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.     

2001 Mars Odyssey Mission Summary

The 2001 Mars Odyssey spacecraft, now in orbit at Mars, will observe the Martian surface at infrared and visible wavelengths to determine surface mineralogy and morphology, acquire global gamma ray and neutron observations for a full Martian year, and study the Mars radiation environment from orbit. The science objectives of this mission are to: (1) globally map the elemental composition of the surface, (2) determine the abundance of hydrogen in the shallow subsurface, (3) acquire high spatial and spectral resolution images of the surface mineralogy, (4) provide information on the morphology of the surface, and (5) characterize the Martian near-space radiation environment as related to radiation-induced risk to human explorers. To accomplish these objectives, the 2001 Mars Odyssey science payload includes a Gamma Ray Spectrometer (GRS), a multi-spectral Thermal Emission Imaging System (THEMIS), and a radiation detector, the Martian Radiation Environment Experiment (MARIE). THEMIS and MARIE are mounted on the spacecraft with THEMIS pointed at nadir. GRS is a suite of three instruments: a Gamma Subsystem (GSS), a Neutron Spectrometer (NS) and a High-Energy Neutron Detector (HEND). The HEND and NS instruments are mounted on the spacecraft body while the GSS is on a 6-m boom. Some science data were collected during the cruise and aerobraking phases of the mission before the prime mission started. THEMIS acquired infrared and visible images of the Earth-Moon system and of the southern hemisphere of Mars. MARIE monitored the radiation environment during cruise. The GRS collected calibration data during cruise and aerobraking. Early GRS observations in Mars orbit indicated a hydrogen-rich layer in the upper meter of the subsurface in the Southern Hemisphere. Also, atmospheric densities, scale heights, temperatures, and pressures were observed by spacecraft accelerometers during aerobraking as the spacecraft skimmed the upper portions of the Martian atmosphere. This provided the first in-situ evidence of winter polar warming in the Mars upper atmosphere. The prime mission for 2001 Mars Odyssey began in February 2002 and will continue until August 2004. During this prime mission, the 2001 Mars Odyssey spacecraft will also provide radio relays for the National Aeronautics and Space Administration (NASA) and European landers in early 2004. Science data from 2001 Mars Odyssey instruments will be provided to the science community via NASA’s Planetary Data System (PDS). The first PDS release of Odyssey data was in October 2002; subsequent releases occur every 3 months.     

The detection of energetic cometary and solar particles by the EPONA instrument on the Giotto mission

EPONA is an energetic particle detector system incorporating totally depleted silicon surface barrier layer detectors. Active and passive background shielding will be employed and, by applying various techniques, particles of different species, including electrons, protons, alpha particles and pick-up ions of cometary origin may be detected over a wide spectrum of energies extending from the tens of KeV into the MeV range.

The instrument can operate in two modes namely (a) in a cruise phase or storage mode and (b) in a real time mode. During the real time mode, observations at high spatial (octosectoring) and temporal (0.5s) resolution in the cometary environment permit studies to be made of accelerated particles at the bow shock and/or in the tail of the comet. In conjunction with magnetic field measurements on board Giotto, observations of energetic electrons and their anisotropies can determine whether the magnetic field lines in the cometary tail are open or closed. Further, the absorption of low energy solar particles in the cometary atmosphere can be measured and such data would provide an integral value of the pertaining gas and dust distribution. Solar particle background measurements during encounter may also be used to correct the measurements of other spacecraft borne instruments potentially vulnerable to such radiation.

Solar particle flux measurements, obtained during the cruise phase will, when combined with simultaneous observations made by other spacecraft at different heliographic longitudes, provide information concerning solar particle propagation in the corona and in interplanetary space.     

