ALBERT

Description: ANTS (Autonomous Nano- Technology Swarm), a mission architecture consisting of a large (1000 member) swarm of picoclass (1 kg) totally autonomous spacecraft with both adaptable and evolvable heuristic systems, is being developed as a NASA advanced mission concept, and is here examined as a paradigm for lunar surface exploration. As the capacity and complexity of hardware and software, demands for bandwidth, and the sophistication of goals for lunar and planetary exploration have increased, greater cost constraints have led to fewer resources and thus, the need to operate spacecraft with less frequent human contact. At present, autonomous operation of spacecraft systems allows great capability of spacecraft to 'safe' themselves and survive when conditions threaten spacecraft safety. To further develop spacecraft capability, NASA is at the forefront of development of new mission architectures which involve the use of Intelligent Software Agents (ISAs), performing experiments in space and on the ground to advance deliberative and collaborative autonomous control techniques. Selected missions in current planning stages require small groups of spacecraft weighing tens, instead of hundreds, of kilograms to cooperate at a tactical level to select and schedule measurements to be made by appropriate instruments onboard. Such missions will be characterizing rapidly unfolding real-time events on a routine basis. The next level of development, which we are considering here, is in the use of autonomous systems at the strategic level, to explore the remote terranes, potentially involving large surveys or detailed reconnaissance.

Description: Although many radar profiles and images of the area within 20 deg of Mercury's equator had been obtained from 1971 to 1981, at both Goldstone and Arecibo radar facilities, surprisingly little geological analysis had been done with these data until recently. Topographic profiles and radar roughness reflectivity images which can be derived from these data will be crucial in completing the geological mapping of Mercury now underway at the U.S. Geological Survey. Processing of available radar data must be completed to establish any systematic relationship between radar reflectivities and roughness, density, dielectric constant, and other related geological parameters. Specific tasks accomplished for these purposes include the following. Documentation was located and searched to establish the type and quantity of Goldstone 12.5 cm radar observations which were available for Mercury. Data has been collected during approximately 50 observation periods from 1971 to 1981. About half of the data, collected during 1972 and 1973, have been processed, but without adequate documentation. A standardized, well-documented procedure for processing and analysis for all Goldstone Earth-based observations of Mercury was established.

Description: Several 3.8 cm radar frames were calibrated empirically by histogram fitting, because no instrument background data is available. Then data were corrected for geometric distortion by: (1) redetermining position of individual frames using most accurate recent lunar ephemerides; (2) reprojecting frames into simple cylindrical map projection; (3) using most recent catalog of lunar craters to determine the exact positions of features identifiable on radar frames; and (4) correcting for apparent distortion (misplacement of features in frames) by resampling using a different bilinear interpolation derived for each of the parallelopideds of the set defined for each frame. A hardcopy set of corrected frames was produced. Attempts to produce a mosaic of such corrected frames continue. The resulting mosaic can be used to show the systematic relationship between photographic thermal IR and radar data at different wavelengths in a region dominated by both mare and highland terrain.

Description: An analysis is conducted of available topographic profiles and scattering parameters derived from earth-based S- and X-band radar observations of Mercury, in order to determine the nature and origin of regional surface variations and structures that are typical of the planet. Attention is given to the proposal that intercrater plains on Mercury formed from extensive volcanic flooding during bombardment, so that most craters were formed on a partially molten surface and were thus obliterated, together with previously formed tectonic features.

Description: Earth based radar observations of the Moon have been taken at many wavelengths during the last ten years -- at 3.8, 70 cm, and most recently, 7.5 cm. Radar returns have been collected in both polarized and depolarized form so that is possible to derive both topographic and local surface roughness from the data. Until recently, work with 3.8 cm radar data had consisted of qualitative correlation of photographic and thermal IR data with individual depolarized radar data frames (local surface roughness) at different wavelengths. These studies provided results which demonstrated that the relationships between surface roughness (measured by either thermal emission or radar reflectivity) at different wavelengths can be used as an index of a crater's state of degradation (age). However, systematic studies of craters, or other local terrain features, as well as regional or global studies of major terrains (involving a number of data frames), cannot be done until individual frames are calibrated, geometric distortion is removed, and corrected frames are mosaicked.

Description: Although many radar profiles and images of the areas within 20 deg of Mercury's equator had been obtained from 1971, at both Goldstone and Arecibo radar facilities, surprisingly little geological analysis had been done with these data until recently. Topographic profiles and radar roughness reflectivity images which can be derived from these data will be crucial in completing the geological mapping of Mercury now underway at the U.S. Geological Survey. Earth based radar observations of Mercury and the other terrestrial planets as well are a potentially very valuable tool in the determination of the physical nature of their surfaces. Processing of available radar data must be completed to establish any systematic relationship between raar reflectivities and roughness, density, dielectric constant, and other related geological parameters.

Description: Radar observations of Mercury were made during the past two decades at the Goldstone radar facility. Correlations of these observations with geologic maps are presented in this chapter. Topographic profiles indicate that Mercurian craters are rather shallow. Some topographic features are seen on the side of Mercury not imaged by Mariner 10. There are global correlations between topography and radar roughness. Mercury's surface may be rougher on a 1-cm scale than on a 10-cm scale, in comparison with the moon.

Description: Based on regional maps of orbital geochemical variables, major geochemical heterogeneities in the Undarum/Sumans/Balmer region of the moon are found which are usually associated with distinct geological features, and which reveal a north/south dichotomy. The mapped mare and plains units are often the site of heterogeneity, and the plains units in the Balmer basin are probably composed of volcanic material, possibly KREEP-enriched basalt. Data suggest that the northeastern part of the region may contain a minor spinel component. Major mare units of the region are found to have two distinct compositions, possibly indicating two different source regions for the basalts deposited there, but more likely indicating contamination with different amounts of highland debris.

Description: Addressable Reconfigurable Technology (ART) based structures: Mission Concepts based on Addressable Reconfigurable Technology (ART), originally studied for future ANTS (Autonomous Nanotechnology Swarm) Space Architectures, are now being developed as rovers for nearer term use in lunar and planetary surface exploration. The architecture is based on the reconfigurable tetrahedron as a building block. Tetrahedra are combined to form space-filling networks, shaped for the required function. Basic structural components are highly modular, addressable arrays of robust nodes (tetrahedral apices) from which highly reconfigurable struts (tetrahedral edges), acting as supports or tethers, are efficiently reversibly deployed/stowed, transforming and reshaping the structures as required.

Description: We propose an ESA Flexi Mission, LUGH, Mercury Express Mission, an extremely fast, low cost, low risk, high return, three-platform, multiple flyby mission which would provide data which are unique and complimentary to recently selected long lead time Mercury missions.