ALBERT

Description: A series of 71 mid-infrared images of a small region of the Moon were obtained from the KAO in October, 1993. These images have been assembled into a 5.0 to 7.0 micron image cube that has been calibrated relative to the average spectrum of this region of the Moon at these wavelengths. The data show that clear, detectable spectral differences exist on the Moon in the mid-IR. Some of the spectral differences are correlated with morphologic features such as craters. Specific spectral features near 5.6 and 6.7 microns may be related to the presence of plagioclase or pyroxene.

Description: We present spectra of Comet Hale-Bopp (C/1995 01) covering the range 1.4-2.5 micron that were recorded when the comet was 7 AU from the Sun. These show I)road absorption features at 1.5 and 2.05 micron. We show that some, but not all, of this absorption could be matched by an intimate mixture of water ice and a low albedo material such as carbon on the nucleus. However, we recognize that it is more likely that the ice features are produced by scattering from icy grains in the coma. The absence of absorption at 1.65 micron suggests that this ice is probably in the amorphous state. An unidentified additional component may be required to account for the downward slope at the longwavelength end of the spectrum.

Description: The results of spectral measurements for mafic silicates are given. The study provided valuable spectral reflectance information about mafic silicates and phyllosilicates in the 2.5 to 4.6 micron wavelength region. It was shown that the reflectance of these materials is strongly affected by the presence of H2O and OH. Therefore, the identification of these absorbing species is greatly enhanced.

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: 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.

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: In the near future NASA intends to explore various regions of our solar system using robotic devices such as rovers, spacecraft, airplanes, and/or balloons. Such platforms will likely carry imaging devices, and a variety of analytical instruments intended to evaluate the chemical and mineralogical nature of the environment(s) that they encounter. Historically, mission operations have involved: (1) return of scientific data from the craft; (2) evaluation of the data by space scientists; (3) recommendations of the scientists regarding future mission activity; (4) commands for achieving these activities being transmitted to the craft; and (5) the activity being undertaken. This cycle is then repeated for the duration of the mission with command opportunities once or perhaps twice per day. In a rapidly changing environment, such as might be encountered by a rover traversing hundreds of meters a day or a spacecraft encountering an asteroid, this historical cycle is not amenable to rapid long range traverses, discovery of novelty, or rapid response to any unexpected situations. In addition to real-time response issues, the nature of imaging and/or spectroscopic devices are such that tremendous data volumes can be acquired, for example 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 clearly require the enabling of some crucial decisions to be made on-board by these robotic explorers. These decisions transcend the electromechanical control, health, and navigation issues associated with robotic operations. Instead they focus upon a long term goal of automating scientific discovery based upon data returned by sensors of the robot craft. Such an approach would eventually enable it to understand what is interesting because the data deviates from expectations generated by current theories/models of planetary processes that could have resulted in the observed data. Such interesting data and/or conclusions can then be selectively transmitted to Earth thus reducing memory and communications demands.

Description: Many efforts are underway to search for evidence of prebiotic materials in the outer solar system. Current and planned Mars missions obtain remote sensing observations that can be used to address the potential presence of prebiotic materials. Additional missions to, and continuing earth-based observations of, more distant solar system objects will also provide remote sensing observations that can be used to address the potential presence of prebiotic materials. I will present an overview of on-going observations, associated laboratory investigations of candidate materials, and theoretical modeling of observational data. In the past the room temperature reflectance spectra of many residues created from HC-bearing gases and solids have been reported. The results of an investigation of what effect temperatures more representative of outer solar system surfaces (50-140K) have on the reflectance spectra of these residues, and the associated interpretations, will be presented. The relatively organic-rich Tagish Lake Meteorite has been suggested as a spectral analog for Dtype asteroids. Using a new approach that relies upon iterative use of Hapke theory and Kraniers-Kronig analysis the optical constants of TLM were estimated. The approach and results of the analysis will be presented. Use of optical constants in scattering theories, such as the Hapke theory, provide the ability to determine quantitative estimates of the relative abundances and grain sizes of candidate surface components. This approach has been applied to interpret the reflectance spectra of several outer solar system surfaces. A summary will be provided describing the results of such modeling efforts.

Description: We present a composite spectrum of Trojan asteroid 624 Hektor, 0.3-3.6 microns, which shows that there is no discernible 3-micron absorption band. Such a band would indicate the presence of OH or H2O- bearing silicate minerals, or macromolecular carbon-rich organic material of the kind seen on the low-albedo hemisphere of Saturn's satellite Iapetus (Owen et al. 2000). The absence of spectral structure is itself indicative of the absence of the nitrogen-rich tholins (which show a distinctive absorption band attributed to N-H). The successful models in this study all incorporate the mineral pyroxene (Mg, Fe SiO3, the composition of hypersthene), which matches the red color of Hektor. Pyroxene is a mafic mineral common in terrestrial and lunar lavas, and is also seen in Main Belt asteroid spectra. An upper limit to the amount of crystalline H20 ice (30-micron grains) in the surface layer of Hektor is 3 weight percent. The upper limit for serpentine, as a representative of hydrous silicates, is much less stringent, at 40 percent, based on the shape of the spectral region around 3 gm. Thus, the spectrum at 3 gm does not preclude the presence of a few weight percent of volatile material in the surface layer of Hektor. All of the models we calculated require elemental carbon to achieve the low geometric albedo that matches Hektor. This carbon could be of organic or inorganic origin. By analogy, other D-type asteroids could achieve their red color, low albedo, and apparent absence of phyllosilicates, from compositions similar to the models presented here.

Description: Tiny suspensions of solid particles or liquid droplets, called aerosols, hover in earth's atmosphere and can be found over just about anywhere including oceans, deserts, vegetated areas, and other global regions. Aerosols come in a variety of sizes, shapes, and compositions which depend on such factors as their origin and how long they have been in the atmosphere (i.e., their residence time). Some of the more common types of aerosols include mineral dust and sea salt which get lifted from the desert and ocean surfaces, respectively by mechanical forces such as strong winds. Depending on their size, aerosols will either fall out gravitationally, as in the case of larger particles, or will remain resident in the atmosphere where they can undergo further change through interactions with other aerosols and cloud particles. Not only do aerosols affect air quality where they pose a health risk, they can also perturb the distribution of radiation in the earth-atmosphere system which can inevitably lead to changes in our climate. One aerosol that has been in the forefront of many recent studies, particularly those examining its radiative effects, is mineral dust. The large spatial coverage of desert source regions and the fact that dust can radiatively interact with such a large part of the electromagnetic spectrum due to its range in particle size, makes it an important aerosol to study. Dust can directly scatter and absorb solar and infrared radiation which can subsequently alter the amount of radiation that would otherwise be present in the absence of dust at any level of the atmosphere like the surface. This is known as radiative forcing. At the surface dust can block incoming solar energy, however at infrared wavelengths, dust acts to partially compensate the solar losses. Evaluating the solar radiative effect of dust aerosols is relatively straightforward due in part to the relatively large signal-to-noise ratio in the measurements. At infrared wavelengths, on the other hand, the effect is rather difficult to ascertain since the measured dust signal level is on the same order as the instrumental uncertainties. Although the radiative impact of dust is much smaller in the infrared, it can still have a noticeable influence on the distribution of energy in the Earth-atmosphere system. This is mainly attributed to the strong light-absorptive properties commonly found in many earth minerals.