Undersea scientific ocean exploration and research only began in earnest approximately150 years ago. Much has been learned and discovered in that time, but there are also gaps in understanding of the ocean depths. One source of the knowledge gap is the relative lack of crewed exploration in some regions of the ocean. This work presents a vehicle that provides divers with longer time at deeper depths than is currently available in an unpressurized environment, reduces diver workload, and improves situational awareness. Working in collaboration with the scientific diver community, top-level requirements were defined, and a Concept of Operations was developed. This effort is followed up with a vehicle design which provides the capability for two divers to complete unpressurized dives to 200 meters, remain there for 20 minutes, and return to the surface within 12 hours. Additional functionality provided by the vehicle includes significant cargo capacity, voice and data communication with the surface, geolocation capabilities, and automated maneuvering and decompression management. Analysis of the hull shape and propulsion system is presented which demonstrates that the vehicle can reach its velocity and acceleration performance requirements. A virtual environment is then presented which has the potential to allow for end-to-end mission performance evaluation. Finally, the constraints on the life support system are discussed and source code for a simulation is presented. The final chapter of this work examines a hypothetical mission to 200 meters depth. The various phases of the mission are discussed as well as the potential consumption of both oxygen and electricity. Two life support gas mixtures are examined, and the resulting decompression profiles are presented. The final analysis shows that it is possible to conduct dives to 200 meters, perform 20 minutes of work, and return to the surface within 12 hours using the CUTLASS vehicle that is presented.
At the coarse spatial resolution provided by the wide-angle Mars Color Imager (MARCI) camera aboard the Mars Reconnaissance Orbiter (MRO), regional scale differences in reflectance at all wavelengths are dominated by the presence or absence of Fe3+-rich dust. The dust cover in many regions is highly variable, often with strong seasonal dependence although major storm events can redistribute dust in ways that significantly alter the albedo of large-scale regions outside of the normal annual cycle. Surface dust reservoirs represent an important part of the martian climate system and may play a critical role in the growth of regional dust storms to planet-wide scales. Detailed investigation of seasonal and secular changes permitted by repeated MARCI imaging coverage have allowed the surface dust coverage of the planet at large to be described and have revealed multiannual replenishing of regions historically associated with the growth of storms.
From the ground, rover-based multispectral imaging acquired by the Mastcam cameras allows compositional discrimination between bedrock units and float material encountered along the Curiosity rover’s traverse across crater floor and lower Mt. Sharp units. Mastcam spectra indicate differences in primary mineralogy, the presence of iron-bearing alteration phases, and variations in iron oxidation state, which occur at specific locations along the rover’s traverse. These changes represent differences in the primary depositional environment and the action of later alteration by fluids circulating through fractures in the bedrock. Loose float rocks sample materials brought into the crater by fluvial or other processes. Mastcam observations provide important constraints on the geologic history of the Gale Crater site.
There is consensus that martian outflow channels were formed by catastrophic flooding events, yet many of these channels exhibit lava flow features issuing from the same source as the eroded channels, leading some authors to suggest that lava may have served as their sole agent of erosion. This debate is addressed in two studies that use Context Camera images for photogeologic analysis, geomorphic mapping, and cratering statistics: (1) A study of Mangala Valles showing that it underwent at least two episodes of fluvial activity and at least three episodes of volcanic activity during the Late Amazonian, consistent with alternating episodes of flooding and volcanism. (2) A study of Maja Valles finds that it is thinly draped in lava flows sourced from Lunae Planum to the west, rendering it analogous to the lava-coated Elysium outflow systems. However, the source of eroded channels in Maja Valles is not the source of the its lava flows, which instead issue from south Lunae Planum. The failure of these lava flows to generate any major channels along their path suggests that the channels of Maja Valles are not lava-eroded.
Finally, I describe a method of locating sharp edges in out-of-focus images for application to automated trajectory control systems that use images from fixed-focus cameras to determine proximity to a target.