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By NASA
Explore This Section Earth Earth Observer Editor’s Corner Feature Articles Meeting Summaries News Science in the News Calendars In Memoriam Announcements More Archives Conference Schedules Style Guide 9 min read
NASA’s TROPICS Mission: Offering Detailed Images and Analysis of Tropical Cyclones
Introduction
Tropical cyclones represent a danger to life, property, and the economies of communities. Researchers who study tropical cyclones have focused on remote observations using space-based platforms to image these storms, inform forecasts, better predict landfall, and improve understanding of storm dynamics and precipitation evolution – see Figure 1.
Figure 1. TROPICS imagery of Typhoon Kong-rey observed on October 29, 2024 near 205 GHz revealing a large and well-defined eye. Figure credit: U.S. Naval Research Laboratory The tropical cyclone community has leveraged data from Earth observing platforms for more than 30 years. These data have been retrieved from numerous instruments including: the Advanced Baseline Imager (ABI) on the National Oceanic and Atmospheric Administration’s (NOAA) Geostationary Operational Environmental Satellite (GOES)–Series R satellites; the Tropical Rainfall Measuring Mission (TRMM) Microwave Imager (TMI); the Global Precipitation Measurement (GPM) Microwave Imager (GMI); the Special Sensor Microwave Imager/Sounder (SSMIS) on the Defense Meteorological Satellite (DSMP) satellites; the Advanced Microwave Scanning Radiometer (AMSR-E) on Aqua; AMSR2 on the Japan Aerospace Exploration Agency’s (JAXA) Global Change Observation Mission–Water (GCOM-W) mission; the Advanced Microwave Sounding Unit (AMSU) on Aqua and the Advanced Technology Microwave Sounder (ATMS) on the NASA–NOAA Suomi National Polar-Orbiting Partnership (Suomi NPP), NOAA-20, and NOAA-21; the Moderate Resolution Imaging Spectroradiometer (MODIS) on NASA’s Terra and Aqua Platform; and the Visible Infrared Imaging Radiometer Suite (VIIRS) on Suomi NPP, as well as on the first two Joint Polar Satellite System (JPSS) missions (i.e., NOAA-20 and NOAA-21).
Despite having decades of data at their disposal, scientists lack data from instruments placed in low-inclination orbits that provide more frequent views within tropical regions. This limitation is especially pronounced in the tropical and subtropical latitudes, which is where tropical storms develop and intensify.
The NASA Time-Resolved Observations of Precipitation structure and storm Intensity with a Constellation of Smallsats (TROPICS) grew from the Precipitation and All-weather Temperature and Humidity (PATH) to address a need for obtaining three-dimensional (3D) temperature and humidity measurements as well as precipitation with a temporal revisit rate of one hour or better – see Figure 2. TROPICS uses multiple small satellites flying in a carefully engineered formation to obtain rapid revisits of measurements of precipitation structure within the storms, as well as temperature and humidity profiles, both within and outside of the storms, including the intensity of the upper-level warm core. In addition, the instruments provide a median revisit time of about one hour. The data gathered also informs changes in storm track and intensity and provides data to improve weather prediction models.
The imagery is focused on inner storm structure (near 91 and 205 GHz), temperature soundings (near 118 GHz), and moisture soundings (near 183 GHz). Spatial resolution at nadir is approximately 24 km (16.8 mi) for temperature and 17 km (10.6 mi) for moisture and precipitation, covering a swath of approximately 2000 km (1243 mi) in width. Researchers can use TROPICS data to create hundreds of high-resolution images of tropical cyclones throughout their lifecycle.
Figure 2. TROPICS space vehicle showing the CubeSat bus, radiometer payload, and deployed articulated solar array. Figure credit: Blue Canyon Technologies and MIT Lincoln Laboratory This article provides an overview of the two years of successful science operations of TROPICS, with a focus on the suite of geophysical Level-2 (L2) products (e.g., atmospheric vertical temperature and moisture profiles, instantaneous surface rain rate, and tropical cyclone intensity) and the science investigations resulting from these measurements. The complete article, available in the Proceedings Of The IEEE: Special Issue On Satellite Remote Sensing Of The Earth, provides more comprehensive details of the results.
