Reports Server (NTRS)

Moore, J.; Scofield, W.; Tobey, W.

1976-01-01

A mobile lander system is being considered for use in a possible follow-on mission to the Viking '75 landings on Mars. A mobile Viking lander, which could be launched as early as the 1979 opportunity, would be capable of traversing 100 m to 1 km per day on a commanded heading while sensing hazards and performing avoidance maneuvers. The degree of autonomous control, and consequently the daily traverse range, is still under study. The mobility concept requires the addition of: (1) track-laying or wheel units in place of the Viking Lander footpads, (2) a set of hazard and navigation sensors, and (3) a mobility control computer capability. The technology required to develop these three subsystems is available today. The principal objective of current design studies, as described in this paper, is to define a mobile lander system that will demonstrate high reliability and fail-safe hazard avoidance while achieving range- and terrain-handling capabilities which satisfy the Mars exploration science requirements.

ATHLETE: a Cargo and Habitat Transporter for the Moon

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2009-01-01

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. The vehicle concept 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 only for nominal terrain. There are substantial mass savings in the wheels 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 percent lighter than a conventional mobility chassis for planetary exploration. A side benefit of this approach is that each limb has sufficient degrees-of-freedom for 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. A rotating power-take-off from the wheel actuates the tools, so that they can take advantage of the 1-plus-horsepower motor in each wheel to enable drilling, gripping or other power-tool functions.

Graphtables

DTIC Science & Technology

2015-06-01

Visualization, Graph Navigation, Visual Literacy 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT UU 18. NUMBER OF PAGES 19a. NAME OF...3 2.3. Visual Literacy ...obscured and individual edges that could be traversed before bundled are now completely lost among the bundled edges. 2.3. Visual Literacy Visual

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

NASA Technical Reports Server (NTRS)

Schuerger, Andrew C.; Lee, Pascal

2015-01-01

Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20C to -1C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle. Key Words: Planetary protection-Contamination-Habitability-Haughton Crater-Mars. Astrobiology 15, 478-491.

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

PubMed Central

Lee, Pascal

2015-01-01

Abstract Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (−20°C to −1°C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12–18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle. Key Words: Planetary protection—Contamination—Habitability—Haughton Crater—Mars. Astrobiology 15, 478–491. PMID:26060984

California desert resource inventory using multispectral classification of digitally mosaicked Landsat frames

NASA Technical Reports Server (NTRS)

Bryant, N. A.; Mcleod, R. G.; Zobrist, A. L.; Johnson, H. B.

1979-01-01

Procedures for adjustment of brightness values between frames and the digital mosaicking of Landsat frames to standard map projections are developed for providing a continuous data base for multispectral thematic classification. A combination of local terrain variations in the Californian deserts and a global sampling strategy based on transects provided the framework for accurate classification throughout the entire geographic region.

Tactile surface classification for limbed robots using a pressure sensitive robot skin.

PubMed

Shill, Jacob J; Collins, Emmanuel G; Coyle, Eric; Clark, Jonathan

2015-02-02

This paper describes an approach to terrain identification based on pressure images generated through direct surface contact using a robot skin constructed around a high-resolution pressure sensing array. Terrain signatures for classification are formulated from the magnitude frequency responses of the pressure images. The initial experimental results for statically obtained images show that the approach yields classification accuracies [Formula: see text]. The methodology is extended to accommodate the dynamic pressure images anticipated when a robot is walking or running. Experiments with a one-legged hopping robot yield similar identification accuracies [Formula: see text]. In addition, the accuracies are independent with respect to changing robot dynamics (i.e., when using different leg gaits). The paper further shows that the high-resolution capabilities of the sensor enables similarly textured surfaces to be distinguished. A correcting filter is developed to accommodate for failures or faults that inevitably occur within the sensing array with continued use. Experimental results show using the correcting filter can extend the effective operational lifespan of a high-resolution sensing array over 6x in the presence of sensor damage. The results presented suggest this methodology can be extended to autonomous field robots, providing a robot with crucial information about the environment that can be used to aid stable and efficient mobility over rough and varying terrains.

System Would Acquire Core and Powder Samples of Rocks

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph; Randolph, James; Bao, Xiaoqi; Sherrit, Stewart; Ritz, Chuck; Cook, Greg

2006-01-01

A system for automated sampling of rocks, ice, and similar hard materials at and immediately below the surface of the ground is undergoing development. The system, denoted a sample preparation, acquisition, handling, and delivery (SPAHD) device, would be mounted on a robotic exploratory vehicle that would traverse the terrain of interest on the Earth or on a remote planet. The SPAHD device would probe the ground to obtain data for optimization of sampling, prepare the surface, acquire samples in the form(s) of cores and/or powdered cuttings, and deliver the samples to a selected location for analysis and/or storage.

Amorphous Rover

NASA Technical Reports Server (NTRS)

Curtis, Steven A.

2010-01-01

A proposed mobile robot, denoted the amorphous rover, would vary its own size and shape in order to traverse terrain by means of rolling and/or slithering action. The amorphous rover was conceived as a robust, lightweight alternative to the wheeled rover-class robotic vehicle heretofore used in exploration of Mars. Unlike a wheeled rover, the amorphous rover would not have a predefined front, back, top, bottom, or sides. Hence, maneuvering of the amorphous rover would be more robust: the amorphous rover would not be vulnerable to overturning, could move backward or sideways as well as forward, and could even narrow itself to squeeze through small openings.

Pancam Imaging of the Mars Exploration Rover Landing Sites in Gusev Crater and Meridiani Planum

NASA Technical Reports Server (NTRS)

Bell, J. F., III; Squyres, S. W.; Arvidson, R. E.; Arneson, H. M.; Bass, D.; Cabrol, N.; Calvin, W.; Farmer, J.; Farrand, W. H.

2004-01-01

The Mars Exploration Rovers carry four Panoramic Camera (Pancam) instruments (two per rover) that have obtained high resolution multispectral and stereoscopic images for studies of the geology, mineralogy, and surface and atmospheric physical properties at both rover landing sites. The Pancams are also providing significant mission support measurements for the rovers, including Sun-finding for rover navigation, hazard identification and digital terrain modeling to help guide long-term rover traverse decisions, high resolution imaging to help guide the selection of in situ sampling targets, and acquisition of education and public outreach imaging products.

Spectroscopic classification of icy satellites of Saturn II: Identification of terrain units on Rhea

NASA Astrophysics Data System (ADS)

Scipioni, F.; Tosi, F.; Stephan, K.; Filacchione, G.; Ciarniello, M.; Capaccioni, F.; Cerroni, P.

2014-05-01

Rhea is the second largest icy satellites of Saturn and it is mainly composed of water ice. Its surface is characterized by a leading hemisphere slightly brighter than the trailing side. The main goal of this work is to identify homogeneous compositional units on Rhea by applying the Spectral Angle Mapper (SAM) classification technique to Rhea’s hyperspectral images acquired by the Visual and Infrared Mapping Spectrometer (VIMS) onboard the Cassini Orbiter in the infrared range (0.88-5.12 μm). The first step of the classification is dedicated to the identification of Rhea’s spectral endmembers by applying the k-means unsupervised clustering technique to four hyperspectral images representative of a limited portion of the surface, imaged at relatively high spatial resolution. We then identified eight spectral endmembers, corresponding to as many terrain units, which mostly distinguish for water ice abundance and ice grain size. In the second step, endmembers are used as reference spectra in SAM classification method to achieve a comprehensive classification of the entire surface. From our analysis of the infrared spectra returned by VIMS, it clearly emerges that Rhea’ surface units shows differences in terms of water ice bands depths, average ice grain size, and concentration of contaminants, particularly CO2 and hydrocarbons. The spectral units that classify optically dark terrains are those showing suppressed water ice bands, a finer ice grain size and a higher concentration of carbon dioxide. Conversely, spectral units labeling brighter regions have deeper water ice absorption bands, higher albedo and a smaller concentration of contaminants. All these variations reflect surface’s morphological and geological structures. Finally, we performed a comparison between Rhea and Dione, to highlight different magnitudes of space weathering effects in the icy satellites as a function of the distance from Saturn.

A Vision System For A Mars Rover

NASA Astrophysics Data System (ADS)

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

1987-01-01

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

A vision system for a Mars rover

NASA Technical Reports Server (NTRS)

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

1988-01-01

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

Gait development on Minitaur, a direct drive quadrupedal robot

NASA Astrophysics Data System (ADS)

Blackman, Daniel J.; Nicholson, John V.; Ordonez, Camilo; Miller, Bruce D.; Clark, Jonathan E.

2016-05-01

This paper describes the development of a dynamic, quadrupedal robot designed for rapid traversal and interaction in human environments. We explore improvements to both physical and control methods to a legged robot (Minitaur) in order to improve the speed and stability of its gaits and increase the range of obstacles that it can overcome, with an eye toward negotiating man-made terrains such as stairs. These modifications include an analysis of physical compliance, an investigation of foot and leg design, and the implementation of ground and obstacle contact sensing for inclusion in the control schemes. Structural and mechanical improvements were made to reduce undesired compliance for more consistent agreement with dynamic models, which necessitated refinement of foot design for greater durability. Contact sensing was implemented into the control scheme for identifying obstacles and deviations in surface level for negotiation of varying terrain. Overall the incorporation of these features greatly enhances the mobility of the dynamic quadrupedal robot and helps to establish a basis for overcoming obstacles.

A locust-inspired miniature jumping robot.

PubMed

Zaitsev, Valentin; Gvirsman, Omer; Ben Hanan, Uri; Weiss, Avi; Ayali, Amir; Kosa, Gabor

2015-11-25

Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small robots it is necessary to expand the variety of their motion gaits. Jumping is one of nature's solutions to the challenge of mobility in difficult terrain. The desert locust is the model for the presented bio-inspired design of a jumping mechanism for a small mobile robot. The basic mechanism is similar to that of the semilunar process in the hind legs of the locust, and is based on the cocking of a torsional spring by wrapping a tendon-like wire around the shaft of a miniature motor. In this study we present the jumping mechanism design, and the manufacturing and performance analysis of two demonstrator prototypes. The most advanced jumping robot demonstrator is power autonomous, weighs 23 gr, and is capable of jumping to a height of 3.35 m, covering a distance of 1.37 m.

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.

Characteristics of Forests in Western Sayani Mountains, Siberia from SAR Data

NASA Technical Reports Server (NTRS)

Ranson, K. Jon; Sun, Guoqing; Kharuk, V. I.; Kovacs, Katalin

1998-01-01

This paper investigated the possibility of using spaceborne radar data to map forest types and logging in the mountainous Western Sayani area in Siberia. L and C band HH, HV, and VV polarized images from the Shuttle Imaging Radar-C instrument were used in the study. Techniques to reduce topographic effects in the radar images were investigated. These included radiometric correction using illumination angle inferred from a digital elevation model, and reducing apparent effects of topography through band ratios. Forest classification was performed after terrain correction utilizing typical supervised techniques and principal component analyses. An ancillary data set of local elevations was also used to improve the forest classification. Map accuracy for each technique was estimated for training sites based on Russian forestry maps, satellite imagery and field measurements. The results indicate that it is necessary to correct for topography when attempting to classify forests in mountainous terrain. Radiometric correction based on a DEM (Digital Elevation Model) improved classification results but required reducing the SAR (Synthetic Aperture Radar) resolution to match the DEM. Using ratios of SAR channels that include cross-polarization improved classification and

Use of Aqueous Foam to Reduce Shoulder-Launched Rocket Noise Level: Feasibility Investigation.

DTIC Science & Technology

1981-07-01

1 tj~ * UNCLASSIFIED SECUflITY CLASSIFICATION OF THIS PAGE (**en Dese Entered) REPORT DOCUMENTATION PAGE BEFORE COOTRUTIONS I. REPORT NUMBER 2. GOVT...necessar and identify by block number) Military Operations in Urban Terrain (MOUT) Program noise signature reduction aqueous foam 20. ABSTRACT...Military Operations in Urban Terrain (MOUT) Program, a U.S. Marine Corps exploratory development effort under Naval Materiel Command Program Element

Navigating a Mobile Robot Across Terrain Using Fuzzy Logic

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Howard, Ayanna; Bon, Bruce

2003-01-01

A strategy for autonomous navigation of a robotic vehicle across hazardous terrain involves the use of a measure of traversability of terrain within a fuzzy-logic conceptual framework. This navigation strategy requires no a priori information about the environment. Fuzzy logic was selected as a basic element of this strategy because it provides a formal methodology for representing and implementing a human driver s heuristic knowledge and operational experience. Within a fuzzy-logic framework, the attributes of human reasoning and decision- making can be formulated by simple IF (antecedent), THEN (consequent) rules coupled with easily understandable and natural linguistic representations. The linguistic values in the rule antecedents convey the imprecision associated with measurements taken by sensors onboard a mobile robot, while the linguistic values in the rule consequents represent the vagueness inherent in the reasoning processes to generate the control actions. The operational strategies of the human expert driver can be transferred, via fuzzy logic, to a robot-navigation strategy in the form of a set of simple conditional statements composed of linguistic variables. These linguistic variables are defined by fuzzy sets in accordance with user-defined membership functions. The main advantages of a fuzzy navigation strategy lie in the ability to extract heuristic rules from human experience and to obviate the need for an analytical model of the robot navigation process.

US Marine Corps assault amphibious vehicle suspension system analysis

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

Hammonds, C.J.; Jones, J.K.; Mayhall, J.A.

1988-11-01

In response to a request from the US Marine Corps (USMC), the Oak Ridge National Laboratory investigated a problem with the suspension system of the assault amphibious vehicle (AAV), Personnel Model 7A1. In the course of the investigation, drawings of the AAV and field survey data on bearing failures provided by VSE Corporation were used. The analysis approach taken was to model the suspension system and the vehicle hull and support structure using finite element techniques. This provided stress and deflection information for the system. To determine the loads imparted to the system as the AAV traversed terrain features, amore » dynamics model was developed to provide loads to the finite element analysis (FEA). Because the primary indication of a problem was frequent suspension-system bearing failure, an analysis of the suspension-system bearings was conducted. Finally, to check the accuracy of the models and to provide actual load data for bearing analysis, an instrumented AAV was tested over a surveyed course at Camp Pendleton, California. Initially the dynamics model assumed the interface between the hull and the suspension system to be fixed. Later improvements incorporating the flexibility of the vehicle hull into the analysis by linking the two models resulted in improved accuracy. Actual measurements of the front road-arm displacement and vertical acceleration of the chassis are compared with predictions from the model. The correlation is quite good and indicates that the model can accurately predict the dynamic load on each road wheel for input into finite element analyses. The dynamics model can be expanded to study the effects of adding weight to the vehicle, traversing other terrains, or evaluating inputs such as weapons firing or drop tests. 7 refs., 75 figs., 10 tabs.« less

Opportunity Landing Spot Panorama (3-D Model)

NASA Technical Reports Server (NTRS)

2004-01-01

The rocky outcrop traversed by the Mars Exploration Rover Opportunity is visible in this three-dimensional model of the rover's landing site. Opportunity has acquired close-up images along the way, and scientists are using the rover's instruments to closely examine portions of interest. The white fragments that look crumpled near the center of the image are portions of the airbags. Distant scenery is displayed on a spherical backdrop or 'billboard' for context. Artifacts near the top rim of the crater are a result of the transition between the three-dimensional model and the billboard. Portions of the terrain model lacking sufficient data appear as blank spaces or gaps, colored reddish-brown for better viewing. This image was generated using special software from NASA's Ames Research Center and a mosaic of images taken by the rover's panoramic camera.

[figure removed for brevity, see original site] Click on image for larger view

The rocky outcrop traversed by the Mars Exploration Rover Opportunity is visible in this zoomed-in portion of a three-dimensional model of the rover's landing site. Opportunity has acquired close-up images along the way, and scientists are using the rover's instruments to closely examine portions of interest. The white fragments that look crumpled near the center of the image are portions of the airbags. Distant scenery is displayed on a spherical backdrop or 'billboard' for context. Artifacts near the top rim of the crater are a result of the transition between the three-dimensional model and the billboard. Portions of the terrain model lacking sufficient data appear as blank spaces or gaps, colored reddish-brown for better viewing. This image was generated using special software from NASA's Ames Research Center and a mosaic of images taken by the rover's panoramic camera.

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

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.

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.

Single-Pol Synthetic Aperture Radar Terrain Classification using Multiclass Confidence for One-Class Classifiers

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

Koch, Mark William; Steinbach, Ryan Matthew; Moya, Mary M

2015-10-01

Except in the most extreme conditions, Synthetic aperture radar (SAR) is a remote sensing technology that can operate day or night. A SAR can provide surveillance over a long time period by making multiple passes over a wide area. For object-based intelligence it is convenient to segment and classify the SAR images into objects that identify various terrains and man-made structures that we call “static features.” In this paper we introduce a novel SAR image product that captures how different regions decorrelate at different rates. Using superpixels and their first two moments we develop a series of one-class classification algorithmsmore » using a goodness-of-fit metric. P-value fusion is used to combine the results from different classes. We also show how to combine multiple one-class classifiers to get a confidence about a classification. This can be used by downstream algorithms such as a conditional random field to enforce spatial constraints.« less

Hyperspectral landcover classification for the Yakima Training Center, Yakima, Washington

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

Steinmaus, K.L.; Perry, E.M.; Petrie, G.M.

1998-04-01

The US Department of Energy`s (DOE`s) Pacific Northwest National Laboratory (PNNL) was tasked in FY97-98 to conduct a multisensor feature extraction project for the Terrain Modeling Project Office (TMPO) of the National Imagery and Mapping Agency (NIMA). The goal of this research is the development of near-autonomous methods to remotely classify and characterize regions of military interest, in support of the TMPO of NIMA. These methods exploit remotely sensed datasets including hyperspectral (HYDICE) imagery, near-infrared and thermal infrared (Daedalus 3600), radar, and terrain datasets. The study site for this project is the US Army`s Yakima Training Center (YTC), a 326,741-acremore » training area located near Yakima, Washington. Two study areas at the YTC were selected to conduct and demonstrate multisensor feature extraction, the 2-km x 2-km Cantonment Area and the 3-km x 3-km Choke Point area. Classification of the Cantonment area afforded a comparison of classification results at different scales.« less

Rectangular Array Of Digital Processors For Planning Paths

NASA Technical Reports Server (NTRS)

Kemeny, Sabrina E.; Fossum, Eric R.; Nixon, Robert H.

1993-01-01

Prototype 24 x 25 rectangular array of asynchronous parallel digital processors rapidly finds best path across two-dimensional field, which could be patch of terrain traversed by robotic or military vehicle. Implemented as single-chip very-large-scale integrated circuit. Excepting processors on edges, each processor communicates with four nearest neighbors along paths representing travel to north, south, east, and west. Each processor contains delay generator in form of 8-bit ripple counter, preset to 1 of 256 possible values. Operation begins with choice of processor representing starting point. Transmits signals to nearest neighbor processors, which retransmits to other neighboring processors, and process repeats until signals propagated across entire field.

'They of the Great Rocks'

NASA Technical Reports Server (NTRS)

2004-01-01

This approximate true color image taken by the panoramic camera onboard the Mars Exploration Rover Spirit shows 'Adirondack,' the rover's first target rock. Spirit traversed the sandy martian terrain at Gusev Crater to arrive in front of the football-sized rock on Sunday, Jan. 18, 2004, just three days after it successfully rolled off the lander. The rock was selected as Spirit's first target because its dust-free, flat surface is ideally suited for grinding. Clean surfaces also are better for examining a rock's top coating. Scientists named the angular rock after the Adirondack mountain range in New York. The word Adirondack is Native American and means 'They of the great rocks.'

Strategic Analysis for the MER Cape Verde Approach

NASA Technical Reports Server (NTRS)

Gaines, Daniel; Belluta, Paolo; Herman, Jennifer; Hwang, Pauline; Mukai, Ryan; Porter, Dan; Jones, Byron; Wood, Eric; Grotzinger, John; Edgar, Lauren;

Planning strategies for the Ambler walking robot

NASA Technical Reports Server (NTRS)

Wettergreen, David; Thomas, Hans; Thorpe, Chuck

1990-01-01

A hierarchy of planning strategies is proposed and explained for a walking robot called the Ambler. The hierarchy decomposes planning into levels of trajectory, gait, and footfall. An abstraction of feasible traversability allows the Ambler's trajectory planner to identify acceptable trajectories by finding paths that guarantee footfalls without specifying exactly which footfalls. Leg and body moves that achieve this trajectory can be generated by the Ambler's gait planner, which incorporates pattern constraints and measures of utility to search for the best next move. By combining constraints from the quality and details of the terrain, the Ambler's footfall planner can select footfalls that insure stability and remain within the tolerances of the gait.

A six-legged rover for planetary exploration

NASA Technical Reports Server (NTRS)

Simmons, Reid; Krotkov, Eric; Bares, John

1991-01-01

To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.

Opportunity, Geologic and Structural Context of Aqueous Alteration in Noachian Outcrops, Marathon Valley and Rim and Endeavour Crater

NASA Technical Reports Server (NTRS)

Crumpler, L. S.; Arvidson, R. E.; Mittlefehldt, D. W.; Jolliff, B. L.; Farrand, W. H.; Fox, V.; Golombek, M. P.

2016-01-01

In its 12th year of exploration and 1600 sols since arrival at the rim of the 22 km-diameter Noachian Endeavour impact crater, Mars Exploration Rover Opportunity traversed from the summit of the western rim segment "Cape Tribulation" to "Marathon Valley", a shallow trough dissecting the rim and the site of strong orbital detection of smectites. In situ analysis of the exposures within Marathon Valley is establishing some of the geologic and geochemical controls on the aqueous alteration responsible for smectite detection known to occur in crater rims throughout Noachian terrains of Mars.

APOLLO XIV - GEOLOGY TRAINING - HAWAII

NASA Image and Video Library

1970-04-10

S70-34415 (April 1970) --- Astronaut Alan B. Shepard Jr., prime crew commander of the Apollo 14 mission, uses a trenching tool during a simulation of a traverse on the lunar surface. Members of the Apollo 14 prime and backup crews were in Hawaii to train for the extravehicular activity of their upcoming mission. Features of the terrain at Kapoho and other Hawaiian sites are very similar to those found on the lunar surface. A modular equipment transporter (MET), nicknamed the "Rickshaw" because of its appearance and method of propulsion, is behind Shepard, and a gnomon, one of the Apollo lunar hand tools (ALHT) is at extreme left.

The Lunar Mapping and Modeling Project

NASA Technical Reports Server (NTRS)

Noble, Sarah K.; French, R. A.; Nall, M. E.; Muery, K. G.

2009-01-01

The Lunar Mapping and Modeling Project (LMMP) has been created to manage the development of a suite of lunar mapping and modeling products that support the Constellation Program (CxP) and other lunar exploration activities, including the planning, design, development, test and operations associated with lunar sortie missions, crewed and robotic operations on the surface, and the establishment of a lunar outpost. The information provided through LMMP will assist CxP in: planning tasks in the areas of landing site evaluation and selection, design and placement of landers and other stationary assets, design of rovers and other mobile assets, developing terrain-relative navigation (TRN) capabilities, and assessment and planning of science traverses.

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.

Strain Partitioning and Localization within Dobe Graben Using Differential Interferometric Synthetic Aperture Radar (D-INSAR) and Shuttle Radar Terrain Model

NASA Astrophysics Data System (ADS)

Demissie, Z. S.; Abdelsalam, M. G.; Byrnes, J. M.; Bridges, D.

2014-12-01

The Dobe graben is a northwestern trending, Quaternary continental rift found within the east-central block of the Afar Depression (AD), Ethiopia. The AD is one of only few places where three active tectonic rift arms meet on land. Extensional rifting is ongoing in the Dobe graben as evident by the 1989 swarm of intermediate magnitude (5.7 < Ms < 6.3) earthquakes. Dobe graben extension occurs on steeply dipping faults, where the maximum displacement, fault length, heave and spacing spans in three orders of magnitude. Crustal deformation within the graben was measured through ascending and descending interferograms using the Advanced Synthetic Aperture Radar (ASAR), C- Band (l = 5.6 cm) of the ENVISAT satellite. Results from the Differential Interferometric Synthetic Aperture Radar (D-INSAR) over a period of four years (05/20/2005 to 03/05/2010) suggests that the vertical component of deformation is distributed along a 50 km long NW trending zone in the Dobe graben. The vertical component of deformation is -0.5 to -0.3 cm along the graben axial rift floor likely representing subsidence due to riftingand +0.6 cm to 0.9 cm at the middle of the Dobe relay zone due to uplifting along the border escarpment faults. An estimate for the extension rate has been calculated from twelve traverses across the Dobe graben using Shuttle Rader Terrain Model (SRTM). Results show a deformation elongation (e) value ranging from 0.225 to 0.348. A fractal dimension of 0.03 from the graben floor was obtained for the measured population of fault throws (n= 162) in 12 traverses totaling 172 km. This value is interpreted to represent the dominant contribution to extension from faults with large throw. Moreover, frequency distribution of a natural fault population along the graben floor revealed a negative exponential law distribution indicating a strong strain partitioning within the active axial graben floor. A fractal dimension of 0.01 from the graben shoulder escarpment was obtained for the measured population of fault throws (n= 30) in 12 traverses totaling 48 km revealed a negative power fit distribution indicated a strong strain localization by the graben boarder faults.

Vision-based semi-autonomous outdoor robot system to reduce soldier workload

NASA Astrophysics Data System (ADS)

Richardson, Al; Rodgers, Michael H.

2001-09-01

Sensors and computational capability have not reached the point to enable small robots to navigate autonomously in unconstrained outdoor environments at tactically useful speeds. This problem is greatly reduced, however, if a soldier can lead the robot through terrain that he knows it can traverse. An application of this concept is a small pack-mule robot that follows a foot soldier over outdoor terrain. The solder would be responsible to avoid situations beyond the robot's limitations when encountered. Having learned the route, the robot could autonomously retrace the path carrying supplies and munitions. This would greatly reduce the soldier's workload under normal conditions. This paper presents a description of a developmental robot sensor system using low-cost commercial 3D vision and inertial sensors to address this application. The robot moves at fast walking speed and requires only short-range perception to accomplish its task. 3D-feature information is recorded on a composite route map that the robot uses to negotiate its local environment and retrace the path taught by the soldier leader.

'Endurance Crater' Overview

NASA Technical Reports Server (NTRS)

2004-01-01

This overview of 'Endurance Crater' traces the path of the Mars Exploration Rover Opportunity from sol 94 (April 29, 2004) to sol 205 (August 21, 2004). The route charted to enter the crater was a bit circuitous, but well worth the extra care engineers took to ensure the rover's safety. On sol 94, Opportunity sat on the edge of this impressive, football field-sized crater while rover team members assessed the scene. After traversing around the 'Karatepe' region and past 'Burns Cliff,' the rover engineering team assessed the possibility of entering the crater. Careful analysis of the angles Opportunity would face, including testing an Earth-bound model on simulated martian terrain, led the team to decide against entering the crater at that particular place. Opportunity then backed up before finally dipping into the crater on its 130th sol (June 5, 2004). The rover has since made its way down the crater's inner slope, grinding, trenching and examining fascinating rocks and soil targets along the way. The rover nearly made it to the intriguing dunes at the bottom of the crater, but when it got close, the terrain did not look safe enough to cross.

A Comparison of the Unpressurized Rover and Small Pressurized Rover During a Desert Field Evaluation

NASA Technical Reports Server (NTRS)

Litaker, Harry; Thompson, Shelby; Howard, Robert

2009-01-01

To effectively explore the lunar surface, astronauts will need a transportation vehicle which can traverse all types of terrain. Currently, the National Aeronautics and Space Administration s (NASA) is investigating two lunar rover configurations to meet such a requirement. Under the Lunar Electric Rover (LER) project, a comparison study between the unpressurized rover (UPR) and the small pressurized rover (SPR) was conducted at the Black Point Lava Flow in Arizona. The objective of the study was to obtain human-in-the-loop performance data on the vehicles with respect to human-machine interfaces, vehicle impacts on crew productivity, and scientific observations. Four male participants took part in four, one-day field tests using the exact same terrain and scientific sites for an accurate comparison between vehicle configurations. Subjective data was collected using several human factors performance measures. Results indicate either vehicle configuration was generally acceptable for a lunar mission; however, the SPR configuration was preferred over the UPR configuration primarily for the SPR s ability to cause less fatigue and enabling greater crew productivity.

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.

Remote sensing based detection of forested wetlands: An evaluation of LiDAR, aerial imagery, and their data fusion

NASA Astrophysics Data System (ADS)

Suiter, Ashley Elizabeth

Multi-spectral imagery provides a robust and low-cost dataset for assessing wetland extent and quality over broad regions and is frequently used for wetland inventories. However in forested wetlands, hydrology is obscured by tree canopy making it difficult to detect with multi-spectral imagery alone. Because of this, classification of forested wetlands often includes greater errors than that of other wetlands types. Elevation and terrain derivatives have been shown to be useful for modelling wetland hydrology. But, few studies have addressed the use of LiDAR intensity data detecting hydrology in forested wetlands. Due the tendency of LiDAR signal to be attenuated by water, this research proposed the fusion of LiDAR intensity data with LiDAR elevation, terrain data, and aerial imagery, for the detection of forested wetland hydrology. We examined the utility of LiDAR intensity data and determined whether the fusion of Lidar derived data with multispectral imagery increased the accuracy of forested wetland classification compared with a classification performed with only multi-spectral image. Four classifications were performed: Classification A -- All Imagery, Classification B -- All LiDAR, Classification C -- LiDAR without Intensity, and Classification D -- Fusion of All Data. These classifications were performed using random forest and each resulted in a 3-foot resolution thematic raster of forested upland and forested wetland locations in Vermilion County, Illinois. The accuracies of these classifications were compared using Kappa Coefficient of Agreement. Importance statistics produced within the random forest classifier were evaluated in order to understand the contribution of individual datasets. Classification D, which used the fusion of LiDAR and multi-spectral imagery as input variables, had moderate to strong agreement between reference data and classification results. It was found that Classification A performed using all the LiDAR data and its derivatives (intensity, elevation, slope, aspect, curvatures, and Topographic Wetness Index) was the most accurate classification with Kappa: 78.04%, indicating moderate to strong agreement. However, Classification C, performed with LiDAR derivative without intensity data had less agreement than would be expected by chance, indicating that LiDAR contributed significantly to the accuracy of Classification B.

Modelling submerged coastal environments: Remote sensing technologies, techniques, and comparative analysis

NASA Astrophysics Data System (ADS)

Dillon, Chris

Built upon remote sensing and GIS littoral zone characterization methodologies of the past decade, a series of loosely coupled models aimed to test, compare and synthesize multi-beam SONAR (MBES), Airborne LiDAR Bathymetry (ALB), and satellite based optical data sets in the Gulf of St. Lawrence, Canada, eco-region. Bathymetry and relative intensity metrics for the MBES and ALB data sets were run through a quantitative and qualitative comparison, which included outputs from the Benthic Terrain Modeller (BTM) tool. Substrate classification based on relative intensities of respective data sets and textural indices generated using grey level co-occurrence matrices (GLCM) were investigated. A spatial modelling framework built in ArcGIS(TM) for the derivation of bathymetric data sets from optical satellite imagery was also tested for proof of concept and validation. Where possible, efficiencies and semi-automation for repeatable testing was achieved using ArcGIS(TM) ModelBuilder. The findings from this study could assist future decision makers in the field of coastal management and hydrographic studies. Keywords: Seafloor terrain characterization, Benthic Terrain Modeller (BTM), Multi-beam SONAR, Airborne LiDAR Bathymetry, Satellite Derived Bathymetry, ArcGISTM ModelBuilder, Textural analysis, Substrate classification.

Small rover exploration capabilities

NASA Astrophysics Data System (ADS)

Salotti, Jean-Marc; Laithier, Corentin; Machut, Benoit; Marie, Aurélien; Bruneau, Audrey; Grömer, Gernot; Foing, Bernard H.

2015-05-01

For a human mission to the Moon or Mars, an important question is to determine the best strategy for the choice of surface vehicles. Recent studies suggest that the first missions to Mars will be strongly constrained and that only small unpressurized vehicles will be available. We analyze the exploration capabilities and limitations of small surface vehicles from the user perspective. Following the “human centered design” paradigm, the team focused on human systems interactions and conducted the following experiments: - Another member of our team participated in the ILEWG EuroMoonMars 2013 simulation at the Mars Desert Research Station in Utah during the same period of time. Although the possible traverses were restricted, a similar study with analog space suits and quads has been carried out. - Other experiments have been conducted in an old rock quarry close to Bordeaux, France. An expert in the use of quads for all types of terrains performed a demonstration and helped us to characterize the difficulties, the risks and advantages and drawbacks of different vehicles and tools. The vehicles that will be used on the surface of Mars have not been defined yet. Nevertheless, the results of our project already show that using a light and unpressurized vehicle (in the order of 150 kg) for the mobility on the Martian surface can be a true advantage. Part of the study was dedicated to the search for appropriate tools that could be used to make the vehicles easier to handle, safer to use and more efficient in the field to cross an obstacle. The final recommendation is to use winches and ramps, which already are widely used by quad drivers. We report on the extension of the reachable areas if such tools were available. This work has been supported by ILEWG, EuroMoonMars and the Austrian Space Forum (OEWF).

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.

Analysis of ArcticDEM orthorectification for polar navigational traverses

NASA Astrophysics Data System (ADS)

Menio, E. C.; Deeb, E. J.; Weale, J.; Courville, Z.; Tracy, B.; Cloutier, M. D.; Cothren, J. D.; Liu, J.

2017-12-01

The availability and accessibility of high-resolution satellite imagery allows operational support teams to visually assess physical risks along traverse routes before and during the field season. In support of operations along the Greenland Inland Traverse (GrIT), DigitalGlobe's WorldView 0.5m resolution panchromatic imagery is analyzed to identify and digitize crevasse features along the route from Thule Air Force Base to Summit Station, Greenland. In the spring of 2016, field teams reported up to 150 meters of offset between the location of crevasse features on the ground and the location of the same feature on the imagery provided. Investigation into this issue identified the need to orthorectify imagery—use digital elevation models (DEMs) to correct viewing geometry distortions—to improve navigational accuracy in the field. It was previously thought that orthorectification was not necessary for applications in relatively flat terrain such as ice sheets. However, the surface elevations on the margins of the Greenland Ice Sheet vary enough to cause distortions in imagery, if taken obliquely. As is standard for requests, the Polar Geospatial Center (PGC) provides orthorectified imagery using the MEaSUREs Greenland Ice Mapping Project (GIMP) 30m digital elevation model. Current, higher-resolution elevation datasets, such as the ArcticDEM (2-5m resolution) and WorldView stereopair DEMs (2-3m resolution), are available for use in orthorectification. This study examines three heavily crevassed areas along the GrIT traverse, as identified in 2015 and 2016 imagery. We extracted elevation profiles along the GrIT route from each of the three DEMs: GIMP, ArcticDEM, and WorldView stereopair mosaic. Results show the courser GIMP data deviating significantly from the ArcticDEM and WorldView data, at points by up to 80m, which is seen as offset of features in plan view. In-situ Ground Penetrating Radar (GPR) surveys of crevasse crossings allow for evaluation of geopositional accuracy of each resulting orthorectified photo and a quantitative analysis of plan view offset.

Rovers as Geological Helpers for Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Stoker, Carol; DeVincenzi, Donald (Technical Monitor)

2000-01-01

Rovers can be used to perform field science on other planetary surfaces and in hostile and dangerous environments on Earth. Rovers are mobility systems for carrying instrumentation to investigate targets of interest and can perform geologic exploration on a distant planet (e.g. Mars) autonomously with periodic command from Earth. For nearby sites (such as the Moon or sites on Earth) rovers can be teleoperated with excellent capabilities. In future human exploration, robotic rovers will assist human explorers as scouts, tool and instrument carriers, and a traverse "buddy". Rovers can be wheeled vehicles, like the Mars Pathfinder Sojourner, or can walk on legs, like the Dante vehicle that was deployed into a volcanic caldera on Mt. Spurr, Alaska. Wheeled rovers can generally traverse slopes as high as 35 degrees, can avoid hazards too big to roll over, and can carry a wide range of instrumentation. More challenging terrain and steeper slopes can be negotiated by walkers. Limitations on rover performance result primarily from the bandwidth and frequency with which data are transmitted, and the accuracy with which the rover can navigate to a new position. Based on communication strategies, power availability, and navigation approach planned or demonstrated for Mars missions to date, rovers on Mars will probably traverse only a few meters per day. Collecting samples, especially if it involves accurate instrument placement, will be a slow process. Using live teleoperation (such as operating a rover on the Moon from Earth) rovers have traversed more than 1 km in an 8 hour period while also performing science operations, and can be moved much faster when the goal is simply to make the distance. I will review the results of field experiments with planetary surface rovers, concentrating on their successful and problematic performance aspects. This paper will be accompanied by a working demonstration of a prototype planetary surface rover.

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

NASA Technical Reports Server (NTRS)

Foor, David C.

2005-01-01

The JPL Micro-Robot Explorer (MRE) Spiderbot is a robot that takes advantage of its small size to perform precision tasks suitable for space applications. The Spiderbot is a legged robot that can traverse harsh terrain otherwise inaccessible to wheeled robots. A team of Spiderbots can network and can exhibit collaborative efforts to SUCCeSSfUlly complete a set of tasks. The Spiderbot is designed and developed to demonstrate hexapods that can walk on flat surfaces, crawl on meshes, and assemble simple structures. The robot has six legs consisting of two spring-compliant joints and a gripping actuator. A hard-coded set of gaits allows the robot to move smoothly in a zero-gravity environment along the mesh. The primary objective of this project is to create a Spiderbot that traverses a flexible, deployable mesh, for use in space repair. Verification of this task will take place aboard a zero-gravity test flight. The secondary objective of this project is to adapt feedback from the joints to allow the robot to test each arm for a successful grip of the mesh. The end result of this research lends itself to a fault-tolerant robot suitable for a wide variety of space applications.

D.R.O.P: The Durable Reconnaissance and Observation Platform

NASA Technical Reports Server (NTRS)

McKenzie, Clifford; Parness, Aaron

2011-01-01

Robots can provide a remote presence in areas that are either inaccessible or too dangerous for humans. However, robots are often limited by their ability to adapt to the terrain or resist environmental factors. The Durable Reconnaissance and Observation Platform (DROP) is a lightweight robot that addresses these challenges with the capability to survive falls from significant heights, carry a useable payload, and traverse a variety of surfaces, including climbing vertical surfaces like wood, stone, and concrete. DROP is manufactured using a combination of rapid prototyping and shape deposition manufacturing. It uses microspine technology to create a new wheel-like design for vertical climbing. To date, DROP has successfully engaged several vertical surfaces, hanging statically without assistance, and traversed horizontal surfaces at approximately 30 cm/s. Unassisted vertical climbing is capable on surfaces up to 85deg at a rate of approximately 25cm*s(sup -1). DROP can also survive falls from up to 3 meters and has the ability to be thrown off of and onto rooftops. Future efforts will focus on improving the microspine wheels, selecting more resilient materials, customizing the controls, and performing more rigorous and quantifiable testing.

Autonomous planetary rover at Carnegie Mellon

NASA Technical Reports Server (NTRS)

Whittaker, William; Kanade, Takeo; Mitchell, Tom

1990-01-01

This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg 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 rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

Liquid Rocket Propulsion for Atmospheric Flight in the Proposed ARES Mars Scout Mission

NASA Technical Reports Server (NTRS)

Kuhl, Christopher A.; Wright, Henry S.; Hunter, Craig A.; Guernsey, Carl S.; Colozza, Anthony J.

2004-01-01

Flying above the Mars Southern Highlands, an airplane will traverse over the terrain of Mars while conducting unique science measurements of the atmosphere, surface, and interior. This paper describes an overview of the ARES (Aerial Regional-scale Environmental Survey) mission with an emphasis on airplane propulsion needs. The process for selecting a propulsion system for the ARES airplane is also included. Details of the propulsion system, including system schematics, hardware and performance are provided. The airplane has a 6.25 m wingspan with a total mass of 149 kg and is propelled by a bi-propellant liquid rocket system capable of carrying roughly 48 kg of MMH/MON3 propellant.

'They of the Great Rocks'-2

NASA Technical Reports Server (NTRS)

2004-01-01

This approximate true color image taken by the panoramic camera onboard the Mars Exploration Rover Spirit shows 'Adirondack,' the rover's first target rock. Spirit traversed the sandy martian terrain at Gusev Crater to arrive in front of the football-sized rock on Sunday, Jan. 18, 2004, just three days after it successfully rolled off the lander. The rock was selected as Spirit's first target because its dust-free, flat surface is ideally suited for grinding. Clean surfaces also are better for examining a rock's top coating. Scientists named the angular rock after the Adirondack mountain range in New York. The word Adirondack is Native American and is interpreted by some to mean 'They of the great rocks.'

Minerva: User-Centered Science Operations Software Capability for Future Human Exploration

NASA Technical Reports Server (NTRS)

Deans, Matthew; Marquez, Jessica J.; Cohen, Tamar; Miller, Matthew J.; Deliz, Ivonne; Hillenius, Steven; Hoffman, Jeffrey; Lee, Yeon Jin; Lees, David; Norheim, Johannes;

Strategic analysis for the MER Cape Verde approach

USGS Publications Warehouse

Gaines, D.; Belluta, P.; Herman, J.; Hwang, P.; Mukai, R.; Porter, D.; Jones, B.; Wood, E.; Grotzinger, J.; Edgar, L.; Hayes, A.; Hare, T.; Squyres, S.

2009-01-01

The Mars Exploration Rover Opportunity has recently completed a two year campaign studying Victoria Crater. The campaign culminated in a close approach of Cape Verde in order to acquire high resolution imagery of the exposed stratigraphy in the cliff face. The close approach to Cape Verde provided significant challenges for every subsystem of the rover as the rover needed to traverse difficult, uncharacterised terrain and approach a cliff face with the potential of blocking out solar energy and communications with Earth. In this paper we describe the strategic analyses performed by the science and engineering teams so that we could successfully achieve the science objectives while keeping the rover safe. ??2009 IEEE.

Classification of vegetation communities in the Battle Mountain SE quadrangle, Nevada with MSS digital data

NASA Technical Reports Server (NTRS)

Ridd, M. K.; Ramsey, R. D.; Douglass, G. E.; Merola, J. A.

1984-01-01

LANDSAT MSS digital data were utilized to identify vegetation types in an area of Battle Mountain SE in northern Nevada. Ways in which terrain data may improve spectral classification were investigated. The basic data set was a CCT of LANDSAT scene 82233617450, dated 15 June 1981. Seventeen ecotypic classifications were identified in the study area on the basis of field investigations. The percent cover by life form and non-living material for the 17 classes is summarized along with the percent cover by species for the 17 classes.

Gold and other metals in big sagebrush (Artemisia tridentata Nutt.) as an exploration tool, Gold Run District, Humboldt County, Nevada

USGS Publications Warehouse

Erdman, J.A.; Cookro, T.M.; O'Leary, R. M.; Harms, T.F.

1988-01-01

Big sagebrush - a cold-desert species that dominates the terrain over large parts of western United States - was sampled along several traverses that crossed thermally metamorphosed limestone, phyllitic shale, and schist of the Middle and Upper Cambrian Preble Formation that host skarn-, disseminated gold and silver-, and hot springs gold-type mineral occurrences. Patterns of detectable levels of gold (8 to 28 ppb or ng g-1) in ash of new growth were consistent with areas affected by known or suspected gold mineralization. Soils collected along one of the traverses where a selenium-indicator plant was common contained no gold above background levels of 2ppb, but were consistently high in As, Sb, and Zn, and several samples were unusually high in Se (maximum 11 ppm or ??g g-1). Sagebrush along this traverse contained Li at levels above norms for this species. We also found a puzzling geochemical anomaly at a site basinward from active hot springs along a range-front fault scarp. Sagebrush at this site contained a trace of gold and an unusually high concentration of Cd (13 ppm) and the soil had anomalous concentrations of Cd and Bi (3.2 and 6 ppm, respectively). The source of this anomaly could be either metal-rich waters from an irrigation ditch or leakage along a buried fault. Despite the limited nature of the study, we conclude that gold in sagebrush could be a cost-effective guide to drilling locations in areas where the geology seems favorable for disseminated and vein precious metals. ?? 1988.

Opportunity Mars Rover mission: Overview and selected results from Purgatory ripple to traverses to Endeavour crater

USGS Publications Warehouse

Arvidson, R. E.; Ashley, James W.; Bell, J.F.; Chojnacki, M.; Cohen, J.; Economou, T.E.; Farrand, W. H.; Fergason, R.; Fleischer, I.; Geissler, P.; Gellert, Ralf; Golombek, M.P.; Grotzinger, J.P.; Guinness, E.A.; Haberle, R.M.; Herkenhoff, K. E.; Herman, J.A.; Iagnemma, K.D.; Jolliff, B.L.; Johnson, J. R.; Klingelhofer, G.; Knoll, A.H.; Knudson, A.T.; Li, R.; McLennan, S.M.; Mittlefehldt, D. W.; Morris, R.V.; Parker, T.J.; Rice, M.S.; Schroder, C.; Soderblom, L.A.; Squyres, S. W.; Sullivan, R.J.; Wolff, M.J.

2011-01-01

Opportunity has been traversing the Meridiani plains since 25 January 2004 (sol 1), acquiring numerous observations of the atmosphere, soils, and rocks. This paper provides an overview of key discoveries between sols 511 and 2300, complementing earlier papers covering results from the initial phases of the mission. Key new results include (1) atmospheric argon measurements that demonstrate the importance of atmospheric transport to and from the winter carbon dioxide polar ice caps; (2) observations showing that aeolian ripples covering the plains were generated by easterly winds during an epoch with enhanced Hadley cell circulation; (3) the discovery and characterization of cobbles and boulders that include iron and stony-iron meteorites and Martian impact ejecta; (4) measurements of wall rock strata within Erebus and Victoria craters that provide compelling evidence of formation by aeolian sand deposition, with local reworking within ephemeral lakes; (5) determination that the stratigraphy exposed in the walls of Victoria and Endurance craters show an enrichment of chlorine and depletion of magnesium and sulfur with increasing depth. This result implies that regional-scale aqueous alteration took place before formation of these craters. Most recently, Opportunity has been traversing toward the ancient Endeavour crater. Orbital data show that clay minerals are exposed on its rim. Hydrated sulfate minerals are exposed in plains rocks adjacent to the rim, unlike the surfaces of plains outcrops observed thus far by Opportunity. With continued mechanical health, Opportunity will reach terrains on and around Endeavour's rim that will be markedly different from anything examined to date.

Opportunity Mars Rover mission: Overview and selected results from Purgatory ripple to traverses to Endeavour crater

USGS Publications Warehouse

Arvidson, R. E.; Ashley, James W.; Bell, J.F.; Chojnacki, M.; Cohen, J.; Economou, T.E.; Farrand, W. H.; Fergason, R.; Fleischer, I.; Geissler, P.; Gellert, Ralf; Golombek, M.P.; Grotzinger, J.P.; Guinness, E.A.; Haberle, R.M.; Herkenhoff, K. E.; Herman, J.A.; Iagnemma, K.D.; Jolliff, B.L.; Johnson, J. R.; Klingelhofer, G.; Knoll, A.H.; Knudson, A.T.; Li, R.; McLennan, S.M.; Mittlefehldt, D. W.; Morris, R.V.; Parker, T.J.; Rice, M.S.; Schroder, C.; Soderblom, L.A.; Squyres, S. W.; Sullivan, R.J.; Wolff, M.J.

2011-01-01

Opportunity has been traversing the Meridiani plains since 25 January 2004 (sol 1), acquiring numerous observations of the atmosphere, soils, and rocks. This paper provides an overview of key discoveries between sols 511 and 2300, complementing earlier papers covering results from the initial phases of the mission. Key new results include (1) atmospheric argon measurements that demonstrate the importance of atmospheric transport to and from the winter carbon dioxide polar ice caps; (2) observations showing that aeolian ripples covering the plains were generated by easterly winds during an epoch with enhanced Hadley cell circulation; (3) the discovery and characterization of cobbles and boulders that include iron and stony-iron meteorites and Martian impact ejecta; (4) measurements of wall rock strata within Erebus and Victoria craters that provide compelling evidence of formation by aeolian sand deposition, with local reworking within ephemeral lakes; (5) determination that the stratigraphy exposed in the walls of Victoria and Endurance craters show an enrichment of chlorine and depletion of magnesium and sulfur with increasing depth. This result implies that regional-scale aqueous alteration took place before formation of these craters. Most recently, Opportunity has been traversing toward the ancient Endeavour crater. Orbital data show that clay minerals are exposed on its rim. Hydrated sulfate minerals are exposed in plains rocks adjacent to the rim, unlike the surfaces of plains outcrops observed thus far by Opportunity. With continued mechanical health, Opportunity will reach terrains on and around Endeavour's rim that will be markedly different from anything examined to date. Copyright 2011 by the American Geophysical Union.