The Far Ultra-Violet Imager on the Icon Mission

ICON Far UltraViolet (FUV) imager contributes to the ICON science objectives by providing remote sensing measurements of the daytime and nighttime atmosphere/ionosphere. During sunlit atmospheric conditions, ICON FUV images the limb altitude profile in the shortwave (SW) band at 135.6 nm and the longwave (LW) band at 157 nm perpendicular to the satellite motion to retrieve the atmospheric O/N₂ ratio. In conditions of atmospheric darkness, ICON FUV measures the 135.6 nm recombination emission of \(\mathrm{O}^{+}\) ions used to compute the nighttime ionospheric altitude distribution. ICON Far UltraViolet (FUV) imager is a Czerny–Turner design Spectrographic Imager with two exit slits and corresponding back imager cameras that produce two independent images in separate wavelength bands on two detectors. All observations will be processed as limb altitude profiles. In addition, the ionospheric 135.6 nm data will be processed as longitude and latitude spatial maps to obtain images of ion distributions around regions of equatorial spread F. The ICON FUV optic axis is pointed 20 degrees below local horizontal and has a steering mirror that allows the field of view to be steered up to 30 degrees forward and aft, to keep the local magnetic meridian in the field of view. The detectors are micro channel plate (MCP) intensified FUV tubes with the phosphor fiber-optically coupled to Charge Coupled Devices (CCDs). The dual stack MCP-s amplify the photoelectron signals to overcome the CCD noise and the rapidly scanned frames are co-added to digitally create 12-second integrated images. Digital on-board signal processing is used to compensate for geometric distortion and satellite motion and to achieve data compression. The instrument was originally aligned in visible light by using a special grating and visible cameras. Final alignment, functional and environmental testing and calibration were performed in a large vacuum chamber with a UV source. The test and calibration program showed that ICON FUV meets its design requirements and is ready to be launched on the ICON spacecraft.     

The Solar Dynamo

Observations relevant to current models of the solar dynamo are presented, with emphasis on the history of solar magnetic activity and on the location and nature of the solar tachocline. The problems encountered when direct numerical simulation is used to analyse the solar cycle are discussed, and recent progress is reviewed. Mean field dynamo theory is still the basis of most theories of the solar dynamo, so a discussion of its fundamental principles and its underlying assumptions is given. The role of magnetic helicity is discussed. Some of the most popular models based on mean field theory are reviewed briefly. Dynamo models based on severe truncations of the full MHD equations are discussed.     

Amorphous Silicon Electronic Devices and their Applications

Hydrogenated amorphous Si (a-Si:H) devices first made a significant impact in photovoltaic application, 70% of the photovoltaic solar cells produced in Japan in 1984 were a-Si:H. More recently, thin film transistor (TFT) and sensor devices have been developed for consumer and business products. The ability to produce large area uniform films of a-Si:H makes the application of TFTs and sensors well suited for input and output imaging devices such as image scanners, display and printers. This paper reviews the operation, material issues and physics of a-Si:H TFTs and sensors. The circuit and technology issues in large area systems incorporating these devices are described.     

The effect of radiation on the long term productivity of a plant based CELSS.

Mutations occur at a higher rate in space than under terrestrial conditions, primarily due to an increase in radiation levels. These mutations may effect the productivity of plants found in a controlled ecological life support system (CELSS). Computer simulations of plants with different ploidies, modes of reproduction, lethality thresholds, viability thresholds and susceptibilities to radiation induced mutations were performed under space normal and solar flare conditions. These simulations identified plant characteristics that would enable plants to retain high productivities over time in a CELSS.     

Programmable, multi-purpose opto-electronic sensor system

Optical fibre sensing is becoming increasingly attractive in both the smart structure sphere of interest as well as the medical and industrial concerns. Fibre-optic interferometric sensors can be designed as compact and robust transducers. In general, the transduction mechanism involves the phase modulation of coherent or monochromatic light propagating through a fibre-optic cable, and detecting the changes in the energy associated with this phase change. Sensors based on this technique can generally be configured to be quite sensitive and measurements of a wide variety of physical parameters are achievable. Intrinsic features of optical fibres, such as immunity to electromagnetic interference, flexibility, thinness, strength and weight, make this ideal for sensor technology. In the process of developing fibre-optic sensors for laboratory experimentation, as well as generalised research, an appropriate, easy to use opto-electronic drive and measurement system is required. This paper discusses the operation of a programmable opto-electronic drive and measurement system     

Measurements of electrical breakdown in the vicinity of a sounding rocket differentially charged to 10 kV

During the initial period of high voltage biasing of the SPEAR-3 sounding rocket payload, it was observed that electrical breakdown occurred in the gas surrounding the rocket. The breakdown occurred almost all the way to apogee of 289 km on the upleg, but did not recur on the downleg until the payload reached an altitude of 100 km. It is suggested that this behavior can be attributed to payload outgassing on the upleg leading to abnormally high gas pressure near the payload skin. Consideration of a modified Paschen discharge process with varying pressure along the discharge path was found to be consistent with the results.