From Pathfinder to Constellation
A single TROPICS satellite was launched as a Pathfinder vehicle on June 30, 2021, aboard a SpaceX Falcon 9 rideshare into a Sun-synchronous polar orbit. TROPICS was originally conceived as a six-satellite constellation, with two satellites launched into each of three low-inclination orbits. Regrettably, the first launch, on June 22, 2022 aboard an Astra Rocket 3.3, failed to reach orbit. While unfortunate, the mission could still proceed with four satellites and meet its baseline revisit rate requirement (with no margin), with the silver lining of an extra year of data gathered from TROPICS Pathfinder that allowed the tropical cyclone research community to prepare and test communications systems and data processing algorithms before the launch of the four remaining constellation satellites. These satellites were deployed on two separate launches – May 8, 2023 and May 26, 2023 aboard a Rocket Lab launch vehicle. The early testing accelerated calibration and validation for the constellation.
Collecting Data Critical to Understanding Tropical Cyclones
Tropical cyclone investigations require rapid quantitative observations to create 2D storm structure information. The four radiance data products in the TROPICS constellation [i.e., antenna temperature (L1a), brightness temperature (L1b), unified brightness temperature, and regularized scan pattern and limb-adjusted brightness temperature (L1c)] penetrate below the cloud top to gather data at greater frequency for a lower cost than current operational systems. The constellation data has been used to evaluate the development of the warm core and evolution of the ice water path within storms – two indicators of storm formation and subsequent changes in intensity.
The upper-level warm core is key to tropical cyclone development and intensification. Precipitation may instigate rapid intensification through convective bursts that are characterized by expanding cold cloud tops, increasing ice scattering, lightning, and towers of intense rain and ice water that are indicative of strong updrafts. TROPICS frequencies provide a wealth of information on scattering by precipitation-sized ice particles in the eyewall and rainbands that will allow for researchers to track the macrostructure of convective bursts in tropical cyclones across the globe. In addition, TROPICS data helps clarify how variations in environmental humidity around tropical cyclones affect storm structure and intensification.
Upper-level Warm Core
Analysis of the upper-level warm core of a tropical cyclone reveals valuable information about the storm’s development. The tropical cyclone community is using data from TROPICS to understand the processes that lead to precipitating ice structure and the role it plays in intensification – see Figure 3. While the warm core has been studied for decades, TROPICS provides a new opportunity to get high-revisit rate estimates of the atmospheric vertical temperature profile. By pairing the temperature profile with the atmospheric vertical moisture profile, researchers can define the relative humidity in the lower-to-middle troposphere, which is critical to understanding the impact of dry environmental air on storm evolution and structure.
Figure 3. TROPICS-3 imagery of Typhoon Kong-rey observed on October 29, 2024, a Category-5 storm that formed in the Pacific Ocean basin. Data gathered near 118 GHz was used to characterize temperature while data gathered near 205 GHz [right] revealed more about the inner structure of the storm. These data are used to define the warm core of the well-defined eye, located at 18.5° N. Figure Credit: U.S. Naval Research Laboratory Ice Water Path and Precipitation
Another variable that helps to provide insight into the development of tropical cyclones is the ice water path, which details the total mass of ice present in a vertical column of the atmosphere and is therefore useful for characterizing the structure and intensity of these storms. Increasing ice water path can reflect strengthening convection within a storm and thereby be an indicator of likely intensification – see Figure 4. TROPICS is the first spaceborne sensor equipped with a 205-GHz channel that, along with the traditional 89, 118, and 183 GHz channels, is more sensitive to detecting precipitation-sized ice particles. In addition, the TROPICS Precipitation Retrieval and Profiling Scheme (PRPS) provides an estimate of precipitation. This scheme is based solely on the satellite radiances linked to precipitation rates, which can be used to generate products across time scales, from near-real-time to climatological scales.
Figure 4. Global precipitation ice water path (PIWP) retrievals derived from TROPICS [top] compared to those derived using data from the GPM Dual-frequency Precipitation Radar (GPM DPR) [bottom] The strong agreement between the two datasets is further validated through case studies over hurricanes, where TROPICS observations correspond well with known storm characteristics. Figure Credit: Blackwell, W. J. et al. (2025) Collaborations and TROPICS Data in Action
To evaluate and enhance the data gathered by TROPICS, the TROPICS application team enlisted the assistance of operational weather forecasters that formed the TROPICS Early Adopters program. In 2018, the program connected the application team to stakeholders interested in using TROPICS data for research, forecasting, and decision making. This collaboration improved approaches to diagnose and predict tropical cyclones. For example, the National Hurricane Center (NHC) found that the new TROPICS channel at 204.8 GHz offered the best approach to capture convective storm structure, followed by the more traditionally used 91-GHz channel. In addition, the U.S. Joint Typhoon Warning Center (JTWC) has been using TROPICS data to center-fix tropical cyclones and identify cloud formations. In particular, the JTWC team found that the 91-GHz channel was most useful for identifying cloud structure. Both NHC and JTWC found the TROPICS high revisit rate to be beneficial.