Algorithms and methodology used in constructing high-resolution terrain databases

NASA Astrophysics Data System (ADS)

Williams, Bryan L.; Wilkosz, Aaron

1998-07-01

This paper presents a top-level description of methods used to generate high-resolution 3D IR digital terrain databases using soft photogrammetry. The 3D IR database is derived from aerial photography and is made up of digital ground plane elevation map, vegetation height elevation map, material classification map, object data (tanks, buildings, etc.), and temperature radiance map. Steps required to generate some of these elements are outlined. The use of metric photogrammetry is discussed in the context of elevation map development; and methods employed to generate the material classification maps are given. The developed databases are used by the US Army Aviation and Missile Command to evaluate the performance of various missile systems. A discussion is also presented on database certification which consists of validation, verification, and accreditation procedures followed to certify that the developed databases give a true representation of the area of interest, and are fully compatible with the targeted digital simulators.

Bayes classification of terrain cover using normalized polarimetric data

NASA Technical Reports Server (NTRS)

Yueh, H. A.; Swartz, A. A.; Kong, J. A.; Shin, R. T.; Novak, L. M.

1988-01-01

The normalized polarimetric classifier (NPC) which uses only the relative magnitudes and phases of the polarimetric data is proposed for discrimination of terrain elements. The probability density functions (PDFs) of polarimetric data are assumed to have a complex Gaussian distribution, and the marginal PDF of the normalized polarimetric data is derived by adopting the Euclidean norm as the normalization function. The general form of the distance measure for the NPC is also obtained. It is demonstrated that for polarimetric data with an arbitrary PDF, the distance measure of NPC will be independent of the normalization function selected even when the classifier is mistrained. A complex Gaussian distribution is assumed for the polarimetric data consisting of grass and tree regions. The probability of error for the NPC is compared with those of several other single-feature classifiers. The classification error of NPCs is shown to be independent of the normalization function.

Inventory and monitoring of natural vegetation and related resources in an arid environment

NASA Technical Reports Server (NTRS)

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

1973-01-01

The author has identified the following significant results. A vegetation classification has been established for the test site (approx. 8300 sq km); 31 types are recognized. Some relationships existing among vegetation types and associated terrain features have been characterized. Terrain features can be used to discriminate vegetation types. Macrorelief interpretations on ERTS-1 imagery can be performed with greater accuracy when using high sun angle stereoscopic viewing rather than low sun angle monoscopic viewing. Some plant phenological changes are being recorded by the MSS system.

Toward autonomous driving: The CMU Navlab. I - Perception

NASA Technical Reports Server (NTRS)

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

1991-01-01

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

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

Mapping Sub-Antarctic Cushion Plants Using Random Forests to Combine Very High Resolution Satellite Imagery and Terrain Modelling

PubMed Central

Bricher, Phillippa K.; Lucieer, Arko; Shaw, Justine; Terauds, Aleks; Bergstrom, Dana M.

2013-01-01

Monitoring changes in the distribution and density of plant species often requires accurate and high-resolution baseline maps of those species. Detecting such change at the landscape scale is often problematic, particularly in remote areas. We examine a new technique to improve accuracy and objectivity in mapping vegetation, combining species distribution modelling and satellite image classification on a remote sub-Antarctic island. In this study, we combine spectral data from very high resolution WorldView-2 satellite imagery and terrain variables from a high resolution digital elevation model to improve mapping accuracy, in both pixel- and object-based classifications. Random forest classification was used to explore the effectiveness of these approaches on mapping the distribution of the critically endangered cushion plant Azorella macquariensis Orchard (Apiaceae) on sub-Antarctic Macquarie Island. Both pixel- and object-based classifications of the distribution of Azorella achieved very high overall validation accuracies (91.6–96.3%, κ = 0.849–0.924). Both two-class and three-class classifications were able to accurately and consistently identify the areas where Azorella was absent, indicating that these maps provide a suitable baseline for monitoring expected change in the distribution of the cushion plants. Detecting such change is critical given the threats this species is currently facing under altering environmental conditions. The method presented here has applications to monitoring a range of species, particularly in remote and isolated environments. PMID:23940805

Towards a sustainable modular robot system for planetary exploration

NASA Astrophysics Data System (ADS)

Hossain, S. G. M.

This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual robot module, multiple modules of a four-degree-of-freedom unit-modular robot were developed. The robot was equipped with a novel connector mechanism that made self-healing possible. Also, design strategies included the use of series elastic actuators for better robot-terrain interaction. In addition, various locomotion gaits were generated and explored using the robot modules, which is essential for a modular robot system to achieve robustness and thus successfully navigate and function in a planetary environment. To investigate multi-robot task completion, a biomimetic cooperative load transportation algorithm was developed and simulated. Also, a liquid motion-inspired theory was developed consisting of a large number of robot modules. This can be used to traverse obstacles that inevitably occur in maneuvering over rough terrains such as in a planetary exploration. Keywords: Modular robot, cooperative robots, biomimetics, planetary exploration, sustainability.

Jumping robots: a biomimetic solution to locomotion across rough terrain.

PubMed

Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

2007-09-01

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

Geodiversity of landforms within morphoclimatic zones of the Earth

NASA Astrophysics Data System (ADS)

Zwoliński, Zbigniew; Gudowicz, Joanna

2016-04-01

The aim of the paper is trying to calculate and classify geomorphometric parameters and on the basis of their values describe geodiversity of landforms within morphoclimatic zones. Morphoclimatic zone classifications by Büdel (1963), Tricart, Cailleux (1965) and Hagedorn, Poser (1974) were evaluated. Zonal morphological and climatic variation of the Earth reflects the spatial distribution of the nature and intensity of the ancient and modern processes of erosion, denudation and accumulation. Therefore, can be observing variation of landforms within particular zones. Morphoclimatic zones we digitized to get polygon vector layers with consistent coverage for the whole world. Elevation data we obtained from the Shuttle Radar Topography Mission (SRTM Version 4). The coverage of elevation data are between 56° S and 60° N. In order to look at maps of morphoclimatic zones multiple parameters were calculated. Primary parameters consisted of relative heights, slope, plan and profile curvature. We used in the analysis also the secondary parameters i.e. Topographic Wetness Index and Convergence Index. Within the analyzed zones we also compared automatic landform classification methods based on Topographic Position Index, Hammond's classification, unsupervised nested-means algorithm and a three part geometric signature: slope gradient, local convexity, and surface texture. For the primary and secondary parameters descriptive statistics such as minimum, maximum, range, mean, standard deviation within each morphoclimatic zone were calculated. Then the parameter maps have been classified on the basis of the natural distribution of Jenks method (1967). Within each morphoclimatic zone, area percentage was calculated for the derived classes of parameters, as well as the percentage of surface forms generated on the basis of automatic classification methods. Iwahashi, Pike (2007) obtained terrain class values, as well as terrain series values for the entire world (see the first row in Table I). The table also contains newly calculated data for terrain classes and series, for average morphoclimatic zones according to the classifications of Büdel, Tricart, Cailleux and Hagedorn, Poser. Differences for the entire world data between the original Iwahashi, Pike data and the three classifications are relatively small and fall in the range of -3.1 to 2.4%. This means that at the scale of the entire world - regardless of the morphoclimatic zone classification method - the results are similar, despite the fact that glacial zones are not allowed for in the calculations. Extremely interesting information is provided by the analysis of data for the 16-fold terrain classes, which show significant differences in morphoclimatic zones according to different classifications (Table I). They show obvious differences in the morphological development of morphoclimatic zones, regardless of classification. Maps prepared for the primary and secondary geomorphometric parameters constitute the next series of results. Not all the parameters have proven to be fully useful for the characteristics and differentiation of morphoclimatic zones. However, in many cases the analysis of the special layout of these parameters allows discovering interesting morphogenetic observations. The unquestionable benefit of many geomorphometric parameters is the possibility to indicate the morphometric relief circumstances fostering the presence of geomorphological hazards such as flooding or landslides. The obtained preliminary data confirm the sense of the undertaken research problem. The possibility to use big data in the calculation of geomorphometric characteristics for selected classifications of morphoclimatic zones at the scale of the entire world opens new ways of interpreting the landforms. Budel's proposal (1963) should be considered the least useful of the three morphoclimatic classifications analysed. Generally, it may be assumed that the more complex the morphoclimatic classification, the better it adjusts to the spatial geomorphometric diversification of the topographic surface of the world. References Büdel, J., 1963. Klima-genetische Geomorphologie. Geographische Rundschau, 15:269-285. Hagedorn, J., Poser, H., 1974. Räumliche Ordnung der rezenten geomorphologischen Prozesse und Prozesskombinationen auf der Erde. Abh. Akad. Wiss. Göttingen, Math.-Physik. Kl. III/29, Göttingen: 426-439. Iwahashi, J., Pike, R., 2007. Automated classification of topography from DEMs by an unsupervised nested-means algorithm and three-part geometric signature. Geomorphology 86, 409-440. Jenks, G.F., 1967. The Data Model Concept in Statistical Mapping. International Yearbook of Cartography. 7:186-190. Tricart, J., Cailleux, A., 1965. Introduction à la géomorphologie climatique. Traité de géomorphologie, tome I, SEDES, París, 306 p. TABLE 1. TERRAIN CLASSES AND SERIES ACCORDING TO IWAHASHI AND PIKE (2007) FOR THREE MORPHOCLIMATIC CLASSICATIONS OF THE EARTH [%] Author Iwahashi, Pike (2007) Büdel (1963) Tricart, Cailleux (1965) Hagedorn, Poser (1974) 16-fold terrain classes 1 13.2 12.9 14.9 12.8 2 0.9 1.2 1.2 0.8 3 9.0 8.9 10.0 9.0 4 2.1 2.2 2.4 2.1 5 14.3 15.2 15.5 14.5 6 1.8 2.3 2.0 1.7 7 9.1 8.5 9.0 9.6 8 3.3 3.3 3.4 3.2 9 10.9 11.9 11.2 11.2 10 1.9 1.9 1.6 1.8 11 5.2 4.7 4.6 5.5 12 3.0 2.6 2.4 2.8 13 7.2 8.0 7.2 7.3 14 4.0 4.0 3.2 3.8 15 3.2 2.9 2.8 3.2 16 10.9 9.7 8.7 10.7 4-fold terrain series I: 1+5+9+13: fine texture, high convexity 45.7 48.0 48.8 45.7 II: 2+6+10+14: coarse texture, high convexity8.7 9.3 8.0 8.2 III: 3+7+11+15: fine texture, low convexity 26.4 24.9 26.3 27.3 IV: 4+8+12+16: coarse texture, low convexity19.3 17.7 16.9 18.7

Automated rule-base creation via CLIPS-Induce

NASA Technical Reports Server (NTRS)

Murphy, Patrick M.

1994-01-01

Many CLIPS rule-bases contain one or more rule groups that perform classification. In this paper we describe CLIPS-Induce, an automated system for the creation of a CLIPS classification rule-base from a set of test cases. CLIPS-Induce consists of two components, a decision tree induction component and a CLIPS production extraction component. ID3, a popular decision tree induction algorithm, is used to induce a decision tree from the test cases. CLIPS production extraction is accomplished through a top-down traversal of the decision tree. Nodes of the tree are used to construct query rules, and branches of the tree are used to construct classification rules. The learned CLIPS productions may easily be incorporated into a large CLIPS system that perform tasks such as accessing a database or displaying information.

Forest Tree Species Distribution Mapping Using Landsat Satellite Imagery and Topographic Variables with the Maximum Entropy Method in Mongolia

NASA Astrophysics Data System (ADS)

Hao Chiang, Shou; Valdez, Miguel; Chen, Chi-Farn

2016-06-01

Forest is a very important ecosystem and natural resource for living things. Based on forest inventories, government is able to make decisions to converse, improve and manage forests in a sustainable way. Field work for forestry investigation is difficult and time consuming, because it needs intensive physical labor and the costs are high, especially surveying in remote mountainous regions. A reliable forest inventory can give us a more accurate and timely information to develop new and efficient approaches of forest management. The remote sensing technology has been recently used for forest investigation at a large scale. To produce an informative forest inventory, forest attributes, including tree species are unavoidably required to be considered. In this study the aim is to classify forest tree species in Erdenebulgan County, Huwsgul province in Mongolia, using Maximum Entropy method. The study area is covered by a dense forest which is almost 70% of total territorial extension of Erdenebulgan County and is located in a high mountain region in northern Mongolia. For this study, Landsat satellite imagery and a Digital Elevation Model (DEM) were acquired to perform tree species mapping. The forest tree species inventory map was collected from the Forest Division of the Mongolian Ministry of Nature and Environment as training data and also used as ground truth to perform the accuracy assessment of the tree species classification. Landsat images and DEM were processed for maximum entropy modeling, and this study applied the model with two experiments. The first one is to use Landsat surface reflectance for tree species classification; and the second experiment incorporates terrain variables in addition to the Landsat surface reflectance to perform the tree species classification. All experimental results were compared with the tree species inventory to assess the classification accuracy. Results show that the second one which uses Landsat surface reflectance coupled with terrain variables produced better result, with the higher overall accuracy and kappa coefficient than first experiment. The results indicate that the Maximum Entropy method is an applicable, and to classify tree species using satellite imagery data coupled with terrain information can improve the classification of tree species in the study area.

Three-dimensional obstacle classification in laser range data

NASA Astrophysics Data System (ADS)

Armbruster, Walter; Bers, Karl-Heinz

1998-10-01

The threat of hostile surveillance and weapon systems require military aircraft to fly under extreme conditions such as low altitude, high speed, poor visibility and incomplete terrain information. The probability of collision with natural and man-made obstacles during such contour missions is high if detection capability is restricted to conventional vision aids. Forward-looking scanning laser rangefinders which are presently being flight tested and evaluated at German proving grounds, provide a possible solution, having a large field of view, high angular and range resolution, a high pulse repetition rate, and sufficient pulse energy to register returns from wires at over 500 m range (depends on the system) with a high hit-and-detect probability. Despite the efficiency of the sensor, acceptance of current obstacle warning systems by test pilots is not very high, mainly due to the systems' inadequacies in obstacle recognition and visualization. This has motivated the development and the testing of more advanced 3d-scene analysis algorithm at FGAN-FIM to replace the obstacle recognition component of current warning systems. The basic ideas are to increase the recognition probability and to reduce the false alarm rate for hard-to-extract obstacles such as wires, by using more readily recognizable objects such as terrain, poles, pylons, trees, etc. by implementing a hierarchical classification procedure to generate a parametric description of the terrain surface as well as the class, position, orientation, size and shape of all objects in the scene. The algorithms can be used for other applications such as terrain following, autonomous obstacle avoidance, and automatic target recognition.

Remote sensing application to regional activities

NASA Technical Reports Server (NTRS)

Shahrokhi, F.; Jones, N. L.; Sharber, L. A.

1976-01-01

Two agencies within the State of Tennessee were identified whereby the transfer of aerospace technology, namely remote sensing, could be applied to their stated problem areas. Their stated problem areas are wetland and land classification and strip mining studies. In both studies, LANDSAT data was analyzed with the UTSI video-input analog/digital automatic analysis and classification facility. In the West Tennessee area three land-use classifications could be distinguished; cropland, wetland, and forest. In the East Tennessee study area, measurements were submitted to statistical tests which verified the significant differences due to natural terrain, stripped areas, various stages of reclamation, water, etc. Classifications for both studies were output in the form of maps of symbols and varying shades of gray.

Using ecological zones to increase the detail of Landsat classifications

NASA Technical Reports Server (NTRS)

Fox, L., III; Mayer, K. E.

1981-01-01

Changes in classification detail of forest species descriptions were made for Landsat data on 2.2 million acres in northwestern California. Because basic forest canopy structures may exhibit very similar E-M energy reflectance patterns in different environmental regions, classification labels based on Landsat spectral signatures alone become very generalized when mapping large heterogeneous ecological regions. By adding a seven ecological zone stratification, a 167% improvement in classification detail was made over the results achieved without it. The seven zone stratification is a less costly alternative to the inclusion of complex collateral information, such as terrain data and soil type, into the Landsat data base when making inventories of areas greater than 500,000 acres.

Classification of surface types using SIR-C/X-SAR, Mount Everest Area, Tibet

USGS Publications Warehouse

Albright, Thomas P.; Painter, Thomas H.; Roberts, Dar A.; Shi, Jiancheng; Dozier, Jeff; Fielding, Eric

1998-01-01

Imaging radar is a promising tool for mapping snow and ice cover in alpine regions. It combines a high-resolution, day or night, all-weather imaging capability with sensitivity to hydrologic and climatic snow and ice parameters. We use the spaceborne imaging radar-C/X-band synthetic aperture radar (SIR-C/X-SAR) to map snow and glacial ice on the rugged north slope of Mount Everest. From interferometrically derived digital elevation data, we compute the terrain calibration factor and cosine of the local illumination angle. We then process and terrain-correct radar data sets acquired on April 16, 1994. In addition to the spectral data, we include surface slope to improve discrimination among several surface types. These data sets are then used in a decision tree to generate an image classification. This method is successful in identifying and mapping scree/talus, dry snow, dry snow-covered glacier, wet snow-covered glacier, and rock-covered glacier, as corroborated by comparison with existing surface cover maps and other ancillary information. Application of the classification scheme to data acquired on October 7 of the same year yields accurate results for most surface types but underreports the extent of dry snow cover.

An orientation soil survey at the Pebble Cu-Au-Mo porphyry deposit, Alaska

USGS Publications Warehouse

Smith, Steven M.; Eppinger, Robert G.; Fey, David L.; Kelley, Karen D.; Giles, S.A.

2009-01-01

Soil samples were collected in 2007 and 2008 along three traverses across the giant Pebble Cu-Au-Mo porphyry deposit. Within each soil pit, four subsamples were collected following recommended protocols for each of ten commonly-used and proprietary leach/digestion techniques. The significance of geochemical patterns generated by these techniques was classified by visual inspection of plots showing individual element concentration by each analytical method along the 2007 traverse. A simple matrix by element versus method, populated with a value based on the significance classification, provides a method for ranking the utility of methods and elements at this deposit. The interpretation of a complex multi-element dataset derived from multiple analytical techniques is challenging. An example of vanadium results from a single leach technique is used to illustrate the several possible interpretations of the data.

Science Activity Planner for the MER Mission

NASA Technical Reports Server (NTRS)

Norris, Jeffrey S.; Crockett, Thomas M.; Fox, Jason M.; Joswig, Joseph C.; Powell, Mark W.; Shams, Khawaja S.; Torres, Recaredo J.; Wallick, Michael N.; Mittman, David S.

2008-01-01

The Maestro Science Activity Planner is a computer program that assists human users in planning operations of the Mars Explorer Rover (MER) mission and visualizing scientific data returned from the MER rovers. Relative to its predecessors, this program is more powerful and easier to use. This program is built on the Java Eclipse open-source platform around a Web-browser-based user-interface paradigm to provide an intuitive user interface to Mars rovers and landers. This program affords a combination of advanced display and simulation capabilities. For example, a map view of terrain can be generated from images acquired by the High Resolution Imaging Science Explorer instrument aboard the Mars Reconnaissance Orbiter spacecraft and overlaid with images from a navigation camera (more precisely, a stereoscopic pair of cameras) aboard a rover, and an interactive, annotated rover traverse path can be incorporated into the overlay. It is also possible to construct an overhead perspective mosaic image of terrain from navigation-camera images. This program can be adapted to similar use on other outer-space missions and is potentially adaptable to numerous terrestrial applications involving analysis of data, operations of robots, and planning of such operations for acquisition of scientific data.

Legless locomotion in lattices

NASA Astrophysics Data System (ADS)

Schiebel, Perrin; Dai, Jin; Gong, Chaohui; Serrano, Miguel M.; Mendelson, Joseph R., III; Choset, Howie; Goldman, Daniel I.

2015-03-01

By propagating waves from head to tail, limbless organisms like snakes can traverse terrain composed of rocks, foliage, soil and sand. Previous research elucidated how rigid obstacles influence snake locomotion by studying a model terrain-symmetric lattices of pegs placed in hard ground. We want to understand how different substrate-body interaction modes affect performance in desert-adapted snakes during transit of substrates composed of both rigid obstacles and granular media (GM). We tested Chionactis occipitalis, the Mojave shovel-nosed snake, in two laboratory treatments: lattices of 0 . 64 cm diameter obstacles arrayed on both a hard, slick substrate and in a GM of ~ 0 . 3 mm diameter glass particles. For all lattice spacings, d, speed through the hard ground lattices was less than that in GM lattices. However, maximal undulation efficiencies ηu (number of body lengths advanced per undulation cycle) in both treatments were comparable when d was intermediate. For other d, ηu was lower than this maximum in hard ground lattices, while on GM, ηu was insensitive to d. To systematically explore such locomotion, we tested a physical robot model of the snake; performance depended sensitively on base substrate, d and body wave parameters.

Stowable Energy-Absorbing Rocker-Bogie Suspensions

NASA Technical Reports Server (NTRS)

Harrington, Brian; Voorhees, Christopher

2007-01-01

A report discusses the design of the rocker-bogie suspensions of the Mars Exploration Rover vehicles, which were landed on Mars in January 2004. Going beyond the basic requirements regarding mobility on uneven terrain, the design had to satisfy requirements (1) to enable each suspension to contort so that the rover could be stowed within limited space in a tetrahedral lander prior to deployment and (2) that the suspension be able to absorb appreciable impact loads, with limited deflection, during egress from the lander and traversal of terrain. For stowability, six joints (three on the right, three on the left) were added to the basic rocker-bogie mechanism. One of the joints on each side was a yoke-and-clevis joint at the suspension/differential interface, one was a motorized twist joint in the forward portion of the rocker, and one was a linear joint created by modifying a fixed-length bogie member into a telescoping member. For absorption of impact, the structural members were in the form of box beams made by electron-beam welding of machined, thin-walled, C-channel, titanium components. The box beams were very lightweight and could withstand high bending and torsional loads.

Human hopping on damped surfaces: strategies for adjusting leg mechanics.

PubMed

Moritz, Chet T; Farley, Claire T

2003-08-22

Fast-moving legged animals bounce along the ground with spring-like legs and agilely traverse variable terrain. Previous research has shown that hopping and running humans maintain the same bouncing movement of the body's centre of mass on a range of elastic surfaces by adjusting their spring-like legs to exactly offset changes in surface stiffness. This study investigated human hopping on damped surfaces that dissipated up to 72% of the hopper's mechanical energy. On these surfaces, the legs did not act like pure springs. Leg muscles performed up to 24-fold more net work to replace the energy lost by the damped surface. However, considering the leg and surface together, the combination appeared to behave like a constant stiffness spring on all damped surfaces. By conserving the mechanics of the leg-surface combination regardless of surface damping, hoppers also conserved centre-of-mass motions. Thus, the normal bouncing movements of the centre of mass in hopping are not always a direct result of spring-like leg behaviour. Conserving the trajectory of the centre of mass by maintaining spring-like mechanics of the leg-surface combination may be an important control strategy for fast-legged locomotion on variable terrain.

Human hopping on damped surfaces: strategies for adjusting leg mechanics.

PubMed Central

Moritz, Chet T; Farley, Claire T

2003-01-01

Fast-moving legged animals bounce along the ground with spring-like legs and agilely traverse variable terrain. Previous research has shown that hopping and running humans maintain the same bouncing movement of the body's centre of mass on a range of elastic surfaces by adjusting their spring-like legs to exactly offset changes in surface stiffness. This study investigated human hopping on damped surfaces that dissipated up to 72% of the hopper's mechanical energy. On these surfaces, the legs did not act like pure springs. Leg muscles performed up to 24-fold more net work to replace the energy lost by the damped surface. However, considering the leg and surface together, the combination appeared to behave like a constant stiffness spring on all damped surfaces. By conserving the mechanics of the leg-surface combination regardless of surface damping, hoppers also conserved centre-of-mass motions. Thus, the normal bouncing movements of the centre of mass in hopping are not always a direct result of spring-like leg behaviour. Conserving the trajectory of the centre of mass by maintaining spring-like mechanics of the leg-surface combination may be an important control strategy for fast-legged locomotion on variable terrain. PMID:12965003

The development of a lightweight modular compliant surface bio-inspired robot

NASA Astrophysics Data System (ADS)

Stone, David L.; Cranney, John

2004-09-01

The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morphable robot for military forces in the field and for other industrial uses. The USTLAB effort builds on proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. In Phase I, basic open plant stability was proven for climbing over obstacles of ~18 inches high and traversing ~75 degree inclines (up, down, or sideways) in a platform of approximately 15 kilograms. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved changes which currently enable future work in active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), and we have reduced platform weight by one third. Currently the vehicle weighs 10 kilograms and will grow marginally as additional actuation, MEMS based organic sensing, payload, and autonomous processing is added. The CSR vehicle"s modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process and the vehicle characteristics will be discussed.

A statistical approach for validating eSOTER and digital soil maps in front of traditional soil maps

NASA Astrophysics Data System (ADS)

Bock, Michael; Baritz, Rainer; Köthe, Rüdiger; Melms, Stephan; Günther, Susann

2015-04-01

During the European research project eSOTER, three different Digital Soil Maps (DSM) were developed for the pilot area Chemnitz 1:250,000 (FP7 eSOTER project, grant agreement nr. 211578). The core task of the project was to revise the SOTER method for the interpretation of soil and terrain data. It was one of the working hypothesis that eSOTER does not only provide terrain data with typical soil profiles, but that the new products actually perform like a conceptual soil map. The three eSOTER maps for the pilot area considerably differed in spatial representation and content of soil classes. In this study we compare the three eSOTER maps against existing reconnaissance soil maps keeping in mind that traditional soil maps have many subjective issues and intended bias regarding the overestimation and emphasize of certain features. Hence, a true validation of the proper representation of modeled soil maps is hardly possible; rather a statistical comparison between modeled and empirical approaches is possible. If eSOTER data represent conceptual soil maps, then different eSOTER, DSM and conventional maps from various sources and different regions could be harmonized towards consistent new data sets for large areas including the whole European continent. One of the eSOTER maps has been developed closely to the traditional SOTER method: terrain classification data (derived from SRTM DEM) were combined with lithology data (re-interpreted geological map); the corresponding terrain units were then extended with soil information: a very dense regional soil profile data set was used to define soil mapping units based on a statistical grouping of terrain units. The second map is a pure DSM map using continuous terrain parameters instead of terrain classification; radiospectrometric data were used to supplement parent material information from geology maps. The classification method Random Forest was used. The third approach predicts soil diagnostic properties based on covariates similar to DSM practices; in addition, multi-temporal MODIS data were used; the resulting soil map is the product of these diagnostic layers producing a map of soil reference groups (classified according to WRB). Because the third approach was applied to a larger test area in central Europe, and compared to the first two approaches, has worked with coarser input data, comparability is only partly fulfilled. To evaluate the usability of the three eSOTER maps, and to make a comparison among them, traditional soil maps 1:200,000 and 1:50,000 were used as reference data sets. Three statistical methods were applied: (i) in a moving window the distribution of the soil classes of each DSM product was compared to that of the soil maps by calculating the corrected coefficient of contingency, (ii) the value of predictive power for each of the eSOTER maps was determined, and (iii) the degree of consistency was derived. The latter is based on a weighting of the match of occurring class combinations via expert knowledge and recalculating the proportions of map appearance with these weights. To re-check the validation results a field study by local soil experts was conducted. The results show clearly that the first eSOTER approach based on the terrain classification / reinterpreted parent material information has the greatest similarity with traditional soil maps. The spatial differentiation offered by such an approach is well suitable to serve as a conceptual soil map. Therefore, eSOTER can be a tool for soil mappers to generate conceptual soil maps in a faster and more consistent way. This conclusion is at least valid for overview scales such as 1.250,000.

Remote image analysis for Mars Exploration Rover mobility and manipulation operations

NASA Technical Reports Server (NTRS)

Leger, Chris; Deen, Robert G.; Bonitz, Robert G.

2005-01-01

NASA's Mars Exploration Rovers are two sixwheeled, 175-kg robotic vehicles which have operated on Mars for over a year as of March 2005. The rovers are controlled by teams who must understand the rover's surroundings and develop command sequences on a daily basis. The tight tactical planning timeline and everchanging environment call for tools that allow quick assessment of potential manipulator targets and traverse goals, since command sequences must be developed in a matter of hours after receipt of new data from the rovers. Reachability maps give a visual indication of which targets are reachable by each rover's manipulator, while slope and solar energy maps show the rover operator which terrain areas are safe and unsafe from different standpoints.

The roller coaster flight strategy of bar-headed geese conserves energy during Himalayan migrations

USGS Publications Warehouse

Bishop, C.M.; Spivey, R.J.; Hawkes, L. A.; Batbayar, N.; Chua, B.; Frappell, P.B.; Milsom, W.K.; Natsagdorj, T.; Newman, S.H.; Scott, G.R.; Takekawa, John Y.; Wikelski, Martin; Butler, Patrick J.

2015-01-01

The physiological and biomechanical requirements of flight at high altitude have been the subject of much interest. Here, we uncover a steep relation between heart rate and wingbeat frequency (raised to the exponent 3.5) and estimated metabolic power and wingbeat frequency (exponent 7) of migratory bar-headed geese. Flight costs increase more rapidly than anticipated as air density declines, which overturns prevailing expectations that this species should maintain high-altitude flight when traversing the Himalayas. Instead, a "roller coaster" strategy, of tracking the underlying terrain and discarding large altitude gains only to recoup them later in the flight with occasional benefits from orographic lift, is shown to be energetically advantageous for flights over the Himalayas.

Status of DoD Robotic Programs

DTIC Science & Technology

1985-03-01

planning or adhere to previously planned routes. 0 Control. Controls are micro electronics based which provide means of autonomous action directly...KEY No: I 11 1181 1431 OROJECT Titloi ISMART TERRAIN ANALYSIS FOR ROBOTIC SYSTEMS (STARS) PROJECT Not I I CLASSIFICATION: IUCI TASK Titles IAUTOMATIC

Natural Processes Influencing Terrain Attributes. Report 1. Prediction of Residual Soil Texture in Humid Temperate Climates of the Federal Republic of Germany and Selected Analogous Portions of the United States-Pilot Study,

DTIC Science & Technology

1982-06-01

use of such commercial products . TTnv Ioa1 fi Ar 4 SECURITY CLASSIFICATION OF THIS PAGE (When Data _ _ne__D_ REPORT DOCUMENTATION PAGE BEFORE INSTCTIONS...in terrain are subject to modification by cultural processes indigenous to the area of study. Two areas, in close proximity and each the product of...residual soil is a reflec- tion of the combined weathering products of all of the rocks. At present, there appears to be no adequate solution to this

Spiking, Bursting, and Population Dynamics in a Network of Growth Transform Neurons.

PubMed

Gangopadhyay, Ahana; Chakrabartty, Shantanu

2018-06-01

This paper investigates the dynamical properties of a network of neurons, each of which implements an asynchronous mapping based on polynomial growth transforms. In the first part of this paper, we present a geometric approach for visualizing the dynamics of the network where each of the neurons traverses a trajectory in a dual optimization space, whereas the network itself traverses a trajectory in an equivalent primal optimization space. We show that as the network learns to solve basic classification tasks, different choices of primal-dual mapping produce unique but interpretable neural dynamics like noise shaping, spiking, and bursting. While the proposed framework is general enough, in this paper, we demonstrate its use for designing support vector machines (SVMs) that exhibit noise-shaping properties similar to those of modulators, and for designing SVMs that learn to encode information using spikes and bursts. It is demonstrated that the emergent switching, spiking, and burst dynamics produced by each neuron encodes its respective margin of separation from a classification hyperplane whose parameters are encoded by the network population dynamics. We believe that the proposed growth transform neuron model and the underlying geometric framework could serve as an important tool to connect well-established machine learning algorithms like SVMs to neuromorphic principles like spiking, bursting, population encoding, and noise shaping.

Rock Statistics at the Mars Pathfinder Landing Site, Roughness and Roving on Mars

NASA Technical Reports Server (NTRS)

Haldemann, A. F. C.; Bridges, N. T.; Anderson, R. C.; Golombek, M. P.

1999-01-01

Several rock counts have been carried out at the Mars Pathfinder landing site producing consistent statistics of rock coverage and size-frequency distributions. These rock statistics provide a primary element of "ground truth" for anchoring remote sensing information used to pick the Pathfinder, and future, landing sites. The observed rock population statistics should also be consistent with the emplacement and alteration processes postulated to govern the landing site landscape. The rock population databases can however be used in ways that go beyond the calculation of cumulative number and cumulative area distributions versus rock diameter and height. Since the spatial parameters measured to characterize each rock are determined with stereo image pairs, the rock database serves as a subset of the full landing site digital terrain model (DTM). Insofar as a rock count can be carried out in a speedier, albeit coarser, manner than the full DTM analysis, rock counting offers several operational and scientific products in the near term. Quantitative rock mapping adds further information to the geomorphic study of the landing site, and can also be used for rover traverse planning. Statistical analysis of the surface roughness using the rock count proxy DTM is sufficiently accurate when compared to the full DTM to compare with radar remote sensing roughness measures, and with rover traverse profiles.

Towards Human-Friendly Efficient Control of Multi-Robot Teams

NASA Technical Reports Server (NTRS)

Stoica, Adrian; Theodoridis, Theodoros; Barrero, David F.; Hu, Huosheng; McDonald-Maiers, Klaus

2013-01-01

This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

Geophysical evaluation of groundwater potential in part of southwestern Basement Complex terrain of Nigeria

NASA Astrophysics Data System (ADS)

Bayewu, Olateju O.; Oloruntola, Moroof O.; Mosuro, Ganiyu O.; Laniyan, Temitope A.; Ariyo, Stephen O.; Fatoba, Julius O.

2017-12-01

The geophysical assessment of groundwater in Awa-Ilaporu, near Ago Iwoye southwestern Nigeria was carried out with the aim of delineating probable areas of high groundwater potential. The area falls within the Crystalline Basement Complex of southwestern Nigeria which is predominantly underlain by banded gneiss, granite gneiss and pegmatite. The geophysical investigation involves the very low frequency electromagnetic (VLF-EM) and Vertical Electrical Sounding (VES) methods. The VLF-EM survey was at 10 m interval along eight traverses ranging between 290 and 700 m in length using ABEM WADI VLF-EM unit. The VLF-EM survey was used to delineate areas with conductive/fractured zones. Twenty-three VES surveys were carried out with the use of Campus Ohmega resistivity meter at different location and at locations areas delineated as high conductive areas by VLF-EM survey. The result of VLF-EM survey along its traverse was used in delineating high conductive/fractured zones, it is, however, in agreement with the delineation of the VES survey. The VES results showed 3-4 geoelectric layers inferred as sandy topsoil, sandy clay, clayey and fractured/fresh basement. The combination of these two methods, therefore, helped in resolving the prospecting location for the groundwater yield in the study area.

Mapping the Conceptual Terrain of Leadership: A Critical Point of Departure for Cross-Cultural Studies.

ERIC Educational Resources Information Center

Leithwood, Kenneth; Duke, Daniel L.

1998-01-01

Provides a classification and description of school leadership models found in contemporary, Western, English-language research literature, focusing on instructional leadership, transformational leadership, moral leadership, participative leadership, managerial leadership, and contingent leadership. For each category, the paper clarifies…

ATHLETE: A Cargo-Handling Vehicle for Solar System Exploration

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2011-01-01

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 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. 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. Architectural studies have indicated that one useful role for ATHLETE in planetary (moon or Mars) exploration is to "walk" cargo off the payload deck of a lander and transport it across the surface. Recent architectural approaches are focused on the concept that the lander descent stage will use liquid hydrogen as a propellant. This is the highest performance chemical fuel, but it requires very large tanks. A natural geometry for the lander is to have a single throttleable rocket engine on the centerline at the bottom, and to have the propellant tanks arranged as compactly as possible around and above that engine, with nearly-straight structural load paths that carry the heavy LO2 tanks as well as the ascent stage or cargo on a top deck. (The requirement for exactly one descent engine stems from the need to avoid symmetry planes in the exhaust plume that can entrain surface particles and loft them up into the system at hypervelocity.) This geometry is especially attractive since abort considerations drive the ascent stage to have as much open space around it as possible, in case the ascent stage needs to fire away from an out-of-control descent stage. These considerations lead to a configuration where the cargo deck of the lander is relatively high off the ground (over 6 meters in current concepts, using a 10-meter diameter launch shroud). These considerations have led some observers to presume that there is a "lander offloading problem". ATHLETE has been demonstrated as a solution to this problem, walking cargo off the high deck. This paper describes the applicability of the ATHLETE concept to exploration of the moon, Mars and even to Near- Earth Objects. Recent field test results for long-range traverse are described, along with plans for testing in the simulated microgravity environment of a NEO.

ATHLETE: Lunar Cargo Handling for International Lunar Exploration

NASA Technical Reports Server (NTRS)

Wilcox, Brian H.

2010-01-01

As part of the Human-Robot Systems Project within the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The basic idea of ATHLETE is to have six relatively small wheels on the ends of legs. The small wheels and associated drive actuators are much less massive than the larger wheels and gears needed for an "all terrain" vehicle that cannot "walk" out of extreme terrain. The mass savings for the wheels and wheel actuators is greater than the mass penalty of the legs, for a net mass savings. Starting in 2009, NASA became engaged in detailed architectural studies for international discussions with the European Space Agency (ESA), the Japanese Space Agency (JAXA), and the Canadian Space Agency (CSA) under the auspices of the International Architecture Working Group (IAWG). ATHLETE is considered in most of the campaign options considered, providing a way to offload cargo from large Altair-class landers (having a cargo deck 6+ meters above the surface) as well as offloading international landers launched on Ariane-5 or H-2 launch vehicles. These international landers would carry provisions as well as scientific instruments and/or small rovers that would be used by international astronauts as part of an international effort to explore the moon.Work described in this paper includes architectural studies in support of the international missions as well as field testing of a half-scale ATHLETE prototype performing cargo offloading from a lander mockup, along with multi-kilometer traverse, climbing over greater than 1 m rocks, tool use, etc.

Computer implemented classification of vegetation using aircraft acquired multispectral scanner data

NASA Technical Reports Server (NTRS)

Cibula, W. G.

1975-01-01

The use of aircraft 24-channel multispectral scanner data in conjunction with computer processing techniques to obtain an automated classification of plant species association was discussed. The classification of various plant species associations was related to information needed for specific applications. In addition, the necessity for multiple selection of training fields for a single class in situations where the study area consists of highly irregular terrain was detailed. A single classification was illuminated differently in different areas, resulting in the existence of multiple spectral signatures for a given class. These different signatures result since different qualities of radiation upwell to the detector from portions that have differing qualities of incident radiation. Techniques of training field selection were outlined, and a classification obtained from a natural area in Tishomingo State Park in northern Mississippi was presented.

Raster Vs. Point Cloud LiDAR Data Classification

NASA Astrophysics Data System (ADS)

El-Ashmawy, N.; Shaker, A.

2014-09-01

Airborne Laser Scanning systems with light detection and ranging (LiDAR) technology is one of the fast and accurate 3D point data acquisition techniques. Generating accurate digital terrain and/or surface models (DTM/DSM) is the main application of collecting LiDAR range data. Recently, LiDAR range and intensity data have been used for land cover classification applications. Data range and Intensity, (strength of the backscattered signals measured by the LiDAR systems), are affected by the flying height, the ground elevation, scanning angle and the physical characteristics of the objects surface. These effects may lead to uneven distribution of point cloud or some gaps that may affect the classification process. Researchers have investigated the conversion of LiDAR range point data to raster image for terrain modelling. Interpolation techniques have been used to achieve the best representation of surfaces, and to fill the gaps between the LiDAR footprints. Interpolation methods are also investigated to generate LiDAR range and intensity image data for land cover classification applications. In this paper, different approach has been followed to classifying the LiDAR data (range and intensity) for land cover mapping. The methodology relies on the classification of the point cloud data based on their range and intensity and then converted the classified points into raster image. The gaps in the data are filled based on the classes of the nearest neighbour. Land cover maps are produced using two approaches using: (a) the conventional raster image data based on point interpolation; and (b) the proposed point data classification. A study area covering an urban district in Burnaby, British Colombia, Canada, is selected to compare the results of the two approaches. Five different land cover classes can be distinguished in that area: buildings, roads and parking areas, trees, low vegetation (grass), and bare soil. The results show that an improvement of around 10 % in the classification results can be achieved by using the proposed approach.

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

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

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.

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.

The Highland Terrain Hopper: a new locomotion system for exploration of Mars and other low-gravity planetary bodies

NASA Astrophysics Data System (ADS)

Gurgurewicz, Joanna; Grygorczuk, Jerzy; Wisniewski, Lukasz; Mege, Daniel; Rickman, Hans

Field geoscientists need to collect three-dimensional data in order characterise the lithologic succession and structure of terrains, reconstruct their evolution, and eventually reveal the history of a portion of the planet. This is achieved by walking up and down mountains and valleys, conducting and 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. There are few limitations in the type of scientific payload conventional exploration rovers can carry, from geology and geophysics to geochemistry and exobiology. They lack two skills, however: the ability of working on rugged or unstable terrain, like in canyons and mountains, and on solid bodies having gravity too low for the friction between the wheels and the ground to generate robot displacement. ASTRONIKA Ltd. and the Space Research Centre of the Polish Academy of Sciences are designing Galago, the Highland Terrain Hopper, a small (Ø~50-100 cm), light (5-10 kg), and robust locomotion system, which addresses the challenge of accessing most areas on low-gravity planetary body for performing scientific observations and measurements, alone or as part of a commando. Galago is symmetric and can jump accurately to a height of 4.5 m on Mars, 9 m on the Moon, and much more on Phobos and other small bodies. For one Galago, a nominal horizontal travel distance of 5 km (1000 jumps) is currently planned with the considered energy source, a battery reloaded by solar panels. Galago may assist other types of robots, or humans, in accessing difficult terrain, or even replace them for specific measurements or campaigning. Its three independent legs make possible several types of motions: accurate jumping (to any place identified in advance), turning over, and tilting. Many risky displacements are made possible by robot symmetry and leg configuration. In case of failed jump, one leg at least is in contact with the ground and can be used for a new jump and a new attempt. Due to low weight and cost, several galagos may be sent to study the geology and geophysics along profiles tens of km long or grids covering up to hundreds of km2, with either duplicate or complementary payloads. Payload weight is limited to ca. 1 kg per one Galago. In order to save space and weight, the main system and payload will be highly miniaturized and designed simultaneously in order to share as much components as possible; no moving parts will be allowed. On Mars, the full stratigraphy, from the pre-Noachian to some of the most recent deposits, may be obtained using a small swarm of galagos dropped along a traverse going through one of the main Valles Marineris chasmata equipped with a payload including a visible-NIR multispectral camera and an inclinometer. At the same time, data regarding rock fracturing, hydrogeologic and paleohydrologic conditions, paleogeography, paleoenvironments, soils and paleosoils, would be collected. Such measurements would provide helpful information as to early volatile delivery and the very early climate, as well as assessment of past habitability. Galagos carrying a ground resistivity meter could probe the subsurface and look for buried ice; with geophones the present geologic activity and surface dynamics (slope processes such as recurring slope lineae, ice movement in rock- or dust-covered glaciers etc.) could be monitored and identified; a magnetometer would provide the first in situ measurements of Martian rock magnetization induced by the early dynamo. The Galago capabilities will be illustrated by a site study in Valles Marineris.

Remote sensing of Earth terrain

NASA Technical Reports Server (NTRS)

Kong, J. A.

1992-01-01

Research findings are summarized for projects dealing with the following: application of theoretical models to active and passive remote sensing of saline ice; radiative transfer theory for polarimetric remote sensing of pine forest; scattering of electromagnetic waves from a dense medium consisting of correlated Mie scatterers with size distribution and applications to dry snow; variance of phase fluctuations of waves propagating through a random medium; theoretical modeling for passive microwave remote sensing of earth terrain; polarimetric signatures of a canopy of dielectric cylinders based on first and second order vector radiative transfer theory; branching model for vegetation; polarimetric passive remote sensing of periodic surfaces; composite volume and surface scattering model; and radar image classification.

The navigation system of the JPL robot

NASA Technical Reports Server (NTRS)

Thompson, A. M.

1977-01-01

The control structure of the JPL research robot and the operations of the navigation subsystem are discussed. The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive. The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility. The model is used by a path planning algorithm, PATH, which uses tree search methods to find the optimal path to a goal. In PATH, the search space is defined dynamically as a consequence of node testing. Maze-solving and the use of an associative data base for context dependent node generation are also discussed. Execution of a planned path is accomplished by a feedback guidance process with automatic error recovery.

Spectral Lidar Analysis and Terrain Classification in a Semi-Urban Environment

DTIC Science & Technology

2017-03-01

MONITORING AGENCY REPORT NUMBER 11 . SUPPLEMENTARY NOTES The views expressed in this thesis are those of the author and do not reflect the official policy... Apollo 15, 16, 17 Laser Altimeters ...............................................6 3. Clementine...35 11 . Cloud-Aerosol LiDAR and Infrared Pathfinder Satellite Observations

Designing a training tool for imaging mental models

NASA Technical Reports Server (NTRS)

Dede, Christopher J.; Jayaram, Geetha

1990-01-01

The training process can be conceptualized as the student acquiring an evolutionary sequence of classification-problem solving mental models. For example a physician learns (1) classification systems for patient symptoms, diagnostic procedures, diseases, and therapeutic interventions and (2) interrelationships among these classifications (e.g., how to use diagnostic procedures to collect data about a patient's symptoms in order to identify the disease so that therapeutic measures can be taken. This project developed functional specifications for a computer-based tool, Mental Link, that allows the evaluative imaging of such mental models. The fundamental design approach underlying this representational medium is traversal of virtual cognition space. Typically intangible cognitive entities and links among them are visible as a three-dimensional web that represents a knowledge structure. The tool has a high degree of flexibility and customizability to allow extension to other types of uses, such a front-end to an intelligent tutoring system, knowledge base, hypermedia system, or semantic network.

Classification of Palmprint Using Principal Line

NASA Astrophysics Data System (ADS)

Prasad, Munaga V. N. K.; Kumar, M. K. Pramod; Sharma, Kuldeep

In this paper, a new classification scheme for palmprint is proposed. Palmprint is one of the reliable physiological characteristics that can be used to authenticate an individual. Palmprint classification provides an important indexing mechanism in a very large palmprint database. Here, the palmprint database is initially categorized into two groups, right hand group and left hand group. Then, each group is further classified based on the distance traveled by principal line i.e. Heart Line During pre processing, a rectangular Region of Interest (ROI) in which only heart line is present, is extracted. Further, ROI is divided into 6 regions and depending upon the regions in which the heart line traverses the palmprint is classified accordingly. Consequently, our scheme allows 64 categories for each group forming a total number of 128 possible categories. The technique proposed in this paper includes only 15 such categories and it classifies not more than 20.96% of the images into a single category.

Improving Geologic Mapping of Mid-ocean Ridges by Integrating sonar and Visual Observations through Seafloor Classification by Machine-learning Systems

NASA Astrophysics Data System (ADS)

White, S. M.; McClinton, J. T.

2011-12-01

Beyond the ability of modern near-bottom sonar systems to deliver air-photo-like images of the seafloor to help guide fieldwork, there is a tremendous amount of information hidden within sonar data that is rarely exploited for geologic mapping. Seafloor texture, backscatter amplitude, seafloor slope and roughness data can provide clues about seafloor geology but not straightforward to interpret. We present techniques for seafloor classification in volcanic terrains that integrate the capability of high-resolution, near-bottom sonar instruments to cover extensive areas of seafloor with the ability of visual mapping to discriminate differences in volcanic terrain. These techniques are adapted from the standard practices of terrestrial remote-sensing for use in the deep seafloor volcanic environment. A combination of sonar backscatter and bathymetry is used to supplement the direct seafloor visual observations by geologists to make quasi-geologic thematic maps that are consistent, objective, and most importantly spatially complete. We have taken two approaches to producing thematic maps of the seafloor for the accurate mapping of fine-scale lava morphology (e.g. pillow, lobate and sheet lava) and for the differentiation of distinct seafloor terrain types on a larger scale (e.g. hummocky or smooth). Mapping lava morphology is most accurate using fuzzy logic capable of making inferences between similar morphotypes (e.g. pillow and lobate) and where high-resolution side-scan and bathymetry data coexist. We present examples of lava morphology maps from the Galápagos Spreading Center that show the results from several analyses using different types of input data. Lava morphology is an important source of information on volcanic emplacement and eruptive dynamics. Terrain modeling can be accomplished at any resolution level, depending on the desired use of the model. For volcanic processes, input data needs to be at the appropriate scale to resolve individual volcanic features on the seafloor (e.g. small haystacks and lava channels). We present examples from the East Pacific Rise, which shows that the number of volcanic terrains differs from the tectonic provinces defined by following the spreading axis. Our terrain modeling suggests that differences in ocean crust construction and evolution can be meaningfully identified and explored without a priori assumptions about the geologic processes in a given region.

