Posts Tagged ‘Exploration’

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Wednesday, February 3rd, 2010

Allyson and Bekah Arrive at the ISRU Field Site

by Bekah Shepard

Ahhhh, Hawaii. The Big Island. Palm trees, tropical ocean, coconuts, yummy coffee – you can’t beat a tropical field destination! Of course, when Allyson and I arrived at the site, this is what we saw…

Base-camp

ISRU Base Camp

Where are all the beaches and palm trees! Can you guess where we are on the Big Island? I’ll give you a few hints. It is quite chilly. We are quite close to the stars. How about this one: we are on the tallest mountain in the world if you measure from the seafloor! If you guessed Mauna Kea, you are correct!

The ISRU field site sits in a crater at about 9000 feet above sea level on the slopes of the extinct volcano Mauna Kea. The site was chosen because of the cold, dusty conditions and the presence of volcanics that are similar in many ways to what exists on the Moon. Working at a high elevation and on the slopes of a mountain can be pretty tough – plenty of wind, occasional dust storms, lots of fog, and the threat of altitude sickness or overexertion. In truth, however, it is also a beautiful place to work. Mauna Kea offers lovely views, interesting volcanic rocks, and the thrill of spending time on such a large and powerful mountain. In fact, Mauna Kea is considered a very spiritually powerful place to the native Hawaiians – you can check out a brief introduction to that history here: http://www.imiloahawaii.org/59/maunakea.

Hawaii... a fine place to do research in February! (Photo: Bekah Shepard)

Hawaii... a fine place to do research in February! (Photo: Bekah Shepard)

Base camp is a small tent city. We have a mess tent (yum – lunch!), a medical tent, an administration tent, tents for the scientists, tents for the engineers, and tents that function as garages for the instruments and robotics that are being tested. Allyson and I settled into one of the science tents, but didn’t stay inside too long! Right away, we set about following the various science and engineering teams in their testing activities. Details about what we found to come!

- Bekah


Sunday, January 31st, 2010

PLRP Meets ISRU

by Bekah Shepard

Aloha! That’s right – PLRP is visiting Hawaii! To be more specific, Allyson and myself have journeyed to the Big Island to take part in another exploration analogue test – the In-Situ Resource Utilization (ISRU) Test. ISRU is just a fancy way of saying “using the resources that are in place”, but in this case, we mean resources that are “in place” on the Moon or Mars. Some of the major goals of planetary exploration are sample return (bringing samples from other planets to Earth) and human exploration. Both of these ventures will require lots of fuel, and in the case of human exploration, plenty of oxygen and water. To send enough of these resources to the Moon or another planet would be incredibly expensive, and might even take several trips! Therefore, learning to use resources “in place” to generate fuel, oxygen, and water will be a great help to planetary exploration!

“But what are you Pavilion Lake researchers doing at an ISRU field test?” I hear you cry. It is true that our main focus at Pavilion Lake is the scientific exploration of the lake and its microbialites. However, as our project has grown and the exploration has become more complicated (submersibles, AUV’s, complicated communications, LOTS of people working to support the science) we realized that it can sometimes be challenging to keep the science as the top priority! In our struggles to do science as effectively and successfully as we can, we realized that developing metrics (tools for evaluating how successful we are at doing research) was surprisingly helpful!

ISRU-tent

Our tent at ISRU-Hawaii. Yes, this really is Hawaii.

We have since gone on to collaborate with folks developing the next generation Lunar Rover, and have applied our metrics to their Desert RATs analogue test site in Arizona. (Check out the NASA analogue site for more information about RATs: http://www.nasa.gov/exploration/analogs/). That collaboration has continued, and when the opportunity arose to test our metrics in yet another analogue setting, we jumped at the chance! Why? The balance between science, engineering, and operations in different in each of these analogue field tests, and that difference helps us to hone our metrics. We are gaining a better and better understanding of how science functions in each of these types of analogues, and that helps us all to become better exploration scientists.

Stay tuned for next time when Allyson and Bekah say “Hey! This is Hawaii! Where are all the beaches and palm trees!?!