In 2024, the TROPICS applications team developed the TROPICS Satellite Validation Module as part of the NOAA Hurricane Research Division’s annual Advancing the Prediction of Hurricanes Experiment (APHEX). The module coordinated data collection from NOAA’s Hurricane Hunter aircraft beneath TROPICS satellite overpasses to provide data to calibrate and validate TROPICS temperature, moisture, and precipitation measurements. Using this approach, the Hurricane Hunter team tracked Hurricane Ernesto over the central North Atlantic on August 15 and 16, 2024 and used the data to characterize the environment of Ernesto’s rain bands – see Figure 5.
Figure 5. Brightness temperature (K) measured at 205 GHz from TROPICS-5 [right] and TROPICS-6 [left and center] from Hurricane Ernesto on August 15 and 16, 2024. The shaded circles denote 850–700 hPa relative humidity (%). Wind barbs are 850–700 hPa layer averaged winds (kt). Dropsonde data within 30 minutes of the TROPICS overpass times are plotted. Figure Credit: Blackwell, W. J. et al. (2025) In addition, the team used TROPICS observations in combination with GPM constellation precipitation estimates to characterize the lifecycle of Hurricane Franklin, which formed on August 19, 2023 and underwent a period of rapid intensification about eight days later. Intensification of the storm, in particular the period of rapid intensification (45 knot increase in maximum winds in 24 hours), occurred in association with a decrease in environmental vertical wind shear, a contraction of the radius of maximum precipitation, and an increase in the precipitation rate. Intensification ended with the formation of secondary rainbands and an outward shift in the radius of maximum precipitation.
Conclusion
TROPICS data offer the potential for improving forecasts from numerical weather prediction models and operational forecasts using its high spatial resolution and high revisit rates that enable enhanced characterization of tropical cyclones globally. To date, the TROPICS mission has produced a high-quality aggregate data record spanning 10 billion observations and 10 satellite years, using relatively low-cost microwave sounder constellations. All L1 (i.e., radiances) and L2 (i.e., geophysical products) data products and Algorithm Theoretical Basis Documents are available to the general public through the Goddard Earth Sciences Data and Information Services Center (GES DISC). The GES DISC data discussed in this article include L1 and L2 products for TROPICS-1, TROPICS-3, TROPICS-5, and TROPICS-6.
TROPICS data has aided hurricane track forecasting for multiple storms as forecasters have used the data at multiple operational tropical cyclone forecast centers. Data gathered by TROPICS will soon be complemented by multiple commercial constellations that are coming online to improve the revisit rate and performance.
William Blackwell
MIT Lincoln Laboratory
wjb@ll.mit.edu
Scott Braun
NASA GSFC, TROPICS Project Scientist
scott.a.braun@nasa.gov
Stacy Kish
Earth Observer Staff
Earthspin.science@gmail.com
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Last Updated Jun 09, 2025 Related Terms
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By USH
Researchers utilizing publicly available Synthetic Aperture Radar (SAR) data from Capella Space and Umbra have uncovered significant hidden structures within and beneath the CFR Pyramid on the Giza Plateau. The study reveals five distinct "Zed" structures located above what was previously believed to be the pharaoh’s burial chamber, resembling similar formations found in the Khufu Pyramid. These structures are connected by geometric pathways, with additional secondary formations identified through satellite imaging.
Source and credit images: The Reese report / The Kafre Research Project.
Most notably, eight vertically aligned cylindrical structures, arranged in two parallel rows from north to south, extend 648 meters underground. These formations merge into two massive cubic structures, each approximately 80 meters per side. Tomographical analysis indicates that the cylindrical structures function as hollow wells surrounded by descending spiral pathways.
Further research suggests that these subterranean formations are not limited to the CFR Pyramid but extend beneath the Khufu and Menkaure pyramids as well, reaching depths of approximately two kilometers. The study marks a groundbreaking advancement in the understanding of the Giza Plateau’s underground complexity,
The discoveries surrounding the CFR Pyramid represent just the tip of a vast and complex structure beneath the Giza Plateau.If confirmed, this discovery could challenge mainstream Egyptology’s belief that the pyramids were simply royal tombs.