A method for classification of multisource data using interval-valued probabilities and its application to HIRIS data

NASA Technical Reports Server (NTRS)

Kim, H.; Swain, P. H.

1991-01-01

A method of classifying multisource data in remote sensing is presented. The proposed method considers each data source as an information source providing a body of evidence, represents statistical evidence by interval-valued probabilities, and uses Dempster's rule to integrate information based on multiple data source. The method is applied to the problems of ground-cover classification of multispectral data combined with digital terrain data such as elevation, slope, and aspect. Then this method is applied to simulated 201-band High Resolution Imaging Spectrometer (HIRIS) data by dividing the dimensionally huge data source into smaller and more manageable pieces based on the global statistical correlation information. It produces higher classification accuracy than the Maximum Likelihood (ML) classification method when the Hughes phenomenon is apparent.

Unifying Terrain Awareness for the Visually Impaired through Real-Time Semantic Segmentation

PubMed Central

Yang, Kailun; Wang, Kaiwei; Romera, Eduardo; Hu, Weijian; Sun, Dongming; Sun, Junwei; Cheng, Ruiqi; Chen, Tianxue; López, Elena

2018-01-01

Navigational assistance aims to help visually-impaired people to ambulate the environment safely and independently. This topic becomes challenging as it requires detecting a wide variety of scenes to provide higher level assistive awareness. Vision-based technologies with monocular detectors or depth sensors have sprung up within several years of research. These separate approaches have achieved remarkable results with relatively low processing time and have improved the mobility of impaired people to a large extent. However, running all detectors jointly increases the latency and burdens the computational resources. In this paper, we put forward seizing pixel-wise semantic segmentation to cover navigation-related perception needs in a unified way. This is critical not only for the terrain awareness regarding traversable areas, sidewalks, stairs and water hazards, but also for the avoidance of short-range obstacles, fast-approaching pedestrians and vehicles. The core of our unification proposal is a deep architecture, aimed at attaining efficient semantic understanding. We have integrated the approach in a wearable navigation system by incorporating robust depth segmentation. A comprehensive set of experiments prove the qualified accuracy over state-of-the-art methods while maintaining real-time speed. We also present a closed-loop field test involving real visually-impaired users, demonstrating the effectivity and versatility of the assistive framework. PMID:29748508

An Astronaut Assistant Rover for Martian Surface Exploration

NASA Astrophysics Data System (ADS)

1999-01-01

Lunar exploration, recent field tests, and even on-orbit operations suggest the need for a robotic assistant for an astronaut during extravehicular activity (EVA) tasks. The focus of this paper is the design of a 300-kg, 2 cubic meter, semi-autonomous robotic rover to assist astronauts during Mars surface exploration. General uses of this rover include remote teleoperated control, local EVA astronaut control, and autonomous control. Rover size, speed, sample capacity, scientific payload and dexterous fidelity were based on known Martian environmental parameters,- established National Aeronautics and Space Administration (NASA) standards, the NASA Mars Exploration Reference Mission, and lessons learned from lunar and on-orbit sorties. An assumed protocol of a geological, two astronaut EVA performed during daylight hours with a maximum duration of tour hour dictated the following design requirements: (1) autonomously follow the EVA team over astronaut traversable Martian terrain for four hours; (2) retrieve, catalog, and carry 12 kg of samples; (3) carry tools and minimal in-field scientific equipment; (4) provide contingency life support; (5) compile and store a detailed map of surrounding terrain and estimate current position with respect to base camp; (6) provide supplemental communications systems; and (7) carry and support the use of a 7 degree - of- freedom dexterous manipulator.

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot.

PubMed

Chai, Xun; Gao, Feng; Pan, Yang; Qi, Chenkun; Xu, Yilin

2015-04-22

Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving the immediate environment, building the terrain map and planning the locomotion automatically. It is now well established that current identification methods have non-negligible limitations such as a difficult feature matching, the requirement of external tools and the intervention of multiple people. In this paper, we propose a novel methodology to identify the geometric parameters of 3D vision systems mounted on robots without involving other people or additional equipment. In particular, our method focuses on legged robots which have complex body structures and excellent locomotion ability compared to their wheeled/tracked counterparts. The parameters can be identified only by moving robots on a relatively flat ground. Concretely, an estimation approach is provided to calculate the ground plane. In addition, the relationship between the robot and the ground is modeled. The parameters are obtained by formulating the identification problem as an optimization problem. The methodology is integrated on a legged robot called "Octopus", which can traverse through rough terrains with high stability after obtaining the identification parameters of its mounted vision system using the proposed method. Diverse experiments in different environments demonstrate our novel method is accurate and robust.

Mission-directed path planning for planetary rover exploration

NASA Astrophysics Data System (ADS)

Tompkins, Paul

2005-07-01

Robotic rovers uniquely benefit planetary exploration---they enable regional exploration with the precision of in-situ measurements, a combination impossible from an orbiting spacecraft or fixed lander. Mission planning for planetary rover exploration currently utilizes sophisticated software for activity planning and scheduling, but simplified path planning and execution approaches tailored for localized operations to individual targets. This approach is insufficient for the investigation of multiple, regionally distributed targets in a single command cycle. Path planning tailored for this task must consider the impact of large scale terrain on power, speed and regional access; the effect of route timing on resource availability; the limitations of finite resource capacity and other operational constraints on vehicle range and timing; and the mutual influence between traverses and upstream and downstream stationary activities. Encapsulating this reasoning in an efficient autonomous planner would allow a rover to continue operating rationally despite significant deviations from an initial plan. This research presents mission-directed path planning that enables an autonomous, strategic reasoning capability for robotic explorers. Planning operates in a space of position, time and energy. Unlike previous hierarchical approaches, it treats these dimensions simultaneously to enable globally-optimal solutions. The approach calls on a near incremental search algorithm designed for planning and re-planning under global constraints, in spaces of higher than two dimensions. Solutions under this method specify routes that avoid terrain obstacles, optimize the collection and use of rechargable energy, satisfy local and global mission constraints, and account for the time and energy of interleaved mission activities. Furthermore, the approach efficiently re-plans in response to updates in vehicle state and world models, and is well suited to online operation aboard a robot. Simulations exhibit that the new methodology succeeds where conventional path planners would fail. Three planetary-relevant field experiments demonstrate the power of mission-directed path planning in directing actual exploration robots. Offline mission-directed planning sustained a solar-powered rover in a 24-hour sun-synchronous traverse. Online planning and re-planning enabled full navigational autonomy of over 1 kilometer, and supported the execution of science activities distributed over hundreds of meters.

Object-Based Point Cloud Analysis of Full-Waveform Airborne Laser Scanning Data for Urban Vegetation Classification

PubMed Central

Rutzinger, Martin; Höfle, Bernhard; Hollaus, Markus; Pfeifer, Norbert

2008-01-01

Airborne laser scanning (ALS) is a remote sensing technique well-suited for 3D vegetation mapping and structure characterization because the emitted laser pulses are able to penetrate small gaps in the vegetation canopy. The backscattered echoes from the foliage, woody vegetation, the terrain, and other objects are detected, leading to a cloud of points. Higher echo densities (>20 echoes/m2) and additional classification variables from full-waveform (FWF) ALS data, namely echo amplitude, echo width and information on multiple echoes from one shot, offer new possibilities in classifying the ALS point cloud. Currently FWF sensor information is hardly used for classification purposes. This contribution presents an object-based point cloud analysis (OBPA) approach, combining segmentation and classification of the 3D FWF ALS points designed to detect tall vegetation in urban environments. The definition tall vegetation includes trees and shrubs, but excludes grassland and herbage. In the applied procedure FWF ALS echoes are segmented by a seeded region growing procedure. All echoes sorted descending by their surface roughness are used as seed points. Segments are grown based on echo width homogeneity. Next, segment statistics (mean, standard deviation, and coefficient of variation) are calculated by aggregating echo features such as amplitude and surface roughness. For classification a rule base is derived automatically from a training area using a statistical classification tree. To demonstrate our method we present data of three sites with around 500,000 echoes each. The accuracy of the classified vegetation segments is evaluated for two independent validation sites. In a point-wise error assessment, where the classification is compared with manually classified 3D points, completeness and correctness better than 90% are reached for the validation sites. In comparison to many other algorithms the proposed 3D point classification works on the original measurements directly, i.e. the acquired points. Gridding of the data is not necessary, a process which is inherently coupled to loss of data and precision. The 3D properties provide especially a good separability of buildings and terrain points respectively, if they are occluded by vegetation. PMID:27873771

Archiving Data From the 2003 Mars Exploration Rover Mission

NASA Astrophysics Data System (ADS)

Arvidson, R. E.

2002-12-01

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

Aram Chaos: a Long Lived Subsurface Aqueous Environment with Strong Water Resources Potential for Human Missions on Mars

NASA Technical Reports Server (NTRS)

Sibille, L.; Mueller, R.; Niles, P. B.; Glotch, T.; Archer, P. D.; Bell, M. S.

2015-01-01

Aram Chaos, Mars is a crater 280 kilometers in diameter with elevations circa. minus 2 to minus 3 kilometers below datum that provides a compelling landing site for future human explorers as it features multiple scientific regions of interest (ROI) paired with a rich extensible Resource ROI that features poly-hydrated sulfates [1]. The geologic history of Aram Chaos suggests several past episodes of groundwater recharge and infilling by liquid water, ice, and other materials [1-3]. The creation of the fractured region with no known terrestrial equivalent may have been caused by melting of deep ice reservoirs that triggered the collapse of terrain followed by catastrophic water outflows over the region. Aram Chaos is of particular scientific interest because it is hypothesized that the chaotic terrain may be the source of water that contributed to the creation of nearby valleys such as Ares Vallis flowing toward Chryse Planitia. The liquid water was likely sourced as groundwater and therefore represents water derived from a protected subsurface environment making it a compelling astrobiological site [2]. The past history of water is also represented by high concentrations of hematite, Fe-oxyhydroxides, mono-hydrated and poly-hydrated sulfates [1, 2]. Poly-hydrated sulfates are likely to contain abundant water that evolves at temperatures below 500 degrees Centigrade thus conferring Aram Chaos a potentially high value for early in-situ resource utilization (ISRU) [4]. The geologic history also calls for future prospecting of deep ice deposits and possibly liquid water via deep drilling. The most recent stratigraphic units in the central part of Aram Chaos are not fractured, and are part of a dome-shaped formation that features bright, poorly-consolidated material that contains both hydrated sulfates and ferric oxides according to OMEGA (Observatoire pour la Minéralogie, l'Eau, les Glaces et l'Activité) data [5]. These surface material characteristics are preliminary indications of their potential use in civil engineering activities that involve regolith moving and hauling, while further study is needed to assess traverse-ability challenges. The widespread distribution of sulfates is also of interest as a resource for the use of sulfur as a binding compound in regolith-based concrete for constructions. The terrain depressions caused by the rock fracturing events may challenge surface mobility but also suggest the possibility of using such natural features for additional shielding from space radiation and as emplacement of nuclear surface power reactors for the same reason. The high concentration of hematite (up to 16 percent) in some of the smoother recent terrains of the central part of Aram Chaos [2] is a favorable attribute for metal extraction ISRU to create iron-based feedstock for in-situ fabrication of replacement parts or their repairs. Preliminary data on Aram Chaos indicate that it offers a combination of many critical criteria for human missions to the surface of Mars: equatorial region at low Mars Orbiter Laser Altimeter (MOLA), evidence of hydrated minerals over large areas and at high concentrations tied to historic evidence of liquid water over long periods.

Bridging the Gap in Military Robotics (Combler le Fosse Existant dans le Domaine de la Robotique Militaire)

DTIC Science & Technology

2008-11-01

systems must be evaluated at the platform level as well ( regenerative braking and similar systems). 4.4.4 The Important Gaps Several gaps on robot...in three main categories : • Mobility function: • Obstacle avoidance and negotiation; • Terrain modelling and classification; and • Transport in

Aerial profiling of terrain to define stream-valley geometry: study report

USGS Publications Warehouse

Desai, Mukund; Drohan, William A.; Hursh, John W.; Mamon, Glenn; Youmans, Douglas G.

1976-01-01

A six-month engineering analysis was performed by The Charles Stark Draper Laboratory, Inc., at the request of the U. S. Geological Survey, to investigate the suitability of an airborne instrument package based on inertial techniques to serve as the datum for a laser altimeter in a system for aerial profiling of terrain to determine selected features of stream-valley geometry to an accuracy of ± 0.5 ft. in the vertical coordinate and ± 10 ft. in the horizontal coordinates. Feasible system configuration features a high performance inertial platform incorporating an integral laser tracker, pointing and ranging on retroreflectors on the ground, in order to provide the frequent updates needed to meet the accuracy requirements. In all environments except those of severe gravity gradients the nominal two- by twenty-mile survey area can be covered using three ground-surveyed retroreflectors, interspersed with several unlocated retroreflectors that are surveyed in by the airborne system along a longitudinal path within the river valley when the aircraft arrives over the site. Subsequent transverse profiling runs (traverses that may be spaced as close as one-quarter mile apart) are flown using, in turn, all retroreflectors as updating position references. Pointing and range information from the tracker are optimally combined with the on-board inertial measurements and available gravity data to provide position information and serve as the height datum for a terrain-clearance measuring laser altimeter. Data-logging means and operator display, as well as steering commands to the aircraft autopilot, are provided. The system configuration is capable of operating in single- or twin-engine aircraft including helecopters. It is recommended that work proceed into the design phase.

Water Detection Based on Color Variation

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.

2012-01-01

This software has been designed to detect water bodies that are out in the open on cross-country terrain at close range (out to 30 meters), using imagery acquired from a stereo pair of color cameras mounted on a terrestrial, unmanned ground vehicle (UGV). This detector exploits the fact that the color variation across water bodies is generally larger and more uniform than that of other naturally occurring types of terrain, such as soil and vegetation. Non-traversable water bodies, such as large puddles, ponds, and lakes, are detected based on color variation, image intensity variance, image intensity gradient, size, and shape. At ranges beyond 20 meters, water bodies out in the open can be indirectly detected by detecting reflections of the sky below the horizon in color imagery. But at closer range, the color coming out of a water body dominates sky reflections, and the water cue from sky reflections is of marginal use. Since there may be times during UGV autonomous navigation when a water body does not come into a perception system s field of view until it is at close range, the ability to detect water bodies at close range is critical. Factors that influence the perceived color of a water body at close range are the amount and type of sediment in the water, the water s depth, and the angle of incidence to the water body. Developing a single model of the mixture ratio of light reflected off the water surface (to the camera) to light coming out of the water body (to the camera) for all water bodies would be fairly difficult. Instead, this software detects close water bodies based on local terrain features and the natural, uniform change in color that occurs across the surface from the leading edge to the trailing edge.

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.

Automated classifications of topography from DEMs by an unsupervised nested-means algorithm and a three-part geometric signature

NASA Astrophysics Data System (ADS)

Iwahashi, Junko; Pike, Richard J.

2007-05-01

An iterative procedure that implements the classification of continuous topography as a problem in digital image-processing automatically divides an area into categories of surface form; three taxonomic criteria-slope gradient, local convexity, and surface texture-are calculated from a square-grid digital elevation model (DEM). The sequence of programmed operations combines twofold-partitioned maps of the three variables converted to greyscale images, using the mean of each variable as the dividing threshold. To subdivide increasingly subtle topography, grid cells sloping at less than mean gradient of the input DEM are classified by designating mean values of successively lower-sloping subsets of the study area (nested means) as taxonomic thresholds, thereby increasing the number of output categories from the minimum 8 to 12 or 16. Program output is exemplified by 16 topographic types for the world at 1-km spatial resolution (SRTM30 data), the Japanese Islands at 270 m, and part of Hokkaido at 55 m. Because the procedure is unsupervised and reflects frequency distributions of the input variables rather than pre-set criteria, the resulting classes are undefined and must be calibrated empirically by subsequent analysis. Maps of the example classifications reflect physiographic regions, geological structure, and landform as well as slope materials and processes; fine-textured terrain categories tend to correlate with erosional topography or older surfaces, coarse-textured classes with areas of little dissection. In Japan the resulting classes approximate landform types mapped from airphoto analysis, while in the Americas they create map patterns resembling Hammond's terrain types or surface-form classes; SRTM30 output for the United States compares favorably with Fenneman's physical divisions. Experiments are suggested for further developing the method; the Arc/Info AML and the map of terrain classes for the world are available as online downloads.

Automated classifications of topography from DEMs by an unsupervised nested-means algorithm and a three-part geometric signature

USGS Publications Warehouse

Iwahashi, J.; Pike, R.J.

2007-01-01

An iterative procedure that implements the classification of continuous topography as a problem in digital image-processing automatically divides an area into categories of surface form; three taxonomic criteria-slope gradient, local convexity, and surface texture-are calculated from a square-grid digital elevation model (DEM). The sequence of programmed operations combines twofold-partitioned maps of the three variables converted to greyscale images, using the mean of each variable as the dividing threshold. To subdivide increasingly subtle topography, grid cells sloping at less than mean gradient of the input DEM are classified by designating mean values of successively lower-sloping subsets of the study area (nested means) as taxonomic thresholds, thereby increasing the number of output categories from the minimum 8 to 12 or 16. Program output is exemplified by 16 topographic types for the world at 1-km spatial resolution (SRTM30 data), the Japanese Islands at 270??m, and part of Hokkaido at 55??m. Because the procedure is unsupervised and reflects frequency distributions of the input variables rather than pre-set criteria, the resulting classes are undefined and must be calibrated empirically by subsequent analysis. Maps of the example classifications reflect physiographic regions, geological structure, and landform as well as slope materials and processes; fine-textured terrain categories tend to correlate with erosional topography or older surfaces, coarse-textured classes with areas of little dissection. In Japan the resulting classes approximate landform types mapped from airphoto analysis, while in the Americas they create map patterns resembling Hammond's terrain types or surface-form classes; SRTM30 output for the United States compares favorably with Fenneman's physical divisions. Experiments are suggested for further developing the method; the Arc/Info AML and the map of terrain classes for the world are available as online downloads. ?? 2006 Elsevier B.V. All rights reserved.

Lunar soil strength estimation based on Chang'E-3 images

NASA Astrophysics Data System (ADS)

Gao, Yang; Spiteri, Conrad; Li, Chun-Lai; Zheng, Yong-Chun

2016-11-01

Chang'E-3 (CE-3) was the third mission by China to explore the Moon which had landed two spacecraft, the CE-3 lander and Yutu rover on the lunar surface in late 2013. The paper presents analytical results of high-resolution terrain data taken by CE-3's onboard cameras. The image data processing aims to extract sinkage profiles of the wheel tracks during the rover traverse. Further analysis leads to derivation or estimation of lunar soil physical properties (in terms of strength and stiffness) based on the wheel sinkage, despite the fact Yutu does not possess in situ soil measurement instruments. Our findings indicate that the lunar soil at the CE-3 landing site has similar stiffness to what is measured at the Luna 17 landing site but has much less strength compared to the Apollo 15 landing site.

'They of the Great Rocks'-3

NASA Technical Reports Server (NTRS)

2004-01-01

This 3-D perspective image taken by the panoramic camera onboard the Mars Exploration Rover Spirit shows 'Adirondack,' the rover's first target rock. Spirit traversed the sandy martian terrain at Gusev Crater to arrive in front of the football-sized rock on Sunday, Jan. 18, 2004, just three days after it successfully rolled off the lander. The rock was selected as Spirit's first target because it has a flat surface and is relatively free of dust - ideal conditions for grinding into the rock to expose fresh rock underneath. Clean surfaces also are better for examining a rock's top coating.Scientists named the angular rock after the Adirondack mountain range in New York. The word Adirondack is Native American and means 'They of the great rocks.' Data from the panoramic camera's red, green and blue filters were combined to create this approximate true color image.

ARC-1979-AC79-7083

NASA Image and Video Library

1979-07-09

P-21751 C Range: 1.2 million kilometers This Voyager 2 color photo of Ganymede, the largest Galilean satellite, shows a large dark circular feature about 3200 kilometers in diameter with narrow closely-spaced light bands traversing its surface. The bright spots dotting the surface are relatively recent impact craters, while the lighter circular areas may be older impact areas. The light branching bands are ridged and grooved terrain first seen on Voyager 1 and are younger than the more heavily cratered dark regions. The nature of the brightish region covering the northern part of the dark circular fature is uncertain, but it may be some type of condensate. Most of the features seen on the surface of Ganymede are probably both internal and external responses of the very thick icy layer which comprises the crust of this satellite.

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Delineation of colluvial soils in different soil regions

NASA Astrophysics Data System (ADS)

Zádorová, Tereza; Penížek, Vít; Vašát, Radim

2015-04-01

Colluvial soils are considered to be the direct result of accelerated soil erosion in agricultural landscape, resulting in accumulation of humus-rich soil material in terrain depressions and toe slopes. They represent an important soil cover element in landscapes influenced by soil erosion and form an important soil organic carbon (SOC) pool. Delineation of colluvial soils can identify areas with high sediment input and potential deep organic carbon storage and thus improve our knowledge on soil mass and SOC stock redistribution in dissected landscapes. Different prediction methods (ordinary kriging, multiple linear regression, supervised fuzzy classification, artificial neural network, support vector machines) for colluvial soils delineation have been tested in three different soil regions (Cambisol, Luvisol and Chernozem) at two scales (plot and watershed) in the Czech Republic. The approach is based on exploitation of relationship between soil and terrain units and assumes that colluvial soil can be defined by particular range of terrain attributes values. Terrain attributes derived from precise DEMs were used as predictors in applied models. The soil-terrain relationship was assessed using a large dataset of field investigations (300 cores at each plot and 100 cores at each watershed). Models were trained at plot scale (15-33 ha) and the best performing model was then calibrated and validated at watershed scale (25-55 km2). The study proved high potential of terrain variables as predictors in colluvial soil delineation. Support vector machines method was the best performing method for colluvial soil occurrence prediction at all the three sites. However, significant differences in performance have been identified among the studied plots. The best results were obtained in Luvisol region where both determination coefficient and prediction accuracy reached the highest values. The model performance was satisfactory also in Chernozem region. The model showed its limitations in the Cambisol region, where a high uncertainty and low prediction accuracy resulted from generally weak soil-terrain relationship given by low redistribution of the soil material. Different terrain attributes were applied as predictors in the models at each study region. In the Chernozem region, the colluvial area is defined by extreme values of slope and topographic position index. In Luvisol and Cambisol regions, colluvial soil area is related mostly to specific values of plan curvature and topographic wetness index. Role of colluvial soils given by theirs spatial extent differs in the studied sites. Colluvial soil in the Chernozem region represents an important soil cover part (13% from the total area). Moderate importance of colluvial soils was determined in the Luvisol region (8 %) and low in the Cambisol region (3%). Spatial extent of colluvial soils corresponds to the intensity of soil mass redistribution. At the three sites with similar environmental settings (terrain, land management, climate), it is mostly soil characteristics and profile development typical for each classification unit that resulted in different importance of colluvial soil in each study site. The study was supported by grant nr. 13-07516P of the Czech science foundation and by grant nr. QJ1230319 of the Ministry of Agriculture.

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.

Geologic Investigations Spurred by Analog Testing at the 7504 Cone-SP Mountain Area of the San Francisco Volcanic Field

NASA Technical Reports Server (NTRS)

Eppler, Dean B.

2015-01-01

The SP Mountain area of the San Francisco Volcanic Field, AZ, has been used as an analog mission development site for NASA since 1998. This area consists of basaltic cinder cones, lava flows and maar craters that have been active since mid-Miocene, with the youngest events occurring within the last 10,000 years. The area has been used because its geologic and topographic resemblance to lunar and Martian terrains provides an ideal venue for testing hardware and science operations practices that might be employed on planetary surfaces, as well as training astronauts in field geology. Analog operations have often led to insights that spurred new scientific investigations. Most recently, an investigation of the 7504 cone was initiated due to perceptions that Apollo-style traverse plans executed during the Desert RATS 2010 mission had characterized the area incorrectly, leading to concerns that the Apollo traverse planning process was scientifically flawed. This investigation revealed a complex history of fissure eruptions of lava and cinders, cinder cone development, a cone-fill-and-spill episode, extensive rheomorphic lava flow initiation and emplacement, and cone sector collapse that led to a final lava flow. This history was not discernible on pre-RATS mission photogeology, although independent analysis of RATS 2010 data and samples develped a "75% complete solution" that validated the pre-RATS mission planning and Apollo traverse planning and execution. The study also pointed out that the development of scientific knowledge with time in a given field area is not linear, but may follow a functional form that rises steeply in the early period of an investigation but flattens out in the later period, asymptotically approaching a theoretical "complete knowledge" point that probably cannot be achieved. This implies that future human missions must be prepared to shift geographic areas of investigation regularly if significant science returns are to be forthcoming.

Geologic Investigations Spurred by Analog Testing at the 7504 Cone-Sp Mountain Area of the San Francisco Volcanic Field

NASA Astrophysics Data System (ADS)

Bleacher, J. E.; Eppler, D. B.; Needham, D. H.; Evans, C. A.; Skinner, J. A.; Feng, W.

2015-12-01

The SP Mountain area of the San Francisco Volcanic Field, AZ, has been used as an analog mission development site for NASA since 1998. This area consists of basaltic cinder cones, lava flows and maar craters that have been active since mid-Miocene, with the youngest events occurring within the last 10,000 years. The area has been used because its geologic and topographic resemblance to lunar and Martian terrains provides an ideal venue for testing hardware and science operations practices that might be employed on planetary surfaces, as well as training astronauts in field geology. Analog operations have often led to insights that spurred new scientific investigations. Most recently, an investigation of the 7504 cone was initiated due to perceptions that Apollo-style traverse plans executed during the Desert RATS 2010 mission had characterized the area incorrectly, leading to concerns that the Apollo traverse planning process was scientifically flawed. This investigation revealed a complex history of fissure eruptions of lava and cinders, cinder cone development, a cone-fill-and-spill episode, extensive rheomorphic lava flow initiation and emplacement, and cone sector collapse that led to a final lava flow. This history was not discernible on pre-RATS mission photogeology, although independent analysis of RATS 2010 data and samples develped a "75% complete solution" that validated the pre-RATS mission planning and Apollo traverse planning and execution. The study also pointed out that the development of scientific knowledge with time in a given field area is not linear, but may follow a functional form that rises steeply in the early period of an investigation but flattens out in the later period, asymptotically approaching a theoretical "complete knowledge" point that probably cannot be achieved. This implies that future human missions must be prepared to shift geographic areas of investigation regularly if significant science returns are to be forthcoming.

Modelling deep water habitats to develop a spatially explicit, fine scale understanding of the distribution of the western rock lobster, Panulirus cygnus.

PubMed

Hovey, Renae K; Van Niel, Kimberly P; Bellchambers, Lynda M; Pember, Matthew B

2012-01-01

The western rock lobster, Panulirus cygnus, is endemic to Western Australia and supports substantial commercial and recreational fisheries. Due to and its wide distribution and the commercial and recreational importance of the species a key component of managing western rock lobster is understanding the ecological processes and interactions that may influence lobster abundance and distribution. Using terrain analyses and distribution models of substrate and benthic biota, we assess the physical drivers that influence the distribution of lobsters at a key fishery site. Using data collected from hydroacoustic and towed video surveys, 20 variables (including geophysical, substrate and biota variables) were developed to predict the distributions of substrate type (three classes of reef, rhodoliths and sand) and dominant biota (kelp, sessile invertebrates and macroalgae) within a 40 km(2) area about 30 km off the west Australian coast. Lobster presence/absence data were collected within this area using georeferenced pots. These datasets were used to develop a classification tree model for predicting the distribution of the western rock lobster. Interestingly, kelp and reef were not selected as predictors. Instead, the model selected geophysical and geomorphic scalar variables, which emphasise a mix of terrain within limited distances. The model of lobster presence had an adjusted D(2) of 64 and an 80% correct classification. Species distribution models indicate that juxtaposition in fine scale terrain is most important to the western rock lobster. While key features like kelp and reef may be important to lobster distribution at a broad scale, it is the fine scale features in terrain that are likely to define its ecological niche. Determining the most appropriate landscape configuration and scale will be essential to refining niche habitats and will aid in selecting appropriate sites for protecting critical lobster habitats.

Modelling Deep Water Habitats to Develop a Spatially Explicit, Fine Scale Understanding of the Distribution of the Western Rock Lobster, Panulirus cygnus

PubMed Central

Hovey, Renae K.; Van Niel, Kimberly P.; Bellchambers, Lynda M.; Pember, Matthew B.

2012-01-01

Background The western rock lobster, Panulirus cygnus, is endemic to Western Australia and supports substantial commercial and recreational fisheries. Due to and its wide distribution and the commercial and recreational importance of the species a key component of managing western rock lobster is understanding the ecological processes and interactions that may influence lobster abundance and distribution. Using terrain analyses and distribution models of substrate and benthic biota, we assess the physical drivers that influence the distribution of lobsters at a key fishery site. Methods and Findings Using data collected from hydroacoustic and towed video surveys, 20 variables (including geophysical, substrate and biota variables) were developed to predict the distributions of substrate type (three classes of reef, rhodoliths and sand) and dominant biota (kelp, sessile invertebrates and macroalgae) within a 40 km2 area about 30 km off the west Australian coast. Lobster presence/absence data were collected within this area using georeferenced pots. These datasets were used to develop a classification tree model for predicting the distribution of the western rock lobster. Interestingly, kelp and reef were not selected as predictors. Instead, the model selected geophysical and geomorphic scalar variables, which emphasise a mix of terrain within limited distances. The model of lobster presence had an adjusted D2 of 64 and an 80% correct classification. Conclusions Species distribution models indicate that juxtaposition in fine scale terrain is most important to the western rock lobster. While key features like kelp and reef may be important to lobster distribution at a broad scale, it is the fine scale features in terrain that are likely to define its ecological niche. Determining the most appropriate landscape configuration and scale will be essential to refining niche habitats and will aid in selecting appropriate sites for protecting critical lobster habitats. PMID:22506021

45 MPH 6,000-Pound and 10,000-Pound Rough Terrain Fork Lift Truck Feasibility Study.

DTIC Science & Technology

1986-06-24

Airport Post Office Box 66911 Chicago, IL 60666 NPN Security Classification of This Page REPORT DOCUMENTATION PAGE la . Report Security Classification...HOP Unausended Duadin., 20 - I: - 1 1.8 Inch RMS Road 14 la -3 * Clam C (0.93 Inch RMS) Rod w 12 10 10 Per~cent 9 P 7 U. 3 Percent 3 2 0 20 40 SPM...elm 10 67- * * 3 o *" - .2 0 20 40 W (mph) 4/2/ SOJA Figure 75. Rear Wheel Hop on Four Road Surfaces (10K RTFLT Unsuspended Baseline) " Page 93 Adding

Terrain Classification Using Multi-Wavelength Lidar Data

DTIC Science & Technology

2015-09-01

Figure 9. Pseudo- NDVI of three layers within the vertical structure of the forest. (Top) First return from the LiDAR instrument, including the ground...in NDVI throughout the vertical canopy. ........................................................17 Figure 10. Optech Titan operating wavelengths...and Ranging LMS LiDAR Mapping Suite ML Maximum Likelihood NIR Near Infrared N-D VIS n-Dimensional Visualizer NDVI Normalized Difference

Water Detection Based on Sky Reflections

NASA Technical Reports Server (NTRS)

Rankin, Arturo L.; Matthies, Larry H.

2010-01-01

This software has been designed to detect water bodies that are out in the open on cross-country terrain at mid- to far-range (approximately 20 100 meters), using imagery acquired from a stereo pair of color cameras mounted on a terrestrial, unmanned ground vehicle (UGV). Non-traversable water bodies, such as large puddles, ponds, and lakes, are indirectly detected by detecting reflections of the sky below the horizon in color imagery. The appearance of water bodies in color imagery largely depends on the ratio of light reflected off the water surface to the light coming out of the water body. When a water body is far away, the angle of incidence is large, and the light reflected off the water surface dominates. We have exploited this behavior to detect water bodies out in the open at mid- to far-range. When a water body is detected at far range, a UGV s path planner can begin to look for alternate routes to the goal position sooner, rather than later. As a result, detecting water hazards at far range generally reduces the time required to reach a goal position during autonomous navigation. This software implements a new water detector based on sky reflections that geometrically locates the exact pixel in the sky that is reflecting on a candidate water pixel on the ground, and predicts if the ground pixel is water based on color similarity and local terrain features

A Novel Identification Methodology for the Coordinate Relationship between a 3D Vision System and a Legged Robot

PubMed Central

Chai, Xun; Gao, Feng; Pan, Yang; Qi, Chenkun; Xu, Yilin

2015-01-01

Coordinate identification between vision systems and robots is quite a challenging issue in the field of intelligent robotic applications, involving steps such as perceiving the immediate environment, building the terrain map and planning the locomotion automatically. It is now well established that current identification methods have non-negligible limitations such as a difficult feature matching, the requirement of external tools and the intervention of multiple people. In this paper, we propose a novel methodology to identify the geometric parameters of 3D vision systems mounted on robots without involving other people or additional equipment. In particular, our method focuses on legged robots which have complex body structures and excellent locomotion ability compared to their wheeled/tracked counterparts. The parameters can be identified only by moving robots on a relatively flat ground. Concretely, an estimation approach is provided to calculate the ground plane. In addition, the relationship between the robot and the ground is modeled. The parameters are obtained by formulating the identification problem as an optimization problem. The methodology is integrated on a legged robot called “Octopus”, which can traverse through rough terrains with high stability after obtaining the identification parameters of its mounted vision system using the proposed method. Diverse experiments in different environments demonstrate our novel method is accurate and robust. PMID:25912350

Estimation of Road Loads and Vibration Transmissibility of Torsion Bar Suspension System in a Tracked Vehicle

NASA Astrophysics Data System (ADS)

Gagneza, G. P. S.; Chandramohan, Sujatha

2018-05-01

Designing the suspension system of a tracked combat vehicle (CV) is really challenging as it has to satisfy conflicting requirements of good ride comfort, vehicle handling and stability characteristics. Many studies in this field have been reported in literature and it has been found that torsion bars satisfy the designer's conflicting requirements of good ride and handling and thus have reserved a place for themselves as the most widely used suspension system for military track vehicles. Therefore, it is imperative to evaluate the effectiveness of the torsion bar under dynamic conditions of undulating terrain and validating the same by correlating it with computer simulation results. Thus in the present work, the dynamic simulation of a 2N + 4 degrees of freedom (DOF) mathematical model has been carried out using MATLAB Simulink and the vibration levels were also measured experimentally on a 12 wheel stationed high mobility military tracked infantry combat vehicle (ICV BMP-II) traversing different terrain, that is, Aberdeen proving ground (APG) and Sinusoidal, at a constant vehicle speed. The dynamic force transmitted to the hull CG through the 12 torsion bar suspension systems was computed to be around 26,700 N and found to match the measured values. The vibration isolation of the torsion bar in bounce was found to be effective, with a transmissibility from the road wheel to the hull of about 0.6.

Shallow water bathymetry correction using sea bottom classification with multispectral satellite imagery

NASA Astrophysics Data System (ADS)

Kazama, Yoriko; Yamamoto, Tomonori

2017-10-01

Bathymetry at shallow water especially shallower than 15m is an important area for environmental monitoring and national defense. Because the depth of shallow water is changeable by the sediment deposition and the ocean waves, the periodic monitoring at shoe area is needed. Utilization of satellite images are well matched for widely and repeatedly monitoring at sea area. Sea bottom terrain model using by remote sensing data have been developed and these methods based on the radiative transfer model of the sun irradiance which is affected by the atmosphere, water, and sea bottom. We adopted that general method of the sea depth extraction to the satellite imagery, WorldView-2; which has very fine spatial resolution (50cm/pix) and eight bands at visible to near-infrared wavelengths. From high-spatial resolution satellite images, there is possibility to know the coral reefs and the rock area's detail terrain model which offers important information for the amphibious landing. In addition, the WorldView-2 satellite sensor has the band at near the ultraviolet wavelength that is transmitted through the water. On the other hand, the previous study showed that the estimation error by the satellite imagery was related to the sea bottom materials such as sand, coral reef, sea alga, and rocks. Therefore, in this study, we focused on sea bottom materials, and tried to improve the depth estimation accuracy. First, we classified the sea bottom materials by the SVM method, which used the depth data acquired by multi-beam sonar as supervised data. Then correction values in the depth estimation equation were calculated applying the classification results. As a result, the classification accuracy of sea bottom materials was 93%, and the depth estimation error using the correction by the classification result was within 1.2m.

Supervised fully polarimetric classification of the Black Forest test site: From MAESTROI to MAC Europe

NASA Technical Reports Server (NTRS)

Degrandi, G.; Lavalle, C.; Degroof, H.; Sieber, A.

1992-01-01

A study on the performance of a supervised fully polarimetric maximum likelihood classifier for synthetic aperture radar (SAR) data when applied to a specific classification context: forest classification based on age classes and in the presence of a sloping terrain is presented. For the experimental part, the polarimetric AIRSAR data at P, L, and C-band, acquired over the German Black Forest near Freiburg in the frame of the 1989 MAESTRO-1 campaign and the 1991 MAC Europe campaign was used, MAESTRO-1 with an ESA/JRC sponsored campaign, and MAC Europe (Multi-sensor Aircraft Campaign); in both cases the multi-frequency polarimetric JPL Airborne Synthetic Aperture Radar (AIRSAR) radar was flown over a number of European test sites. The study is structured as follows. At first, the general characteristics of the classifier and the dependencies from some parameters, like frequency bands, feature vector, calibration, using test areas lying on a flat terrain are investigated. Once it is determined the optimal conditions for the classifier performance, we then move on to the study of the slope effect. The bulk of this work is performed using the Maestrol data set. Next the classifier performance with the MAC Europe data is considered. The study is divided into two stages: first some of the tests done on the Maestro data are repeated, to highlight the improvements due to the new processing scheme that delivers 16 look data. Second we experiment with multi images classification with two goals: to assess the possibility of using a training set measured from one image to classify areas in different images; and to classify areas on critical slopes using different viewing angles. The main points of the study are listed and some of the results obtained so far are highlighted.

Bio-inspired Optimal Locomotion Reconfigurability of Quadruped Rovers using Central Pattern Generators

NASA Astrophysics Data System (ADS)

Bohra, Murtaza

Legged rovers are often considered as viable solutions for traversing unknown terrain. This work addresses the optimal locomotion reconfigurability of quadruped rovers, which consists of obtaining optimal locomotion modes, and transitioning between them. A 2D sagittal plane rover model is considered based on a domestic cat. Using a Genetic Algorithm, the gait, pose and control variables that minimize torque or maximize speed are found separately. The optimization approach takes into account the elimination of leg impact, while considering the entire variable spectrum. The optimal solutions are consistent with other works on gait optimization, and are similar to gaits found in quadruped animals as well. An online model-free gait planning framework is also implemented, that is based on Central Pattern Generators is implemented. It is used to generate joint and control trajectories for any arbitrarily varying speed profile, and shown to regulate locomotion transition and speed modulation, both endogenously and continuously.

Spirit Traverse Map

NASA Technical Reports Server (NTRS)

2004-01-01

The red dot labeled 'Sol 134-141' in this map illustrates when and where NASA's Mars Exploration Rover Spirit acquired the 'Santa Anita Panorama.' Scientists consider this area, located roughly three-fourths of the way between 'Bonneville Crater' and the base of the 'Columbia Hills,' a treasure trove that may be studied for decades to come. The panorama is one of four 360-degree full panoramas the rover has acquired during its mission.

The color thermal inertia data show how well different surface features hold onto heat. Red indicates a high thermal inertia associated with rocky terrain (regions that take longer to warm up and cool down); blue indicates a lower thermal inertia associated with smaller particles and fewer rocks (areas that warm up and cool off quickly). The map comprises background images from the camera on NASA's Mars Global Surveyor orbiter and data from the thermal emission spectrometer on NASA's Mars Odyssey orbiter.

Using Grid Cells for Navigation

PubMed Central

Bush, Daniel; Barry, Caswell; Manson, Daniel; Burgess, Neil

2015-01-01

Summary Mammals are able to navigate to hidden goal locations by direct routes that may traverse previously unvisited terrain. Empirical evidence suggests that this “vector navigation” relies on an internal representation of space provided by the hippocampal formation. The periodic spatial firing patterns of grid cells in the hippocampal formation offer a compact combinatorial code for location within large-scale space. Here, we consider the computational problem of how to determine the vector between start and goal locations encoded by the firing of grid cells when this vector may be much longer than the largest grid scale. First, we present an algorithmic solution to the problem, inspired by the Fourier shift theorem. Second, we describe several potential neural network implementations of this solution that combine efficiency of search and biological plausibility. Finally, we discuss the empirical predictions of these implementations and their relationship to the anatomy and electrophysiology of the hippocampal formation. PMID:26247860

Northeast View from Pathfinder Lander

NASA Image and Video Library

1997-11-04

This panorama of the region to the northeast of the lander was constructed to support the Sojourner Rover Team's plans to conduct an "autonomous traverse" to explore the terrain away from the lander after science objectives in the lander vicinity had been met. The large, relatively bright surface in the foreground, about 10 meters (33 feet) from the spacecraft, in this scene is "Baker's Bench." The large, elongated rock left of center in the middle distance is "Zaphod." This view was produced by combining 8 individual "Superpan" scenes from the left and right eyes of the IMP camera. Each frame consists of 8 individual frames (left eye) and 7 frames (right eye) taken with different color filters that were enlarged by 500% and then co-added using Adobe Photoshop to produce, in effect, a super-resolution panchromatic frame that is sharper than an individual frame would be. http://photojournal.jpl.nasa.gov/catalog/PIA01000

Remote battlefield observer technology (REBOT)

NASA Astrophysics Data System (ADS)

Lanzagorta, Marco O.; Uhlmann, Jeffrey K.; Julier, Simon J.; Kuo, Eddy

1999-07-01

Battlefield situation awareness is the most fundamental prerequisite for effective command and control. Information about the state of the battlefield must be both timely and accurate. Imagery data is of particular importance because it can be directly used to monitor the deployment of enemy forces in a given area of interest, the traversability of the terrain in that area, as well as many other variables that are critical for tactical and force level planning. In this paper we describe prototype REmote Battlefield Observer Technology (REBOT) that can be deployed at specified locations and subsequently tasked to transmit high resolution panoramic imagery of its surrounding area. Although first generation REBOTs will be stationary platforms, the next generation will be autonomous ground vehicles capable of transporting themselves to specified locations. We argue that REBOT fills a critical gap in present situation awareness technologies. We expect to provide results of REBOT tests to be conducted at the 1999 Marines Advanced Warfighting Demonstration.

Real-time Accurate Surface Reconstruction Pipeline for Vision Guided Planetary Exploration Using Unmanned Ground and Aerial Vehicles

NASA Technical Reports Server (NTRS)

Almeida, Eduardo DeBrito

2012-01-01

This report discusses work completed over the summer at the Jet Propulsion Laboratory (JPL), California Institute of Technology. A system is presented to guide ground or aerial unmanned robots using computer vision. The system performs accurate camera calibration, camera pose refinement and surface extraction from images collected by a camera mounted on the vehicle. The application motivating the research is planetary exploration and the vehicles are typically rovers or unmanned aerial vehicles. The information extracted from imagery is used primarily for navigation, as robot location is the same as the camera location and the surfaces represent the terrain that rovers traverse. The processed information must be very accurate and acquired very fast in order to be useful in practice. The main challenge being addressed by this project is to achieve high estimation accuracy and high computation speed simultaneously, a difficult task due to many technical reasons.

Real-Time Simulation

NASA Technical Reports Server (NTRS)

1997-01-01

Coryphaeus Software, founded in 1989 by former NASA electronic engineer Steve Lakowske, creates real-time 3D software. Designer's Workbench, the company flagship product, is a modeling and simulation tool for the development of both static and dynamic 3D databases. Other products soon followed. Activation, specifically designed for game developers, allows developers to play and test the 3D games before they commit to a target platform. Game publishers can shorten development time and prove the "playability" of the title, maximizing their chances of introducing a smash hit. Another product, EasyT, lets users create massive, realistic representation of Earth terrains that can be viewed and traversed in real time. Finally, EasyScene software control the actions among interactive objects within a virtual world. Coryphaeus products are used on Silican Graphics workstation and supercomputers to simulate real-world performance in synthetic environments. Customers include aerospace, aviation, architectural and engineering firms, game developers, and the entertainment industry.

Apollo lunar descent guidance

NASA Technical Reports Server (NTRS)

Klumpp, A. R.

1974-01-01

Apollo lunar-descent guidance transfers the Lunar Module from a near-circular orbit to touchdown, traversing a 17 deg central angle and a 15 km altitude in 11 min. A group of interactive programs in an onboard computer guide the descent, controlling altitude and the descent propulsion system throttle. A ground-based program pre-computes guidance targets. The concepts involved in this guidance are described. Explicit and implicit guidance are discussed, guidance equations are derived, and the earlier Apollo explicit equation is shown to be an inferior special case of the later implicit equation. Interactive guidance, by which the two-man crew selects a landing site in favorable terrain and directs the trajectory there, is discussed. Interactive terminal-descent guidance enables the crew to control the essentially vertical descent rate in order to land in minimum time with safe contact speed. The altitude maneuver routine uses concepts that make gimbal lock inherently impossible.

NOR-USA Scientific Traverse of East Antarctica: Science and Logistics on a Three-Month Expedition Across Antarctica's Farthest Frontier

NASA Technical Reports Server (NTRS)

Albert, Mary R.

2012-01-01

Dr. Albert's current research is centered on transfer processes in porous media, including air-snow exchange in the Polar Regions and in soils in temperate areas. Her research includes field measurements, laboratory experiments, and theoretical modeling. Mary conducts field and laboratory measurements of the physical properties of natural terrain surfaces, including permeability, microstructure, and thermal conductivity. Mary uses the measurements to examine the processes of diffusion and advection of heat, mass, and chemical transport through snow and other porous media. She has developed numerical models for investigation of a variety of problems, from interstitial transport to freezing of flowing liquids. These models include a two-dimensional finite element code for air flow with heat, water vapor, and chemical transport in porous media, several multidimensional codes for diffusive transfer, as well as a computational fluid dynamics code for analysis of turbulent water flow in moving-boundary phase change problems.

Lessons Learned for Geologic Data Collection and Sampling: Insights from the Desert RATS 2010 Geologist Crewmembers

NASA Technical Reports Server (NTRS)

Hurtado, J. M., Jr.; Bleacher, J. E.; Rice, J.; Young, K.; Garry, W. B.; Eppler, D.

2011-01-01

Since 1997, Desert Research and Technology Studies (D-RATS) has conducted hardware and operations tests in the Arizona desert that advance human and robotic planetary exploration capabilities. D-RATS 2010 (8/31-9/13) simulated geologic traverses through a terrain of cinder cones, lava flows, and underlying sedimentary units using a pair of crewed rovers and extravehicular activities (EVAs) for geologic fieldwork. There were two sets of crews, each consisting of an engineer/commander and an experienced field geologist drawn from the academic community. A major objective of D-RATS was to examine the functions of a science support team, the roles of geologist crewmembers, and protocols, tools, and technologies needed for effective data collection and sample documentation. Solutions to these problems must consider how terrestrial field geology must be adapted to geologic fieldwork during EVAs

Long range laser traversing system

NASA Technical Reports Server (NTRS)

Caudill, L. O. (Inventor)

1974-01-01

The relative azimuth bearing between first and second spaced terrestrial points which may be obscured from each other by intervening terrain is measured by placing at one of the points a laser source for projecting a collimated beam upwardly in the vertical plane. The collimated laser beam is detected at the second point by positioning the optical axis of a receiving instrument for the laser beam in such a manner that the beam intercepts the optical axis. In response to the optical axis intercepting the beam, the beam is deflected into two different ray paths by a beam splitter having an apex located on the optical axis. The energy in the ray paths is detected by separate photoresponsive elements that drive logic networks for proving indications of: (1) the optical axis intercepting the beam; (2) the beam being on the left of the optical axis and (3) the beam being on the right side of the optical axis.

Classification and analysis of the Rudaki's Area

NASA Astrophysics Data System (ADS)

Zambon, F.; De sanctis, M.; Capaccioni, F.; Filacchione, G.; Carli, C.; Ammannito, E.; Frigeri, A.