- Bekah


Friday, July 24th, 2009

When there’s a camp cook… PLRP 2009 Closing Remarks

by Darlene Lim

A while ago, Donnie Reid said something to me that went something like this: “When there’s a camp cook, that’s when you’ve got a real field camp on your hands”. He said that to me as we cheerfully prepared a modest dinner of salad and spaghetti for a hungry band of about 8 people. He was volunteering his diving skills to our research efforts, and me, I had just started at NASA Ames and was keenly exploring my new research site of Pavilion Lake. That was August 2004.

August 2004.  Early days of the project

August 2004. Early days of the project

Welcome to July 2009 – and guess what? We have a camp cook. Her name is Dana. And she now prepares a mean pasta dinner for a thriving (and still hungry) camp that has grown to almost 60 characters from all walks of life and from all over the world. Oh, and as for Donnie, well he is now the PLRP Logistics and Operations Manager and is in charge of organizing the activities of everyone from the astronauts to yep, the camp cook. I think he knew this was coming when he said what he said to me some years ago.

August 2005. A few more faces, but still no camp cook

August 2005. A few more faces, but still no camp cook

August 2006.  New graduate students and a camp cook join the team.

August 2006. New graduate students and a camp cook join the team.

When I think back, I’m struck by the fact that the project has seen more faces come than go, and as a consequence, we’ve grown. Folks keep coming back, and bringing more folks with them. It’s great, because with each passing year the PLRP family gets larger. One reason for this phenomenon is that the lake is a scientific goldmine. As we answer the first round of questions we came to the lake to research, so many new, interesting questions surface for us to ponder. And as we’ve set out to answer questions, we’ve had the chance to select the best technologies, methodologies and protocols to help us accomplish our science objectives. And what we’ve learnt isn’t just relevant to us at Pavilion Lake, but also has bearing on how humans will conduct science on the Moon, Mars and beyond. And with this natural procession of scientific research has come the development of a new crop of researchers. Allyson Brady, Rebekah Shepard, Alex Forrest, Ben Cowie, Margarita Marinova, Weston Pike, Olivia Chan, and Carol Turse are all graduate students who joined the project early on and who are all now either completed or on the cusp of completing their degrees. Through their work at Pavilion Lake, we’ve learnt so much about the physical, chemical and biological processes that govern this remarkable environment. And now we are in the process of shepherding in a new crop of students to evolve their research and tackle the new questions ahead of us. To me, all this is the essence of the scientific endeavor – gain knowledge, give knowledge, and grow knowledge.

August 2007.  Post-SCUBA dive debrief with the growing PLRP team.

August 2007. Post-SCUBA dive debrief with the growing PLRP team.

This year we did 40 submersible flights in 10 days of operations. We cycled 9 scientist pilots (SPs) through a variety of rigorous sub flight plans that included contour mapping, detailed imaging, basin transects and deep sample collection activities. We gathered ground-breaking quantitative data to measure the efficiency, productivity, and discovery mindedness of each SP. We implemented a new Surface Data System (SDS) and communications plan that allowed us to view sub tracks and science notes in real time, and get voices from the deep up to the shore and into our Mobile Mission Control Center, or “The Hab[itat]“, much to the delight of an eagerly awaiting Science Backroom Team (SBT). We had underwater fluorometer experiments, water monitoring, and virology surveys taking place at the same time as the sub ops, as well as a very busy Education and Public Outreach schedule. Visitors came, visitors went, and there were a lot of boat trips to carry out everything we had to do to complete the science goals and objectives we set for the team and then some! It all got accomplished and happily, everyone made it home safely. Whew.

July 2008.  First year of DeepWorker sub operations.  Dana, our camp cook and raison d’etre, pictured bottom row, three from the left.

July 2008. First year of DeepWorker sub operations. Dana, our camp cook and raison d’etre, pictured bottom row, three from the left.

As a final note to all those who have been following our field season blogs, we’re planning on keeping our updates coming to you throughout the year, so definitely stay tuned. But for now, I just wanted to say thanks to all those who have been reading our entries, and by extension supporting our research efforts through the July 2009 field season. I’m looking forward to seeing the PLRP family again in 2010 and to meeting the new faces who will help to grow and evolve the project. Which leaves me to wonder what Donnie and Dana would have to say about having two camp cooks? Ah, but that’s a story for another time…

So long for now,

Darlene

July 2009.  The 2009 PLRP family photo.