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By European Space Agency
In a landmark achievement, ESA successfully migrated Galileo’s Control Centres in a highly complex operation involving over 200 people from the Agency, industry and EUSPA. This milestone marked the beginning of a global operation to upgrade Galileo’s entire Ground Segment, a vast network of stations spread around the world.
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By NASA
5 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
NASA’s IXPE (Imaging X-ray Polarimetry Explorer) has helped astronomers better understand the shapes of structures essential to a black hole – specifically, the disk of material swirling around it, and the shifting plasma region called the corona.
The stellar-mass black hole, part of the binary system Swift J1727.8-1613, was discovered in the summer of 2023 during an unusual brightening event that briefly caused it to outshine nearly all other X-ray sources. It is the first of its kind to be observed by IXPE as it goes through the start, peak, and conclusion of an X-ray outburst like this.
This illustration shows NASA’s Imaging X-ray Polarimetry Explorer (IXPE) spacecraft, at lower left, observing the newly discovered binary system Swift J1727.8-1613 from a distance. At the center is a black hole surrounded by an accretion disk, shown in yellow and orange, and a hot, shifting corona, shown in blue. The black hole is siphoning off gas from its companion star, seen behind the black hole as an orange disk. Jets of fast-moving, superheated particles stream from both poles of the black hole. Author: Marie Novotná Swift J1727 is the subject of a series of new studies published in The Astrophysical Journal and Astronomy & Astrophysics. Scientists say the findings provide new insight into the behavior and evolution of black hole X-ray binary systems.
“This outburst evolved incredibly quickly,” said astrophysicist Alexandra Veledina, a permanent researcher at the University of Turku, Finland. “From our first detection of the outburst, it took Swift J1727 just days to peak. By then, IXPE and numerous other telescopes and instruments were already collecting data. It was exhilarating to observe the outburst all the way through its return to inactivity.”
Until late 2023, Swift J1727 briefly remained brighter than the Crab Nebula, the standard X-ray “candle” used to provide a baseline for units of X-ray brightness. Such outbursts are not unusual among binary star systems, but rarely do they occur so brightly and so close to home – just 8,800 light years from Earth. The binary system was named in honor of the Swift Gamma-ray Burst Mission which initially detected the outburst with its Burst Alert Telescope on Aug. 24, 2023, resulting in the discovery of the black hole.
X-ray binary systems typically include two close-proximity stars at different stages of their lifecycle. When the elder star runs out of fuel, it explodes in a supernova, leaving behind a neutron star, white dwarf, or black hole. In the case of Swift J1727, the powerful gravity of the resulting black hole stripped material from its companion star, heating the material to more than 1.8 million degrees Fahrenheit and producing a vast outpouring of X-rays. This matter formed an accretion disk and can include a superheated corona. At the poles of the black hole, matter also can escape from the binary system in the form of relativistic jets.
IXPE, which has helped NASA and researchers study all these phenomena, specializes in X-ray polarization, the characteristic of light that helps map the shape and structure of such ultra-powerful energy sources, illuminating their inner workings even when they’re too distant for us to see directly.
Because light itself can’t escape their gravity, we can’t see black holes. We can only observe what is happening around them and draw conclusions about the mechanisms and processes that occur there. IXPE is crucial to that work.
/wp-content/plugins/nasa-blocks/assets/images/article-templates/anne-mcclain.jpg Alexandra Veledina
NASA Astrophysicist
“Because light itself can’t escape their gravity, we can’t see black holes,” Veledina said. “We can only observe what is happening around them and draw conclusions about the mechanisms and processes that occur there. IXPE is crucial to that work.”
Two of the IXPE-based studies of Swift J1727, led by Veledina and Adam Ingram, a researcher at Newcastle University in Newcastle-upon-Tyne, England, focused on the first phases of the outburst. During the brief period of months when the source became exceptionally bright, the corona was the main source of observed X-ray radiation.
“IXPE documented polarization of X-ray radiation traveling along the estimated direction of the black hole jet, hence the hot plasma is extended in the accretion disk plane,” Veledina said. “Similar findings were reported in the persistent black hole binary Cygnus X-1, so this finding helps verify that the geometry is the same among short-lived eruptive systems.”
The team further monitored how polarization values changed during Swift J1727’s peak outburst. Those conclusions matched findings simultaneously obtained during studies of other energy bands of electromagnetic radiation.