2011-12-01

During the first two MESSENGER flybys the Mercury Dual Imaging System (MDIS) has mapped 90% of the Mercury's surface. An effective way to study the different terrain on planetary surfaces is to apply classification methods. These are based on clustering algorithms and they can be divided in two categories: unsupervised and supervised. The unsupervised classifiers do not require the analyst feedback and the algorithm automatically organizes pixels values into classes. In the supervised method, instead, the analyst must choose the "training area" that define the pixels value of a given class. We applied an unsupervised classifier, ISODATA, to the WAC filter images of the Rudaki's area where several kind of terrain have been identified showing differences in albedo, topography and crater density. ISODATA classifier divides this region in four classes: 1) shadow regions, 2) rough regions, 3) smooth plane, 4) highest reflectance area. ISODATA can not distinguish the high albedo regions from highly reflective illuminated edge of the craters, however the algorithm identify four classes that can be considered different units mainly on the basis of their reflectances at the various wavelengths. Is not possible, instead, to extrapolate compositional information because of the absence of clear spectral features. An additional analysis was made using ISODATA to choose the "training area" for further supervised classifications. These approach would allow, for example, to separate more accurately the edge of the craters from the high reflectance areas and the low reflectance regions from the shadow areas.

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).

State-of-the-Art: DTM Generation Using Airborne LIDAR Data

PubMed Central

Chen, Ziyue; Gao, Bingbo; Devereux, Bernard

2017-01-01

Digital terrain model (DTM) generation is the fundamental application of airborne Lidar data. In past decades, a large body of studies has been conducted to present and experiment a variety of DTM generation methods. Although great progress has been made, DTM generation, especially DTM generation in specific terrain situations, remains challenging. This research introduces the general principles of DTM generation and reviews diverse mainstream DTM generation methods. In accordance with the filtering strategy, these methods are classified into six categories: surface-based adjustment; morphology-based filtering, triangulated irregular network (TIN)-based refinement, segmentation and classification, statistical analysis and multi-scale comparison. Typical methods for each category are briefly introduced and the merits and limitations of each category are discussed accordingly. Despite different categories of filtering strategies, these DTM generation methods present similar difficulties when implemented in sharply changing terrain, areas with dense non-ground features and complicated landscapes. This paper suggests that the fusion of multi-sources and integration of different methods can be effective ways for improving the performance of DTM generation. PMID:28098810

Space-use, movement and dispersal of sub-adult cougars in a geographically isolated population.

PubMed

Morrison, Carl D; Boyce, Mark S; Nielsen, Scott E

2015-01-01

Cougar (Puma concolor) observations have increased in Midwest North America, with breeding populations re-establishing in several regions east of their contemporary range. The Cypress Hills Uplands, located in southwest Saskatchewan and southeast Alberta, was recently re-colonized by cougars and now supports the easternmost confirmed breeding population of cougars in Canada. A number of factors contribute to this cougar range expansion, but it is dispersal that provides the mechanism for re-colonization of historic range. We used GPS-collar data to examine space-use and movement behavior of sub-adult cougars, the age class associated with dispersal, in the Cypress Hills. Conditional logistic regression and a two-stage modeling approach were used to estimate resource selection functions (RSF) of sub-adult cougars during two distinct ranging behaviors: transient movements (i.e., dispersal and exploratory forays) and localizing movements (i.e., temporary home ranges). Linear regression was used to model movement rates, measured as the distance between consecutive 3-h GPS-relocations, of sub-adult cougars relative to different habitats, times of day and between transient and localizing behavior. All individual sub-adult cougars displayed bouts of transient and localizing behavior. All male cougars dispersed from their natal ranges and travelled considerably farther distances than female cougars. One male dispersed over 750 km eastward through the agricultural belt of northern Montana and southern Saskatchewan. Males occupied temporary home ranges in more open habitats on the fringes of the insular Cypress Hills, while females appeared to be recruited into the adult population, occupying treed habitat that provided more suitable cover. During both ranging behaviors, sub-adult cougars selected for rugged terrain and proximity to hydrological features (likely supporting riparian habitats) and avoided open cover types. Differences in habitat selection between ranging behaviors were observed in response to open water, roads and elevation. Although certain habitat characteristics were preferred, transient and localizing cougars used fast-paced nocturnal movements and shortened daytime movements when traversing open habitats to effectively limit their residency and exposure in less-suitable landscapes. Additionally, cougars moved greater distances at night during transient behavior compared to localizing behavior indicating cougars used cover of darkness to traverse novel terrain. In doing so, sub-adult cougars can successfully disperse several hundred kilometres across a matrix of open habitat in search of resources and mates.

Classification of Air Force Aviation Accidents: Mishap trends and Prevention

DTIC Science & Technology

2006-06-02

Davis Highway, Suite 1204, Arlington, VA 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188), ,Wpshngrton. DC...Masters, Stone, Babcock, & Rypka, 1974; Moroze & Snow, 1999), and those specifically Mishap Trends & Prevention 4 addressing HFACS (Shappell... Moroze , M. L. & M. P. Snow (1999). Causes and remedies of controlled flight into terrain in military and civil aviation. 1 0 th International

Heterogeneous Vision Data Fusion for Independently Moving Cameras

DTIC Science & Technology

2010-03-01

target detection , tracking , and identification over a large terrain. The goal of the project is to investigate and evaluate the existing image...fusion algorithms, develop new real-time algorithms for Category-II image fusion, and apply these algorithms in moving target detection and tracking . The...moving target detection and classification. 15. SUBJECT TERMS Image Fusion, Target Detection , Moving Cameras, IR Camera, EO Camera 16. SECURITY

Object-based land cover classification based on fusion of multifrequency SAR data and THAICHOTE optical imagery

NASA Astrophysics Data System (ADS)

Sukawattanavijit, Chanika; Srestasathiern, Panu

2017-10-01

Land Use and Land Cover (LULC) information are significant to observe and evaluate environmental change. LULC classification applying remotely sensed data is a technique popularly employed on a global and local dimension particularly, in urban areas which have diverse land cover types. These are essential components of the urban terrain and ecosystem. In the present, object-based image analysis (OBIA) is becoming widely popular for land cover classification using the high-resolution image. COSMO-SkyMed SAR data was fused with THAICHOTE (namely, THEOS: Thailand Earth Observation Satellite) optical data for land cover classification using object-based. This paper indicates a comparison between object-based and pixel-based approaches in image fusion. The per-pixel method, support vector machines (SVM) was implemented to the fused image based on Principal Component Analysis (PCA). For the objectbased classification was applied to the fused images to separate land cover classes by using nearest neighbor (NN) classifier. Finally, the accuracy assessment was employed by comparing with the classification of land cover mapping generated from fused image dataset and THAICHOTE image. The object-based data fused COSMO-SkyMed with THAICHOTE images demonstrated the best classification accuracies, well over 85%. As the results, an object-based data fusion provides higher land cover classification accuracy than per-pixel data fusion.

A comparison of unsupervised classification procedures on LANDSAT MSS data for an area of complex surface conditions in Basilicata, Southern Italy

NASA Technical Reports Server (NTRS)

Justice, C.; Townshend, J. (Principal Investigator)

1981-01-01

Two unsupervised classification procedures were applied to ratioed and unratioed LANDSAT multispectral scanner data of an area of spatially complex vegetation and terrain. An objective accuracy assessment was undertaken on each classification and comparison was made of the classification accuracies. The two unsupervised procedures use the same clustering algorithm. By on procedure the entire area is clustered and by the other a representative sample of the area is clustered and the resulting statistics are extrapolated to the remaining area using a maximum likelihood classifier. Explanation is given of the major steps in the classification procedures including image preprocessing; classification; interpretation of cluster classes; and accuracy assessment. Of the four classifications undertaken, the monocluster block approach on the unratioed data gave the highest accuracy of 80% for five coarse cover classes. This accuracy was increased to 84% by applying a 3 x 3 contextual filter to the classified image. A detailed description and partial explanation is provided for the major misclassification. The classification of the unratioed data produced higher percentage accuracies than for the ratioed data and the monocluster block approach gave higher accuracies than clustering the entire area. The moncluster block approach was additionally the most economical in terms of computing time.

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

NASA Technical Reports Server (NTRS)

Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellutta, Paolo; Sherwin, Gary W.

2011-01-01

The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Because there are times when it is desirable for military UGVs to operate without emitting strong, detectable electromagnetic signals, a passive only terrain perception mode of operation is also often a requirement. Thermal infrared (TIR) cameras can be used to provide day and night passive terrain perception. TIR cameras have a detector sensitive to either mid-wave infrared (MWIR) radiation (3-5?m) or long-wave infrared (LWIR) radiation (8-12?m). With the recent emergence of high-quality uncooled LWIR cameras, TIR cameras have become viable passive perception options for some UGV programs. The Jet Propulsion Laboratory (JPL) has used a stereo pair of TIR cameras under several UGV programs to perform stereo ranging, terrain mapping, tree-trunk detection, pedestrian detection, negative obstacle detection, and water detection based on object reflections. In addition, we have evaluated stereo range data at a variety of UGV speeds, evaluated dual-band TIR classification of soil, vegetation, and rock terrain types, analyzed 24 hour water and 12 hour mud TIR imagery, and analyzed TIR imagery for hazard detection through smoke. Since TIR cameras do not currently provide the resolution available from megapixel color cameras, a UGV's daytime safe speed is often reduced when using TIR instead of color cameras. In this paper, we summarize the UGV terrain perception work JPL has performed with TIR cameras over the last decade and describe a calibration target developed by General Dynamics Robotic Systems (GDRS) for TIR cameras and other sensors.

Automated algorithm for mapping regions of cold-air pooling in complex terrain

NASA Astrophysics Data System (ADS)

Lundquist, Jessica D.; Pepin, Nicholas; Rochford, Caitlin

2008-11-01

In complex terrain, air in contact with the ground becomes cooled from radiative energy loss on a calm clear night and, being denser than the free atmosphere at the same elevation, sinks to valley bottoms. Cold-air pooling (CAP) occurs where this cooled air collects on the landscape. This article focuses on identifying locations on a landscape subject to considerably lower minimum temperatures than the regional average during conditions of clear skies and weak synoptic-scale winds, providing a simple automated method to map locations where cold air is likely to pool. Digital elevation models of regions of complex terrain were used to derive surfaces of local slope, curvature, and percentile elevation relative to surrounding terrain. Each pixel was classified as prone to CAP, not prone to CAP, or exhibiting no signal, based on the criterion that CAP occurs in regions with flat slopes in local depressions or valleys (negative curvature and low percentile). Along-valley changes in the topographic amplification factor (TAF) were then calculated to determine whether the cold air in the valley was likely to drain or pool. Results were checked against distributed temperature measurements in Loch Vale, Rocky Mountain National Park, Colorado; in the Eastern Pyrenees, France; and in Yosemite National Park, Sierra Nevada, California. Using CAP classification to interpolate temperatures across complex terrain resulted in improvements in root-mean-square errors compared to more basic interpolation techniques at most sites within the three areas examined, with average error reductions of up to 3°C at individual sites and about 1°C averaged over all sites in the study areas.

Rock Mass Classification of Karstic Terrain in the Reservoir Slopes of Tekeze Hydropower Project

NASA Astrophysics Data System (ADS)

Hailemariam Gugsa, Trufat; Schneider, Jean Friedrich

2010-05-01

Hydropower reservoirs in deep gorges usually experience slope failures and mass movements. History also showed that some of these projects suffered severe landslides, which left lots of victims and enormous economic loss. Thus, it became vital to make substantial slope stability studies in such reservoirs to ensure safe project development. This study also presents a regional scale instability assessment of the Tekeze Hydropower reservoir slopes. Tekeze hydropower project is a newly constructed double arch dam that completed in August 2009. It is developed on Tekeze River, tributary of Blue Nile River that runs across the northern highlands of Ethiopia. It cuts a savage gorge 2000m deep, the deepest canyon in Africa. The dam is the highest dam in Ethiopia at 188m, 10 m higher than China's Three Gorges Dam. It is being developed by Chinese company at a cost of US350M. The reservoir is designed at 1140 m elevation, as retention level to store more than 9000 million m3 volume of water that covers an area of 150 km2, mainly in channel filling form. In this study, generation of digital elevation model from ASTER satellite imagery and surface field investigation is initially considered for further image processing and terrain parameters' analyses. Digitally processed multi spectral ASTER ortho-images drape over the DEM are used to have different three dimensional perspective views in interpreting lithological, structural and geomorphological features, which are later verified by field mapping. Terrain slopes are also delineated from the relief scene. A GIS database is ultimately developed to facilitate the delineation of geotechnical units for slope rock mass classification. Accordingly, 83 geotechnical units are delineated and, within them, 240 measurement points are established to quantify in-situ geotechnical parameters. Due to geotechnical uncertainties, four classification systems; namely geomorphic rock mass strength classification (RMS), slope mass rating (SMR), rock slope stability probability classification (SSPC) and geological strength index (GSI) are employed to classify the rock mass. The results are further compared with one another to delineate the instability conditions and produce an instability map of the reservoir slopes. Instability of the reservoir slopes is found to be mainly associated with daylighting discontinuities, thinly bedded/foliated slates, and karstified limestone. It is also noted that these features are mostly located in the regional gliding plane and shear zone, which are related with old slides scars. In general, the instabilities are found relatively far from the dam axis, in relatively less elevated and less steep slopes, which are going to be nearly covered by the impoundment; thus, they are normally expected to have less hazard in relation to the reservoir setting. Some minor failures will be generally expected during the reservoir filling.

An adaptive surface filter for airborne laser scanning point clouds by means of regularization and bending energy

NASA Astrophysics Data System (ADS)

Hu, Han; Ding, Yulin; Zhu, Qing; Wu, Bo; Lin, Hui; Du, Zhiqiang; Zhang, Yeting; Zhang, Yunsheng

2014-06-01

The filtering of point clouds is a ubiquitous task in the processing of airborne laser scanning (ALS) data; however, such filtering processes are difficult because of the complex configuration of the terrain features. The classical filtering algorithms rely on the cautious tuning of parameters to handle various landforms. To address the challenge posed by the bundling of different terrain features into a single dataset and to surmount the sensitivity of the parameters, in this study, we propose an adaptive surface filter (ASF) for the classification of ALS point clouds. Based on the principle that the threshold should vary in accordance to the terrain smoothness, the ASF embeds bending energy, which quantitatively depicts the local terrain structure to self-adapt the filter threshold automatically. The ASF employs a step factor to control the data pyramid scheme in which the processing window sizes are reduced progressively, and the ASF gradually interpolates thin plate spline surfaces toward the ground with regularization to handle noise. Using the progressive densification strategy, regularization and self-adaption, both performance improvement and resilience to parameter tuning are achieved. When tested against the benchmark datasets provided by ISPRS, the ASF performs the best in comparison with all other filtering methods, yielding an average total error of 2.85% when optimized and 3.67% when using the same parameter set.

Landslides Identification Using Airborne Laser Scanning Data Derived Topographic Terrain Attributes and Support Vector Machine Classification

NASA Astrophysics Data System (ADS)

Pawłuszek, Kamila; Borkowski, Andrzej

2016-06-01

Since the availability of high-resolution Airborne Laser Scanning (ALS) data, substantial progress in geomorphological research, especially in landslide analysis, has been carried out. First and second order derivatives of Digital Terrain Model (DTM) have become a popular and powerful tool in landslide inventory mapping. Nevertheless, an automatic landslide mapping based on sophisticated classifiers including Support Vector Machine (SVM), Artificial Neural Network or Random Forests is often computationally time consuming. The objective of this research is to deeply explore topographic information provided by ALS data and overcome computational time limitation. For this reason, an extended set of topographic features and the Principal Component Analysis (PCA) were used to reduce redundant information. The proposed novel approach was tested on a susceptible area affected by more than 50 landslides located on Rożnów Lake in Carpathian Mountains, Poland. The initial seven PCA components with 90% of the total variability in the original topographic attributes were used for SVM classification. Comparing results with landslide inventory map, the average user's accuracy (UA), producer's accuracy (PA), and overall accuracy (OA) were calculated for two models according to the classification results. Thereby, for the PCA-feature-reduced model UA, PA, and OA were found to be 72%, 76%, and 72%, respectively. Similarly, UA, PA, and OA in the non-reduced original topographic model, was 74%, 77% and 74%, respectively. Using the initial seven PCA components instead of the twenty original topographic attributes does not significantly change identification accuracy but reduce computational time.

Development and characterization of a 3D high-resolution terrain database

NASA Astrophysics Data System (ADS)

Wilkosz, Aaron; Williams, Bryan L.; Motz, Steve

2000-07-01

A top-level description of methods used to generate elements of a high resolution 3D characterization database is presented. The database elements are defined as ground plane elevation map, vegetation height elevation map, material classification map, discrete man-made object map, and temperature radiance map. The paper will cover data collection by means of aerial photography, techniques of soft photogrammetry used to derive the elevation data, and the methodology followed to generate the material classification map. The discussion will feature the development of the database elements covering Fort Greely, Alaska. The developed databases are used by the US Army Aviation and Missile Command to evaluate the performance of various missile systems.

Health Terrain: Visualizing Large Scale Health Data

DTIC Science & Technology

2015-12-01

Text mining ; Data mining . 16. SECURITY  CLASSIFICATION  OF: 17... text   mining  algorithms  to  construct  a  concept  space.  A   browser-­‐based  user  interface  is  developed  to...Public  health  data,  Notifiable  condition  detector,   Text   mining ,  Data   mining   4 of 29 Disease Patient Location Term

Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics

DTIC Science & Technology

2013-08-01

ENGINEERING AND TECHNOLOGY SYMPOSIUM (GVSETS), SET FOR AUG. 21-22, 2013 14. ABSTRACT briefing charts 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17...EDL & Aero-Flight DSENDS Airships Planetary & Terrain models SimScape Simulation framework Dshell Flex & Multibody dynamics DARTS 3D...7 DARTS Rigid/Flexible Real-Time Multibody Dynamics Engine Recipient of the NASA Software of the Year Award. Abhinandan Jain, "Robot and

Comparative assessment of LANDSAT-D MSS and TM data quality for mapping applications in the Southeast

NASA Technical Reports Server (NTRS)

1984-01-01

Rectifications of multispectral scanner and thematic mapper data sets for full and subscene areas, analyses of planimetric errors, assessments of the number and distribution of ground control points required to minimize errors, and factors contributing to error residual are examined. Other investigations include the generation of three dimensional terrain models and the effects of spatial resolution on digital classification accuracies.

Multispectral LiDAR Data for Land Cover Classification of Urban Areas

PubMed Central

Morsy, Salem; Shaker, Ahmed; El-Rabbany, Ahmed

2017-01-01

Airborne Light Detection And Ranging (LiDAR) systems usually operate at a monochromatic wavelength measuring the range and the strength of the reflected energy (intensity) from objects. Recently, multispectral LiDAR sensors, which acquire data at different wavelengths, have emerged. This allows for recording of a diversity of spectral reflectance from objects. In this context, we aim to investigate the use of multispectral LiDAR data in land cover classification using two different techniques. The first is image-based classification, where intensity and height images are created from LiDAR points and then a maximum likelihood classifier is applied. The second is point-based classification, where ground filtering and Normalized Difference Vegetation Indices (NDVIs) computation are conducted. A dataset of an urban area located in Oshawa, Ontario, Canada, is classified into four classes: buildings, trees, roads and grass. An overall accuracy of up to 89.9% and 92.7% is achieved from image classification and 3D point classification, respectively. A radiometric correction model is also applied to the intensity data in order to remove the attenuation due to the system distortion and terrain height variation. The classification process is then repeated, and the results demonstrate that there are no significant improvements achieved in the overall accuracy. PMID:28445432

Multispectral LiDAR Data for Land Cover Classification of Urban Areas.

PubMed

Morsy, Salem; Shaker, Ahmed; El-Rabbany, Ahmed

2017-04-26

Airborne Light Detection And Ranging (LiDAR) systems usually operate at a monochromatic wavelength measuring the range and the strength of the reflected energy (intensity) from objects. Recently, multispectral LiDAR sensors, which acquire data at different wavelengths, have emerged. This allows for recording of a diversity of spectral reflectance from objects. In this context, we aim to investigate the use of multispectral LiDAR data in land cover classification using two different techniques. The first is image-based classification, where intensity and height images are created from LiDAR points and then a maximum likelihood classifier is applied. The second is point-based classification, where ground filtering and Normalized Difference Vegetation Indices (NDVIs) computation are conducted. A dataset of an urban area located in Oshawa, Ontario, Canada, is classified into four classes: buildings, trees, roads and grass. An overall accuracy of up to 89.9% and 92.7% is achieved from image classification and 3D point classification, respectively. A radiometric correction model is also applied to the intensity data in order to remove the attenuation due to the system distortion and terrain height variation. The classification process is then repeated, and the results demonstrate that there are no significant improvements achieved in the overall accuracy.

Future Exploration of the South Pole as Enabled by the Lunar Reconnaissance Orbiter

NASA Astrophysics Data System (ADS)

Speyerer, E. J.; Lawrence, S. J.; Stopar, J.

2016-12-01

The Lunar Reconnaissance Orbiter (LRO) launched in 2009 to collect the dataset required for future surface missions and to answer key questions about the lunar surface environment. In the first seven years of operations, the Lunar Reconnaissance Orbiter Camera (LROC) acquired over a million images of the lunar surface and collected key stereo observations for the production of meter-scale digital terrain models. Due to the configuration of the LRO orbit, LROC and the other onboard instruments have the opportunity to acquire observations at or near the poles every two hours. The lunar south polar region is an area of interest for future surface missions due to the benign thermal environment and areas of near-continuous illumination. These persistently illuminated regions are also adjacent to permanently shadowed areas (e.g. floors of craters and local depressions) that are of interest to both scientists and engineers prospecting for cold-trapped volatiles on or near the surface for future in situ resource utilization. Using a terramechanics model based on surface properties derived during the Apollo and Luna missions, we evaluated the accessibility of different science targets and the optimal traverse paths for a given set of waypoints. Assuming a rover that relies primarily on solar power, we identified a traverse that would keep the rover illuminated for 94.43% of the year between 1 January 2021 and 31 December 2021. Throughout this year-long period, the longest eclipse endured by the rover would last only 101 hours and the rover would move a total of 22.11 km with an average speed of 2.5 m/hr (max speed=30 m/hr). During this time the rover would be able to explore a variety of targets along the connecting ridge between Shackleton and de Gerlache craters. In addition to the southern polar regions, we are also examining traverses around other key exploration sites such as Marius Hills, Ina-D, Rima Parry, and the Mairan Domes in efforts to aid future mission planners and assess the requirements for future roving prospectors (e.g., maximum speed, maximum slope, etc.).

Future Exploration of the South Pole as Enabled by the Lunar Reconnaissance Orbiter

NASA Technical Reports Server (NTRS)

Speyerer, Emerson J.; Lawrence, Samuel J.; Stopar, Julie

2016-01-01

The Lunar Reconnaissance Orbiter (LRO) launched in 2009 to collect the dataset required for future surface missions and to answer key questions about the lunar surface environment. In the first seven years of operations, the Lunar Reconnaissance Orbiter Camera (LROC) acquired over a million images of the lunar surface and collected key stereo observations for the production of meter-scale digital terrain models. Due to the configuration of the LRO orbit, LROC and the other onboard instruments have the opportunity to acquire observations at or near the poles every two hours. The lunar south polar region is an area of interest for future surface missions due to the benign thermal environment and areas of near-continuous illumination. These persistently illuminated regions are also adjacent to permanently shadowed areas (e.g. floors of craters and local depressions) that are of interest to both scientists and engineers prospecting for cold-trapped volatiles on or near the surface for future in situ resource utilization. Using a terramechanics model based on surface properties derived during the Apollo and Luna missions, we evaluated the accessibility of different science targets and the optimal traverse paths for a given set of waypoints. Assuming a rover that relies primarily on solar power, we identified a traverse that would keep the rover illuminated for 94.43% of the year between 1 January 2021 and 31 December 2021. Throughout this year-long period, the longest eclipse endured by the rover would last only 101 hours and the rover would move a total of 22.11 km with an average speed of 2.5 m/hr (max speed=30 m/hr). During this time the rover would be able to explore a variety of targets along the connecting ridge between Shackleton and de Gerlache craters. In addition to the southern polar regions, we are also examining traverses around other key exploration sites such as Marius Hills, Ina-D, Rima Parry, and the Mairan Domes in efforts to aid future mission planners and assess the requirements for future roving prospectors (e.g., maximum speed, maximum slope, etc.).

Integrated Change Detection and Classification in Urban Areas Based on Airborne Laser Scanning Point Clouds.

PubMed

Tran, Thi Huong Giang; Ressl, Camillo; Pfeifer, Norbert

2018-02-03

This paper suggests a new approach for change detection (CD) in 3D point clouds. It combines classification and CD in one step using machine learning. The point cloud data of both epochs are merged for computing features of four types: features describing the point distribution, a feature relating to relative terrain elevation, features specific for the multi-target capability of laser scanning, and features combining the point clouds of both epochs to identify the change. All these features are merged in the points and then training samples are acquired to create the model for supervised classification, which is then applied to the whole study area. The final results reach an overall accuracy of over 90% for both epochs of eight classes: lost tree, new tree, lost building, new building, changed ground, unchanged building, unchanged tree, and unchanged ground.

A topographic feature taxonomy for a U.S. national topographic mapping ontology

USGS Publications Warehouse

Varanka, Dalia E.

2013-01-01

Using legacy feature lists from the U.S. National Topographic Mapping Program of the twentieth century, a taxonomy of features is presented for purposes of developing a national topographic feature ontology for geographic mapping and analysis. After reviewing published taxonomic classifications, six basic classes are suggested; terrain, surface water, ecological regimes, built-up areas, divisions, and events. Aspects of ontology development are suggested as the taxonomy is described.

Comparison of nonmicroprocessor knee mechanism versus C-Leg on Prosthesis Evaluation Questionnaire, stumbles, falls, walking tests, stair descent, and knee preference.

PubMed

Kahle, Jason T; Highsmith, M Jason; Hubbard, Sandra L

2008-01-01

This study compared subjects' performance with a nonmicroprocessor knee mechanism (NMKM) versus a C-Leg on nine clinically repeatable evaluative measures. We recorded data on subjects' performance while they used an accommodated NMKM and, following a 90-day accommodation period, the C-Leg in a convenience sample of 19 transfemoral (TF) amputees (mean age 51 +/- 19) from an outpatient prosthetic clinic. We found that use of the C-Leg improved function in all outcomes: (1) Prosthesis Evaluation Questionnaire scores increased 20% (p = 0.007), (2) stumbles decreased 59% (p = 0.006), (3) falls decreased 64% (p = 0.03), (4) 75 m self-selected walking speed on even terrain improved 15% (p = 0.03), (5) 75 m fastest possible walking speed (FPWS) on even terrain improved 12% (p = 0.005), (6) 38 m FPWS on uneven terrain improved 21% (p < 0.001), (7) 6 m FPWS on even terrain improved 17% (p = 0.001), (8) Montreal Rehabilitation Performance Profile Performance Composite Scores for stair descent increased for 12 subjects, and (9) the C-Leg was preferred over the NMKM by 14 subjects. Four limited community ambulators (Medicare Functional Classification Level [MFCL] K2) increased their ambulatory functional level to unlimited community ambulation (MFCL K3). Objective evaluative clinical measures are vital for justifying the medical necessity of knee mechanisms for TF amputees. Use of the C-Leg improves performance and quality of life and can increase MFCL and community ambulation level.

Laser radar system for obstacle avoidance

NASA Astrophysics Data System (ADS)

Bers, Karlheinz; Schulz, Karl R.; Armbruster, Walter

2005-09-01

The threat of hostile surveillance and weapon systems require military aircraft to fly under extreme conditions such as low altitude, high speed, poor visibility and incomplete terrain information. The probability of collision with natural and man-made obstacles during such contour missions is high if detection capability is restricted to conventional vision aids. Forward-looking scanning laser radars which are build by the EADS company and presently being flight tested and evaluated at German proving grounds, provide a possible solution, having a large field of view, high angular and range resolution, a high pulse repetition rate, and sufficient pulse energy to register returns from objects at distances of military relevance with a high hit-and-detect probability. The development of advanced 3d-scene analysis algorithms had increased the recognition probability and reduced the false alarm rate by using more readily recognizable objects such as terrain, poles, pylons, trees, etc. to generate a parametric description of the terrain surface as well as the class, position, orientation, size and shape of all objects in the scene. The sensor system and the implemented algorithms can be used for other applications such as terrain following, autonomous obstacle avoidance, and automatic target recognition. This paper describes different 3D-imaging ladar sensors with unique system architecture but different components matched for different military application. Emphasis is laid on an obstacle warning system with a high probability of detection of thin wires, the real time processing of the measured range image data, obstacle classification und visualization.

Meteorology and hydrology in Yosemite National Park: A sensor network application

USGS Publications Warehouse

Lundquist, J.D.; Cayan, D.R.; Dettinger, M.D.

2003-01-01

Over half of California's water supply comes from high elevations in the snowmelt-dominated Sierra Nevada. Natural climate fluctuations, global warming, and the growing needs of water consumers demand intelligent management of this water resource. This requires a comprehensive monitoring system across and within the Sierra Nevada. Unfortunately, because of severe terrain and limited access, few measurements exist. Thus, meteorological and hydrologic processes are not well understood at high altitudes. However, new sensor and wireless communication technologies are beginning to provide sensor packages designed for low maintenance operation, low power consumption and unobtrusive footprints. A prototype network of meteorological and hydrological sensors has been deployed in Yosemite National Park, traversing elevation zones from 1,200 to 3,700 m. Communication techniques must be tailored to suit each location, resulting in a hybrid network of radio, cell-phone, land-line, and satellite transmissions. Results are showing how, in some years, snowmelt may occur quite uniformly over the Sierra, while in others it varies with elevation. ?? Springer-Verlag Berlin Heidelberg 2003.

Using Grid Cells for Navigation.

PubMed

Bush, Daniel; Barry, Caswell; Manson, Daniel; Burgess, Neil

2015-08-05

Mammals are able to navigate to hidden goal locations by direct routes that may traverse previously unvisited terrain. Empirical evidence suggests that this "vector navigation" relies on an internal representation of space provided by the hippocampal formation. The periodic spatial firing patterns of grid cells in the hippocampal formation offer a compact combinatorial code for location within large-scale space. Here, we consider the computational problem of how to determine the vector between start and goal locations encoded by the firing of grid cells when this vector may be much longer than the largest grid scale. First, we present an algorithmic solution to the problem, inspired by the Fourier shift theorem. Second, we describe several potential neural network implementations of this solution that combine efficiency of search and biological plausibility. Finally, we discuss the empirical predictions of these implementations and their relationship to the anatomy and electrophysiology of the hippocampal formation. Copyright © 2015 The Authors. Published by Elsevier Inc. All rights reserved.

A Neuro-Musculo-Skeletal Model for Insects With Data-driven Optimization.

PubMed

Guo, Shihui; Lin, Juncong; Wöhrl, Toni; Liao, Minghong

2018-02-01

Simulating the locomotion of insects is beneficial to many areas such as experimental biology, computer animation and robotics. This work proposes a neuro-musculo-skeletal model, which integrates the biological inspirations from real insects and reproduces the gait pattern on virtual insects. The neural system is a network of spiking neurons, whose spiking patterns are controlled by the input currents. The spiking pattern provides a uniform representation of sensory information, high-level commands and control strategy. The muscle models are designed following the characteristic Hill-type muscle with customized force-length and force-velocity relationships. The model parameters, including both the neural and muscular components, are optimized via an approach of evolutionary optimization, with the data captured from real insects. The results show that the simulated gait pattern, including joint trajectories, matches the experimental data collected from real ants walking in the free mode. The simulated character is capable of moving at different directions and traversing uneven terrains.

NASA Tech Briefs, July 2005

NASA Technical Reports Server (NTRS)

2005-01-01

Thin-Film Resistance Heat-Flux Sensors Circuit Indicates that Voice-Recording Disks are Nearly Full Optical Sensing of Combustion Instabilities in Gas Turbines Topics include: Crane-Load Contact Sensor; Hexagonal and Pentagonal Fractal Multiband Antennas; Multifunctional Logic Gate Controlled by Temperature; Multifunctional Logic Gate Controlled by Supply Voltage; Power Divider for Waveforms Rich in Harmonics; SCB Quantum Computers Using iSWAP and 1-Qubit Rotations; CSAM Metrology Software Tool; Update on Rover Sequencing and Visualization Program; Selecting Data from a Star Catalog; Rotating Desk for Collaboration by Two Computer Programmers; Variable-Pressure Washer; Magnetically Attached Multifunction Maintenance Rover; Improvements in Fabrication of Sand/Binder Cores for Casting; Solid Freeform Fabrication of Composite-Material Objects; Efficient Computational Model of Hysteresis; Gauges for Highly Precise Metrology of a Compound Mirror; Improved Electrolytic Hydrogen Peroxide Generator; High-Power Fiber Lasers Using Photonic Band Gap Materials; Ontology-Driven Information Integration; Quantifying Traversability of Terrain for a Mobile Robot; More About Arc-Welding Process for Making Carbon Nanotubes; Controlling Laser Spot Size in Outer Space; or Software-Reconfigurable Processors for Spacecraft.

Use of slope, aspect, and elevation maps derived from digital elevation model data in making soil surveys

USGS Publications Warehouse

Klingebiel, A.A.; Horvath, E.H.; Moore, D.G.; Reybold, W.U.

1987-01-01

Maps showing different classes of slope, aspect, and elevation were developed from U.S. Geological Survey digital elevation model data. The classes were displayed on clear Mylar at 1:24 000-scale and registered with topographic maps and orthophotos. The maps were used with aerial photographs, topographic maps, and other resource data to determine their value in making order-three soil surveys. They were tested on over 600 000 ha in Wyoming, Idaho, and Nevada under various climatic and topographic conditions. Field evaluations showed that the maps developed from digital elevation model data were accurate, except for slope class maps where slopes were <4%. The maps were useful to soil scientists, especially where (i) class boundaries coincided with soil changes, landform delineations, land use and management separations, and vegetation changes, and (ii) rough terrain and dense vegetation made it difficult to traverse the area. In hot, arid areas of sparse vegetation, the relationship of slope classes to kinds of soil and vegetation was less significant.

Detection and delineation of underground septic tanks in sandy terrain using ground penetrating radar

NASA Astrophysics Data System (ADS)

Omolaiye, Gabriel Efomeh; Ayolabi, Elijah A.

2010-09-01

A ground penetrating radar (GPR) survey was conducted on the Lekki Peninsula, Lagos State, Nigeria. The primary target of the survey was the delineation of underground septic tanks (ST). A total of four GPR profiles were acquired on the survey site using Ramac X3M GPR equipment with a 250MHz antenna, chosen based on the depth of interest and resolution. An interpretable depth of penetration of 4.5m below the surface was achieved after processing. The method accurately delineated five underground ST. The tops of the ST were easily identified on the radargram based on the strong-amplitude anomalies, the length and the depths to the base of the ST were estimated with 99 and 73 percent confidence respectively. The continuous vertical profiles provide uninterrupted subsurface data along the lines of traverse, while the non-intrusive nature makes it an ideal tool for the accurate mapping and delineation of underground utilities.

Verification tests of the US Electricar Corporation Lectric Leopard

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

Dowgiallo, E.J. Jr.; Snellings, I.R.; Chapman, R.D.

1982-04-01

The Lectric Leopard, manufactured by US Electricar Corporation, was tested during the period 3 August 1981 to 25 September 1981. Part of the verification results are summarized below (complete tests results are contained in Section V): Acceleration: 0-50 km/h (31.1 mi/h) in 9.9 s. Range: SAE J227a cycle ''C'' on level (+-1-percent grade) terrain yielded 66.2 km (41.2 mi) and 120 cycles. Forward Speed Capability: Forward speed of 80 km/h (50 mi/h) was maintained for more than 5 min on the level (+-1-percent grade) portion of the MERADCOM Test Track. Gradeability at Speed: At 25 km/h (15.5 mi/h) the vehiclemore » can traverse a 15.5-percent grade based on calculations from acceleration tests. Gradeability Limit: Calculations based on drawbar-pull test indicate a 35.2-percent forward and a 36.4-percent gradeability for at least 20 s.« less

Accessible Earth: Enhancing diversity in the Geosciences through accessible course design and Experiential Learning Theory

NASA Astrophysics Data System (ADS)

Bennett, Rick; Lamb, Diedre

2017-04-01

The tradition of field-based instruction in the geoscience curriculum, which culminates in a capstone geological field camp, presents an insurmountable barrier to many disabled students who might otherwise choose to pursue geoscience careers. There is a widespread perception that success as a practicing geoscientist requires direct access to outcrops and vantage points available only to those able to traverse inaccessible terrain. Yet many modern geoscience activities are based on remotely sensed geophysical data, data analysis, and computation that take place entirely from within the laboratory. To challenge the perception of geoscience as a career option only for the able bodied, we have created the capstone Accessible Earth Study Abroad Program, an alternative to geologic field camp with a focus on modern geophysical observation systems, computational thinking, and data science. In this presentation, we will report on the theoretical bases for developing the course, our experiences in teaching the course to date, and our plan for ongoing assessment, refinement, and dissemination of the effectiveness of our efforts.

Step-Climbing Power Wheelchairs: A Literature Review

PubMed Central

Sundaram, S. Andrea; Wang, Hongwu; Ding, Dan

2017-01-01

Background: Power wheelchairs capable of overcoming environmental barriers, such as uneven terrain, curbs, or stairs, have been under development for more than a decade. Method: We conducted a systematic review of the scientific and engineering literature to identify these devices, and we provide brief descriptions of the mechanism and method of operation for each. We also present data comparing their capabilities in terms of step climbing and standard wheelchair functions. Results: We found that all the devices presented allow for traversal of obstacles that cannot be accomplished with traditional power wheelchairs, but the slow speeds and small wheel diameters of some designs make them only moderately effective in the basic area of efficient transport over level ground and the size and configuration of some others limit maneuverability in tight spaces. Conclusion: We propose that safety and performance test methods more comprehensive than the International Organization for Standards (ISO) testing protocols be developed for measuring the capabilities of advanced wheelchairs with step-climbing and other environment-negotiating features to allow comparison of their clinical effectiveness. PMID:29339886

Design data collection with Skylab microwave radiometer-scatterometer S-193, volume 2

NASA Technical Reports Server (NTRS)

Moore, R. K.; Ulaby, F. T. (Principal Investigator)

1975-01-01

The author has identified the following significant results. Skylab S-193 radiometer/scatterometer produced terrain responses with various polarizations and observation angles for cells of 100 to 400 sq km area. Classification of the observations into natural categories was achieved by K-means and spatial clustering algorithms. Microwave data acquired over the Great Salt Lake Desert area by sensors aboard Skylab and Nimbus 5 indicate that the microwave emission and backscatter were strongly influenced by contributions from subsurface layers of sediment saturated with brine. Correlations were noted between microwave backscatter response at approximately 33 deg from scatterometer (operating at 13.9 GHz) and the configuration of ground targets in Brazil as discerned from coarse scale maps. With limited, available ground truth, these correlations were sufficient to permit the production of image-like displays which bear a marked resemblance to known terrain features in several instances.

An investigation of potential applications of OP-SAPS: Operational sampled analog processors

NASA Technical Reports Server (NTRS)

Parrish, E. A.; Mcvey, E. S.

1976-01-01

The impact of charge-coupled device (CCD) processors on future instrumentation was investigated. The CCD devices studied process sampled analog data and are referred to as OP-SAPS - operational sampled analog processors. Preliminary studies into various architectural configurations for systems composed of OP-SAPS show that they have potential in such diverse applications as pattern recognition and automatic control. It appears probable that OP-SAPS may be used to construct computing structures which can serve as special peripherals to large-scale computer complexes used in real time flight simulation. The research was limited to the following benchmark programs: (1) face recognition, (2) voice command and control, (3) terrain classification, and (4) terrain identification. A small amount of effort was spent on examining a method by which OP-SAPS may be used to decrease the limiting ground sampling distance encountered in remote sensing from satellites.

Interdisciplinary applications and interpretations of EREP data within the Susquehanna River Basin

NASA Technical Reports Server (NTRS)

Mcmurtry, G. J.; Petersen, G. W. (Principal Investigator)

1976-01-01

The author has identified the following significant results. Photography from the S190A and S190B sensors was compared, for terrain analysis. The S190B photographs were used for terrain mapping of three test areas selected as being representative of major physiographic regions in Pennsylvania. Skylab photography was superior to both LANDSAT imagery and high altitude aircraft photography for purposes of accurate location of lineaments. Analysis of Skylab imagery has shown that long lineaments originally plotted on LANDSAT images are actually made up of shorter segments. Correlation of lineaments with ore deposits was determined following the preparation of a Pennsylvania mineral deposit map. Digital wave number analysis (spatial filtering) was attempted to determine if it can be used to enhance certain subtle features, and in particular, to locate and verify lineaments. Various spectral bands and channels of the MSS digital data were evaluated for their value in the classification and thematic mapping.

Remote sensing of Earth terrain

NASA Technical Reports Server (NTRS)

Kong, J. A.

1993-01-01

Progress report on remote sensing of Earth terrain covering the period from Jan. to June 1993 is presented. Areas of research include: radiative transfer model for active and passive remote sensing of vegetation canopy; polarimetric thermal emission from rough ocean surfaces; polarimetric passive remote sensing of ocean wind vectors; polarimetric thermal emission from periodic water surfaces; layer model with tandom spheriodal scatterers for remote sensing of vegetation canopy; application of theoretical models to active and passive remote sensing of saline ice; radiative transfer theory for polarimetric remote sensing of pine forest; scattering of electromagnetic waves from a dense medium consisting of correlated mie scatterers with size distributions and applications to dry snow; variance of phase fluctuations of waves propagating through a random medium; polarimetric signatures of a canopy of dielectric cylinders based on first and second order vector radiative transfer theory; branching model for vegetation; polarimetric passive remote sensing of periodic surfaces; composite volume and surface scattering model; and radar image classification.

Antarctic Exploration Parallels for Future Human Planetary Exploration: The Role and Utility of Long Range, Long Duration Traverses

NASA Technical Reports Server (NTRS)

Hoffman, Stephen J. (Editor); Voels, Stephen A. (Editor)

2012-01-01

Topics covered include: Antarctic Exploration Parallels for Future Human Planetary Exploration: Science Operations Lessons Learned, Planning, and Equipment Capabilities for Long Range, Long Duration Traverses; Parallels Between Antarctic Travel in 1950 and Planetary Travel in 2050 (to Accompany Notes on "The Norwegian British-Swedish Antarctic Expedition 1949-52"); My IGY in Antarctica; Short Trips and a Traverse; Geologic Traverse Planning for Apollo Missions; Desert Research and Technology Studies (DRATS) Traverse Planning; Science Traverses in the Canadian High Arctic; NOR-USA Scientific Traverse of East Antarctica: Science and Logistics on a Three-Month Expedition Across Antarctica's Farthest Frontier; A Notional Example of Understanding Human Exploration Traverses on the Lunar Surface; and The Princess Elisabeth Station.

Terrain Classification and Identification of Tree Stems Using Ground-Based Lidar

DTIC Science & Technology

2012-12-01

hailing from North America and Eastern Asia. Stands are mixed age and very diverse, making this an appealing test site in terms of tree variety...sparse scene in Fig. 3(b) contains several deciduous trees and shrubs, but is largely open. The moderate scene, shown in Fig. 3(c), is cluttered with...numerous deciduous trees and shrubs, and significant ground cover. The remaining two data sets, dense1 and dense2 were collected at Breakheart

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

NASA Technical Reports Server (NTRS)

Stoker, Carol

1994-01-01

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

An asynchronous traversal engine for graph-based rich metadata management

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

Dai, Dong; Carns, Philip; Ross, Robert B.

Rich metadata in high-performance computing (HPC) systems contains extended information about users, jobs, data files, and their relationships. Property graphs are a promising data model to represent heterogeneous rich metadata flexibly. Specifically, a property graph can use vertices to represent different entities and edges to record the relationships between vertices with unique annotations. The high-volume HPC use case, with millions of entities and relationships, naturally requires an out-of-core distributed property graph database, which must support live updates (to ingest production information in real time), low-latency point queries (for frequent metadata operations such as permission checking), and large-scale traversals (for provenancemore » data mining). Among these needs, large-scale property graph traversals are particularly challenging for distributed graph storage systems. Most existing graph systems implement a "level synchronous" breadth-first search algorithm that relies on global synchronization in each traversal step. This performs well in many problem domains; but a rich metadata management system is characterized by imbalanced graphs, long traversal lengths, and concurrent workloads, each of which has the potential to introduce or exacerbate stragglers (i.e., abnormally slow steps or servers in a graph traversal) that lead to low overall throughput for synchronous traversal algorithms. Previous research indicated that the straggler problem can be mitigated by using asynchronous traversal algorithms, and many graph-processing frameworks have successfully demonstrated this approach. Such systems require the graph to be loaded into a separate batch-processing framework instead of being iteratively accessed, however. In this work, we investigate a general asynchronous graph traversal engine that can operate atop a rich metadata graph in its native format. We outline a traversal-aware query language and key optimizations (traversal-affiliate caching and execution merging) necessary for efficient performance. We further explore the effect of different graph partitioning strategies on the traversal performance for both synchronous and asynchronous traversal engines. Our experiments show that the asynchronous graph traversal engine is more efficient than its synchronous counterpart in the case of HPC rich metadata processing, where more servers are involved and larger traversals are needed. Furthermore, the asynchronous traversal engine is more adaptive to different graph partitioning strategies.« less

An asynchronous traversal engine for graph-based rich metadata management

DOE PAGES

Dai, Dong; Carns, Philip; Ross, Robert B.; ...

2016-06-23

Rich metadata in high-performance computing (HPC) systems contains extended information about users, jobs, data files, and their relationships. Property graphs are a promising data model to represent heterogeneous rich metadata flexibly. Specifically, a property graph can use vertices to represent different entities and edges to record the relationships between vertices with unique annotations. The high-volume HPC use case, with millions of entities and relationships, naturally requires an out-of-core distributed property graph database, which must support live updates (to ingest production information in real time), low-latency point queries (for frequent metadata operations such as permission checking), and large-scale traversals (for provenancemore » data mining). Among these needs, large-scale property graph traversals are particularly challenging for distributed graph storage systems. Most existing graph systems implement a "level synchronous" breadth-first search algorithm that relies on global synchronization in each traversal step. This performs well in many problem domains; but a rich metadata management system is characterized by imbalanced graphs, long traversal lengths, and concurrent workloads, each of which has the potential to introduce or exacerbate stragglers (i.e., abnormally slow steps or servers in a graph traversal) that lead to low overall throughput for synchronous traversal algorithms. Previous research indicated that the straggler problem can be mitigated by using asynchronous traversal algorithms, and many graph-processing frameworks have successfully demonstrated this approach. Such systems require the graph to be loaded into a separate batch-processing framework instead of being iteratively accessed, however. In this work, we investigate a general asynchronous graph traversal engine that can operate atop a rich metadata graph in its native format. We outline a traversal-aware query language and key optimizations (traversal-affiliate caching and execution merging) necessary for efficient performance. We further explore the effect of different graph partitioning strategies on the traversal performance for both synchronous and asynchronous traversal engines. Our experiments show that the asynchronous graph traversal engine is more efficient than its synchronous counterpart in the case of HPC rich metadata processing, where more servers are involved and larger traversals are needed. Furthermore, the asynchronous traversal engine is more adaptive to different graph partitioning strategies.« less

Detection of flood effects in montane streams based on fusion of 2D and 3D information from UAV imagery

NASA Astrophysics Data System (ADS)

Langhammer, Jakub; Vacková, Tereza

2017-04-01

In the contribution, we are presenting a novel method, enabling objective detection and classification of the alluvial features resulting from flooding, based on the imagery, acquired by the unmanned aerial vehicles (UAVs, drones). We have proposed and tested a workflow, using two key data products of the UAV photogrammetry - the 2D orthoimage and 3D digital elevation model, together with derived information on surface texture for the consequent classification of erosional and depositional features resulting from the flood. The workflow combines the photogrammetric analysis of the UAV imagery, texture analysis of the DEM, and the supervised image classification. Application of the texture analysis and use of DEM data is aimed to enhance 2D information, resulting from the high-resolution orthoimage by adding the newly derived bands, which enhance potential for detection and classification of key types of fluvial features in the stream and the floodplain. The method was tested on the example of a snowmelt-driven flood in a montane stream in Sumava Mts., Czech Republic, Central Europe, that occurred in December 2015. Using the UAV platform DJI Inspire 1 equipped with the RGB camera there was acquired imagery covering a 1 km long stretch of a meandering creek with elevated fluvial dynamics. Agisoft Photoscan Pro was used to derive a point cloud and further the high-resolution seamless orthoimage and DEM, Orfeo toolkit and SAGA GIS tools were used for DEM analysis. From the UAV-based data inputs, a multi-band dataset was derived as a source for the consequent classification of fluvial landforms. The RGB channels of the derived orthoimage were completed by the selected texture feature layers and the information on 3D properties of the riverscape - the normalized DEM and terrain ruggedness. Haralick features, derived from the RGB channels, are used for extracting information on the surface texture, the terrain ruggedness index is used as a measure of local topographical variability. Based on this dataset, the supervised classification was performed to identify the fluvial features, including the fresh and old accumulations of different size, fresh bank erosion, in-stream features and the riparian zone vegetation, verified later by the field survey. The classification based on the fusion of high-resolution 2D and 3D data, derived from UAV imagery, enabled to identify and quantify the extent of recent and old accumulations, to distinguish the coarse and fine sediments or to separate the shallow and deep zones in the submerged zone of the channel. With the high operability of the data acquisition process, the proposed method appears to be a promising tool for rapid mapping and classification of flood effects in streams and floodplains.