July 2009. The 2009 PLRP family photo.


Wednesday, July 15th, 2009

Tracking submarines on the go!

by Matthew Deans

For the past 10 days we have been making real time maps of all of the sub operations at Pavilion Lake. To do this, we have written some software to generate KML files to load into Google Earth. The Intelligent Robotics Group at NASA Ames has a lot of experience with ground data systems for NASA missions like the MER rovers, robotic earth analog field tests like the Robotic Recon test in northern Arizona in June, disaster response applications, and the Gigapan camera system, we were able to put together a set of tools to support sub tracking and mapping using a lot of existing software. We call the collection of tools and processes the “Surface Data System.”

Pavilion Lake 2009 Data Map

Pavilion Lake 2009 Data Map

We started with importing overlays of the bedrock geology from British Columbia Geological Survey (BCGS), as well as sonar bathymetry and sonar backscatter maps that show depth of the lake and structure of the bottom. These provide context for flight planning and for setting expectations for what we will find during the flights. In real time during the submarine flights, we get sub position every 5 seconds from the navigation computer on the chase boat. We use that to track the sub by periodically writing out updated KML files and automatically refreshing them in Google Earth as network links. A submarine icon shows the current location of the sub, and a compass rose shows bearings to indicate which way to go to reach the next waypoint. Google Earth also provides lots of measurement tools, annotation tools, and other built-in functions that we can use to annotate and analyze the map. All of this information is saved to a shared filesystem so that everyone at the camp has access to all of the same map data.

We have established an operations role on the support vessels which we call the “Science Stenographer”. That person’s job is to listen in on the voice loop and transcribe any significant observations in real time. Observations worth calling up to the surface immediately appear on the map as icons that you can click on to read the date, time, lat/long, and what was said.

My reflection in the monitor showing the stenography program

My reflection in the monitor showing the stenography program

In addition, the submarines are recording video continuously. The video recorder also has an “event” button that can mark the timestamp of a significant event on the video. In post-processing, we cross-correlate the timestamps to get position, and put a preview image and compressed video clip into the map as well.

These maps have been very useful for operations, for post-flight analysis, and for planning the next set of activities. After the flights are over, the science back room immediately has the flight track as-flown and georeferenced notes from the pilots. After some video post-processing (which takes some time simply due to the quantity of data: over 25 GB of video from each flight) the video clips and video stills are georeferenced and in the map. This information has been used to modify or create flight plans in real time. As an example, one morning Margarita identified interesting sampling locations during her flight. The post-flight map was immediately used to create a second flight plan to send Ricky to those locations for sample collection that same afternoon. It has also been interesting to see all of the flights and notes and images on one map simultaneously. The team realized before the end of the field season that there were areas of the lake that had not been covered and could plan accordingly.

Georeferenced notes attached to the flight tracks in Google Earth

Georeferenced notes attached to the flight tracks in Google Earth

Without this real time information procesing and integration, it would have been too late to go back and investigate those areas during the field season. Those flight plans would have to wait for another year. In a field setting with a lot of logistics overhead and a short duration for field work, understanding the big picture of operations quickly is a big time saver.

Georeferenced tree image in Pavilion Lake

Georeferenced tree image in Pavilion Lake

After the field season is over, the map data will be used by the team to analyse and correlate information from across the lake and across different flights to support their research, and to plan next year’s activities. All of the observations and information gathered this year bring up new questions and new hypotheses, and there is always more to study in this lake.

The images in this post show a few different views of map screens. There is also a KMZ file that you can download and open in Google Earth to see one of our flight plans and watch the time lapse animated flight track for the actual submarine positions flight as it was flown that day. Try setting the playback speed to the minimum for best results. Enjoy!

- Matt

DOWNLOAD THE KMZ FILE


Tuesday, July 14th, 2009

The Scientific Firefighter

by Andrew Abercromby
Andrew on the deck

Andrew on the deck

As happens most days, this afternoon we had a local visitor stop by the mobile command center to see what was going on in the big trailer with NASA and CSA logos on it. As we explained what was happening at the various workstations, he was particularly interested when we told him that we were trying to use a variety of metrics to better understand the many different factors that influence the effectiveness of scientific exploration. I explained that we are using several different techniques to try and measure aspects of scientific exploration that are very difficult to put numbers to – things like scientific merit, productivity, and data quality – and that if we can measure these things then we can begin to understand how to do scientific exploration more effectively, whether we are under water or on the moon.