A third and a fourth study, led by researchers Jiří Svoboda and Jakub Podgorný, both of the Czech Academy of Sciences in Prague, focused on X-ray polarization at the second part of the Swift J1727’s outburst and its return to a highly energetic state several months later. For Podgorný’s previous efforts using IXPE data and black hole simulations, he recently was awarded the Czech Republic’s top national prize for a Ph.D. thesis in the natural sciences.
The polarization data indicated that the geometry of the corona did not change significantly between the beginning and the end of the outburst, even though the system evolved in the meantime and the X-ray brightness dropped dramatically in the later energetic state.
The results represent a significant step forward in our understanding of the changing shapes and structures of accretion disk, corona, and related structures at black holes in general. The study also demonstrates IXPE’s value as a tool for determining how all these elements of the system are connected, as well as its potential to collaborate with other observatories to monitor sudden, dramatic changes in the cosmos.
“Further observations of matter near black holes in binary systems are needed, but the successful first observing campaign of Swift J1727.8–1613 in different states is the best start of a new chapter we could imagine,” said Michal Dovčiak, co-author of the series of papers and leader of the IXPE working group on stellar-mass black holes, who also conducts research at the Czech Academy of Sciences.
More about IXPE
IXPE, which continues to provide unprecedented data enabling groundbreaking discoveries about celestial objects across the universe, is a joint NASA and Italian Space Agency mission with partners and science collaborators in 12 countries. IXPE is led by NASA’s Marshall Space Flight Center in Huntsville, Alabama. Ball Aerospace, headquartered in Broomfield, Colorado, manages spacecraft operations together with the University of Colorado’s Laboratory for Atmospheric and Space Physics in Boulder.
Learn more about IXPE’s ongoing mission here:
https://www.nasa.gov/ixpe
Elizabeth Landau
NASA Headquarters
elizabeth.r.landau@nasa.gov
202-358-0845
Lane Figueroa
NASA’s Marshall Space Flight Center
256-544-0034
lane.e.figueroa@nasa.gov
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Last Updated Dec 06, 2024 Related Terms
IXPE (Imaging X-ray Polarimetry Explorer) Marshall Science Research & Projects Marshall Space Flight Center Explore More
3 min read NASA, USAID Launch SERVIR Central American Hub
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By NASA
14 Min Read The Making of Our Alien Earth: The Undersea Volcanoes of Santorini, Greece
The expedition team and crew prepare to deploy Nereid Under Ice (NUI) into the sea. The following expedition marks the third installment of NASA Astrobiology’s fieldwork series, the newly rebranded Our Alien Earth, streaming on NASA+. Check out all three episodes following teams of astrobiologists from the lava fields of Holuhraun, Iceland, to the Isua Greenstone Belt of Greenland, and finally, the undersea volcanoes of Santorini, Greece. And stay tuned for the lava tubes of Mauna Loa, Hawaii in 2025.
THE VOYAGE BEGINS
My career at NASA has always felt like a mad scientist’s concoction of equal parts hard work, perseverance, absurd luck, and happenstance. It was due to this mad blend that I suddenly found myself on the deck of a massive tanker ship in the middle of the Mediterranean sea, watching a team of windburnt scientists, engineers, and sailors through my camera lens as they wrestled with a 5,000lb submersible hanging in the air.
The expedition team and crew prepare to deploy Nereid Under Ice (NUI) into the sea. “Let it out, Molly, slack off a little bit…” shouts deck boss Mario Fernandez, as he coordinates the dozen people maneuvering the vehicle. It’s a delicate dance as the hybrid remotely operated vehicle (ROV), Nereid Under Ice (NUI), is hoisted off the ship and deployed into the sea. “Tagline slips, line breaks… you’ve got a 5,000lb wrecking ball,” recounts Mario in an interview later that day.
How did I get here?
A few years ago I found myself roaming the poster halls of the Astrobiology Science Conference in Bellevue, Washington, struggling to decipher the jargon of a dozen disciplines doing their best to share their discoveries; phrases like lipid biomarkers, anaerobic biospheres, and macromolecular emergence floated past me as I walked. I felt like a Peanuts character listening to an adult speak.
Until I stumbled upon a poster by Dr. Richard Camilli entitled, Risk-Aware Adaptive Sampling for the Search for Life in Ocean Worlds. I was quickly enthralled in a whirlwind of icy moons, fleets of deep sea submersible vehicles, and life at sea.
Dr. Richard Camilli, principal investigator of a research expedition to explore undersea volcanoes off the coast of Santorini. “Are you free in November?”