Origin and Evolution of the Layered Sulfate-Rich Rocks in Meridiani Planum, Mars

NASA Astrophysics Data System (ADS)

Arvidson, R. E.

2007-12-01

Opportunity rover observations show that Meridiani Planum has extensive exposures of sulfate-rich dirty sandstones partially covered by a mix of wind-blown basaltic sand, dust, and a lag deposit of 1 to 5 mm diameter hematitic concretions. The dirty sandstones are interpreted to have formed in an acid-sulfate evaporative lacustrine system that left behind sulfate-rich muds with a siliciclastic component. Erosion by wind and water produced sandstones that were then cemented and diagenetically altered by rising groundwater. Subsequent wind erosion of these deposits and associated advection of basaltic sand onto the outcrops produced the surfaces encountered during the rover's traverses. On a regional scale these sulfate-rich deposits are up to several kilometers in thickness, extend over several hundred thousand square kilometers, and unconformably overlie the fluvially dissected Noachian cratered terrain. Both OMEGA and CRISM hyperspectral data show clear evidence for the presence of phyllosilicate minerals in the cratered terrains adjacent to the sulfate deposits, but not within the sulfate section proper. The ensemble of evidence indicates a change in Meridiani Planum from fluvial erosion and formation of phyllosilicate minerals to deposition of evaporite deposits associated with an acid-sulfate aqueous system. This change is interpreted to be due to a major climatic shift in which a relatively vigorous hydrologic system with extensive neutral rain and snowfall changed to more arid conditions in which a regional-scale acid sulfate groundwater system emerged in Meridiani Planum with enough of a hydrostatic head to produce and retain 1 to 3 km of sulfate-rich deposits.

Hierarchical segmentation of the Malawi Rift: The influence of inherited lithospheric heterogeneity and kinematics in the evolution of continental rifts

NASA Astrophysics Data System (ADS)

Laó-Dávila, Daniel A.; Al-Salmi, Haifa S.; Abdelsalam, Mohamed G.; Atekwana, Estella A.

2015-12-01

We used detailed analysis of Shuttle Radar Topography Mission-digital elevation model and observations from aeromagnetic data to examine the influence of inherited lithospheric heterogeneity and kinematics in the segmentation of largely amagmatic continental rifts. We focused on the Cenozoic Malawi Rift, which represents the southern extension of the Western Branch of the East African Rift System. This north trending rift traverses Precambrian and Paleozoic-Mesozoic structures of different orientations. We found that the rift can be hierarchically divided into first-order and second-order segments. In the first-order segmentation, we divided the rift into Northern, Central, and Southern sections. In its Northern Section, the rift follows Paleoproterozoic and Neoproterozoic terrains with structural grain that favored the localization of extension within well-developed border faults. The Central Section occurs within Mesoproterozoic-Neoproterozoic terrain with regional structures oblique to the rift extent. We propose that the lack of inherited lithospheric heterogeneity favoring extension localization resulted in the development of the rift in this section as a shallow graben with undeveloped border faults. In the Southern Section, Mesoproterozoic-Neoproterozoic rocks were reactivated and developed the border faults. In the second-order segmentation, only observed in the Northern Section, we divided the section into five segments that approximate four half-grabens/asymmetrical grabens with alternating polarities. The change of polarity coincides with flip-over full-grabens occurring within overlap zones associated with ~150 km long alternating border faults segments. The inherited lithospheric heterogeneity played the major role in facilitating the segmentation of the Malawi Rift during its opening resulting from extension.

Automatic landslide detection from LiDAR DTM derivatives by geographic-object-based image analysis based on open-source software

NASA Astrophysics Data System (ADS)

Knevels, Raphael; Leopold, Philip; Petschko, Helene

2017-04-01

With high-resolution airborne Light Detection and Ranging (LiDAR) data more commonly available, many studies have been performed to facilitate the detailed information on the earth surface and to analyse its limitation. Specifically in the field of natural hazards, digital terrain models (DTM) have been used to map hazardous processes such as landslides mainly by visual interpretation of LiDAR DTM derivatives. However, new approaches are striving towards automatic detection of landslides to speed up the process of generating landslide inventories. These studies usually use a combination of optical imagery and terrain data, and are designed in commercial software packages such as ESRI ArcGIS, Definiens eCognition, or MathWorks MATLAB. The objective of this study was to investigate the potential of open-source software for automatic landslide detection based only on high-resolution LiDAR DTM derivatives in a study area within the federal state of Burgenland, Austria. The study area is very prone to landslides which have been mapped with different methodologies in recent years. The free development environment R was used to integrate open-source geographic information system (GIS) software, such as SAGA (System for Automated Geoscientific Analyses), GRASS (Geographic Resources Analysis Support System), or TauDEM (Terrain Analysis Using Digital Elevation Models). The implemented geographic-object-based image analysis (GEOBIA) consisted of (1) derivation of land surface parameters, such as slope, surface roughness, curvature, or flow direction, (2) finding optimal scale parameter by the use of an objective function, (3) multi-scale segmentation, (4) classification of landslide parts (main scarp, body, flanks) by k-mean thresholding, (5) assessment of the classification performance using a pre-existing landslide inventory, and (6) post-processing analysis for the further use in landslide inventories. The results of the developed open-source approach demonstrated good success rates to objectively detect landslides in high-resolution topography data by GEOBIA.

Glaciated valleys in Europe and western Asia

PubMed Central

Prasicek, Günther; Otto, Jan-Christoph; Montgomery, David R.; Schrott, Lothar

2015-01-01

In recent years, remote sensing, morphometric analysis, and other computational concepts and tools have invigorated the field of geomorphological mapping. Automated interpretation of digital terrain data based on impartial rules holds substantial promise for large dataset processing and objective landscape classification. However, the geomorphological realm presents tremendous complexity and challenges in the translation of qualitative descriptions into geomorphometric semantics. Here, the simple, conventional distinction of V-shaped fluvial and U-shaped glacial valleys was analyzed quantitatively using multi-scale curvature and a novel morphometric variable termed Difference of Minimum Curvature (DMC). We used this automated terrain analysis approach to produce a raster map at a scale of 1:6,000,000 showing the distribution of glaciated valleys across Europe and western Asia. The data set has a cell size of 3 arc seconds and consists of more than 40 billion grid cells. Glaciated U-shaped valleys commonly associated with erosion by warm-based glaciers are abundant in the alpine regions of mid Europe and western Asia but also occur at the margins of mountain ice sheets in Scandinavia. The high-level correspondence with field mapping and the fully transferable semantics validate this approach for automated analysis of yet unexplored terrain around the globe and qualify for potential applications on other planetary bodies like Mars. PMID:27019665

Classifying elephant behaviour through seismic vibrations.

PubMed

Mortimer, Beth; Rees, William Lake; Koelemeijer, Paula; Nissen-Meyer, Tarje

2018-05-07

Seismic waves - vibrations within and along the Earth's surface - are ubiquitous sources of information. During propagation, physical factors can obscure information transfer via vibrations and influence propagation range [1]. Here, we explore how terrain type and background seismic noise influence the propagation of seismic vibrations generated by African elephants. In Kenya, we recorded the ground-based vibrations of different wild elephant behaviours, such as locomotion and infrasonic vocalisations [2], as well as natural and anthropogenic seismic noise. We employed techniques from seismology to transform the geophone recordings into source functions - the time-varying seismic signature generated at the source. We used computer modelling to constrain the propagation ranges of elephant seismic vibrations for different terrains and noise levels. Behaviours that generate a high force on a sandy terrain with low noise propagate the furthest, over the kilometre scale. Our modelling also predicts that specific elephant behaviours can be distinguished and monitored over a range of propagation distances and noise levels. We conclude that seismic cues have considerable potential for both behavioural classification and remote monitoring of wildlife. In particular, classifying the seismic signatures of specific behaviours of large mammals remotely in real time, such as elephant running, could inform on poaching threats. Copyright © 2018 The Authors. Published by Elsevier Ltd.. All rights reserved.

Detection of ground fog in mountainous areas from MODIS (Collection 051) daytime data using a statistical approach

NASA Astrophysics Data System (ADS)

Schulz, Hans Martin; Thies, Boris; Chang, Shih-Chieh; Bendix, Jörg

2016-03-01

The mountain cloud forest of Taiwan can be delimited from other forest types using a map of the ground fog frequency. In order to create such a frequency map from remotely sensed data, an algorithm able to detect ground fog is necessary. Common techniques for ground fog detection based on weather satellite data cannot be applied to fog occurrences in Taiwan as they rely on several assumptions regarding cloud properties. Therefore a new statistical method for the detection of ground fog in mountainous terrain from MODIS Collection 051 data is presented. Due to the sharpening of input data using MODIS bands 1 and 2, the method provides fog masks in a resolution of 250 m per pixel. The new technique is based on negative correlations between optical thickness and terrain height that can be observed if a cloud that is relatively plane-parallel is truncated by the terrain. A validation of the new technique using camera data has shown that the quality of fog detection is comparable to that of another modern fog detection scheme developed and validated for the temperate zones. The method is particularly applicable to optically thinner water clouds. Beyond a cloud optical thickness of ≈ 40, classification errors significantly increase.

Extraction of inland Nypa fruticans (Nipa Palm) using Support Vector Machine

NASA Astrophysics Data System (ADS)

Alberto, R. T.; Serrano, S. C.; Damian, G. B.; Camaso, E. E.; Biagtan, A. R.; Panuyas, N. Z.; Quibuyen, J. S.

2017-09-01

Mangroves are considered as one of the major habitats in coastal ecosystem, providing a lot of economic and ecological services in human society. Nypa fruticans (Nipa palm) is one of the important species of mangroves because of its versatility and uniqueness as halophytic palm. However, nipas are not only adaptable in saline areas, they can also managed to thrive away from the coastline depending on the favorable soil types available in the area. Because of this, mapping of this species are not limited alone in the near shore areas, but in areas where this species are present as well. The extraction process of Nypa fruticans were carried out using the available LiDAR data. Support Vector Machine (SVM) classification process was used to extract nipas in inland areas. The SVM classification process in mapping Nypa fruticans produced high accuracy of 95+%. The Support Vector Machine classification process to extract inland nipas was proven to be effective by utilizing different terrain derivatives from LiDAR data.

Image processing developments and applications for water quality monitoring and trophic state determination

NASA Technical Reports Server (NTRS)

Blackwell, R. J.

1982-01-01

Remote sensing data analysis of water quality monitoring is evaluated. Data anaysis and image processing techniques are applied to LANDSAT remote sensing data to produce an effective operational tool for lake water quality surveying and monitoring. Digital image processing and analysis techniques were designed, developed, tested, and applied to LANDSAT multispectral scanner (MSS) data and conventional surface acquired data. Utilization of these techniques facilitates the surveying and monitoring of large numbers of lakes in an operational manner. Supervised multispectral classification, when used in conjunction with surface acquired water quality indicators, is used to characterize water body trophic status. Unsupervised multispectral classification, when interpreted by lake scientists familiar with a specific water body, yields classifications of equal validity with supervised methods and in a more cost effective manner. Image data base technology is used to great advantage in characterizing other contributing effects to water quality. These effects include drainage basin configuration, terrain slope, soil, precipitation and land cover characteristics.

Applications of LANDSAT data to the integrated economic development of Mindoro, Phillipines

NASA Technical Reports Server (NTRS)

Wagner, T. W.; Fernandez, J. C.

1977-01-01

LANDSAT data is seen as providing essential up-to-date resource information for the planning process. LANDSAT data of Mindoro Island in the Philippines was processed to provide thematic maps showing patterns of agriculture, forest cover, terrain, wetlands and water turbidity. A hybrid approach using both supervised and unsupervised classification techniques resulted in 30 different scene classes which were subsequently color-coded and mapped at a scale of 1:250,000. In addition, intensive image analysis is being carried out in evaluating the images. The images, maps, and aerial statistics are being used to provide data to seven technical departments in planning the economic development of Mindoro. Multispectral aircraft imagery was collected to compliment the application of LANDSAT data and validate the classification results.

Processing of 3-Dimensional Flash Lidar Terrain Images Generated From an Airborne Platform

NASA Technical Reports Server (NTRS)

Bulyshev, Alexander; Pierrottet, Diego; Amzajerdian, Farzin; Busch, George; Vanek, Michael; Reisse, Robert

2009-01-01

Data from the first Flight Test of the NASA Langley Flash Lidar system have been processed. Results of the analyses are presented and discussed. A digital elevation map of the test site is derived from the data, and is compared with the actual topography. The set of algorithms employed, starting from the initial data sorting, and continuing through to the final digital map classification is described. The accuracy, precision, and the spatial and angular resolution of the method are discussed.

Geological mapping in northwestern Saudi Arabia using LANDSAT multispectral techniques

NASA Technical Reports Server (NTRS)

Blodget, H. W.; Brown, G. F.; Moik, J. G.

1975-01-01

Various computer enhancement and data extraction systems using LANDSAT data were assessed and used to complement a continuing geologic mapping program. Interactive digital classification techniques using both the parallel-piped and maximum-likelihood statistical approaches achieve very limited success in areas of highly dissected terrain. Computer enhanced imagery developed by color compositing stretched MSS ratio data was constructed for a test site in northwestern Saudi Arabia. Initial results indicate that several igneous and sedimentary rock types can be discriminated.

Unmanned Ground Vehicle Perception Using Thermal Infrared Cameras

NASA Technical Reports Server (NTRS)

Rankin, Arturo; Huertas, Andres; Matthies, Larry; Bajracharya, Max; Assad, Christopher; Brennan, Shane; Bellut, Paolo; Sherwin, Gary

2011-01-01

TIR cameras can be used for day/night Unmanned Ground Vehicle (UGV) autonomous navigation when stealth is required. The quality of uncooled TIR cameras has significantly improved over the last decade, making them a viable option at low speed Limiting factors for stereo ranging with uncooled LWIR cameras are image blur and low texture scenes TIR perception capabilities JPL has explored includes: (1) single and dual band TIR terrain classification (2) obstacle detection (pedestrian, vehicle, tree trunks, ditches, and water) (3) perception thru obscurants

Use of LANDSAT data to assess waterfowl habitat quality

NASA Technical Reports Server (NTRS)

Colwell, J. E.; Gilmer, D. S. (Principal Investigator); Work, E. A., Jr.; Rebel, D. L.; Roller, N. E. G.

1978-01-01

The author has identified the following significant results. The capability of mapping ponds over a very large area was demonstrated, with multidate, multiframe LANDSAT imagery. A small double sample of aircraft data made it possible to adjust a LANDSAT large area census. Terrain classification was improved by using multitemporal LANDSAT data. Waterfowl production was estimated, using remotely determined pond data, in conjunction with FWS estimates of breeding population. Relative waterfowl habitat quality was characterized on a section by section basis.

Hazard detection and avoidance sensor for NASA's planetary landers

NASA Technical Reports Server (NTRS)

Lau, Brian; Chao, Tien-Hsin

1992-01-01

An optical terrain analysis based sensor system specifically designed for landing hazard detection as required for NASA's autonomous planetary landers is introduced. This optical hazard detection and avoidance (HDA) sensor utilizes an optoelectronic wedge-and-ting (WRD) filter for Fourier transformed feature extraction and an electronic neural network processor for pattern classification. A fully implemented optical HDA sensor would assure safe landing of the planetary landers. Computer simulation results of a successful feasibility study is reported. Future research for hardware system implementation is also provided.

Detection of Water Hazards for Autonomous Robotic Vehicles

NASA Technical Reports Server (NTRS)

Matthes, Larry; Belluta, Paolo; McHenry, Michael

2006-01-01

Four methods of detection of bodies of water are under development as means to enable autonomous robotic ground vehicles to avoid water hazards when traversing off-road terrain. The methods involve processing of digitized outputs of optoelectronic sensors aboard the vehicles. It is planned to implement these methods in hardware and software that would operate in conjunction with the hardware and software for navigation and for avoidance of solid terrain obstacles and hazards. The first method, intended for use during the day, is based on the observation that, under most off-road conditions, reflections of sky from water are easily discriminated from the adjacent terrain by their color and brightness, regardless of the weather and of the state of surface waves on the water. Accordingly, this method involves collection of color imagery by a video camera and processing of the image data by an algorithm that classifies each pixel as soil, water, or vegetation according to its color and brightness values (see figure). Among the issues that arise is the fact that in the presence of reflections of objects on the opposite shore, it is difficult to distinguish water by color and brightness alone. Another issue is that once a body of water has been identified by means of color and brightness, its boundary must be mapped for use in navigation. Techniques for addressing these issues are under investigation. The second method, which is not limited by time of day, is based on the observation that ladar returns from bodies of water are usually too weak to be detected. In this method, ladar scans of the terrain are analyzed for returns and the absence thereof. In appropriate regions, the presence of water can be inferred from the absence of returns. Under some conditions in which reflections from the bottom are detectable, ladar returns could, in principle, be used to determine depth. The third method involves the recognition of bodies of water as dark areas in short-wavelength infrared (SWIR) images. This method is based on the fact, well known among experts in remote sensing, that water bodies of any appreciable depth appear very dark in near-infrared, overhead imagery. Even under a thick layer of marine fog, SWIR illumination is present. Hence, this method may work even in the presence of clouds, though it is unlikely to work at night. Snow and ice also exhibit very strong absorption at wavelengths greater than about 1.4 m. Hence, the wavelength range of about 1.5 to 1.6 m might be useable in this method for recognizing water, snow, and ice. One notable drawback of this method is that useful look-ahead distance could be limited by surface reflections. The fourth method, intended for use at night, involves the contrast between water and terrain in thermal-infrared (medium-wavelength infrared) imagery. This method is based on the fact that at night, water is usually warmer than the adjacent terrain. Look-ahead distance could be limited in this method because, for reasons not yet fully understood, water appears to darken in the thermal infrared with increasing distance.

Classification of permafrost active layer depth from remotely sensed and topographic evidence

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

Peddle, D.R.; Franklin, S.E.

1993-04-01

The remote detection of permafrost (perennially frozen ground) has important implications to environmental resource development, engineering studies, natural hazard prediction, and climate change research. In this study, the authors present results from two experiments into the classification of permafrost active layer depth within the zone of discontinuous permafrost in northern Canada. A new software system based on evidential reasoning was implemented to permit the integrated classification of multisource data consisting of landcover, terrain aspect, and equivalent latitude, each of which possessed different formats, data types, or statistical properties that could not be handled by conventional classification algorithms available to thismore » study. In the first experiment, four active layer depth classes were classified using ground based measurements of the three variables with an accuracy of 83% compared to in situ soil probe determination of permafrost active layer depth at over 500 field sites. This confirmed the environmental significance of the variables selected, and provided a baseline result to which a remote sensing classification could be compared. In the second experiment, evidence for each input variable was obtained from image processing of digital SPOT imagery and a photogrammetric digital elevation model, and used to classify active layer depth with an accuracy of 79%. These results suggest the classification of evidence from remotely sensed measures of spectral response and topography may provide suitable indicators of permafrost active layer depth.« less

Advanced Unsupervised Classification Methods to Detect Anomalies on Earthen Levees Using Polarimetric SAR Imagery

PubMed Central

Marapareddy, Ramakalavathi; Aanstoos, James V.; Younan, Nicolas H.

2016-01-01

Fully polarimetric Synthetic Aperture Radar (polSAR) data analysis has wide applications for terrain and ground cover classification. The dynamics of surface and subsurface water events can lead to slope instability resulting in slough slides on earthen levees. Early detection of these anomalies by a remote sensing approach could save time versus direct assessment. We used L-band Synthetic Aperture Radar (SAR) to screen levees for anomalies. SAR technology, due to its high spatial resolution and soil penetration capability, is a good choice for identifying problematic areas on earthen levees. Using the parameters entropy (H), anisotropy (A), alpha (α), and eigenvalues (λ, λ1, λ2, and λ3), we implemented several unsupervised classification algorithms for the identification of anomalies on the levee. The classification techniques applied are H/α, H/A, A/α, Wishart H/α, Wishart H/A/α, and H/α/λ classification algorithms. In this work, the effectiveness of the algorithms was demonstrated using quad-polarimetric L-band SAR imagery from the NASA Jet Propulsion Laboratory’s (JPL’s) Uninhabited Aerial Vehicle Synthetic Aperture Radar (UAVSAR). The study area is a section of the lower Mississippi River valley in the Southern USA, where earthen flood control levees are maintained by the US Army Corps of Engineers. PMID:27322270

Forest tree species discrimination in western Himalaya using EO-1 Hyperion

NASA Astrophysics Data System (ADS)

George, Rajee; Padalia, Hitendra; Kushwaha, S. P. S.

2014-05-01

The information acquired in the narrow bands of hyperspectral remote sensing data has potential to capture plant species spectral variability, thereby improving forest tree species mapping. This study assessed the utility of spaceborne EO-1 Hyperion data in discrimination and classification of broadleaved evergreen and conifer forest tree species in western Himalaya. The pre-processing of 242 bands of Hyperion data resulted into 160 noise-free and vertical stripe corrected reflectance bands. Of these, 29 bands were selected through step-wise exclusion of bands (Wilk's Lambda). Spectral Angle Mapper (SAM) and Support Vector Machine (SVM) algorithms were applied to the selected bands to assess their effectiveness in classification. SVM was also applied to broadband data (Landsat TM) to compare the variation in classification accuracy. All commonly occurring six gregarious tree species, viz., white oak, brown oak, chir pine, blue pine, cedar and fir in western Himalaya could be effectively discriminated. SVM produced a better species classification (overall accuracy 82.27%, kappa statistic 0.79) than SAM (overall accuracy 74.68%, kappa statistic 0.70). It was noticed that classification accuracy achieved with Hyperion bands was significantly higher than Landsat TM bands (overall accuracy 69.62%, kappa statistic 0.65). Study demonstrated the potential utility of narrow spectral bands of Hyperion data in discriminating tree species in a hilly terrain.

Mapping gully-affected areas in the region of Taroudannt, Morocco based on Object-Based Image Analysis (OBIA)

NASA Astrophysics Data System (ADS)

d'Oleire-Oltmanns, Sebastian; Marzolff, Irene; Tiede, Dirk; Blaschke, Thomas

2015-04-01

The need for area-wide landform mapping approaches, especially in terms of land degradation, can be ascribed to the fact that within area-wide landform mapping approaches, the (spatial) context of erosional landforms is considered by providing additional information on the physiography neighboring the distinct landform. This study presents an approach for the detection of gully-affected areas by applying object-based image analysis in the region of Taroudannt, Morocco, which is highly affected by gully erosion while simultaneously representing a major region of agro-industry with a high demand of arable land. Various sensors provide readily available high-resolution optical satellite data with a much better temporal resolution than 3D terrain data which lead to the development of an area-wide mapping approach to extract gully-affected areas using only optical satellite imagery. The classification rule-set was developed with a clear focus on virtual spatial independence within the software environment of eCognition Developer. This allows the incorporation of knowledge about the target objects under investigation. Only optical QuickBird-2 satellite data and freely-available OpenStreetMap (OSM) vector data were used as input data. The OSM vector data were incorporated in order to mask out plantations and residential areas. Optical input data are more readily available for a broad range of users compared to terrain data, which is considered to be a major advantage. The methodology additionally incorporates expert knowledge and freely-available vector data in a cyclic object-based image analysis approach. This connects the two fields of geomorphology and remote sensing. The classification results allow conclusions on the current distribution of gullies. The results of the classification were checked against manually delineated reference data incorporating expert knowledge based on several field campaigns in the area, resulting in an overall classification accuracy of 62%. The error of omission accounts for 38% and the error of commission for 16%, respectively. Additionally, a manual assessment was carried out to assess the quality of the applied classification algorithm. The limited error of omission contributes with 23% to the overall error of omission and the limited error of commission contributes with 98% to the overall error of commission. This assessment improves the results and confirms the high quality of the developed approach for area-wide mapping of gully-affected areas in larger regions. In the field of landform mapping, the overall quality of the classification results is often assessed with more than one method to incorporate all aspects adequately.

Flood Mapping in the Lower Mekong River Basin Using Daily MODIS Observations

NASA Technical Reports Server (NTRS)

Fayne, Jessica V.; Bolten, John D.; Doyle, Colin S.; Fuhrmann, Sven; Rice, Matthew T.; Houser, Paul R.; Lakshmi, Venkat

2017-01-01

In flat homogenous terrain such as in Cambodia and Vietnam, the monsoon season brings significant and consistent flooding between May and November. To monitor flooding in the Lower Mekong region, the near real-time NASA Flood Extent Product (NASA-FEP) was developed using seasonal normalized difference vegetation index (NDVI) differences from the 250 m resolution Moderate Resolution Imaging Spectroradiometer (MODIS) sensor compared to daily observations. The use of a percentage change interval classification relating to various stages of flooding reduces might be confusing to viewers or potential users, and therefore reducing the product usage. To increase the product usability through simplification, the classification intervals were compared with other commonly used change detection schemes to identify the change classification scheme that best delineates flooded areas. The percentage change method used in the NASA-FEP proved to be helpful in delineating flood boundaries compared to other change detection methods. The results of the accuracy assessments indicate that the -75% NDVI change interval can be reclassified to a descriptive 'flood' classification. A binary system was used to simplify the interpretation of the NASA-FEP by removing extraneous information from lower interval change classes.

Informal settlement classification using point-cloud and image-based features from UAV data

NASA Astrophysics Data System (ADS)

Gevaert, C. M.; Persello, C.; Sliuzas, R.; Vosselman, G.

2017-03-01

Unmanned Aerial Vehicles (UAVs) are capable of providing very high resolution and up-to-date information to support informal settlement upgrading projects. In order to provide accurate basemaps, urban scene understanding through the identification and classification of buildings and terrain is imperative. However, common characteristics of informal settlements such as small, irregular buildings with heterogeneous roof material and large presence of clutter challenge state-of-the-art algorithms. Furthermore, it is of interest to analyse which fundamental attributes are suitable for describing these objects in different geographic locations. This work investigates how 2D radiometric and textural features, 2.5D topographic features, and 3D geometric features obtained from UAV imagery can be integrated to obtain a high classification accuracy in challenging classification problems for the analysis of informal settlements. UAV datasets from informal settlements in two different countries are compared in order to identify salient features for specific objects in heterogeneous urban environments. Findings show that the integration of 2D and 3D features leads to an overall accuracy of 91.6% and 95.2% respectively for informal settlements in Kigali, Rwanda and Maldonado, Uruguay.

Influence of different topographic correction strategies on mountain vegetation classification accuracy in the Lancang Watershed, China

NASA Astrophysics Data System (ADS)

Zhang, Zhiming; de Wulf, Robert R.; van Coillie, Frieke M. B.; Verbeke, Lieven P. C.; de Clercq, Eva M.; Ou, Xiaokun

2011-01-01

Mapping of vegetation using remote sensing in mountainous areas is considerably hampered by topographic effects on the spectral response pattern. A variety of topographic normalization techniques have been proposed to correct these illumination effects due to topography. The purpose of this study was to compare six different topographic normalization methods (Cosine correction, Minnaert correction, C-correction, Sun-canopy-sensor correction, two-stage topographic normalization, and slope matching technique) for their effectiveness in enhancing vegetation classification in mountainous environments. Since most of the vegetation classes in the rugged terrain of the Lancang Watershed (China) did not feature a normal distribution, artificial neural networks (ANNs) were employed as a classifier. Comparing the ANN classifications, none of the topographic correction methods could significantly improve ETM+ image classification overall accuracy. Nevertheless, at the class level, the accuracy of pine forest could be increased by using topographically corrected images. On the contrary, oak forest and mixed forest accuracies were significantly decreased by using corrected images. The results also showed that none of the topographic normalization strategies was satisfactorily able to correct for the topographic effects in severely shadowed areas.

Environmental Assessment Lake Traverse Master Plan for Public-Use Development and Resource Management Lake Traverse Minnesota - South Dakota.

DTIC Science & Technology

1978-09-01

classified as wet meadow. k. Tame Grassland Community (limited) - This community is of minor extent and importance in the vicinity of Lake Traverse...purposes of flood control and water conservation, the Lake Traverse-lois de Sioux flood control project began operation in 1941. It con- sists of two...reservoir pools--Lake Traverse and Mud Lake--plus 24 miles of channel improvement. Several consepts are recoiended for future development of the

Land use and topography influence in a complex terrain area: A high resolution mesoscale modelling study over the Eastern Pyrenees using the WRF model

NASA Astrophysics Data System (ADS)

Jiménez-Esteve, B.; Udina, M.; Soler, M. R.; Pepin, N.; Miró, J. R.

2018-04-01

Different types of land use (LU) have different physical properties which can change local energy balance and hence vertical fluxes of moisture, heat and momentum. This in turn leads to changes in near-surface temperature and moisture fields. Simulating atmospheric flow over complex terrain requires accurate local-scale energy balance and therefore model grid spacing must be sufficient to represent both topography and land-use. In this study we use both the Corine Land Cover (CLC) and United States Geological Survey (USGS) land use databases for use with the Weather Research and Forecasting (WRF) model and evaluate the importance of both land-use classification and horizontal resolution in contributing to successful modelling of surface temperatures and humidities observed from a network of 39 sensors over a 9 day period in summer 2013. We examine case studies of the effects of thermal inertia and soil moisture availability at individual locations. The scale at which the LU classification is observed influences the success of the model in reproducing observed patterns of temperature and moisture. Statistical validation of model output demonstrates model sensitivity to both the choice of LU database used and the horizontal resolution. In general, results show that on average, by a) using CLC instead of USGS and/or b) increasing horizontal resolution, model performance is improved. We also show that the sensitivity to these changes in the model performance shows a daily cycle.

Toward Soil Spatial Information Systems (SSIS) for global modeling and ecosystem management

NASA Technical Reports Server (NTRS)

Baumgardner, Marion F.

1995-01-01

The general objective is to conduct research to contribute toward the realization of a world soils and terrain (SOTER) database, which can stand alone or be incorporated into a more complete and comprehensive natural resources digital information system. The following specific objectives are focussed on: (1) to conduct research related to (a) translation and correlation of different soil classification systems to the SOTER database legend and (b) the inferfacing of disparate data sets in support of the SOTER Project; (2) to examine the potential use of AVHRR (Advanced Very High Resolution Radiometer) data for delineating meaningful soils and terrain boundaries for small scale soil survey (range of scale: 1:250,000 to 1:1,000,000) and terrestrial ecosystem assessment and monitoring; and (3) to determine the potential use of high dimensional spectral data (220 reflectance bands with 10 m spatial resolution) for delineating meaningful soils boundaries and conditions for the purpose of detailed soil survey and land management.

Endoscopic traversability in patients with locally advanced esophageal squamous cell carcinoma: Is it a significant prognostic factor?

PubMed

Shin, Hae Jin; Moon, Hee Seok; Kang, Sun Hyung; Sung, Jae Kyu; Jeong, Hyun Yong; Kim, Seok Hyun; Lee, Byung Seok; Kim, Ju Seok; Yun, Gee Young

2017-12-01

The purpose of this study was to evaluate the prognostic impact of endoscopic traversability in patients with locally advanced esophageal squamous cell carcinoma.This retrospective study was based on medical records from a single tertiary medical center. The records of 317 patients with esophageal squamous cell carcinoma treated with surgery or definitive chemoradiotherapy (CRT) between January 2009 and March 2016 were reviewed. Finally, we retrieved the data on 168 consecutive patients. These 168 patients were divided into 2 groups based on their endoscopic traversability findings: Group A (the endoscope traversable group), and Group B (the endoscope non-traversable group). We then retrospectively compared the clinical characteristics of these 2 groups.The endoscope non-traversable group (Group B) revealed an advanced clinical stage, a poor Eastern Cooperative Oncology Group (ECOG) score, a lower serum albumin level, a higher rate of requirement for esophageal stent insertion and definitive CRT as initial treatment than the endoscope traversable group (Group A). Patients with endoscope traversable cancer showed a significantly higher 3-year overall survival and 3-year relapse-free survival than patients who were endoscope non-traversable (53.8% vs 17.3%, P < .001 and 71.1% vs 45.3%, P = .003, respectively). Upon multivariate analysis of patients with locally advanced esophageal squamous cell carcinoma treated with definitive CRT, the serum albumin level <3.5 g/dL and endoscopic non-traversability were significant negative factors of survival.Endoscopic traversability in patients with locally advanced esophageal squamous cell carcinoma treated with definitive CRT is a significant prognostic factor. Copyright © 2017 The Authors. Published by Wolters Kluwer Health, Inc. All rights reserved.

Ground robotic measurement of aeolian processes

NASA Astrophysics Data System (ADS)

Qian, Feifei; Jerolmack, Douglas; Lancaster, Nicholas; Nikolich, George; Reverdy, Paul; Roberts, Sonia; Shipley, Thomas; Van Pelt, R. Scott; Zobeck, Ted M.; Koditschek, Daniel E.

2017-08-01

Models of aeolian processes rely on accurate measurements of the rates of sediment transport by wind, and careful evaluation of the environmental controls of these processes. Existing field approaches typically require intensive, event-based experiments involving dense arrays of instruments. These devices are often cumbersome and logistically difficult to set up and maintain, especially near steep or vegetated dune surfaces. Significant advances in instrumentation are needed to provide the datasets that are required to validate and improve mechanistic models of aeolian sediment transport. Recent advances in robotics show great promise for assisting and amplifying scientists' efforts to increase the spatial and temporal resolution of many environmental measurements governing sediment transport. The emergence of cheap, agile, human-scale robotic platforms endowed with increasingly sophisticated sensor and motor suites opens up the prospect of deploying programmable, reactive sensor payloads across complex terrain in the service of aeolian science. This paper surveys the need and assesses the opportunities and challenges for amassing novel, highly resolved spatiotemporal datasets for aeolian research using partially-automated ground mobility. We review the limitations of existing measurement approaches for aeolian processes, and discuss how they may be transformed by ground-based robotic platforms, using examples from our initial field experiments. We then review how the need to traverse challenging aeolian terrains and simultaneously make high-resolution measurements of critical variables requires enhanced robotic capability. Finally, we conclude with a look to the future, in which robotic platforms may operate with increasing autonomy in harsh conditions. Besides expanding the completeness of terrestrial datasets, bringing ground-based robots to the aeolian research community may lead to unexpected discoveries that generate new hypotheses to expand the science itself.

Verification test of the Battronic Truck Volta Electric Pickup, July 1980-January 1981

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

Dowgiallo, E.J. Jr.; Snellings, I.R.; Chapman, R.D.

1982-04-01

The Volta pickup truck is an electric, multipurpose utility vehicle manufactured by the Battronic Truck Corporation of Boyertown, Pennsylvania. The vehicle was teted from July 1980 to September 1981. Complete test results are contained in Section V of this report. Part of the verification test results are summarized below: (1) Acceleration: 0 to 50 km/h (31.1 mi/h) in 10.0 s. (2) Range: SAE J227a ''B'' cycle on level (+-1-percent grade) terrain yielded 55.2 km (34.3 mi) and 162 cycles. (3) Forward Speed Capability: The vehicle maintained 70 km/h (43.5 mi/h) for more than 5 min on the level (+-1-percent) portionmore » of the MERADCOM test track. (4) Gradeability at Speed: At 25 km/h (15.5 mi/h) the vehicle can traverse a 13-percent grade based on calculations from acceleration tests. (5) Gradeability Limit: Calculations based on drawbar-pull tests indicate a 11.5-percent forward and 12.4-percent reverse gradeability for at least 20 s.« less

Robot path planning using a genetic algorithm

NASA Technical Reports Server (NTRS)

Cleghorn, Timothy F.; Baffes, Paul T.; Wang, Liu

1988-01-01

Robot path planning can refer either to a mobile vehicle such as a Mars Rover, or to an end effector on an arm moving through a cluttered workspace. In both instances there may exist many solutions, some of which are better than others, either in terms of distance traversed, energy expended, or joint angle or reach capabilities. A path planning program has been developed based upon a genetic algorithm. This program assumes global knowledge of the terrain or workspace, and provides a family of good paths between the initial and final points. Initially, a set of valid random paths are constructed. Successive generations of valid paths are obtained using one of several possible reproduction strategies similar to those found in biological communities. A fitness function is defined to describe the goodness of the path, in this case including length, slope, and obstacle avoidance considerations. It was found that with some reproduction strategies, the average value of the fitness function improved for successive generations, and that by saving the best paths of each generation, one could quite rapidly obtain a collection of good candidate solutions.

Spirit's Express Route to 'Columbia Hills'

NASA Technical Reports Server (NTRS)

2004-01-01

This map illustrates the Mars Exploration Rover Spirit's position as of sol 112 (April 26, 2004), near the crater called 'Missoula.' Like a train on a tight schedule, Spirit will make regular stops along the way to its ultimate destination, the 'Columbia Hills.' At each stop, or 'station,' the rover will briefly analyze the area's rocks and soils. Each tick mark on the rover's route represents one sol's worth of travel, or about 60 to 70 meters (200 to 230 feet). Rover planners estimate that Spirit will reach the hills around mid-June. Presently, the rover is stopped at a site called 'Plains Station.'

The color thermal data show how well different surface features hold onto heat. Red indicates a higher thermal inertia associated with rocky terrain (cooler in the day, warmer at night); blue indicates a lower thermal inertia associated with smaller particles and fewer rocks (warmer at night, cooler in the day). During its traverse, Spirit will document the causes of these thermal variations.

The map comprises data from the camera on NASA's Mars Global Surveyor orbiter and the thermal emission imaging system on NASA's Mars Odyssey orbiter.

Effect of Angle of Attack on Slope Climbing Performance

NASA Technical Reports Server (NTRS)

Creager, Colin M.; Jones, Lucas; Smith, Lauren M.

2017-01-01

Ascending steep slopes is often a very difficult challenge for off-road vehicles, whether on Earth or on extraterrestrial bodies. This challenge is even greater if the surface consists of loose granular soil that does not provide much shear strength. This study investigated how the path at which a vehicle traverses a slope, specifically the angle that it is commanded to drive relative to the base of the hill (the angle of attack), can affect its performance. A vehicle was driven in loose sand at slope angles up to 15 degrees and angles of attack ranging from 10 to 90 degrees. A novel photogrammetry technique was implemented to both track vehicle motion and create a three-dimensional profile of the terrain. This allowed for true wheel sinkage measurements. The study showed that though low angles of attack result in lower wheel slip and sinkage, the efficiency of the vehicles uphill motion increased at higher angles of attack. For slopes up to 15 degrees, a 90 degree angle of attack provided the greatest likelihood of successful ascent.

Seafloor terrain analysis and geomorphology of the greater Los Angeles Margin and San Pedro Basin, Southern California

USGS Publications Warehouse

Dartnell, P.; Gardner, J.V.

2009-01-01

The seafloor off greater Los Angeles, California, has been extensively studied for the past century. Terrain analysis of recently compiled multibeam bathymetry reveals the detailed seafloor morphology along the Los Angeles Margin and San Pedro Basin. The terrain analysis uses the multibeam bathymetry to calculate two seafloor indices, a seafloor slope, and a Topographic Position Index. The derived grids along with depth are analyzed in a hierarchical, decision-tree classification to delineate six seafloor provinces-high-relief shelf, low-relief shelf, steep-basin slope, gentle-basin slope, gullies and canyons, and basins. Rock outcrops protrude in places above the generally smooth continental shelf. Gullies incise the steep-basin slopes, and some submarine canyons extend from the coastline to the basin floor. San Pedro Basin is separated from the Santa Monica Basin to the north by a ridge consisting of the Redondo Knoll and the Redondo Submarine Canyon delta. An 865-m-deep sill separates the two basins. Water depths of San Pedro Basin are ??100 m deeper than those in the San Diego Trough to the south, and three passes breach a ridge that separates the San Pedro Basin from the San Diego Trough. Information gained from this study can be used as base maps for such future studies as tectonic reconstructions, identifying sedimentary processes, tracking pollution transport, and defining benthic habitats. ?? 2009 The Geological Society of America.

Mapping lava flow textures using three-dimensional measures of surface roughness

NASA Astrophysics Data System (ADS)

Mallonee, H. C.; Kobs-Nawotniak, S. E.; McGregor, M.; Hughes, S. S.; Neish, C.; Downs, M.; Delparte, D.; Lim, D. S. S.; Heldmann, J. L.

2016-12-01

Lava flow emplacement conditions are reflected in the surface textures of a lava flow; unravelling these conditions is crucial to understanding the eruptive history and characteristics of basaltic volcanoes. Mapping lava flow textures using visual imagery alone is an inherently subjective process, as these images generally lack the resolution needed to make these determinations. Our team has begun mapping lava flow textures using visual spectrum imagery, which is an inherently subjective process involving the challenge of identifying transitional textures such as rubbly and slabby pāhoehoe, as these textures are similar in appearance and defined qualitatively. This is particularly problematic for interpreting planetary lava flow textures, where we have more limited data. We present a tool to objectively classify lava flow textures based on quantitative measures of roughness, including the 2D Hurst exponent, RMS height, and 2D:3D surface area ratio. We collected aerial images at Craters of the Moon National Monument (COTM) using Unmanned Aerial Vehicles (UAVs) in 2015 and 2016 as part of the FINESSE (Field Investigations to Enable Solar System Science and Exploration) and BASALT (Biologic Analog Science Associated with Lava Terrains) research projects. The aerial images were stitched together to create Digital Terrain Models (DTMs) with resolutions on the order of centimeters. The DTMs were evaluated by the classification tool described above, with output compared against field assessment of the texture. Further, the DTMs were downsampled and reevaluated to assess the efficacy of the classification tool at data resolutions similar to current datasets from other planetary bodies. This tool allows objective classification of lava flow texture, which enables more accurate interpretations of flow characteristics. This work also gives context for interpretations of flows with comparatively low data resolutions, such as those on the Moon and Mars. Textural maps based on quantitative measures of roughness are a valuable asset for studies of lava flows on Earth and other planetary bodies.

78 FR 25407 - Safety Zones; National Cherry Festival Air Show and Fireworks Display; West Grand Traverse Bay...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-05-01

...-AA00 Safety Zones; National Cherry Festival Air Show and Fireworks Display; West Grand Traverse Bay... National Cherry Festival in Traverse City, MI will host an air show over the West Arm of Grand Traverse Bay. At the conclusion of the National Cherry Festival on July 6, 2013, fireworks will be launched in...

Forest management applications of Landsat data in a geographic information system

NASA Technical Reports Server (NTRS)

Maw, K. D.; Brass, J. A.

1982-01-01

The utility of land-cover data resulting from Landsat MSS classification can be greatly enhanced by use in combination with ancillary data. A demonstration forest management applications data base was constructed for Santa Cruz County, California, to demonstrate geographic information system applications of classified Landsat data. The data base contained detailed soils, digital terrain, land ownership, jurisdictional boundaries, fire events, and generalized land-use data, all registered to a UTM grid base. Applications models were developed from problems typical of fire management and reforestation planning.

NASA/BLM APT, phase 2. Volume 2: Technology demonstration. [Arizona

NASA Technical Reports Server (NTRS)

1981-01-01

Techniques described include: (1) steps in the preprocessing of LANDSAT data; (2) the training of a classifier; (3) maximum likelihood classification and precision; (4) geometric correction; (5) class description; (6) digitizing; (7) digital terrain data; (8) an overview of sample design; (9) allocation and selection of primary sample units; (10) interpretation of secondary sample units; (11) data collection ground plots; (12) data reductions; (13) analysis for productivity estimation and map verification; (14) cost analysis; and (150) LANDSAT digital products. The evaluation of the pre-inventory planning for P.J. is included.

Geomorphology Classification of Shandong Province Based on Digital Elevation Model in the 1 Arc-second Format of Shuttle Radar Topography Mission Data

NASA Astrophysics Data System (ADS)

Fu, Jundong; Zhang, Guangcheng; Wang, Lei; Xia, Nuan

2018-01-01

Based on gigital elevation model in the 1 arc-second format of shuttle radar topography mission data, using the window analysis and mean change point analysis of geographic information system (GIS) technology, programmed with python modules this, automatically extracted and calculated geomorphic elements of Shandong province. The best access to quantitatively study area relief amplitude of statistical area. According to Chinese landscape classification standard, the landscape type in Shandong province was divided into 8 types: low altitude plain, medium altitude plain, low altitude platform, medium altitude platform, low altitude hills, medium altitude hills, low relief mountain, medium relief mountain and the percentages of Shandong province’s total area are as follows: 12.72%, 0.01%, 36.38%, 0.24%, 17.26%, 15.64%, 11.1%, 6.65%. The results of landforms are basically the same as the overall terrain of Shandong Province, Shandong province’s total area, and the study can quantitatively and scientifically provide reference for the classification of landforms in Shandong province.

Terrain Classification of Aster gDEM for Seismic Microzonation of Port-Au Haiti, Using - and - Based Analytic Methods

NASA Astrophysics Data System (ADS)

Yong, A.; Hough, S. E.; Cox, B. R.; Rathje, E. M.; Bachhuber, J.; Hulslander, D.; Christiansen, L.; Abrams, M.

2010-12-01

The aftermath of the M7.0 Haiti earthquake of 12 January 2010 witnessed an impressive scientific response from the international community. In addition to conventional post-earthquake investigations, there was also an unprecedented reliance on remote-sensing technologies for scientific investigation and damage assessment. These technologies include sensors from both aerial and space-borne observational platforms. As part of the Haiti earthquake response and recovery effort, we develop a seismic zonation map of Port-au-Prince based on high-resolution satellite imagery as well as data from traditional seismographic monitoring stations and geotechnical site characterizations. Our imagery consists of a global digital elevation model (gDEM) of Hispaniola derived from data recorded by NASA-JPL's Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) instrument onboard the multi-platform satellite Terra. To develop our model we also consider recorded waveforms from portable seismographic stations (Hough et al., in review) and 36 geotechnical shear-wave velocity surveys (Cox et al., in review). Following a similar approach developed by Yong et al. (2008; Bull. Seism Soc. Am.), we use both pixel- and object- based imaging analytic methods to systematically identify and extract local terrain features that are expected to amplify seismic ground motion. Using histogram-stretching techniques applied to the rDEM values, followed by multi-resolution, segmentations of the imagery into terrain types, we systematically classify the terrains of Hispaniola. By associating available Vs30 (average shear-wave velocity in the upper 30 meter depth) calculated from the MASW (Multi-channel Analysis of Surface Wave) survey method, we develop a first-order site characterization map. Our results indicate that the terrain-based Vs30 estimates are significantly associated with amplitudes recorded at station sites. We also find that the damage distribution inferred from UNOSAT (UNITAR Operational Satellite Applications Program) data matches our estimates. However, the strongest amplifications are observed at two stations on a foothill ridge, where Vs30 values indicate that amplification should be relatively lower. Hough et al. (2010, this session) conclude that the observations can be explained by topographic amplification along a steep, narrow ridge. On the basis of these preliminary results, we conclude that the terrain-based framework, which characterizes topographic amplification as well as sediment-induced amplification, is needed to develop a microzonation map for Port-au-Prince.

Karstic Phenomena Susceptibility Map of MÉXICO

NASA Astrophysics Data System (ADS)

Espinasa-Pereña, R.

2013-05-01

Approximately 20% of the territory of México is underlain by karstifiable rocks, mostly limestones and in lesser proportions gypsum. The majority of these rocks are distributed along the eastern and southern Sierra Madre, the state of Chiapas and the Yucatán peninsula. Differences in geological structure, climate and geomorphic history have resulted in a great variety of karstic landscapes and types of forms. Several important population centers, including large cities with several million inhabitants and numerous smaller towns are built on karstic terrains and obtain their water supplies from karstic aquifers and/or dispose of their waste products on this type of terrain. Severe problems of waste disposal and aquifer contamination have occurred. Additionally, numerous instances of catastrophic collapse and formation of karstic sinkholes have been registered in the Mexican territory, which have affected many communities, roads and other infrastructure, and have even cost several lives. Lack of knowledge of the special characteristics of karstic terrains and their distribution has compounded these problems. As a first approach to these issues, the existing map of Mexican karst (Espinasa-Pereña, 2007) was modified according to the geotechnical classification proposed by Waltham & Fookes (2003). An important consideration taken into account is the difference in speed of development of karstic features depending on lithology, which makes karst developed in gypsum much more hazardous than limestone karst, and also the degree of soil coverage and the types of sinkholes developed on the cover. Also taken in consideration are the differences between karst developed in the Sierra Madre, with rocks highly deformed and fractured, and karst developed on the Yucatán peninsula with almost negligible deformation of the rocks. The resulting map will be useful to Civil Protection authorities as a tool in prognosticating possible affectations due to karstic phenomena. References: ESPINASA-PEREÑA, R., 2007, "El Karst de México", Mapa NA III 3, in Coll-Hurtado, A., Coord., "Nuevo Atlas Nacional de México", Instituto de Geografía, Universidad Nacional Autónoma de México. WALTHAM, A.C. and FOOKES, P.G., 2003, Engineering classification of karst ground conditions, Quarterly Journal of Engineering Geology and Hydrology, Vol. 36, pp. 101-118.

