Geometric reasoning under uncertainty for map-based localization

Map-based navigation in outdoor terrain lacking man-made structures or other highly distinctive landmarks can produce severe localization problems. This paper presents an approach to navigation which implements high level geometric reasoning and matching strategies based on those used by skilled human navigators. This approach, which is demonstrated on a real example involving imagery of mountainous terrain obtained with a video camera and USGS map data, is designed to avoid many of the pitfalls occurring when an attempt is made to navigate by modeling the environment mathematically. It exploits feature attributes which cannot be easily expressed quantitatively but are central to the successful human navigation process.     

In-situ resource utilization technologies for Mars life support systems.

The atmosphere of Mars has many of the ingredients that can be used to support human exploration missions. It can be "mined" and processed to produce oxygen, buffer gas, and water, resulting in significant savings on mission costs. The use of local materials, called ISRU (for in-situ resource utilization), is clearly an essential strategy for a long-term human presence on Mars from the standpoints of self-sufficiency, safety, and cost. Currently a substantial effort is underway by NASA to develop technologies and designs of chemical plants to make propellants from the Martian atmosphere. Consumables for life support, such as oxygen and water, will probably benefit greatly from this ISRU technology development for propellant production. However, the buffer gas needed to dilute oxygen for breathing is not a product of a propellant production plant. The buffer gas needs on each human Mars mission will probably be in the order of metric tons, primarily due to losses during airlock activity. Buffer gas can be separated, compressed, and purified from the Mars atmosphere. This paper discusses the buffer gas needs for a human mission to Mars and consider architectures for the generation of buffer gas including an option that integrates it to the propellant production plant.     

Exobiological exploration of Mars.

Of all the other planets in the solar system, Mars remains the most promising for further elucidating concepts about chemical evolution and the origin of life. Strategies were developed to pursue three exobiological objectives for Mars exploration: determining the abundance and distribution of the biogenic elements and organic compounds, detecting evidence of an ancient biota on Mars, and determining whether indigenous organisms exist anywhere on the planet. The three strategies are quite similar and, in fact, share the same sequence of phases. In the first phase, each requires global reconnaissance and remote sensing by orbiters to select sites of interest for detailed in situ analyses. In the second phase, lander missions are conducted to characterize the chemical and physical properties of the selected sites. The third phase involves conducting "critical" experiments at sites whose properties make them particularly attractive for exobiology. These critical experiments would include, for example, identification of organics, detection of fossils, and detection of extant life. The fourth phase is the detailed analysis of samples returned from these sites in Earth-based laboratories to confirm and extend previous discoveries. Finally, in the fifth phase, human exploration is needed to establish the geological settings for the earlier findings or to discover and explore sites that are not accessible to robotic spacecraft.     

The atmospheric radiation response to solar-particle-events.

High-energy solar particles, produced in association with solar flares and coronal mass ejections, occasionally bombard the earth's atmosphere. resulting in radiation intensities additional to the background cosmic radiation. Access of these particles to the earth's vicinity during times of geomagnetic disturbances are not adequately described by using static geomagnetic field models. These solar fluxes are also often distributed non uniformly in space, so that fluxes measured by satellites obtained at great distances from the earth and which sample large volumes of space around the earth cannot be used to predict fluxes locally at the earth's surface. We present here a method which uses the ground-level neutron monitor counting rates as adjoint sources of the flux in the atmosphere immediately above them to obtain solar-particle effective dose rates as a function of position over the earth's surface. We have applied this approach to the large September 29-30, 1989 ground-level event (designated GLE 42) to obtain the magnitude and distribution of the solar-particle effective dose rate from an atypically large event. The results of these calculations clearly show the effect of the softer particle spectra associated with solar particle events, as compared with galactic cosmic rays, results in a greater sensitivity to the geomagnetic field, and, unlike cosmic rays, the near-absence of a "knee" near 60 degrees geomagnetic latitude.     

Surface tension-driven flows in horizontal liquid metal layers

The problem of surface tension-driven flows in horizontal liquid layers has been studied experimentally, and theoretically by direct numerical simulation and small perturbation analysis. We focus our attention on situations in which the depth of the fluid (liquid tin; small Prandtl number, Pr=0.015) is small enough to ensure the predominance of the surface tension forces over those due to the buoyancy. The surface velocity has been experimentally obtained for liquid tin layer with various aspect ratio (length to height) in the range 5<A<83. The thermal gradients are ranged from 5 to 40°K/cm. In the numerical study, the Navier-Stokes and energy equations are solved by an efficient finite difference technique. The parameters governing the flow behaviour in the liquid are varied to determine their effects on thermocapillary convection: the Reynolds number 10<Re<210⁴ and the aspect ratio 2<A<25; with Pr kept constant at Pr=0.015. The linear eigenequation resulting from small spatial disturbances of the Couette flow solution is solved using an Tau-Chebyshev approximation. A notable feature of the theoretical study is the totally different end circulations. In the region near the cold wall a multicell structure is evident. This agrees with the eigensolution which is of complex type, indicating spatial periodicity. In the hot wall region the flow is accelerated to reach the velocity value for the fully-developed Couette flow which is reached under conditions such as Re/A<20. The transition from viscous to boundary layer regime occurs for a critical value (Re/A)_c of nearly about 200, as deduced from the numerical and experimental results.     