He told me that he is working on a very similar challenge right now but applied to fighting fires rather than finding funky-looking rocks in lakes. There are a lot of ways to fight fires and new technologies can help. But which technologies are most effective and do their benefits justify their costs? Difficult questions and this firefighter is trying to develop metrics to begin answering them. He fully appreciated the importance of measuring what you hope to understand. He recognized that his task would be a difficult one, that in science or firefighting some people want perfect metrics or no metrics. But he was undeterred. Good man.

-Andrew


Thursday, July 9th, 2009

At Home in the Herms

by Bekah Shepard

If you want to make a bunch of Pavilion scientists excited, just mention “the herms”. I just did my second submersible flight through the herms and it was spectacular! Let me give you a little background, so that you can understand why the flight was such a treat:

A bioherm is a mound constructed by biological organisms. A classic example is a patch reef: a decimeter to meter scale mound that is built by corals, sponges, and other reef animals. You may not think of a mound of organisms as being very sturdy, but just as your body is capable of making hard bones, other organisms such as corals also make hard skeletons. When those skeletons start to pile up, you get a bioherm – a biological mound!

So, what in the world does this have to do with microbialites. Remember that microbialites are “organosedimentary structures”, meaning they are built up of minerals that are influenced by organisms. “Whoa!” I hear you cry, “Does that mean that a microbialite is a bioherm? Well, a single microbialite is not usually defined as a bioherm, but if you pile up enough microbialites, you do end up with a mound that is constructed by organisms! By that definition there are some places in Pavilion Lake where we observe large piles of microbialites that can be defined of bioherms.

Thinking about microbialite bioherms is something that some of us geologists do quite frequently. Long before the organisms that build coral reefs evolved, big bioherms and reef structures still existed. Rather than being built by corals, sponges, or even shells, the ancient bioherms and reefs were built out of microbialites! Can you imagine SCUBA diving or piloting a submersible around ancient microbialite bioherms and reefs! Boy, I wish I had a time machine. Since I don’t have a time machine, I do the next best thing. Can you guess what that is? Yup, I come here and study the microbialites in Pavilion Lake. The details we learn about the microbialites in Pavilion Lake will help us to understand the fossil record of ancient microbialite reefs. That will help us to understand how life evolved on early Earth! Crazy cool stuff!

Ok, back to the Pavilion Lake herms. Here is where we are going to get really confusing! The “herms” are not actually bioherms, hence the lack of the “bio”. The herms are an area of sediment mounds at the southern end of the central basin of the lake. Now I know you are screaming, “but if they aren’t bioherms, which are so cool, why are you crazy scientists so excited about them!” It turns out that even though the herms are just sediment mounds, they are covered by some of the most interesting microbialites in the lake. There are a lot of different microbialite morphologies crammed into a very small space. If you start at the bottom of any given herm, you can often see several distinct morphotypes just by looking up two meters of slope. Likewise, if you move around a herm several meters, you often can see changes in morphotype or surface texture. Those are rapid changes! I’m sure you are asking yourself why the microbialites would be changing that rapidly, and that is one of our big research questions this year! It may be that the mounds are a place of significant environmental variability. In other words, there may be interesting water flow patterns, light conditions, variations in sedimentation, etc. that are unique to the herms. Any of these variables may be influencing the morphology of the microbialites! In short, the herms are a really complicated place, and if you haven’t figured it out yet, the scientists as Pavilion Lake love to study really complicated and interested places!

-Bekah


Thursday, July 9th, 2009

A New Canadian Astronaut Visits Pavilion Lake

by Jeremy Hansen

This year at Pavilion Lake, I have been introduced to fascinating microbialite structures, seemingly created by simple life forms over thousands of years.  The rare occasion to witness these, during a scuba dive, with my own eyes was a privilege.  I have also been impressed by the quality, professionalism and motivation of the individuals dedicated to the Pavilion Lake Research Project as they search for knowledge that answers questions about the beginning of life on earth.  This challenging and fundamental science can lead to discoveries we haven’t even contemplated.