Traverse Planning Experiments for Future Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Hoffman, S. J.; Voels, S. A.; Mueller, R. P.; Lee, P. C.

2011-01-01

This paper describes the results of a recent (July-August 2010 and July 2011) planetary surface traverse planning experiment. The purpose of this experiment was to gather data relevant to robotically repositioning surface assets used for planetary surface exploration. This is a scenario currently being considered for future human exploration missions to the Moon and Mars. The specific scenario selected was a robotic traverse on the lunar surface from an outpost at Shackleton Crater to the Malapert Massif. As these are exploration scenarios, the route will not have been previously traversed and the only pre-traverse data sets available will be remote (orbital) observations. Devon Island was selected as an analog location where a traverse route of significant length could be planned and then traveled. During the first half of 2010, a team of engineers and scientists who had never been to Devon Island used remote sensing data comparable to that which is likely to be available for the Malapert region (eg., 2-meter/pixel imagery, 10-meter interval topographic maps and associated digital elevation models, etc.) to plan a 17-kilometer (km) traverse. Surface-level imagery data was then gathered on-site that was provided to the planning team. This team then assessed whether the route was actually traversable or not. Lessons learned during the 2010 experiment were then used in a second experiment in 2011 for which a much longer traverse (85 km) was planned and additional surface-level imagery different from that gathered in 2010 was obtained for a comparative analysis. This paper will describe the route planning techniques used, the data sets available to the route planners and the lessons learned from the two traverses planned and carried out on Devon Island.

Use of remote sensing in agriculture

NASA Technical Reports Server (NTRS)

Pettry, D. E.; Powell, N. L.

1975-01-01

The remote sensing studies of (a) cultivated peanut areas in Southeastern Virginia; (b) studies at the Virginia Truck and Ornamentals Research Station near Painter, Virginia, the Eastern Virginia Research Station near Warsaw, Virginia, the Tidewater Research and Continuing Education Center near Suffolk, Virginia, and the Southern Piedmont Research and Continuing Education Center Blackstone, Virginia; and (c) land use classification studies at Virginia Beach, Virginia are presented. The practical feasibility of using false color infrared imagery to detect and determine the areal extent of peanut disease infestation of Cylindrocladium black rot and Sclerotinia blight is demonstrated. These diseases pose a severe hazard to this major agricultural food commodity. The value of remote sensing technology in terrain analyses and land use classification of diverse land areas is also investigated. Continued refinement of spectral signatures of major agronomic crops and documentation of pertinent environmental variables have provided a data base for the generation of an agricultural-environmental prediction model.

Monitoring tropical vegetation succession with LANDSAT data

NASA Technical Reports Server (NTRS)

Robinson, V. B. (Principal Investigator)

1983-01-01

The shadowing problem, which is endemic to the use of LANDSAT in tropical areas, and the ability to model changes over space and through time are problems to be addressed when monitoring tropical vegetation succession. Application of a trend surface analysis model to major land cover classes in a mountainous region of the Phillipines shows that the spatial modeling of radiance values can provide a useful approach to tropical rain forest succession monitoring. Results indicate shadowing effects may be due primarily to local variations in the spectral responses. These variations can be compensated for through the decomposition of the spatial variation in both elevation and MSS data. Using the model to estimate both elevation and spectral terrain surface as a posteriori inputs in the classification process leads to improved classification accuracy for vegetation of cover of this type. Spatial patterns depicted by the MSS data reflect the measurement of responses to spatial processes acting at several scales.

Spectral signature selection for mapping unvegetated soils

NASA Technical Reports Server (NTRS)

May, G. A.; Petersen, G. W.

1975-01-01

Airborne multispectral scanner data covering the wavelength interval from 0.40-2.60 microns were collected at an altitude of 1000 m above the terrain in southeastern Pennsylvania. Uniform training areas were selected within three sites from this flightline. Soil samples were collected from each site and a procedure developed to allow assignment of scan line and element number from the multispectral scanner data to each sampling location. These soil samples were analyzed on a spectrophotometer and laboratory spectral signatures were derived. After correcting for solar radiation and atmospheric attenuation, the laboratory signatures were compared to the spectral signatures derived from these same soils using multispectral scanner data. Both signatures were used in supervised and unsupervised classification routines. Computer-generated maps using the laboratory and multispectral scanner derived signatures resulted in maps that were similar to maps resulting from field surveys. Approximately 90% agreement was obtained between classification maps produced using multispectral scanner derived signatures and laboratory derived signatures.

A LANDSAT study of ephemeral and perennial rangeland vegetation and soils

NASA Technical Reports Server (NTRS)

Bentley, R. G., Jr. (Principal Investigator); Salmon-Drexler, B. C.; Bonner, W. J.; Vincent, R. K.

1976-01-01

The author has identified the following significant results. Several methods of computer processing were applied to LANDSAT data for mapping vegetation characteristics of perennial rangeland in Montana and ephemeral rangeland in Arizona. The choice of optimal processing technique was dependent on prescribed mapping and site condition. Single channel level slicing and ratioing of channels were used for simple enhancement. Predictive models for mapping percent vegetation cover based on data from field spectra and LANDSAT data were generated by multiple linear regression of six unique LANDSAT spectral ratios. Ratio gating logic and maximum likelihood classification were applied successfully to recognize plant communities in Montana. Maximum likelihood classification did little to improve recognition of terrain features when compared to a single channel density slice in sparsely vegetated Arizona. LANDSAT was found to be more sensitive to differences between plant communities based on percentages of vigorous vegetation than to actual physical or spectral differences among plant species.

Results of Gravity Fieldwork Conducted in March 2008 in the Moapa Valley Region of Clark County, Nevada

USGS Publications Warehouse

Scheirer, Daniel S.; Andreasen, Arne Dossing

2008-01-01

In March 2008, we collected gravity data along 12 traverses across newly-mapped faults in the Moapa Valley region of Clark County, Nevada. In areas crossed by these faults, the traverses provide better definition of the gravity field and, thus, the density structure, than prior gravity observations. Access problems prohibited complete gravity coverage along all of the planned gravity traverses, and we added and adjusted the locations of traverses to maximize our data collection. Most of the traverses exhibit isostatic gravity anomalies that have gradients characteristic of exposed or buried faults, including several of the newly-mapped faults.

Real-time human versus animal classification using pyro-electric sensor array and Hidden Markov Model

NASA Astrophysics Data System (ADS)

Hossen, Jakir; Jacobs, Eddie L.; Chari, Srikant

2014-03-01

In this paper, we propose a real-time human versus animal classification technique using a pyro-electric sensor array and Hidden Markov Model. The technique starts with the variational energy functional level set segmentation technique to separate the object from background. After segmentation, we convert the segmented object to a signal by considering column-wise pixel values and then finding the wavelet coefficients of the signal. HMMs are trained to statistically model the wavelet features of individuals through an expectation-maximization learning process. Human versus animal classifications are made by evaluating a set of new wavelet feature data against the trained HMMs using the maximum-likelihood criterion. Human and animal data acquired-using a pyro-electric sensor in different terrains are used for performance evaluation of the algorithms. Failures of the computationally effective SURF feature based approach that we develop in our previous research are because of distorted images produced when the object runs very fast or if the temperature difference between target and background is not sufficient to accurately profile the object. We show that wavelet based HMMs work well for handling some of the distorted profiles in the data set. Further, HMM achieves improved classification rate over the SURF algorithm with almost the same computational time.

Time for pulse traversal through slabs of dispersive and negative ({epsilon}, {mu}) materials

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

Nanda, Lipsa; Ramakrishna, S. Anantha

2007-12-15

The traversal times for an electromagnetic pulse traversing a slab of dispersive and dissipative material with negative dielectric permittivity ({epsilon}) and magnetic permeability ({mu}) have been calculated by using the average flow of electromagnetic energy in the medium. The effects of bandwidth of the pulse and dissipation in the medium have been investigated. While both large bandwidth and large dissipation have similar effects in smoothening out the resonant features that appear due to Fabry-Perot resonances, large dissipation can result in very small or even negative traversal times near the resonant frequencies. We have also investigated the traversal times and Wignermore » delay times for obliquely incident pulses and evanescent pulses. The coupling to slab plasmon-polariton modes in frequency ranges with negative {epsilon} or {mu} is shown to result in large traversal times at the resonant conditions. We also find that the group velocity mainly contributes to the delay times for pulses propagating across a slab with n=-1. We have checked that the traversal times are positive and subluminal for pulses with sufficiently large bandwidths.« less

A geomorphological seabed classification for the Weddell Sea, Antarctica

NASA Astrophysics Data System (ADS)

Jerosch, Kerstin; Kuhn, Gerhard; Krajnik, Ingo; Scharf, Frauke Katharina; Dorschel, Boris

2016-06-01

Sea floor morphology plays an important role in many scientific disciplines such as ecology, hydrology and sedimentology since geomorphic features can act as physical controls for e.g. species distribution, oceanographically flow-path estimations or sedimentation processes. In this study, we provide a terrain analysis of the Weddell Sea based on the 500 m × 500 m resolution bathymetry data provided by the mapping project IBCSO. Seventeen seabed classes are recognized at the sea floor based on a fine and broad scale Benthic Positioning Index calculation highlighting the diversity of the glacially carved shelf. Beside the morphology, slope, aspect, terrain rugosity and hillshade were calculated and supplied to the data archive PANGAEA. Applying zonal statistics to the geomorphic features identified unambiguously the shelf edge of the Weddell Sea with a width of 45-70 km and a mean depth of about 1200 m ranging from 270 m to 4300 m. A complex morphology of troughs, flat ridges, pinnacles, steep slopes, seamounts, outcrops, and narrow ridges, structures with approx. 5-7 km width, build an approx. 40-70 km long swath along the shelf edge. The study shows where scarps and depressions control the connection between shelf and abyssal and where high and low declination within the scarps e.g. occur. For evaluation purpose, 428 grain size samples were added to the seabed class map. The mean values of mud, sand and gravel of those samples falling into a single seabed class was calculated, respectively, and assigned to a sediment texture class according to a common sediment classification scheme.

High-Performance Plastic Sled Design for Polar Traversing

DTIC Science & Technology

2015-06-01

snow resupply traverses in Antarctica and Greenland tow high- efficiency fuel sleds that consist of flexible fuel bladders strapped to flexi- ble sheets...Foundation, Division of Polar Programs (NSF-PLR), operates over-snow traverses in Antarctica and Greenland to resupply their science stations. The 1030...mile (one way) South Pole Traverse (SPoT) begins at McMurdo Station on Ross Island, travels across the Ross Ice Shelf, up the Leverett Glacier, and

Traverse Planning Experiments for Future Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Hoffman, Stephen J.; Voels, Stephen A.; Mueller, Robert P.; Lee, Pascal C.

2012-01-01

The purpose of the investigation is to evaluate methodology and data requirements for remotely-assisted robotic traverse of extraterrestrial planetary surface to support human exploration program, assess opportunities for in-transit science operations, and validate landing site survey and selection techniques during planetary surface exploration mission analog demonstration at Haughton Crater on Devon Island, Nunavut, Canada. Additionally, 1) identify quality of remote observation data sets (i.e., surface imagery from orbit) required for effective pre-traverse route planning and determine if surface level data (i.e., onboard robotic imagery or other sensor data) is required for a successful traverse, and if additional surface level data can improve traverse efficiency or probability of success (TRPF Experiment). 2) Evaluate feasibility and techniques for conducting opportunistic science investigations during this type of traverse. (OSP Experiment). 3) Assess utility of remotely-assisted robotic vehicle for landing site validation survey. (LSV Experiment).

Photograph of Apollo 17 Lunar Roving Vehicle traverses

NASA Image and Video Library

1972-10-01

S72-03145 (October 1972) --- A vertical view of the Apollo 17 Taurus-Littrow site with an overlay to illustrate the three planned Apollo 17 traverses using the Lunar Roving Vehicle (LRV). The EVA-1 traverse has a single station (1); the EVA-2 traverse has four stations (2,3,4,5); and the EVA-3 traverse has five stations (6,7,8,9,10). Stations 10-A and 10-B are alternate locations for Station 10. In addition to the major stations mentioned above, brief stops are planned for sampling between stations using the LRV sampler tool (note diamond-shaped figures), and for deploying explosive charges associated with the Lunar Seismic Profiling Experiment (LSPE - note black x-marks).

Influence of multi-source and multi-temporal remotely sensed and ancillary data on the accuracy of random forest classification of wetlands in northern Minnesota

USGS Publications Warehouse

Corcoran, Jennifer M.; Knight, Joseph F.; Gallant, Alisa L.

2013-01-01

Wetland mapping at the landscape scale using remotely sensed data requires both affordable data and an efficient accurate classification method. Random forest classification offers several advantages over traditional land cover classification techniques, including a bootstrapping technique to generate robust estimations of outliers in the training data, as well as the capability of measuring classification confidence. Though the random forest classifier can generate complex decision trees with a multitude of input data and still not run a high risk of over fitting, there is a great need to reduce computational and operational costs by including only key input data sets without sacrificing a significant level of accuracy. Our main questions for this study site in Northern Minnesota were: (1) how does classification accuracy and confidence of mapping wetlands compare using different remote sensing platforms and sets of input data; (2) what are the key input variables for accurate differentiation of upland, water, and wetlands, including wetland type; and (3) which datasets and seasonal imagery yield the best accuracy for wetland classification. Our results show the key input variables include terrain (elevation and curvature) and soils descriptors (hydric), along with an assortment of remotely sensed data collected in the spring (satellite visible, near infrared, and thermal bands; satellite normalized vegetation index and Tasseled Cap greenness and wetness; and horizontal-horizontal (HH) and horizontal-vertical (HV) polarization using L-band satellite radar). We undertook this exploratory analysis to inform decisions by natural resource managers charged with monitoring wetland ecosystems and to aid in designing a system for consistent operational mapping of wetlands across landscapes similar to those found in Northern Minnesota.

An assessment of the effectiveness of a random forest classifier for land-cover classification

NASA Astrophysics Data System (ADS)

Rodriguez-Galiano, V. F.; Ghimire, B.; Rogan, J.; Chica-Olmo, M.; Rigol-Sanchez, J. P.

2012-01-01

Land cover monitoring using remotely sensed data requires robust classification methods which allow for the accurate mapping of complex land cover and land use categories. Random forest (RF) is a powerful machine learning classifier that is relatively unknown in land remote sensing and has not been evaluated thoroughly by the remote sensing community compared to more conventional pattern recognition techniques. Key advantages of RF include: their non-parametric nature; high classification accuracy; and capability to determine variable importance. However, the split rules for classification are unknown, therefore RF can be considered to be black box type classifier. RF provides an algorithm for estimating missing values; and flexibility to perform several types of data analysis, including regression, classification, survival analysis, and unsupervised learning. In this paper, the performance of the RF classifier for land cover classification of a complex area is explored. Evaluation was based on several criteria: mapping accuracy, sensitivity to data set size and noise. Landsat-5 Thematic Mapper data captured in European spring and summer were used with auxiliary variables derived from a digital terrain model to classify 14 different land categories in the south of Spain. Results show that the RF algorithm yields accurate land cover classifications, with 92% overall accuracy and a Kappa index of 0.92. RF is robust to training data reduction and noise because significant differences in kappa values were only observed for data reduction and noise addition values greater than 50 and 20%, respectively. Additionally, variables that RF identified as most important for classifying land cover coincided with expectations. A McNemar test indicates an overall better performance of the random forest model over a single decision tree at the 0.00001 significance level.

SENTINEL-1 and SENTINEL-2 Data Fusion for Wetlands Mapping: Balikdami, Turkey

NASA Astrophysics Data System (ADS)

Kaplan, G.; Avdan, U.

2018-04-01

Wetlands provide a number of environmental and socio-economic benefits such as their ability to store floodwaters and improve water quality, providing habitats for wildlife and supporting biodiversity, as well as aesthetic values. Remote sensing technology has proven to be a useful and frequent application in monitoring and mapping wetlands. Combining optical and microwave satellite data can help with mapping and monitoring the biophysical characteristics of wetlands and wetlands` vegetation. Also, fusing radar and optical remote sensing data can increase the wetland classification accuracy. In this paper, data from the fine spatial resolution optical satellite, Sentinel-2 and the Synthetic Aperture Radar Satellite, Sentinel-1, were fused for mapping wetlands. Both Sentinel-1 and Sentinel-2 images were pre-processed. After the pre-processing, vegetation indices were calculated using the Sentinel-2 bands and the results were included in the fusion data set. For the classification of the fused data, three different classification approaches were used and compared. The results showed significant improvement in the wetland classification using both multispectral and microwave data. Also, the presence of the red edge bands and the vegetation indices used in the data set showed significant improvement in the discrimination between wetlands and other vegetated areas. The statistical results of the fusion of the optical and radar data showed high wetland mapping accuracy, showing an overall classification accuracy of approximately 90 % in the object-based classification method. For future research, we recommend multi-temporal image use, terrain data collection, as well as a comparison of the used method with the traditional image fusion techniques.

TickBot: a novel robotic device for controlling tick populations in the natural environment.

PubMed

Gaff, Holly D; White, Alexis; Leas, Kyle; Kelman, Pamela; Squire, James C; Livingston, David L; Sullivan, Gerald A; Baker, Elizabeth W; Sonenshine, Daniel E

2015-03-01

A semi-autonomous 4-wheeled robot (TickBot) was fitted with a denim cloth treated with an acaricide (permethrin™) and tested for its ability to control ticks in a tick-infested natural environment in Portsmouth, Virginia. The robot's sensors detect a magnetic field signal from a guide wire encased in 80m polyethylene tubing, enabling the robot to follow the trails, open areas and other terrain where the tubing was located. To attract ticks to the treated area, CO2 was distributed through the same tubing, fitted with evenly spaced pores and flow control valves, which permitted uniform CO2 distribution. Tests were done to determine the optimum frequency for TickBot to traverse the wire-guided treatment site as well as the duration of operation that could be accomplished on a single battery charge. Prior to treatment, dragging was done to determine the natural abundance of ticks in the test site. Controls were done without CO2 and without permethrin. TickBot proved highly effective in reducing the overall tick densities to nearly zero with the treatment that included both carbon dioxide pretreatment and the permethrin treated cloth. Following a 60min traverse of the treatment areas, adult tick numbers, almost entirely Amblyomma americanum, was reduced to zero within 1h and remained at or near zero for 24h. Treatments without CO2 also showed reduction of ticks to near zero within 1h, but the populations were no different than the control sections at 4h. This study demonstrates the efficacy of TickBot as a tick control device to significantly reduce the risk of tick bites and disease transmission to humans and companion animals visiting a previously tick-infested natural environment. Continued deployment of TickBot for additional days or weeks can assure a relatively tick-safe environment for enjoyment by the public. Copyright © 2014 Elsevier GmbH. All rights reserved.

Characterization of Urban Landscape Using Super-Resolution UAS Data, Multiple Textural Scales and Data-Mining Techniques

NASA Astrophysics Data System (ADS)

Voss, M.; Blundell, B.

2015-12-01

Characterization of urban environments is a high priority for the U.S. Army as battlespaces have transitioned from the predominantly open spaces of the 20th century to urban areas where soldiers have reduced situational awareness due to the diversity and density of their surroundings. Creating high-resolution urban terrain geospatial information will improve mission planning and soldier effectiveness. In this effort, super-resolution true-color imagery was collected with an Altivan NOVA unmanned aerial system over the Muscatatuck Urban Training Center near Butlerville, Indiana on September 16, 2014. Multispectral texture analysis using different algorithms was conducted for urban surface characterization at a variety of scales. Training samples extracted from the true-color and texture images. These data were processed using a variety of meta-algorithms with a decision tree classifier to create a high-resolution urban features map. In addition to improving accuracy over traditional image classification methods, this technique allowed the determination of the most significant textural scales in creating urban terrain maps for tactical exploitation.

PRIMUS: autonomous navigation in open terrain with a tracked vehicle

NASA Astrophysics Data System (ADS)

Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

2004-09-01

The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

Chaotic Traversal (CHAT): Very Large Graphs Traversal Using Chaotic Dynamics

NASA Astrophysics Data System (ADS)

Changaival, Boonyarit; Rosalie, Martin; Danoy, Grégoire; Lavangnananda, Kittichai; Bouvry, Pascal

2017-12-01

Graph Traversal algorithms can find their applications in various fields such as routing problems, natural language processing or even database querying. The exploration can be considered as a first stepping stone into knowledge extraction from the graph which is now a popular topic. Classical solutions such as Breadth First Search (BFS) and Depth First Search (DFS) require huge amounts of memory for exploring very large graphs. In this research, we present a novel memoryless graph traversal algorithm, Chaotic Traversal (CHAT) which integrates chaotic dynamics to traverse large unknown graphs via the Lozi map and the Rössler system. To compare various dynamics effects on our algorithm, we present an original way to perform the exploration of a parameter space using a bifurcation diagram with respect to the topological structure of attractors. The resulting algorithm is an efficient and nonresource demanding algorithm, and is therefore very suitable for partial traversal of very large and/or unknown environment graphs. CHAT performance using Lozi map is proven superior than the, commonly known, Random Walk, in terms of number of nodes visited (coverage percentage) and computation time where the environment is unknown and memory usage is restricted.

STRIPE: Remote Driving Using Limited Image Data

NASA Technical Reports Server (NTRS)

Kay, Jennifer S.

1997-01-01

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

Mechanism for Deploying a Long, Thin-Film Antenna from a Rover

NASA Technical Reports Server (NTRS)

Lazio, Joseph; Matthews, B.; Nesnas, Issa A.; Zarzhitsky, Dimitri

2013-01-01

Observations with radio telescopes address key problems in cosmology, astrobiology, heliophysics, and planetary science including the first light in the Universe (Cosmic Dawn), magnetic fields of extrasolar planets, particle acceleration mechanisms, and the lunar ionosphere. The Moon is a unique science platform because it allows access to radio frequencies that do not penetrate the Earth's ionosphere and because its far side is shielded from intense terrestrial emissions. A radio antenna can be realized by using polyimide film as a substrate, with a conducting substance deposited on it. Such an antenna can be rolled into a small volume for transport, then deployed by unrolling, and a robotic rover offers a natural means of unrolling a polyimide film-based antenna. An antenna deployment mechanism was developed that allows a thin film to be deposited onto a ground surface, in a controlled manner, using a minimally actuated rover. The deployment mechanism consists of two rollers, one driven and one passive. The antenna film is wrapped around the driven roller. The passive roller is mounted on linear bearings that allow it to move radially with respect to the driven roller. Springs preload the passive roller against the driven roller, and prevent the tightly wrapped film from unspooling or "bird's nesting" on the driven spool. The antenna deployment mechanism is integrated on the minimally-actuated Axel rover. Axel is a two-wheeled rover platform with a trailing boom that is capable of traversing undulated terrain and overcoming obstacles of a wheel radius in height. It is operated by four motors: one that drives each wheel; a third that controls the rotation of the boom, which orients the body mounted sensors; and a fourth that controls the rover's spool to drive the antenna roller. This low-mass axle-like rover houses its control and communication avionics inside its cylindrical body. The Axel rover teleoperation software has an auto-spooling mode that allows a user to automatically deploy the thin-film antenna at a rate proportional to the wheel speed as it drives the rover along its trajectory. The software allows Axel to deposit the film onto the ground to prevent or minimize relative motion between the film and the terrain to avoid the risk of scraping and antenna with the terrain.

Geologic Traverse Planning for Apollo Missions

NASA Technical Reports Server (NTRS)

Lofgren, Gary

2012-01-01

The science on Apollo missions was overseen by the Science Working Panel (SWP), but done by multiple PIs. There were two types of science, packages like the Apollo Lunar Surface Experiment Package (ALSEP) and traverse science. Traverses were designed on Earth for the astronauts to execute. These were under direction of the Lunar Surface PI, but the agreed traverse was a cooperation between the PI and SWP. The landing sites were selected by a different designated committee, not the SWP, and were based on science and safety.

Comparison of pitot traverses taken at varying distances downstream of obstructions.

PubMed

Guffey, S E; Booth, D W

1999-01-01

This study determined the deviations between pitot traverses taken under "ideal" conditions--at least seven duct diameter's lengths (i.e., distance = 7D) from obstructions, elbows, junction fittings, and other disturbances to flows--with those taken downstream from commonplace disturbances. Two perpendicular 10-point, log-linear velocity pressure traverses were taken at various distances downstream of tested upstream conditions. Upstream conditions included a plain duct opening, a junction fitting, a single 90 degrees elbow, and two elbows rotated 90 degrees from each other into two orthogonal planes. Airflows determined from those values were compared with the values measured more than 40D downstream of the same obstructions under ideal conditions. The ideal measurements were taken on three traverse diameters in the same plane separated by 120 degrees in honed drawn-over-mandrel tubing. In all cases the pitot tubes were held in place by devices that effectively eliminated alignment errors and insertion depth errors. Duct velocities ranged from 1500 to 4500 ft/min. Results were surprisingly good if one employed two perpendicular traverses. When the averages of two perpendicular traverses was taken, deviations from ideal value were 6% or less even for traverses taken as close as 2D distance from the upstream disturbances. At 3D distance, deviations seldom exceeded 5%. With single diameter traverses, errors seldom exceeded 5% at 6D or more downstream from the disturbance. Interestingly, percentage deviations were about the same at high and low velocities. This study demonstrated that two perpendicular pitot traverses can be taken as close as 3D from these disturbances with acceptable (< or = 5%) deviations from measurements taken under ideal conditions.

The creation of digital thematic soil maps at the regional level (with the map of soil carbon pools in the Usa River basin as an example)

NASA Astrophysics Data System (ADS)

Pastukhov, A. V.; Kaverin, D. A.; Shchanov, V. M.

2016-09-01

A digital map of soil carbon pools was created for the forest-tundra ecotone in the Usa River basin with the use of ERDAS Imagine 2014 and ArcGIS 10.2 software. Supervised classification and thematic interpretation of satellite images and digital terrain models with the use of a georeferenced database on soil profiles were applied. Expert assessment of the natural diversity and representativeness of random samples for different soil groups was performed, and the minimal necessary size of the statistical sample was determined.

Results of gamma activity traverses made in process tube channels and VSR channels at 105-KW

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

Greene, M.C. Jr.

1955-02-03

Activity traverses were made at Hanford reactor 105-KW in VSR channels 23, 29, 37, 46, 55, 63 and 69 and in process channels 4669, 4569, 4668, 4670 and 4769. These traverses were made during cleaning operations to assist in the location of any contaminated material in these channels and again after completion of the cleaning operations to determine if all of the contaminated material was removed. Upon completion of the cleaning of the VSR channels and process channels activity traverses were made in all of the channels. The results of these traverses show that no detectable amounts of contaminated materialmore » were present in any of these channels. The traverses made in the VSR channels all show a large peak in the lower part of the pile indicating that the metal in the lower part of the pile received as much as five times the integrated exposure received by the metal in the upper half of the pile. 15 figs.« less

Processing of airborne laser scanning data to generate accurate DTM for floodplain wetland

NASA Astrophysics Data System (ADS)

Szporak-Wasilewska, Sylwia; Mirosław-Świątek, Dorota; Grygoruk, Mateusz; Michałowski, Robert; Kardel, Ignacy

2015-10-01

Structure of the floodplain, especially its topography and vegetation, influences the overland flow and dynamics of floods which are key factors shaping ecosystems in surface water-fed wetlands. Therefore elaboration of the digital terrain model (DTM) of a high spatial accuracy is crucial in hydrodynamic flow modelling in river valleys. In this study the research was conducted in the unique Central European complex of fens and marshes - the Lower Biebrza river valley. The area is represented mainly by peat ecosystems which according to EU Water Framework Directive (WFD) are called "water-dependent ecosystems". Development of accurate DTM in these areas which are overgrown by dense wetland vegetation consisting of alder forest, willow shrubs, reed, sedges and grass is very difficult, therefore to represent terrain in high accuracy the airborne laser scanning data (ALS) with scanning density of 4 points/m2 was used and the correction of the "vegetation effect" on DTM was executed. This correction was performed utilizing remotely sensed images, topographical survey using the Real Time Kinematic positioning and vegetation height measurements. In order to classify different types of vegetation within research area the object based image analysis (OBIA) was used. OBIA allowed partitioning remotely sensed imagery into meaningful image-objects, and assessing their characteristics through spatial and spectral scale. The final maps of vegetation patches that include attributes of vegetation height and vegetation spectral properties, utilized both the laser scanning data and the vegetation indices developed on the basis of airborne and satellite imagery. This data was used in process of segmentation, attribution and classification. Several different vegetation indices were tested to distinguish different types of vegetation in wetland area. The OBIA classification allowed correction of the "vegetation effect" on DTM. The final digital terrain model was compared and examined within distinguished land cover classes (formed mainly by natural vegetation of the river valley) with archival height models developed through interpolation of ground points measured with GPS RTK and also with elevation models from the ASTER-GDEM and SRTM programs. The research presented in this paper allowed improving quality of hydrodynamic modelling in the surface water-fed wetlands protected within Biebrza National Park. Additionally, the comparison with other digital terrain models allowed to demonstrate the importance of accurate topography products in such modelling. The ALS data also significantly improved the accuracy and actuality of the river Biebrza course, its tributaries and location of numerous oxbows typical in this part of the river valley in comparison to previously available data. This type of data also helped to refine the river valley cross-sections, designate river banks and to develop the slope map of the research area.

Interferometric SAR for characterization of ravines as a function of their density, depth, and surface cover

NASA Astrophysics Data System (ADS)

Chatterjee, R. S.; Saha, S. K.; Suresh Kumar; Sharika Mathew; Lakhera, R. C.; Dadhwal, V. K.

In recent years, the problem of ravine erosion with consequent loss of usable land has received much attention worldwide. The Chambal ravine zone in India is well known for being an extremely intricate, deeply incised network of ravines in a 10 km wide zone on the flanks of the Chambal River. It occupies an area of ˜0.5 million hectares at the expense of fertile agricultural land of the Chambal Valley. The broad grouping of the ravines considering their reclamation potential, as carried out by previous workers based on visual interpretation of optical remote sensing data, is mostly descriptive in nature. In the present study, characterization of the ravines as a function of their erosion potential expressed through ravine density, ravine depth, and ravine surface cover was made in quantitative terms exploiting the preferential characteristics of side-looking, long-wavelength, coherent SAR signal and precision measurements associated with the InSAR technique. The outlines of ravines appear remarkably prominent in SAR backscattered amplitude images due to the high sensitivity of the SAR signal to terrain ruggedness. Using local statistics-based meso and macro textural information of SAR backscattered amplitude images in 7×7 pixel windows (the pixel size being 20 m×20 m), the ravine-affected area has been classified into three density classes, namely low, moderate, and high density ravine classes. C-band InSAR digital elevation models (DEMs) of sparsely vegetated ravine areas essentially give the terrain height. From the pixel-by-pixel terrain height, the ravine depth was calculated by differencing the maximum and minimum terrain heights of the pixels in a 100 m distance range. Considering the vertical precision of the ERS InSAR DEMs of ˜5 m and ravine depth classification by previous workers [Sharma, H.S., 1968. Genesis and pattern of ravines of the Lower Chambal Valley, India. Special Issue. 21st International Geographical Union Congress 30(4), 14-24; Seth, S.P., Bhatnagar, R.K., Chauhan, S.S., 1969. Reclamability classification and nature of ravines of Chambal Command Areas. Journal of Soil and Water Conservation in India 17 (3-4), 39-44.], three depth classes, namely shallow (<5 m), moderately deep (5-20 m), and deep (>20 m) ravines, were made. Using the temporal decorrelation property of the close time interval InSAR data pair, namely the ERS SAR tandem pair, four ravine surface cover classes, namely barren land, grass/scrub/crop land, sparse vegetation, and wet land/dense vegetation, could be delineated, which was corroborated by the spectral signatures in the optical range and selective ground truths.

Traversable highways report 2002 : a report on the status of prospective State Highway Routes over traversable facilities maintained by other agencies.

DOT National Transportation Integrated Search

2002-10-01

Traversable Highways are routes that have been approved by the Legislation as future State : Highway Routes. These routes when constructed to the Department of Transportation (Caltrans) : standards, the California Transportation Commission (CTC) shal...

Advances in optical information processing IV; Proceedings of the Meeting, Orlando, FL, Apr. 18-20, 1990

NASA Astrophysics Data System (ADS)

Pape, Dennis R.

1990-09-01

The present conference discusses topics in optical image processing, optical signal processing, acoustooptic spectrum analyzer systems and components, and optical computing. Attention is given to tradeoffs in nonlinearly recorded matched filters, miniature spatial light modulators, detection and classification using higher-order statistics of optical matched filters, rapid traversal of an image data base using binary synthetic discriminant filters, wideband signal processing for emitter location, an acoustooptic processor for autonomous SAR guidance, and sampling of Fresnel transforms. Also discussed are an acoustooptic RF signal-acquisition system, scanning acoustooptic spectrum analyzers, the effects of aberrations on acoustooptic systems, fast optical digital arithmetic processors, information utilization in analog and digital processing, optical processors for smart structures, and a self-organizing neural network for unsupervised learning.

Vertical and lateral forces when a permanent magnet above a superconductor traverses in arbitrary directions

NASA Astrophysics Data System (ADS)

Yang, Yong

2008-12-01

In an actual levitation system composed of high temperature superconductors (HTSs) and permanent magnets (PMs), the levitating bodies may traverse in arbitrary directions. Many previous researchers assumed that the levitating bodies moved in a vertical direction or a lateral direction in order to simplify the problem. In this paper, the vertical and lateral forces acting on the PM are calculated by the modified frozen-image method when a PM above an HTS traverses in arbitrary directions. In order to study the effects of the movement directions on the vertical and lateral forces, comparisons of the forces that act on a PM traversing in a tilted direction with those that act on a PM traversing in a vertical direction or a lateral direction have been presented.

Dynamic traversal of high bumps and large gaps by a small legged robot

NASA Astrophysics Data System (ADS)

Gart, Sean; Winey, Nastasia; de La Tijera Obert, Rafael; Li, Chen

Small animals encounter and negotiate diverse obstacles comparable in size or larger than themselves. In recent experiments, we found that cockroaches can dynamically traverse bumps up to 4 times hip height and gaps up to 1 body length. To better understand the physics that governs these locomotor transitions, we studied a small six-legged robot negotiating high bumps and large gaps and compared it to animal observations. We found that the robot was able to traverse bumps as large as 1 hip height and gaps as wide as 0.5 body length. For the bump, the robot often climbed over to traverse when initial body yaw was small, but was often deflected laterally and failed to traverse when initial body yaw was large. A simple locomotion energy landscape model explained these observations. For the gap, traversal probability decreased with gap width, which was well explained by a simple Lagrangian model of a forward-moving rigid body falling over the gap edge. For both the bump and the gap, animal performance far exceeded that of the robot, likely due to their relatively higher running speeds and larger rotational oscillations prior to and during obstacle traversal. Differences between animal and robot obstacle negotiation behaviors revealed that animals used active strategies to overcome potential energy barriers.

Landscape Heterogeneity mapping for Access to Tribal health care in Nilgiris District of Tamil Nadu, India

NASA Astrophysics Data System (ADS)

Brindha, B.; Prashanthi Devi, M.

2014-11-01

The Nilgiris district in Tamilnadu has a rich biodiversity in terms of flora, fauna and ethnic population. The district is basically a mountainous region, situated at an elevation of 2000 to 2,600 meters above MSL and constituting of several hill and Steep Mountain valleys. This region houses six tribes who are mainly forest dwellers and live in close settlements depending on the forest resources for their livelihood. The Tribes of Nilgiris have been diagnosed and monitored for Sickle cell Anemia which is a disease of major concern among these ethnic populations. This genetic disorder developed due to the sickling of Red Blood Cells has increased during the past few decades. The Tribes, as they live in close encounter with the forest regions and have strict social cultural barriers, face difficulty in availing treatment or counseling from the Sickle Cell Research Center (SCRC) and other NGOs like NAWA and AHWINI in the region. It was observed that many factors such as landscape terrain, climatic conditions and improper roads tend to hinder the access to appropriate health care. The SCRC in Gudalur region is a facility established to monitor the disease cases inspite of these influencing factors. On analyzing the year bound age wise classification among male and female patients, certain dropouts in cases were observed which may be due to inaccessible condition or migration of the patient. In our study, Landscape heterogeneity mapping for different climatic seasons was done in ArcGIS 10.1. For this, contour and terrain maps, road networks and villages were prepared and factors that determine Terrain Difficulty were assessed. Vegetation mapping using IRS satellite images for the study region was attempted and associated with the landscape map. A risk analysis was proposed based on terrain difficulty and access to the nearest Health care Center. Based on this, the above factors alternate routes were suggested to access the difficult areas.

Aeromechanics of the Spider Cricket Jump: How to Jump 60+ Times Your Body Length and Still Land on Your Feet

NASA Astrophysics Data System (ADS)

Palmer, Emily; Deshler, Nicolas; Gorman, David; Neves, Catarina; Mittal, Rajat

2015-11-01

Flapping, gliding, running, crawling and swimming have all been studied extensively in the past and have served as a source of inspiration for engineering designs. In the current project, we explore a mode of locomotion that straddles ground and air: jumping. The subject of our study is among the most proficient of long-jumpers in Nature: the spider cricket of the family Rhaphidophoridae, which can jump more than 60 times its body length. Despite jumping this immense distance, these crickets usually land on their feet, indicating an ability to control their posture during ``flight.'' We employ high-speed videogrammetry, to examine the jumps and to track the crickets' posture and appendage orientation throughout their jumps. Simple aerodynamic models are developed to predict the aerodynamic forces and moment on the crickets during `flight`. The analysis shows that these wingless insects employ carefully controlled and coordinated positioning of the limbs during flight so as to increase jump distance and to stabilize body posture during flight. The principles distilled from this study could serve as an inspiration for small jumping robots that can traverse complex terrains.

The Reference Elevation Model of Antarctica (REMA): A High Resolution, Time-Stamped Digital Elevation Model for the Antarctic Ice Sheet

NASA Astrophysics Data System (ADS)

Howat, I.; Noh, M. J.; Porter, C. C.; Smith, B. E.; Morin, P. J.

2017-12-01

We are creating the Reference Elevation Model of Antarctica (REMA), a continuous, high resolution (2-8 m), high precision (accuracy better than 1 m) reference surface for a wide range of glaciological and geodetic applications. REMA will be constructed from stereo-photogrammetric Digital Surface Models (DSM) extracted from pairs of submeter resolution DigitalGlobe satellite imagery and vertically registred to precise elevations from near-coincident airborne LiDAR, ground-based GPS surveys and Cryosat-2 radar altimetry. Both a seamless mosaic and individual, time-stamped DSM strips, collected primarily between 2012 and 2016, will be distributed to enable change measurement. These data will be used for mapping bed topography from ice thickness, measuring ice thickness changes, constraining ice flow and geodynamic models, mapping glacial geomorphology, terrain corrections and filtering of remote sensing observations, and many other science tasks. Is will also be critical for mapping ice traverse routes, landing sites and other field logistics planning. REMA will also provide a critical elevation benchmark for future satellite altimetry missions including ICESat-2. Here we report on REMA production progress, initial accuracy assessment and data availability.

Robotic Technologies for Surveying Habitats and Seeking Evidence of Life: Results from the 2004 Field Experiments of the "Life in the Atacama" Project

NASA Technical Reports Server (NTRS)

Wettergreen, D.; Cabrol, N.; Whittaker, W.; Diaz, G. Chong; Calderon, F.; Heys, S.; Jonak, D.; Lueders, A.; Moersch, J.; Pane, D.

2005-01-01

The Chilean Atacama Desert is the most arid region on Earth and in several ways analogous to Mars. Evidence suggests that the interior of the Atacama is lifeless, yet where the desert meets the Pacific coastal range dessication-tolerant microorganisms are known to exist. The gradient of biodiversity and habitats in the Atacama's subregions remain unexplored and are the focus of the Life in the Atacama project. Our field investigation attempts to bring further scientific understanding of the Atacama as a habitat for life through the creation of robotic astrobiology. This involves capabilities for autonomously traversing hundreds of kilometers while deploying sensors to survey the varying geologic and biologic properties of the environment, Fig. 1. Our goal is to make genuine discoveries about the limits of life on Earth and to generate knowledge about life in extreme environments that can be applied to future planetary missions. Through these experiments we also hope to develop and practice the methods by which a rover might best be employed to survey desert terrain in search of the habitats in which life can survive, or may have in the past.

Jump stabilization and landing control by wing-spreading of a locust-inspired jumper.

PubMed

Beck, Avishai; Zaitsev, Valentin; Hanan, Uri Ben; Kosa, Gabor; Ayali, Amir; Weiss, Avi

2017-10-16

Bio-inspired robotics is a promising design strategy for mobile robots. Jumping is an energy efficient locomotion gait for traversing difficult terrain. Inspired by the jumping and flying behavior of the desert locust, we have recently developed a miniature jumping robot that can jump over 3.5 m high. However, much like the non-adult locust, it rotates while in the air and lands uncontrollably. Inspired by the winged adult locust, we have added spreading wings and a tail to the jumper. After the robot leaps, at the apex of the trajectory, the wings unfold and it glides to the ground. The advantages of this maneuver are the stabilization of the robot when airborne, the reduction of velocity at landing, the control of the landing angle and the potential to change the robot's orientation and control its flight trajectory. The new upgraded robot is capable of jumping to a still impressive height of 1.7 m eliminating airborne rotation and reducing landing velocity. Here, we analyze the dynamic and aerodynamic models of the robot, discuss the robot's design, and validate its ability to perform a jump-glide in a stable trajectory, land safely and change its orientation while in the air.

Accessible Earth: Enhancing diversity in the Geosciences through accessible course design

NASA Astrophysics Data System (ADS)

Bennett, R. A.; Lamb, D. A.

2017-12-01

The tradition of field-based instruction in the geoscience curriculum, which culminates in a capstone geological field camp, presents an insurmountable barrier to many disabled students who might otherwise choose to pursue geoscience careers. There is a widespread perception that success as a practicing geoscientist requires direct access to outcrops and vantage points available only to those able to traverse inaccessible terrain. Yet many modern geoscience activities are based on remotely sensed geophysical data, data analysis, and computation that take place entirely from within the laboratory. To challenge the perception of geoscience as a career option only for the non-disabled, we have created the capstone Accessible Earth Study Abroad Program, an alternative to geologic field camp for all students, with a focus on modern geophysical observation systems, computational thinking, data science, and professional development.In this presentation, we will review common pedagogical approaches in geosciences and current efforts to make the field more inclusive. We will review curricular access and inclusivity relative to a wide range of learners and provide examples of accessible course design based on our experiences in teaching a study abroad course in central Italy, and our plans for ongoing assessment, refinement, and dissemination of the effectiveness of our efforts.

Neuromuscular strategies for the transitions between level and hill surfaces during walking

PubMed Central

Gottschall, Jinger S.; Nichols, T. Richard

2011-01-01

Despite continual fluctuations in walking surface properties, humans and animals smoothly transition between terrains in their natural surroundings. Walking transitions have the potential to influence dynamic balance in both the anterior–posterior and medial–lateral directions, thereby increasing fall risk and decreasing mobility. The goal of the current manuscript is to provide a review of the literature that pertains to the topic of surface slope transitions between level and hill surfaces, as well as report the recent findings of two experiments that focus on the neuromuscular strategies of surface slope transitions. Our results indicate that in anticipation of a change in surface slope, neuromuscular patterns during level walking prior to a hill are significantly different from the patterns during level walking without the future change in surface. Typically, the changes in muscle activity were due to co-contraction of opposing muscle groups and these changes correspond to modifications in head pitch. In addition, further experiments revealed that the neck proprioceptors may be an initial source of feedback for upcoming surface slope transitions. Together, these results illustrate that in order to safely traverse varying surfaces, transitions strides are functionally distinct from either level walking or hill walking independently. PMID:21502127

High-resolution mapping of ecosystem carbon storage and potential effects of permafrost thaw in periglacial terrain, European Russian Arctic

NASA Astrophysics Data System (ADS)

Hugelius, Gustaf; Virtanen, Tarmo; Kaverin, Dmitry; Pastukhov, Alexander; Rivkin, Felix; Marchenko, Sergey; Romanovsky, Vladimir; Kuhry, Peter

2011-09-01

This study describes detailed partitioning of phytomass carbon (C) and soil organic carbon (SOC) for four study areas in discontinuous permafrost terrain, Northeast European Russia. The mean aboveground phytomass C storage is 0.7 kg C m-2. Estimated landscape SOC storage in the four areas varies between 34.5 and 47.0 kg C m-2 with LCC (land cover classification) upscaling and 32.5-49.0 kg C m-2 with soil map upscaling. A nested upscaling approach using a Landsat thematic mapper land cover classification for the surrounding region provides estimates within 5 ± 5% of the local high-resolution estimates. Permafrost peat plateaus hold the majority of total and frozen SOC, especially in the more southern study areas. Burying of SOC through cryoturbation of O- or A-horizons contributes between 1% and 16% (mean 5%) of total landscape SOC. The effect of active layer deepening and thermokarst expansion on SOC remobilization is modeled for one of the four areas. The active layer thickness dynamics from 1980 to 2099 is modeled using a transient spatially distributed permafrost model and lateral expansion of peat plateau thermokarst lakes is simulated using geographic information system analyses. Active layer deepening is expected to increase the proportion of SOC affected by seasonal thawing from 29% to 58%. A lateral expansion of 30 m would increase the amount of SOC stored in thermokarst lakes/fens from 2% to 22% of all SOC. By the end of this century, active layer deepening will likely affect more SOC than thermokarst expansion, but the SOC stores vulnerable to thermokarst are less decomposed.

Automated detection of snow avalanche deposits: segmentation and classification of optical remote sensing imagery

NASA Astrophysics Data System (ADS)

Lato, M. J.; Frauenfelder, R.; Bühler, Y.

2012-09-01

Snow avalanches in mountainous areas pose a significant threat to infrastructure (roads, railways, energy transmission corridors), personal property (homes) and recreational areas as well as for lives of people living and moving in alpine terrain. The impacts of snow avalanches range from delays and financial loss through road and railway closures, destruction of property and infrastructure, to loss of life. Avalanche warnings today are mainly based on meteorological information, snow pack information, field observations, historically recorded avalanche events as well as experience and expert knowledge. The ability to automatically identify snow avalanches using Very High Resolution (VHR) optical remote sensing imagery has the potential to assist in the development of accurate, spatially widespread, detailed maps of zones prone to avalanches as well as to build up data bases of past avalanche events in poorly accessible regions. This would provide decision makers with improved knowledge of the frequency and size distributions of avalanches in such areas. We used an object-oriented image interpretation approach, which employs segmentation and classification methodologies, to detect recent snow avalanche deposits within VHR panchromatic optical remote sensing imagery. This produces avalanche deposit maps, which can be integrated with other spatial mapping and terrain data. The object-oriented approach has been tested and validated against manually generated maps in which avalanches are visually recognized and digitized. The accuracy (both users and producers) are over 0.9 with errors of commission less than 0.05. Future research is directed to widespread testing of the algorithm on data generated by various sensors and improvement of the algorithm in high noise regions as well as the mapping of avalanche paths alongside their deposits.

27 CFR 9.114 - Old Mission Peninsula.

Code of Federal Regulations, 2011 CFR

2011-04-01

... boundary in Grand Traverse County, Michigan, consists of all of Peninsula Township, excluding Marion and Bassett Islands. In addition, the viticultural area takes in a small portion of Traverse City Township. (1... Grand Traverse Bay at Section 1, Township 27 North, Range 11 West (T27N, R11W), approximately 500 feet...

27 CFR 9.114 - Old Mission Peninsula.

Code of Federal Regulations, 2010 CFR

2010-04-01

... boundary in Grand Traverse County, Michigan, consists of all of Peninsula Township, excluding Marion and Bassett Islands. In addition, the viticultural area takes in a small portion of Traverse City Township. (1... Grand Traverse Bay at Section 1, Township 27 North, Range 11 West (T27N, R11W), approximately 500 feet...

76 FR 9597 - Notice of Inventory Completion: Denver Museum of Nature & Science, Denver, CO

Federal Register 2010, 2011, 2012, 2013, 2014

2011-02-18

... the Duck Valley Reservation, Nevada; Sisseton-Wahpeton Oyate of the Lake Traverse Reservation, South...; Shoshone-Paiute Tribes of the Duck Valley Reservation, Nevada; Sisseton-Wahpeton Oyate of the Lake Traverse...; Shoshone-Paiute Tribes of the Duck Valley Reservation, Nevada; Sisseton-Wahpeton Oyate of the Lake Traverse...