“Absolutely,” I replied without checking a single calendar.
Five months and three flights later, I arrived at the port of Lavrio, Greece, as Dr. Camilli and his team were unloading their suite of vehicles from gigantic shipping crates onto the even more massive research vessel. I stocked up on motion sickness tablets, said a silent farewell to land, and boarded the ship destined for the undersea Kolumbo volcano.
Greece is a great place to study geology, because it’s a kind of supermarket of natural disasters.
Dr. Paraskevi NomikoU
University of Athens
The expedition sets out to sea as the sun sets in the distance. LIFE AT SEA
Documenting astrobiology fieldwork has taken me to some pretty remote and rough places. Sleeping in wooden shacks in Iceland without running water and electricity, or bundled up in a zero-degree sleeping bag in a tent while being buffeted by gale force winds in the wilderness of Greenland. But life at sea? Life at sea is GOOD.
Filmmaker Mike Toillion takes a selfie, holding up a peace sign with members of the science team. From left to right: NASA Astrobiology/Mike Toillion Mike Toillion, creator of Our Alien Earth, taking a selfie with members of the glider team. From left to right: Matt Walter and Gideon Billings of the autonomous sampling team inside the ship’s control room.
I was fortunate to have a personal cabin all to myself: a set of bunk beds, a small bathroom with a shower, and a small desk with plenty of outlets for charging my gear. I would also be remiss if I didn’t mention the mess hall. Aside from a freshly rotated menu of three hot meals a day, it was open 24/7 with a constant lineup of snacks to keep bellies full and morale high. This was luxury fieldwork. The ability to live, work, and socialize all in the same place would make this trip special in its own right, and allowed me to really get to know the team and capture every angle of this incredibly complex and multi-faceted expedition.
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The ship in the port of Lavrio, Greece. The team will spend two full days docked here while preparing for the voyage ahead. NASA Astrobiology/Mike Toillion SEARCHING FOR LIFE ON OCEAN WORLDS
“The goal of this program is cooperative exploration with under-actuated vehicles in hazardous environments,” explains Dr. Camilli as we stand on the bow of the ship, the sun beginning to set in the distance. “These vehicles work cooperatively in order to explore areas that are potentially too dangerous or too far away for humans to go.”
This is the problem at hand with exploring icy ocean worlds like Jupiter’s moon, Europa. The tremendous distance between Earth and Europa means we will barely be able to communicate and control vehicles that we send to the surface, and will face even more difficulty once those vehicles dive below the ice. This makes Earth’s ocean a perfect testbed for developing autonomous, intelligent robotic explorers.
“I’ve always been struck at how parallel ocean exploration and space exploration is,” says Brian Williams, professor from the Computer Science and Artificial Intelligence Laboratory at MIT. “Once you go through the surface, you can’t communicate. So, somehow you have to embody the key insights of a scientist, to be able to look and see: is that evidence of life?”
One of the gliders, an autonomous scouting vehicle equipped with multple sensors to map the seafloor and report back to the ship. NASA Astrobiology/Mike Toillion MEET THE FLEET
Exploring anywhere in space begins with a few simple steps: first, you need to get a general map of the area, which is typically done by deploying orbiters around a celestial body. The next step is to get a closer look, by launching lander and rover missions to the surface. Finally, in order to understand the location best, you need to bring samples back to Earth to study in greater detail.
“So you can think of what we’re doing here as being very parallel, that the ship is like the orbiter and is giving us a broad view of the Kolumbo volcano, right? Once we do that map, then we need to be able to explore interesting places to collect samples. So, the gliders are navigating around places that look promising from what the ship told us. And then, it looks to identify places where we might want to send NUI. NUI is very capable in terms of doing the samples, but it can’t move around nearly as much. And so, we finally put NUI at the places where the gliders thought that they were interesting.”
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The expedition team works into the night preparing NUI for its upcoming mission to the Kolumbo volcano. NASA Astrobiology/Mike Toillion THE SCIENTIST’S ROBOTIC APPRENTICE
As the espresso machine in the mess hall whirred away pouring out a much needed shot of caffeine, I sat with Eric Timmons, one of the expedition’s computer science engineers. Eric wears a few hats on the ship, but today we are discussing automated mission planning, the first step to true autonomy in robotic exploration.
