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.     

Deep Impact: Working Properties for the Target Nucleus – Comet 9P/Tempel 1

In 1998, Comet 9P/Tempel 1 was chosen as the target of the Deep Impact mission (A’Hearn, M. F., Belton, M. J. S., and Delamere, A., Space Sci. Rev., 2005) even though very little was known about its physical properties. Efforts were immediately begun to improve this situation by the Deep Impact Science Team leading to the founding of a worldwide observing campaign (Meech et al., Space Sci. Rev., 2005a). This campaign has already produced a great deal of information on the global properties of the comet’s nucleus (summarized in Table I) that is vital to the planning and the assessment of the chances of success at the impact and encounter. Since the mission was begun the successful encounters of the Deep Space 1 spacecraft at Comet 19P/Borrelly and the Stardust spacecraft at Comet 81P/Wild 2 have occurred yielding new information on the state of the nuclei of these two comets. This information, together with earlier results on the nucleus of comet 1P/Halley from the European Space Agency’s Giotto, the Soviet Vega mission, and various ground-based observational and theoretical studies, is used as a basis for conjectures on the morphological, geological, mechanical, and compositional properties of the surface and subsurface that Deep Impact may find at 9P/Tempel 1. We adopt the following working values (circa December 2004) for the nucleus parameters of prime importance to Deep Impact as follows: mean effective radius = 3.25± 0.2 km, shape – irregular triaxial ellipsoid with a/b = 3.2± 0.4 and overall dimensions of ∼14.4 × 4.4 × 4.4 km, principal axis rotation with period = 41.85± 0.1 hr, pole directions (RA, Dec, J2000) = 46± 10, 73± 10 deg (Pole 1) or 287± 14, 16.5± 10 deg (Pole 2) (the two poles are photometrically, but not geometrically, equivalent), Kron-Cousins (V-R) color = 0.56± 0.02, V-band geometric albedo = 0.04± 0.01, R-band geometric albedo = 0.05± 0.01, R-band H(1,1,0) = 14.441± 0.067, and mass ∼7×10¹³ kg assuming a bulk density of 500 kg m⁻³. As these are working values, {i.e.}, based on preliminary analyses, it is expected that adjustments to their values may be made before encounter as improved estimates become available through further analysis of the large database being made available by the Deep Impact observing campaign. Given the parameters listed above the impact will occur in an environment where the local gravity is estimated at 0.027–0.04 cm s⁻² and the escape velocity between 1.4 and 2 m s⁻¹. For both of the rotation poles found here, the Deep Impact spacecraft on approach to encounter will find the rotation axis close to the plane of the sky (aspect angles 82.2 and 69.7 deg. for pole 1 and 2, respectively). However, until the rotation period estimate is substantially improved, it will remain uncertain whether the impactor will collide with the broadside or the ends of the nucleus.     

Aspartic acid racemization and age-depth relationships for organic carbon in Siberian permafrost

We have analyzed the degree of racemization of aspartic acid in permafrost samples from Northern Siberia, an area from which microorganisms of apparent ages up to a few million years have previously been isolated and cultured. We find that the extent of aspartic acid racemization in permafrost cores increases very slowly up to an age of approximately 25,000 years (around 5 m in depth). The apparent temperature of racemization over the age range of 0-25,000 years, determined using measured aspartic acid racemization rate constants, is -19 degrees C. This apparent racemization temperature is significantly lower than the measured environmental temperature (-11 to -13 degrees C) and suggests active recycling of D-aspartic acid in Siberian permafrost up to an age of around 25,000 years. This indicates that permafrost organisms are capable of repairing some molecular damage incurred while in a "dormant" state over geologic time.     

Protostellar Disk Formation and Early Evolution

This contribution describes the formation of circumstellar disks and their earliest evolutionary phases when self-gravity in the disk plays a crucial role in eliciting the transport of mass and angular momentum. We first discuss the formation of protostellar disks within the context of analytic infall-collapse solutions. We then discuss our efforts to understand the behavior of the newly formed disks. Our specific approach consists of performing a detailed analysis of a simplified model disk which is susceptible to the growth of a spiral instability. Using a combination of numerical simulation and semi-analytic analysis, we show how the dramatic early phase of mass and angular momentum transport in the disk can be explained by a second-order nonlinear process involving self-interaction of a dominant two-armed spiral mode. This revised version was published online in June 2006 with corrections to the Cover Date.     