Improved wetland remote sensing in Yellowstone National Park using classification trees to combine TM imagery and ancillary environmental data

USGS Publications Warehouse

Wright, C.; Gallant, Alisa L.

2007-01-01

The U.S. Fish and Wildlife Service uses the term palustrine wetland to describe vegetated wetlands traditionally identified as marsh, bog, fen, swamp, or wet meadow. Landsat TM imagery was combined with image texture and ancillary environmental data to model probabilities of palustrine wetland occurrence in Yellowstone National Park using classification trees. Model training and test locations were identified from National Wetlands Inventory maps, and classification trees were built for seven years spanning a range of annual precipitation. At a coarse level, palustrine wetland was separated from upland. At a finer level, five palustrine wetland types were discriminated: aquatic bed (PAB), emergent (PEM), forested (PFO), scrub–shrub (PSS), and unconsolidated shore (PUS). TM-derived variables alone were relatively accurate at separating wetland from upland, but model error rates dropped incrementally as image texture, DEM-derived terrain variables, and other ancillary GIS layers were added. For classification trees making use of all available predictors, average overall test error rates were 7.8% for palustrine wetland/upland models and 17.0% for palustrine wetland type models, with consistent accuracies across years. However, models were prone to wetland over-prediction. While the predominant PEM class was classified with omission and commission error rates less than 14%, we had difficulty identifying the PAB and PSS classes. Ancillary vegetation information greatly improved PSS classification and moderately improved PFO discrimination. Association with geothermal areas distinguished PUS wetlands. Wetland over-prediction was exacerbated by class imbalance in likely combination with spatial and spectral limitations of the TM sensor. Wetland probability surfaces may be more informative than hard classification, and appear to respond to climate-driven wetland variability. The developed method is portable, relatively easy to implement, and should be applicable in other settings and over larger extents.

Astronauts Lovell and Haise during simulation of lunar traverse at Hawaii

NASA Image and Video Library

1969-12-01

S70-20253 (December 1969) --- Astronauts James A. Lovell Jr. (left) commander, and Fred W. Haise Jr., lunar module pilot, carry out a simulation of a lunar traverse at Kilauea, Hawaii, site. Both crew members of NASA's third team of moon explorers were carrying cameras and communications equipment during the simulated traverse. They maintained contact with men in the roles of spacecraft throughout the traverse. Lovell holds a scoop for the Apollo Lunar Hand Tools (ALHT) and a gnomon, also for the ALHT is deployed in front of Haise. The ALHT carrier is at left background, (almost obscured by Lovell).

Experimental evaluation of ALS point cloud ground extraction over different land cover in the Malopolska Province

NASA Astrophysics Data System (ADS)

Korzeniowska, Karolina; Mandlburger, Gottfried; Klimczyk, Agata

2013-04-01

The paper presents an evaluation of different terrain point extraction algorithms for Airborne Laser Scanning (ALS) point clouds. The research area covers eight test sites in the Małopolska Province (Poland) with varying point density between 3-15points/m² and surface as well as land cover characteristics. In this paper the existing implementations of algorithms were considered. Approaches based on mathematical morphology, progressive densification, robust surface interpolation and segmentation were compared. From the group of morphological filters, the Progressive Morphological Filter (PMF) proposed by Zhang K. et al. (2003) in LIS software was evaluated. From the progressive densification filter methods developed by Axelsson P. (2000) the Martin Isenburg's implementation in LAStools software (LAStools, 2012) was chosen. The third group of methods are surface-based filters. In this study, we used the hierarchic robust interpolation approach by Kraus K., Pfeifer N. (1998) as implemented in SCOP++ (Trimble, 2012). The fourth group of methods works on segmentation. From this filtering concept the segmentation algorithm available in LIS was tested (Wichmann V., 2012). The main aim in executing the automatic classification for ground extraction was operating in default mode or with default parameters which were selected by the developers of the algorithms. It was assumed that the default settings were equivalent to the parameters on which the best results can be achieved. In case it was not possible to apply an algorithm in default mode, a combination of the available and most crucial parameters for ground extraction were selected. As a result of these analyses, several output LAS files with different ground classification were achieved. The results were described on the basis of qualitative and quantitative analyses, both being in a formal description. The classification differences were verified on point cloud data. Qualitative verification of ground extraction was made on the basis of a visual inspection of the results (Sithole G., Vosselman G., 2004; Meng X. et al., 2010). The results of these analyses were described as a graph using weighted assumption. The quantitative analyses were evaluated on a basis of Type I, Type II and Total errors (Sithole G., Vosselman G., 2003). The achieved results show that the analysed algorithms yield different classification accuracies depending on the landscape and land cover. The simplest terrain for ground extraction was flat rural area with sparse vegetation. The most difficult were mountainous areas with very dense vegetation where only a few ground points were available. Generally the LAStools algorithm gives good results in every type of terrain, but the ground surface is too smooth. The LIS Progressive Morphological Filter algorithm gives good results in forested flat and low slope areas. The surface-based algorithm from SCOP++ gives good results in mountainous areas - both forested and built-up because it better preserves steep slopes, sharp ridges and breaklines, but sometimes it fails to remove off-terrain objects from the ground class. The segmentation-based algorithm in LIS gives quite good results in built-up flat areas, but in forested areas it does not work well. Bibliography: Axelsson, P., 2000. DEM generation from laser scanner data using adaptive TIN models. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XXXIII (Pt. B4/1), 110- 117 Kraus, K., Pfeifer, N., 1998. Determination of terrain models in wooded areas with airborne laser scanner data. ISPRS Journal of Photogrammetry & Remote Sensing 53 (4), 193-203 LAStools website http://www.cs.unc.edu/~isenburg/lastools/ (verified in September 2012) Meng, X., Currit, N., Zhao, K., 2010. Ground Filtering Algorithms for Airborne LiDAR Data: A Review of Critical Issues. Remote Sensing 2, 833-860 Sithole, G., Vosselman, G., 2003. Report: ISPRS Comparison of Filters. Commission III, Working Group 3. Department of Geodesy, Faculty of Civil Engineering and Geosciences, Delft University of technology, The Netherlands Sithole, G., Vosselman, G., 2004. Experimental comparison of filter algorithms for bare-Earth extraction form airborne laser scanning point clouds. ISPRS Journal of Photogrammetry & Remote Sensing 59, 85-101 Trimble, 2012 http://www.trimble.com/geospatial/aerial-software.aspx (verified in November 2012) Wichmann, V., 2012. LIS Command Reference, LASERDATA GmbH, 1-231 Zhang, K., Chen, S.-C., Whitman, D., Shyu, M.-L., Yan, J., Zhang, C., 2003. A progressive morphological filter for removing non-ground measurements from airborne LIDAR data. IEEE Transactions on Geoscience and Remote Sensing, 41(4), 872-882

Construction of the bridge in the cavern in the Vrata tunnel (Croatia)

NASA Astrophysics Data System (ADS)

Garasic, Mladen; Sasa Kovacevic, Meho; Juric-Kacunic, Danijela

2010-05-01

In the Dinaric karst system in Croatia some 11500 speleological objects have been explored so far, more than 1000 of which were discovered during construction works. Such speleological objects without natural entrance on the terrain surface (which are called "caverns") have been discovered on the construction sites of the highways. Over the past twenty years they have been systematically investigated and treated. A special kind of remediation was conducted in the cavern's large hall of the "Vrata" tunnel on the Zagreb - Rijeka highway. Due to size, shape, cavern's position and hydrogeological parameters (fissured and karstified aquifers) within the karst system it was necessary to design and construct a 58 m bridge over the cavern. In addition, the cavern's vault had to be reinforced and stabilized, as the overburden was very thin. The beam-and -stringer grid with special anchors was used. The cavern's rehabilitation in the "Vrata" tunnel was a unique undertaking, and the bridge (without piers) is the cavern's longest bridge in the world. A speleological object of large dimensions was discovered in the "Vrata"tunnel's right tube on the Rijeka-Zagreb highway. Speleological, geotechnical, engineering geological and hydrogeological investigation works were carried out for the purpose of preservation the speleological object (cavern). On the basis of classification results of rock masses and conducted numerical analyses the support system for the cavern's vault stabilization was selected. The support system's elements include the beam-and-stringer grid constructed on the terrain's surface above the cavern, tendons and geotechnical anchors. To ensure stability of the speleological object, and to conduct the backward numerical analyses the measurement of vertical deformations from the terrain's surface along the rock's mass by means of sliding micrometers was undertaken. Backward numerical analyses combined with geotechnical measurements enable safer and more rational approach to design and construction of underground structures. They contribute to the knowledge on rock mass performance and to determination of its physical and mechanical parameters connecting them with rock classification results. The analyses are a great help in verification or modification of elements' features of primary support system. Tunnel and bridge in tunnel "Vrata" were opened for traffic in November 2008. Keywords: speleology, cave, Dinaric karst, Croatia, tunnel, karst phenomena, geotechnical engineering.

Magnetism of the Lower Crust: Observations from the Athabasca Granulite Terrain, Northern Canada

NASA Astrophysics Data System (ADS)

Brown, L. L.; Williams, M. L.; Seaman, S. J.; Regan, S.; Webber, J.; Orlandini, O. F.

2012-12-01

The magnetic properties of lower crustal rocks produce distinct anomalies observable in satellite, aeromagnetic, and ground studies. Since the time of early satellite studies (POGO and MAGSAT), scientists have known that the lower crust must be responsible for long wavelength anomalies of +/- 20 nT. The soon to be launched SWARM trio of satellites will provide even more detailed information on the magnetization of lower to middle crust. In anticipation of this vast new data set, we are investigating magnetic properties in a superbly exposed section of lower crust in northern Saskatchewan. The Athabasca Granulite Terrain (AGT) is a large and complex domain of both felsic and mafic lower crustal rocks, separating the Churchill province into the Hearne domain (mid-crustal rocks, lower metamorphic grade) from the Rae domain (lower crust rocks, higher metamorphic grade). The AGT is composed of a sequence of gneisses and schists, ranging from gabbro and mafic granulite to tonalite and granite, all identified as lower crustal by their high temperature (~800°C) and high pressure (~1.0 GPa) metamorphism, dated at 2.6 Ga and 1.9 Ga, and subjected to later uplift and exhumation to the surface. Aeromagnetic anomalies over this region vary by over 2000 nT, and distinctly differentiate the AGT from the neighboring Rae and Hearne domains. The AGT is predominantly characterized by low (negative) anomalies with distinct large positives in the southern and central regions. Although the anomalies commonly reflect lithologic boundaries, the central high cuts across mapped units, and characterizes only part of the extensive Chipman Tonalite. In the western parts of the tonalite, ground magnetic traverses reveal steep gradients near and within the Cora Lake shear zone; to the east the Chipman Tonalite becomes non-magnetic. Susceptibility measurements from both field and lab readings range over several orders of magnitude, from 1 x 10-5 to 3 x 10-1, with higher values related to mafic granulites rich with oxide (magnetite) layers. NRM values also show considerable variability, from 1 mA/m to 10 A/m, with the weakest magnetization found in many of the Chipman mafic dikes, intruding across the AGT at ~1.9 Ga, and in granite bodies both in the east and west. The magnetite layers in the mafic granulites are readily identified on ground magnetic traverses. Q values (Koenigsberger ratios) indicate that nearly 30% of the samples measured (N=66) have remanent magnetization greater than induced magnetization. Hysteresis and low temperature measurements identify PSD (pseudo-single domain) magnetite as the predominant oxide; pyrrhotite is also present in a number of samples. In this section of lower crust the high anomalies are directly related to zones of mafic granulite riddled with magnetite layers; the lower anomalies reflect rocks very low in, or even devoid of, magnetic material.

75 FR 9015 - Notice of Availability of a Final Environmental Assessment (Final EA) and a Finding of No...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-02-26

... the New Airport Traffic Control Tower and Base Building at Cherry Capital Airport, Traverse City, MI... the New Airport Traffic Control Tower and Base Building at Cherry Capital Airport, Traverse City... Control Tower (ATCT) and Base Building at Cherry Capital Airport (TVC) in Traverse City, Michigan. The FAA...

Thermal signature characteristics of vehicle/terrain interaction disturbances: implications for battlefield vehicle classification.

PubMed

Eastes, John W; Mason, George L; Kusinger, Alan E

2004-05-01

Thermal emissivity spectra (8-14 microm) of track impressions/background were determined in conjunction with operation of six military vehicle types, T-72 and M1 Tanks, an M2 Bradley Fighting Vehicle, a 5-ton truck, a D7 tractor, and a High Mobility Multipurpose Wheeled Vehicle (HMMWV), over diverse soil surfaces to determine if vehicle type could be related to track thermal signatures. Results suggest soil compaction and fragmentation/pulverization are primary parameters affecting track signatures and that soil and vehicle/terrain-contact type determine which parameter dominates. Steel-tracked vehicles exert relatively low ground-contact pressure but tend to fragment/pulverize soil more so than do rubber-tired vehicles, which tend mainly to compact. In quartz-rich, lean clay soil tracked vehicles produced impressions with spectral contrast of the quartz reststrahlen features decreased from that of the background. At the same time, 5-ton truck tracks exhibited increased contrast on the same surface, suggesting that steel tracks fragmented soil while rubber tires mainly produced compaction. The structure of materials such as sand and moist clay-rich river sediment makes them less subject to further fragmentation/pulverization; thus, compaction was the main factor affecting signatures in these media, and both tracked and wheeled vehicles created impressions with increased spectral contrast on these surfaces. These results suggest that remotely sensed thermal signatures could differentiate tracked and wheeled vehicles on terrain in many areas of the world of strategic interest. Significant applications include distinguishing visually/spectrally identical lightweight decoys from actual threat vehicles.

Investigation of Error Patterns in Geographical Databases

NASA Technical Reports Server (NTRS)

Dryer, David; Jacobs, Derya A.; Karayaz, Gamze; Gronbech, Chris; Jones, Denise R. (Technical Monitor)

2002-01-01

The objective of the research conducted in this project is to develop a methodology to investigate the accuracy of Airport Safety Modeling Data (ASMD) using statistical, visualization, and Artificial Neural Network (ANN) techniques. Such a methodology can contribute to answering the following research questions: Over a representative sampling of ASMD databases, can statistical error analysis techniques be accurately learned and replicated by ANN modeling techniques? This representative ASMD sample should include numerous airports and a variety of terrain characterizations. Is it possible to identify and automate the recognition of patterns of error related to geographical features? Do such patterns of error relate to specific geographical features, such as elevation or terrain slope? Is it possible to combine the errors in small regions into an error prediction for a larger region? What are the data density reduction implications of this work? ASMD may be used as the source of terrain data for a synthetic visual system to be used in the cockpit of aircraft when visual reference to ground features is not possible during conditions of marginal weather or reduced visibility. In this research, United States Geologic Survey (USGS) digital elevation model (DEM) data has been selected as the benchmark. Artificial Neural Networks (ANNS) have been used and tested as alternate methods in place of the statistical methods in similar problems. They often perform better in pattern recognition, prediction and classification and categorization problems. Many studies show that when the data is complex and noisy, the accuracy of ANN models is generally higher than those of comparable traditional methods.

Hydrogeology of glacial-terrain lakes, with management and planning applications

USGS Publications Warehouse

Born, S.M.; Smith, S.A.; Stephenson, D.A.

1979-01-01

The subject of the relationship between groundwater and lakes is characterized by sparse information and, in general, has received limited attention by hydrologists. Nevertheless, the hydrogeologic regime of lakes must be adequately assessed in order to intelligently manage lakes and their related shorelands. This paper is a compilation of hydrogeologic data for numerous lakes in North America and presents a preliminary classification framework for lakes based on hydrogeologic considerations. The classification leads to systematic categorization of lake types for planning and management purposes. The main hydrogeologic factors for assessing lake environments are: (1) regime dominance, the relative magnitude of groundwater in the total water budget of a lake; (2) system efficiency, a description of the rate aspects of surface and groundwater movement through a lake system; and (3) position within a groundwater flow system. We indicate the significance and difficulty of measuring these descriptive characteristics and provide examples of each category. Additionally, a variety of lake-related activities that illustrate the value of hydrogeologic information for planning and management purposes are presented. ?? 1979.

A statistical approach to combining multisource information in one-class classifiers

DOE PAGES

Simonson, Katherine M.; Derek West, R.; Hansen, Ross L.; ...

2017-06-08

A new method is introduced in this paper for combining information from multiple sources to support one-class classification. The contributing sources may represent measurements taken by different sensors of the same physical entity, repeated measurements by a single sensor, or numerous features computed from a single measured image or signal. The approach utilizes the theory of statistical hypothesis testing, and applies Fisher's technique for combining p-values, modified to handle nonindependent sources. Classifier outputs take the form of fused p-values, which may be used to gauge the consistency of unknown entities with one or more class hypotheses. The approach enables rigorousmore » assessment of classification uncertainties, and allows for traceability of classifier decisions back to the constituent sources, both of which are important for high-consequence decision support. Application of the technique is illustrated in two challenge problems, one for skin segmentation and the other for terrain labeling. Finally, the method is seen to be particularly effective for relatively small training samples.« less

A statistical approach to combining multisource information in one-class classifiers

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

Simonson, Katherine M.; Derek West, R.; Hansen, Ross L.

A new method is introduced in this paper for combining information from multiple sources to support one-class classification. The contributing sources may represent measurements taken by different sensors of the same physical entity, repeated measurements by a single sensor, or numerous features computed from a single measured image or signal. The approach utilizes the theory of statistical hypothesis testing, and applies Fisher's technique for combining p-values, modified to handle nonindependent sources. Classifier outputs take the form of fused p-values, which may be used to gauge the consistency of unknown entities with one or more class hypotheses. The approach enables rigorousmore » assessment of classification uncertainties, and allows for traceability of classifier decisions back to the constituent sources, both of which are important for high-consequence decision support. Application of the technique is illustrated in two challenge problems, one for skin segmentation and the other for terrain labeling. Finally, the method is seen to be particularly effective for relatively small training samples.« less

Phantom energy traversable wormholes

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

Lobo, Francisco S.N.; Campo Grande, Ed. C8 1749-016 Lisbon

2005-04-15

It has been suggested that a possible candidate for the present accelerated expansion of the Universe is 'phantom energy'. The latter possesses an equation of state of the form {omega}{identical_to}p/{rho}<-1, consequently violating the null energy condition. As this is the fundamental ingredient to sustain traversable wormholes, this cosmic fluid presents us with a natural scenario for the existence of these exotic geometries. 'Note, however, that the notion of phantom energy is that of a homogeneously distributed fluid. Nevertheless, it can be extended to inhomogeneous spherically symmetric spacetimes, and it is shown that traversable wormholes may be supported by phantom energy.more » Because of the fact of the accelerating Universe, macroscopic wormholes could naturally be grown from the submicroscopic constructions that originally pervaded the quantum foam. One could also imagine an advanced civilization mining the cosmic fluid for phantom energy necessary to construct and sustain a traversable wormhole. In this context, we investigate the physical properties and characteristics of traversable wormholes constructed using the equation of state p={omega}{rho}, with {omega}<-1. We analyze specific wormhole geometries, considering asymptotically flat spacetimes and imposing an isotropic pressure. We also construct a thin shell around the interior wormhole solution, by imposing the phantom energy equation of state on the surface stresses. Using the 'volume integral quantifier' we verify that it is theoretically possible to construct these geometries with vanishing amounts of averaged null energy condition violating phantom energy. Specific wormhole dimensions and the traversal velocity and time are also deduced from the traversability conditions for a particular wormhole geometry. These phantom energy traversable wormholes have far-reaching physical and cosmological implications. For instance, an advanced civilization may use these geometries to induce closed timelike curves, consequently violating causality.« less

Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors.

PubMed

Deng, Fucheng; Zhu, Xiaorui; He, Chao

2017-09-13

Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications.

Image enhancements of Landsat 8 (OLI) and SAR data for preliminary landslide identification and mapping applied to the central region of Kenya

NASA Astrophysics Data System (ADS)

Mwaniki, M. W.; Kuria, D. N.; Boitt, M. K.; Ngigi, T. G.

2017-04-01

Image enhancements lead to improved performance and increased accuracy of feature extraction, recognition, identification, classification and hence change detection. This increases the utility of remote sensing to suit environmental applications and aid disaster monitoring of geohazards involving large areas. The main aim of this study was to compare the effect of image enhancement applied to synthetic aperture radar (SAR) data and Landsat 8 imagery in landslide identification and mapping. The methodology involved pre-processing Landsat 8 imagery, image co-registration, despeckling of the SAR data, after which Landsat 8 imagery was enhanced by Principal and Independent Component Analysis (PCA and ICA), a spectral index involving bands 7 and 4, and using a False Colour Composite (FCC) with the components bearing the most geologic information. The SAR data were processed using textural and edge filters, and computation of SAR incoherence. The enhanced spatial, textural and edge information from the SAR data was incorporated to the spectral information from Landsat 8 imagery during the knowledge based classification. The methodology was tested in the central highlands of Kenya, characterized by rugged terrain and frequent rainfall induced landslides. The results showed that the SAR data complemented Landsat 8 data which had enriched spectral information afforded by the FCC with enhanced geologic information. The SAR classification depicted landslides along the ridges and lineaments, important information lacking in the Landsat 8 image classification. The success of landslide identification and classification was attributed to the enhanced geologic features by spectral, textural and roughness properties.

Sink detection on tilted terrain for automated identification of glacial cirques

NASA Astrophysics Data System (ADS)

Prasicek, Günther; Robl, Jörg; Lang, Andreas

2016-04-01

Glacial cirques are morphologically distinct but complex landforms and represent a vital part of high mountain topography. Their distribution, elevation and relief are expected to hold information on (1) the extent of glacial occupation, (2) the mechanism of glacial cirque erosion, and (3) how glacial in concert with periglacial processes can limit peak altitude and mountain range height. While easily detectably for the expert's eye both in nature and on various representations of topography, their complicated nature makes them a nemesis for computer algorithms. Consequently, manual mapping of glacial cirques is commonplace in many mountain landscapes worldwide, but consistent datasets of cirque distribution and objectively mapped cirques and their morphometrical attributes are lacking. Among the biggest problems for algorithm development are the complexity in shape and the great variability of cirque size. For example, glacial cirques can be rather circular or longitudinal in extent, exist as individual and composite landforms, show prominent topographic depressions or can entirely be filled with water or sediment. For these reasons, attributes like circularity, size, drainage area and topology of landform elements (e.g. a flat floor surrounded by steep walls) have only a limited potential for automated cirque detection. Here we present a novel, geomorphometric method for automated identification of glacial cirques on digital elevation models that exploits their genetic bowl-like shape. First, we differentiate between glacial and fluvial terrain employing an algorithm based on a moving window approach and multi-scale curvature, which is also capable of fitting the analysis window to valley width. We then fit a plane to the valley stretch clipped by the analysis window and rotate the terrain around the center cell until the plane is level. Doing so, we produce sinks of considerable size if the clipped terrain represents a cirque, while no or only very small sinks develop on other valley stretches. We normalize sink area by window size for sink classification, apply this method to the Sawtooth Mountains, Idaho, and to Fiordland, New Zealand, and compare the results to manually mapped reference cirques. Results indicate that false negatives are produced only in very rugged terrain and false positives occur in rare cases, when valleys are strongly curved in longitudinal direction.

Investigation of the influence of lineaments, lineament intersections and geology on groundwater yield in the basement complex terrain of Ondo State, Southwestern Nigeria

NASA Astrophysics Data System (ADS)

Akinluyi, Francis O.; Olorunfemi, Martins O.; Bayowa, Oyelowo G.

2018-03-01

The influence of lineaments, lineament intersections and geology on the groundwater yield of the basement terrain of Ondo State was investigated using optical remote sensing data, Aster DEM, geology, and borehole yield data. Landsat-7 ETM+ and Aster DEM were processed to generate composite lineament map. The study area was traversed by five (5) main lineament populations trending N-S, NE-SW, E-W, ENE-WSW, NNW-SSE. Boreholes sited on lineament exhibited a yield range of between 0.8 and 1.28 l/s with an average yield of 1.04 l/s. Boreholes sited close to lineament gave groundwater yield values of between 0.5 and 1.28 l/s and an average yield of 1 l/s, while boreholes located outside lineament gave groundwater yield range of between 0.2 and 1.26 l/s with an average yield of 0.98 l/s. The investigation of the hydrogeological characteristics of the lithologies by superimposing the yield data showed average yield of 0.98 l/s for migmatite gneiss biotite granite undifferentiated (M), 1.01 l/s for porphyritic granite (OGp), 1.03 l/s for medium- to coarse-grained (OGe), 1.17 l/s for pelitic schist undifferentiated (Su), 1.24 l/s for quartz schist and quartzite (Eq), 1.12 l/s for older granite undifferentiated (OGu), 0.5 l/s for slightly migmatised medium-grained granite-gneiss (gg) and 1.23 l/s for fine-grained flaggy quartzite and schists (Sf). The study concluded that borehole data located on or near lineaments or at intersection of lineaments gave higher yields more than those located before lineaments or outside lineaments, while quartz schist and quartzite exhibited the highest average groundwater yield of all the lithological units.

Automatic Estimation of Volcanic Ash Plume Height using WorldView-2 Imagery

NASA Technical Reports Server (NTRS)

McLaren, David; Thompson, David R.; Davies, Ashley G.; Gudmundsson, Magnus T.; Chien, Steve

2012-01-01

We explore the use of machine learning, computer vision, and pattern recognition techniques to automatically identify volcanic ash plumes and plume shadows, in WorldView-2 imagery. Using information of the relative position of the sun and spacecraft and terrain information in the form of a digital elevation map, classification, the height of the ash plume can also be inferred. We present the results from applying this approach to six scenes acquired on two separate days in April and May of 2010 of the Eyjafjallajokull eruption in Iceland. These results show rough agreement with ash plume height estimates from visual and radar based measurements.

Real-time adaptive off-road vehicle navigation and terrain classification

NASA Astrophysics Data System (ADS)

Muller, Urs A.; Jackel, Lawrence D.; LeCun, Yann; Flepp, Beat

2013-05-01

We are developing a complete, self-contained autonomous navigation system for mobile robots that learns quickly, uses commodity components, and has the added benefit of emitting no radiation signature. It builds on the au­tonomous navigation technology developed by Net-Scale and New York University during the Defense Advanced Research Projects Agency (DARPA) Learning Applied to Ground Robots (LAGR) program and takes advantage of recent scientific advancements achieved during the DARPA Deep Learning program. In this paper we will present our approach and algorithms, show results from our vision system, discuss lessons learned from the past, and present our plans for further advancing vehicle autonomy.

33 CFR 110.82a - Little Traverse Bay, Lake Michigan, Harbor Springs, Mich.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 33 Navigation and Navigable Waters 1 2013-07-01 2013-07-01 false Little Traverse Bay, Lake Michigan, Harbor Springs, Mich. 110.82a Section 110.82a Navigation and Navigable Waters COAST GUARD... Traverse Bay, Lake Michigan, Harbor Springs, Mich. (a) Area 1. Beginning at latitude 45°25′42.2″ N...

33 CFR 110.82a - Little Traverse Bay, Lake Michigan, Harbor Springs, Mich.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Little Traverse Bay, Lake Michigan, Harbor Springs, Mich. 110.82a Section 110.82a Navigation and Navigable Waters COAST GUARD... Traverse Bay, Lake Michigan, Harbor Springs, Mich. (a) Area 1. Beginning at latitude 45°25′42.2″ N...

33 CFR 110.82a - Little Traverse Bay, Lake Michigan, Harbor Springs, Mich.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 1 2014-07-01 2014-07-01 false Little Traverse Bay, Lake Michigan, Harbor Springs, Mich. 110.82a Section 110.82a Navigation and Navigable Waters COAST GUARD... Traverse Bay, Lake Michigan, Harbor Springs, Mich. (a) Area 1. Beginning at latitude 45°25′42.2″ N...

33 CFR 110.82a - Little Traverse Bay, Lake Michigan, Harbor Springs, Mich.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 1 2011-07-01 2011-07-01 false Little Traverse Bay, Lake Michigan, Harbor Springs, Mich. 110.82a Section 110.82a Navigation and Navigable Waters COAST GUARD... Traverse Bay, Lake Michigan, Harbor Springs, Mich. (a) Area 1. Beginning at latitude 45°25′42.2″ N...

33 CFR 110.82a - Little Traverse Bay, Lake Michigan, Harbor Springs, Mich.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Little Traverse Bay, Lake Michigan, Harbor Springs, Mich. 110.82a Section 110.82a Navigation and Navigable Waters COAST GUARD... Traverse Bay, Lake Michigan, Harbor Springs, Mich. (a) Area 1. Beginning at latitude 45°25′42.2″ N...

Remote operation of the Black Knight unmanned ground combat vehicle

NASA Astrophysics Data System (ADS)

Valois, Jean-Sebastien; Herman, Herman; Bares, John; Rice, David P.

2008-04-01

The Black Knight is a 12-ton, C-130 deployable Unmanned Ground Combat Vehicle (UGCV). It was developed to demonstrate how unmanned vehicles can be integrated into a mechanized military force to increase combat capability while protecting Soldiers in a full spectrum of battlefield scenarios. The Black Knight is used in military operational tests that allow Soldiers to develop the necessary techniques, tactics, and procedures to operate a large unmanned vehicle within a mechanized military force. It can be safely controlled by Soldiers from inside a manned fighting vehicle, such as the Bradley Fighting Vehicle. Black Knight control modes include path tracking, guarded teleoperation, and fully autonomous movement. Its state-of-the-art Autonomous Navigation Module (ANM) includes terrain-mapping sensors for route planning, terrain classification, and obstacle avoidance. In guarded teleoperation mode, the ANM data, together with automotive dials and gages, are used to generate video overlays that assist the operator for both day and night driving performance. Remote operation of various sensors also allows Soldiers to perform effective target location and tracking. This document covers Black Knight's system architecture and includes implementation overviews of the various operation modes. We conclude with lessons learned and development goals for the Black Knight UGCV.

Practopoiesis: or how life fosters a mind.

PubMed

Nikolić, Danko

2015-05-21

The mind is a biological phenomenon. Thus, biological principles of organization should also be the principles underlying mental operations. Practopoiesis states that the key for achieving intelligence through adaptation is an arrangement in which mechanisms laying at a lower level of organization, by their operations and interaction with the environment, enable creation of mechanisms laying at a higher level of organization. When such an organizational advance of a system occurs, it is called a traverse. A case of traverse is when plasticity mechanisms (at a lower level of organization), by their operations, create a neural network anatomy (at a higher level of organization). Another case is the actual production of behavior by that network, whereby the mechanisms of neuronal activity operate to create motor actions. Practopoietic theory explains why the adaptability of a system increases with each increase in the number of traverses. With a larger number of traverses, a system can be relatively small and yet, produce a higher degree of adaptive/intelligent behavior than a system with a lower number of traverses. The present analyses indicate that the two well-known traverses - neural plasticity and neural activity - are not sufficient to explain human mental capabilities. At least one additional traverse is needed, which is named anapoiesis for its contribution in reconstructing knowledge e.g., from long-term memory into working memory. The conclusions bear implications for brain theory, the mind-body explanatory gap, and developments of artificial intelligence technologies. Copyright © 2015 The Author. Published by Elsevier Ltd.. All rights reserved.

The traverse planning process for D-RATS 2010

NASA Astrophysics Data System (ADS)

Hörz, Friedrich; Lofgren, Gary E.; Gruener, John E.; Eppler, Dean B.; Skinner, James A.; Fortezzo, Corey M.; Graf, Jodi S.; Bluethmann, William J.; Seibert, Marc A.; Bell, Ernest R.

2013-10-01

This report describes the traverse planning process for the Desert Research and Technology Studies (D-RATS) 2010 field simulation of a conceptual 14-day planetary mission. This activity took place between August 23 and September 17, 2010 in the San Francisco Volcanic Field, Arizona. It focused on the utilization of two pressurized rovers and a ground-based communication system, as well as on the development of mission operation concepts for long duration, dual-rover missions. The early planning process began some 12 months prior to the actual field tests and defined the first order engineering-, flight operations, and science objectives. The detailed implementation and refinement of these objectives took place over the ensuing 10 months, resulting in a large number of technical and operational constraints that affected the actual traverse route or the cumulative Extravehicular Activity (EVA) time available for detailed field observations. The science planning proceeded from the generation of photogeologic maps of the test area, to the establishment of prioritized science objectives and associated candidate sites for detailed field exploration. The combination of operational constraints and science objectives resulted in the final design of traverse routes and time lines for each of the 24 traverses needed to support 12 field days by two rovers. Examples of daily traverses will be given that will hopefully illustrate that the design of long duration, long distance planetary traverses is a highly interdisciplinary and time-consuming collaboration between diverse engineers, flight operations personnel, human factors interests, and planetary scientists.

Novel 3D imaging techniques for improved understanding of planetary surface geomorphology.

NASA Astrophysics Data System (ADS)

Muller, Jan-Peter

2015-04-01

Understanding the role of different planetary surface formation processes within our Solar System is one of the fundamental goals of planetary science research. There has been a revolution in planetary surface observations over the past decade for Mars and the Moon, especially in 3D imaging of surface shape (down to resolutions of 75cm) and subsequent correction for terrain relief of imagery from orbiting and co-registration of lander and rover robotic images. We present some of the recent highlights including 3D modelling of surface shape from the ESA Mars Express HRSC (High Resolution Stereo Camera), see [1], [2] at 30-100m grid-spacing; and then co-registered to HRSC using a resolution cascade of 20m DTMs from NASA MRO stereo-CTX and 0.75m DTMs from MRO stereo-HiRISE [3]. This has opened our eyes to the formation mechanisms of megaflooding events, such as the formation of Iani Vallis and the upstream blocky terrain, to crater lakes and receding valley cuts [4]. A comparable set of products is now available for the Moon from LROC-WA at 100m [5] and LROC-NA at 1m [6]. Recently, a very novel technique for the super-resolution restoration (SRR) of stacks of images has been developed at UCL [7]. First examples shown will be of the entire MER-A Spirit rover traverse taking a stack of 25cm HiRISE to generate a corridor of SRR images along the rover traverse of 5cm imagery of unresolved features such as rocks, created as a consequence of meteoritic bombardment, ridge and valley features. This SRR technique will allow us for ˜400 areas on Mars (where 5 or more HiRISE images have been captured) and similar numbers on the Moon to resolve sub-pixel features. Examples will be shown of how these SRR images can be employed to assist with the better understanding of surface geomorphology. Acknowledgements: The research leading to these results has received funding from the European Union's Seventh Framework Programme (FP7/2007-2013) under PRoViDE grant agreement n° 312377. Partial support is also provided from the STFC 'MSSL Consolidated Grant' ST/K000977/1. References: [1] Gwinner, K., F. et al. (2010) Topography of Mars from global mapping by HRSC high-resolution digital terrain models and orthoimages: characteristics and performance. Earth and Planetary Science Letters 294, 506-519, doi:10.1016/j.epsl.2009.11.007, 2010; [2] Gwinner, K., F. et al. (2015) MarsExpress High Resolution Stereo Camera (HRSC) Multi-orbit Data Products: Methodology, Mapping Concepts and Performance for the first Quadrangle (MC-11E). Geophysical Research Abstracts, Vol. 17, EGU2015-13832; [3] Kim, J., & Muller, J. (2009). Multi-resolution topographic data extraction from Martian stereo imagery. Planetary and Space Science, 57, 2095-2112. doi:10.1016/j.pss.2009.09.024; [4] Warner, N. H., Gupta, S., Kim, J.-R., Muller, J.-P., Le Corre, L., Morley, J., et al. (2011). Constraints on the origin and evolution of Iani Chaos, Mars. Journal of Geophysical Research, 116(E6), E06003. doi:10.1029/2010JE003787; [5] Fok, H. S., Shum, C. K., Yi, Y., Araki, H., Ping, J., Williams, J. G., et al. (2011). Accuracy assessment of lunar topography models. Earth Planets Space, 63, 15-23. doi:10.5047/eps.2010.08.005; [6] Haase, I., Oberst, J., Scholten, F., Wählisch, M., Gläser, P., Karachevtseva, I., & Robinson, M. S. (2012). Mapping the Apollo 17 landing site area based on Lunar Reconnaissance Orbiter Camera images and Apollo surface photography - Haase - 2012 - Journal of Geophysical Research: Planets (1991-2012). Journal of Geophysical Research, 117, E00H20. doi:10.1029/2011JE003908; [7] Tao, Y., Muller, J.-P. (2015) Supporting lander and rover operation: a novel super-resolution restoration technique. Geophysical Research Abstracts, Vol. 17, EGU2015-6925

EAST93: Geophysical traverse from the Transantarctic Mountains to the Wilkes Basin, East Antarctica

USGS Publications Warehouse

ten Brink, Uri S.; Bannister, Stephen

1995-01-01

The East Antarctic Seismic Traverse (EAST93) was a geophysical traverse designed to image the bedrock under the East Antarctic ice cap. The traverse started 10 km west of the Taylor Dome drill site and 25 km west of the exposed bedrock of the Transantarctic Mountains at Lashly Mt. and ended 323 km west of the drill site over the Wilkes subglacial basin (Fig. 1). The traverse was located subparallel to latitude 78° S starting 30-50 km north of the Victoria Land Traverse (1958-1959). It was carried out jointly by the U.S. Geological Survey and Stanford University, U.S.A., together with the Institute of Geological and Nuclear Sciences, and Victoria University, New Zealand, during December 1993 and January 1994. The geophysical traverse included 236 km of multichannel seismic reflection data at 150 m shot intervals, 312.5 km of gravity data collected at intervals of 2.1 km, 312.5 km of magnetic data (total field intensity) collected at average intervals of 0.5 km, and 205 km of ground penetrating radar at intervals of 77 m. Relative locations and elevations of the entire traverse were measured at intervals of 150 m by traditional surveying methods, and tied to three absolute locations measured by the Global Positioning System (GPS). EAST93 is the first large-scale geophysical traverse on the polar plateau to our knowledge since the early 1960s. As such, the experiment presented several logistical challenges: (1) how to collect regional seismic profiles during the short Antarctic summer; (2) how to keep the scientific instruments running with minimal protection in harsh conditions; and (3) how to combine daily moves of camp with full days of work. The scientific and logistical aspects of the project proceeded, in general, according to plan despite the harsh conditions and our lack of previous experience on the polar plateau. Two unanticipated problems affected the progress of the work: the strong wind which slowed seismic acquisition, and the break-down of one of the large traverse vehicles. The major operational lessons of this project are. (1) Primacord laid close to the surface is not an adequate seismic source for imaging under the thick East Antarctic ice sheet, despite positive prior tests on the Ross Ice Shelf. (2) It is necessary to reduce the 6-7 hours spent daily on camp move and other chores by integrating the living quarters into the working teams, and by improving vehicle warming methods and generator housing. The following report details the operational and logistical aspects of the work, the weather and ground conditions, the technical aspects of acquisition of geophysical data, and lessons and recommendations for future geophysical traverses.

Software Tool for Computing Maximum Von Mises Stress

NASA Technical Reports Server (NTRS)

Chen, Long Y.; Knutson, Kurt; Martin, Eric

2007-01-01

The maximum Van Mises stress and stress direction are of interest far analyzing launch accelerations such as with the Mass Acceleration Curves developed by JPL. Maximum launch stresses can be combined with appropriate load cases at consistent locations with resulting stress tensors. Maximum Van Mises stress is also of interest for understanding maximum operational loading such as traverse events. - For example, planetary traversing simulations may prescribe bounding acceleration values during traverse for a rover such as Mars Science Lab (MSL) in (X,Y,Z) of the rover. - Such accelerations can be really in any directions for many parts such as a mast or head mounted components which can be in numerous configurations and orientations when traversing a planet surface.

Shadow detection and removal in RGB VHR images for land use unsupervised classification

NASA Astrophysics Data System (ADS)

Movia, A.; Beinat, A.; Crosilla, F.

2016-09-01

Nowadays, high resolution aerial images are widely available thanks to the diffusion of advanced technologies such as UAVs (Unmanned Aerial Vehicles) and new satellite missions. Although these developments offer new opportunities for accurate land use analysis and change detection, cloud and terrain shadows actually limit benefits and possibilities of modern sensors. Focusing on the problem of shadow detection and removal in VHR color images, the paper proposes new solutions and analyses how they can enhance common unsupervised classification procedures for identifying land use classes related to the CO2 absorption. To this aim, an improved fully automatic procedure has been developed for detecting image shadows using exclusively RGB color information, and avoiding user interaction. Results show a significant accuracy enhancement with respect to similar methods using RGB based indexes. Furthermore, novel solutions derived from Procrustes analysis have been applied to remove shadows and restore brightness in the images. In particular, two methods implementing the so called "anisotropic Procrustes" and the "not-centered oblique Procrustes" algorithms have been developed and compared with the linear correlation correction method based on the Cholesky decomposition. To assess how shadow removal can enhance unsupervised classifications, results obtained with classical methods such as k-means, maximum likelihood, and self-organizing maps, have been compared to each other and with a supervised clustering procedure.

Evaluation of a wetland classification system devised for ...

EPA Pesticide Factsheets

The manuscript is part of an FY14 RAP product: "Functional Assessment of Alaska Peatlands in Cook Inlet Basin: A report to Region 10". This report included this technical information product which is a manuscript that has now been fully revised, reviewed and published in a scientific peer-reviewed publication with open access (doi:10.1007/s11273-016-9504-0). The journal article scientific abstract is as follows: "Several wetland classification schemes are now commonly used to describe wetlands in the contiguous United States to meet local, regional, and national regulatory requirements. However, these established systems have proven to be insufficient to meet the needs of land managers in Alaska. The wetlands of this northern region are predominantly peatlands, which are not adequately treated by the nationally-used systems, which have few, if any, peatland classes. A new system was therefore devised to classify wetlands in the rapidly urbanizing Cook Inlet Basin of southcentral Alaska, USA. The Cook Inlet Classification (CIC) is based on seven geomorphic and six hydrologic components that incorporate the environmental gradients responsible for the primary sources of variation in peatland ecosystems. The geomorphic and hydrologic components have the added advantage of being detectable on remote sensing imagery, which facilitates regional mapping across large tracts of inaccessible terrain. Three different quantitative measures were used to evaluate the robu

Computer-aided analysis of Skylab multispectral scanner data in mountainous terrain for land use, forestry, water resource, and geologic applications

NASA Technical Reports Server (NTRS)

Hoffer, R. M. (Principal Investigator)

1975-01-01

The author has identified the following significant results. One of the most significant results of this Skylab research involved the geometric correction and overlay of the Skylab multispectral scanner data with the LANDSAT multispectral scanner data, and also with a set of topographic data, including elevation, slope, and aspect. The Skylab S192 multispectral scanner data had distinct differences in noise level of the data in the various wavelength bands. Results of the temporal evaluation of the SL-2 and SL-3 photography were found to be particularly important for proper interpretation of the computer-aided analysis of the SL-2 and SL-3 multispectral scanner data. There was a quality problem involving the ringing effect introduced by digital filtering. The modified clustering technique was found valuable when working with multispectral scanner data involving many wavelength bands and covering large geographic areas. Analysis of the SL-2 scanner data involved classification of major cover types and also forest cover types. Comparison of the results obtained wth Skylab MSS data and LANDSAT MSS data indicated that the improved spectral resolution of the Skylab scanner system enabled a higher classification accuracy to be obtained for forest cover types, although the classification performance for major cover types was not significantly different.

Fast Image Texture Classification Using Decision Trees

NASA Technical Reports Server (NTRS)

Thompson, David R.

2011-01-01

Texture analysis would permit improved autonomous, onboard science data interpretation for adaptive navigation, sampling, and downlink decisions. These analyses would assist with terrain analysis and instrument placement in both macroscopic and microscopic image data products. Unfortunately, most state-of-the-art texture analysis demands computationally expensive convolutions of filters involving many floating-point operations. This makes them infeasible for radiation- hardened computers and spaceflight hardware. A new method approximates traditional texture classification of each image pixel with a fast decision-tree classifier. The classifier uses image features derived from simple filtering operations involving integer arithmetic. The texture analysis method is therefore amenable to implementation on FPGA (field-programmable gate array) hardware. Image features based on the "integral image" transform produce descriptive and efficient texture descriptors. Training the decision tree on a set of training data yields a classification scheme that produces reasonable approximations of optimal "texton" analysis at a fraction of the computational cost. A decision-tree learning algorithm employing the traditional k-means criterion of inter-cluster variance is used to learn tree structure from training data. The result is an efficient and accurate summary of surface morphology in images. This work is an evolutionary advance that unites several previous algorithms (k-means clustering, integral images, decision trees) and applies them to a new problem domain (morphology analysis for autonomous science during remote exploration). Advantages include order-of-magnitude improvements in runtime, feasibility for FPGA hardware, and significant improvements in texture classification accuracy.

Mapping lava morphology of the Galapagos Spreading Center at 92°W: fuzzy logic provides a classification of high-resolution bathymetry and backscatter

NASA Astrophysics Data System (ADS)

McClinton, J. T.; White, S. M.; Sinton, J. M.; Rubin, K. H.; Bowles, J. A.

2010-12-01

Differences in axial lava morphology along the Galapagos Spreading Center (GSC) can indicate variations in magma supply and emplacement dynamics due to the influence of the adjacent Galapagos hot spot. Unfortunately, the ability to discriminate fine-scale lava morphology has historically been limited to observations of the small coverage areas of towed camera surveys and submersible operations. This research presents a neuro-fuzzy approach to automated seafloor classification using spatially coincident, high-resolution bathymetry and backscatter data. The classification method implements a Sugeno-type fuzzy inference system trained by a multi-layered adaptive neural network and is capable of rapidly classifying seafloor morphology based on attributes of surface geometry and texture. The system has been applied to the 92°W segment of the western GSC in order to quantify coverage areas and distributions of pillow, lobate, and sheet lava morphology. An accuracy assessment has been performed on the classification results. The resulting classified maps provide a high-resolution view of GSC axial morphology and indicate the study area terrain is approximately 40% pillow flows, 40% lobate and sheet flows, and 10% fissured or faulted area, with about 10% of the study area unclassifiable. Fine-scale features such as eruptive fissures, tumuli, and individual pillowed lava flow fronts are also visible. Although this system has been applied to lava morphology, its design and implementation are applicable to other undersea mapping applications.

A simulation study of scene confusion factors in sensing soil moisture from orbital radar

NASA Technical Reports Server (NTRS)

Ulaby, F. T. (Principal Investigator); Dobson, M. C.; Moezzi, S.; Roth, F. T.

1983-01-01

Simulated C-band radar imagery for a 124-km by 108-km test site in eastern Kansas is used to classify soil moisture. Simulated radar resolutions are 100 m by 100 m, 1 km by 1km, and 3 km by 3 km. Distributions of actual near-surface soil moisture are established daily for a 23-day accounting period using a water budget model. Within the 23-day period, three orbital radar overpasses are simulated roughly corresponding to generally moist, wet, and dry soil moisture conditions. The radar simulations are performed by a target/sensor interaction model dependent upon a terrain model, land-use classification, and near-surface soil moisture distribution. The accuracy of soil-moisture classification is evaluated for each single-date radar observation and also for multi-date detection of relative soil moisture change. In general, the results for single-date moisture detection show that 70% to 90% of cropland can be correctly classified to within +/- 20% of the true percent of field capacity. For a given radar resolution, the expected classification accuracy is shown to be dependent upon both the general soil moisture condition and also the geographical distribution of land-use and topographic relief. An analysis of cropland, urban, pasture/rangeland, and woodland subregions within the test site indicates that multi-temporal detection of relative soil moisture change is least sensitive to classification error resulting from scene complexity and topographic effects.

Traverse Planning with Temporal-Spatial Constraints

NASA Technical Reports Server (NTRS)

Bresina, John L.; Morris, Paul H.; Deans, Mathew C.; Cohen, Tamar E.; Lees, David S.

2017-01-01

We present an approach to planning rover traverses in a domain that includes temporal-spatial constraints. We are using the NASA Resource Prospector mission as a reference mission in our research. The objective of this mission is to explore permanently shadowed regions at a Lunar pole. Most of the time the rover is required to avoid being in shadow. This requirement depends on where the rover is located and when it is at that location. Such a temporal-spatial constraint makes traverse planning more challenging for both humans and machines. We present a mixed-initiative traverse planner which addresses this challenge. This traverse planner is part of the Exploration Ground Data Systems (xGDS), which we have enhanced with new visualization features, new analysis tools, and new automation for path planning, in order to be applicable to the Re-source Prospector mission. The key concept that is the basis of the analysis tools and that supports the automated path planning is reachability in this dynamic environment due to the temporal-spatial constraints.