The Pavilion Lake Research Project is demonstrating the incredible advancement of science possible when great minds share a common goal and it is providing an elegant example of the combination of field science and challenging operations that will be required in our continued quest for knowledge on the Moon, Mars and beyond.

- Jeremy

Jeremy (right) with Dave Williams (left) on the deck overlooking Pavilion Lake

Jeremy (left) with Dave Williams (right) on the deck overlooking Pavilion Lake


Tuesday, July 7th, 2009

How to drive an underwater sports car in reverse?

by Allyson Brady

Tuesday was my first DeepWorker dive of the season. It was so great being back in the sub! I had almost forgotten how much fun it is to pilot and how amazing this lake is. The objective of my dive was to document transitions in the microbialites as you moved from deeper depths up slope to shallower depths and then back down again. We really want to get an understanding of how the microbialites vary within the lake and what types of lake characteristics (e.g. steepness of slope, sedimentation) might be associated with particular morphologies. This was a new type of dive as compared to the types we had planned last year and I wasn’t initially sure how easy it would be to back down the slope. Going up slope worked quite well, once I was back in pilot mode, remembering how best to combine my foot movements in order to minimize sediment disturbance.

It was really fascinating seeing how the microbialites change as you move into shallower water. You could really see that there were differences in the morphology as you changed depths. Transitions from columnar, smooth surface microbialites to rough, nodular looking ones were common. I also saw some huge microbialite mounds and microbialites growing on rocks and trees, very interesting for answering some of our science questions. Loads of algae were also visible in the shallower depths, everything from bright green filamentous algae to dark green material that resembles shag carpeting.

Screen Capture from the science stenographer showing Allyson's dive track on a map of the south basin in Pavilion Lake.

Screen Capture from the science stenographer showing Allyson's dive track on a map of the south basin in Pavilion Lake.

Once I was within 10 feet of the surface, the next objective was to move down slope along the same pathway capturing detailed video of the area. Hmmm…how do you back up the equivalent of a floating sports car with no rear view mirrors? As it turns out, very slowly and carefully actually does the job! After a few attempts, I think I was starting to get the hang of it and managed to get some quite nice video footage backing down the slope. It took a bit of practice but we’re all here to learn and that includes not just learning about the science, but learning about how best to explore our environment and collect the data that we use to answer our questions. At least I didn’t have to parallel park.

-Allyson


Tuesday, July 7th, 2009

Incredible Communications at Pavilion Lake

by Marc Seibert

[Bekah, talking to Marc at Desert RATS 2008] “Hey – let me ask you something…  Ok, so we have this lake up in Canada that is really long, really deep, is surrounded by steep walls and lots of trees, and has some really cool ‘microbialite’ structures in it!”

[Marc] ok? [thinking: Microbe-o-light? Sounds like a really small flashlight like thingy – maybe these things glow and give off light. ; ) does the lake bottom glow? Can it be seen from space? Can we communicate with it? I’m always looking for new technology to communicate – maybe these microbe-o-light’s are the next [OLEDs]!! Bummer: Turns out they’re not – they don’t emit photons at all. ]

[Bekah, continues (summarized)] “We’re studying the ‘morphology’ of the structures on the lake floor, and the way we study them is similar to how we’ll study things on Mars when we send people there…”

[Marc] How cool is that! [thinking: Good for you, sounds like cool science – but I’m not a microbialite scientist – how can our team help?]

[Bekah] We need communications. We want to link the underwater operations to people on the shore for the first time during the sub operations. We want them to interact, and understand the best ways to do things. [enthusiastically] Can we get video from the submarines back to the shore???

[Marc] maybe – can we drag a buoy behind the sub? [thinking: then you can have video!]

[Marc, thinking, reading into Bekah’s comments and from conversations in NASA Analog Mission meetings] Ok, it’s been stated and restated to me but I finally get it. Imagine we send humans back to the moon or to Mars, and every second that a person is on the planet costs lot of money – so we want to make it very valuable. We expect that on planetary missions. In this project, microbiolite science is the end product, and the team members are working on advance degrees, etc. HOWEVER, learning how to explore a planetary body while they are collecting their science products is also a key part of their research, AND a very cool approach. What surprises me most is the PLRP team could simply study these structures and go home – but instead they want to combine their exploration of this lake in a manner that will make planetary exploration much better when humans are involved. This makes their day much longer, requires much more coordination and planning, and makes end-to-end processes more strict. But they do it. Humans will advance. How cool is that? Wow.]

