ALBERT

Description: The peak of the solar energy distribution occurs at visual wavelengths and falls off rapidly in the infrared. This fact, improvements in infrared detector technology, and the low surface temperatures for most icy objects in the outer solar system have resulted in the bulk of telescopic and spacecraft observations being performed at visual and near-infrared wavelengths. Such observations, begun in the early 1970's and continuing to present, have provided compositional information regarding the surfaces of the satellites of Saturn and Uranus, Neptune's moon Triton, Pluto, Pluto's moon Charon, Centaur objects, and Kuiper belt objects. Because the incident sunlight penetrates the surface and interacts with the materials present there, the measured reflected sunlight contains information regarding the surface materials, and the ratio of the reflected to incident sunlight provides a mechanism of identifying the materials that are present.

Description: Comparison of the identity and abundances of ices observed around protostars and those associated with comets clearly suggests that comets preserve the heritage of the interstellar materials that aggregated to form them. However, the ability to identify these same species on icy satellites in the outer solar system is a complex function of the composition of the original ices, their subsequent thermal histories, and their exposure to various radiation environments. Our ability to identify the ices currently present on objects in the outer solar system relies upon observational and laboratory, and theoretical efforts. To date there is ample observational evidence for crystalline water ice throughout the outer solar system. In addition, there is growing evidence that amorphous ice may be present on some bodies. More volatile ices, e.g. N2, CH4. CO, and other species, e.g. ammonia hydrate, are identified on objects lying at and beyond Uranus. Both photolysis and radiolysis play important roles in altering the original surfaces due to chemical reactions and erosion of the surface. Ultraviolet photolysis appears to dominate alteration of the upper few hundred Angstroms, although sputtering the surface can sometimes be a significantly competitative process; dominating on icy surfaces embedded in a strong planetary magnetospheric field. There is growing observational evidence that the by-products of photolysis and radiolysis, suggested on a theoretical basis, are present on icy surfaces.

Description: Historical mission operations have involved: (1) commands transmitted to the craft; (2) execution of commands; (3) return of scientific data; (4) evaluation of these data by scientists; and (5) recommendations for future mission activity by scientists. This cycle is repeated throughout the mission with command opportunities once or twice per day. For a rover, this historical cycle is not amenable to rapid long range traverses or rapid response to any novel or unexpected situations.

Description: Historical mission operations have involved: (1) return of scientific data; (2) evaluation of these data by scientists; (3) recommendations for future mission activity by scientists; (4) commands for these transmitted to the craft; and (5) the activity being, undertaken. This cycle is repeated throughout the mission with command opportunities once or twice per day. For a rover, this historical cycle is not amenable to rapid long range traverses or rapid response to any novel or unexpected situations. In addition to real-time response issues, imaging and/or spectroscopic devices can produce tremendous data volumes during a traverse. However, such data volumes can rapidly exceed on-board memory capabilities prior to the ability to transmit it to Earth. Additionally, the necessary communication band-widths are restrictive enough so that only a small portion of these data can actually be returned to Earth. Such scenarios suggest enabling some science decisions to be made on-board the robots. These decisions involve automating various aspects of scientific discovery instead of the electromechanical control, health, and navigation issues associated with robotic operations. The robot retains access to the full data fidelity obtained by its scientific sensors, and is in the best position to implement actions based upon these data. Such an approach would eventually enable the robot to alter observations and assure only the highest quality data is obtained for analysis. Additionally, the robot can begin to understand what is scientifically interesting and implement alternative observing sequences, because the observed data deviate from expectations based upon current theories/models of planetary processes. Such interesting data and/or conclusions can then be prioritized and selectively transmitted to Earth; reducing memory and communications demands. Results of Ames' current work in this area will be presented.

Description: The moons Ariel, Titania, and Oberon have orbits lying within the magnetosphere of Uranus, exposing them to particle irradiation from trapped Ions. This Is similar to the situation experienced by the jovian moons Europa, Ganymede, and Callisto, as well as the saturnian satellites Enceladus, Tethys, Dione, and Rhea. Identification of SO2 on Europa, Ganymede and Callisto, and O3 on Ganymede, Rhea, and Dione has supported suggestions that chemical modifications occur on icy bodies due to ion bombardment associated with the particles entrained within the magnetospheric fields of Jupiter and Saturn. Similar to the Jovian and saturnian satellites mentioned above, water ice is a major component on the larger uranian satellites", thus one might anticipate chemical modification to he an important process in the uranian system. Laboratory studies or the interaction of ultraviolet (uv) and charged-particle radiation with water ice show that in addition to molecular species, a variety of radicals are also produced. We report here evidence for an uv absorption feature in the spectra of Ariel, Titania, and Oberon that we identify as due, in part, to OH; providing the first evidence of a radical produced and trapped on an icy moon within our solar system.

Description: Autonomous recognition of scientifically important information provides the capability of: 1) Prioritizing data return; 2) Intelligent data compression; 3) Reactive behavior onboard robotic vehicles. Such capabilities are desirable as mission scenarios include longer durations with decreasing interaction from mission control. To address such issues, we have implemented several computer algorithms, intended to autonomously recognize morphological shapes of scientific interest within a software architecture envisioned for future rover missions. Mars Exploration Rovers (MER) instrument payloads include a Panoramic Camera (PANCAM) and Microscopic Imager (MI). These provide a unique opportunity to evaluate our algorithms when applied to data obtained from the surface of Mars. Early in the mission we applied our algorithms to images available at the mission web site (http://marsrovers.jpl.nasa.gov/gallery/images.html), even though these are not at full resolution. Some algorithms would normally use ancillary information, e.g. camera pointing and position of the sun, but these data were not readily available. The initial results of applying our algorithms to the PANCAM and MI images are encouraging. The horizon is recognized in all images containing it; such information could be used to eliminate unwanted areas from the image prior to data transmission to Earth. Additionally, several rocks were identified that represent targets for the mini-thermal emission spectrometer. Our algorithms also recognize the layers, identified by mission scientists. Such information could be used to prioritize data return or in a decision-making process regarding future rover activities. The spherules seen in MI images were also autonomously recognized. Our results indicate that reliable recognition of scientifically relevant morphologies in images is feasible.