“In any sort of scientific mission, you’re going to have a list of goals, each with their own set of steps, and a limited amount of time to achieve them. And so, Kirk works on automating that.” Kirk is the nickname of one of the many algorithms involved in the team’s automated mission planning. It’s joined by other algorithms, all named after Star Trek characters, collectively known as Enterprise, each responsible for different aspects of planning a mission and actively adapting to new mission parameters.
Dr. Richard Camilli explains further: “Basically, we have scientists onboard the ship that are feeding policies to these automated planners. [The planners] then take those policies plus historical information, the oceanographic context, and new information being transmitted by the vehicles here and now; they take all that information, and combine it to construct a mission that gets to the scientific deliverables, while also being safe.”
These are areas that humans aren’t designed to go to. I guess the best analogy would be like hang gliding in Midtown Manhattan at night.
Dr. richard camilli
Woods Hole Oceanographic Institution
OK, let’s recap the story so far: the ship’s sonar and other instruments create a general map of the Kolumbo volcano. That information, along with data from previous missions, is fed to Enterprise’s team of algorithms, which generates a mission for the gliders. The gliders are deployed, and using their sensors, provide higher-fidelity data about the area and transmit that knowledge back to the ship. The automated mission planners take in this new data, and revise their mission plan, ranking potential sites of scientific interest, which are then passed onto NUI, which will conduct its own mission to explore these sites, and potentially sample anything of interest.
DIVE, DIVE, DIVE
After a few days on the ship, the routine of donning my steel-toed boots and hard hat when walking around the deck has started to become second nature. My drone skills have greatly improved, as the magnetic field produced by the ship and its instruments forced me to take-off and land manually, carefully guiding the drone in and around the many hazards of the vessel. This morning, however, I’ve been invited to step off the ship for the first time to get a first-hand look at deploying the gliders. Angelos Mallios from the glider team leads me down into the bowels of the ship to the lower decks, as we arrive at a door that opens to the outside of the ship, waves lapping about six feet below. A zodiac pulls up to the door and we descend down a ladder into the small boat.
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Riding in the zodiac with the glider team, led by Angelos Mallios. NASA Astrobiology/Mike Toillion Meanwhile, the rest of the glider team is on the main deck of the ship, lifting the gliders with a large, motorized crane, and lowering them onto the surface of the water. The zodiac team approached to detach the glider and safely set it out into the sea, while I dipped a monopod-mounted action camera in and out of the water to capture the process. Unbeknownst to me at the time, this would become some of my favorite footage of the trip, sunlight dancing off the surface of the waves, while the gliders floated and dove beneath.
Angelos’ radio began to chatter. Eric Timmons was onboard the ship ready to command the gliders to begin their mission plan assigned by Enterprise. A moment passed and the yellow fin of the glider dipped below the water’s surface and disappeared.
Angelos Mallios from the Woods Hole Oceanographic Institution, leans out of a zodiac to deploy a glider, an autonomous vehicle and the forward scout for the expedition. NUI VERSUS THE VOLCANO
The following day, it was time to see the star of the show in action; the expedition team was ready to deploy the aforementioned 5,000lb wrecking ball, NUI. The gliders had been exploring the surrounding area day and night, using their suite of sensors to detect areas of scientific interest. Since this mission is about searching for life, the gliders know that warmer areas could indicate hydrothermal vent activity; a literal hotspot for life in the deep ocean. Kirk, along with the science planner algorithm, Spock, determined a list of possible candidates that fit that exact description.
“There’s always a bit of tension in the operations, where, do you go strike out in an area that is unstudied and potentially come back with nothing? Or do you go to a site that you know and try to understand it a little bit more, that kind of incremental advance?” Dr. Camilli pauses to take a quick swig of sparkling water after a long day of diving operations, as he recounts a moment in the control room earlier that day. All the scientists onboard this expedition are extremely skilled and knowledgable, and this mission is asking them to put aside their instincts, and follow the suggestions of computer algorithms; a hard pill to swallow for some.
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Underwater footage from Nereid Under Ice, showing a thriving community on the sea floor, including a never before seen species. NASA Astrobiology/Mike Toillion and WHOI “We stuck with the Spock program, and it paid great dividends. And all of the scientists were amazed at what they saw. The first site that we went to was spectacular. The second site we went to was spectacular. Each of the five sites that it identified as interesting were interesting, and they were each interesting in a different way; totally different environments.”
Interesting, in this case, was quite the understatement. As the expedition team and I crowded into the ship’s control room to look at the camera feeds transmitted by NUI, now fully deployed to the seafloor, audible gasps erupted from multiple people. Bubbles filled the monitor as live fumaroles, active vents from the volcano, were pouring out heat and chemical-rich fluid into the water. Thick, microbial mats covered the surrounding rock, and multicellular lifeforms dotted the landscape. The expedition team had found a live hydrothermal vent, and life thriving around it.