An Investigation into Vertical Bias Effects

ABSTRACT

In three experiments, after exploring a virtual environment (VE), adult participants made spatial judgments about the location of target objects that were higher and lower than their perceived test location within the VE. In Experiment 1, the locations of the target objects were inferred from verbal instructions. The main results were a tendency to judge objects as closer to the horizontal plane than their true locations, and more efficient downward than upward judgments. Both effects generally accord with findings reported by Wilson et al. (2004a Wilson, P. N., Foreman, N., Stanton, D. and Duffy, H. 2004a. Memory for targets in a multilevel simulated environment: Evidence for vertical asymmetry in spatial memory. Memory & Cognition, 32: 283–297. [Crossref] , [Google Scholar], 2004b Wilson, P. N., Foreman, N., Stanton, D. and Duffy, H. 2004b. Memory for targets in a multi-level simulated-environment: A comparison between able-bodied and physically disabled children. British Journal of Psychology, 95: 325–338.  [Google Scholar]). In Experiments 2 and 3, which were closely modeled on the design of the Wilson et al. studies, regression to the horizontal plane was noted but no downward bias was observed. A misperception in the viewing height between the floors and ceilings of the virtual rooms was apparent in both experiments. The results from the present study together with earlier investigations suggest different hierarchical encoding of between-axis and within-axis information.     

Discovering the basic strategic orientation of big space agencies

The aim of this paper is to identify the basic strategic orientations of some of the world's main space agencies. This study focuses on the Brazilian, French, European, Japanese, Indian and Russian agencies. Basic strategic orientations indicate the real space exploration objectives of large countries. This is useful because there are some ambiguous areas in the formal strategic documents published by these agencies. The results highlight the common objectives of the agencies studied, which is to have an important role in international political leadership even considering the specific objectives related to the economic and social contexts of the individual countries.     

Carbon dioxide exchange of lettuce plants under hypobaric conditions.

Growth of plants in a Controlled Ecological Life Support System (CELSS) may involve the use of hypobaric pressures enabling lower mass requirements for atmospheres and possible enhancement of crop productivity. A controlled environment plant growth chamber with hypobaric capability designed and built at Ames Research Center was used to determine if reduced pressures influence the rates of photosynthesis (Ps) and dark respiration (DR) of hydroponically grown lettuce plants. The chamber, referred to as a plant volatiles chamber (PVC), has a growing area of about 0.2 m2, a total gas volume of about 0.7 m3, and a leak rate at 50 kPa of <0.1%/day. When the pressure in the chamber was reduced from ambient to 51 kPa, the rate of net Ps increased by 25% and the rate of DR decreased by 40%. The rate of Ps increased linearly with decreasing pressure. There was a greater effect of reduced pressure at 41 Pa CO2 than at 81 Pa CO2. This is consistent with reports showing greater inhibition of photorespiration (Pr) in reduced O2 at low CO2 concentrations. When the partial pressure of O2 was held constant but the total pressure was varied between 51 and 101 kPa, the rate of CO2 uptake was nearly constant, suggesting that low pressure enhancement of Ps may be mainly attributable to lowered partial pressure of O2 and the accompanying reduction in Pr. The effects of lowered partial pressure of O2 on Ps and DR could result in substantial increases in the rates of biomass production, enabling rapid throughput of crops or allowing flexibility in the use of mass and energy resources for a CELSS.     

Defense Meteorological Satellite Program

The DMSP is a total satellite system composed of spacecraft with meteorological sensors, an earthbased command and control network, fixed and mobile user stations, and a communication network linking the various segments together.     

Attitude and Oribit Estimation Using Stars and Landmarks

An extended Kalman filter is used to process line-of-sight measurements to stars and known landmarks providing a statistical indication of performance in estimating spacecraft attitude, orbital ephemeris, and the bias drift of a set of three strapdown gyros. The landmark measurements were assumed to have been taken from the imagery of an Earth-observing multispectral scanner. It is shown that filtering of these noisy measurements results in highly accurate estimates of the above parameters. Results are given showing the sensitivity of performance to various system parameters such as star tracker accuracy, errors in the knowledge of landmark position, and number of stars and landmarks processed.