We got an enthusiastic go-ahead from NASA HQ to do this work together, and build on it. So here we are!

The Pavilion Lake Research Project (PLRP) team already had a significant amount of momentum before the comm team arrived. They have been studying this lake for years – but big things are ahead. My team is new here, and we’re working just to catch up. We’re learning how this team works, how they study their samples, how they interact with the sub flights, how they wash dishes, and how well they eat – thanks to Dana (she should be cooking for Olympic Athletes).

So, from a communications perspective, the Exploration-relevant topic we’re concerned about is: “how much communication between human explorers and Earth is necessary to “maximize” amount of things we learn about the planet?”

Ask yourself (or your students) this: When we send people back to the moon then to Mars, how often do you think Earth needs to talk to them to accomplish the mission? (Keep in mind that today we are in almost constant contact with our Crews orbiting Earth)

After all the missions we’ve had to the moon and to Earth’s orbit, this is the core question we’re asking ourselves, again. Every answer to this question has a different cost to the public and associated complexity (and risk) to the mission. For example, continuous communication to explorers is really nice to have, but has a significant cost and complexity to achieve – do we really need it? Is it required for safety? For science? How much bandwidth is needed for science data downlink to Earth? How fast does Earth need the science or navigation data to assist the explorers? We’re trying to answer these questions in analog missions.

For this PLRP mission, we’ve procured a big Internet data pipe along the lake, and we’re slinging it wirelessly across the lake using a high-power, “meshing” WiFi technology, to enable data to pass from the explorers out in the Nuytco subs back to the “control center” on shore. This is a big lake, and “illuminating” big chunks of the lake with “broadband” data is really challenging, so we’re moving our gear daily to maximize performance for the scientists, day by day.

We’re also working this year to allow teams in the command center to hear the comments live from the scientist-pilots. We believe this will help the science annotation process be more efficient. To improve upon this, next year we plan to allow the CAPCOM in the command center to talk to the sub pilots in real time, and if we get our wish, we hope to have live video from the subs in the command center as well!

-Marc


Monday, July 6th, 2009

flying a submersible… just like riding a bicycle

by Mike Gernhardt

This was my first Deepworker flight since last year, and I was pleased that flying the submersibles came back similar to skiing or riding a bicycle. We have been planning the science and operational metrics for this expedition for many months now, and it was both fun and exciting to get back into the water and execute the plan for real. I was constantly marveling at how cool it was to be seeing things that human eyes have never seen before, like exploring Mars or time warping back to pre-Cambrian oceans with today’s technology. It was great to be back working with the PLRP team, an extremely talented group that work together seamlessly to execute some very complex operations, which are helping us understand the optimal blending of science and operations in hostile environments as we get ready for the coming decades of planetary exploration.

The objectives of my dive today included contour mapping a part of the central basin that we have not seen before at 30 meters and 15 meters. It’s both challenging and fun to fly these contours. One of the more challenging aspects to learn was learning to fly only with my feet. The right foot is used to control direction and the left foot controls depth. With your left foot, push down with your right toe and you go forward, down with the right heel and you go backwards, twist right to turn right, twist left to turn left. With your right foot, push down with your left toe to dive, right heel to ascend. Then you blend all of those inputs to fly around various microbialite structures and contact lines, while simultaneously using your right hand to control the manipulator arm that positions the camera and your left had to operate the camera zoom and/ or the sonar, all the time while making observations and narrating into a voice recorder. If it sounds like a heavy workload, it is, and one of the things we are doing this year for the first time at PLRP is recording subjective human factors of the workload to compare with the quality of the objective and subjective data. By doing this, we will understand if factors like pilot fatigue play a role in the quality of science and exploration data obtained from the subs. In addition to be ground breaking science on earth, all of this contributes to the effort to help design the human factors of next generation of planetary surface exploration vehicles that optimize our ability to perform planetary exploration.

-Mike