SOUVENIRS FROM THE OCEAN FLOOR
“I’ve never seen anything like that before,” recalls Casey Machado, expedition lead and the main pilot for Nereid Under Ice (NUI). Casey is sitting in an office chair surrounded by glowing monitors, a joystick in their left hand, and a gaming controller in their right. Since NUI is a hybrid ROV, it can be controlled manually from the ship by remote, or receive autonomous instructions from the Enterprise mission planners. Today, the team plans on manually controlling NUI to retrieve samples from the first site of interest.
NUI is a strange looking vehicle. Only a small section of its body is watertight, where many of its critical components are housed. The remainder is fairly open, and upon arriving at the first site recommended by Spock, the front of the ROV opens up its front double doors to reveal a multi-jointed manipulator arm, stereo camera set, and other instruments. I’m instantly reminded of the space shuttle mission to repair the Hubble Space Telescope, which had a similar mechanism.
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Casey Machado, pilot of the hybrid ROV Nereid Under Ice (NUI), pilots the manipulator arm to take a rock sample. NASA Astrobiology/Mike Toillion Casey deftly maneuvers each joint of the arm to approach a rock covered in microbial mats. The end of NUI’s arm is equipped with two sampling instruments: a claw-like grabbing mechanism and a vacuum-like hose called the “slurp gun”. The end of the arm twists and turns as Machado aligns it with the rock, eventually opening and closing it around the target. With a gentle pull, the rock comes loose, and with a few more careful manipulations places it delicately into NUI’s sample cache. I offer a high-five, which Casey nonchalantly returns like the whole task was nothing.
TEACHING A ROBOT TO FISH
At this point, the expedition team has collected dozens of samples and achieved multiple engineering milestones, enough to fill years’ worth of scientific papers, but they are far from finished. A true mission to an ocean world will have to be pilotless, as Dr. Gideon Billings from MIT explains: “They need to operate without any human intervention. They need to be able to understand the scene through perception and then make a decision about how they want to manipulate to take a sample or achieve a task.”
Gideon sits in the control room to the left of the piloting station, working alongside Casey as they prepare to demonstrate NUI’s automated sampling capabilities. His laptop screen shows a live 3D-model of the craft, its doors open, arm extended. Projected around the craft is a 3D reconstruction, or point cloud, of the seafloor created from the stereo camera pair mounted inside the vehicle. Similarly to how our brains take the two visual feeds from both of our eyes to see three-dimensionally, a stereo camera pair uses two cameras to achieve the same effect. By clicking on the model and moving its position in the software, NUI performs the same action thousands of meters under the ocean.
Shared autonomy between the automated sampling team and the ROV Nereid Under Ice. “That is shared autonomy, where you could imagine a pilot indicating a desired pose
for the arm to move to, but then a planner taking over and coming up with the path that the arm should move to reach that goal. And then, the pilot just essentially hitting a button and the arm following that path.”
Over the course of multiple dives, Gideon tested various sampling techniques, directing the manipulator arm to use its claw-like device to grab different tools and perform a variety of tasks. “We were able to project the point cloud into that scene, and then command the arm to grab a push core and move it into a location within that 3D reconstruction. We verified that that location matched up. That showed the viability of an autonomous system.” This seemingly small victory is a huge step towards exploring planets beyond Earth. Since this expedition, the engineering team has not only improved this shared autonomy system, but has also implemented a natural language interface, allowing a user to use their normal speaking voice to give commands to the ROV, further blurring the lines between reality and science fiction.
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The sun rises over the Mediterranean Sea on the final day of the research cruise. NASA Astrobiology/Mike Toillion SOMEWHERE BEYOND THE SEA
I cannot help but envy the life of those who chose to make the ocean their place of work. The time I’ve spent with oceanographers has me questioning all my life choices; clearly they knew something I didn’t.
Watching the sunrise every morning, peering through the murky depths of the deep sea, unlocking the secrets of Earth’s final frontier. All in a day’s work for Dr. Richard Camilli and his team of intrepid explorers.
Watch Our Alien Earth and The Undersea Volcanoes of Santorini, Greece on NASA+ and follow the full story of this incredible expedition.
Watch Our Alien Earth on NASA+
Panorama of a sunrise at sea. View the full article
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