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.     

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.     

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.     

Transition region line-shifts in the rebound shock spicule model

Spectral emission lines created in the solar chromosphere — corona transition region show net red-shifts. It has been proposed that this may be the result of the return of spicular material. We simulate a spicule numerically using the rebound shock model and find that the resulting hydrodynamic evolution leads to a perceived up-flow in transition region spectral lines even though the average velocity in the line forming region is directed downward. The explanation for this apparent paradox is found in the correlation between density and velocity in the waves generated by the rebound shock spicule.     

Radiative and hybrid cooling of infrared space telescopes

The designs of cold space telescopes, cryogenic and radiatively cooled, are similar in most elements and both benefit from orbits distant from the Earth. In particular such orbits allow the anti-sunward side of radiatively-cooled spacecraft to be used to provide large cooling radiators for the individual radiation shields. Designs incorporating these features have predictedT _tel near 20 K. The attainability of such temperatures is supported by limited practical experience (IRAS, COBE). Supplementary cooling systems (cryogens, mechanical coolers) can be advantageously combined with radiative cooling in hybrid designs to provide robustness against deterioration and yet lower temperatures for detectors, instruments, and even the whole telescope. The possibility of such major additional gains is illustrated by the Very Cold Telescope option under study forEdison, which should offerT _tel5 K for a little extra mechanical cooling capacity.     

Human productivity in space and systems costs

Human productivity during assembly operations in-orbit is dependent on limits set by fatigue, metabolic rates, learning, and assembly techniques. In order to quantify these effects, tests were conducted in the NASA MSFC Neutral Buoyancy Simulator, in the NASA KC-135 in parabolic flight, and in space with the EASE program during the Shuttle Atlantis mission 61-B. A separate program attempted to relate productivity to system costs. Because of the surprisingly high productivity which had been demonstrated in orbit, it was shown that assembly operations would have only a small effect on system costs at the present level of launch costs. The results of these continuing studies have been reported in a recent paper(1). They will be briefly summarized here and the results updated to include additional cost elements and to examine the effects of reductions in transportation costs, resulting from advances in technology and from increased demand, on system costs. It is shown that, as launch costs are reduced, the assembly costs could become an increasingly important component of the total system costs.     

Analysis of Multimodal Systems

The estimation of a multimodal linear system whose mode-to-mode transitions are described by a finite-state Markov chain is described. The problem has application in studying separation standards in an air traffic control environment. An optimal solution is formulated which is computationally infeasible. A suboptimal estimator is then derived which closely approximates the optimal estimator. An example is presented to illustrate the technique.