Determination of Slope Safety Factor with Analytical Solution and Searching Critical Slip Surface with Genetic-Traversal Random Method

PubMed Central

2014-01-01

In the current practice, to determine the safety factor of a slope with two-dimensional circular potential failure surface, one of the searching methods for the critical slip surface is Genetic Algorithm (GA), while the method to calculate the slope safety factor is Fellenius' slices method. However GA needs to be validated with more numeric tests, while Fellenius' slices method is just an approximate method like finite element method. This paper proposed a new method to determine the minimum slope safety factor which is the determination of slope safety factor with analytical solution and searching critical slip surface with Genetic-Traversal Random Method. The analytical solution is more accurate than Fellenius' slices method. The Genetic-Traversal Random Method uses random pick to utilize mutation. A computer automatic search program is developed for the Genetic-Traversal Random Method. After comparison with other methods like slope/w software, results indicate that the Genetic-Traversal Random Search Method can give very low safety factor which is about half of the other methods. However the obtained minimum safety factor with Genetic-Traversal Random Search Method is very close to the lower bound solutions of slope safety factor given by the Ansys software. PMID:24782679

Arctic Circle Traverse 2010 (ACT-10): South East Greenland snow accumulation variability from firn coring and ice sounding radar

NASA Astrophysics Data System (ADS)

Forster, R. R.; Miege, C.; Box, J. E.; McConnell, J.; Spikes, V. B.; Burgess, E. W.

2010-12-01

The Greenland Ice Sheet plays an important role in Earth’s climate system evolution. The snow accumulation rate is the largest single mass budget term. With only 14% of the ice sheet area, Southeast Greenland contains the highest accumulation rates, accounting for one third of the total snow accumulation and annual variability. The high accumulation rates have made the region less desirable for long climate record ice cores and therefore, contain relatively very few in situ measurements to constrain the ice sheet mass budget. We present annual snow accumulation rates from the Arctic Circle Traverse 2010 (ACT-10). During April and May 2010 we acquired three 50 m firn cores connected by surface-based 400 MHz ground penetrating radar (GPR) in Southeast Greenland. The traverse repeated and extended the original Arctic Circle Traverse in 2004 (Spikes et al., 2004). Dating is achieved using geochemical analysis of the cores to identify isochronal layers detected by the GPR yielding annual accumulation estimates along the traverse between the core sites. The 300 km ACT-10 GPR snowmobile traverse extended the ACT-04 path 80 km to the lowest elevation core site at 1776 m. Meanwhile, airborne radars, operating as part of NASA’s Operation IceBridge also acquired data over the full length of the ACT-10 path, simultaneously with a portion of the traverse and within days for the remaining segments. The IceBridge and ACT-10 data are to be combined in a calibration effort such that snow accumulation rates may be mapped elsewhere in Greenland and even in Antarctica.

Long range geoid control through the European GPS traverse: Final results

NASA Technical Reports Server (NTRS)

Torge, W.; Basic, T.; Denker, H.; Doliff, J.; Wenzel, H.-G.

1989-01-01

The European north-south Global Positioning System (GPS)-traverse proposed by IAG SSG 3.88, should control and improve the European geoid. This traverse follows first order leveling lines, included in the United European Leveling Network. From May to August 1986 and in July 1987, the central and northern part of this traverse (approx. 3000 km) was observed using up to four TI 4100 receivers, covering Austria, Federal Republic of Germany, Denmark, Sweden and Norway. Both traverse parts contain 71 stations with distances of about 50 km. In addition, 8 stations have been occupied for overlapping connections, and traverse links were established for connecting the fundamental stations Wettzell (VLBI and SLR) and Onsala (VLBI). Final results show a GPS observation precision of a few cm for loops of some 100 km circumference. After transformation of the GPS results to geoid heights using the leveled heights, comparisons with different existing gravimetric geoid determinations including geopotential models were performed. In addition, new geopotential models complete to degree and order 360 tailored to gravity data in Europe, and gravimetric geoid solutions using 6 x 10' mean gravity anomalies were investigated. The comparison with GPS and leveling yields rms discrepancies of + or - 0.1...0.2 m over 1000 km traverse sections for the best solutions, but a strong slope is existing in Sweden and southern Norway in almost all solutions, which is probably caused by systematic errors in the available gravity data for Scandinavia. This is confirmed by a new geoid computation at the Danish Geodetic Institute where the slope has disappeared. If this new solution is taken for the northern traverse section and the best solution for the central part, the rms discrepancy reduces to approximately + or - 0.2 m over 3000 km. Thus, a + or - 10 (exp 7) relative height accuracy seems to be achievable over long distances with the GPS/leveling and the gravimetric geoid calculation techniques, applied in this experiment.

Recent Mastcam and MAHLI Visible/Near-Infrared Spectrophotometric Observations: Pahrump Hills to Marias Pass

NASA Astrophysics Data System (ADS)

Johnson, J. R.; Bell, J. F., III; Hayes, A.; Deen, R. G.; Godber, A.; Arvidson, R. E.; Lemmon, M. T.

2015-12-01

The Mastcam imaging system on the Curiosity rover continued acquisition of multispectral images of the same terrain at multiple times of day at three new rover locations between sols 872 and 1003. These data sets will be used to investigate the light scattering properties of rocks and soils along the Curiosity traverse using radiative transfer models. Images were acquired by the Mastcam-34 (M-34) camera on Sols 872-892 at 8 times of day (Mojave drill location), Sols 914-917 (Telegraph Peak drill location) at 9 times of day, and Sols 1000-1003 at 8 times of day (Stimson-Murray Formation contact near Marias Pass). Data sets were acquired using filters centered at 445, 527, 751, and 1012 nm, and the images were jpeg-compressed. Data sets typically were pointed ~east and ~west to provide phase angle coverage from near 0° to 125-140° for a variety of rocks and soils. Also acquired on Sols 917-918 at the Telegraph Peak site was a multiple time-of-day Mastcam sequence pointed southeast using only the broadband Bayer filters that provided losslessly compressed images with phase angles ~55-129°. Navcam stereo images were also acquired with each data set to provide broadband photometry and terrain measurements for computing surface normals and local incidence and emission angles used in photometric modeling. On Sol 1028, the MAHLI camera was used as a goniometer to acquire images at 20 arm positions, all centered at the same location within the work volume from a near-constant distance of 85 cm from the surface. Although this experiment was run at only one time of day (~15:30 LTST), it provided phase angle coverage from ~30° to ~111°. The terrain included the contact between the uppermost portion of the Murray Formation and the Stimson sandstones, and was the first acquisition of both Mastcam and MALHI photometry images at the same rover location. The MAHLI images also allowed construction of a 3D shape model of the Stimson-Murray contact region. The attached figure shows a phase color composite of the western Stimson area, created using phase angles of 8°, 78°, and 130° at 751 nm. The red areas correspond to highly backscattering materials that appear to concentrate along linear fractures throughout this area. The blue areas correspond to more forward scattering materials dispersed through the stratigraphic sequence.

Traversing psychological distance.

PubMed

Liberman, Nira; Trope, Yaacov

2014-07-01

Traversing psychological distance involves going beyond direct experience, and includes planning, perspective taking, and contemplating counterfactuals. Consistent with this view, temporal, spatial, and social distances as well as hypotheticality are associated, affect each other, and are inferred from one another. Moreover, traversing all distances involves the use of abstraction, which we define as forming a belief about the substitutability for a specific purpose of subjectively distinct objects. Indeed, across many instances of both abstraction and psychological distancing, more abstract constructs are used for more distal objects. Here, we describe the implications of this relation for prediction, choice, communication, negotiation, and self-control. We ask whether traversing distance is a general mental ability and whether distance should replace expectancy in expected-utility theories. Copyright © 2014 Elsevier Ltd. All rights reserved.

Use of ALS data for digital terrain extraction and roughness parametrization in floodplain areas

NASA Astrophysics Data System (ADS)

Idda, B.; Nardinocchi, C.; Marsella, M.

2009-04-01

In order to undertake structural and land planning actions aimed at improving risk thresholds and vulnerability associated to floodplain inundation, the evaluation of the area concerning the channel overflowing from his natural embankments it is of essential importance. Floodplain models requires the analysis of historical floodplains extensions, ground's morphological structure and hydraulic measurements. Within this set of information, a more detailed characterization about the hydraulic roughness, which controls the velocity to the hydraulic flow, is a interesting challenge to achieve a 2D spatial distribution into the model. Remote sensing optical and radar sensors techniques can be applied to generate 2D and 3D map products useful to perimeter floodplains extension during the main event and extrapolate river cross-sections. Among these techniques, it is unquestionable the enhancement that the Airborne Laser Scanner (ALS) have brought for its capability to extract high resolution and accurate Digital Terrain Models. In hydraulic applications, a number of studies investigated the use of ALS for DTM generation and approached the quantitative estimations of the hydraulic roughness. The aim of this work is the generation of a digital terrain model and the estimation of hydraulic parameters useful for floodplains models from Airborne Laser Scanner data collected in a test area, which encloses a portion of a drainage basin of the Mela river (Sicily, Italy). From the Airborne Laser Scanner dataset, a high resolution Digital Elevation Model was first created, then after applying filtering and classification processes, a dedicated procedure was implemented to assess automatically a value for the hydraulic roughness coefficient (in Manning's formulation) per each point interested in the floodplain. The obtained results allowed to generate maps of equal roughness, hydraulic level depending, based on the application of empirical formulas for specific-type vegetation at each classified ALS point.

Semi-automated extraction of longitudinal subglacial bedforms from digital terrain models - Two new methods

NASA Astrophysics Data System (ADS)

Jorge, Marco G.; Brennand, Tracy A.

2017-07-01

Relict drumlin and mega-scale glacial lineation (positive relief, longitudinal subglacial bedforms - LSBs) morphometry has been used as a proxy for paleo ice-sheet dynamics. LSB morphometric inventories have relied on manual mapping, which is slow and subjective and thus potentially difficult to reproduce. Automated methods are faster and reproducible, but previous methods for LSB semi-automated mapping have not been highly successful. Here, two new object-based methods for the semi-automated extraction of LSBs (footprints) from digital terrain models are compared in a test area in the Puget Lowland, Washington, USA. As segmentation procedures to create LSB-candidate objects, the normalized closed contour method relies on the contouring of a normalized local relief model addressing LSBs on slopes, and the landform elements mask method relies on the classification of landform elements derived from the digital terrain model. For identifying which LSB-candidate objects correspond to LSBs, both methods use the same LSB operational definition: a ruleset encapsulating expert knowledge, published morphometric data, and the morphometric range of LSBs in the study area. The normalized closed contour method was separately applied to four different local relief models, two computed in moving windows and two hydrology-based. Overall, the normalized closed contour method outperformed the landform elements mask method. The normalized closed contour method performed on a hydrological relief model from a multiple direction flow routing algorithm performed best. For an assessment of its transferability, the normalized closed contour method was evaluated on a second area, the Chautauqua drumlin field, Pennsylvania and New York, USA where it performed better than in the Puget Lowland. A broad comparison to previous methods suggests that the normalized relief closed contour method may be the most capable method to date, but more development is required.

Study of different deposition parameterizations on an atmospheric mesoscale Eulerian air quality model: Madrid case study

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

San Jose, R.; Cortes, J.; Moreno, J.

1996-12-31

The importance of an adequate parameterization of the deposition process for the simulation of the three dimensional pollution fields in a mesoscale context is out of any doubt. An accurate parameterization of the deposition flux is essential for a precise determination of the flux removal and for allowing longer simulation periods of the atmospheric processes. In addition, an accurate deposition pattern will allow a much more precise diagnostic of the impact of different pollutants on the different types of terrain actually present in complex environments such as the urban ones and their environs. In this contribution, we have implemented amore » complex resistance deposition model into an Air Quality System (ANA) applied over a large city such as Madrid (Spain). The model domain is 80x100 km which is much larger than the actual urban domain. The ANA model is composed on four different modules; a meteorological module which solves numerically the Navier Stokes equations and predicts the wind, temperature and humidity three dimensional fields every time step; the emission module, which produces the emissions every hour and with a high spatial resolution (250 x 250 m) and with landuse information (for biogenic emissions) from the Landsat-5 satellite image; a photochemical modules, which is based on the CBM-IV mechanism and solved numerically by following the SMVGEAR method and finally, a deposition module which is based on the resistance approach. The resistance module takes into account the landuse classification, the global solar radiation, the humidity of the terrain, the pH of the terrain, the characteristics of the pollutant, the Leaf Area Index and the reactivity of the pollutant.« less

Towards Automation in Landcover Mapping from LiDAR Data in Alpine Environment

NASA Astrophysics Data System (ADS)

Dorninger, Peter; Briese, Christian; Nothegger, Clemens; Klauser, Armin

2010-05-01

Digital terrain models derived from airborne LiDAR (often referred to as airborne laser scanning) are commonly used for various applications in geomorphology. The ongoing development in sensor technology makes flight campaigns with some 10 points per square meter economically feasible for large areas. Simultaneously, the achievable accuracy of the originally acquired points as well as those of the derived products increases due to improved measurement techniques. Additionally, full-waveform (FWF) laser scanning systems record the time-dependent strength of the backscattered signal. This allows for the determination of numerous points (i.e. echoes) for one emitted laser beam hitting multiple targets within its footprint. Practically, about five echoes may be determined from the digitized signal form. Furthermore, additional attributes can be determined for each echo. These are, for example, a reflectivity measure (amplitude), the widening of the echo (echo width), or the sequence of the echoes of a single shot. By considering the polar measurement range and atmospheric conditions, a physical calibration of such measurements is possible. The application of FWF information to increase the accuracy and the reliability of digital terrain models especially in areas with dense vegetation was shown by Doneus & Briese (2006). However, these additional attributes are rarely used for object or landcover classification. This is still the domain of automated image interpretation (e.g. Zebedin et al., 2006). Nevertheless, image interpretation has well known deficiencies in areas with vegetation or if shadows occur. Therefore, we tested a hybrid approach which uses conventional first echo / last echo (FE/LE) airborne laser scanning data (first and last pulse) and an RGB-orthophoto. The testing site is located in an alpine area in Tyrol, Austria. For the classification, topographic models, a slope map, a local roughness measure and a penetration ratio were determined from the laser scanning data. Additionally, a vegetation index was derived from the orthophoto. Using a supervised classification approach based on well known testing sites, the following classes could be determined: forest, dwarf-pines, grass land, debris, and bare rock. After a generalization step, we compared the results to two existing topographic landcover maps showing high correlation. However, the method showed several shortcomings in shadowed areas in the orthophoto. Furthermore, a separation of debris and bare rock was only possibly by a slope threshold. To overcome these problems, we investigated another testing site, situated in the alpine region of Lower Austria, Austria. The data was acquired by a Riegl LMS-Q560 FWF laser scanner. In this case we did not use an orthophoto. Instead we considered additional parameters derived from the FWF data. These were a distance corrected amplitude and the pulse width, and, especially in regions with high vegetation, multiple echoes were available. Furthermore, we derived highly robust local tangential planes for each point (Nothegger & Dorninger, 2008). Due to those tangential planes being computed in three-dimensions, the computation of the slope angles, especially in steep regions, becomes more reliable. Additionally, quality parameters provided by the plane estimation were considered for the classification. For example, the local roughness measure indicates vegetation. So it could be demonstrated that point based classification of LiDAR data allows for landcover classification in alpine areas. To achieve reliable results from FE/LE laser scanning data, the integration of image data was necessary. However, this introduced typical shortcomings of geomorphological interpretation in vegetation and shadowed areas. The use of FWF laser scanning allows overcoming these shortcomings and increasing the automation of reliable landcover mapping including the characteristics of alpine geomorphic features. References: C. Nothegger, P. Dorninger: "3D Filtering of High-Resolution Terrestrial Laser Scanner Point Clouds for Cultural Heritage Documentation"; Photogrammetrie, Fernerkundung, Geoinformation, 1 (2009), 53 - 63. M. Doneus, C. Briese: "Digital Terrain Modelling For Archaeological Interpretation Within Forested Areas Using Full-Waveform Laserscanning", The 7Th International Symposium on Virtual Reality, Archaeology and Cultural Heritage Vast (2006) L. Zebedin, A. Klaus, B. Gruber-Geymayer, K. Karner: "Towards 3D map generation from digital aerial images", ISPRS Journal of Photogrammetry & Remote Sensing, Vol. 60, 413-427 (2006).

Inundation Mapping for Heterogeneous Land Covers with Synthetic Aperture Radar and Auxiliary Data

NASA Astrophysics Data System (ADS)

Aristizabal, F.; Judge, J.

2017-12-01

Synthetic Aperture Radar (SAR) has been widely used to detect surface water inundation and provides an advantage over multi-spectral instruments due to cloud penetration and higher spatial resolutions. However, detecting inundation for densely vegetated and urban areas with SAR remains a challenge due to corner reflection and diffuse scattering. Additionally, flat urban surfaces such as roads exhibit similar backscatter coefficients as urban surface water. Differences between inundated and non-inundated backscatter over vegetated land covers of static spatial domains have been demonstrated in previous studies. However, these backscatter differences are sensitive to changes in water depth, soil moisture, SAR sensor parameters, terrain, and vegetation properties. These factors tend to make accurate inundation mapping of heterogeneous regions across varying spatial and temporal extents difficult with exclusive use of SAR. This study investigates the utility of auxiliary data specifically high-resolution (10m) terrain information in conjunction with SAR (10m) for detecting inundated areas. Digital elevation models provide an absolute elevation which could enhance inundation mapping given a limited study extent with similar topography. To counter this limitation, a hydrologically relevant terrain index is proposed known as the Height Above Nearest Drainage (HAND) which normalizes topography to the local relative elevation of the nearest point along the relevant drainage line. HAND has been used for assisting remote sensing inundation mapping in the pre-processing stage as a terrain correction tool and as a post-processing mask that eliminates areas of low inundation risk. While the latter technique is useful for reduction of commission errors, it does not employ HAND for reducing omission errors that can occur from dense vegetation, spectral noise, and urban features. Sentinel-1 dual-pol SAR as well as auxiliary HAND will be used as predictors by various supervised and unsupervised classification algorithms. The October 2016 record flood caused by Hurricane Matthew along the Neuse River in North Carolina will be used as a study area. For validation, locally inundated areas will be derived from observed river stages and high water marks furnished by the U.S. Geological Survey.

Evaluation of Lightning Jumps as a Predictor of Severe Weather in the Northeastern United States

NASA Astrophysics Data System (ADS)

Eck, Pamela

Severe weather events in the northeastern United States can be challenging to forecast, given how the evolution of deep convection can be influenced by complex terrain and the lack of quality observations in complex terrain. To supplement existing observations, this study explores using lightning to forecast severe convection in areas of complex terrain in the northeastern United States. A sudden increase in lightning flash rate by two standard deviations (2sigma), also known as a lightning jump, may be indicative of a strengthening updraft and an increased probability of severe weather. This study assesses the value of using lightning jumps to forecast severe weather during July 2015 in the northeastern United States. Total lightning data from the National Lightning Detection Network (NLDN) is used to calculate lightning jumps using a 2sigma lightning jump algorithm with a minimum threshold of 5 flashes min-1. Lightning jumps are used to predict the occurrence of severe weather, as given by whether a Storm Prediction Center (SPC) severe weather report occurred 45 min after a lightning jump in the same cell. Results indicate a high probability of detection (POD; 85%) and a high false alarm rate (FAR; 89%), suggesting that lightning jumps occur in sub-severe storms. The interaction between convection and complex terrain results in a locally enhanced updraft and an increased probability of severe weather. Thus, it is hypothesized that conditioning on an upslope variable may reduce the FAR. A random forest is introduced to objectively combine upslope flow, calculated using data from the High Resolution Rapid Refresh (HRRR), flash rate (FR), and flash rate changes with time (DFRDT). The random forest, a machine-learning algorithm, uses pattern recognition to predict a severe or non-severe classification based on the predictors. In addition to upslope flow, FR, and DFRDT, Next-Generation Radar (NEXRAD) Level III radar data was also included as a predictor to compare its value to that of lightning data. Results indicate a high POD (82%), a low FAR (28%), and that lightning data and upslope flow data account for 39% and 32% of variable importance, respectively.

Western United States beyond the Four Corners

NASA Technical Reports Server (NTRS)

2002-01-01

The breathtaking beauty of the western United States is apparent in this image from the Multi-angle Imaging SpectroRadiometer on NASA's Terra spacecraft. Data from 16 different swaths acquired between April 2000 and September 2001by MISR's vertical-viewing (nadir) camera were used to create this cloud-free natural-color image mosaic. The image is draped over a 100-meter (328-foot)shaded relief Digital Terrain Elevation Model from the United States Geological Survey.

Among the prominent features are the snow-capped Rocky Mountains traversing Montana, Wyoming, Colorado and New Mexico. In the northern portion of the image, the Columbia Plateau stretches across Washington, Oregon and Idaho. Many major rivers originate in this region, including the Missouri to the east of the Continental Divide, the Snake to the west, and the Colorado which wends across Utah and Arizona. The Colorado Plateau and vibrant red-colored rocks of the Painted Desert extend south from Utah into Arizona. In the southwestern portion of the image, California's San Joaquin Valley and the Mojave Desert of California and Nevada give way to the Los Angeles basin and the Pacific Ocean.

The Terra spacecraft is part of NASA's Earth Science Enterprise, a long-term research and technology program designed to examine Earth's land, oceans, atmosphere, ice and life as a total integrated system.

Combined EDL-Mobility Planning for Planetary Missions

NASA Technical Reports Server (NTRS)

Kuwata, Yoshiaki; Balaram, Bob

2011-01-01

This paper presents an analysis framework for planetary missions that have coupled mobility and EDL (Entry-Descent-Landing) systems. Traditional systems engineering approaches to mobility missions such as MERs (Mars Exploration Rovers) and MSL (Mars Science Laboratory) independently study the EDL system and the mobility system, and does not perform explicit trade-off between them or risk minimization of the overall system. A major challenge is that EDL operation is inherently uncertain and its analysis results such as landing footprint are described using PDF (Probability Density Function). The proposed approach first builds a mobility cost-to-go map that encodes the driving cost of any point on the map to a science target location. The cost could include variety of metrics such as traverse distance, time, wheel rotation on soft soil, and closeness to hazards. It then convolves the mobility cost-to-go map with the landing PDF given by the EDL system, which provides a histogram of driving cost, which can be used to evaluate the overall risk of the mission. By capturing the coupling between EDL and mobility explicitly, this analysis framework enables quantitative tradeoff between EDL and mobility system performance, as well as the characterization of risks in a statistical way. The simulation results are presented with a realistic Mars terrain data

Flying Drosophila orient to sky polarization.

PubMed

Weir, Peter T; Dickinson, Michael H

2012-01-10

Insects maintain a constant bearing across a wide range of spatial scales. Monarch butterflies and locusts traverse continents [1, 2], and foraging bees and ants travel hundreds of meters to return to their nests [1, 3, 4], whereas many other insects fly straight for only a few centimeters before changing direction. Despite this variation in spatial scale, the brain region thought to underlie long-distance navigation is remarkably conserved [5, 6], suggesting that the use of a celestial compass is a general and perhaps ancient capability of insects. Laboratory studies of Drosophila have identified a local search mode in which short, straight segments are interspersed with rapid turns [7, 8]. However, this flight mode is inconsistent with measured gene flow between geographically separated populations [9-11], and individual Drosophila can travel 10 km across desert terrain in a single night [9, 12, 13]-a feat that would be impossible without prolonged periods of straight flight. To directly examine orientation behavior under outdoor conditions, we built a portable flight arena in which a fly viewed the natural sky through a liquid crystal device that could experimentally rotate the polarization angle. Our findings indicate that Drosophila actively orient using the sky's natural polarization pattern. Copyright © 2012 Elsevier Ltd. All rights reserved.

Northeast View From Pathfinder Lander

NASA Technical Reports Server (NTRS)

1997-01-01

This panorama of the region to the northeast of the lander was constructed to support the Sojourner Rover Team's plans to conduct an 'autonomous traverse' to explore the terrain away from the lander after science objectives in the lander vicinity had been met. The large, relatively bright surface in the foreground, about 10 meters (33 feet) from the spacecraft, in this scene is 'Baker's Bench.' The large, elongated rock left of center in the middle distance is 'Zaphod.'

This view was produced by combining 8 individual 'Superpan' scenes from the left and right eyes of the IMP camera. Each frame consists of 8 individual frames (left eye) and 7 frames (right eye) taken with different color filters that were enlarged by 500% and then co-added using Adobe Photoshop to produce, in effect, a super-resolution panchromatic frame that is sharper than an individual frame would be.

Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech). The IMP was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

Experiments with an EVA Assistant Robot

NASA Technical Reports Server (NTRS)

Burridge, Robert R.; Graham, Jeffrey; Shillcutt, Kim; Hirsh, Robert; Kortenkamp, David

2003-01-01

Human missions to the Moon or Mars will likely be accompanied by many useful robots that will assist in all aspects of the mission, from construction to maintenance to surface exploration. Such robots might scout terrain, carry tools, take pictures, curate samples, or provide status information during a traverse. At NASA/JSC, the EVA Robotic Assistant (ERA) project has developed a robot testbed for exploring the issues of astronaut-robot interaction. Together with JSC's Advanced Spacesuit Lab, the ERA team has been developing robot capabilities and testing them with space-suited test subjects at planetary surface analog sites. In this paper, we describe the current state of the ERA testbed and two weeks of remote field tests in Arizona in September 2002. A number of teams with a broad range of interests participated in these experiments to explore different aspects of what must be done to develop a program for robotic assistance to surface EVA. Technologies explored in the field experiments included a fuel cell, new mobility platform and manipulator, novel software and communications infrastructure for multi-agent modeling and planning, a mobile science lab, an "InfoPak" for monitoring the spacesuit, and delayed satellite communication to a remote operations team. In this paper, we will describe this latest round of field tests in detail.

Collapse and pull - down analysis of high voltage electricity transmission towers subjected to cyclonic wind

NASA Astrophysics Data System (ADS)

Ahmed, Ammar; Arthur, Craig; Edwards, Mark

2010-06-01

Bulk electricity transmission lines are linear assets that can be very exposed to wind effects, particularly where they traverse steep topography or open coastal terrain in cyclonic regions. Interconnected nature of the lattice type towers and conductors also, present complex vulnerabilities. These relate to the direction of wind attack to the conductors and the cascading failure mechanisms in which the failure of a single tower has cascading effects on neighbouring towers. Such behaviour is exacerbated by the finely tuned nature of tower design which serves to minimize cost and reserve strength at design wind speeds. There is a clear need to better quantify the interdependent vulnerabilities of these critical infrastructure assets in the context of the severe wind hazard. This paper presents a novel methodology developed for the Critical Infrastructure Protection Modelling and Analysis (CIPMA) capability for assessing local wind speeds and the likelihood of tower failure for a range of transmission tower and conductor types. CIPMA is a program managed by the Federal Attorney-General's Department and Geoscience Australia is leading the technical development. The methodology then involves the development of heuristically derived vulnerability models that are consistent with Australian industry experience and full-scale static tower testing results, considering isolated tower loss along with three interdependent failure mechanisms to give overall likelihoods of failure.

Field testing of tele-operation versus shared and traded control for military assets: an evaluation involving real-time embedded simulation and soldier assessment

NASA Astrophysics Data System (ADS)

Metcalfe, Jason S.; Alban, Jillyn; Cosenzo, Keryl; Johnson, Tony; Capstick, Erin

2010-04-01

Those applying autonomous technologies to military systems strive to enhance human-robot and robot-robot performance. Beyond performance, the military must be concerned with local area security. Characterized as "secure mobility", military systems must enable safe and effective terrain traversal concurrent with maintenance of situational awareness (SA). One approach to interleaving these objectives is supervisory control, with popular options being shared and traded control. Yet, with the scale and expense of military assets, common technical issues such as transition time and safeguarding become critical; especially as they interact with Soldier capabilities. Study is required to enable selection of control methods that optimize Soldier-system performance while safeguarding both individually. The current report describes a study utilizing experimental military vehicles and simulation systems enabling teleoperation and supervisory control. Automated triggering of SA demands was interspersed with a set of challenging driving maneuvers in a 'teleoperation-like' context to examine the influence of supervisory control on Soldier-system performance. Results indicated that direct application of supervisory control, while beneficial under particular demands, requires continued development to be perceived by Soldiers as useful. Future efforts should more tightly couple the information exchanged between the Soldier and system to overcome current challenges not addressed by standard control methods.

Design of a Long Endurance Titan VTOL Vehicle

NASA Technical Reports Server (NTRS)

Prakash, Ravi; Braun, Robert D.; Colby, Luke S.; Francis, Scott R.; Guenduez, Mustafa E.; Flaherty, Kevin W.; Lafleur, Jarret M.; Wright, Henry S.

2006-01-01

Saturn s moon Titan promises insight into many key scientific questions, many of which can be investigated only by in situ exploration of the surface and atmosphere of the moon. This research presents a vertical takeoff and landing (VTOL) vehicle designed to conduct a scientific investigation of Titan s atmosphere, clouds, haze, surface, and any possible oceans. In this investigation, multiple options for vertical takeoff and horizontal mobility were considered. A helicopter was baselined because of its many advantages over other types of vehicles, namely access to hazardous terrain and the ability to perform low speed aerial surveys. Using a nuclear power source and the atmosphere of Titan, a turbo expander cycle produces the 1.9 kW required by the vehicle for flight and operations, allowing it to sustain a long range, long duration mission that could traverse the majority of Titan. Such a power source could increase the lifespan and quality of science for planetary aerial flight to an extent that the limiting factor for the mission life is not available power but the life of the mechanical parts. Therefore, the mission could potentially last for years. This design is the first to investigate the implications of this potentially revolutionary technology on a Titan aerial vehicle.

Modeling, construction and experimental validation of actuated rolling dynamics of the cylindrical Transforming Roving-Rolling Explorer (TRREx)

NASA Astrophysics Data System (ADS)

Edwin, L.; Mazzoleni, A.; Gemmer, T.; Ferguson, S.

2017-03-01

Planetary surface exploration technology over the past few years has seen significant advancements on multiple fronts. Robotic exploration platforms are becoming more sophisticated and capable of embarking on more challenging missions. More unconventional designs, particularly transforming architectures that have multiple modes of locomotion, are being studied. This work explores the capabilities of one such novel transforming rover called the Transforming Roving-Rolling Explorer (TRREx). Biologically inspired by the armadillo and the golden-wheel spider, the TRREx has two modes of locomotion: it can traverse on six wheels like a conventional rover on benign terrain, but can transform into a sphere when necessary to negotiate steep rugged slopes. The ability to self-propel in the spherical configuration, even in the absence of a negative gradient, increases the TRREx's versatility and its concept value. This paper describes construction and testing of a prototype cylindrical TRREx that demonstrates that "actuated rolling" can be achieved, and also presents a dynamic model of this prototype version of the TRREx that can be used to investigate the feasibility and value of such self-propelled locomotion. Finally, we present results that validate our dynamic model by comparing results from computer simulations made using the dynamic model to experimental results acquired from test runs using the prototype.

Energy-Absorbing, Lightweight Wheels

NASA Technical Reports Server (NTRS)

Waydo, Peter

2003-01-01

Improved energy-absorbing wheels are under development for use on special-purpose vehicles that must traverse rough terrain under conditions (e.g., extreme cold) in which rubber pneumatic tires would fail. The designs of these wheels differ from those of prior non-pneumatic energy-absorbing wheels in ways that result in lighter weights and more effective reduction of stresses generated by ground/wheel contact forces. These wheels could be made of metals and/or composite materials to withstand the expected extreme operating conditions. As shown in the figure, a wheel according to this concept would include an isogrid tire connected to a hub via spring rods. The isogrid tire would be a stiff, lightweight structure typically made of aluminum. The isogrid aspect of the structure would both impart stiffness and act as a traction surface. The hub would be a thin-walled body of revolution having a simple or compound conical or other shape chosen for structural efficiency. The spring rods would absorb energy and partially isolate the hub and the supported vehicle from impact loads. The general spring-rod configuration shown in the figure was chosen because it would distribute contact and impact loads nearly evenly around the periphery of the hub, thereby helping to protect the hub against damage that would otherwise be caused by large loads concentrated onto small portions of the hub.

Atmospheric effects on laser eye safety and damage to instrumentation

NASA Astrophysics Data System (ADS)

Zilberman, Arkadi; Kopeika, Natan S.

2017-10-01

Electro-optical sensors as well as unprotected human eyes are extremely sensitive to laser radiation and can be permanently damaged from direct or reflected beams. Laser detector/eye hazard depends on the interaction between the laser beam and the media in which it traverses. The environmental conditions including terrain features, atmospheric particulate and water content, and turbulence, may alter the laser's effect on the detector/eye. It is possible to estimate the performance of an electro-optical system as long as the atmospheric propagation of the laser beam can be adequately modeled. More recent experiments and modeling of atmospheric optics phenomena such as inner scale effect, aperture averaging, atmospheric attenuation in NIR-SWIR, and Cn2 modeling justify an update of previous eye/detector safety modeling. In the present work, the influence of the atmospheric channel on laser safety for personnel and instrumentation is shown on the basis of theoretical and experimental data of laser irradiance statistics for different atmospheric conditions. A method for evaluating the probability of damage and hazard distances associated with the use of laser systems in a turbulent atmosphere operating in the visible and NIR-SWIR portions of the electromagnetic spectrum is presented. It can be used as a performance prediction model for directed energy engagement of ground-based or air-based systems.

Evolving directions in NASA's planetary rover requirements and technology

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Montemerlo, Mel; Whittaker, W.

1993-01-01

The evolution of NASA's planning for planetary rovers (that is robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that was developed to achieve the desired capabilities is reviewed. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. Robotic vehicles and their associated control systems, developed in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission, are described. Goals suggested at the time for such a MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions are presented. Some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible are described.

Digital mapping of mountain snowcover under European conditions. [Dischma Valley and Landwasser, Davos-Grisons, Switzerland

NASA Technical Reports Server (NTRS)

Haefner, H. (Principal Investigator)

1980-01-01

The author has identified the following significant results. A method for monitoring the snow cover in high mountain terrain such as the Swiss Alps includes the rapid classification of multitemporal data for small watersheds with very high accuracy. In addition to LANDSAT channels 4,5,6 and 7 an artificial channel was created containing the average altitude information of each pixel and allowing a subdivision of the watershed in accordance to the requirements of the runoff model. Even in very small watersheds of about 40 sq km the results achieved from LANDSAT data are at least as accurate as the ones gained from measurements of orthophotographs.

The Potential Risks and Future Impact of a Large Leverett Glacier Crevasse along the South Pole Traverse (SPoT)

DTIC Science & Technology

2017-10-01

agricultural tractors used on SPoT (Case Corporation and Caterpillar). (Adapted from Lever and Thur 2014.) ................. 2 2 Map showing the 1600...traversed for the first time in 2005 as a proof-of-concept, using a combination of several commercial rubber-tracked agricultural tractors (Caterpillar...traverse route. Inset shows two rubber-tracked, agricultural tractors used on SPoT (Case Corporation and Caterpillar). (Adapted from Lever and Thur 2014

Automatic detection of sweep-meshable volumes

DOEpatents

Tautges,; Timothy J. , White; David, R [Pittsburgh, PA

2006-05-23

A method of and software for automatically determining whether a mesh can be generated by sweeping for a representation of a geometric solid comprising: classifying surface mesh schemes for surfaces of the representation locally using surface vertex types; grouping mappable and submappable surfaces of the representation into chains; computing volume edge types for the representation; recursively traversing surfaces of the representation and grouping the surfaces into source, target, and linking surface lists; and checking traversal direction when traversing onto linking surfaces.

Co-visualization of DNA damage and ion traversals in live mammalian cells using a fluorescent nuclear track detector

PubMed Central

Kodaira, Satoshi; Konishi, Teruaki; Kobayashi, Alisa; Maeda, Takeshi; Ahmad, Tengku Ahbrizal Farizal Tengku; Yang, Gen; Akselrod, Mark S.; Furusawa, Yoshiya; Uchihori, Yukio

2015-01-01

Abstract The geometric locations of ion traversals in mammalian cells constitute important information in the study of heavy ion-induced biological effect. Single ion traversal through a cellular nucleus produces complex and massive DNA damage at a nanometer level, leading to cell inactivation, mutations and transformation. We present a novel approach that uses a fluorescent nuclear track detector (FNTD) for the simultaneous detection of the geometrical images of ion traversals and DNA damage in single cells using confocal microscopy. HT1080 or HT1080–53BP1-GFP cells were cultured on the surface of a FNTD and exposed to 5.1-MeV/n neon ions. The positions of the ion traversals were obtained as fluorescent images of a FNTD. Localized DNA damage in cells was identified as fluorescent spots of γ-H2AX or 53BP1-GFP. These track images and images of damaged DNA were obtained in a short time using a confocal laser scanning microscope. The geometrical distribution of DNA damage indicated by fluorescent γ-H2AX spots in fixed cells or fluorescent 53BP1-GFP spots in living cells was found to correlate well with the distribution of the ion traversals. This method will be useful for evaluating the number of ion hits on individual cells, not only for micro-beam but also for random-beam experiments. PMID:25324538

Local-scale stratigraphy of grooved terrain on Ganymede

NASA Technical Reports Server (NTRS)

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

1987-01-01

The surface of the Jovian satellite, Ganymede, is divided into two main units, dark terrain cut by arcuate and subradial furrows, and light terrain consisting largely of areas with pervasive U-shaped grooves. The grooved terrain may be subdivided on the basis of pervasive morphology of groove domains into four terrain types: (1) elongate bands of parallel grooves (groove lanes); (2) polygonal domains of parallel grooves (grooved polygons); (3) polygonal domains of two orthogonal groove sets (reticulate terrain); and (4) polygons having two to several complexly cross-cutting groove sets (complex grooved terrain). Reticulate terrain is frequently dark and not extensively resurfaced, and grades to a more hummocky terrain type. The other three grooved terrain types have almost universally been resurfaced by light material during their emplacement. The sequence of events during grooved terrain emplacement has been investigated. An attempt is made to integrate observed geologic and tectonic patterns to better constrain the relative ages and styles of emplacement of grooved terrain types. A revised model of grooved terrain emplacement is proposed and is tested using detailed geologic mapping and measurement of crater density.

Selection method of terrain matching area for TERCOM algorithm

NASA Astrophysics Data System (ADS)

Zhang, Qieqie; Zhao, Long

2017-10-01

The performance of terrain aided navigation is closely related to the selection of terrain matching area. The different matching algorithms have different adaptability to terrain. This paper mainly studies the adaptability to terrain of TERCOM algorithm, analyze the relation between terrain feature and terrain characteristic parameters by qualitative and quantitative methods, and then research the relation between matching probability and terrain characteristic parameters by the Monte Carlo method. After that, we propose a selection method of terrain matching area for TERCOM algorithm, and verify the method correctness with real terrain data by simulation experiment. Experimental results show that the matching area obtained by the method in this paper has the good navigation performance and the matching probability of TERCOM algorithm is great than 90%

Assessing the importance of terrain parameters on glide avalanche release

NASA Astrophysics Data System (ADS)

Peitzsch, E.; Hendrikx, J.; Fagre, D. B.

2013-12-01

Glide snow avalanches are dangerous and difficult to predict. Despite recent research there is still a lack of understanding regarding the controls of glide avalanche release. Glide avalanches often occur in similar terrain or the same locations annually and observations suggest that topography may be critical. Thus, to gain an understanding of the terrain component of these types of avalanches we examined terrain parameters associated with glide avalanche release as well as areas of consistent glide crack formation but no subsequent avalanches. Glide avalanche occurrences visible from the Going-to-the-Sun Road corridor in Glacier National Park, Montana from 2003-2013 were investigated using an avalanche database derived of daily observations each year from April 1 to June 15. This yielded 192 glide avalanches in 53 distinct avalanche paths. Each avalanche occurrence was digitized in a GIS using satellite, oblique, and aerial imagery as reference. Topographical parameters such as area, slope, aspect, elevation and elevation were then derived for the entire dataset utilizing GIS tools and a 10m DEM. Land surface substrate and surface geology were derived from National Park Service Inventory and Monitoring maps and U.S. Geological Survey surface geology maps, respectively. Surface roughness and glide factor were calculated using a four level classification index. . Then, each avalanche occurrence was aggregated to general avalanche release zones and the frequencies were compared. For this study, glide avalanches released in elevations ranging from 1300 to 2700 m with a mean aspect of 98 degrees (east) and a mean slope angle of 38 degrees. The mean profile curvature for all glide avalanches was 0.15 and a plan curvature of -0.01, suggesting a fairly linear surface (i.e. neither convex nor concave). The glide avalanches occurred in mostly bedrock made up of dolomite and limestone slabs and talus deposits with very few occurring in alpine meadows. However, not all glide avalanches failed as cohesive slabs on this bedrock surface. Consequently, surface roughness proved to be a useful descriptive variable to discriminate between slopes that avalanched and those that did not. Annual 'repeat offender' glide avalanche paths were characterized by smooth outcropping rock plates with stratification planes parallel to the slope. Combined with aspect these repeat offenders were also members of the highest glide category. Using this understanding of the role of topographic parameters on glide avalanche activity, a spatial terrain based model was developed to identify other areas with high glide avalanche potential outside of our immediate observation area.

Assessing the importance of terrain parameters on glide avalanche release

USGS Publications Warehouse

Peitzsch, Erich H.; Hendrikx, Jordy; Fagre, Daniel B.

2014-01-01

Glide snow avalanches are dangerous and difficult to predict. Despite recent research there is still a lack of understanding regarding the controls of glide avalanche release. Glide avalanches often occur in similar terrain or the same locations annually and observations suggest that topography may be critical. Thus, to gain an understanding of the terrain component of these types of avalanches we examined terrain parameters associated with glide avalanche release as well as areas of consistent glide crack formation but no subsequent avalanches. Glide avalanche occurrences visible from the Going-to-the-Sun Road corridor in Glacier National Park, Montana from 2003-2013 were investigated using an avalanche database derived of daily observations each year from April 1 to June 15. This yielded 192 glide avalanches in 53 distinct avalanche paths. Each avalanche occurrence was digitized in a GIS using satellite, oblique, and aerial imagery as reference. Topographical parameters such as area, slope, aspect, elevation and elevation were then derived for the entire dataset utilizing GIS tools and a 10m DEM. Land surface substrate and surface geology were derived from National Park Service Inventory and Monitoring maps and U.S. Geological Survey surface geology maps, respectively. Surface roughness and glide factor were calculated using a four level classification index. . Then, each avalanche occurrence was aggregated to general avalanche release zones and the frequencies were compared. For this study, glide avalanches released in elevations ranging from 1300 to 2700 m with a mean aspect of 98 degrees (east) and a mean slope angle of 38 degrees. The mean profile curvature for all glide avalanches was 0.15 and a plan curvature of -0.01, suggesting a fairly linear surface (i.e. neither convex nor concave). The glide avalanches occurred in mostly bedrock made up of dolomite and limestone slabs and talus deposits with very few occurring in alpine meadows. However, not all glide avalanches failed as cohesive slabs on this bedrock surface. Consequently, surface roughness proved to be a useful descriptive variable to discriminate between slopes that avalanched and those that did not. Annual 'repeat offender' glide avalanche paths were characterized by smooth outcropping rock plates with stratification planes parallel to the slope. Combined with aspect these repeat offenders were also members of the highest glide category. Using this understanding of the role of topographic parameters on glide avalanche activity, a spatial terrain based model was developed to identify other areas with high glide avalanche potential outside of our immediate observation area.

Automatic 3D Extraction of Buildings, Vegetation and Roads from LIDAR Data

NASA Astrophysics Data System (ADS)

Bellakaout, A.; Cherkaoui, M.; Ettarid, M.; Touzani, A.

2016-06-01

Aerial topographic surveys using Light Detection and Ranging (LiDAR) technology collect dense and accurate information from the surface or terrain; it is becoming one of the important tools in the geosciences for studying objects and earth surface. Classification of Lidar data for extracting ground, vegetation, and buildings is a very important step needed in numerous applications such as 3D city modelling, extraction of different derived data for geographical information systems (GIS), mapping, navigation, etc... Regardless of what the scan data will be used for, an automatic process is greatly required to handle the large amount of data collected because the manual process is time consuming and very expensive. This paper is presenting an approach for automatic classification of aerial Lidar data into five groups of items: buildings, trees, roads, linear object and soil using single return Lidar and processing the point cloud without generating DEM. Topological relationship and height variation analysis is adopted to segment, preliminary, the entire point cloud preliminarily into upper and lower contours, uniform and non-uniform surface, non-uniform surfaces, linear objects, and others. This primary classification is used on the one hand to know the upper and lower part of each building in an urban scene, needed to model buildings façades; and on the other hand to extract point cloud of uniform surfaces which contain roofs, roads and ground used in the second phase of classification. A second algorithm is developed to segment the uniform surface into buildings roofs, roads and ground, the second phase of classification based on the topological relationship and height variation analysis, The proposed approach has been tested using two areas : the first is a housing complex and the second is a primary school. The proposed approach led to successful classification results of buildings, vegetation and road classes.

[Extracting black soil border in Heilongjiang province based on spectral angle match method].

PubMed

Zhang, Xin-Le; Zhang, Shu-Wen; Li, Ying; Liu, Huan-Jun

2009-04-01

As soils are generally covered by vegetation most time of a year, the spectral reflectance collected by remote sensing technique is from the mixture of soil and vegetation, so the classification precision based on remote sensing (RS) technique is unsatisfied. Under RS and geographic information systems (GIS) environment and with the help of buffer and overlay analysis methods, land use and soil maps were used to derive regions of interest (ROI) for RS supervised classification, which plus MODIS reflectance products were chosen to extract black soil border, with methods including spectral single match. The results showed that the black soil border in Heilongjiang province can be extracted with soil remote sensing method based on MODIS reflectance products, especially in the north part of black soil zone; the classification precision of spectral angel mapping method is the highest, but the classifying accuracy of other soils can not meet the need, because of vegetation covering and similar spectral characteristics; even for the same soil, black soil, the classifying accuracy has obvious spatial heterogeneity, in the north part of black soil zone in Heilongjiang province it is higher than in the south, which is because of spectral differences; as soil uncovering period in Northeastern China is relatively longer, high temporal resolution make MODIS images get the advantage over soil remote sensing classification; with the help of GIS, extracting ROIs by making the best of auxiliary data can improve the precision of soil classification; with the help of auxiliary information, such as topography and climate, the classification accuracy was enhanced significantly. As there are five main factors determining soil classes, much data of different types, such as DEM, terrain factors, climate (temperature, precipitation, etc.), parent material, vegetation map, and remote sensing images, were introduced to classify soils, so how to choose some of the data and quantify the weights of different data layers needs further study.

Land cover mapping of the upper Kuskokwim Resource Managment Area using LANDSAT and a digital data base approach

USGS Publications Warehouse

Markon, Carl J.

1988-01-01

Digital land cover and terrain data for the Upper Kuskokwim Resource Hanagement Area (UKRMA) were produced by the U.S. Geological Survey, Earth Resources Observation Systems Field Office, Anchorage, Alaska for the Bureau of Land Management. These and other environmental data, were incorporated into a digital data base to assist in the management and planning of the UKRMA. The digital data base includes land cover classifications, elevation, slope, and aspect data centering on the UKRMA boundaries. The data are stored on computer compatible tapes at a 50-m pixel size. Additional digital data in the data base include: (a) summer and winter Landsat multispectral scanner (MSS) data registered to a 50-m Universal Transverse Mercator grid; (b) elevation, slope, aspect, and solar illumination data; (c) soils and surficial geology; and (e) study area boundary. The classification of Landsat MSS data resulted in seven major classes and 24 subclasses. Major classes include: forest, shrubland, dwarf scrub, herbaceous, barren, water, and other. The final data base will be used by resource personnel for management and planning within the UKRMA.

a Semi-Empirical Topographic Correction Model for Multi-Source Satellite Images

NASA Astrophysics Data System (ADS)

Xiao, Sa; Tian, Xinpeng; Liu, Qiang; Wen, Jianguang; Ma, Yushuang; Song, Zhenwei

2018-04-01

Topographic correction of surface reflectance in rugged terrain areas is the prerequisite for the quantitative application of remote sensing in mountainous areas. Physics-based radiative transfer model can be applied to correct the topographic effect and accurately retrieve the reflectance of the slope surface from high quality satellite image such as Landsat8 OLI. However, as more and more images data available from various of sensors, some times we can not get the accurate sensor calibration parameters and atmosphere conditions which are needed in the physics-based topographic correction model. This paper proposed a semi-empirical atmosphere and topographic corrction model for muti-source satellite images without accurate calibration parameters.Based on this model we can get the topographic corrected surface reflectance from DN data, and we tested and verified this model with image data from Chinese satellite HJ and GF. The result shows that the correlation factor was reduced almost 85 % for near infrared bands and the classification overall accuracy of classification increased 14 % after correction for HJ. The reflectance difference of slope face the sun and face away the sun have reduced after correction.