Embryogenesis and organogenesis of Carausius morosus under spaceflight conditions

The influence of cosmic radiation and/or microgravity on insect development was studied during the 7 day German Spacelab Mission D1. Eggs of Carausius morosus of five stages differing in sensitivity to radiation and in capacity to regeneration were allowed to continue their development in the BIORACK 22°C incubator, either at microgravity conditions or on the 1 g reference centrifuge. Using the Biostack concept - eggs in monolayers were sandwiched between visual track detectors - and the 1 g reference centrifuge, we were able to separate radiation effects from microgravity effects and also from combined effects of these two factors in space. After retrieval, hatching rates, growth kinetics and anomaly frequencies were determined in the different test samples. The early stages of development turned out to be highly sensitive to single hits of cosmic ray particles as well as to the temporary exposure to microgravity during their development. In some cases, the combined action of radiation and microgravity even amplified the effects exerted by the single parameters of space. Hits by single HZE particles caused early effects, such as body anomalies, as well as late effects, such as retarded growth after hatching. Microgravity exposure lead to a reduced hatching rate. A synergistic action of HZE particle hits and microgravity was established in the unexpectedly high frequency of anomal larvae. However, it cannot be excluded, that cosmic background radiation or low LET HZE particles are also causally involved in damage observed in the microgravity samples.     

Some comparisons of orbit determination and parameter estimation based on LAGEOS 1 and LAGEOS 2 data

The modelling accuracy of the LAGEOS 1 orbit was continously improved since its launch in 1976. In spite of these experiences the modelling accuracy of LAGEOS 2 is still about 20 per cent worse. Considering e. g. only the influence of different gravity field models it has been shown that the orbital fits for arc lengths of one month is generally about 25 mm for LAGEOS 1 and more than 30 mm for LAGEOS 2. This is mainly due to the fact that LAGEOS 2 has not yet been used for the determination of most gravity field models. The influences of different model parameters on the estimation of station coordinates, Earth rotation parameters, the geogravitational coefficient, the radiation pressure coefficient, and the empirical acceleration has been studied. The differences and peculiarities of both satellites are discussed. Although the analysis of LAGEOS 2 data still does not reach the high level of LAGEOS 1 combination solutions using both satellites allow new insights, higher accuracies, and a higher time resolution for the parameters and phenomena investigated.     

Formation of amino acid precursors in cometary ice environments by cosmic radiation.

Cometary ices are believed to contain water, carbon monoxide, methane and ammonia, and are possible sites for the formation and preservation of organic compounds relating to the origin of life. Cosmic rays, together with ultraviolet light, are among the most effective energy sources for the formation of organic compounds in space. In order to study the possibility of the formation of amino acids in comets or their precursory bodies (interstellar dust grains), several types of ice mixtures made in a cryostat at 10 K ("simulated cometary ices") were irradiated with high energy protons. After irradiation, the volatile products were analyzed with a quadrupole mass spectrometer, while temperature of the cryostat was raised to room temperature. The non-volatile products remaining in the cryostat at room temperature were collected with water. They were acid-hydrolyzed, and analyzed by ion-exchange chromatography. When an ice mixture of carbon monoxide (or methane), ammonia and water was irradiated, some hydrocarbons were formed, and amino acids such as glycine and alanine were detected in the hydrolyzate. These results suggest the possible formation of "amino acid precursors" (compounds yielding amino acids after hydrolysis) in interstellar dust grains by cosmic radiation. We previously reported that amino acid precursors were formed when simulated primitive planetary atmospheres were irradiated with cosmic ray particles. It will be of great interest to compare the amount of bioorganic compounds that were formed in the primitive earth and that brought by comets to the earth.     

轴对称跨音速流中无激波超音速区的设计

本文直接从音速线出发计算了一个旋成体跨音速绕流超音速泡中的特征线网。提出了从音速线开拓到一条超音速线的方法,计算了无旋轴对称流的特征线网,发现其特点是不能跨越对称轴线,并对其原因作了初步的讨论。本文的计算结果可应用于物面修形。